Social behavior rules for a medical telepresence robot

• US 10,328,576 B2
• Filed: 09/29/2017
• Issued: 06/25/2019
• Est. Priority Date: 05/22/2012
• Status: Active Grant

• Current Assignee: iRobot Corporation, Jonata Sub Two, Inc. (Teladoc Health, Inc.), Teladoc Health, Inc.
• Original Assignee: Touch Technologies Incorporated
• Inventors: Pinter, Marco, Lai, Fuji, Sanchez, Daniel Steven, Ballantyne, James, Roe, David Bjorn, Wang, Yulun, Jordan, Charles S., Taka, Orjeta, Wong, Cheuk Wah
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/720,214
• Publication Number:
  US 20180099412A1
• Time in Patent Office: 634 Days
• Field of Search: 700245-264, 318567-569, 901 1, 901 46, 901 47
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G06Q 50/22 Social work or social welfare, e.g. community support activities or counselling services
• CPC Class Codes: G16H 40/67 for remote operation
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical
• CPC Class Codes: Y10S 901/49 Protective device

Abstract

Devices, systems, and methods for social behavior of a telepresence robot are disclosed herein. A telepresence robot may include a drive system, a control system, an object detection system, and a social behaviors component. The drive system is configured to move the telepresence robot. The control system is configured to control the drive system to drive the telepresence robot around a work area. The object detection system is configured to detect a human in proximity to the telepresence robot. The social behaviors component is configured to provide instructions to the control system to cause the telepresence robot to operate according to a first set of rules when a presence of one or more humans is not detected and operate according to a second set of rules when the presence of one or more humans is detected.

Claims

1. A telepresence robot comprising:

a drive system configured to move the telepresence robot;

a control system configured to control the drive system to drive the telepresence robot around a work area;

an object detection system configured to detect a human in proximity to the telepresence robot; and

a social behaviors component configured to provide instructions to the control system to cause the telepresence robot to operate according to a first set of rules when a presence of one or more humans is not detected and operate according to a second set of rules when the presence of one or more humans is detected, wherein the first set of rules comprises planning a path based on maximum efficiency and navigation speed including a first minimum distance from an object, and wherein the second set of rules comprises a second minimum distance from the object, wherein the second minimum distance is less than the first minimum distance.

2. The telepresence robot of claim 1, wherein telepresence robot is configured to request assistance from a human based on an inability of the telepresence robot to perform a task.

3. The telepresence robot of claim 1, wherein the second set of rules comprise maintaining a minimum distance from the human.

4. The telepresence robot of claim 2, wherein the social behaviors component is configured to determine a classification of the human, wherein the minimum distance from the human is based on a determined classification of the human.

5. The telepresence robot of claim 2, wherein the social behaviors component determines the minimum distance from the human based on a zone where the human and the telepresence robot are located.

6. The telepresence robot of claim 2, further comprising a status determination system configured to determine a current status for one or both of the telepresence robot and the human, wherein the minimum distance to be maintained from the human is based on the current status.

7. The telepresence robot of claim 1, wherein the second set of rules comprise a first maximum speed outside a first radius of the human and a second maximum speed outside a second radius and within the first radius.

8. The telepresence robot of claim 1, wherein the first set of rules comprises maximizing avoidance of collision with objects, wherein the second set of rules comprises collision avoidance with humans.

9. The telepresence robot of claim 8, wherein the first set of rules comprises navigating in a middle of a navigable area.

10. The telepresence robot of claim 8, wherein the second set of rules comprises navigating toward a side of the navigable area.

11. The telepresence robot of claim 8, wherein the first set of rules include a first minimum distance from an object and wherein the second set of rules comprises a second minimum distance from the object, wherein the second minimum distance is less than the first minimum distance.

12. The telepresence robot of claim 1, wherein the second set of rules comprises planning a path based on predictability to humans and avoiding contact with the human.

13. The telepresence robot of claim 1, wherein the first set of rules include a first maximum acceleration rate and wherein the second set of rules comprises a second maximum acceleration rate, wherein the second maximum acceleration rate is less than the first maximum acceleration rate.

14. The telepresence robot of claim 1, wherein the first set of rules comprises traveling at a first maximum speed and wherein the second set of rules comprises traveling at a second maximum speed, wherein the second maximum speed is less than the first maximum speed.

15. The telepresence robot of claim 1, wherein the second set of rules comprises causing the robot to acknowledge the presence of the human.

16. The telepresence robot of claim 1, wherein the object detection system is configured to detect the human using a camera.

17. The telepresence robot of claim 1, wherein the object detection system is configured to detect the human using one or more of face detection, feature classification for body shapes, and motion detection.

18. The telepresence robot of claim 1, wherein the object detection system is configured to detect humans within a detection range.

19. A telepresence robot comprising:

a drive system configured to move the telepresence robot;

a control system configured to control the drive system to drive the telepresence robot around a work area;

an object detection system configured to detect a human in proximity to the telepresence robot; and

a social behaviors component configured to provide instructions to the control system to cause the telepresence robot to operate according to a first set of rules when a presence of one or more humans is not detected and operate according to a second set of rules when the presence of one or more humans is detected, wherein the first set of rules comprises planning a path based on maximum efficiency and navigation speed including a first maximum acceleration rate and wherein the second set of rules comprises a second maximum acceleration rate, wherein the second maximum acceleration rate is less than the first maximum acceleration rate.