Telerobotic communications system and method

• US 9,728,078 B2
• Filed: 10/26/2011
• Issued: 08/08/2017
• Est. Priority Date: 10/26/2010
• Status: Active Grant

• Current Assignee: Penguin Automated Systems, Inc.
• Original Assignee: Penguin Automated Systems, Inc.
• Inventors: Baiden, Gregory
• Primary Examiner(s): Holloway, Jason
• Application Number:
  US13/882,131
• Publication Number:
  US 20130226343A1
• Time in Patent Office: 2,113 Days
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G08C 17/00 Arrangements for transmitting signals characterised by the use of a wireless electrical link
• CPC Class Codes: G08C 2201/40 Remote control systems using repeaters, converters, gateways
• CPC Class Codes: H04B 7/155 Ground-based stations H04B7/204 takes precedence
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/08 Robot

Abstract

A telerobotic communications system including a teleoperation center to transmit control data and receive non-control data by wireless connection to and from a first mobile telerobot and indirectly to and from a second mobile telerobot. The first mobile telerobot includes a transceiver for receiving and transmitting control and non-control data, respectively, and also a repeater for relaying control data to a second mobile telerobot and relaying non-control data back to the teleoperation center. The system allows the second mobile telerobot to travel beyond a communications-enabled distance of the wireless signal emitted directly by the teleoperation center. The system may also include wireless repeaters to extend the communications distance between the first and second telerobots.

Claims

1. A telerobotic communications system comprising,

a first mobile telerobot and at least a first deployable repeater module mounted to the first mobile telerobot;

a wireless communication network; and

a teleoperation centre to transmit control data over the wireless communication network and to receive non-control data over the wireless communication network, wherein

the control data comprises at least first mobile telereobot control data and the non-control data comprises at least first mobile telerobot non-control data;

the first mobile telerobot comprising

a transceiver to receive the first mobile telereobot control data over the wireless communication network and to transmit the first mobile non-control data over the wireless communication network, and

an actuator capable of deploying the at least first deployable repeater module;

the at least first deployable repeater module comprising

a repeater to relay control data and non-control data over the wireless communication network;

wherein the first mobile telerobot deploys the at least first deployable repeater module upon sensing that a maximum network delay has been reached; and

wherein the wireless communication network comprises a wireless connection established between the teleoperation centre and the at least first deployable repeater module and a wireless connection established by the at least first deployable repeater module.

2. The telerobotic communications system of claim 1, wherein the wireless connection established by the at least first deployable repeater module is with the first mobile telerobot.

3. The telerobotic communications system of claim 1, further comprises a second mobile telerobot, wherein

the control data comprises at least second mobile telereobot control data and the non-control data comprises at least second mobile telerobot non-control data;

the second mobile telerobot comprising

a transceiver to receive the second mobile telerobot control data over the wireless communication network and to transmit second mobile non-control data over the wireless communication network.

4. The telerobotic communications system of claim 3, wherein the wireless connection established by the at least first deployable repeater module is with the second mobile telerobot.

5. The telerobotic communications system of claim 3, wherein the wireless connection established by the at least first deployable repeater module is with the first mobile telerobot and the wireless communications network further comprises a wireless connection established between the first mobile telerobot and the second mobile telerobot.

6. The telerobotic communications system of claim 3 further comprises at least a second deployable repeater module mounted to the second mobile telerobot;

the second mobile telerobot further comprising

an actuator capable of deploying the at least second deployable repeater module;

the at least second deployable repeater module comprising

a repeater to relay control data and non-control data over the wireless communication network;

wherein the second mobile telerobot deploys the at least second deployable repeater module upon sensing that a maximum network delay has been reached; and

wherein the wireless communication network further comprises the wireless connection established between the at least first deployable repeater module, the at least second deployable repeater module, the first mobile telerobot, and the second mobile telerobot.

7. The telerobotic communications system of claim 1 wherein the actuator of the first mobile telerobot is further capable of collecting the at least first deployable repeater module when returning to the teleoperation centre.

8. The telerobotic communications system of claim 6 wherein the actuator of the second mobile telerobot is further capable of collecting the at least second deployable repeater module.

9. A telerobotic communications system comprising,

a plurality of mobile telerobots and a plurality of deployable repeater modules mounted to the plurality of mobile telerobots;

a wireless communication network; and

a teleoperation centre to transmit control data over the wireless communication network and to receive non-control data over the wireless communication network, wherein;

the control data comprises control data for each of the plurality of telereobots and the non-control data comprises non-control date from each of the plurality of telerobots;

the plurality of mobile telerobots each comprising

a transceiver to receive control data over the wireless communication network and to transmit the non-control data over the wireless communication network, and

an actuator capable of deploying one of the plurality of deployable repeater modules;

the plurality of repeater modules each comprising

a repeater to relay control data and non-control data over the wireless communication network;

wherein the plurality of mobile telerobots deploy a repeater module of the plurality of repeater modules upon sensing that a maximum network delay has been reached; and

,

wherein the wireless communication network comprises a wireless connection established between the teleoperation centre, the plurality of mobile telerobots, and the deployed repeater modules of the plurality of repeater modules.

10. The telerobotic communications system of claim 9 wherein the actuator of each of the plurality of mobile telerobots is further capable of collecting the deployed repeater modules of the plurality of repeater modules.