# US 11,077,560 B2 · Manipulator system and method for identifying operating devices > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,560 B2 - Document ID: US11077560B2 - Status: Granted - Kind: B2 - Application number: 15/777,449 - Filed: 2016-11-29 - Published: 2018-11-15 - Granted: 2021-08-03 - Earliest claimed: 2015-12-04 - Assignees: KUKA Roboter GmbH - Applicants: KUKA Roboter GmbH - Inventors: Yevgen Kogan - Web page: https://patentgrep.com/patent/US11077560B2 ## CPC - B25J 13/006: {by means of a wireless system for controlling one or several manipulators} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 19/06: Safety devices - G08C 17/02: using a radio link - G05B 2219/36542: Cryptography, encrypt, access, authorize with key, code, password - G05B 2219/40538: Barcode reader to detect position - G08C 2201/30: User interface - G08C 2201/93: Remote control using other portable devices, e.g. mobile phone, PDA, laptop - 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}) - G08C: TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS (fluid pressure transmitting systems F15B; mechanical means for transferring the output of a sensing member into a different variable G01D5/00; mechanical control systems G05G) - 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 manipulator system includes at least one manipulator and a control device assigned to the manipulator; and at least one mobile operating device for controlling the at least one manipulator. In addition, an electronic display device is provided, which is arranged to display at least one optically readable identifier, and at least one optical reading device is provided and arranged to detect the displayed optically readable identifier. The manipulator system is arranged to release control of the manipulator by means of the mobile operating device when the optically readable identifier has been correctly detected by the optical reading device. ## Claims ### Claim 1 A method for identifying a mobile operating device which is arranged for controlling at least one manipulator of a manipulator system, the manipulator system having a control device assigned to the manipulator and the mobile operating device having a graphical user interface (GUI), comprising the following method steps: a) transmitting data of at least one optically readable identifier from the control device to the mobile operating device and display of the optically readable identifier on an electronic display device, wherein the electronic display device is assigned to the mobile operating device, or transmitting data of the at least one optically readable identifier from the mobile operating device to the control device and display of the optically readable identifier on an electronic display device assigned to the control device; b) displaying the at least one optically readable identifier on the electronic display device assigned to the control device or the mobile operating device, wherein the data of the optically readable identifier comprises data including at least one of status parameters of the manipulator system or control variables; c) detecting the optically readable identifier by means of an optical reading device, wherein the optical reading device is assigned to the respective other one of the control device or mobile operating device; and d) releasing control of the manipulator to the mobile operating device when the optically readable identifier has been correctly detected by the optical reading device. ### Claim 2 (depends on 1) The method according to claim 1, wherein i) the optical reading device is assigned to the control device, wherein the electronic display device is assigned to the mobile operating device and wherein the electronic display device is integrated in a housing of the mobile operating device, or ii) wherein the optical reading device is assigned to the mobile operating device, and wherein the electronic display device is assigned to the control device. ### Claim 3 (depends on 1) The method according to claim 1, wherein the data of the at least one optically readable identifier are dynamically generated by means of the one control device or mobile operating device. ### Claim 4 (depends on 1) The method according to claim 1, wherein at least the method steps a) to c) are repeated in defined time intervals, wherein the defined time intervals are less than 15 minutes. ### Claim 5 (depends on 1) The method according to claim 1, wherein the mobile operating device comprises a wireless handheld device. ### Claim 6 (depends on 1) The method according to claim 1, wherein the mobile operating device includes a graphical user interface (GUI). ### Claim 7 (depends on 4) The method according to claim 4, wherein the defined time intervals are less than 10 minutes. ### Claim 8 (depends on 4) The method according to claim 4, wherein the defined time intervals are less than 5 minutes. ### Claim 9 (depends on 2) The method according to claim 2, wherein the optical reading device is integrated in a housing of the mobile operating device. ### Claim 10 A manipulator system comprising: at least one manipulator and a control device assigned to the manipulator; at least one mobile operating device which is arranged for controlling at least one of the at least one manipulator or the control device; at least one electronic display device which is arranged to display at least one optically readable identifier, and at least one optical reading device which is arranged to detect the displayed optically readable identifier, wherein the manipulator system is arranged to release control of the manipulator or the control device to the mobile operating device when the optically readable identifier has been correctly detected by the optical reading device, wherein the optically readable identifier comprises data including at least one of status parameters of the manipulator system or control variables, wherein the mobile operating device comprises a first wireless communication device and the control device comprises a second wireless communication device, and the first and second wireless communication devices are arranged to transmit data of the optically readable identifier, and wherein the electronic display device is arranged to display the optically readable identifier according to the transmitted data. ### Claim 11 (depends on 10) The manipulator system according to claim 10, wherein the optical reading device is assigned to the control device, wherein the electronic display device is assigned to the mobile operating device, and wherein the electronic display device is integrated in a housing of the mobile operating device. ### Claim 12 (depends on 10) The manipulator system according to claim 10, wherein the optical reading device is assigned to the mobile operating device, and wherein the electronic display device is assigned to the control device, and wherein the optical reading device is integrated in a housing of the mobile operating device. ### Claim 13 (depends on 10) The manipulator system according to claim 10, wherein the optical reading device comprises one of a camera, an optical scanner or a laser scanner. ### Claim 14 (depends on 10) The manipulator system according to claim 10, wherein the optically readable identifier is variable in time and comprises a one- or two-dimensional code. ### Claim 15 (depends on 10) The manipulator according to claim 10, wherein the mobile operating device is a hand-held mobile operating device. ### Claim 16 (depends on 10) The manipulator according to claim 10, wherein the manipulator system comprises a plurality of manipulators, wherein the plurality of manipulators are assigned to the control device, and wherein an optical reading device or an electronic display device is assigned to each manipulator. ### Claim 17 (depends on 10) The manipulator system according to claim 10, wherein the mobile operating device includes a graphical user interface (GUI). ### Claim 18 (depends on 14) The manipulator system according to claim 14, wherein the optically readable identifier comprises a QR code. ### Claim 19 (depends on 15) The manipulator system according to claim 15, wherein the hand-held mobile operating device is selected from the group consisting of laptop computers, tablet computers, smartphones and smart watches. ### Claim 20 A method for identifying a mobile operating device which is arranged for controlling at least one manipulator of a manipulator system, the manipulator system having a control device assigned to the manipulator and the mobile operating device having a graphical user interface (GUI), comprising the following method steps: a) displaying at least one optically readable identifier on an electronic display device, wherein the electronic display device is assigned to the control device or the mobile operating device; b) detecting the optically readable identifier by means of an optical reading device, wherein the optical reading device is assigned to the respective other control device or mobile operating device; and c) releasing control of the manipulator to the mobile operating device when the optically readable identifier has been correctly detected by the optical reading device, wherein in method step a) several optically readable identifiers are displayed in chronological order, and wherein the step of releasing the control of the manipulator to the mobile operating device takes place only when the several optically readable identifiers have been correctly detected by the optical reading device.