# US 12,109,693 B2 · Control system and control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,109,693 B2 - Document ID: US12109693B2 - Status: Granted - Kind: B2 - Application number: 17/278,321 - Filed: 2019-10-08 - Published: 2021-11-11 - Granted: 2024-10-08 - Earliest claimed: 2018-10-12 - Assignees: OMRON Corporation - Applicants: OMRON Corporation - Inventors: Mitsuhiro Yoneda - Web page: https://patentgrep.com/patent/US12109693B2 ## CPC - B25J 9/0084: {comprising a plurality of manipulators} - G05D 1/0297: {by controlling means in a control room} - B25J 9/1664: {characterised by motion, path, trajectory planning} - G05B 19/042: using digital processors (G05B19/05 takes precedence) - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05B 2219/50391: Robot - 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}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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 system includes: a search part that, among one or more moving systems, searches for the moving system that meets preset requirements; an instruction part that outputs to a moving mechanism included in the moving system being searched an instruction for moving a second machine to be controlled included in the moving system being searched by the search part to a position operable in linkage with a first machine to be controlled; and a provision part that provides to a storage part of a second control device included in the searched moving system a linking user program for controlling the second machine to be controlled to operate in linkage with the first machine to be controlled. This makes it possible to efficiently perform dynamic recombination of the machines to be controlled. ## Claims ### Claim 1 A control system, comprising: a first processor for controlling a first machine to be controlled; and one or more moving systems, wherein each of the one or more moving systems comprises: a second machine to be controlled; a moving robot which moves the second machine to be controlled; a second processor for controlling the second machine to be controlled; and a memory for storing a user program for controlling the second machine to be controlled, wherein the second processor is configured to: execute the user program stored by the memory; wherein the first processor is configured to: search, among the one or more moving systems, for the moving system that meets preset requirements comprising: delivering a support request to which requirement information comprising hardware and software requirements to perform the support is added to the one or more moving systems, wherein each of the one or more moving systems determines whether the support is possible according to the requirement information added to the support request, and wherein a first moving system among the one or more moving systems notifies a reply indicating that the support is possible; receiving a reply notified by a first moving system among the one or more moving systems and indicating that the support is possible; and determining that the first moving system is the searched moving system; output, to the moving robot included in the searched moving system, an instruction for moving the second machine to be controlled included in the searched moving system to a position operable in linkage with the first machine to be controlled; and provide, to the memory of the second processor included in the searched moving system, a linking user program for controlling the second machine to be controlled to operate in linkage with the first machine to be controlled. ### Claim 2 (depends on 1) The control system according to claim 1, wherein the linking user program comprises a command for the second processor to connect to the first processor via a network. ### Claim 3 (depends on 1) The control system according to claim 1, wherein the first processor has a first timer which is time-synchronized with the first machine to be controlled, and the second processor further has: a second timer which is time-synchronized with the second machine to be controlled, wherein the second processor is further configured to: adjust the second timer to be time-synchronized with the first timer when the linking user program is provided to the memory first processor. ### Claim 4 (depends on 1) The control system according to claim 1, further comprising a server device capable of communicating with the moving system, wherein the first processor is included in the server device. ### Claim 5 A control method of a control system, wherein the control system comprises: a first processor which controls a first machine to be controlled; and one or more moving systems, wherein each of the one or more moving systems comprises: a second machine to be controlled; a moving robot which moves the second machine to be controlled; a second processor for controlling the second machine to be controlled; and a memory for storing a user program for controlling the second machine to be controlled, wherein the second processor is configured to: execute the user program stored by the memory; the control method comprises: searching, among the one or more moving systems, for the moving system that meets preset conditions comprising: delivering a support request to which requirement information comprising hardware and software requirements to perform the support is added to the one or more moving systems, wherein each of the one or more moving systems determines whether the support is possible according to the requirement information added to the support request, and wherein a first moving system among the one or more moving systems notifies a reply indicating that the support is possible; receiving a reply notified by a first moving system among the one or more moving systems and indicating that the support is possible; and determining that the first moving system is the searched moving system; outputting, to the moving robot, an instruction for moving the second machine to be controlled included in the searched moving system to a position operable in linkage with the first machine to be controlled; and providing, to the memory of the second processor included in the searched moving system, a linking user program for controlling the second machine to be controlled to operate in linkage with the first machine to be controlled.