# US 11,440,188 B2 · Robot system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,188 B2 - Document ID: US11440188B2 - Status: Granted - Kind: B2 - Application number: 16/105,412 - Filed: 2018-08-20 - Published: 2019-03-07 - Granted: 2022-09-13 - Earliest claimed: 2017-09-07 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Masahiro Morioka; Takatoshi Iwayama; Junya Fujita - Web page: https://patentgrep.com/patent/US11440188B2 ## CPC - B25J 9/1666: {Avoiding collision or forbidden zones} - 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}) - 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 The present invention provides a robot system including: a movable human-collaborative robot including a human-collaborative robot, and a moving device that moves the human-collaborative robot mounted thereon; a control unit that controls the movable human-collaborative robot; and an approach sensor that detects approach of a human to the movable human-collaborative robot. The human-collaborative robot includes a human detection sensor that detects approach or contact of a human to or with the movable human-collaborative robot. When the approach sensor has detected the approach of a human, the control unit restricts the operation of at least the moving device and, when the human detection sensor has detected the approach of or contact with a human, the control unit performs control so as to stop the movable human-collaborative robot or so as to avoid the approach of or contact with the human. ## Claims ### Claim 1 A robot system comprising: a moving device that is moved on a floor surface; a human-collaborative robot that is mounted on the moving device and that performs tasks in collaboration with a human, the human being moved on the floor surface; a controller that controls an operation of the human-collaborative robot and a movement of the moving device; a first sensor that detects an entry of the human into a first region around the human-collaborative robot; and a second sensor that detects an entry of the human into a second region around the human-collaborative robot, the second region being included in the first region, wherein, in response to detecting the entry of the human into the first region by the first sensor, the controller performs a first control that comprises controlling the movement of the moving device to restrict speed of the operation of the human-collaborative robot relative to the floor surface, and after the speed of the operation of the human-collaborative robot relative to the floor surface is restricted, in response to detecting the entry of the human into the second region by the second sensor, the controller performs a second control that comprises controlling the operation of the human-collaborative robot to further restrict the speed of the operation of the human-collaborative robot relative to the floor surface. ### Claim 2 (depends on 1) The robot system according to claim 1, wherein the second sensor is a contact sensor that detects contact between the human-collaborative robot and the human due to entry of the human into the second region. ### Claim 3 (depends on 1) The robot system according to claim 1, wherein the second sensor is a force sensor or a torque sensor that detects contact between the human-collaborative robot and the human due to the entry of the human into the second region. ### Claim 4 (depends on 1) The robot system according to claim 1, wherein the second sensor is accommodated in the human-collaborative robot. ### Claim 5 (depends on 1) The robot system according to claim 1, wherein, when the first sensor does not detect the entry of the human into the first region, the controller performs control such that the human-collaborative robot and the moving device operate at their maximum operating speeds. ### Claim 6 (depends on 1) The robot system according to claim 1, wherein the moving device includes a base provided on the floor surface, and a slider on which the human-collaborative robot is mounted, the slider being configured to move horizontally relative to the base. ### Claim 7 (depends on 1) The robot system according to claim 1, wherein the moving device is a self-travelling dolly that travels with the human-collaborative robot mounted on a slider thereof. ### Claim 8 (depends on 1) The robot system according to claim 1, wherein the first sensor is installed on the floor surface around the moving device. ### Claim 9 (depends on 6) The robot system according to claim 6, wherein the first sensor is provided on the slider. ### Claim 10 (depends on 1) The robot system according to claim 1, wherein the second sensor is a proximity sensor that detects approach of the human to the human-collaborative robot due to the entry of the human into the second region. ### Claim 11 (depends on 1) The robot system according to claim 1, wherein the first control comprises stopping or decelerating the movement of the moving device so that the speed of the operation of the human-collaborative robot relative to the floor surface is lower than or equal to a predetermined collaborative operating speed at which the human can perform tasks in collaboration with the human-collaborative robot. ### Claim 12 (depends on 1) The robot system according to claim 1, wherein the second control comprises decelerating the operation of the human-collaborative robot so that the speed of the operation of the human-collaborative robot relative to the floor surface is lower than or equal to a predetermined collaborative operating speed at which the human can perform tasks in collaboration with the human-collaborative robot. ### Claim 13 (depends on 1) The robot system according to claim 1, wherein the second control comprises stopping the operation of the human-collaborative robot. ### Claim 14 (depends on 1) The robot system according to claim 1, wherein the second control comprises restricting the speed of the operation of the human-collaborative robot so that contact between the human-collaborative robot and the human is avoided.