SOCIAL BEHAVIOR RULES FOR A MEDICAL TELEPRESENCE ROBOT
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 along a first navigational path, an object detection system configured to detect a plurality of objects along the first navigational path, an object classification system configured to identifying one or more classifications for at least two objects of the plurality of objects, and a social path component configured to determine that the first navigational path passes through a zone between the at least two objects, and in response to the one or more classifications satisfying at least one condition, changing the first navigational path to a second navigational path that avoids passing through the zone between the at least two objects.
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 along a first navigational path;
an object detection system configured to detect a plurality of objects along the first navigational path;
an object classification system configured to identifying one or more classifications for at least two objects of the plurality of objects; and
a social path component configured to:
determine that the first navigational path passes through a zone between the at least two objects; and
in response to the one or more classifications satisfying at least one condition, changing the first navigational path to a second navigational path that avoids passing through the zone between the at least two objects.
2 . The telepresence robot of claim 1 , wherein the at least one condition includes that the at least two objects are classified by the object classification system as a humans.
3 . The telepresence robot of claim 2 , wherein the at least one condition includes that the humans are likely involved in a conversation such that zone comprises a conversation zone.
4 . The telepresence robot of claim 3 , wherein the social path component is configured to determine that the first navigational path passes through the conversation zone by performing a segmentation and clustering analysis on the plurality of objects to detect one or more conversation groups.
5 . The telepresence robot of claim 4 , wherein the segmentation and clustering analysis includes determining whether the at least two objects are facing each other.
6 . The telepresence robot of claim 4 , wherein the segmentation and clustering analysis includes determining a proximity at least two objects.
7 . The telepresence robot of claim 4 , wherein the segmentation and clustering analysis includes detecting one or more of hand gestures or sound indicating an interaction between the at least two objects.
8 . The telepresence robot of claim 1 , wherein the at least one condition comprises that the object classification system determines that a first object of the plurality of objects comprises a human and a second object in proximity to the first object is a medical device.
9 . The telepresence robot of claim 8 , wherein the medical device is an intravenous (IV) pole.
10 . A method for controlling a telepresence robot including a drive system configured to move the telepresence robot and a control system configured to control the drive system to drive the telepresence robot around a work area along a first navigational path, the method comprising:
detecting, via an object detection system, a plurality of objects along the first navigational path;
identifying, via an object classification system, one or more classifications for at least two objects of the plurality of objects;
determining that the first navigational path passes through a zone between the at least two objects; and
in response to the one or more classifications satisfying at least one condition, changing the first navigational path to a second navigational path that avoids passing through the zone between the at least two objects.
11 . The method of claim 10 , wherein the at least one condition includes that the at least two objects are classified by the object classification system as a humans.
12 . The method of claim 11 , wherein the at least one condition includes that the humans are likely involved in a conversation such that zone comprises a conversation zone.
13 . The method of claim 12 , wherein determining that the first navigational path passes through the conversation zone includes performing a segmentation and clustering analysis on the plurality of objects to detect one or more conversation groups.
14 . The method of claim 13 , wherein the segmentation and clustering analysis includes determining whether the at least two objects are facing each other.
15 . The method of claim 13 , wherein the segmentation and clustering analysis includes determining a proximity at least two objects.
16 . The method of claim 13 , wherein the segmentation and clustering analysis includes detecting one or more of hand gestures or sound indicating an interaction between the at least two objects.
17 . The method of claim 10 , wherein the at least one condition comprises that the object classification system determines that a first object of the plurality of objects comprises a human and a second object in proximity to the first object is a medical device.
18 . The method of claim 17 , wherein the medical device is an intravenous (IV) pole.
19 . A non-transitory computer-readable medium storing program code that, when executed by one or more processors, cause the one or more processors to perform method for controlling a telepresence robot including a drive system configured to move the telepresence robot and a control system configured to control the drive system to drive the telepresence robot around a work area along a first navigational path, the method comprising:
detecting, via an object detection system, a plurality of objects along the first navigational path;
identifying, via an object classification system, one or more classifications for at least two objects of the plurality of objects;
determining that the first navigational path passes through a zone between the at least two objects; and
in response to the one or more classifications satisfying at least one condition, changing the first navigational path to a second navigational path that avoids passing through the zone between the at least two objects.
20 . The non-transitory computer-readable medium of claim 19 , wherein:
the at least one condition includes that the at least two objects are classified by the object classification system as a humans; and
the at least one condition includes that the humans are likely involved in a conversation such that zone comprises a conversation zone.
21 . The non-transitory computer-readable medium of claim 20 , wherein the at least one condition comprises that the object classification system determines that a first object of the plurality of objects comprises a human and a second object in proximity to the first object is a medical device.
22 . The non-transitory computer-readable medium of claim 21 , wherein the medical device is an intravenous (IV) pole.