Interfacing With A Mobile Telepresence Robot

• US 20150298317A1
• Filed: 02/11/2015
• Published: 10/22/2015
• Est. Priority Date: 01/28/2011
• Status: Abandoned Application

• Current Assignee: iRobot Corporation, Jonata Sub Two, Inc. (Teladoc Health, Inc.), Teladoc Health, Inc.
• Original Assignee: iRobot Corporation, Touch Technologies Incorporated
• Inventors: Wang, Yulun, Jordan, Charles S., Wright, Tim, Chan, Michael, Pinter, Marco, Hanrahan, Kevin, Sanchez, Daniel, Ballantyne, James, Herzog, Cody, Whitney, Blair, Lai, Fuji, Temby, Kelton, Rauhut, Eben Christopher, Kearns, Justin H., Wong, Cheuk Wah, Farlow, Timothy Sturtevant
• Application Number:
  US14/620,051
• Publication Number:
  US 20150298317A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 11/009 Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
• CPC Class Codes: B25J 11/0095 Manipulators transporting wafers
• 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 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06F 3/0482 Interaction with lists of selectable items, e.g. menus
• CPC Class Codes: G06F 3/04842 Selection of displayed objects or displayed text elements G06F3/0482 takes precedence
• CPC Class Codes: G06F 3/04847 Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
• CPC Class Codes: G06T 11/00 2D [Two Dimensional] image generation
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 15/10 Geometric effects
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G16H 40/67 for remote operation
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

Claims

1. A telepresence robot, comprising:

an upper portion;

a lower portion rotatably connected to the upper portion;

a drive system configured to move the telepresence robot according to drive instructions;

a control system in communication with the drive system, the control system configured to generate drive instructions to cause the drive system to move the telepresence robot; and

a rotation system configured to rotate the robot from a first heading to a second heading by rotating the upper portion and the lower portion independently.

2. The telepresence robot of claim 1, wherein the rotation system is configured to rotate the robot toward a second heading by:

rotating the upper portion of the robot toward the second heading;

detecting that the upper portion of the robot has reached a panning limit of the upper portion of the robot relative to the lower portion of the robot;

beginning to rotate the lower portion of the robot toward the second heading at the panning limit of the upper portion of the robot;

detecting that the upper portion of the robot has reached the second heading; and

continuing to rotate the lower portion of the robot toward the second heading while simultaneously counter-rotating the upper portion of the robot, such that the upper portion of the robot maintains the second heading.

3. The telepresence robot of claim 2, wherein the panning limit is reached when the upper portion cannot physically rotate anymore with respect to the lower portion of the robot.

4. The telepresence robot of claim 2, wherein the panning limit is reached when the upper portion is misaligned with respect to the lower portion a predefined number of rotational degrees.

5. The telepresence robot of claim 2, wherein the panning limit is a function of the number of degrees the upper portion is misaligned with respect to the lower portion and the length of time the upper portion has been misaligned with respect to the lower portion.

6. The telepresence robot of claim 1, wherein the rotation system is configured to rotate the robot toward a second heading by:

rotating the upper portion of the robot toward the second heading at a first rotational velocity;

rotating the lower portion of the robot toward the second heading at a second rotation velocity;

detecting that the upper portion of the robot has reached the second heading; and

continuing to rotate the lower portion of the robot toward the second heading while simultaneously counter-rotating the upper portion of the robot, such that the upper portion of the robot maintains the second heading.

7. The telepresence robot of claim 1, further comprising:

an imaging system in communication with the control system; and

a positioning system in communication with the control system configured to provide a current position of the robot relative to a plan view map and a current alignment of the upper portion with respect to the plan view map, and

wherein the control system is configured to transmit a video feed from the imaging system, the current position of the robot, and the current alignment of the upper portion to a remote terminal, such that the remote terminal can;

determine a distortion between the plan view map and the video feed received from the imaging system of the remote telepresence robot;

apply the distortion to a tag having coordinates associated with the plan view map in order to determine corresponding video coordinates and perspective data describing the location and perspective of the tag relative to the video feed; and

display a three-dimensional rendition of the tag overlaid on the video feed using the video coordinates.

8. The telepresence robot of claim 1, further comprising:

an imaging system in communication with the control system; and

a positioning system in communication with the control system configured to provide a current position of the robot relative to a plan view map and a current alignment of the upper portion with respect to the plan view map, and

wherein the control system is configured to;

transmit a video feed from the imaging system, the current position of the robot, and the current alignment of the upper portion to a remote terminal;

determine a distortion between the plan view map and the video feed received from the imaging system of the remote telepresence robot; and

apply the distortion to a tag having coordinates associated with the plan view map in order to determine corresponding video coordinates and perspective data describing the location and perspective of the tag relative to the video feed, such that the remote terminal can display a three-dimensional rendition of the tag overlaid on the video feed using the video coordinates.

9-51. -51. (canceled)

52. A method for changing a heading of a robot comprising:

transmitting a heading to a control system of a robot, the control system of the robot in communication with a drive system configured to move the robot according to drive instructions; and

rotating, via the drive system, an upper portion of the robot toward the heading independently from the lower portion of the robot.

53. (canceled)