US 12,233,534 B2
Robot
Tingting Zhong, Yamanashi (JP); and Shouta Takizawa, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/260,742
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Apr. 20, 2021, PCT No. PCT/JP2021/016079
§ 371(c)(1), (2) Date Jul. 7, 2023,
PCT Pub. No. WO2022/224358, PCT Pub. Date Oct. 27, 2022.
Prior Publication US 2024/0058969 A1, Feb. 22, 2024
Int. Cl. B25J 19/04 (2006.01); B25J 13/08 (2006.01)
CPC B25J 13/08 (2013.01) [B25J 19/04 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A robot, comprising:
a three-dimensional sensor configured to capture an image of a target object;
a notification unit configured to notify a determination timing for, based on fluctuation of a physical quantity relating to the three-dimensional sensor, determining deviation in an optical system belonging to the three-dimensional sensor; and
a determination unit configured to determine whether deviation in the optical system belonging to the three-dimensional sensor has arisen,
wherein the fluctuation of the physical quantity includes at least one of a number of times the robot operates, a number of times the robot takes out a target object, a number of times the three-dimensional sensor captures an image, a number of times acceleration or deceleration is applied to the three-dimensional sensor, a change in temperature of the three-dimensional sensor within a certain time period, a change in temperature of the three-dimensional sensor within a total operating time period, or a number of changes in temperature by the three-dimensional sensor within the total operating time period.