Social behavior rules for a medical telepresence robot

Patent metadata

Field	Value
Publication number	US-12269172-B2
Application number	US-202418655008-A
Country	US
Kind code	B2
Filing date	May 3, 2024
Priority date	May 22, 2012
Publication date	Apr 8, 2025
Grant date	Apr 8, 2025

Abstract

Devices, systems, and methods for social behavior of a telepresence robot are disclosed herein. A telepresence robot includes a drive system configured to move the telepresence robot; a control system configured to control the drive system to drive the telepresence robot around a work area; an object detection system configured to determine that a first object encountered by the telepresence robot is a human; and a social path component configured to: determine a first lockout zone having a first radius around the human and a first comfort zone having a second radius around the human, the second radius being larger than the first radius; and instruct the control system to cause the telepresence robot to: avoid traveling through the first lockout zone; move at a first maximum speed within the first comfort zone; and move at a second maximum speed outside of the first comfort zone, wherein the second maximum speed is greater than the first maximum speed.

First claim

What is claimed is:

1. A telepresence robot comprising:
a drive system configured to move the telepresence robot;
a control system configured to control the drive system to drive the telepresence robot around a work area;
an object detection system configured to determine that a first object encountered by the telepresence robot is a human; and
a social path component configured to:
determine a first lockout zone having a first radius around the human and a first comfort zone having a second radius around the human, the second radius being larger than the first radius; and
instruct the control system to cause the telepresence robot to:
avoid traveling through the first lockout zone;
move at a first maximum speed within the first comfort zone; and
move at a second maximum speed outside of the first comfort zone, wherein the second maximum speed is greater than the first maximum speed.

2. The telepresence robot of claim 1 , wherein the social path component is configured cause the telepresence robot to avoid passing through the first comfort zone unless the telepresence robot can reach a destination in less time by passing around the first comfort zone than slowing down while passing through the first comfort zone.

3. The telepresence robot of claim 1 , wherein the social path component is configured to determine a size or shape of the first lockout zone or the first comfort zone.

4. The telepresence robot of claim 1 , wherein:
the object detection system is further configured to determine that a second object encountered by the telepresence robot is not human; and
the social path component configured to determine a second lockout zone having a third radius around the second object and a second comfort zone having a fourth radius around the second object, the fourth radius being larger than the third radius.

5. The telepresence robot of claim 4 , wherein the third radius is smaller than the first radius and the fourth radius is smaller than the second radius.

6. The telepresence robot of claim 4 , wherein the third radius varies according to a type of the second object.

7. The telepresence robot of claim 4 , wherein the third radius is between 0.5 and 12 inches.

8. The telepresence robot of claim 4 , wherein the first radius is between 18 and 36 inches.

9. The telepresence robot of claim 1 , wherein the first radius is variable based on an amount of available space around the human.

10. The telepresence robot of claim 1 , wherein the first radius is variable based on an identify of the human.

11. The telepresence robot of claim 1 , wherein the first radius is variable based on a classification of the human.

12. The telepresence robot of claim 1 , wherein the first radius is variable based on a location of the telepresence robot and the human.

13. The telepresence robot of claim 1 , wherein the first radius is variable based on a level of urgency with which the telepresence robot is navigating.

14. The telepresence robot of claim 1 , wherein the first radius is selectable or can be disabled by a user who is remotely operating the telepresence robot.

15. The telepresence robot of claim 1 , wherein a size of the first radius is inversely related to a number of people within the work area, such that a higher number of people results in a smaller size of the first radius.

16. A method comprising:
distinguishing, by an object detection system, that a first object encountered by a telepresence robot is a human;
determining a first lockout zone having a first radius around the human and a first comfort zone having a second radius around the human, the second radius being larger than the first radius; and
instructing a control system of the telepresence robot to:
avoid traveling through the first lockout zone;
move at a first maximum speed within the first comfort zone; and
move at a second maximum speed outside of the first comfort zone, wherein the second maximum speed is greater than the first maximum speed.

17. The method of claim 16 , wherein instructing comprises instructing the control system of the telepresence robot to avoid passing through the first comfort zone unless the telepresence robot can reach a destination in less time by passing around the first comfort zone than slowing down while passing through the first comfort zone.

18. The method of claim 16 , further comprising:
distinguishing, by the object detection system, that a second object encountered by the telepresence robot is not human; and
determining a second lockout zone having a third radius around the second object and a second comfort zone having a fourth radius around the second object, the fourth radius being larger than the third radius.

19. The method of claim 18 , wherein the third radius is smaller than the first radius and the fourth radius is smaller than the second radius.

20. The method of claim 18 , wherein the third radius varies according to a type of the second object.

21. A non-transitory computer-readable storage medium programmed with instructions that cause one or more processors to perform a method comprising:
distinguishing, by an object detection system, that a first object encountered by a telepresence robot is a human;
determining a first lockout zone having a first radius around the human and a first comfort zone having a second radius around the human, the second radius being larger than the first radius; and
instructing a control system of the telepresence robot to:
avoid traveling through the first lockout zone;
move at a first maximum speed within the first comfort zone; and
move at a second maximum speed outside of the first comfort zone, wherein the second maximum speed is greater than the first maximum speed.

Assignees

• Teladoc Health Inc
• Irobot Corp

Inventors

• Pinter Marco
• Lai Fuji
• Sanchez Daniel Steven
• Ballantyne James
• Roe David Bjorn
• Wang Yulun
• Jordan Charles S
• Taka Orjeta
• Wong Cheuk Wah

Classifications

• G16H40/67

  for remote operation · CPC title

• Y10S901/49

  Protective device · CPC title

• Y10S901/47

  Optical · CPC title

• Y10S901/01

  Mobile robot · CPC title

• G06Q50/22

  Social work or social welfare, e.g. community support activities or counselling services · CPC title