CN101730894A - 通过网络防火墙进行操作的机器人系统 - Google Patents

通过网络防火墙进行操作的机器人系统 Download PDF

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CN101730894A
CN101730894A CN200880023915A CN200880023915A CN101730894A CN 101730894 A CN101730894 A CN 101730894A CN 200880023915 A CN200880023915 A CN 200880023915A CN 200880023915 A CN200880023915 A CN 200880023915A CN 101730894 A CN101730894 A CN 101730894A
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M·平特
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IN TOUCH HEALTH Inc
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    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/02—Network architectures or network communication protocols for network security for separating internal from external traffic, e.g. firewalls
    • H04L63/029—Firewall traversal, e.g. tunnelling or, creating pinholes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/02—Network architectures or network communication protocols for network security for separating internal from external traffic, e.g. firewalls
    • H04L63/0209—Architectural arrangements, e.g. perimeter networks or demilitarized zones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network

Abstract

一种远程控制机器人系统，其包括通过通信网络进行通信的机器人和远程控制站。与机器人的通信由耦合到通信网络的防火墙限制。通信服务器在机器人和远程控制站之间建立通信，以使得该远程控制站可以通过防火墙发送命令到机器人。

Description

通过网络防火墙进行操作的机器人系统
技术领域
所公开的主题通常涉及移动双向电信会议的领域。
背景技术
在许多应用中都已使用了机器人，从有害物质的远程控制到协助执行外科手术。例如，Wang等人发表的美国专利No.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执行微创医疗过程的系统。在Wang系统中的一个机器人臂(robotic arm)移动具有摄像机的内窥镜。摄像机允许外科医生查看患者的外科手术区域。
诸如有害废物处理机和炸弹检测器之类的遥操作机器人(Tele-robot)可以包含允许操作员查看远程地点的摄像机。Treviranus等人发表的加拿大专利No.2289697公开了具有摄像机和监视器二者的电信会议平台。该平台包括既使摄像机和监视器枢转(pivot)又使它们升高的机构。Treviranus专利还公开了具有移动平台以及移动摄像机和监视器的不同机构的实施例。
市场上已存在由此申请的受让人InTouch Technologies有限公司提出的具有商标RP-7的移动机器人。InTouch机器人由位于远程站处的用户控制。远程站可以是个人计算机，其具有允许用户远程控制机器人的移动的操纵杆。机器人和远程站都具有摄像机、监视器、扬声器和麦克风以允许双向视频/音频通信。机器人摄像机将视频图像提供给在远程站的屏幕以使得用户可以查看机器人的周边环境并且相应地移动该机器人。
InTouch机器人系统通常利用宽带网络(例如因特网)来建立远程站和机器人之间的通信信道。机器人可以被位于在设施局域网和因特网之间具有防火墙的设施处。防火墙可以阻止通过宽带网络远程访问机器人。应该期望提供一种允许访问由局域网防火墙保护的远程机器人的系统。
发明内容
远程控制机器人系统包括通过通信网络进行通信的机器人和远程控制站。机器人响应于由远程控制站传输的机器人控制命令而移动。机器人可以由防火墙耦合到通信网络。通信服务器在机器人和远程控制站之间建立通信。
附图说明
图1是机器人系统的说明图；
图2是通信服务器的电系统的示意图；
图3是机器人的电系统的示意图；
图4是机器人的电系统的另一个示意图；
图5是机器人的说明图；以及
图6是远程站的图形用户接口。
图7是机器人头部的说明图。
具体实施方式
公开了包括通过通信网络进行通信的机器人和远程控制站的远程控制机器人系统。与机器人的通信被耦合到该通信网络的防火墙限制。通信服务器在机器人和远程控制站之间建立通信，以使得该站可以通过防火墙来发送命令到机器人。
更具体地通过参考标记来参考附图，图1示出了可以用于进行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。该远程控制站16可以通过网络18耦合到基站14。以实例的方式，网络18可以是分组交换网络(例如因特网)或者电路交换网络(例如具有公共交换电话网(PSTN)或其它宽带系统的电路交换网络)。基站14可以通过调制解调器(未示出)或其它宽带网络接口设备耦合到网络18。以实例的方式，基站14可以是无线路由器。可替换地，机器人12可以具有通过例如卫星到网络的直接连接。
远程控制站16可以包括计算机22，其具有监视器24、摄像机26、麦克风28和扬声器30。计算机22还可以包含输入设备32，例如操纵杆或鼠标。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，可以通过任何数目的远程站16或其它机器人12来控制任何数目的机器人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包括附接到机器人外壳36的移动平台34。还附接到机器人外壳36的是摄像机38、监视器40、(多个)麦克风42和(多个)扬声器44。麦克风42和扬声器30可以产生立体声。机器人12还可以具有无线耦合到基站14的天线48的天线46。系统10允许在远程控制站16处的用户通过操作输入设备32来移动机器人12。机器人摄像机38耦合到远程监视器24以使得在远程站16处的用户可以查看对象(例如患者)。同样，机器人监视器40耦合到远程摄像机26以使得患者可以查看用户。麦克风28和42以及扬声器30和44允许患者和用户之间的音频通信。
远程站计算机22可以操作Microsoft OS软件和WINDOWS XP或其它操作系统(例如LINUX)。远程计算机22还可以操作视频驱动器、摄像机驱动器、音频驱动器和操纵杆驱动器。可以利用压缩软件(例如MPEG CODEC)来传输和接收视频图像。
机器人12和控制站16之间的信息流可以通过在系统的机器人侧上的防火墙50和/或在系统的控制站侧上的防火墙51来限制。以实例的方式，机器人12和/或控制站16位于包括一个或多个防火墙的设施处，该防火墙控制设施局域网和网络18之间的通信。系统10包括通信服务器52，其可以在机器人12和远程控制站16之间建立通信。
系统可以具有下面的层级以在机器人12和远程控制站16之间建立通信。远程控制站16可以通过将一个或多个分组传输到机器人12的内部IP地址来传输访问机器人12的初始请求。将会理解，每个机器人可以具有唯一的IP地址。如果机器人12和远程站16不在相同的网络上，则该通信将失败。
如果利用内部IP地址访问机器人的初始尝试没有成功，则远程控制站16可以传输请求到机器人的外部IP地址。这可以通过TCP或UDP协议来完成。如果该尝试没有成功，例如如果防火墙阻止访问机器人，则远程控制站可以发送询问到通信服务器52，该通信服务器52然后在远程站16和机器人12之间建立通信。
许多防火墙采用端口地址转换(“PAT”)来伪装输出消息。例如，如果诸如机器人的设备利用源端口号9000发送消息，则防火墙50/51可以将源端口号改变成47501。如果输入消息定址到转换端口(例如47501)，则防火墙50/51将仅允许该输入消息通过。另外，如果消息分组来自最近由机器人传送到的源端口，并且分组的目的地端口与最近从源接收的分组的源端口相匹配，则防火墙50/51还仅允许输入消息。
每个机器人12可以建立与服务器52的通信端口的持久链接(constant link)。可替换地，每个机器人可以周期地轮询(poll)服务器52。利用任意一种方法，服务器知道控制站和机器人的最新知道的IP地址，以及在其每一个上打开的对等UDP端口。一旦从远程控制站16接收到询问，服务器52就可以转发在机器人12和远程站二者上的IP和端口信息二者，以使得远程站16和机器人12二者可以互相同时发送对等分组，从而绕过(bypass)由PAT表引起的问题。最新知道的IP地址可以是由防火墙50提供的PAT地址。一旦从远程控制站16接收到询问，则服务器52就将PAT地址转发到远程站16，以使得该远程站16可以与机器人12建立对等通信。
可替换地，或者在不能建立对等通信的情况下，服务器52可以提供管道(conduit)以用于远程控制站16和机器人12之间的通信。例如，分组被引导向通信服务器52，然后该通信服务器52使用最新知道的IP地址再传输该分组到机器人12。以这种方式，服务器52可以建立与远程控制站16和机器人12二者的UDP连通性。服务器52指示机器人12和远程站16打开UDP套接口(socket)并且将UDP分组传输到指定的服务器端口。
服务器52提供管道，以允许多个控制站和单个机器人、单个控制站和多个机器人、或者多个控制站和多个机器人之间的通信。
图2示出了通信服务器52的实施例。该服务器可以包括连接到一个或多个存储器设备62的一个或多个服务器60。该存储器设备62可以包括易失性和非易失性存储器二者，例如只读存储器(ROM)或随机存取存储器(RAM)。处理器60能够根据存储在存储器设备62的指令和数据来操作软件程序。
处理器60可以通过系统总线72耦合到通信端口64、大容量存储设备66、监视器68和键盘70。通信端口64可以包括以太网接口，其允许以TCP/IP或UDP格式来传输并接收数据。系统总线72可以是PCI或别的传统计算机总线。大容量存储设备66可以包括一个或多个磁盘驱动器，例如磁驱动器或光学驱动器。
在不限制本发明的范围的情况下，术语计算机可读介质可以包括存储器设备42和/或大容量存储设备46。计算机可读介质将包含可以被计算机读取并解释的二进制形式的软件程序。除了存储器设备62和/或大容量存储设备66之外，计算机可读介质还可以包括软盘、压缩盘、集成电路、磁带或甚至软件程序的远程通信。
服务器52可以包含许多允许用户控制远程站和机器人之间的通信的图形用户接口。服务器52可以在指定的时间段内控制机器人访问。例如，服务器可以将特定远程站可以控制机器人的时间限制到两个小时的访问时间。服务器允许系统操作员收取机器人访问费或者其它形式的可以被时间单位除尽的补偿。
在可替换的实施例中，服务器52还可以是网络用具，而不是具有操作系统的完整计算机。可替换地，服务器52实际上可以是物理服务器或网络设备的分布式网络，这些物理服务器或网络设备的每一个都处于不同的IP地址，对于不同的IP地址，给定的机器人12和远程站16可以连接到不同的物理设备，并且那些物理设备共享关于连接到该设备的系统的数据。在服务器52被用作数据管道的情况下，可以发生下列情况的一个：(a)指示机器人12或远程站16从一个物理设备断开，并且再连接到另一个设备所连接到的相同物理设备，或者(b)必要时将服务器网络内的数据从一个服务器传输到另一个。此外，服务器52可以具有路由器、防火墙或类似的设备，它们具有足够的端口转发和/或分组管理，从而实现就像存在于公共因特网的相同的行为，以达到与机器人12和远程站16通信的目的。
图3和图4示出了机器人12的实施例。每个机器人12可以包括高等级(level)控制系统150和低等级控制系统152。该高等级控制系统150可以包括连接到总线156的处理器154。总线156通过输入/输出(I/O)端口158耦合到摄像机38。监视器40通过串行输出端口160和VGA驱动器162耦合到总线156。监视器40可以包括触摸屏功能，其允许患者通过触摸监视器屏幕来送入输入。
扬声器44通过数字模拟转换器164耦合到总线156。麦克风42通过模拟数字转换器166耦合到总线156。高等级控制器150还可以包含随机存取存储器(RAM)设备168、非易失性RAM设备170和大容量存储设备172，所有这些都耦合到总线156。大容量存储设备172可以包含患者的医疗文件，这些医疗文件可以由用户在远程控制站16访问。例如，大容量存储设备172可以包含患者的照片。用户，特别是保健提供者可以调用旧的照片并且在监视器24上与由摄像机38提供的患者的现在的视频图像进行并列比较。机器人天线46可以耦合到无线收发机174。以实例的方式，收发机174可以根据IEEE 802.11b来传输并接收信息。
控制器154可以利用LINUX OS操作系统进行操作。控制器154还可以连同视频驱动器、摄像机驱动器和音频驱动器一起操作MSWINDOWS，以与远程控制站16进行通信。可以使用MPEG CODEC压缩技术来收发视频信息。软件可以允许用户发送电子邮件到患者并且反之亦然，或者允许患者访问因特网。通常，高等级控制器150进行操作以控制机器人12和远程控制站16之间的通信。
远程控制站16可以包括类似于高等级控制器150的计算机。该计算机应该具有处理器、存储器、I/O、软件、固件等等，以用于生成、传输、接收并处理信息。
高等级控制器150可以通过串行端口176和178链接到低等级控制器152。低等级控制器152包括通过总线186耦合到RAM设备182和非易失性RAM设备184的处理器180。每个机器人12包含多个电动机188和电动机编码器190。电动机188可以致动移动平台并且移动机器人的其它部件例如监视器和摄像机。编码器190提供关于电动机188的输出的反馈信息。电动机188可以通过数字模拟转换器192和驱动器放大器194耦合到总线186。解码器190可以通过解码器196耦合到总线186。每个机器人12还具有多个接近传感器(proximity sensor)198(也见图1)。传感器198还可以通过信号调节电路200和模拟数字转换器202耦合到总线186。
低等级控制器152运行机械致动该机器人12的软件例程。例如，低等级控制器152提供指令来致动移动平台以移动机器人12。低等级控制器152可以从高等级控制器150接收移动指令。可以从远程控制站或别的机器人接收作为移动命令的移动指令。尽管示出了两个控制器，但是应该理解，每个机器人12可以具有一个控制器或者多于两个控制器，以控制高等级和低等级功能。
每个机器人12的各个电气设备可以由(多个)电池204供电。电池204可以由电池充电站206(也见图1)充电。低等级控制器152可以包括感测电池204的功率等级的电池控制电路208。低等级控制器152可以感测功率何时下降到低于阈值并且然后发送消息到高等级控制器150。
图5示出了机器人12的实施例。机器人12可以包括附接到机器人外壳250的完整(holonomic)平台250。完整平台250提供三个自由度以允许机器人12在任何方向上移动。
机器人12可以具有支撑摄像机38和监视器40的基座组件254。该基座组件254可以具有两个自由度，以使得如箭头所指示的那样一起旋转并枢转摄像机38和监视器40。
摄像机38和监视器40可以与闭环控制系统相一致。平台250可以位于具有轴Xp、Yp和Zp的平台参考坐标系中。以实例的方式，y轴Yp可以从平台250的前端延伸。摄像机38被固定到具有轴Xc、Yc和Zc的摄像机参考坐标系中。y轴Yc可以从摄像机的透镜垂直延伸。当机器人被初始化时，摄像机坐标系的y轴Yc可以与平台坐标系的y轴Yp对准。操纵杆32的向前枢转(在图1中示出)可以导致在平台坐标系中的y轴Yp的方向上的平台250的相应移动。
机器人可以具有驱动矢量，其具有映射到摄像机坐标系、平台坐标系或一些其它系的轴Xd、Yd和Zd。以实例的方式，y轴Yp可以在向前运动的方向上延伸。映射包括将输入命令转变成相对于一个或多个坐标系的方向移动的过程。机器人控制器可以执行某些算法以根据指定的映射方案来将输入命令转变成平台移动。例如，当驱动矢量映射到摄像机坐标系时，控制器计算输入命令相对于摄像机坐标系的驱动矢量。在平台映射方案中，相对于平台坐标系来计算输入驱动矢量。在又一个方案中，可以相对于另一个坐标系(例如独立于摄像机或平台坐标系的完全坐标系，比如相对于地的坐标系)来计算驱动矢量。将驱动矢量映射到摄像机坐标系可以是期望的，因为所有移动都将相对于用户看到的图像，从而提供了对使用直观的系统。
操纵杆32的扭动可能导致摄像机38如箭头4所指示的那样旋转。例如，如果操纵杆32扭动+45度，则摄像机38将枢转+45度。旋转摄像机38也移动摄像机坐标系的y轴Yc，因为y轴Yc被固定到摄像机。这不同于驱动方向。远程站计算机可以运行程序以生成将自动旋转平台250的命令，从而使平台坐标系的y轴Yp与摄像机坐标系的y轴Yc再次对准。对于上面的实例，旋转平台250旋转+45度。该方法保持平台250与摄像机38对准，以使得机器人的任何后续移动相对于由摄像机提供的图像是直观的。例如，操纵杆的向前枢转将促使机器人的向前移动，如通过远程站的监视器所查看到的那样。在该驱动方案中，平台可以不与头部对准。计算机可以生成轨迹规划，以使得在具有或没有时间上或某一距离上的初始延迟的情况下，平台坐标系在行进的一段时间或距离内与头部坐标系对准地移动。
系统可以被配置以使得操纵杆32的枢转移动可以被映射到机器人的相应方向移动。例如，操纵杆沿+45度枢转可以导致机器人相对于摄像机坐标系的y轴Yc以+45度方向移动。可替换地，摄像机可以摇动(pan)+45度，并且平台250可以在机器人的向前移动之前旋转+45度。自动摇动和平台旋转导致机器人如由摄像机提供的图像所描述的那样以向前的方向移动。机器人可以具有用户可以在机器人移动期间扭动操纵杆以摇动摄像机的模式，以使得不以摄像机指向的方向移动。这使得用户在移动机器人的同时能可视地摇动。操纵杆可以具有弹簧复位，当被用户释放时该弹簧复位可以自动返回到杆的位置。这使得摄像机与移动方向对准。
通常，机器人可以具有多个不同的映射方案，以及摄像机、平台和驱动方向之间的相对的、相关或不相关的移动。摄像机和平台之间的相对移动可以出现在基于摄像机的映射方案、基于平台的映射方案或一些其它方案中。
尽管自动平台旋转命令已经被描述为由远程站计算机生成的，但是应该理解机器人可以确定再次定向平台250和/或摄像机38所需的命令和信号。机器人12可以包括跟踪摄像机的位置并且为低等级控制器180提供反馈的电位器(未示出)。低等级控制器180可以自动旋转平台以与y轴Yc和Yp对准或以其它方式补偿摄像机的移动。模式按钮(未示出)可以允许操作员将系统置于跟踪模式或正常模式。在跟踪模式中，机器人相对于摄像机坐标系移动，以使得移动相对于屏幕是直观的，甚至在摄像机摇动的时候也是如此。在正常模式中，机器人在平台坐标系中移动。
系统可以与受让人(Santa Barbara，California的InTouch-Health有限公司)提供的以RP-7命名的机器人系统相同或相似。该系统还可以与2005年8月2日发表的美国专利No.6,925,357公开的系统相同或相似，通过引用将其结合于此。
图6示出了可以在远程站16显示的显示用户接口(“DUT”)300。DUT 300可以包括机器人视场302，其显示由机器人的摄像机提供的视频图像。DUT 300还可以包括站视场304，其显示由远程站16的摄像机提供的视频图像。DUT 300可以是远程站16的计算机22存储和操作的应用程序的一部分。显示用户接口以及由该接口提供的各种特征和功能可以与RP-7系统提供的DUI相同或相似。
在操作中，机器人12可以被置于要监控和/或帮助一个或多个患者的家庭或设施中。该设施可以是医院或居住护理设施。以实例的方式，机器人12可以被置于保健提供者可以监控和/或帮助患者的家庭中。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二者处的摄像机和监视器允许患者与(多个)远程站处的人的电话会议。
可以通过操纵在远程站16处的输入设备32来经过家庭或设施调动机器人12。机器人10可以由多个不同的用户控制。为了适应这一状况，该机器人可以具有仲裁(arbitration)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，该仲裁技术可以被嵌入到高等级控制器150的操作系统中。
以实例的方式，用户可以被分成不同的种类，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。机器人12可以否决(override)与机器人操作冲突的输入命令。例如，如果机器人撞上墙壁，则系统可以忽略所有在墙壁的方向上继续的附加命令。本地用户是机器人物理上呈现给其的人。机器人可以具有允许本地操作的输入设备。例如，机器人可以结合接收并解释音频命令的语音识别系统。
护理者是远程监控患者的某个人。医生是可以远程控制机器人并且还访问包含在机器人存储器中的医疗文件的医疗专业人员。家人和服务用户远程访问机器人。服务用户可以例如通过更新软件或设置操作参数来为该系统提供服务。
机器人12可以以两个不同模式中的一个操作，这两个不同模式是专用(exclusive)模式或共享模式。在专用模式中，仅一个用户具有对机器人的访问控制。专用模式可以具有分配给每种类型的用户的优先权。以实例的方式，优先权可以按照本地人、医生、护理者、家人以及然后服务用户的顺序。在共享模式中，两个或多个用户可以共享对机器人的访问。例如，护理者可以具有对机器人的访问，然后护理者可以进入共享模式以允许医生也访问该机器人。护理者和医生可以与患者进行同时电信会议。
系统10可以被用于医生监督(proctoring)，其中在远程站的医生提供指令并且反馈到位于机器人附近的医生。例如，在远程位置的医生可以查看患者并且帮助在患者位置的医生进行诊断。同样，远程医生可以帮助机器人位置处的医疗过程的执行。
仲裁方案可以具有四个机制中的一个，这四个机制是通知、超时、排队和回叫(call back)。通知机制可以告知现在用户或请求用户另一个用户已访问或希望访问机器人。超时机制为某类用户给出规定的时间量来完成对机器人的访问。排队机制是访问机器人的顺序等待列表。回叫机制告知用户机器人可以被访问。以实例的方式，家庭用户可以接收到自由使用机器人的电子邮件消息。表I和表II示出了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 命令否决   软件/调试访问   设置优先权
  机器人   否   否   是(1)   否   否
  本地人   否   否   是(2)   否   否
  护理者   是   是   是(3)   否   否
  医生   否   是   否   否   否
  家人   否   否   否   否   否
  服务者   是   否   是   是   是
表II
Figure G2008800239157D00111
在站16和机器人12之间传输的信息可以被加密。另外，用户必须输入密码来进入系统10。所选择的机器人然后通过站16给出电子密钥。机器人12验证该密钥并且返回另一个密钥到站16。该密钥用于加密在该会话中传输的信息。
机器人12和远程站16通过宽带网络18传输命令。该命令可以由用户以各种方式生成。例如，移动机器人的命令可以通过移动操纵杆32来生成(见图1)。表III提供了在远程站生成的以及通过网络传输到机器人的控制命令的列表。
表III
Figure G2008800239157D00121
Figure G2008800239157D00131
表IV提供了由机器人生成的以及通过网络传输到远程站的报告命令的列表。
表IV
Figure G2008800239157D00132
机器人高等级控制器150的处理器154可以操作确定该机器人12是否已在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154向低等级控制器150提供指令以停止机器人12。尽管描述了软件实施例，但是应该理解控制命令监控特征可以以硬件或硬件和软件的组合来实施。硬件可以包括定时器，每次接收及生成控制命令或者终止命令或信号以停止机器人时，该定时器被重置。
远程站计算机22可以监控由机器人摄像机提供的视频图像的接收。如果远程站没有在时间间隔内接收或传输更新的视频图像，则计算机22可以生成和传输STOP命令到机器人。STOP命令导致机器人停止。以实例的方式，如果远程站没有在2秒内接收到新的视频图像，则计算机22可以生成STOP命令。尽管描述了软件实施例，但是应该理解视频图像监控特征可以以硬件或硬件和软件的组合来实施。硬件可以包括定时器，每次接收及生成新的视频图像或者终止命令或信号以生成机器人STOP命令时，该定时器被重置。
机器人还具有内部安全故障(safety failure)特征。例如，机器人可以监控机器人控制器和用于操作平台电动机的机器人伺服机构(servo)之间的通信。机器人监视器可以切换继电器，以在监视器检测到缺少机器人控制器和电动机伺服机构之间的通信的情况下终止向平台电动机供电。
远程站还可以具有用于输入设备32的安全特征。例如，如果在某个时间间隔(例如10秒)内没有来自操纵杆的输入，则计算机22可以不中继后续输入，除非用户在另一个时间间隔(例如2秒)内按下再次激活输入设备的按钮。
图7示出了作为机器人头部350的机器人的另一个实施例，其中机器人头部350可以枢转并且扭转(spin)摄像机38和监视器40。机器人头部350可以类似于机器人12，但不具有平台250。机器人头部350可以具有致动器352和联动装置354以绕枢轴4枢转摄像机38和监视器40，并且绕扭转轴5扭转摄像机38和监视器40。枢轴可以与扭转轴交叉。具有既可以枢转又可以扭转的机器人头部350提供了广阔的查看区域。机器人头部350可以处在具有或者代替了移动机器人12的系统中。机器人头部对于医生监督特别有用。头部可以位于医疗设施处，例如急救室或医生办公室。在远程位置的医生可以帮助位于机器人位置的患者的诊断和医疗治疗。医生可以移动该头来通过来自远程控制站的控制命令查看患者。还可以利用移动机器人12执行医生监督。
尽管已描述了并且在附图中示出了特定实施例，但是应该理解这样的实施例仅是关于广泛的发明的说明并且不是限制性的。并且该发明不限于所示出的和描述的特定构造和布置，因为本领域普通技术人员可以想到各种其它的修改。

Claims (24)

1.一种通过防火墙耦合到通信网络的远程控制机器人系统，包括：
远程控制站，该远程控制站传输机器人控制命令；
移动机器人，该移动机器人通过防火墙耦合到通信网络；
通信服务器，该通信服务器在所述远程控制站和所述机器人之间通过防火墙建立通信。
2.根据权利要求1所述的系统，其中所述通信服务器指示所述远程控制站和所述机器人互相传输信息。
3.根据权利要求1所述的系统，其中所述机器人周期地轮询所述通信服务器。
4.根据权利要求1所述的系统，其中所述通信服务器在指定的时间段内允许所述远程控制站和所述机器人之间的通信。
5.根据权利要求1所述的系统，其中所述远程控制站和所述机器人利用UDP分组进行通信。
6.根据权利要求1所述的系统，其中将所述机器人控制命令从所述远程控制站发送到所述通信服务器，并且然后从所述通信服务器再传输到所述机器人。
7.根据权利要求1所述的系统，其中所述机器人包括以至少两个自由度一起移动的摄像机和监视器。
8.根据权利要求1所述的系统，其中所述机器人根据闭环控制方案移动。
9.一种耦合到通信网络的远程控制机器人系统，包括：
远程控制站，该远程控制站传输机器人控制命令；
机器人，该机器人包括监视器和摄像机，并且响应于所述机器人控制命令进行移动；
通信服务器，该通信服务器在指定的时间段内在所述远程控制站和所述机器人之间建立通信。
10.根据权利要求9所述的系统，其中所述通信服务器指示所述远程控制站和所述机器人将信息传输到所述通信服务器的至少一个指定的端口。
11.根据权利要求9所述的系统，其中所述机器人周期地轮询所述通信服务器。
12.根据权利要求9所述的系统，其中所述远程控制站和所述机器人利用UDP分组进行通信。
13.根据权利要求9所述的系统，其中将所述机器人控制命令从所述远程控制站发送到所述通信服务器，并且然后从所述通信服务器再传输到所述机器人。
14.根据权利要求9所述的系统，其中所述机器人包括以至少两个自由度一起移动的摄像机和监视器。
15.根据权利要求9所述的系统，其中所述机器人根据闭环控制方案移动。
16.一种远程地控制具有摄像机和监视器并且通过防火墙耦合到通信网络的机器人的方法，包括：
在机器人和远程控制站之间通过防火墙建立通信；
将机器人控制命令从所述远程控制站传输到所述机器人；以及
根据所述机器人控制命令移动所述机器人。
17.根据权利要求16所述的方法，其中所述机器人周期地轮询在所述机器人和所述远程控制站之间建立通信的通信服务器。
18.根据权利要求16所述的方法，其中所述远程控制站和所述机器人之间的通信被限制到指定的时间段。
19.根据权利要求16所述的方法，其中将所述机器人控制命令从所述远程控制站发送到所述通信服务器，并且然后从所述通信服务器再传输到所述机器人。
20.一种用于医生监督的方法，包括：
通过机器人和远程控制站检查患者，所述机器人具有摄像机和监视器；以及
将监督消息从所述远程站处的医生传输到所述机器人。
21.根据权利要求20所述的方法，其中医生利用从所述远程控制站传输的机器人命令移动所述机器人。
22.根据权利要求20所述的方法，其中所述机器人移动穿过表面。
23.一种用于控制到机器人的通信的通信服务器，所述机器人由远程控制站通过通信网络进行控制，所述机器人和所述通信网络之间的通信由防火墙控制，包括：
具有在所述远程控制站和所述机器人之间建立通信的至少一个处理器和软件的通信服务器。
24.根据权利要求1所述的系统，还包括多个远程控制站和多个移动机器人，并且所述通信服务器将所述远程站与所述移动机器人链接。
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US20160031085A1 (en) 2016-02-04
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