# US 12,109,711 B2 · Method of supporting creation of program, program creation supporting apparatus, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,109,711 B2 - Document ID: US12109711B2 - Status: Granted - Kind: B2 - Application number: 17/553,853 - Filed: 2021-12-17 - Published: 2022-06-23 - Granted: 2024-10-08 - Earliest claimed: 2020-12-21 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Kaoru Takeuchi; Hiroki Adachi; Hirofumi Kinoshita - Web page: https://patentgrep.com/patent/US12109711B2 ## CPC - B25J 9/1671: {characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems} - B25J 9/1661: {characterised by task planning, object-oriented languages} - G06F 8/34: Graphical or visual programming - G05B 2219/40392: Programming, visual robot programming language - 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 method of supporting creation of a program for supporting creation of a program for work by a robot, includes detecting an operation by a user on an input device, determining a type of the work by the operation to select the type, displaying a dedicated motion flow showing a sequence of motion of the robot corresponding to the type and containing a dedicated object showing the motion for which a change of the sequence is not allowed on a display device, and converting the dedicated object into a versatile object showing the motion for which a change of the sequence is allowed by the operation to convert the dedicated object. ## Claims ### Claim 1 A method of supporting creation of a program for supporting creation of a program for work by a robot, the method comprising: detecting an operation by a user on an input device; determining a type of the work by the operation to select the type; displaying a dedicated motion flow showing a sequence of motion of the robot corresponding to the type and containing a dedicated object showing the motion for which a change of the sequence of the motion of the robot is not allowed on a display device; and converting the dedicated object into a versatile object showing the motion for which a change of the sequence of the motion of the robot is allowed by the operation to convert the dedicated object. ### Claim 2 (depends on 1) The method of supporting creation of the program according to claim 1, wherein the respective dedicated objects contained in the dedicated motion flow are converted into the versatile objects by the operation to convert the dedicated flow. ### Claim 3 (depends on 1) The method of supporting creation of the program according to claim 1, wherein the converted versatile object is highlighted and displayed on the display device. ### Claim 4 (depends on 1) The method of supporting creation of the program according to claim 1, wherein a message warning a change of the sequence is displayed on the display device by the operation to change the sequence. ### Claim 5 (depends on 1) The method of supporting creation of the program according to claim 1, wherein a source code of the program representing the dedicated motion flow is displayed on the display device. ### Claim 6 A program creation supporting apparatus supporting creation of a program for work by a robot, the apparatus comprising: an input device detecting an operation by a user; a display device displaying an image; and a control circuit determining a type of the work by the operation to select the type, displaying a dedicated motion flow showing a sequence of motion of the robot corresponding to the type and containing a dedicated object showing the motion for which a change of the sequence of the motion of the robot is not allowed on the display device, and converting the dedicated object into a versatile object showing the motion for which a change of the sequence of the motion of the robot is allowed by the operation to convert the dedicated object. ### Claim 7 A non-transitory computer-readable storage medium storing a program creation supporting program for supporting creation of a program for work by a robot, the program for controlling a computer to execute processing comprising: detecting an operation by a user on an input device; determining a type of the work by the operation to select the type; displaying a dedicated motion flow showing a sequence of motion of the robot corresponding to the type and containing a dedicated object showing the motion for which a change of the sequence of the motion of the robot is not allowed on a display device; and converting the dedicated object into a versatile object showing the motion for which a change of the sequence of the motion of the robot is allowed by the operation to convert the dedicated object.