CUSTOMIZABLE ROBOTIC SYSTEM

• US 20140009561A1
• Filed: 11/14/2011
• Published: 01/09/2014
• Est. Priority Date: 11/12/2010
• Status: Active Grant

• Current Assignee: CrossWing, Inc.
• Original Assignee: CrossWing, Inc.
• Inventors: Sutherland, Stephen, Wick, Dale, Coulombe, Sam
• Granted Patent: US 8,994,776 B2
• Time in Patent Office: Days
• US Class Current: 348/14.05
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B62D 11/04 by means of separate power sources
• CPC Class Codes: F16M 11/041 Allowing quick release of the apparatus
• CPC Class Codes: F16M 11/10 around a horizontal axis F16M11/12 takes precedence
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/24 changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each otherF16M11/42 takes precedence
• CPC Class Codes: F16M 11/42 with arrangement for propelling the support stands on wheels
• CPC Class Codes: F16M 13/00 Other supports for positioning apparatus or articles heads thereof F16M11/02 ; undercarriages thereof F16M11/20 ; adapted to be stuck in the ground A45F3/44 ; sockets or holders for poles or posts E04H12/22; Means for steadying hand-held apparatus or articles supports for measuring instruments G01D11/30; supports for casings of remote control switching devices H01H9/025
• CPC Class Codes: F16M 2200/08 Foot or support base
• CPC Class Codes: H04N 7/142 Constructional details of the terminal equipment, e.g. arrangements of the camera and the display
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A telepresence robot uses a series of connectible modules and preferably includes a head module adapted to receive and cooperate with a third party telecommunication device that includes a display screen. The module design provides cost advantages with respect to shipping and storage while also allowing flexibility in robot configuration and specialized applications.

Claims

1. A telepresence robot comprising a modular structure, including:

a head attachment module for receiving a telecommunication device;

a base module with at least 3 omni-wheels with each omni-wheel having a motor drives, a power supply, sensors, and a processing arrangement controlling said motor drives and connected to said sensors for controlled movement of said mobile device;

said wheeled base module further including electronic connectivity to other modules; and

a mid-section module intermediate said head attachment module and said wheeled base module,

wherein said mid-section module includes camera components for providing video content transmitted by said telepresence robot and/or provided to said processing arrangement as a further input for control of said mobile device;

and wherein said camera components include a video camera in combination with a reflective dome.

2. A telepresence robot as claimed in claim 1 wherein said reflective dome is provided in a through port of said mid-section module and said camera is an upwardly oriented camera facing the dome.

3. A telepresence robot as claimed in claim 1 wherein said camera components include at least two reflective dome members facing said video camera to provide 3D front, rear and at least partial side video information about the telepresence robot.

4. A telepresence robot as claimed in claim 1 wherein said head attachment module supports a connected telecommunication device with video transmitting and receiving functionality, a computer tablet with video transmitting and receiving functionality or a computer display with video transmitting and receiving functionality.

5. A telepresence robot as claimed in claim 4 wherein said telecommunication device includes a computer display terminal, a computer tablet and/or a cellular telephone device.

6. A telepresence robot as claimed in claim 4 wherein said base module includes an omni-driven 3 wheel arrangement and said power supply includes rechargeable batteries for powering motors that drive said wheels.

7. A telepresence robot as claimed in claim 6 wherein said wheeled base module, said mid-section module and said head attachment module are vertically stacked and generally centered on said base module.

8. A telepresence robot as claimed in claim 7 wherein said base module is of a width greater than 2 times a width of said mid-section module or said head attachment module.

9. A telepresence robot as claimed in claim 1 including a transition module between said wheeled base module and said mid-section module.

10. A mobile platform comprising a wheeled base module in combination with a functional module extending above and supported by said wheeled base module;

said wheeled base module including at least three driven omni-wheels with each driven omni-wheel having an electric drive motor and a controller operating said drive motors to selectively cause any of forward, rearward and pivoting movement of said base module for movement along a desired path;

said at least three driven omni-wheels cooperating with said base module to provide at least 3 point support of said wheeled base module on a planar surface;

said wheeled base module including a rechargeable power supply connected to said drive motors and said controller for powering thereof;

said omni-wheeled base module having a low squat profile providing a low center of gravity of said mobile platform;

said functional module supporting an electrically powered functional device at a raised position substantially spaced from an upper region of said wheeled base module;

said functional module being vertically elongate and including an upper edge region adapted to engage and support a head support module thereabove.

11. A mobile platform as claimed in claim 10 wherein said head support module includes a tilt head mount adapted to receive and support a thin profile electronic display screen.

12. A mobile platform as claimed in claim 11 wherein said tilt head mount includes a securing structure for supporting a computer tablet.

13. A mobile platform as claimed in claim 10 including a series of sensors that provide proximity data with respect to obstructions about said mobile platform.

14. A mobile platform as claimed in claim 13 wherein said electrically powered device is a video capture device provided in a port extending through a front portion and a rear portion of said at least one functional module.

15. A mobile platform as claimed in claim 14 wherein said video capture device includes at least one downwardly directed dome reflector provided in said port and a video camera facing upwardly into said port and aligned with said at least one dome reflector to capture any images thereon.

16. A mobile platform as claimed in claim 15 wherein said functional module includes a transition segment directly secured to and centered on said upper region of said omni-wheeled base module, said transition segment tapering inwardly and upwardly and joining with an upper portion of said functional module containing said video capture device and of significantly reduced cross section relative to said upper region of said wheeled base and defining a thin elongate cross-section.

17. A mobile platform as claimed in claim 16 wherein said upper portion of said functional module is of a generally planar elongate shape having front and back faces of a width at least 4 times the width of side faces of said upper portion.

18. A mobile platform as claimed in claim 10 wherein said functional module includes a moulded outer structure providing structural support of any components located above said functional module.

19. A mobile platform as claimed in claim 10 including a telepresence module mounted on said head support module, said telepresence module including audio and video capture devices in combination with at least one audio speaker and video display unit having input signals received by said telepresence module that originate at a location remote from the mobile platform.

20. A mobile platform as claimed in claim 19 wherein said at least one audio speaker and said video display unit is a computer tablet device pivotally mounted to said head support module.

21. A mobile platform as claimed in claim 19 wherein said wheeled base module is of a weight at least 5 times the weight of the portion of the mobile platform above said wheeled base.

22. A mobile platform as claimed in claim 19 including a laser pointer.

23. A mobile platform as claimed in claim 19 including a projection device.

24. A mobile platform as claimed in claim 19 including an electrically driven mechanism able to extend said head support module beyond said wheeled base module to bring said thin profile electronic display screen within easy reach of users sitting in wheelchairs and resting in beds.

25. A mobile platform as claimed in claim 19 wherein said telepresence module includes a computer tablet that also has an input function, said computer tablet being tillable on said head support module to allow written input of information by writing on said computer tablet.

26. A mobile platform as claimed in claim 10 in combination with a series of stationary sensors in communication with said mobile platform and providing information pertinent to the operating environment of said mobile platform.

27. A mobile platform as claimed in claim 19 includes directly attached sensors that provide sensory data and wherein said mobile platform receives and processes data received from remote monitoring equipment installed to broaden the monitored area.

28. A mobile platform as claimed in claim 19 which augments transmitted audio and visual signals sensory data obtained from directly attached sensors with data received from remote equipment installed to broaden the monitored area.

29. A mobile platform as claimed in claim 10 having a 3D video capture arrangement capturing a first field of view and a video transmitter for transmitting said first field of view in combination withgoogles for remotely displaying a limited field of view of said transmitted first field of view, said 3D googles receiving and processing data of said first field of view and displaying the limited field of view, said 3D googles responding to user movement to display a different portion of the first field of view based on data previously transmitted as part of said first field of view that was not initially displayed, whereby user movement of the googles responds and displays data without adjustment of the mobile platform.