Time-dependent navigation of telepresence robots

{
  "publication_number": "US9785149B2",
  "country": "US",
  "kind": "B2",
  "title": "Time-dependent navigation of telepresence robots",
  "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 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 map, or by using a joystick or other peripheral device.",
  "claims": [
    "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 the 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 robot map representative of a robot operating surface; and one or more time-dependent navigation tags, each time-dependent navigation tag being a data structure comprising: spatial coordinates locatable relative to the robot 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 a 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 the current position on the robot map to a desired position on the robot map, wherein the navigation system is configured to be triggered by an identified time-dependent navigation tag and 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.",
    "2. The telepresence robot of claim 1, wherein the navigation system is configured to generate the navigation path by generating a plurality of potential navigation paths, wherein each potential navigation path has an associated cost based on the time-dependent robot action modifiers associated with the time-dependent navigation tags along the respective potential navigation path; and selecting the navigation path from the plurality of potential navigation path based on the associated cost.",
    "3. The telepresence robot of claim 1, further comprising: a plurality of sensors configured to identify obstacles in a vicinity of the telepresence robot; and an obstacle avoidance system in communication with the plurality of sensors and in communication with the control system, wherein the control system is further configured to generate additional drive instructions to avoid obstacles in the vicinity of the telepresence robot.",
    "4. The telepresence robot of claim 3, wherein the plurality of sensors comprises a three-dimensional image sensor that forms a point cloud, including a three-dimensional occupancy of obstacles, and wherein the drive instructions are configured to avoid the three-dimensional occupancy of the obstacles.",
    "5. The telepresence robot of claim 1, further comprising a plurality of sensors monitoring time-dependent obstacles, time-dependent environmental conditions and time-dependent occupancy conditions, wherein the plurality of sensors are mounted on the telepresence robot and in remote communication with the telepresence robot.",
    "6. The telepresence robot of claim 5, wherein the telepresence robot is configured to create a time-dependent navigation tag based on information from the plurality of sensors and time of day information.",
    "7. The telepresence robot of claim 1, wherein the map data source is stored remotely, such that the mapping module is configured to access the map data source via a communication system.",
    "8. The telepresence robot of claim 1, wherein the map data source is stored within the telepresence robot, such that the mapping module is configured to access an internal map data source.",
    "9. The telepresence robot of claim 8, wherein the internal map data source is synced with a remotely stored map data source.",
    "10. The telepresence robot of claim 1, wherein the positioning system comprises an RFID reader, wherein the positioning system associates a plurality of RFID chips with a corresponding plurality of coordinates on the plan view robot map, and the positioning system is configured to determine the current position of the telepresence robot based at least in part on a location of one or more RFID chips within range of the RFID reader.",
    "11. A method for controlling a telepresence robot, comprising: retrieving at least a portion of a robot map; retrieving at least one of one or more time-dependent navigation tags, each time-dependent navigation tag represented by a data structure including: tag coordinates describing a location of the at least one of one or more time-dependent navigation tag relative to the robot map; and cost information associated with navigating in the relative location of the time-dependent navigation tag during a time period; determining a current position of a telepresence robot relative to the robot map; generating a navigation path comprising a sequence of coordinates from the current position to a desired position on the robot 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 the respective potential navigation path, wherein each time-dependent navigation tag comprises a time-dependent robot action modifier configured to trigger a response action by a telepresence robot during a time period; and selecting a navigation path from the plurality of potential navigation paths based on the associated cost."
  ],
  "description_excerpt": "This disclosure relates to mobile telepresence robots.\n\nA robot is generally an electro-mechanical machine guided by a computer or electronic programming. Telepresence robots and autonomous vehicle robots have the capability to move around in their environment and are not fixed to one physical location. An example of a telepresence robot that is in common use today is an automated guided vehicle or automatic guided vehicle (AGV). An AGV is generally a telepresence robot that follows markers or wires in the floor, or uses a vision system or lasers for navigation. Telepresence robots can be found in industry, military and security environments. They also appear as consumer products, for entertainment or to perform certain tasks like home assistance.\n\nOne aspect of the disclosure provides a telepresence robot system including 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 robot-navigable areas 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 ...",
  "cpc": [
    "G16H 40/67",
    "B25J 11/009",
    "B25J 9/1689",
    "G05D 1/0011",
    "G05D 1/0088",
    "G05D 1/0214",
    "G05D 1/0217",
    "G05D 1/024",
    "G05D 1/0259",
    "G05D 1/0261",
    "G05D 1/0274",
    "G05D 1/028",
    "G05D 2201/0206",
    "G06F 19/3418",
    "G06T 11/00"
  ],
  "ipc": [
    "B25J 11/00",
    "B25J 9/16",
    "G05D 1/00",
    "G05D 1/02",
    "G06T 11/00",
    "G16H 40/67"
  ],
  "assignees": [
    "IROBOT CORP",
    "INTOUCH TECH INC"
  ],
  "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"
  ],
  "filing_date": "2016-04-26",
  "publication_date": "2017-10-10",
  "grant_date": "2017-10-10",
  "priority_date": "2011-01-28",
  "application_number": "US-201615139073-A",
  "family_id": "49671238",
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