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    CARGO HANDLING APPARATUS AND METHOD
    1.
    发明申请
    CARGO HANDLING APPARATUS AND METHOD 有权

    公开(公告)号：US20210245954A1

    公开(公告)日：2021-08-12

    申请号：US17240920

    申请日：2021-04-26

    Applicant: KABUSHIKI KAISHA TOSHIBA

    Inventor： Hiroaki NAKAMURA ,  Kiminori TOYA ,  Hideichi NAKAMOTO ,  Haruna ETO

    IPC: B65G1/04 ,  B65G47/91

    Abstract: According to one embodiment, a cargo handling apparatus includes a first mechanism, a second mechanism, a holding unit, a third mechanism, a fourth mechanism and a conveyor. The first mechanism is movable in a first direction. The second mechanism is connected to the first mechanism and is movable on a first horizontal plane intersecting the first direction. The holding unit is connected to the second mechanism and holds an object to be picked up. The third mechanism is arranged below the first mechanism, the second mechanism and the holding unit, and is movable in the first direction. The fourth mechanism is connected to the third mechanism and is movable on a second horizontal plane opposed to the first horizontal plane. The conveyor is connected to the fourth mechanism, and loads and conveys the object held by the holding unit.

    ARTICLE HANDLING DEVICE
    2.
    发明申请
    ARTICLE HANDLING DEVICE 有权
    文章处理装置

    公开(公告)号：US20160207195A1

    公开(公告)日：2016-07-21

    申请号：US14996330

    申请日：2016-01-15

    Applicant: KABUSHIKI KAISHA TOSHIBA

    Inventor： Haruna ETO ,  Hideichi NAKAMOTO ,  Akihito OGAWA ,  Takafumi SONOURA ,  Junya TANAKA ,  Kazuo WATABE

    IPC: B25J9/16 ,  B25J15/06

    CPC classification number: B25J9/1612 ,  B25J9/1694 ,  B25J9/1697 ,  B25J15/0052 ,  B25J15/0616 ,  G05B2219/39484 ,  G05B2219/39558

    Abstract: According to one embodiment, an article handling device includes the following elements. The gripper grips an article. The driver moves the gripper. The article recognition unit recognizes a state of the article. The gripping recognition unit recognizes a gripping state of the gripper. The determination unit determines whether the gripping state is stable or unstable based on a recognition result of the gripping recognition unit. The controller controls a first gripping operation where the gripper grips the article by a gripping position determined based on the recognition result of the article recognition unit, and, when the gripping state is determined as unstable, controls a second gripping operation where the gripping position is changed and the gripper re-grips the article.

    Abstract translation: 根据一个实施例，物品处理装置包括以下元件。 夹具抓住一件物品。 司机移动夹具。 物品识别单元识别物品的状态。 夹持识别单元识别夹具的夹持状态。 确定单元基于夹持识别单元的识别结果来确定夹持状态是否稳定或不稳定。 控制器控制第一夹持操作，其中夹具通过基于物品识别单元的识别结果确定的夹持位置夹持物品，并且当夹持状态被确定为不稳定时，控制夹持位置为第二夹持操作 改变了，夹子重新夹着文章。

    CARGO-HANDLING APPARATUS, CONTROL DEVICE, CONTROL METHOD, AND STORAGE MEDIUM
    3.
    发明申请
    CARGO-HANDLING APPARATUS, CONTROL DEVICE, CONTROL METHOD, AND STORAGE MEDIUM 有权

    公开(公告)号：US20230102238A1

    公开(公告)日：2023-03-30

    申请号：US17931961

    申请日：2022-09-14

    Applicant: KABUSHIKI KAISHA TOSHIBA ,  TOSHIBA INFRASTRUCTURE SYSTEMS & SOLUTIONS CORPORATION

    Inventor： Takafumi USHIYAMA ,  Atsushi SUGAHARA ,  Hideichi NAKAMOTO

    IPC: B25J9/16 ,  B25J13/08

    Abstract: According to one embodiment, a cargo-handling apparatus includes a holding unit, an image-capturing unit, a distance measurement sensor, and a control unit. The holding unit holds an article. The image-capturing unit captures an image of the article in a first direction. The distance measurement sensor measures a distance to the article in a second direction crossing the first direction. The control unit controls the holding unit. The control unit selects a first article to be held based on an imaging result by the image-capturing unit, calculates, based on a measurement result by the distance measurement sensor, a position of a first face of the first article and a position of a second face of the first article, and causes the holding unit to operate in accordance with the calculated position of the first face and the calculated position of the second face to hold the first article.

    ROBOT SYSTEM AND COMPUTER PROGRAM PRODUCT
    7.
    发明申请
    ROBOT SYSTEM AND COMPUTER PROGRAM PRODUCT 有权

    公开(公告)号：US20210245365A1

    公开(公告)日：2021-08-12

    申请号：US17005361

    申请日：2020-08-28

    Applicant: KABUSHIKI KAISHA TOSHIBA

    Inventor： Atsushi SUGAHARA ,  Hideichi NAKAMOTO

    IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02

    Abstract: A robot system includes a robot including a plurality of fingers for holding a target object and a control device configured to control a motion of the robot. The control device includes one or more processors. The processors acquire an image of a first target object and a second target object taken by an imaging device. The processors control the motion of the robot based on the image such that the robot moves the first target object with at least one finger included in the fingers in a direction in which a gap is formed between the first target object and the second target object, inserts at least one finger included in the fingers into the gap, and holds the first target object.

    TRANSPORT DEVICE, TRANSPORT METHOD, AND TRANSPORT PROGRAM
    8.
    发明申请
    TRANSPORT DEVICE, TRANSPORT METHOD, AND TRANSPORT PROGRAM 审中-公开

    公开(公告)号：US20200282565A1

    公开(公告)日：2020-09-10

    申请号：US16338893

    申请日：2017-09-14

    Applicant: Kabushiki Kaisha Toshiba ,  Toshiba Infrastructure Systems 7 Solutions Corporation

    Inventor： Hideichi NAKAMOTO

    IPC: B25J9/16 ,  B65G61/00 ,  B25J13/08 ,  B25J9/00 ,  B25J15/06

    Abstract: A transport device according to an embodiment includes a holder, a driver, a force sensor, a first acquirer, and a controller. The holder holds cargo. The driver, which is a driver connected to the holder, moves the holder. The force sensor, provided in the vicinity of a connection location where the holder and the driver are connected to each other, detects a force applied to the vicinity of the connection location. The first acquirer acquires holding information indicating a holding state of the holder holding the cargo. The controller transports the cargo to the driver in a case where it is determined that the driver is caused to transport the cargo, on the basis of holding information indicating a holding state of the holder which is acquired by the first acquirer and detection results of the force sensor.

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