# US 11,906,944 B2 · Program and variable change analysis method and system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,906,944 B2 - Document ID: US11906944B2 - Status: Granted - Kind: B2 - Application number: 17/360,520 - Filed: 2021-06-28 - Published: 2021-10-21 - Granted: 2024-02-20 - Earliest claimed: 2016-09-09 - Assignees: Fanuc America Corporation - Applicants: Fanuc America Corporation - Inventors: Ashok Prajapati; Kenneth W. Krause; Michael B. Longo; Rick E. Wunderlich; Judy Evans; Glenn Nowak - Web page: https://patentgrep.com/patent/US11906944B2 ## CPC - G05B 19/4063: Monitoring general control system (G05B19/4062 takes precedence) - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - G06F 11/00: Error detection; Error correction; Monitoring (error detection, correction or monitoring in information storage based on relative movement between record carrier and transducer G11B20/18; monitoring, i.e. supervising the progress of recording or reproducing G11B27/36; in static stores G11C29/00) - G06F 11/3013: {where the computing system is an embedded system, i.e. a combination of hardware and software dedicated to perform a certain function in mobile devices, printers, automotive or aircraft systems (testing or monitoring of control systems or parts thereof G05B23/02)} - G06F 11/302: {where the computing system component is a software system} - G06F 11/3079: {the data filtering being achieved by reporting only the changes of the monitored data} - G06Q 10/0639: Performance analysis of employees; Performance analysis of enterprise or organisation operations - G06Q 50/04: Manufacturing - G07C 3/14: Quality control systems - G05B 2219/39412: Diagnostic of robot, estimation of parameters - G06F 2201/865: Monitoring of software - G07C 3/08: Registering or indicating the production of the machine either with or without registering working or idle time - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - Y02P 90/30: Computing systems specially adapted for manufacturing - 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) - 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}) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract Methods and systems include ways to implement change analysis of an automated production line including at least one robot. Monitoring a plurality of operating parameters associated with the automated production line including the at least one robot is followed by recording at least one change to the plurality of operating parameters. A notification is then provided identifying the at least one change to the plurality of operating parameters. The notification can include mapping the at least one change onto a graphical representation of the automated production line, thereby identifying a portion of the automated production line affected by the at least one change. As a result, at least one of the operating parameters can be adjusted in response to the notification. An action can also be performed in response to the notification. In this manner, the change analysis can optimize operation of the automated production line. ## Claims ### Claim 1 A method for change analysis of an automated production line including at least one robot, the method comprising the steps of: (a) monitoring, using one or more computing devices having a processor and memory, a plurality of operating parameters associated with the automated production line including the at least one robot; (b) recording, using the one or more computing devices, at least one change to the plurality of operating parameters over a time interval, where the at least one change includes a change received by the automated production line; (c) providing, after the time interval, using the one or more computing devices, a notification identifying the at least one change to the plurality of operating parameters; and (d) adjusting the time interval and repeating the steps (b) and (c) to record and provide a notification of at least one more change to the plurality of operating parameters. ### Claim 2 (depends on 1) The method of claim 1, wherein the notification includes a former value associated with the operating parameter prior to the change and a new value associated with the operating parameter after the change. ### Claim 3 (depends on 1) The method of claim 1, wherein the step (b) includes recording a plurality of changes to the plurality of operating parameters over the time interval. ### Claim 4 (depends on 1) The method of claim 1, wherein the notification in the step (d) distinguishes the at least one change and the at least one more change. ### Claim 5 (depends on 1) The method of claim 1, wherein the automated production line is in operation during the method, or the method is performed when the automated production line is placed in operation. ### Claim 6 (depends on 1) The method of claim 1, wherein the plurality of operating parameters includes a plurality of data blocks associated with a controller, the controller controlling the at least one robot. ### Claim 7 (depends on 6) The method of claim 6, wherein the at least one change to the plurality of operating parameters includes a change to at least one of the data blocks. ### Claim 8 (depends on 1) The method of claim 1, wherein the automated production line includes a plurality of robots, the plurality of operating parameters includes a plurality of data blocks associated with a plurality of controllers, each of the controllers controlling a respective robot. ### Claim 9 (depends on 1) The method of claim 1, wherein the notification provided in the step (c) includes mapping the at least one change to the plurality of operating parameters onto a graphical representation of the automated production line, the mapping identifying a portion of the automated production line affected by the at least one change. ### Claim 10 (depends on 9) The method of claim 9, wherein the representation of the automated production line includes one of a two-dimensional schematic and a pseudo three-dimensional schematic. ### Claim 11 (depends on 1) The method of claim 1, wherein the plurality of operating parameters includes a plurality of data blocks associated with a controller, the controller controlling the at least one robot, and the change received by the automated production line includes a change to one of the data blocks associated with the controller and entered using the controller. ### Claim 12 (depends on 1) The method of claim 1, wherein the at least one change includes a change reported by the automated production line. ### Claim 13 (depends on 12) The method of claim 12, wherein the change reported by the automated production line includes a member selected from the group consisting of: an environmental change, a malfunction, an identification of a service interval, a wear indicator, an operational conflict, a power failure, and combinations thereof. ### Claim 14 (depends on 1) The method of claim 1, further comprising adjusting at least one of the operating parameters in response to the notification. ### Claim 15 (depends on 1) The method of claim 1, further comprising performing an action in response to the notification, the action including a member of the group consisting of: making an environmental change to the automated production line, correcting a malfunction, performing a service interval, replacing a worn part, recharging or refilling a consumable, resolving an operational conflict, restoring power, and combinations thereof. ### Claim 16 A method for change analysis of an automated production line including a plurality of robots, the method comprising: (a) monitoring, using one or more computing devices having a processor and memory, a plurality of operating parameters associated with the automated production line including the plurality of robots, the plurality of operating parameters including a plurality of data blocks associated with a plurality of controllers, each of the controllers controlling a respective robot; (b) recording, using the one or more computing devices, at least one change to the plurality of operating parameters, wherein the at least one change is received by the automated production line and includes a change to one of the data blocks associated with one of the controllers; (c) providing, using the one or more computing devices, a notification identifying the at least one change to the plurality of operating parameters, wherein the notification includes a former value associated with the operating parameter prior to the change and a new value associated with the operating parameter after the change, and the notification includes mapping the at least one change to the plurality of operating parameters onto a graphical representation of the automated production line, the mapping identifying a portion of the automated production line affected by the at least one change; and (d) repeating the steps (b) and (c) over a time interval to record and provide a notification of at least one more change to the plurality of operating parameters. ### Claim 17 A method for change analysis of an automated production line including a plurality of robots, the method comprising: (a) monitoring, using one or more computing devices having a processor and memory, a plurality of operating parameters associated with the automated production line including the plurality of robots, the plurality of operating parameters including a plurality of data blocks associated with a plurality of controllers, each of the controllers controlling a respective robot; (b) recording, using the one or more computing devices, at least one change to the plurality of operating parameters, wherein the at least one change has a change type which is a member selected from a group consisting of a change received by the automated production line and a change reported by the automated production line, where any change reported by the automated production line includes a change to one of the data blocks associated with one of the controllers, the change including a member selected from the group consisting of: an environmental change, a malfunction, identification of a service interval, a wear indicator, an operational conflict, a power failure, and combinations thereof; (c) providing, using the one or more computing devices, a notification identifying the at least one change to the plurality of operating parameters, wherein the notification includes a former value associated with the operating parameter prior to the change and a new value associated with the operating parameter after the change, and the notification includes mapping the at least one change to the plurality of operating parameters onto a graphical representation of the automated production line, the mapping identifying a portion of the automated production line affected by the at least one change; and (d) performing an analysis of the at least one change to the plurality of operating parameters, using a cloud-based computing device, to identify changes which affect a motion trajectory of one or more of the robots.