IP Library › Granted Patent US 12669817
Granted Patent B2
US 12669817 · App. 17/559,007 · Granted Jun 30, 2026

Telepresence control schemes for hazardous environments

Inventors: John Cabibihan (Doha, QA); Sammy Sedrati (Doha, QA); Mohamed Ali Hammami (Doha, QA)
Assignee: Qatar Foundation for Education, Science and Community Development
G05D1/0038A61L2/10A61L2/24A61L9/20G05D1/0044G05D1/0225G05D1/0246G05D1/0274G06F3/04817G06F3/167G06V40/28A61L2103/75A61L2202/14A61L2202/16A61L2209/111
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Quick Facts
Patent No.
US 12669817
App. No.
17/559,007
Granted
Jun 30, 2026
Kind
B2
Abstract

A system includes a mobile robot, a first imaging device configured to inspect an area surrounding the mobile robot, a UV disinfection mechanism attached to the mobile robot, and a telepresence control mechanism configured to control the mobile robot. The UV disinfection mechanism is configured to disinfect the area surrounding the mobile robot. The telepresence control mechanism is configured to allow a user of the mobile robot to control the mobile robot remotely. The mobile robot has a mapping functionality and a navigation functionality.

Claims (33)

1 . A system comprising:

a mobile robot;

a first imaging device configured to inspect an area surrounding the mobile robot;

a UV disinfection mechanism attached to the mobile robot, wherein the UV disinfection mechanism is configured to disinfect the area surrounding the mobile robot;

a telepresence control mechanism configured to control the mobile robot, wherein the telepresence control mechanism is configured to allow a user of the mobile robot to control the mobile robot remotely and wherein the telepresence control mechanism comprises a user controller configured to transmit a control instruction to the mobile robot remotely; and

a second imaging device, wherein the second imaging device is configured to detect and scan the surroundings of the user and send a visual feedback, to avoid accidental contact, to the user,

wherein the user controller is configured to detect a user gesture via the second imaging device in the user controller and translate the user gesture into the control instruction, wherein the system is further configured to track the user's gestures, map the user's gestures to virtual gestures, and display a digital replica of the user's gestures,

wherein the user controller is configured to provide a virtual control icon to the user, receive a user command through the virtual control icon, and translate the user command into the control instruction;

wherein the virtual control icon comprises a virtual map including a plurality of predefined target locations as virtual icons in the virtual map, wherein the control instruction comprises an instruction to move the mobile robot to one of the plurality of predefined target locations;

wherein the mobile robot has a mapping functionality and a navigation functionality; and

wherein the user controller is configured to provide a teleportation portal to the user, wherein the teleportation portal allows any point in a navigable area of the mobile robot within a point of view of the first imaging device to be selected, and wherein the user controller is further configured to receive a user command through the teleportation portal, and translate the user command into the control instruction.

2 . The system of claim 1 , wherein the first imaging device of the mobile robot comprises a scanner configured to provide the mapping functionality by mapping the area surrounding the mobile robot.

3 . The system of claim 1 , wherein the first imaging device of the mobile robot comprises a camera configured to provide a 360° view of the area surrounding the mobile robot.

4 . The system of claim 1 , wherein based on information from the first imaging device, the mobile robot is configured to determine a potential target cleaning location.

5 . The system of claim 1 , wherein responsive to determining a presence of a person in the area surrounding the mobile robot, the system is configured to turn off a UV light from the UV disinfection mechanism.

6 . The system of claim 1 , wherein the UV disinfection mechanism comprises a UV lamp configured to emit a short-wave UV light having a wavelength in a range of 100 nm to 280 nm.

7 . The system of claim 1 , wherein the UV disinfection mechanism is configured to eliminate over 99% of SARS-CoV-2 virus in a disinfected area.

8 . The system of claim 1 , wherein the navigation functionality of the mobile robot is configured to drive the mobile robot autonomously.

9 . The system of claim 1 , wherein, responsive to determining that a charging state of the mobile robot is lower than a predetermined value, the mobile robot is configured to autonomously move to a power dock for charging.

10 . The system of claim 1 , wherein the user controller is configured to detect a voice command and translate the voice command into the control instruction.

11 . The system of claim 1 , wherein the teleportation portal comprises a predefined target location, wherein the control instruction comprises an instruction to move the mobile robot to the target location.

12 . A system comprising:

a mobile robot;

a first imaging device configured to inspect an area surrounding the mobile robot;

a UV disinfection mechanism attached to the mobile robot, wherein the UV disinfection mechanism is configured to disinfect the area surrounding the mobile robot;

a telepresence control mechanism configured to control the mobile robot, wherein the telepresence control mechanism comprises a wearable user controller configured to transmit a control instruction to the mobile robot remotely; and

a second imaging device, wherein the second imaging device is configured to detect and scan the surroundings of the user and send a visual feedback, to avoid accidental contact, to the user,

wherein the wearable user controller is configured to detect a user gesture via the second imaging device in the wearable user controller and translate the user gesture into the control instruction, wherein the system is further configured to track the user's gestures, map the user's gestures to virtual gestures, and display a digital replica of the user's gestures,

wherein the user controller is configured to provide a virtual control icon to the user, receive a user command through the virtual control icon, and translate the user command into the control instruction;

wherein the virtual control icon comprises a virtual map including a plurality of predefined target locations as virtual icons in the virtual map, wherein the control instruction comprises an instruction to move the mobile robot to one of the plurality of predefined target locations;

wherein the mobile robot has a mapping functionality and a navigation functionality; and

wherein the user controller is configured to provide a teleportation portal to the user, wherein the teleportation portal allows any point in a navigable area of the mobile robot within a point of view of the first imaging device to be selected, and wherein the user controller is further configured to receive a user command through the teleportation portal, and translate the user command into the control instruction.

13 . The system of claim 12 , wherein the first imaging device of the mobile robot comprises a scanner configured to provide the mapping functionality by mapping the area surrounding the mobile robot.