# US 2015/0352719 A1 · Apparatus, method for controlling apparatus, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2015/0352719 A1 - Document ID: US20150352719A1 - Status: Published application - Kind: A1 - Application number: 14/726,958 - Filed: 2015-06-01 - Published: 2015-12-10 - Earliest claimed: 2014-06-05 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: Yusuke Nakazato; Kazuhiko Kobayashi; Masahiro Suzuki - Web page: https://patentgrep.com/patent/US20150352719A1 ## CPC - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - G05B 19/4183: {characterised by data acquisition, e.g. workpiece identification} - G05B 2219/31289: Read card with operator and another card with process, product, work order info - G05B 2219/40202: Human robot coexistence - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - 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) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract An apparatus comprises a holding unit configured to hold data related to a worker; an obtaining unit configured to obtain measurement data for recognizing the worker; a recognizing unit configured to recognize the worker based on the data related to the worker and the measurement data; a determination unit configured to determine work information about a work which the worker and a robot perform on a target object together, corresponding to the recognized worker, based on a physical feature of the recognized worker; and a controlling unit configured to control the robot based on the work information so that the worker and the robot perform a work on the target object together. ## Claims ### Claim 1 An apparatus comprising: a holding unit configured to hold data related to a worker; an obtaining unit configured to obtain measurement data for recognizing the worker; a recognizing unit configured to recognize the worker based on the data related to the worker and the measurement data; a determination unit configured to determine work information about a work which the worker and a robot perform on a target object together, corresponding to the recognized worker, based on a physical feature of the recognized worker; and a controlling unit configured to control the robot based on the work information so that the worker and the robot perform a work on the target object together. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein the controlling unit controls a driving speed of the robot based on the work information. ### Claim 3 (depends on 1) The apparatus according to claim 1, wherein the controlling unit controls at least one of a position, orientation, and path of the robot based on the work information. ### Claim 4 (depends on 1) The apparatus according to claim 1, wherein the controlling unit controls at least one of a position, orientation, and path of the robot based on the work information to reduce a change in at least one of a position and orientation of the worker. ### Claim 5 (depends on 1) The apparatus according to claim 1, wherein the controlling unit at least decelerates or stops the robot when a person who is not a worker expected to work in a predetermined region enters the predetermined region, based on the work information. ### Claim 6 (depends on 1) The apparatus according to claim 1, further comprising: a presenting unit configured to present information indicating a state of recognition of a worker by the recognizing unit. ### Claim 7 (depends on 6) The apparatus according to claim 6, wherein the presenting unit presents warning information when a person who is not a worker expected to work in a predetermined region enters the predetermined region, based on the work information. ### Claim 8 (depends on 1) The apparatus according to claim 1, wherein the controlling unit controls the robot so that the robot transfers and places at least one of tools or parts used in a work, based on the work information. ### Claim 9 (depends on 1) The apparatus according to claim 1, further comprising: an updating unit configured to update or add at least one of information about the worker and the work information. ### Claim 10 (depends on 8) The apparatus according to claim 8, wherein the updating unit adds a work history of an individual recognized by the recognizing unit to personal information of the individual. ### Claim 11 (depends on 1) The apparatus according to claim 1, wherein the obtaining unit obtains an image containing a face of the worker, and the recognizing unit recognizes the worker based on the obtained face image and previously held information. ### Claim 12 (depends on 1) The apparatus according to claim 1, wherein the recognizing unit further obtains attribute information of the recognized worker, and the determination unit determines information about a work which the worker and the robot perform together, based on the attribute information. ### Claim 13 (depends on 12) The apparatus according to claim 12, wherein the attribute information of the recognized worker is at least one of a physical feature of the worker, a skill level for a work of the worker, and a work path in a work of the worker. ### Claim 14 (depends on 1) The apparatus according to claim 1, wherein the work information is a driving speed of the robot. ### Claim 15 (depends on 1) The apparatus according to claim 1, wherein the work is to transfer the target object between the worker and the robot. ### Claim 16 A method for controlling an apparatus, the method comprising the steps of: holding data related to a worker; obtaining measurement data for recognizing the worker; recognizing the worker based on the data related to the worker and the measurement data; determining work information about a work which the worker and a robot perform on a target object together, corresponding to the recognized worker, based on a physical feature of the recognized worker; and controlling the robot based on the work information so that the worker and the robot perform a work on the target object together. ### Claim 17 A non-transitory computer-readable storage medium storing a computer program for causing a computer to function as: a holding unit configured to hold data related to a worker; an obtaining unit configured to obtain measurement data for recognizing the worker; a recognizing unit configured to recognize the worker based on the data related to the worker and the measurement data; a determination unit configured to determine work information about a work which the worker and a robot perform on a target object together, corresponding to the recognized worker, based on a physical feature of the recognized worker; and a controlling unit configured to control the robot based on the work information so that the worker and the robot perform a work on the target object together.