CN101049017A - 公司环境中的远程机器人视频会议 - Google Patents
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Abstract
一种企业到企业的移动电话会议系统。该系统包括一个可以从远程站远程操作控制的移动机器人。该机器人和该远程站都可具有摄像机、显示屏、扬声器和话筒来在远程站处的使用者和位于机器人视线附近的人员之间进行电话会议。
Description
发明领域
本公开的主题一般地涉及可移动双向电话会议领域。
背景技术
目前已经开发并有售允许至少两个参加者在相互视频同时进行通讯的电话会议系统。 电话会议系统一般包括在使用过程中固定的摄像机和电话。因为设备是固定的,所以电话会议一般安排在专用的房间内进行。
迫切需要整合已经被合并、收购或一定程度上组合的商业实体。用于这些商业实体的设备可能处于分开的物理地点。当整合远程商业单位时,管理者和其他雇员必须经常地光顾该远程设备来帮助整合这些单位。这需要旅行,这是对管理者和雇员时间的低效使用。所希望的是,允许管理者和雇员虚拟的访问该远程设备来帮助单位整合,或相反地实地访问该设备。
机器人在广泛的应用领域中得到使用,从有害物质的远程控制到帮助外科手术的操作。例如,授予Wang等人的美国专利第5762458号公开了一种允许外科医生通过使用机器人控制的工具实施最小侵入的医学过程。Wang系统中的机器人手臂之一移动具有摄像机的内窥镜。该摄像机使外科医生观察患者的手术部位。
远程机器人,例如有害废物处理机器和墓葬探测器,可包括允许操作者观察远程位置的摄像机。授予Treviranus等人的加拿大专利第2289697号公开了一种具有摄像机和监视器的电话会议平台。该平台包括轴转动并提升摄像机和监视器的机构。Treviranus专利还公开了具有移动平台的实施方案和移动摄像机与监视器的不同机构。
目前已经有售一种由本申请的受让人InTouch-Health公司引入的移动机器人,商标为COMPANION和RP-6。InTouch机器人是由在远程站的使用者控制的。该远程站可以是具有允许使用者远程控制机器人移动的操纵杆的个人计算机。该机器人和远程站都具有摄像机、监视器、扬声器和话筒,从而允许双向视频/音频通讯。
公开号US2001/005471,以Loeb名义申请的美国专利申请公开了一种视频会议系统,包括多个可用于建立视频会议的图形用户界面(“GUI”)。该“GUI”之一具有能够被选择以进行呼叫的图标。Loeb申请公开了例如电视的固定视频会议设备。在Loeb中,未论及使用机器人。
发明内容
一种用于通过可在商业设施间移动的机器人进行商业电话会议的方法及系统。图像和声音在机器人和远程站之间进行传输。
附图说明
图1为机器人系统的示图;
图2为机器人的电气系统的示意图;
图3为机器人电气系统的另一示意图;
图4为远程站的图形用户界面。
具体实施方式
公开的是企业到企业的移动电话会议系统。该系统包括一个能够从远程站远程地操作的移动机器人。该机器人和该远程站可具有摄像机、视屏、话筒和扬声器,来进行在远程站的使用者和位于机器人视线附近的人员之间的电话会议。
例如,在远程站的管理者可沿着会堂移动该机器人和/或将其移入另一个设备的办公室,并进行与在该设备处的人员电话会议。机器人的电话会议能力可使管理者远程出现在该设备处。管理者可与远程人员进行计划或未计划的会议。此外,管理者可向位于该设备处的小组进行演示。电话会议机器人的移动本性可提供更加生动的演示和说明。
该系统可用于帮助整合两个商业实体。例如,两个远程商业实体可通过合并或收购得到加强。通过移动该机器人和与在机器人可视距离内的人员进行电话会议,在第一实体处的某人可虚拟的访问在另一个实体处的人员。这将允许在该远程地点的某人在该设备附近移动并与人员沟通,而不需要旅行到该设备。
通过附图标记,更加具体地参见这些附图,图1示出可用于进行远程访问的机器人系统10。该机器人系统10包括机器人12、基站14和远程控制站16。该远程控制站16可通过网络18连结到该基站14。例如,该网络可以是例如因特网的分组交换网或者是例如公共交换电话网络(PSTN)的电路交换网、或者其他宽带网络。该基站14可以通过调制解调器20或其他宽带网络接口装置连接到该网络18。例如,该基站14可以是一个无线路由器。可替换地,该机器人12通过例如卫星可直接连接到该网络。
该远程控制站16可包括具有监视器24、摄像机26、话筒28和扬声器30的计算机22。该计算机22可还包括一个例如操作杆或鼠标的输入装置32。该控制站16一般地位于一个远离该机器人12的地方。尽管只示出一个远程控制站16,然而该系统10可包括多个远程站。概括来说,任何数量的机器人12可以被任何数量的远程站16或其他机器人12控制。例如,一个远程站16可连接到多个机器人12,或一个机器人12可连接到多个远程站16或多个机器人12。
每个机器人12包括安装到机器人外壳36的移动平台34。还安装到机器人外壳36的是一对摄像机38A和38B、监视器40、话筒42和扬声器44。该话筒42和扬声器30可产生立体的声音。该机器人12可还包括无线地连结到该基站14的天线48的天线46。该系统10允许在远程控制站16处的使用者通过操作该输入装置32移动该机器人。该机器人摄像机38连接到该远程监视器24,使得在控制站16处的使用者可观察患者。类似的,该机器人监视器40连接到该远程摄像机26,使得患者可看到该使用者。该话筒28和42、扬声器30和44允许在患者和使用者之间的音频通讯。
该摄像机38A和38B可提供观看的两个不同视场。例如,摄像机38A可提供对于驱动该机器人和察看大的组有益的宽角度视场,而摄像机38B提供可被用于合在一起的电话会议的窄视场。尽管示出及表述了两个摄像机,但是应当理解为一个具有一个或多个透镜组件的摄像机可用于产生宽角度和窄角度的视场。
该远程站计算机22可运行微软操作系统软件和视窗XP或其他操作系统,如LINUX。该远程计算机22可还操作视频驱动器、摄像机驱动器、音频驱动器和操作杆驱动器。视频图像可用压缩软件如MPEGCODEC发送和接收。
图2和3示出了机器人12的一个实施例。每个机器人12可包括一个高级控制系统50和一个低级控制系统52。该高级控制系统50可包括一个连接到总线56的处理器54。该总线56通过输入/输出(I/O)端口58A和58B分别连接到摄像机38A和38B。监视器40通过串行输出端口60和VGA驱动器62连接到总线56。该监视器40可包括触摸屏功能,其允许患者通过触摸该监视屏输入。
该扬声器44通过数/模转换器64连接到总线56。话筒42通过模/数转换器66连接到总线56。该高级控制器50可还包括随机访问存储器(RAM)装置68、非易失RAM装置70和大容量存储装置72,这些都连接到总线62。该大容量存储装置72可包括患者的医学文档,这可被在远程控制站16处的使用者访问。例如,该大容量存储装置72可包含患者的图片。使用者,尤其保健提供者,可调用旧图片并在监视器24上和摄像机38提供的当前患者视频图像作并排的比较。机器人天线45可连接到一个无线收发器74。举例来说,该收发器74可根据IEEE 802.11b发送和接收信息。
控制器54可运行LINUX OS操作系统。控制器54还可连同视频、摄像机和音频驱动器一同运行MS WINDOWS操作系统,用于和远程控制站16通信。视频信息可使用MEPG CODEC压缩技术发送和接收。该软件允许使用者发送电子邮件给患者,或与之相反,或允许患者访问因特网。通常,该高级控制器50运行以控制机器人12和远程控制站16之间的通信。
该高级控制器50通过串行端口76和78可链接到该低级控制器52。该低级控制器52包括通过总线86连接到RAM装置82和非易失RAM装置84的处理器80。每个机器人12包含多个马达88和马达编码器90。马达88可驱使平台的运动并移动机器人的其他部件,例如监视器和摄像机。该编码器90提供关于马达88的输出的反馈信息。马达88可通过数/模转换器92和驱动放大器94连接到总线86。编码器90可以通过解码器96被连接到总线86。每个机器人12还具有多个接近传感器98(也参见图1)。该位置传感器98可通过信号调节电路100和模/数转换器102连接到总线86。
该低级控制器52运行机械地驱动机器人12的软件例程。例如,该低级控制器52提供驱动移动平台的指令来移动该机器人12。该低级控制器52可从该高级控制器50接收移动指令。这些移动指令可从该远程控制站或其他机器人接收,作为移动命令。尽管示出两个控制器,但应当理解的是,每个机器人12可具有一个控制器、或两个以上的控制器,从而控制该高级和低级功能。
每个机器人12的各种电装置可由一个或多个电池104供电。该电池104可由电池充电站106(也参见图1)进行充电。该低级控制器52可包括一个可感应电池104的能量水平的电池控制电路108。该低级控制器52可感测何时能量低于一个门限值,并随后发出一个信息给该高级控制器50。
该系统可以和位于美国加州的Santa Barbara的受让人InTouch-Health公司提供的机器人系统相同和相似,商标为RP-6,其在此参照引入。该系统还可和在第10/206 457号申请公开的系统相同或相似,该申请公开于2004年1月29日,在此参照引入。
图4示出能在远程站16显示的显示器用户界面(“DUI”)120。该DUI可包括一个机器人视场122,其显示由机器人的摄像机提供的视频图片。该DUI 120可还包括一个显示由远程站16的摄像机提供的视频图片的站视场124。该DUI 120可以是由远程站16的计算机22存储并运行的应用程序的一部分。
该DUI 120可包括警示输入图标126和128。警示图标126可以由在远程站的使用者选择来产生一个警示指示,例如来自机器人的扬声器的声音。该图标的选择产生一个到机器人的警示输入。该机器人通过它的扬声器产生一个声音来响应该警示输入。举例来说,该声音模拟喇叭的噪音。因而,该图标可具有喇叭的外观。在远程地移动该机器人时,该远程站使用者可选择该喇叭形状的图标126以警示人们注意该移动机器人的出现。
可选择警示图标128来请求访问来自机器人的视频图像。机器人的默认状态可以是不发送视频信息到该远程站。选择该警示图标128,可发送一个警示输入例如访问请求到机器人。机器人然后产生一个警示指示符。该警示指示符可以是由机器人扬声器产生的声音和/或者机器人监视器上的视觉提示。举例而言,视觉提示可以是一个闪动的图形图标。声音可以模拟敲门声。因此警示图标128可以具有门环的外观。
为响应该警示指示符,使用者可提供用户输入,例如压迫机器人上的按键或选择机器人上的图形图像,来使得访问进入机器人摄像机。该机器人可还具有允许使用者通过声音命令授权访问的声音识别系统。该用户输入使得机器人开始将视频图像从机器人摄像机传送到请求访问机器人的远程站。声音通讯可在警示输入和响应的周期之前建立,从而允许在远程站处的使用者向在机器人处的呼叫接收者说话。
该DUI 120可包括一个指示机器人电池剩余能量的图形“电池仪表”130。一个图形:“信号强度仪表”132可指示在机器人和基站之间传输的无线信号的强度(参见图1)。
该DUI 120可包括一个提供机器人位置的位置显示器134。可以选择一个“改变”按键136来改变新会议中的默认机器人。使用者可通过选择框138启动和终止一个会议。当使用者选择该框来开始一个会议时,该框138从连接变成断开。通过按键140和142,可选择系统设置和支持。
机器人视场122和站视场124都可具有用于改变视频和音频显示器的相关图形。每个视场都可具有用于改变话筒音量的相关图形音频滑条144、和用于改变扬声器音量的另一个滑条146。
该DUI 120可具有分别改变摄像机的焦距、焦点和亮度的滑条148、150和152。通过选择一个图形摄像机图标154,可在机器人或远程站拍摄静止图片。该静止图片可以是在选择摄像机图标154时出现在相应的视场122或124处的图像。捕捉并播放视频可以通过图形图标156进行。在取得静止图片、捕捉视频或检查一个幻灯片之后,通过选择一个图形“实况”按键158,可重新回到一个实时视频。
为观看,可以通过选择图标160从磁盘载入一个静止的图像。可通过选择按键162浏览存储的静止图像。显示的图像的数相对于图像的总数,通过图形框164显示。使用者可通过移动滑条166快速地穿过幻灯片显示方式的静止图像或穿过不作的视频剪辑。通过圆圈168的选择可暂停捕捉的视频图像。通过按键170可恢复播放。通过选择按键172可将视频或静止图像转移到机器人。
机器人基座的图形描述可显示在传感器区域174中。该传感器可具有各种感应与其他物体接触的传感器。传感器区域174可提供检测物体的传感器的视觉显示。举例来说,该区域可具有一个或多个图形点176,其显示传感器在机器人上的何处检测一个物体。这提供了使用者对机器人环境的感知,该环境在机器人摄像机的视觉之外。
该DUI 120可具有一个允许使用者在摄像机38A的宽视角和摄像机38B的窄视角之间来回切换的视角图标178。尽管示出一个图标,应当理解的是,可有两个图标,一个用于宽视角,另一个用于窄视角,每个可由用户独立地选择。尽管示出并描述了在摄像机之间来回切换,当应当理解的是,来自两个摄像机的图像可以同时显示在显示器用户界面相同的或不同的区域中。在摄像机之间来回切换,也可以通过其他的输入来完成,例如按键、鼠标、操纵杆按键或用滑条146自动完成。该DUI 120可还具有一个能被选择来接通和关断机器人和远程站摄像机的图形图标180。
尽管在附图中描述和示出了特定的实施例,但应当理解为,这样的实施例仅仅是说明性的,而不是对宽泛的本发明的限制,且本发明不限于示出和描述的特定结构和排列,因为本领域技术人员可以实现各种其他的修改方案。
Claims (27)
1.一种用于进行商业电话会议的方法,包括:
用至少一个来自远程站的信号移动一个具有显示屏、摄像机、扬声器和话筒的机器人,使之穿过一个商业设施的表面,该远程站具有显示屏、摄像机、扬声器和话筒;以及
在该机器人和该远程站之间传输图像和声音。
2.根据权利要求1的方法,其中在远程站处的使用者通过机器人向该机器人可视距离内的听众作出演示。
3.根据权利要求1的方法,其中在远程站处的使用者将机器人移动到至少一个办公室来与办公室内一个或多个人员进行电话会议。
4.根据权利要求3的方法,其中该使用者是管理者,办公室内人员是雇员。
5.根据权利要求1的方法,其中在远程站处的使用者通过机器人参加会议。
6.根据权利要求5的方法,其中该会议是未计划的。
7.根据权利要求1的方法,其中该电话会议发生在远程站处的商业实体和在机器人处的商业实体的联合之后。
8.一种协助整合第一商业实体和第二商业实体的方法,包括:
用至少一个来自远程站的信号移动一个具有显示屏、摄像机、扬声器和话筒的机器人,使之穿过第一商业实体的商业设施的表面,该远程站具有显示屏、摄像机、扬声器和话筒,并位于第二商业实体处;以及
在该机器人和该远程站之间传输图像和声音。
9.根据权利要求8的方法,其中在远程站处的使用者通过机器人向该机器人可视距离内的听众作出演示。
10.根据权利要求8的方法,其中在远程站处的使用者将机器人移动到多个办公室来与每个办公室的一个或多个人员进行电话会议。
11.根据权利要求10的方法,其中该使用者是管理者,办公室内人员是雇员。
12.根据权利要求8的方法,其中在远程站处的使用者通过机器人参加会议。
13.根据权利要求12的方法,其中该会议是未计划的。
14.根据权利要求8的方法,其中该电话会议发生在远程站处的商业实体和在机器人处的商业实体的联合之后。
15.一种远程控制机器人系统,其包括:
一个机器人,其包括显示屏、具有宽视角的第一摄像机和具有窄视角的第二摄像机;以及
一个可控制所述机器人的远程站。
16.根据权利要求15的系统,其中所述机器人包括移动平台。
17.根据权利要求15的系统,其中所述远程站包括示出显示器用户界面的显示屏,所述显示器用户界面显示至少一个用于在宽角视图和窄角视图之间选择的图形输入。
18.一种远程控制机器人系统,包括:
宽带网络;
连接到所述宽带网络的机器人,其包括显示屏、具有宽视角的第一摄像机和具有窄视角的第二摄像机;以及
一个远程站,其连接到所述宽带网络并可控制所述机器人。
19.根据权利要求18的系统,其中所述机器人包括移动平台。
20.根据权利要求18的系统,其中所述远程站包括示出显示器用户界面的显示屏,所述显示器用户界面显示出至少一个用于在宽角视图和窄角视图之间选择的图形输入。
21.一种远程控制机器人系统,包括:
一个机器人,其包括显示屏和提供宽视角与窄视角的摄像机装置;以及
一个可控制所述机器人的远程站。
22.根据权利要求21的系统,其中所述机器人包括移动平台。
23.根据权利要求21的系统,其中所述远程站包括示出显示器用户界面的显示屏,所述显示器用户界面显示出至少一个用于在宽角视图和窄角视图之间选择的图形输入。
24.一种用于远程电话会议的方法,包括:
用具有宽角视图的第一摄像机和具有窄角视图的第二摄像机捕捉图像,该第一摄像机和第二摄像机被安装在具有显示屏的机器人上;以及
将图像从所述第一和第二摄像机传输到远程站。
25.根据权利要求24的系统,进一步包括移动机器人。
26.根据权利要求24的系统,进一步包括:
将来自第一或第二摄像机的图像显示在显示器图像区域上。
27.根据权利要求24的系统,进一步包括:
选择显示器用户界面的至少一个图形输入来在第一和第二摄像机之间切换图像显示。
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Also Published As
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WO2006044847A3 (en) | 2006-06-29 |
EP1800476A2 (en) | 2007-06-27 |
EP1800476A4 (en) | 2010-09-22 |
US7593030B2 (en) | 2009-09-22 |
WO2006044847A2 (en) | 2006-04-27 |
US20060082642A1 (en) | 2006-04-20 |
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