Time-dependent navigation of telepresence robots
First Claim
1. A telepresence robot, comprising:
- 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 along a navigation path;
a mapping module in communication with the control system, the mapping module configured to access a map data source, the map data source including;
a map representative of a robot operating surface; and
a plurality of time-dependent navigation tags, each time-dependent navigation tag being a data structure comprising,spatial coordinates locatable relative to the map and associated with the robot operating surface, andtag information comprising a time-dependent robot action modifier;
a positioning system in communication with the control system configured to provide positioning information associated with a current position;
a tag identification system configured to identify at least one time-dependent navigation tag that includes the time-dependent robot action modifier associated with the navigation path of the telepresence robot; and
a navigation system configured to generate the navigation path, the navigation path comprising a sequence of coordinates from a current position of the telepresence robot on the map to a desired position on the map,wherein the navigation system is configured to be triggered by an identified time-dependent navigation tag and the associated time-dependent robot action modifier to plan the navigation path based, at least in part, on the time-dependent robot action modifier associated with the identified time-dependent navigation tag.
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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.
873 Citations
12 Claims
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1. A telepresence robot, comprising:
- 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 along a navigation path; a mapping module in communication with the control system, the mapping module configured to access a map data source, the map data source including; a map representative of a robot operating surface; and a plurality of time-dependent navigation tags, each time-dependent navigation tag being a data structure comprising, spatial coordinates locatable relative to the map and associated with the robot operating surface, and tag information comprising a time-dependent robot action modifier; a positioning system in communication with the control system configured to provide positioning information associated with a current position; a tag identification system configured to identify at least one time-dependent navigation tag that includes the time-dependent robot action modifier associated with the navigation path of the telepresence robot; and a navigation system configured to generate the navigation path, the navigation path comprising a sequence of coordinates from a current position of the telepresence robot on the map to a desired position on the map, wherein the navigation system is configured to be triggered by an identified time-dependent navigation tag and the associated time-dependent robot action modifier to plan the navigation path based, at least in part, on the time-dependent robot action modifier associated with the identified time-dependent navigation tag. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
- a drive system configured to move the telepresence robot according to drive instructions;
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11. A method for controlling a telepresence robot, comprising:
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retrieving at least a portion of a plan view map; retrieving at least one of a plurality of time-dependent navigation tags, each time-dependent navigation tag represented by a data structure including, tag coordinates describing a location of the time-dependent navigation tag relative to the plan view map, and cost information associated with navigating in a relative location of the time-dependent navigation tag during a time period; determining a current position of the telepresence robot relative to the plan view map; generating a navigation path comprising a sequence of coordinates from the current position to a desired position on the plan view map, wherein generating the navigation path includes; generating a plurality of potential navigation paths, wherein each potential navigation path has an associated cost based on time-dependent navigation tags associated with a respective potential navigation path, wherein each time-dependent navigation tag comprises a time-dependent robot action modifier configured to trigger a response action by the telepresence robot during a time period; and selecting the navigation path from the plurality of potential navigation path based on the associated cost.
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12. A method for controlling a telepresence robot, comprising:
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retrieving at least a portion of a plan view map representative of a robot operating surface; receiving positioning data associated with a current position of the telepresence robot relative to the plan view map; receiving a selection of a destination of the telepresence robot; determining a sequence of coordinates relative to the plan view map to create a navigation path between the current position of the telepresence robot and the selected destination of the telepresence robot, identifying at least one time-dependent tag along the navigation path, wherein the time-dependent tag comprises a time-dependent robot action modifier; wherein the navigation path is based, at least in part, one or more time-dependent navigation tags along the navigation path, wherein each time-dependent navigation tag comprises a time-dependent robot action modifier configured to trigger a response action by the telepresence robot during a time period; and transmitting a command to the telepresence robot comprising the sequence of coordinates forming the navigation path.
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Specification