# US 11,992,933 B2 · Intermediation device and intermediating method using the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,933 B2 - Document ID: US11992933B2 - Status: Granted - Kind: B2 - Application number: 17/267,464 - Filed: 2019-08-09 - Published: 2021-09-23 - Granted: 2024-05-28 - Earliest claimed: 2018-08-10 - Assignees: Kawasaki Jukogyo Kabushiki Kaisha - Applicants: Kawasaki Jukogyo Kabushiki Kaisha - Inventors: Yasuhiko Hashimoto; Masayuki Kamon; Shigetsugu Tanaka; Yoshihiko Maruyama - Web page: https://patentgrep.com/patent/US11992933B2 ## CPC - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - B25J 3/00: Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1689: {Teleoperation} - B25J 13/006: {by means of a wireless system for controlling one or several manipulators} - B25J 13/06: Control stands, e.g. consoles, switchboards - G05B 2219/40174: Robot teleoperation through internet - 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 An intermediation device (2) constitutes a manipulation signal converting module in the intermediation device (2) or a manipulation terminal (3). When the manipulation signal converting module receives a plurality of manipulation signals respectively corresponding to a plurality of manipulation keys, the manipulation signal converting module converts the plurality of manipulation signals into a plurality of individual operating commands, and sends the plurality of individual operating commands to a robot (5). ## Claims ### Claim 1 An intermediation device connected to a plurality of manipulation terminals and a robot through a network, the plurality of manipulation terminals including a first terminal dedicated for the robot and a second terminal non-dedicated for the robot, wherein the robot operates according to an operating command including an individual operating command, wherein each of the plurality of manipulation terminals is provided with a manipulation key, wherein the intermediation device constitutes a manipulation signal converting module in the intermediation device or in each of the plurality of manipulation terminals, and wherein, upon receiving a manipulation signal corresponding to the manipulation key from the second terminal, the manipulation signal converting module converts the manipulation signal into the individual operating command based on model names received from the second manipulation terminal and the robot and sends the converted individual operating command to the robot for causing the robot to operate according to the converted individual operating command, while upon receiving the manipulation signal corresponding to the manipulation key from the first terminal, the manipulation signal converting module sends the manipulation signal to the robot without the conversion for causing the robot to operate according to the manipulation signal from the first terminal. ### Claim 2 (depends on 1) The intermediation device of claim 1, wherein the operating command includes one or more individual operating commands, wherein each of the plurality of manipulation terminals is provided with a plurality of manipulation keys, and wherein, when the manipulation signal converting module receives one or more manipulation signals corresponding to one or more of the plurality of manipulation keys from the second terminal, the manipulation signal converting module converts the one or more manipulation signals into one or more individual operating commands, and sends the converted one or more individual operating commands to the robot. ### Claim 3 (depends on 2) The intermediation device of claim 2, wherein the plurality of manipulation keys include a move key configured to move a manipulation target and a function key used for multiple purposes, wherein the operating command includes, as the individual operating command, a position command for instructing the position of a wrist part of the robot, and an end effector operating command for controlling operation of an end effector attached to the wrist part of the robot, and wherein the manipulation signal converting module converts the manipulation signal corresponding to the move key into the position command and converts the manipulation signal corresponding to the function key into the end effector operating command. ### Claim 4 (depends on 2) The intermediation device of claim 2, wherein, when the intermediation device receives a manipulation key change notice from at least one of the plurality of manipulation terminals, the manipulation signal converting module changes the one or more individual operating commands to be converted from the plurality of manipulation signals, according to the manipulation key change notice. ### Claim 5 (depends on 2) The intermediation device of claim 2, wherein, when a number of manipulation keys of the second manipulation terminal is short for a number of the one or more individual operating commands, the manipulation signal converting module converts each of the manipulation signals corresponding to operation in a given mode of one or more manipulation keys among the plurality of manipulation keys into the one or more individual operating commands. ### Claim 6 (depends on 2) The intermediation device of claim 2, wherein the manipulation signal converting module converts at least one of the one or more manipulation signals into one or more individual operating commands for causing the robot to perform a plurality of operations based on the converted one or more individual operating commands. ### Claim 7 (depends on 2) The intermediation device of claim 2, wherein the manipulation signal converting module converts at least one of the one or more manipulation signals into one individual operating command for causing the robot to perform a plurality of operations. ### Claim 8 (depends on 2) The intermediation device of claim 2, wherein the manipulation signal converting module converts at least one of the one or more manipulation signals into the individual operating command for switching a control mode of the robot. ### Claim 9 (depends on 2) The intermediation device of claim 2, wherein the intermediation device requests the second manipulation terminal to determine a manipulation key assignment indicating how to associate the plurality of manipulation keys with the one or more individual operating commands and convert the one or more manipulation signals corresponding to the plurality of manipulation keys into the one or more individual operating commands, and wherein the manipulation signal converting module converts the one or more manipulation signals into the one or more individual operating commands, according to the manipulation key assignment determined by the second manipulation terminal. ### Claim 10 (depends on 1) The intermediation device of claim 1, wherein the intermediation device stores patterns of the signal conversion according to the model names of the second manipulation terminal and the robot, and performs the signal conversion while applying the pattern corresponding to the model names of the second manipulation terminal and the robot. ### Claim 11 An intermediating method using an intermediation device connected to a plurality of manipulation terminals and a robot through a network, the plurality of manipulation terminals including a first terminal dedicated for the robot and a second terminal non-dedicated for the robot, wherein the robot operates according to an operating command including an individual operating command, and each of the plurality of manipulation terminals is provided with a manipulation key, the method comprising: constituting a manipulation signal converting module in the intermediation device or in each of the plurality of manipulation terminals; and upon receiving a manipulation signal corresponding to the manipulation key from the second terminal, converting the manipulation signal into the individual operating command based on model names received from the second manipulation terminal and the robot and sending the converted individual operating command to the robot by the manipulation signal converting module for causing the robot to operate according to the converted individual operating command, while upon receiving the manipulation signal corresponding to the manipulation key from the first terminal, sending the manipulation signal to the robot without the conversion for causing the robot to operate according to the manipulation signal from the first terminal. ### Claim 12 (depends on 11) The intermediating method of claim 11, wherein the operating command includes one or more individual operating commands, wherein each of the plurality of manipulation terminals is provided with a plurality of manipulation keys, and wherein the intermediating method comprises, when the manipulation signal converting module receives one or more manipulation signals corresponding to one or more of the plurality of manipulation keys from the second terminal, converting the one or more manipulation signals into one or more individual operating commands, and sending the converted one or more individual operating commands to the robot, by the manipulation signal converting module. ### Claim 13 (depends on 12) The intermediating method of claim 12, wherein the one or more manipulation keys include a move key configured to move a manipulation target and a function key used for multiple purposes, wherein the operating command includes, as the individual operating command, a position command for instructing the position of a wrist part of the robot, and an end effector operating command for controlling operation of an end effector attached to the wrist part of the robot, and wherein the intermediating method comprises converting the manipulation signal corresponding to the move key into the position command and converting the manipulation signal corresponding to the function key into the end effector operating command, by the manipulation signal converting module. ### Claim 14 (depends on 12) The intermediating method of claim 12, comprising changing, when the intermediation device receives a manipulation key change notice from at least one of the manipulation terminals, the one or more individual operating commands to be converted from the one or more manipulation signals, according to the manipulation key change notice, by the manipulation signal converting module. ### Claim 15 (depends on 12) The intermediating method of claim 12, comprising, when a number of the one or more manipulation keys of the second manipulation terminal is short for a number of one or more individual operating commands, converting each of the manipulation signals corresponding to operation in a given mode of one or more manipulation keys among the plurality of manipulation keys into the one or more individual operating commands, by the manipulation signal converting module. ### Claim 16 (depends on 12) The intermediating method of claim 12, comprising converting at least one of the one or more manipulation signals into one or more individual operating commands for causing the robot to perform a plurality of operations, by the manipulation signal converting module. ### Claim 17 (depends on 12) The intermediating method of claim 12, comprising converting at least one of the one or more manipulation signals into one individual operating command for causing the robot to perform a plurality of operations, by the manipulation signal converting module. ### Claim 18 (depends on 12) The intermediating method of claim 12, comprising converting at least one of the one or more manipulation signals into the individual operating command for switching a control mode of the robot, by the manipulation signal converting module. ### Claim 19 (depends on 12) The intermediating method of claim 12, comprising: requesting the second manipulation terminal to determine a manipulation key assignment indicating how to associate the plurality of manipulation keys with the one or more individual operating commands and convert the one or more manipulation signals corresponding to the plurality of manipulation keys into the one or more individual operating commands, by the intermediation device; and converting the one or more manipulation signals into the one or more individual operating commands, according to the manipulation key assignment determined by the second manipulation terminal, by the manipulation signal converting module. ### Claim 20 (depends on 11) The intermediating method of claim 11, comprising storing patterns of the signal conversion according to the model names of the second manipulation terminal and the robot, and performing the signal conversion while applying the pattern corresponding to the model names of the second manipulation terminal and the robot, by the intermediation device. ### Claim 21 An intermediation device connected to a plurality of manipulation terminals and a robot through a network, the intermediation device comprising a server and the plurality of manipulation terminals including a first processor dedicated for the robot and a second processor non-dedicated for the robot, wherein the robot operates according to an operating command including an individual operating command, wherein each of the plurality of manipulation terminals is provided with a manipulation key, wherein the server constitutes a manipulation signal converting module in the intermediation device or in each of the plurality of manipulation terminals, and wherein, upon receiving a manipulation signal corresponding to the manipulation key from the second processor, the manipulation signal converting module converts the manipulation signal into the individual operating command based on model names received from the second processor and the robot and sends the converted individual operating command to the robot for causing the robot to operate according to the converted individual operating command, while upon receiving the manipulation signal corresponding to the manipulation key from the first processor, the manipulation signal converting module sends the manipulation signal to the robot without the conversion for causing the robot to operate according to the manipulation signal from the first processor.