# US 2018/0126555 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 2018/0126555 A1 - Document ID: US20180126555A1 - Status: Published application - Kind: A1 - Application number: 15/867,136 - Filed: 2018-01-10 - Published: 2018-05-10 - 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/US20180126555A1 ## 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 at position 1 1-17. (canceled) ### Claim 18 An apparatus comprising: one or more processors; and one or more memories including instructions stored thereon that, when executed by the one or more processors, cause the apparatus to: communicate with a robot; recognize a worker who performs a work on a target object together with the robot; determine work information about a work which the recognized worker and the robot perform on the target object together, based on an operation of a work performed in the past by the recognized worker; and control an operation of the robot based on the work information. ### Claim 19 (depends on 18) The apparatus according to claim 18, wherein the instructions, when executed by the one or more processors, further cause the apparatus to control the robot based on a physical feature of the work information. ### Claim 20 (depends on 18) The apparatus according to claim 18, wherein the instructions, when executed by the one or more processors, further cause the apparatus to control at least one of a position, orientation, path, and driving speed of the robot. ### Claim 21 (depends on 18) The apparatus according to claim 18, wherein the instructions, when executed by the one or more processors, further cause the apparatus to control the robot based on the work information such that a change in a position or an orientation of the worker is reduced. ### Claim 22 (depends on 18) The apparatus according to claim 18, wherein the instructions, when executed by the one or more processors, further cause the apparatus to decelerate or stop the robot when a person who is not the worker expected to work in a region enters the region. ### Claim 23 (depends on 18) The apparatus according to claim 18, wherein the instructions, when executed by the one or more processors, further cause the apparatus to present information including a state of recognition of the worker. ### Claim 24 (depends on 23) The apparatus according to claim 23, wherein the instructions, when executed by the one or more processors, further cause the apparatus to present warning information when a person who is not a worker expected to work in a region enters the region. ### Claim 25 (depends on 18) The apparatus according to claim 18, wherein the instructions, when executed by the one or more processors, further cause the apparatus to control the robot so that the robot transfers and places at least one of tools or parts used in the work, based on the work information. ### Claim 26 (depends on 18) The apparatus according to claim 18, wherein the instructions, when executed by the one or more processors, further cause the apparatus to recognize the worker based on an image containing a face of the worker. ### Claim 27 (depends on 26) The apparatus according to claim 26, wherein the instructions, when executed by the one or more processors, further cause the apparatus to hold data related to the worker and recognize the worker based on the held data related to the worker and the image containing the face of the worker. ### Claim 28 (depends on 26) The apparatus according to claim 26, wherein the instructions, when executed by the one or more processors, further cause the apparatus to hold data related to the worker and add work history of the worker to personal information of the worker. ### Claim 29 (depends on 18) The apparatus according to claim 18, wherein the instructions, when executed by the one or more processors, further cause the apparatus to obtain attribute information of the worker and determine the work information based on the attribute information. ### Claim 30 (depends on 29) The apparatus according to claim 29, wherein the attribute information of the recognized worker includes a skill level for a work of the worker. ### Claim 31 (depends on 19) The apparatus according to claim 19, wherein the physical feature of the recognized worker is at least one of the work information regarding a height and a dominant hand. ### Claim 32 (depends on 29) The apparatus according to claim 29, wherein the work is to move the target object that is between the worker and the robot. ### Claim 33 A method for controlling an apparatus, the method comprising: communicating with a robot; recognizing a worker who performs a work on a target object together with the robot; determining work information about a work which the recognized worker and the robot perform on the target object together, based on an operation of a work performed in the past by the recognized worker; and controlling an operation of the robot based on the work information. ### Claim 34 A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute a method comprising: communicating with a robot; recognizing a worker who performs a work on a target object together with the robot; determining work information about a work which the recognized worker and the robot perform on the target object together, based on an operation of a work performed in the past by the recognized worker; and controlling an operation of the robot based on the work information.