# US 11,027,429 B2 · Robot

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- Number: US 11,027,429 B2
- Document ID: US11027429B2
- Status: Granted
- Kind: B2
- Application number: 16/267,588
- Filed: 2019-02-05
- Published: 2019-08-08
- Granted: 2021-06-08
- Earliest claimed: 2018-02-06
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Issei Matsumoto; Tatsuro Mori
- Web page: https://patentgrep.com/patent/US11027429B2

## CPC

- B25J 9/1676: {Avoiding collision or forbidden zones}
- B25J 19/06: Safety devices
- F16P 3/142: {using image capturing devices}
- F16P 3/145: {using magnetic technology}
- F16P 3/148: {using capacitive technology}
- B25J 19/022: {using lasers}
- B25J 19/027: {Electromagnetic sensing devices}
- G05B 2219/40202: Human robot coexistence
- 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})
- F16P: SAFETY DEVICES IN GENERAL; {SAFETY DEVICES FOR PRESSES}
- 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)

## Abstract

A robot with a noncontact sensor is configured to: perform the predetermined motion in a state where the moving object does not enter, and thereby store, for each of a plurality of measurement points set in a movable range of the robot, an output value of the noncontact sensor as a reference output value in advance, and stop the predetermined motion when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to a current operating position of the robot by a first threshold value or larger when the robot is performing the predetermined motion in a state where the moving object could possibly enter and the current operating position of the robot is in a range in which it is necessary to determine an entering state of the moving object.

## Claims

### Claim 1

A robot comprising a noncontact sensor configured to detect an entrance of a moving object, the robot being configured to perform a predetermined motion, wherein the robot is further configured to:
perform the predetermined motion in a state where the moving object does not enter, and thereby store, for each of a plurality of measurement points set in a movable range of the robot, an output value of the noncontact sensor as a reference output value in advance, and
stop the predetermined motion when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to a current operating position of the robot by a first threshold value or larger when the robot is performing the predetermined motion in a state where the moving object could possibly enter and the current operating position of the robot is in a range in which it is necessary to determine an entering state of the moving object.

### Claim 2 (depends on 1)

The robot according to claim 1, wherein the robot performs at least one of reducing a motion speed of the predetermined motion and issuing a warning when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to the current operating position of the robot by a value that is smaller than the first threshold value and equal to or larger than a second threshold value smaller than the first threshold value when the robot is performing the predetermined motion in the state where the moving object could possibly enter.

### Claim 3

A method for controlling a robot configured to perform a predetermined motion, the method comprising:
providing a noncontact sensor configured to detect an entrance of a moving object,
perform the predetermined motion in a state where the moving object does not enter, and thereby store, for each of a plurality of measurement points set in a movable range of the robot, an output value of the noncontact sensor as a reference output value in advance, and
stop the predetermined motion when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to a current operating position of the robot by a first threshold value or larger when the robot is performing the predetermined motion in a state where the moving object could possibly enter and the current operating position of the robot is in a range in which it is necessary to determine an entering state of the moving object.

### Claim 4 (depends on 3)

The method according to claim 3, wherein the robot performs at least one of reducing a motion speed of the predetermined motion and issuing a warning when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to the current operating position of the robot by a value that is smaller than the first threshold value and equal to or larger than a second threshold value smaller than the first threshold value when the robot is performing the predetermined motion in the state where the moving object could possibly enter.