Robot, robot system and server

• US 10,442,084 B2
• Filed: 01/19/2016
• Issued: 10/15/2019
• Est. Priority Date: 01/26/2015
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Sejimo, Isamu, Takahashi, Masaru, Iida, Izumi
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US15/000,303
• Publication Number:
  US 20160214257A1
• Time in Patent Office: 1,365 Days
• Field of Search: None
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 2219/40009 Remove and replace machine part, module
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

A robot controlled by a controller includes a recording part that records sensor information on a sensor, and a transmission part that transmits the sensor information to the controller or an external apparatus.

Claims

1. A robot controlled by a controller comprising:

a control unit comprising

a recording part that records sensor information obtained by a plurality of sensors during power-up of at least one of the controller or the robot; and

a transmission part that transmits the sensor information to the controller,

wherein the control unit receives a control signal from the controller for controlling the robot when the controller determines that the sensor information recorded during the power-up of the at least one of the controller or the robot coincides with sensor information stored by the controller,

wherein the recording part records power information corresponding to an OFF time representing when the robot was powered OFF, and

the transmission part transmits the power information with the sensor information to the controller.

2. The robot according to claim 1, further comprising the plurality of sensors.

3. The robot according to claim 1, wherein the sensor information is data indicating a sensor type corresponding to each sensor of the plurality of sensors.

4. The robot according to claim 1, wherein the sensor information represents performance of the plurality of sensors.

5. The robot according to claim 1, wherein the sensor information represents previously recorded sensor information corresponding to the plurality of sensors.

6. The robot according to claim 5, wherein the previously recorded sensor information represents chronological measurement values.

7. The robot according to claim 5, wherein the previously recorded sensor information represents a measurement value of the plurality of sensors at a time when an abnormality occurred.

8. The robot according to claim 5, wherein the plurality of sensors are provided in a movable part, and

the sensor information represents a measurement value of the plurality of sensors with respect to each location of the movable part in the past.

9. A robot system comprising:

a robot including a sensor and a recording part that records sensor information about the sensor during power-up of the robot; and

a controller that controls at least the robot,

wherein the controller includes an analysis part that receives the sensor information from the robot and analyzes the sensor information to determine whether the sensor information coincides with previously recorded sensor information stored at the controller, wherein the controller provides a control signal for controlling the robot when the sensor information recorded during power-up coincides with the previously recorded sensor information,

wherein the sensor information comprises previously chronologically recorded measurement values wherein the controller generates a first allowable range for the sensor based on the sensor information, wherein the controller generates an abnormality notice when the sensor information recorded during power-up is not within with the first allowable range,

wherein the controller generates a second allowable range by calculating an average value G and standard deviation H of the chronologically recorded measurement values of the sensor when the sensor information recorded during power-up is within the first allowable range, wherein the second allowable range is defined by G±

n×

H, where n is a natural number, wherein the controller generates the abnormality notice when the sensor information recorded during power-up is not within with the second allowable range.

10. The robot system according to claim 9, wherein the analysis part determines whether a measurement value of the sensor in the present belongs to an allowable range derived from a measurement value of the sensor in the past, and determines that the robot is abnormal when the measurement value of the sensor in the present is not in the allowable range.

11. The robot system according to claim 10, wherein the controller including the analysis part allows a display part to display an analysis result of the sensor information.

12. A robot system comprising:

a robot including a plurality of sensors, a recording part that records sensor information obtained by the plurality of sensors during power-up of the robot, and a transmission part; and

a controller that controls at least the robot,

wherein the controller receives the sensor information from the robot and determines whether or not an individual sensor of the controllably connected robot is changed based on whether or not sensor information corresponding to the individual sensor based upon a comparison of the sensor information corresponding to the individual sensor with previously recorded sensor information corresponding to the individual sensor stored by the controller, wherein the controller transmits a control signal to the robot when the sensor information recorded during power-up coincides with previously recorded sensor information stored by the controller and generates an abnormality notice when the sensor information recorded during power-up does not coincide with the previously recorded sensor information stored by the controller,

wherein the recording part records power information corresponding to an OFF time representing when the robot was powered OFF, and

the transmission part transmits the over information with the sensor information to the controller.