Docking system for a tele-presence robot

• US 9,193,065 B2
• Filed: 07/10/2008
• Issued: 11/24/2015
• Est. Priority Date: 07/10/2008
• Status: Active Grant

• Current Assignee: Teladoc Health, Inc.
• Original Assignee: Touch Technologies Incorporated
• Inventors: Wang, Yulun, Jordan, Charles S., Pinter, Marco, Sanchez, Daniel Steven, Rosenthal, James, Mangaser, Amante
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US12/218,259
• Publication Number:
  US 20100010672A1
• Time in Patent Office: 2,693 Days
• US Class Current: 1/1
• 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, a plug module including a plurality of electrical contacts, and a movement platform;

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

a charging module that mates with said plug module, wherein said plug module can pivot relative to said robot about a vertical axis; and

,

an alignment system that aligns said plug module with said charging module, said charging module includes a sensor in said plug module.

2. The system of claim 1, wherein said alignment system includes a plurality of IR emitters in said plug module.

3. The system of claim 2, wherein said alignment system includes at least one short pass filter in said charging module.

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

5. The system of claim 1, wherein said plug module includes a plurality of electrical contacts that include a short ground contact that has a length shorter than said electrical contacts.

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

7. 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.

8. A remote controlled robot system, comprising:

a mobile robot with a robot camera and a movement platform;

a plug module that includes a plurality of electrical contacts including a short grounded contact that has a length shorter than said other electrical contacts;

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

a charging module that mates with said plug module; and

,

an alignment system that aligns said plug module with said battery charging module by permitting said plug module to pivot relative to said robot about a vertical axis.

9. A method for charging a remote controlled robot system, comprising:

providing a mobile robot with that has a robot camera, a plug module including a plurality of electrical contacts that includes a short grounded contact that has a length shorter than said other electrical contacts, and a movement platform;

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

moving the mobile robot until a charging module mates with said plug module, wherein said plug module includes an alignment system that aligns said plug module with said battery charging module by permitting said plug module to pivot relative to said robot about a vertical axis.