# US 10,442,084 B2 · Robot, robot system and server > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,442,084 B2 - Document ID: US10442084B2 - Status: Granted - Kind: B2 - Application number: 15/000,303 - Filed: 2016-01-19 - Published: 2016-07-28 - Granted: 2019-10-15 - Earliest claimed: 2015-01-26 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Isamu Sejimo; Masaru Takahashi; Izumi Iida - Web page: https://patentgrep.com/patent/US10442084B2 ## CPC - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - G05B 2219/40009: Remove and replace machine part, module - Y10S 901/09: Closed loop, sensor feedback controls arm movement - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A robot controlled by a controller includes a recording part that records sensor information on a sensor, and a transmission part that transmits the sensor information to the controller or an external apparatus. ## Claims ### Claim 1 A robot controlled by a controller comprising: a control unit comprising a recording part that records sensor information obtained by a plurality of sensors during power-up of at least one of the controller or the robot; and a transmission part that transmits the sensor information to the controller, wherein the control unit receives a control signal from the controller for controlling the robot when the controller determines that the sensor information recorded during the power-up of the at least one of the controller or the robot coincides with sensor information stored by the controller, wherein the recording part records power information corresponding to an OFF time representing when the robot was powered OFF, and the transmission part transmits the power information with the sensor information to the controller. ### Claim 2 (depends on 1) The robot according to claim 1, further comprising the plurality of sensors. ### Claim 3 (depends on 1) The robot according to claim 1, wherein the sensor information is data indicating a sensor type corresponding to each sensor of the plurality of sensors. ### Claim 4 (depends on 1) The robot according to claim 1, wherein the sensor information represents performance of the plurality of sensors. ### Claim 5 (depends on 1) The robot according to claim 1, wherein the sensor information represents previously recorded sensor information corresponding to the plurality of sensors. ### Claim 6 (depends on 5) The robot according to claim 5, wherein the previously recorded sensor information represents chronological measurement values. ### Claim 7 (depends on 5) The robot according to claim 5, wherein the previously recorded sensor information represents a measurement value of the plurality of sensors at a time when an abnormality occurred. ### Claim 8 (depends on 5) The robot according to claim 5, wherein the plurality of sensors are provided in a movable part, and the sensor information represents a measurement value of the plurality of sensors with respect to each location of the movable part in the past. ### Claim 9 A robot system comprising: a robot including a sensor and a recording part that records sensor information about the sensor during power-up of the robot; and a controller that controls at least the robot, wherein the controller includes an analysis part that receives the sensor information from the robot and analyzes the sensor information to determine whether the sensor information coincides with previously recorded sensor information stored at the controller, wherein the controller provides a control signal for controlling the robot when the sensor information recorded during power-up coincides with the previously recorded sensor information, wherein the sensor information comprises previously chronologically recorded measurement values wherein the controller generates a first allowable range for the sensor based on the sensor information, wherein the controller generates an abnormality notice when the sensor information recorded during power-up is not within with the first allowable range, wherein the controller generates a second allowable range by calculating an average value G and standard deviation H of the chronologically recorded measurement values of the sensor when the sensor information recorded during power-up is within the first allowable range, wherein the second allowable range is defined by G±n×H, where n is a natural number, wherein the controller generates the abnormality notice when the sensor information recorded during power-up is not within with the second allowable range. ### Claim 10 (depends on 9) The robot system according to claim 9, wherein the analysis part determines whether a measurement value of the sensor in the present belongs to an allowable range derived from a measurement value of the sensor in the past, and determines that the robot is abnormal when the measurement value of the sensor in the present is not in the allowable range. ### Claim 11 (depends on 10) The robot system according to claim 10, wherein the controller including the analysis part allows a display part to display an analysis result of the sensor information. ### Claim 12 A robot system comprising: a robot including a plurality of sensors, a recording part that records sensor information obtained by the plurality of sensors during power-up of the robot, and a transmission part; and a controller that controls at least the robot, wherein the controller receives the sensor information from the robot and determines whether or not an individual sensor of the controllably connected robot is changed based on whether or not sensor information corresponding to the individual sensor based upon a comparison of the sensor information corresponding to the individual sensor with previously recorded sensor information corresponding to the individual sensor stored by the controller, wherein the controller transmits a control signal to the robot when the sensor information recorded during power-up coincides with previously recorded sensor information stored by the controller and generates an abnormality notice when the sensor information recorded during power-up does not coincide with the previously recorded sensor information stored by the controller, wherein the recording part records power information corresponding to an OFF time representing when the robot was powered OFF, and the transmission part transmits the over information with the sensor information to the controller.