Docking system for a tele-presence robot

• US 20100010672A1
• Filed: 07/10/2008
• Published: 01/14/2010
• Est. Priority Date: 07/10/2008
• Status: Active Grant

• Current Assignee: Teladoc Health, Inc.
• Original Assignee: Touch Technologies Incorporated
• Inventors: Wang, Yulun, Pinter, Marco, Sanchez, Daniel Steven, Jordan, Charles S., Mangaser, Amante, Rosenthal, James
• Granted Patent: US 9,193,065 B2
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• 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: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: H02J 7/0042 characterised by the mechanical construction
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

A remote controlled robot system that includes a mobile robot with a robot camera and a battery plug module, and a remote control station that transmits commands to control the mobile robot. The system also includes a battery charging module that mates with the mobile robot battery plug module, and an alignment system that aligns the battery plug module with the battery charging module. The battery modules may also be aligned with the aid of video images of the battery charging module provided to the remote station by a camera located within the battery plug module.

Claims

1. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a battery plug module;

a remote control station that transmits commands to control said mobile robot;

a battery charging module includes a plurality of IR emitters and that mates with said mobile robot battery plug module; and

,

an alignment system that includes a sensor and aligns said battery plug module with said battery charging module.

2. The system of claim 1, wherein said mobile robot includes a monitor.

3. The system of claim 2, wherein said monitor and camera move together in at least one degree of freedom.

4. The system of claim 3, wherein said alignment system includes at least one short pass filter in said battery charging module.

5. The system of claim 1, further comprising a camera in said battery plug module.

6. The system of claim 1, wherein said battery plug module includes a plurality of electrical contacts that are concealed by a housing that moves and exposes said electrical contacts when said battery plug module mates with said battery charging module.

7. The system of claim 1, wherein said battery plug module includes a plurality of electrical contacts including a short ground contact that has a length shorter than said other electrical contacts, said battery charging module is de-energized until said short ground contact is plugged into said battery charging module.

8. The system of claim 1, wherein said battery plug module can pivot.

9. The system of claim 1, wherein said mobile robot includes a male electrical plug that can be plugged into a wall socket.

10. The system of claim 1, wherein said remote control station displays a display user interface with a graphical icon that can be selected to enable an automatic docking mode.

11. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a battery plug module that has a plurality of electrical contacts, including a short ground contact that has a length shorter than said other electrical contacts;

a remote control station that transmits commands to control said mobile robot; and

,

a battery charging module that mates with said mobile robot battery plug module, said battery charging module including a circuit that is de-energized until said short ground contact is plugged into said battery charging module.

12. The system of claim 11, wherein said electrical contacts include a long ground contact.

13. The system of claim 11, further comprising an alignment system that aligns said battery plug module with said battery charging module, said battery charging module includes a sensor in said battery plug module.

14. The system of claim 13, wherein said alignment system includes a plurality of IR emitters in said battery plug module.

15. The system of claim 14, wherein said alignment system includes at least one short pass filter in said battery charging module.

16. The system of claim 11, further comprising a camera in said battery plug module.

17. The system of claim 11, wherein said battery plug module includes a plurality of electrical contacts that are concealed by a housing that moves and exposes said electrical contacts when said battery plug module mates with said battery charging module.

18. The system of claim 11, wherein said battery plug module can pivot.

19. The system of claim 11, wherein said mobile robot includes a male electrical plug that can be plugged into a wall socket.

20. The system of claim 11, wherein said remote control station displays a display user interface with a graphical icon that can be selected to enable an automatic docking mode.

21. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a pivoting battery plug module;

a remote control station that transmits commands to control said mobile robot; and

,

a battery charging module that mates with said mobile robot battery plug module.

22. The system of claim 21, further comprising an alignment system that aligns said battery plug module with said battery charging module, said battery charging module includes a sensor in said battery plug module.

23. The system of claim 22, wherein said alignment system includes a plurality of IR emitters in said battery plug module.

24. The system of claim 23, wherein said alignment system includes at least one short pass filter in said battery charging module.

25. The system of claim 21, further comprising a camera in said battery plug module.

26. The system of claim 21, wherein said battery plug module includes a plurality of electrical contacts that are concealed by a housing that moves and exposes said electrical contacts when said battery plug module mates with said battery charging module.

27. The system of claim 21, wherein said mobile robot includes a male electrical plug that can be plugged into a wall socket.

28. The system of claim 21, wherein said remote control station displays a display user interface with a graphical icon that can be selected to enable an automatic docking mode.

29. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a battery plug module;

a battery charging module that can be coupled to said mobile robot battery plug module; and

,

a remote control station that transmits commands to control said mobile robot, said remote control station displays a display user interface with a graphical icon that can be selected to initiate an automatic docking mode.

30. The system of claim 29, further comprising an alignment system that aligns said battery plug module with said battery charging module, said battery charging module includes a sensor in said battery plug module.

31. The system of claim 30, wherein said alignment system includes a plurality of IR emitters in said battery plug module.

32. The system of claim 31, wherein said alignment system includes at least one short pass filter in said battery charging module.

33. The system of claim 29, further comprising a camera in said battery plug module.

34. The system of claim 29, wherein said battery plug module includes a plurality of electrical contacts that are concealed by a housing that moves and exposes said electrical contacts when said battery plug module mates with said battery charging module.

35. The system of claim 29, wherein said battery plug module includes a plurality of electrical contacts including a short ground contact that has a length shorter than said other electrical contacts, said battery charging module is de-energized until said short ground contact is plugged into said battery charging module.

36. The system of claim 29, wherein said battery plug module can pivot.

37. The system of claim 29, wherein said mobile robot includes a male electrical plug that can be plugged into a wall socket.

38. The system of claim 29, wherein said display user interface displays a lower power message.

39. The system of claim 29, wherein said display user interface displays an in range message and said and said graphical icon can be selected after said in range message has been displayed.

40. A method for charging a mobile robot, comprising:

transmitting commands from a remote control station to move a mobile robot that has a camera and a battery plug module to move the mobile robot into proximity with a battery charger module; and

,

automatically moving the mobile robot until the battery plug module mates with the battery charger module.

41. The method of claim 40, further comprising aligning the battery plug module with the battery charging module by sensing signals.

42. The method of claim 41, further comprising aligning the battery plug module with the battery charging module by sensing a signal that becomes absorbed by a filter.

43. The method of claim 40, wherein the battery plug module includes a plurality of electrical connectors that are normally concealed and become exposed when the battery plug module mates with the battery charging module.

44. The method of claim 40, wherein the battery charging module is energized when a short electrical contact is plugged into the battery charging module.

45. The method of claim 40, wherein the battery plug module pivots while mating with the battery charging module.

46. The method of claim 40, wherein the mobile robot is automatically moved to mate the battery plug module with the battery charging module in response to a selection of a graphical icon displayed at the remote control station.

47. A method for charging a mobile robot, comprising:

transmitting video images to a remote control station of a battery charging module from a camera located within a battery plug module of a mobile robot; and

,

transmitting commands from the remote control station to move the mobile robot until the battery plug module mates with the battery charger module.

48. The method of claim 47, wherein the battery plug module includes a plurality of electrical connectors that are normally concealed and become exposed when the battery plug module mates with the battery charging module.

49. The method of claim 47, wherein the battery charging module is energized when a short electrical contact is plugged into the battery charging module.

50. The method of claim 47, wherein the battery plug module pivots while mating with the battery charging module.

51. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a battery plug module;

a battery charging module that can be coupled to said mobile robot battery plug module; and

,

a remote control station that transmits commands to control said mobile robot, said remote control station displays a display user interface that displays a low power message.

52. The system of claim 51, wherein said display user interface displays an in range message and includes a graphical icon that can be selected after said in range message is displayed.

53. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a battery plug module;

a battery charging module that can be coupled to said mobile robot battery plug module; and

,

a remote control station that transmits commands to control said mobile robot, said remote control station displays a display user interface that displays an in range message.

54. The system of claim 53, wherein said display user interface includes a graphical icon that can be selected after said in range message is displayed.

55. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a battery plug module;

a remote control station that transmits commands to control said mobile robot;

a battery charging module that includes at least one short pass filter and mates with said mobile robot battery plug module; and

,

an alignment system that aligns said battery plug module with said battery charging module.

56. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a battery plug module that includes a camera;

a remote control station that transmits commands to control said mobile robot;

a battery charging module that mates with said mobile robot battery plug module; and

,

an alignment system that aligns said battery plug module with said battery charging module.

57. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a battery plug module that includes a plurality of electrical contacts that are concealed by a housing that can move and exposes said electrical contacts;

a remote control station that transmits commands to control said mobile robot;

a battery charging module that mates with said mobile robot battery plug module; and

,

an alignment system that aligns said battery plug module with said battery charging module.

58. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a pivoting battery plug module;

a remote control station that transmits commands to control said mobile robot;

a battery charging module that mates with said mobile robot battery plug module; and

,

an alignment system that aligns said battery plug module with said battery charging module.

59. A remote controlled robot system, comprising:

a mobile robot with a robot camera, a battery plug module and a male electrical plug that can be plugged into a wall socket;

a remote control station that transmits commands to control said mobile robot;

a battery charging module that mates with said mobile robot battery plug module; and

,

an alignment system that aligns said battery plug module with said battery charging module.

60. A remote controlled robot system, comprising:

a mobile robot with a head that has a camera and a monitor, said mobile robot has a battery alignment camera and a battery plug module;

a remote control station that transmits commands to control said mobile robot; and

,

a battery charging station that mates with said battery plug module.