CN101316550B - 多摄像机移动远程会议平台 - Google Patents

多摄像机移动远程会议平台 Download PDF

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CN101316550B
CN101316550B CN2006800446980A CN200680044698A CN101316550B CN 101316550 B CN101316550 B CN 101316550B CN 2006800446980 A CN2006800446980 A CN 2006800446980A CN 200680044698 A CN200680044698 A CN 200680044698A CN 101316550 B CN101316550 B CN 101316550B
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robot
long
distance control
zoom image
camera
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CN101316550A (zh
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Y·王
C·S·乔丹
M·平特
J·索瑟德
J·C·赫尔措格
K·P·拉比
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IN TOUCH HEALTH Inc
InTouch Technologies Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H80/00—ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring

Abstract

一种远程控制的机器人系统，包括移动机器人和远程控制站。用户能够从远程控制站控制机器人的移动。移动机器人包括摄像机系统，该摄像机系统能够捕捉并且传送变焦图像和非变焦图像到远程站。远程控制站包括显示机器人视场的监视器。机器人视场能够显示非变焦图像。能够通过突显非变焦区的区域来在机器人视场中显示变焦图像。远程控制站还可以存储允许用户将摄像机系统移动到预置位置的摄像机位置。

Description

多摄像机移动远程会议平台
                         发明背景
发明领域
所公开的主题总体上涉及移动双向远程会议(teleconferencing)领域。
背景信息
机器人已经被用于各种应用，从危险物的远程控制到协助执行外科手术。例如，授权给Wang等人美国专利号5,762,458公开了允许外科医生通过使用机器人控制的仪器来最低程度地执行侵入式医疗过程。Wang的系统中的机器人臂之一移动具有摄像机的内诊镜。该摄像机允许外科医生查看患者的切削区(surgical area)。
诸如危险废物处理机和炸弹检测器之类的遥控机器人(tele-robot)可以包含允许操作者查看远地的摄像机。授权给Treviranus等人的加拿大专利号2289697公开了具有摄像机和监视器二者的远程会议平台。该平台包括用于既转动又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例，以及用于移动摄像机和监视器的不同机构。
由InTouchTechnologies，Inc.-本申请的受让人推出的以COMPANION和RP-6为商标的移动机器人(mobile robot)已经在市场上销售。InTouch机器人由用户在远程站来控制。远程站可以是具有操纵杆的个人计算机，该操纵杆允许用户远程控制机器人的移动。机器人和远程站这二者都具有摄像机、监视器、扬声器和麦克风，以兼顾双向视频/音频通信。机器人摄像机向远程站处的屏幕提供视频图像，以使得用户能够查看机器人的周围环境并且相应地对机器人进行移动。
当对机器人进行移动时，希望具有相对宽的视角，以使得向用户提供机器人周围环境的最优视野。还希望提供具有变焦透镜功能的机器人，以使得用户能够获得更近视野的图像。希望为远程控制的机器人系统提供允许用户容易地在变焦(zoom)与非变焦(non-zoom)图像之间切换的接口。还希望提供存储功能，以使得用户能够返回到某些摄像机位置。
发明概述
一种远程控制的机器人系统，包括移动机器人和远程控制站。移动机器人响应于由远程控制站传送的机器人控制命令而移动。远程控制站包括显示机器人视场的监视器。远程站具有图形用户功能，该图形用户功能允许机器人视场显示由移动机器人提供的变焦图像或非变焦图像。
附图简要描述
图1是机器人系统的图示；
图2是机器人的电气系统的示意图；
图3是机器人的电气系统的另一个示意图；
图4是远程站的图形用户界面；
图5与图4类似，示出突显(highlight)的非变焦图像的部分；
图6与图4类似，示出正由机器人视场显示的变焦图像；
图7与图4类似，示出用于指示已经存储了摄像机位置的消息。
详细描述
所公开的是包括移动机器人和远程控制站的远程控制机器人系统。用户能够从远程控制站控制机器人的移动。移动机器人包括摄像机系统，该摄像机系统能够捕捉并向远程站传送变焦图像和非变焦图像。远程控制站包括显示机器人视场的监视器。机器人视场能够显示非变焦图像。能够通过突显非变焦场的区域来在机器人视场中显示变焦图像。远程控制站还可以存储摄像机位置，其允许用户将摄像机系统移动到预置位置。
更具体地通过附图标记来参考附图，图1示出能够被用于实施远程访问的机器人系统10。机器人系统10包括机器人12、基站14和远程控制站16。远程控制站16可以通过网络18耦合到基站14。作为示例，网络18可以是诸如因特网之类的分组交换网，或者是诸如公共交换电话网(PSTN)之类的电路交换网或其他宽带系统。基站14可以通过调制解调器20或其他宽带网络接口装置耦合到网络18。作为示例，基站14可以是无线路由器。可替换地，机器人12可以经过例如卫星与网络直接连接。
远程控制站16可以包括具有监视器24、摄像机26、麦克风28和扬声器30的计算机22。计算机22还可以包含诸如操纵杆和/或鼠标和键盘33之类的输入装置32。控制站16通常位于远离机器人12的地方。尽管仅示出了一个远程控制站16，但是系统10可以包括多个远程站。通常，可以由任意数目的远程站16或其他机器人12来控制任意数目的机器人12。例如，一个远程站16可以耦合到多个机器人12，或者一个机器人12可以耦合到多个远程站16，或多个机器人12。
每个机器人12包括附于机器人外壳36的移动平台34。也附于机器人外壳36的是一对摄像机38和39、监视器40、麦克风(一个或多个)42和扬声器(一个或多个)44。麦克风42和扬声器30可以产生立体声。机器人12还可以具有被无线耦合到基站14的天线48的天线46。系统10允许位于远程控制站16的用户通过操作输入装置32来移动机器人12。机器人摄像机38和39耦合到远程监视器24，以使得位于远程站16的用户能够查看患者。同样，机器人监视器40耦合到远程摄像机26，以使得患者能够查看用户。麦克风28和42以及扬声器30和44兼顾了患者和用户之间的可听(audible)通信。
摄像机38可以提供广角视野。相反地，摄像机39可以包含变焦透镜以提供窄角视野。摄像机39能够捕捉被传送到远程控制站的变焦图像。摄像机38能够捕捉能够被传送到远程控制站的非变焦图像。尽管示出和描述了两个摄像机，但是应当理解，机器人可以仅包含一个能够提供变焦图像和非变焦图像的摄像机。
远程站计算机22可以运行Microsoft OS软件和WINDOWS XP或诸如LINUX之类的其他操作系统。远程计算机22还可以运行视频驱动器、摄像机驱动器、音频驱动器和操纵杆驱动器。可以使用诸如MPEG编解码器之类的压缩软件来传送和接收视频图像。
图2和3示出机器人12的实施例。每个机器人12可以包括高层控制系统50和低层控制系统52。高层控制系统50可以包括被连接到总线56的处理器54。总线56通过输入/输出(I/O)端口58和59分别耦合到摄像机38和39。监视器40通过串行输出端口60和VGA驱动器62耦合到总线56。监视器40可以包括触摸屏功能，该触摸屏功能允许患者通过触摸监视器屏幕进行输入。
扬声器44通过数模转换器64耦合到总线56。麦克风42通过模数转换器66耦合到总线56。高层控制器50还可以包含随机存取存储器(RAM)装置68、非易失性RAM装置70和大容量存储装置72，它们都耦合到总线62。大容量存储装置72可以包含能够供位于远程控制站16的用户访问的患者的医疗档案。例如，大容量存储装置72可以包含患者的照片。用户，尤其是健康护理人员能够调出旧照片并且在监视器24上将其与由摄像机38所提供的患者的当前视频图像作并排比较。机器人天线45可以耦合到无线收发器74。作为示例，收发器74可以根据IEEE 802.11b传送和接收信息。
控制器54可以使用LINUX OS操作系统来运行。控制器54还可以将MS WINDOWS连同视频、摄像机和音频驱动器一起运行，以用于与远程控制站16通信。可以使用MPEG编解码器压缩技术来收发视频信息。软件可以允许用户向患者发送电子邮件并且反之亦然，或允许患者访问因特网。通常，高层控制器50操作地控制机器人12与远程控制站16之间的通信。
远程控制站16可以包括类似于高层控制器50的计算机。该计算机将具有处理器、存储器、I/O、软件、固件等，用于产生、传送、接收和处理信息。
高层控制器50可以通过串行端口76和78耦连(link)到低层控制器52。低层控制器52包括通过总线86耦合到RAM装置82和非易失性RAM装置84的处理器80。每个机器人12都包含多个电动机88和电动机编码器90。电动机88能够驱动移动平台并且移动诸如监视器和摄像机之类的机器人的其他部分。编码器90提供关于电动机88的输出的反馈信息。电动机88能够通过数模转换器92和驱动器放大器94耦合到总线86。编码器90能够通过解码器96耦合到总线86。每个机器人12还具有多个接近传感器(proximity sensor)98(也见图1)。位置传感器98能够通过信号调节电路100和模数转换器102耦合到总线86。
低层控制器52运行机械地驱动机器人12的软件例程。例如，低层控制器52提供用于驱动移动平台来对机器人12进行移动的指令。低层控制器52可以接收来自高层控制器50的移动指令。移动指令可以作为来自远程控制站或另一个机器人的移动命令来接收。尽管示出了两个控制器，但是应当理解，每个机器人12可以具有一个控制器，或两个以上控制器，用于控制高层和低层功能。
可以通过电池(一个或多个)104来为每个机器人12的各种电气装置供电。可以通过电池充电站106(也见图1)对电池104进行再充电。低层控制器52可以包括感测电池104的功率电平的电池控制电路108。低层控制器52能够感测功率何时低于阈值并且然后发送消息到高层控制器50。
本系统可以与受让人-加利福尼亚，圣巴巴拉的InTouch-Health，Inc.提供的名为RP-6的机器人系统相同或相似。本系统还可以与2004年1月29日公布的申请号10/206,457号中所公开的系统相同或相似，在此将其引入以供参考。
图4示出了能够在远程站16被显示的显示用户界面(“DUI”)120。DUI 120可以包括显示由机器人的摄像机提供的视频图像的机器人视场122。DUI 120还可以包括显示由远程站16的摄像机提供的视频图像的站视场24。DUI 120可以是由远程站16的计算机22存储和运行的应用程序的一部分。
机器人视场122可以显示由机器人的摄像机系统提供的非变焦图像。如图5和6所示的，用户能够突显非变焦图像的一部分以显示对应于突显区域126的变焦图像。作为示例，能够通过左键点击鼠标来发起突显区域126。用户然后能够拖拽光标128，同时按住左键，以产生突显区域126。当用户释放左键时，远程站传送命令以用于将机器人摄像机移动到位于突显区域126的中心的点并且提供对应于该区域的变焦图像。可替换地，用户能够点击鼠标并且以光标为中心的变焦区域将被显示。用户能够通过操作图形图标128将滑条移动到更左的位置，从而切换回非变焦图像。该特征允许用户很容易地在机器人摄像机系统所提供的变焦和非变焦图像之间进行切换。因此用户能够在移动机器人时利用非变焦图像，并且能够利用变焦图像特征来对视场中的人或物进行更近的观看。
远程控制站能够存储摄像机位置，以使得用户能够很容易地转到期望的摄像机位置。作为示例，能够通过按下键盘上的键来存储摄像机位置。可以按下F4键来存储摄像机位置。如图7所示，可以显示可视指示130以向用户指示：摄像机位置已经被存储。此后按压该键将使远程站传送用于将机器人摄像机系统移动到期望位置的一个或多个命令。能够使用诸如F5到F12之类的其他键来创建9个潜在的存储的摄像机位置。能够通过按压并压住键F4-F12之一来存储新的摄像机位置。
能够使用鼠标32来移动机器人的摄像机。鼠标32的移动可以引起摄像机的相应移动。鼠标与摄像机移动之间的比例可以由用户改变。鼠标的移动还可以使系统显示变焦和非变焦图像。
在操作中，机器人12可以被放置在家中或其中要监视和/或帮助一个或多个患者的机构中。该机构可以是医院或家庭式护理(residentialcare)机构。作为示例，机器人12可以被放置在健康护理人员可以监视和/或帮助患者的家中。同样，朋友或家庭成员可以与患者通信。在机器人和远程控制站这两处的摄像机和监视器都考虑到患者与在远程站(一个或多个)处的个人之间的远程会议。
能够通过对远程站16处的输入装置32进行操作来穿过家或机构操纵机器人12。机器人10可以由许多不同用户来控制。为了实现这点，机器人可以具有仲裁系统。该仲裁系统可以被集成到机器人12的操作系统中。例如，仲裁技术可以被嵌入到高层控制器50的操作系统中。
作为示例，用户可以被划分成包括机器人本身、本地用户、护理者、医生、家庭成员或服务提供者的类别。机器人12可以忽略与机器人操作冲突的输入命令。例如，如果机器人碰到墙，则系统可以忽略所有另外的用于在墙的方向上继续的命令。本地用户是在物理上与机器人一起的个人。机器人可以具有允许本地操作的输入装置。例如，机器人可以包括用于接收和解释可听命令的语音识别系统。
护理者是在远程监视患者的某个人。医生是能够在远程控制机器人并且还访问机器人存储器中所包含的医疗档案的医学专业人员。家庭和服务用户在远程访问机器人。服务用户可以例如通过升级软件或设置操作参数来对系统进行服务。
机器人12可以在两种不同的模式之一下运行；专用(exclusive)模式或共享模式。在专用模式下，仅一个用户能够对机器人进行访问控制。专用模式可以具有分配给每一类型用户的优先级。作为示例，优先级可以按照本地、医生、护理者、家庭以及之后服务用户的次序来排列。在共享模式下，两个或更多用户可以共享对机器人的使用。例如，护理者可以使用机器人，护理者然后可以进入共享模式以允许医生也使用机器人。护理者和医生这二者能够同时与患者的进行远程会议。
仲裁方案可以具有四种机制之一；通知、超时、队列和回叫(callback)。通知机制可以向当前用户或正在请求的用户通知：另一个用户在使用或想要使用机器人。超时机制向某些类型的用户给予规定量的时间来完成对机器人的使用。队列机制是有权使用机器人的有序等待列表。回叫机制向用户通知：机器人能够被使用。作为示例，家庭用户可以接收电子邮件消息，即：机器人空闲可供使用。表I和II示出所述机制如何解决来自各种用户的访问请求。
                      表I
  用户   访问控制   医疗记录  命令忽略   软件/调试访问   设置优先级
  机器人   否   否  是(1)   否   否
  本地   否   否  是(2)   否   否
  护理者   是   是  是(3)   否   否
  医生   否   是  否   否   否
  家庭   否   否  否   否   否
  服务   是   否  是   是   是
                        表2
Figure S2006800446980D00071
Figure S2006800446980D00081
在站16与机器人12之间传送的信息可以被加密。另外，用户可以必须输入密码来进入系统10。然后由站16向所选的机器人给予电子密钥。机器人12验证该密钥并且向站16返回另一个密钥。所述密钥用于对在会话中所传送的信息进行加密。
机器人12和远程站16通过宽带网络18传送命令。命令能够由用户以各种方式产生。例如，可以通过移动操纵杆32(见图1)来产生用于移动机器人的命令。优选地根据TCP/IP协议将命令组装成分组。表III提供了控制命令的列表，所述控制命令在远程站处产生并且通过网络传送到机器人。
                            表III
Figure S2006800446980D00082
 命令   示例   描述
 drive(驱动)   drive 10.0 0.0 5.0   drive命令指示机器人在(x，y)平面中以指定速度(以厘米/秒为单位)移动，并且以指定速率(度/秒)转动它的面向
 goodbye(再见)   goodbye   goodbye命令终止用户会话并且放弃对机器人的控制
 gotoHomePosition(转到原位)   gotoHomePosition 1   gotoHomePosition命令将头部移动到固定“原”位置(摇摄(pan)和倾斜(tilt))，并且将变焦恢复到默认值。索引值能够是0、1或2。在机器人配置文件中指定关于每个索引的准确遥摄/倾斜值。
 head(头部)   head vel pan 5.0 tilt10.0   head命令控制头部运动。其能够以两种模式发送命令，由关键字识别：位置的(″pos″)或速度(″vol″)。在速度模式下，遥摄和倾斜值为头部在遥摄和倾斜轴上的期望速度，以度/秒为单位。单个命令能够包括仅遥摄部分，或仅倾斜部分或二者。
 keepalive(保持活性)   keepalive   keepalive命令不引起动作，但保持通信(套接字(Socket))链路开启，以使得会话能够继续。在脚本中，它能够被用于向动作中引入延迟时间。
 odometry(测距)   odometry 5   odometry命令实现从机器人的测距消息流。自变量是每秒要报告测距次数。0值关闭测距。
 reboot(重新启动)   reboot   reboot命令使得机器人计算机立即重新启动。正在进行的会话立即中断。
 restoreHeadPosition(恢复头部位置)   restoreHeadPosition   restoreHeadPosition的作用与gotoHomePosition命令类似，但其将头部返回到先前用gotoHomePosition存储的位置。
 saveHeadPosition(保存头部位置)   saveHeadPosition   saveHeadPosition命令使得机器人在临时存储器中的擦除位置(scratch location)中保存当前的头部位置(遥摄和倾斜)，以使得该位置能够被恢复。此后对“restoreHeadPosition”的调用将恢复该保存的位置。对saveHeadPosition的每次调用重写
  任何先前的保存的位置。
 setCameraFocus(设置摄像机聚焦)   setCameraFocus 100.0   setCameraFocus命令控制机器人侧的摄像机的聚焦。被发送的值被“未经处理地(raw)”传递到在机器人上运行的视频应用，所述机器人根据它自己的规范对它进行解释。
 setCameraZoom(设置摄像机变焦)   setCameraZoom 100.0   setCameraZoom命令控制机器人侧的摄像机的变焦。被发送的值被“未经处理地”传递到在机器人上运行的视频应用，所述机器人根据它自己的规范对它进行解释。
 shutdown(关闭)   shutdown   shutdown命令关闭机器人并且对它的计算机断电。
 stop(停止)   stop   stop命令指示机器人立即停止移动。假定这将是机制能够安全实现的突然停止。
 timing(定时)   Timing 3245629 500   timing消息用于估计消息等待时间。其保持在发送机器上记录的发送消息的时间的UCT值(秒+毫秒)。为了完成有效测试，你必须在每个方向上(即从机器A向机器B发送，然后从机器B向机器A发送)比较结果，以便解释两个机器的时钟的差。机器人在内部记录用于估计会话期间的平均和最大等待时间的数据，机器人将其打印成日志文件。
 userTask(用户任务)   userTask“Jane Doe”“Remote Visit(远程访问)”   userTask命令向机器人通知当前用户和任务。该命令通常在会话的开始时被发送一次，不过它能够在会话期间被发送(如果用户和/或任务改变的话)。机器人使用该信息以用于记录保持。
表IV提供了由机器人产生并且通过网络传送到远程站的报告命令的列表。
                           表IV
Figure S2006800446980D00101
 产生该消息(如果任何这样的异常发生的话)。
  bodyType(体类型)   bodyType 3  该bodyType消息向站通知当前机器人具有哪个类型的体(使用机械组的编号)。这允许机器人被从站用户接口中正确拉出，并且考虑到任何其他必要的体特定的调整。
  driveEnabled(驱动启用)   driveEnabled true(真)  在会话开始时发送该消息，用以指示驱动系统是否在操作中。
  emergencyShutdown(紧急关闭)   emergencyShutdown  该消息向站通知机器人软件已经检测到可能的“失控”状况(引起机器人失控的故障)并且关闭整个系统以防止危险动作。
  odometry   odometry 10 20 340  odometry命令在会话的开始时报告在机器人的原始坐标空间中的机器人的当前(x，y)位置(cm)和体定向(度)。
  sensorGroup(传感器组)   group_data(组数据)  机器人上的传感器被设置成组，每个组为单个类型(撞击传感器、距离传感器、电荷表)。在会话开始针对每个组发送一次sensorGroup消息。它包含该组中的传感器的数目、类型、位置和任何其他相关数据。站不对机器人上所承载的设备做任何假定；它知道的关于传感器的一切信息都来自sensorGroup消息。
  sensorState(传感器状态)   groupName state data(组名称状态数据)  sensorState命令向指定传感器组报告当前状态值。状态数据的语法和解释对于每个组是特定的。在每次传感器评价(通常每秒若干次)时为每个组发送一次该消息。
  systemError(系统错误)   systemErrordriveController(驱动控制器)  该消息向站用户通知机器人子系统之一中的故障。error_type(错误类型)自变量指示哪个子系统发生故障，包括driveController、driveController(传感器控制器)、headHome(头部原位)。
  systemInfo(系统信息)   systemInfo wireless(无线)45  该消息允许对诸如无线信号强度之类的超出传感器系统范围的信息进行常规报告
  text(文本)   Text“This is sometext(这是一些文字)”  text字符串从机器人向站发送文本字符串，其中向用户显示字符串。该消息主要用于调试。
 version(版本)   Version 1.6   该消息标识当前运行在机器人上的软件版本。它在会话开始时被发送一次以允许站进行任何必要的后向兼容性调整。
机器人高层控制器50的处理器54可以运行确定机器人12是否在一定时间间隔内接收到机器人控制命令的程序。例如，如果机器人12没有在2秒内接收到控制命令，则处理器54向低层控制器50提供指令以用于停止机器人12。尽管描述了软件实施例，但是应当理解，可以使用硬件或硬件和软件的组合来实现控制命令监视特征。硬件可以包括定时器，所述定时器在每次接收到控制命令时被复位，并且产生或终止命令或信号，以停止机器人。
远程站计算机22可以监视由机器人摄像机提供的视频图像的接收。如果远程站没有在一定时间间隔内接收或传送经更新的视频图像，则计算机22可以产生并传送STOP命令到机器人。STOP命令使机器人停止。作为示例，如果远程控制站没有在2秒内接收到新的视频图像，则计算机22可以产生STOP命令。尽管描述了软件实施例，但是应当理解，可以使用硬件或硬件和软件的组合来实现视频图像监视特征。硬件可以包括定时器，该定时器在每次接收到新视频图像时被复位，并且产生或终止命令或信号，以产生机器人STOP命令。
尽管已经描述并且在附图中示出了某些示例性实施例，但是应当理解，这样的实施例仅是示例性的并且不限制本宽的发明，并且本发明不限于所示出和描述的特定构造和排列，这是因为对于本领域普通技术人员来说，可以很容易想到各种其他修改。

Claims (9)

1.一种远程控制的机器人系统，包括：
具有摄像机系统的移动机器人，所述摄像机系统能够捕捉变焦图像和非变焦图像，被附于所述移动机器人上的监视器，以便所述监视器和所述摄像机系统总是一起移动；以及，
远程控制站，所述远程控制站传送命令以控制所述移动机器人，所述远程控制站包括显示机器人视场的监视器和切换所述机器人视场以显示所述变焦图像或所述非变焦图像的图形用户界面功能，所述图形用户界面功能包括用来自用户的输入创建的小于所述非变焦图像的加亮的区域，并且所述机器人的所述摄像机系统移动到在所述加亮的区域的中心处的点以捕捉所述变焦图像。
2.如权利要求1所述的远程控制的机器人系统，其中所述加亮的区域是通过按下鼠标而被发起的。
3.如权利要求1所述的远程控制的机器人系统，其中所述摄像机系统包括提供所述变焦图像的第一摄像机以及提供所述非变焦图像的第二摄像机。
4.如权利要求1所述的远程控制的机器人系统，其中所述远程控制站包括至少一个存储的摄像机位置。
5.如权利要求4所述的远程控制的机器人系统，其中所述远程控制站包括键盘，并且通过按下所述键盘上的键来存储所述存储的摄像机位置。
6.如权利要求5所述的远程控制的机器人系统，其中所述移动机器人响应于被按下的所述键而将所述摄像机系统移动到所述存储的摄像机位置。
7.如权利要求4所述的远程控制的机器人系统，其中所述远程控制站的所述监视器显示所述存储的摄像机位置已经被存储的指示。
8.一种用于远程控制具有摄像机的机器人的方法，包括：
从远程控制站传送机器人控制命令；
在具有摄像机的机器人处接收所述机器人控制命令；
根据所述机器人控制命令移动所述机器人；
在所述远程控制站的监视器上显示机器人视场中的非变焦图像；以及
用来自用户的输入创建所述非变焦图像的高亮的区域，所述高亮的区域小于所述非变焦图像；
将所述摄像机移动到所述高亮的区域的中心处的点；以及，
捕捉对应于所述高亮的区域的变焦图像；
其中，监视器和麦克风被附接到所述机器人，以致所述监视器、所述摄像机和所述麦克风被机械耦合，以总是一起移动。
9.如权利要求8所述的方法，进一步包括存储摄像机位置。
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