# US 10,766,135 B2 · Teach pendant and robot control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,135 B2 - Document ID: US10766135B2 - Status: Granted - Kind: B2 - Application number: 16/197,925 - Filed: 2018-11-21 - Published: 2019-05-30 - Granted: 2020-09-08 - Earliest claimed: 2017-11-28 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Norimitsu Uemura; Masaaki Uematsu - Web page: https://patentgrep.com/patent/US10766135B2 ## CPC - B25J 9/0081: {with leader teach-in means} - B25J 9/1692: {Calibration of manipulator} - B25J 13/06: Control stands, e.g. consoles, switchboards - G05B 19/409: characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters (G05B19/408, G05B19/4093 take precedence) - G06T 7/0008: {checking presence/absence} - G06T 7/75: {involving models} - G06V 40/172: {Classification, e.g. identification} - G06V 40/174: {Facial expression recognition} - G05B 2219/24162: Biometric sensor, fingerprint as user access password - G05B 2219/36167: Use camera of handheld device, pda, pendant, head mounted display - G05B 2219/39001: Robot, manipulator control - G05B 2219/39443: Portable, adapted to handpalm, with joystick, function keys, display - G05B 2219/45104: Lasrobot, welding robot - G06T 2207/30164: Workpiece; Machine component - G06V 30/142: using hand-held instruments; Constructional details of the instruments - G06V 40/161: {Detection; Localisation; Normalisation} - 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) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A teach pendant for teaching a robot includes an operation unit disposed on a first surface of the teach pendant, to perform an input operation; a display unit disposed on the first surface; and a camera disposed on a second surface opposite the first surface of the teach pendant. An image captured by the camera is displayed on the display unit. ## Claims ### Claim 1 A teach pendant for teaching a robot comprising: an operation unit disposed on a first surface of the teach pendant, to perform an input operation; a camera disposed on a second surface opposite the first surface of the teach pendant; a display unit disposed on the first surface, the display unit displaying an image captured by the camera; and an image processing unit configured to identify a position of a part of a workpiece, captured by the camera as a captured image, in a shape model of the workpiece, based on information about processing points of the robot on the workpiece and information about the shape model of the workpiece, and to display, on the captured image, information about an uncorrected processing point that is nearest to a processing point included in the captured image and that is outside a frame of the captured image. ### Claim 2 (depends on 1) The teach pendant according to claim 1, wherein the operation unit is disposed on a lower side of the first surface in an operating state of the teach pendant, and the camera is disposed on an upper side of the second surface in the operating state. ### Claim 3 (depends on 1) The teach pendant according to claim 1, wherein the camera has a zoom function. ### Claim 4 (depends on 1) The teach pendant according to claim 1, wherein the camera has an illumination function. ### Claim 5 (depends on 1) The teach pendant according to claim 1, further comprising a first surface side camera disposed on the first surface. ### Claim 6 (depends on 5) The teach pendant according to claim 5, further comprising a face authentication processing unit configured to perform a face authentication process based on an image captured by the first surface side camera. ### Claim 7 (depends on 1) A robot control system comprising: the teach pendant according to claim 1; a robot controller connected to the teach pendant; and a robot connected to the robot controller, the robot being operated under control of the robot controller.