# US 12,600,037 B2 · Remote control robot, remote control robot control system, and remote control robot control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,600,037 B2 - Document ID: US12600037B2 - Status: Granted - Kind: B2 - Application number: 18/571,363 - Filed: 2021-06-18 - Published: 2024-10-24 - Granted: 2026-04-14 - Earliest claimed: 2021-06-18 - Assignees: NTT, Inc. - Applicants: NTT, Inc. - Inventors: Dai Ando; Narimune Matsumura - Web page: https://patentgrep.com/patent/US12600037B2 ## CPC - B25J 9/1661: {characterised by task planning, object-oriented languages} - B25J 13/06: Control stands, e.g. consoles, switchboards - A61G 12/00: Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food {(service or tea-tables, trolleys or wagons A47B31/00)}; Prescription lists - B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00) - B25J 13/00: Controls for manipulators (program controls B25J9/16) - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - G05D 1/02: Control of position or course in two dimensions - A61B 34/32: operating autonomously - A61B 34/35: for telesurgery - B25J 9/1664: {characterised by motion, path, trajectory planning} - G05D 1/80: Arrangements for reacting to or preventing system or operator failure (handing over between remote control and on-board control, or handing over between remote control arrangements G05D1/227) - G05D 1/81: Handing over between on-board automatic and on-board manual control - 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}) - A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A remote-controlled robot autonomously travels to a plurality of task execution places according to a patrol schedule and executes a plurality of tasks at each task execution place, and includes a setting acquisition unit, and a first switching unit. The setting acquisition unit acquires setting of whether to perform autonomous operation or to perform manual operation by an operation of an operator from a remote control terminal for each of a plurality of tasks to be executed at each task execution place. The first switching unit switches between task execution by autonomous operation and task execution by manual operation based on the acquired setting. ## Claims ### Claim 1 A remote-controlled robot configured to autonomously travel to a plurality of task execution places according to a patrol schedule and execute a plurality of tasks at each task execution place, the remote-controlled robot comprising one or more processors configured to execute instructions that cause the remote-controlled robot to perform operations comprising: acquiring settings of whether to perform autonomous operation or to perform manual operation by an operator from a remote control terminal for each of a plurality of tasks to be performed at each task execution place; switching between task execution by the autonomous operation and task execution by the manual operation based on the acquired setting; detecting whether a task execution target person is sleeping, and selecting a set of operations to perform based on the detecting whether the task execution target person is sleeping, the set of tasks being selected from at least (i) an automated task that is automatically performable on the task execution target person without waking the task execution target person in response to detecting that the task execution target person is sleeping and (ii) switching to a manually executable task in response to detecting that the task execution target person is not sleeping. ### Claim 2 (depends on 1) The remote-controlled robot according to claim 1, wherein the plurality of tasks executed at each task execution place is a task executed for a task execution target person, and wherein the one or more processors are further configured to: detect whether the task execution target person is absent; and correct the patrol schedule in a case where it is detected that the task execution target person is absent. ### Claim 3 (depends on 1) The remote-controlled robot according to claim 1, wherein the plurality of tasks include tasks in which both the autonomous operation and the manual operation are possible, and wherein the one or more processors are further configured to: acquire an operation skill level of the operator of the remote-controlled robot; and switch between task execution by the autonomous operation and task execution by the manual operation in accordance with the acquired operation skill level for a task in which both the autonomous operation and the manual operation are possible. ### Claim 4 (depends on 1) The remote-controlled robot according to claim 1, wherein the plurality of tasks to be executed at each task execution place include tasks requiring a conversation between a task execution target person and the operator, and wherein the one or more processors are further configured to: perform video/audio communication with the control terminal when performing the task requiring a conversation; record a conversation exchanged between the task execution target person and the operator by the video/audio communication; analyze contents of the recorded conversation; and save an analysis result. ### Claim 5 (depends on 1) The remote-controlled robot according to claim 1, wherein the one or more processors are further configured to perform video/audio communication with the control terminal when starting a task to be performed by the autonomous operation, and switch the operation to the manual operation in response to a manual operation request from the control terminal during the autonomous operation. ### Claim 6 A remote-controlled robot control system comprising: a remote-controlled robot configured to autonomously travel to a plurality of task execution places according to a patrol schedule and execute a plurality of tasks at each task execution place; a control terminal configured to manually operate the remote-controlled robot; and a control server accessible by the remote-controlled robot and the control terminal, wherein the control server includes a memory configured to store: the patrol schedule, and a setting of whether to perform an autonomous operation or to perform a manual operation by an operation of an operator from the control terminal for each of a plurality of tasks to be executed at the task execution place regarding each of the plurality of task execution places, wherein the control terminal includes one or more processors configured to perform setting of the patrol schedule and setting of each of the plurality of tasks in the control server prior to start of operation of the remote-controlled robot, and wherein the remote-controlled robot includes one or more processors configured to acquire a setting for each of the patrol schedule and the plurality of tasks from the control server, and switch between task execution by the autonomous operation and task execution by the manual operation based on the acquired setting; detect whether a task execution target person is sleeping, and select a set of operations to perform based on the detecting whether the task execution target person is sleeping, the set of tasks being selected from at least (i) an automated task that is automatically performable on the task execution target person without waking the task execution target person in response to detecting that the task execution target person is sleeping and (ii) switching to a manually executable task in response to detecting that the task execution target person is not sleeping. ### Claim 7 A control method of a remote-controlled robot including a processor and a memory and configured to autonomously travel to a plurality of task execution places according to a patrol schedule and execute a plurality of tasks at each task execution place, the method comprising: causing the processor to acquire setting whether to perform an autonomous operation or to perform a manual operation by an operation of an operator from a remote control terminal for each of the plurality of tasks to be executed at each task execution place; and causing the processor to switch between task execution by the autonomous operation and task execution by the manual operation based on the acquired setting; causing the processor to detect whether a task execution target person is sleeping, and causing the processor to select a set of operations to perform based on the detecting whether the task execution target person is sleeping, the set of tasks being selected from at least (i) an automated task that is automatically performable on the task execution target person without waking the task execution target person in response to detecting that the task execution target person is sleeping and (ii) switching to a manually executable task in response to detecting that the task execution target person is not sleeping.