# US 11,123,863 B2 · Teaching device, robot control device, and robot system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,123,863 B2 - Document ID: US11123863B2 - Status: Granted - Kind: B2 - Application number: 16/253,610 - Filed: 2019-01-22 - Published: 2019-07-25 - Granted: 2021-09-21 - Earliest claimed: 2018-01-23 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Yoshiyuki Kishi - Web page: https://patentgrep.com/patent/US11123863B2 ## CPC - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1656: {characterised by programming, planning systems for manipulators} - B25J 9/1697: {Vision controlled systems} - B25J 13/06: Control stands, e.g. consoles, switchboards - G05B 19/42: Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine - G05B 2219/31048: Project on workpiece, image of finished workpiece, info or a spot - G05B 2219/36447: Project light on path to be followed, keep also distance constant - G05B 2219/36453: Handheld tool like probe - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - 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) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A teaching device for teaching a motion of a robot, including an image projector which projects an image on a projection surface in a working space of the robot; an indicator position detector which detects a position of an indicator on the projection surface; an image generator which generates or updates the image based on the position of the indicator that is detected by the indicator position detector; and a processor which calculates a teaching point for teaching a motion of the robot based on the position of the indicator. ## Claims ### Claim 1 A teaching device for teaching a motion of a robot, the teaching device comprising: an image projector configured to directly project an image on a working surface of a work area of the robot; and a processor configured to execute processes so as to: detect a position of an indicator on the working surface of the work area within the projected image by detecting light from the indicator by using an image pickup device; update the projected image based on the detected position of the indicator; and calculate a teaching point based on the detected position of the indicator. ### Claim 2 (depends on 1) The teaching device according to claim 1, wherein the processor is further configured to acquire a trajectory representing a change in the position of the indicator, and the processor is configured to generate a plurality of the teaching points along the trajectory. ### Claim 3 (depends on 1) The teaching device according to claim 1, wherein the processor is configured to receive an input of a Z-coordinate that is a distance along a normal direction from the working surface of the work area, and wherein the processor is configured to calculate a three-dimensional teaching point based on the teaching point and the Z-coordinate corresponding to the teaching point a and teach the motion of the robot based on the three-dimensional teaching point. ### Claim 4 (depends on 3) The teaching device according to claim 3, wherein the processor is configured to teach the motion of the robot with a space surrounded by a plurality of the teaching points and a plurality of the three-dimensional teaching points, and the space is defined as a non-working space of the robot. ### Claim 5 (depends on 3) The teaching device according to claim 3, wherein the processor is configured to teach the motion of the robot with a space surrounded by a plurality of the teaching points and a plurality of the three-dimensional teaching points, and the space is defined as a movement speed limit space of the robot. ### Claim 6 (depends on 4) The teaching device according to claim 4, wherein the processor is configured to generate a manipulation image indicating a manipulation of the robot, the image projector is configured to project the manipulation image in an area surrounded by the plurality of teaching points on the working surface of the work area, and the processor a is configured to teach the motion of the robot based on the manipulation indicated by the manipulation image. ### Claim 7 (depends on 6) The teaching device according to claim 6, wherein the manipulation image indicates a manipulation of changing a position and a posture of the robot by a certain amount. ### Claim 8 (depends on 6) The teaching device according to claim 6, wherein the manipulation image indicates a manipulation of changing an excitation state of a motor in the robot. ### Claim 9 (depends on 1) A robot control device connected to the teaching device according to claim 1, the robot control device comprising: a processor, wherein the processor is configured to receive the teaching point from the teaching device and control the robot based on the teaching point. ### Claim 10 (depends on 1) A robot system comprising: the robot; the teaching device according to claim 1; and a robot control device connected to the teaching device, the robot control device being configured to control the robot based on the teaching point received from the teaching device.