# US 12,454,060 B2 · Control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,454,060 B2 - Document ID: US12454060B2 - Status: Granted - Kind: B2 - Application number: 18/278,096 - Filed: 2022-03-22 - Published: 2024-04-18 - Granted: 2025-10-28 - Earliest claimed: 2021-03-29 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Kouichirou Hayashi; Tomoyuki Yamamoto; Hajime Suzuki - Web page: https://patentgrep.com/patent/US12454060B2 ## CPC - 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} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 13/088: {with position, velocity or acceleration sensors} - B25J 19/02: Sensing devices - B25J 19/06: Safety devices - G05B 2219/37388: Acceleration or deceleration, inertial measurement - G05B 2219/40549: Acceleration of end effector - 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 control device controls a robot in which a sensor is disposed, the control device comprising: a sensor coordinate storage unit for storing coordinate system information of a sensor coordinate system; a sensor setting storage unit for storing setting information; a sensor data receiving unit for receiving sensor data; an axis angle detection unit for detecting an angle of each of a plurality of axes included in the robot; a sensor value estimation unit for estimating a sensor value to be detected; and an anomalous sensor value determination unit for comparing the value of the sensor data and the sensor value estimated by the sensor value estimation unit and determining that the sensor data receiving unit is receiving sensor data from a sensor of another robot if the difference between the value of the sensor data and the estimated sensor value exceeds a preset threshold value. ## Claims ### Claim 1 A control device for controlling a robot provided with a sensor, the control device comprising: a memory; and a processor, wherein the memory is configured to; store coordinate system information related to a preset sensor coordinate system of the sensor; and store setting information related to communication with the sensor, and the processor is configured to; receive sensor data detected by the sensor based on the setting information; detect an angle of each of a plurality of axes included in the robot; estimate sensor values to be detected by the sensor, through a forward transformation using the angles of the respective axes detected and a coordinate transformation of the sensor coordinate system; and compare values of the sensor data against the sensor values estimated, and determine that the processor is receiving sensor data from a sensor provided on another robot if a difference between the values of the sensor data and the estimated sensor values is greater than a preset threshold, wherein, the robot includes movable members connected by the plurality of axes and servomotors disposed in the respective axes, and the control device drives the movable members by driving each of the servomotors. ### Claim 2 (depends on 1) The control device according to claim 1, further comprising a display configured to output an alert if the processor determines that the processor is receiving sensor data from a sensor provided on another robot. ### Claim 3 (depends on 2) The control device according to claim 2, wherein the display outputs, along with the alert, the setting information stored in the memory and the values of the sensor data received by the processor. ### Claim 4 (depends on 1) The control device according to claim 1, wherein the robot is provided with two or more sensors that respectively measure different physical quantities. ### Claim 5 (depends on 1) The control device according to claim 1, wherein the robot is provided with, as the sensor, a smart device that includes one or more sensors. ### Claim 6 A control device for controlling a robot provided with a sensor, the control device comprising: a memory; and a processor, wherein the memory is configured to; store coordinate system information related to a preset sensor coordinate system of the sensor, and store setting information related to communication with the sensor; the processor is configured to; receive sensor data detected by the sensor based on the setting information; calculate a physical quantity from the sensor data; detect an angle of each of a plurality of axes included in the robot; estimate a physical quantity related to the sensor through a forward transformation using the angles of the respective axes detected and a coordinate transformation of the sensor coordinate system; and compare the physical quantity calculated from the sensor data against the physical quantity estimated, and determine that the processor is receiving sensor data from a sensor provided on another robot if a difference between the calculated physical quantity and the estimated physical quantity is greater than a preset threshold, wherein, the robot includes movable members connected by the plurality of axes and servomotors disposed in the respective axes, and the control device drives the movable members by driving each of the servomotors. ### Claim 7 (depends on 6) The control device according to claim 6, further comprising a display configured to output an alert if the processor determines that the processor is receiving sensor data from a sensor provided on another robot. ### Claim 8 (depends on 7) The control device according to claim 7, wherein the display outputs, along with the alert, the setting information stored in the memory and the values of the sensor data received by the processor. ### Claim 9 (depends on 6) The control device according to claim 6, wherein the robot is provided with two or more sensors that respectively measure different physical quantities. ### Claim 10 (depends on 6) The control device according to claim 6, wherein the robot is provided with, as the sensor, a smart device that includes one or more sensors. ### Claim 11 A control device for controlling a robot among a plurality of robots each provided with a sensor, the control device comprising: a memory; and a processor, wherein the memory is configured to store coordinate system information related to a preset sensor coordinate system of the sensor provided on the robot to be controlled, and the processor is configured to; receive sensor data detected by each of the sensors provided on the respective robots including the robot to be controlled; detect an angle of each of a plurality of axes included in the robot to be controlled; estimate sensor values to be detected by the sensor of the robot to be controlled, through a forward transformation using the angles of the respective axes detected and a coordinate transformation of the sensor coordinate system; and compare, for each of the sensors provided on the respective robots, values of the sensor data from the sensor against the sensor values estimated, and determine that the sensor is provided on a robot other than the robot to be controlled if a difference between the sensor data and the estimated sensor values is greater than a preset threshold, wherein, the robot includes movable members connected by the plurality of axes and servomotors disposed in the respective axes, and the control device drives the movable members by driving each of the servomotors. ### Claim 12 A control device for controlling a robot among a plurality of robots each provided with a sensor, the control device comprising: a memory; and a processor, wherein the memory is configured to store coordinate system information related to a preset sensor coordinate system of the sensor provided on the robot to be controlled, and the processor is configured to; receive sensor data detected by each of the sensors provided on the respective robots including the robot to be controlled; calculate a physical quantity from the sensor data from each of the sensors provided on the respective robots; detect an angle of each of a plurality of axes included in the robot to be controlled; estimate a physical quantity related to the sensor of the robot to be controlled, through a forward transformation using the angles of the respective axes detected and a coordinate transformation of the sensor coordinate system; and compare, for each of the sensors provided on the respective robots, the physical quantity calculated from the sensor data from the sensor against the physical quantity estimated, and determine that the sensor is provided on a robot other than the robot to be controlled if a difference between the physical quantity calculated from the sensor data and the estimated physical quantity is greater than a preset threshold, wherein, the robot includes movable members connected by the plurality of axes and servomotors disposed in the respective axes, and the control device drives the movable members by driving each of the servomotors.