# US 12,600,042 B2 · Control device and robot system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,600,042 B2 - Document ID: US12600042B2 - Status: Granted - Kind: B2 - Application number: 18/687,299 - Filed: 2021-09-30 - Published: 2024-11-28 - Granted: 2026-04-14 - Earliest claimed: 2021-09-30 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Yuutarou Takahashi; Yuta Namiki - Web page: https://patentgrep.com/patent/US12600042B2 ## CPC - B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00) - B25J 9/1697: {Vision controlled systems} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - B25J 19/023: {including video camera means} - 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}) ## Abstract This control device comprises a correction amount calculation unit for calculating a correction amount for an operation of a mobile robot with respect to a work space according to information from a visual sensor mounted on the robot, and a control unit for modifying the imaging position and/or imaging orientation of the visual sensor on the basis of the correction amount and applying a correction to the operation of the robot on the basis of the information from the visual sensor after the modification. ## Claims ### Claim 1 A controller, comprising: a processor configured to calculate a correction amount of an operation of a movable type robot with respect to a workspace from information of a vision sensor mounted at the movable type robot, change at least one selected from a group of an imaging position and an imaging orientation of the vision sensor based on the correction amount, and correct the operation of the movable type robot based on information of the vision sensor after the change, wherein when a reference point of the workspace is not included in a detected image acquired from the vision sensor, the processor is configured to change at least one selected from the group of the imaging position and the imaging orientation of the vision sensor based on an arbitrary correction amount. ### Claim 2 (depends on 1) The controller of claim 1, wherein the processor is configured to change at least one selected from the group of the imaging position and the imaging orientation of the vision sensor based on the correction amount of a past time. ### Claim 3 (depends on 1) The controller of claim 1, wherein the processor is configured to calculate a shift amount of the movable type robot from at least one selected from a group of a reference position and a reference orientation with respect to the workspace as the correction amount based on detected three-dimensional information detected based on the information of the vision sensor and reference three-dimensional information, and change at least one selected from the group of the imaging position and the imaging orientation of the vision sensor based on the shift amount. ### Claim 4 (depends on 1) The controller of claim 1, wherein the processor is configured to calculate the correction amount by using machine learning, and repeat movement and imaging of the vision sensor based on the correction amount. ### Claim 5 A controller, comprising: a processor configured to calculate a correction amount of an operation of a movable type robot with respect to a workspace from information of a vision sensor mounted at the movable type robot, change at least one selected from a group of an imaging position and an imaging orientation of the vision sensor based on the correction amount, and correct the operation of the movable type robot based on information of the vision sensor after the change, wherein when a reference point of the workspace is included in a detected image acquired from the vision sensor, the processor is configured to calculate a movement amount of the movable type robot as the correction amount such that the detected image is approximated to a reference image, and change at least one selected from the group of the imaging position and the imaging orientation of the vision sensor based on the movement amount. ### Claim 6 A robot system, comprising: a movable type robot; a vision sensor mounted at the movable type robot; and a processor configured to calculate a correction amount of an operation of the movable type robot with respect to a workspace from information of the vision sensor, change at least one selected from a group of an imaging position and an imaging orientation of the vision sensor based on the correction amount, and correct the operation of the movable type robot based on information of the vision sensor after the change, wherein when a reference point of the workspace is included in a detected image acquired from the vision sensor, the processor is configured to calculate a movement amount of the movable type robot as the correction amount such that the detected image is approximated to a reference image, and change at least one selected from the group of the imaging position and the imaging orientation of the vision sensor based on the movement amount.