# US 12,005,568 B2 · Control device, control method, and program

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- Number: US 12,005,568 B2
- Document ID: US12005568B2
- Status: Granted
- Kind: B2
- Application number: 17/613,958
- Filed: 2020-07-31
- Published: 2022-07-14
- Granted: 2024-06-11
- Earliest claimed: 2019-05-31
- Assignees: JOHNAN Corporation
- Applicants: JOHNAN Corporation
- Inventors: Kozo Moriyama; Shin Kameyama; Truong Gia Vu; Lucas Brooks
- Web page: https://patentgrep.com/patent/US12005568B2

## CPC

- B25J 13/006: {by means of a wireless system for controlling one or several manipulators}
- B25J 19/066: {Redundant equipment}
- B25J 9/1676: {Avoiding collision or forbidden zones}
- B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}
- G06F 3/167: {Audio in a user interface, e.g. using voice commands for navigating, audio feedback}
- G05B 2219/39001: Robot, manipulator control
- 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})
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- 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 control device for controlling a robot that performs a task has an independent mode that causes the robot to work separately and a collaborative mode that causes the robot to work in collaboration with a worker. The control device causes the robot to operate in the independent mode or the collaborative mode. The control device is configured to determine whether a first predetermined condition is satisfied, based on a position of the worker, and to switch from the independent mode to the collaborative mode when the first predetermined condition is satisfied during the independent mode. The control device is configured to determine whether a second predetermined condition is satisfied, based on the position of the worker, and to switch from the collaborative mode to the independent mode when the second predetermined condition is satisfied during the collaborative mode.

## Claims

### Claim 1

A control device for controlling a robot that performs a task,
the control device having an independent mode that causes the robot to work separately and a collaborative mode that causes the robot to work in collaboration with a worker,
the control device comprising a computer configured to perform operations comprising:
operation as an operation control section that causes the robot to operate in the independent mode or the collaborative mode; and
operation as a first switching section or a second switching section,
operation as the first switching section being configured to determine whether a first predetermined condition is satisfied, based on at least one of: a position of the worker, a posture of the worker, a motion of the worker, a direction of a line-of-sight of the worker, a sound made by the worker, and a workpiece supplied by the worker, and being configured to switch from the independent mode to the collaborative mode when the first predetermined condition is satisfied during the independent mode, and
operation as the second switching section being configured to determine whether a second predetermined condition is satisfied, based on at least one of: the position of the worker, the posture of the worker, the motion of the worker, the direction of the line-of-sight of the worker, the sound made by the worker, and the workpiece supplied by the worker, and being configured to switch from the collaborative mode to the independent mode when the second predetermined condition is satisfied during the collaborative mode.

### Claim 2

A control method for controlling a robot that performs a task,
the control method comprising:
causing the robot to work separately in an independent mode and to work in collaboration with a worker in a collaborative mode; and
determining whether a first predetermined condition is satisfied, based on at least one of: a position of the worker, a posture of the worker, a motion of the worker, a direction of a line-of-sight of the worker, a sound made by the worker, and a workpiece supplied by the worker, and switching from the independent mode to the collaborative mode when the first predetermined condition is satisfied during the independent mode, or determining whether a second predetermined condition is satisfied, based on at least one of: the position of the worker, the posture of the worker, the motion of the worker, the direction of the line-of-sight of the worker, the sound made by the worker, and the workpiece supplied by the worker, and switching from the collaborative mode to the independent mode when the second predetermined condition is satisfied during the collaborative mode.

### Claim 3

A non-transitory processor-readable storage medium storing a program for causing a computer to perform operations comprising:
causing a robot to work separately in an independent mode and to work in collaboration with a worker in a collaborative mode; and
determining whether a first predetermined condition is satisfied, based on at least one of: a position of the worker, a posture of the worker, a motion of the worker, a direction of a line-of-sight of the worker, a sound made by the worker, and a workpiece supplied by the worker, and switching from the independent mode to the collaborative mode when the first predetermined condition is satisfied during the independent mode, or determining whether a second predetermined condition is satisfied, based on at least one of: the position of the worker, the posture of the worker, the motion of the worker, the direction of the line-of-sight of the worker, the sound made by the worker, and the workpiece supplied by the worker, and switching from the collaborative mode to the independent mode when the second predetermined condition is satisfied during the collaborative mode.