US 12,379,712 B2
Control mode switching apparatus and control mode switching method
Takeshi Kishikawa, Osaka (JP); Yoshihiro Ujiie, Tokyo (JP); and Ryo Hirano, Kanagawa (JP)
Assigned to Panasonic Intellectual Property Corporation of America, Torrance, CA (US)
Filed by Panasonic Intellectual Property Corporation of America, Torrance, CA (US)
Filed on Feb. 21, 2023, as Appl. No. 18/112,311.
Application 18/112,311 is a continuation of application No. PCT/JP2021/025866, filed on Jul. 8, 2021.
Claims priority of application No. PCT/JP2020/033120 (WO), filed on Sep. 1, 2020.
Prior Publication US 2023/0205181 A1, Jun. 29, 2023
Int. Cl. G05B 19/4155 (2006.01); G05D 1/00 (2006.01)
CPC G05B 19/4155 (2013.01) [G05D 1/0038 (2013.01); G05D 1/0061 (2013.01); G05B 2219/50391 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A control mode switching apparatus that switches a control mode of a robot,
wherein the control mode includes all of the following modes: (i) a remote control mode in which the robot is controlled by a first user over an external network; (ii) a manual control mode in which the robot is controlled by being operated by a second user without using the external network; and (iii) an autonomous control mode in which the robot is controlled based on sensor information obtained by a sensor provided in the robot, and
the control mode switching apparatus comprises:
an obtainer that, based on a communication message on a control network in the robot and the control mode, obtains a detection result of detecting an anomaly occurring in the robot among at least one type of anomaly, the at least one type of anomaly including a user anomaly caused by control performed by the first user or the second user, a robot anomaly caused by the control network, an operating environment anomaly caused by an operating environment of the robot, or an application anomaly caused by an application run by a control device that is connected to the control network and that controls the robot; and
a switcher that, based on the detection result obtained, calculates, for each type of anomaly of the at least one type of anomaly, a score indicating a likelihood that the type of anomaly is a cause of the anomaly occurring in the robot, and switches the control mode of the robot based on each score calculated.