# US 2026/0054375 A1 · Information processing apparatus, information processing method, robot system, manufacturing method for article using robot system, program, and recording medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0054375 A1 - Document ID: US20260054375A1 - Status: Published application - Kind: A1 - Application number: 19/373,086 - Filed: 2025-10-29 - Published: 2026-02-26 - Earliest claimed: 2022-09-27 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: SATOSHI SUGAYA; HIRONOBU SASAKI - Web page: https://patentgrep.com/patent/US20260054375A1 ## CPC - B25J 9/0081: {with leader teach-in means} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1671: {characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems} - G05B 19/42: Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine - G06F 30/12: characterised by design entry means specially adapted for CAD, e.g. graphical user interfaces [GUI] specially adapted for CAD - G06F 30/20: Design optimisation, verification or simulation (optimisation, verification or simulation of circuit designs G06F30/30) - G06T 19/00: Manipulating three-dimensional [3D] models or images for computer graphics - G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)} - G05B 2219/39438: Direct programming at the console - G05B 2219/40099: Graphical user interface for robotics, visual robot user interface - 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) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract An information processing apparatus that executes a simulation by using a virtual model. The information processing apparatus includes a processing unit. The processing unit is configured to display the virtual model and an operating portion on a display unit, the operating portion being used by a user to operate the virtual model, and change setting information on the operating portion in response to input of the user. ## Claims ### Claim 1 An information processing method of executing a simulation by using a virtual model, wherein a processing unit is configured to display, on a display unit, the virtual model and an operating portion for a user to operate the virtual model, and when the virtual model is in a certain state as a result of input from the user, change display of the operating portion to indicate that the virtual model is in the certain state. ### Claim 2 (depends on 1) The information processing method according to claim 1, wherein the processing unit is configured to indicate that the virtual model is in the certain state by changing display of a virtual operating model corresponding to the operating portion. ### Claim 3 (depends on 2) The information processing method according to claim 2, wherein the operating portion includes a first model displayed by arrows in three-axis directions, a second model to which the first model is connected, and a third model displayed by rings for rotations respectively around the arrows, and the processing unit is configured to indicate that the virtual model has entered the certain state by changing a manner of display of the second model. ### Claim 4 (depends on 3) The information processing method according to claim 3, wherein the processing unit is configured to identify the certain state by classifying the certain state into multiple phases, and indicate that the virtual model has entered the certain state by changing, according to the phases, the manner of display by means of a plurality of colors or a plurality of patterns. ### Claim 5 (depends on 4) The information processing method according to claim 4, wherein the phases include a first phase in which the certain state is determined as not occurring, a second phase in which the certain state is determined as approaching based on a threshold, and a third phase in which the certain state is determined as occurring, and the processing unit is configured to display the second model in blue or plain in the first phase, in yellow or mesh in the second phase, and in red or dots in the third phase. ### Claim 6 (depends on 2) The information processing method according to claim 2, wherein the operating portion includes a first model displayed by arrows in three-axis directions, a second model to which the first model is connected, and a third model displayed by rings for rotations respectively around the arrows, and the processing unit is configured to indicate that the virtual model has entered the certain state by changing a shape of the second model. ### Claim 7 (depends on 1) The information processing method according to claim 1, wherein the virtual model includes a virtual robot, and the certain state is a state in which a robot in a real space corresponding to the virtual robot has entered an unreachable posture. ### Claim 8 (depends on 1) The information processing method according to claim 1, wherein the virtual model includes a virtual robot, and the processing unit is configured to change a position or a posture of the virtual robot in response to operation of the operating portion by the user. ### Claim 9 (depends on 1) The information processing method according to claim 1, wherein the processing unit is configured to when the virtual model has entered the certain state as the result of the input from the user, display, together with the operating portion, a pop-up, and indicate in the pop-up that the virtual model is in the certain state. ### Claim 10 (depends on 2) The information processing method according to claim 2, wherein the virtual model is a virtual robot arm, and the certain state includes at least one of a state where the virtual robot arm is at a singular point, a state where the virtual robot arm is outside a movable range, and a state where the virtual robot arm interferes with another virtual model. ### Claim 11 (depends on 1) The information processing method according to claim 1, wherein the processing unit is configured to change the display of the operating portion in link with operation of the virtual model by the user. ### Claim 12 (depends on 1) The information processing method according to claim 1, wherein the processing unit is configured to execute a first mode of operating the virtual model through the operating portion and a second mode of changing a display position or a display magnification of the operating portion. ### Claim 13 (depends on 12) The information processing method according to claim 12, wherein the processing unit is configured to in the first mode, when a button for switching between the first mode and the second mode is pressed, or when a predetermined key is input, execute the second mode. ### Claim 14 (depends on 13) The information processing method according to claim 13, wherein the processing unit is configured to in the second mode, enable the user to directly change the display position or the display magnification of the operating portion. ### Claim 15 (depends on 1) The information processing method according to claim 1, wherein the display unit includes at least one of a PC, a teaching pendant, and a head-mounted display. ### Claim 16 (depends on 1) A robot system comprising a robot whose operation is set by the information processing method according to claim 1. ### Claim 17 (depends on 1) A method of manufacturing an article, comprising performing manufacturing of an article by using a robot whose operation is set by the information processing method according to claim 1. ### Claim 18 An information processing apparatus that executes a simulation by using a virtual model, the apparatus comprising a processing unit, wherein the processing unit is configured to display, on a display unit, the virtual model and an operating portion for a user to operate the virtual model, and when the virtual model is in a certain state as a result of input from the user, change display of the operating portion to indicate that the virtual model is in the certain state. ### Claim 19 (depends on 1) A non-transitory computer-readable recording medium storing a program for causing a computer to execute the information processing method according to claim 1.