# US 12,122,055 B2 · Sensor control apparatus, sensor control method, and program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,122,055 B2 - Document ID: US12122055B2 - Status: Granted - Kind: B2 - Application number: 17/157,308 - Filed: 2021-01-25 - Published: 2021-08-26 - Granted: 2024-10-22 - Earliest claimed: 2020-02-21 - Assignees: Sony Interactive Entertainment Inc. - Applicants: Sony Interactive Entertainment Inc. - Inventors: Kazuyuki Shikama; Yoshio Miyazaki - Web page: https://patentgrep.com/patent/US12122055B2 ## CPC - B25J 9/1692: {Calibration of manipulator} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - G06N 3/008: based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - G05B 2219/40582: Force sensor in robot fixture, base - 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}) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - 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 sensor control apparatus includes an environment information acquisition section configured to acquire environment information indicative of an operating environment of a sensor that detects the force or the moment exerted on the surface of a housing, and a correction processing section configured to correct the output of the sensor on the basis of the environment information. ## Claims ### Claim 1 A sensor control apparatus comprising a processor operating under control of an application program in order to implement: an environment information acquisition section configured to acquire environment information indicative of an operating environment of a sensor that detects a force or a moment exerted on a surface of a housing; and a correction processing section configured to correct an output of the sensor on a basis of the environment information, wherein: the environment information includes temperature information indicative of an ambient temperature of the sensor, and contact information indicative of whether or not there is an object in contact with the surface, the correction processing section determines a correction value with respect to an output value of the sensor as a function of the ambient temperature, and the sensor control apparatus further includes a correction value updating section configured to update the correction value on a basis of the ambient temperature and on the output value in a case where there is no object in contact with the surface. ### Claim 2 (depends on 1) The sensor control apparatus according to claim 1, wherein the correction processing section determines the correction value that varies continuously as a function of the ambient temperature, by referencing correction values set discretely with respect to temperatures and by interpolating the referenced correction values. ### Claim 3 (depends on 1) The sensor control apparatus according to claim 1, wherein the correction processing section determines the correction value that varies continuously as a function of the ambient temperature, by referencing a correction value set as a function of a temperature and by inputting the ambient temperature to the function. ### Claim 4 (depends on 1) The sensor control apparatus according to claim 1, wherein the surface is a ground contact surface coupled to a leg part of a robot, the contact information is posture information indicative of a posture of the robot, and the correction value updating section updates the correction value in a case where the posture information indicates that the leg part that displaces the ground contact surface is in a leg swing state. ### Claim 5 (depends on 1) The sensor control apparatus according to claim 1, wherein the correction value updating section newly sets the correction value in a case where the ambient temperature reaches a temperature range for which no correction value is set beforehand. ### Claim 6 (depends on 1) The sensor control apparatus according to claim 1, wherein the environment information includes material information indicative of a material of a member interposed between the surface and the sensor, and the correction processing section determines the correction value with respect to an output value of the sensor based on the material. ### Claim 7 (depends on 6) The sensor control apparatus according to claim 6, wherein the environment information includes temperature information indicative of an ambient temperature of the sensor, and the correction processing section determines the correction value according to a thermal expansion rate of each of the materials at the ambient temperature. ### Claim 8 A sensor control method performed by a processor operating under control of an application program in order to carry out actions, comprising: acquiring environment information indicative of an operating environment of a sensor that detects a force or a moment exerted on a surface of a housing; and correcting an output of the sensor on a basis of the environment information, wherein: the environment information includes temperature information indicative of an ambient temperature of the sensor, and contact information indicative of whether or not there is an object in contact with the surface, the correcting includes determining a correction value with respect to an output value of the sensor as a function of the ambient temperature, and the sensor control method further includes updating the correction value on a basis of the ambient temperature and on the output value in a case where there is no object in contact with the surface. ### Claim 9 A non-transitory, computer readable storage medium containing a program, which when executed by a computer, causes the computer to perform a sensor control method by carrying out actions, comprising: acquiring environment information indicative of an operating environment of a sensor that detects a force or a moment exerted on a surface of a housing; and correcting an output of the sensor on a basis of the environment information, wherein: the environment information includes temperature information indicative of an ambient temperature of the sensor, and contact information indicative of whether or not there is an object in contact with the surface, the correcting includes determining a correction value with respect to an output value of the sensor as a function of the ambient temperature, and the sensor control method further includes updating the correction value on a basis of the ambient temperature and on the output value in a case where there is no object in contact with the surface.