# US 12,214,503 B2 · Robot control system, information processor, information processing method, and non-transitory computer readable medium storing program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,214,503 B2 - Document ID: US12214503B2 - Status: Granted - Kind: B2 - Application number: 17/730,498 - Filed: 2022-04-27 - Published: 2022-12-01 - Granted: 2025-02-04 - Earliest claimed: 2021-05-27 - Assignees: OMRON Corporation - Applicants: OMRON Corporation - Inventors: Toshiyuki Higuchi - Web page: https://patentgrep.com/patent/US12214503B2 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1676: {Avoiding collision or forbidden zones} - B25J 13/06: Control stands, e.g. consoles, switchboards - G05B 2219/39082: Collision, real time collision avoidance - 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 A technique allows verification of a robot operation without any cost for an additional robot or for a person entering a monitoring area. A robot control system includes a monitored robot for which a monitoring area is defined and a robot controller that controls the monitored robot in a plurality of modes including a first mode to change an operation of the monitored robot in response to an object detected in the monitoring area being a robot. ## Claims ### Claim 1 A robot control system, comprising: a monitored robot for which a monitoring area is defined; and a robot controller configured to control the monitored robot in a plurality of modes including a first mode to change or continue an operation of the monitored robot and a second mode to continue the operation of the monitored robot, wherein the robot controller controls the monitored robot to stop the operation of the monitored robot in response to an object detected in the monitoring area being an autonomous robot and an operation mode of the monitored robot being the first mode, the robot controller controls the monitored robot to continue the operation of the monitored robot in response to the object detected in the monitoring area being the autonomous robot and the operation mode of the monitored robot being the second mode, and the robot controller controls the monitored robot to stop the operation of the monitored robot in response to the object detected in the monitoring area being not the autonomous robot. ### Claim 2 (depends on 1) The robot control system according to claim 1, further comprising: a determination controller configured to determine whether to change or continue the operation of the monitored robot in accordance with specified information specifying operation verification of the monitored robot, wherein in the first mode, the robot controller controls the monitored robot to change or continue the operation in accordance with a result of determination performed by the determination controller. ### Claim 3 (depends on 1) The robot control system according to claim 1, wherein the monitoring area includes a plurality of subareas, and the robot control system further includes a receiving controller configured to receive information specifying at least one subarea of the plurality of subareas to undergo operation verification in the first mode. ### Claim 4 (depends on 3) The robot control system according to claim 3, wherein the robot controller controls the robot to enter the at least one subarea specified with the information received by the receiving controller. ### Claim 5 (depends on 1) The robot control system according to claim 1, further comprising: a display configured to display information indicating whether the monitoring area is an area that has undergone operation verification of the monitored robot in the first mode. ### Claim 6 An information processor, comprising: an obtaining controller configured to obtain an output signal indicating detection of an object in a monitoring area defined for a monitored robot; and a robot controller configured to control the monitored robot in a plurality of modes including a first mode to change or continue an operation of the monitored robot and a second mode to continue the operation of the monitored robot, wherein the robot controller controls the monitored robot to stop the operation of the monitored robot in response to an object detected in the monitoring area being an autonomous robot and an operation mode of the monitored robot being the first mode, the robot controller controls the monitored robot to continue the operation of the monitored robot in response to the object detected in the monitoring area being the autonomous robot and the operation mode of the monitored robot being the second mode, and the robot controller controls the monitored robot to stop the operation of the monitored robot in response to the object detected in the monitoring area being not the autonomous robot. ### Claim 7 An information processing method, comprising: obtaining an output signal indicating detection of an object in a monitoring area defined for a monitored robot; controlling the monitored robot in a plurality of modes including a first mode to change or continue an operation of the monitored robot and a second mode to continue the operation of the monitored robot; and controlling the monitored robot to stop the operation of the monitored robot in response to an object detected in the monitoring area being an autonomous robot and an operation mode of the monitored robot being the first mode, controlling the monitored robot to continue the operation of the monitored robot in response to the object detected in the monitoring area being the autonomous robot and the operation mode of the monitored robot being the second mode, and controlling the monitored robot to stop the operation of the monitored robot in response to the object detected in the monitoring area being not the autonomous robot. ### Claim 8 A non-transitory computer readable medium storing a program for causing a computer to execute a process, comprising: obtaining an output signal indicating detection of an object in a monitoring area defined for a monitored robot; controlling the monitored robot in a plurality of modes including a first mode to change or continue an operation of the monitored robot and a second mode to continue the operation of the monitored robot; and controlling the monitored robot to stop the operation of the monitored robot in response to an object detected in the monitoring area being an autonomous robot and an operation mode of the monitored robot being the first mode, controlling the monitored robot to continue the operation of the monitored robot in response to the object detected in the monitoring area being the autonomous robot and the operation mode of the monitored robot being the second mode, and controlling the monitored robot to stop the operation of the monitored robot in response to the object detected in the monitoring area being not the autonomous robot. ### Claim 9 (depends on 1) The robot control system according to claim 1, further comprising a safety controller configured to determine whether the object detected in the monitoring area is the autonomous robot and determine, in response to determining that the object detected in the monitoring area is the autonomous robot, whether the operation mode of the monitored robot is the first mode or the second mode. ### Claim 10 (depends on 9) The robot control system according to claim 9, wherein the safety controller is further configured to stop the operation of the monitored robot, without determining whether the operation mode of the monitored robot is the first mode or the second mode, in response to determining that the object detected in the monitoring area is not the autonomous robot.