U.S. patent application number 16/902079 was filed with the patent office on 2021-06-17 for robot system that operates through a network firewall.
The applicant listed for this patent is INTOUCH TECHNOLOGIES, INC.. Invention is credited to Marco Pinter.
Application Number | 20210178597 16/902079 |
Document ID | / |
Family ID | 1000005417229 |
Filed Date | 2021-06-17 |
United States Patent
Application |
20210178597 |
Kind Code |
A1 |
Pinter; Marco |
June 17, 2021 |
ROBOT SYSTEM THAT OPERATES THROUGH A NETWORK FIREWALL
Abstract
A remote controlled robot system that includes a robot and a
remote control station that communicate through a communication
network. Communication with the robot is limited by a firewall
coupled to the communication network. A communication server
establishes communication between the robot and the remote control
station so that the station can send commands to the robot through
the firewall.
Inventors: |
Pinter; Marco; (Santa
Barbara, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
INTOUCH TECHNOLOGIES, INC. |
Goleta |
CA |
US |
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|
Family ID: |
1000005417229 |
Appl. No.: |
16/902079 |
Filed: |
June 15, 2020 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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14879762 |
Oct 9, 2015 |
10682763 |
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16902079 |
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11801491 |
May 9, 2007 |
9160783 |
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14879762 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B25J 9/1689 20130101;
H04L 63/029 20130101; H04L 67/025 20130101; H04L 63/0209
20130101 |
International
Class: |
B25J 9/16 20060101
B25J009/16; H04L 29/06 20060101 H04L029/06; H04L 29/08 20060101
H04L029/08 |
Claims
1. A remote controlled robot system that is coupled to a
communication network by a firewall, comprising: a remote control
station that transmits a robot control command; a robot that is
coupled to the communication network by the firewall, the robot
including a camera and a monitor, the camera is configured to move
in response to the control command; a communication server that
establishes a communication between the remote control station and
the robot through the firewall.
2. The system of claim 1, wherein the communication server
instructs the remote control station and the robot to transmit
information to each other.
3. The system of claim 1, wherein the robot periodically polls the
communication server.
4. The system of claim 1, wherein the communication server allows
communication between the remote control station and the robot for
a designated time period.
5. The system of claim 1, wherein the remote control station and
the robot communicate with UDP packets.
6. The system of claim 1, wherein the robot control command is sent
to the communication server from the remote control station, and
then retransmitted from the communication server to the robot.
7. The system of claim 1, wherein the robot includes a camera and a
monitor that move together in at least two degrees of freedom.
8. The system of claim 1, wherein the robot includes a camera that
moves in accordance with a closed loop control scheme.
9. A remote controlled robot system that is coupled to a
communication network, comprising: a remote control station that
transmits a robot control command; a robot that includes a monitor
and a camera, the camera is configured in response to the robot
control command; a communication server that establishes a
communication between the remote control station and the robot for
a designated time period.
10. The system of claim 9, wherein the communication server
instructs the remote control station and the robot to transmit
information to at least one designated port of the communication
server.
11. The system of claim 9, wherein the robot periodically polls the
communication server.
12. The system of claim 9, wherein the remote control station and
the robot communicate with UDP packets.
13. The system of claim 9, wherein the robot control command is
sent to the communication server from the remote control station,
and then retransmitted from the communication server to the
robot.
14. The system of claim 9, wherein the robot includes a camera and
a monitor that move together in at least two degrees of
freedom.
15. The system of claim 9, wherein the robot includes a camera that
moves in accordance with a closed loop control scheme.
16. A method for remotely controlling a robot that has a camera and
a monitor, and being coupled to a communication network by a
firewall, comprising: establishing a communication between the
robot and a remote control station through the firewall;
transmitting robot control commands from the remote control station
to the robot; and, moving the robot in accordance with the robot
control command.
17. The method of claim 16, wherein the robot periodically polls a
communication server that establishes the communication between the
robot and the remote control station.
18. The method of claim 16, wherein the communication between the
remote control station and the robot is limited to a designated
time period.
19. The method of claim 16, wherein the robot control command is
sent to a communication server from the remote control station, and
then retransmitted from the communication server to the robot.
20. A communication server for controlling communication to a robot
controlled by a remote control station through a communication
network, communication between the robot and the communication
network being controlled by a firewall, comprising: a communication
server with at least one processor and software that establish a
communication between the remote control station and the robot.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
[0001] The subject matter disclosed generally relates to the field
of mobile two-way teleconferencing.
2. Background Information
[0002] Robots have been used in a variety of applications ranging
from remote control of hazardous material to assisting in the
performance of surgery. For example, U.S. Pat. No. 5,762,458 issued
to Wang et al. discloses a system that allows a surgeon to perform
minimally invasive medical procedures through the use of
robotically controlled instruments. One of the robotic arms in the
Wang system moves an endoscope that has a camera. The camera allows
a surgeon to view a surgical area of a patient.
[0003] Tele-robots such as hazardous waste handlers and bomb
detectors may contain a camera that allows the operator to view the
remote site. Canadian Pat. No. 2289697 issued to Treviranus, et al.
discloses a teleconferencing platform that has both a camera and a
monitor. The platform includes mechanisms to both pivot and raise
the camera and monitor. The Treviranus patent also discloses
embodiments with a mobile platform, and different mechanisms to
move the camera and the monitor.
[0004] There has been marketed a mobile robot introduced by InTouch
Technologies, Inc., the assignee of this application, under the
trademark RP-7. The InTouch robot is controlled by a user at a
remote station. The remote station may be a personal computer with
a joystick that allows the user to remotely control the movement of
the robot. Both the robot and remote station have cameras,
monitors, speakers and microphones to allow for two-way video/audio
communication. The robot camera provides video images to a screen
at the remote station so that the user can view the robot's
surroundings and move the robot accordingly.
[0005] The InTouch robot system typically utilizes a broadband
network such as the Internet to establish a communication channel
between the remote station and the robot. The robot can be located
at a facility which has a firewall between the facility local
network and the Internet. The firewall can inhibit remote access to
the robot through the broadband network. It would be desirable to
provide a system that would allow access to a remote robot that is
protected by a local area network firewall.
BRIEF SUMMARY OF THE INVENTION
[0006] A remote controlled robot system that includes a robot and a
remote control station that communicate through a communication
network. The robot moves in response to robot control commands
transmitted by the remote control station. The robot may be coupled
to the communication network by a firewall. A communication server
establishes communication between the robot and the remote control
station.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 is an illustration of a robotic system;
[0008] FIG. 2 is a schematic of an electrical system of a
communication server;
[0009] FIG. 3 is a schematic of an electrical system of a
robot;
[0010] FIG. 4 is a further schematic of the electrical system of
the robot;
[0011] FIG. 5 is an illustration of a robot;
[0012] FIG. 6 is a graphical user interface of a remote
station.
[0013] FIG. 7 is an illustration of a robot head.
DETAILED DESCRIPTION
[0014] Disclosed is a remote controlled robot system that includes
a robot and a remote control station that communicate through a
communication network. Communication with the robot is limited by a
firewall coupled to the communication network. A communication
server establishes communication between the robot and the remote
control station so that the station can send commands to the robot
through the firewall.
[0015] Referring to the drawings more particularly by reference
numbers, FIG. 1 shows a robotic system 10 that can be used to
conduct a remote visit. The robotic system 10 includes a robot 12,
a base station 14 and a remote control station 16. The remote
control station 16 may be coupled to the base station 14 through a
network 18. By way of example, the network 18 may be either a
packet switched network such as the Internet, or a circuit switched
network such has a Public Switched Telephone Network (PSTN) or
other broadband system. The base station 14 may be coupled to the
network 18 by a modem (not shown) or other broadband network
interface device. By way of example, the base station 14 may be a
wireless router. Alternatively, the robot 12 may have a direct
connection to the network thru for example a satellite.
[0016] The remote control station 16 may include a computer 22 that
has a monitor 24, a camera 26, a microphone 28 and a speaker 30.
The computer 22 may also contain an input device 32 such as a
joystick or a mouse. The control station 16 is typically located in
a place that is remote from the robot 12. Although only one remote
control station 16 is shown, the system 10 may include a plurality
of remote stations. In general any number of robots 12 may be
controlled by any number of remote stations 16 or other robots 12.
For example, one remote station 16 may be coupled to a plurality of
robots 12, or one robot 12 may be coupled to a plurality of remote
stations 16, or a plurality of robots 12.
[0017] Each robot 12 includes a movement platform 34 that is
attached to a robot housing 36. Also attached to the robot housing
36 is a camera 38, a monitor 40, a microphone(s) 42 and a
speaker(s) 44. The microphone 42 and speaker 30 may create a
stereophonic sound. The robot 12 may also have an antenna 46 that
is wirelessly coupled to an antenna 48 of the base station 14. The
system 10 allows a user at the remote control station 16 to move
the robot 12 through operation of the input device 32. The robot
camera 38 is coupled to the remote monitor 24 so that a user at the
remote station 16 can view a subject such as a patient. Likewise,
the robot monitor 40 is coupled to the remote camera 26 so that the
patient can view the user. The microphones 28 and 42, and speakers
30 and 44, allow for audible communication between the patient and
the user.
[0018] The remote station computer 22 may operate Microsoft OS
software and WINDOWS XP or other operating systems such as LINUX.
The remote computer 22 may also operate a video driver, a camera
driver, an audio driver and a joystick driver. The video images may
be transmitted and received with compression software such as MPEG
CODEC.
[0019] The flow of information between the robot 12 and the control
station 16 may be limited by a firewall 50 on the robot side of the
system and/or a firewall 51 on the control station side of the
system. By way of example, the robot 12 and/or control station 16
may be located at a facility that contains one or more firewalls
that control communication between the facility local area network
and the network 18. The system 10 includes a communication server
52 that can establish communication between the robot 12 and the
remote control station 16.
[0020] The system may have the following hierarchy to establish
communication between the robot 12 and the remote control station
16. The remote control station 16 may transmit an initial request
to access a robot 12 by transmitting one or more packets to an
internal IP address of the robot 12. It being understood that each
robot may have a unique IP address. If the robot 12 is not on the
same network as the remote station 16, this communication will
fail.
[0021] If the initial attempt to access the robot is unsuccessful
with the internal IP address, the remote control station 16 may
transmit a request to the robot's external IP address. This may be
done in either TCP or UDP protocol. If this attempt is
unsuccessful, for example if the firewall prevents access to the
robot, the remote control station may send a query to the
communication server 52 which can then establish communication
between the remote station 16 and the robot 12.
[0022] Many firewalls employ port address translation ("PAT") to
disguise an outgoing message. For example, if a device such as the
robot sends a message with a source port number of 9000 the
firewall 50/51 can change the source port number to 47501. The
firewall 50/51 will then only allow incoming messages to pass
through if addressed to the translated port (e.g., 47501).
Additionally, the firewall 50/51 may also only allow incoming
messages if the message packet came from a source port recently
communicated to by the robot, and the destination port of the
packet matches the source port of a packet recently received from
the source.
[0023] Each robot 12 may establish a constant link with a
communication port of the server 52. Alternatively, each robot may
periodically poll the server 52. With either method the server
knows the last known IP address of robots and control stations, as
well as the peer to peer UDP ports open on each. Upon receiving a
query from a remote control station 16, the server 52 can forward
both IP and port information on both the robot 12 and the remote
station, so that both the remote station 16 and robot 12 can
simultaneously send to peer to peer packets to each other,
bypassing problems caused by PAT tables. The last known IP address
may be the PAT address provided by the firewall 50. Upon receiving
a query from a remote control station 16, the server 52 can forward
the PAT address to the remote station 16, so that the station 16
can establish a peer to peer communication with the robot 12.
[0024] Alternatively, or in the event a peer to peer communication
cannot be established, the server 52 can provide a conduit for
communication between the remote control station 16 and the robot
12. For example, packets directed to the communication server 52,
which then can be retransmits the packets to the robot 12 using the
last known IP address. In this mode, the server 52 can establish
UDP connectivity with both the remote control station 16 and the
robot 12. The server 52 instructs the robot 12 and the remote
station 16 to open a UDP socket and transmit UDP packets to a
specified server port.
[0025] The server 52 provides a conduit to allow communication
between a plurality of control stations and a single robot, a
single control station and a plurality of robots, or a plurality of
control stations with a plurality of robots.
[0026] FIG. 2 shows an embodiment of a communication server 52. The
server may include one or more processors 60 connected to one or
more memory devices 62. The memory device 62 may include both
volatile and non-volatile memory such as read only memory (ROM) or
random access memory (RAM). The processor 60 is capable of
operating software programs in accordance with instructions and
data stored within the memory device 62.
[0027] The processor 60 may be coupled to a communication port 64,
a mass storage device 66, a monitor 68 and a keyboard 70 through a
system bus 72. The communication port 64 may include an ETHERNET
interface that allows data to be transmitted and received in TCP/IP
or UDP format. The system bus 72 may be PCI or another conventional
computer bus. The mass storage device 66 may include one or more
disk drives such as magnetic or optical drives.
[0028] Without limiting the scope of the invention the term
computer readable medium may include the memory device 42 and/or
the mass storage device 46. The computer readable medium will
contain software programs in binary form that can be read and
interpreted by the computer. In addition to the memory device 62
and/or mass storage device 66, computer readable medium may also
include a diskette, a compact disc, an integrated circuit, a
cartridge, or even a remote communication of the software
program.
[0029] The server 52 may contain a number of graphical user
interfaces that allow a user to control communication between the
remote station and the robot. The server 52 can control robot
access for a designated time period. For example, the server can
limit the time a particular remote station can control a robot to
two hours of access time. The server allows a system operator to
charge a robot access fee or other form of compensation that is
divisible by units of time.
[0030] In alternative embodiments, the server 52 may also be a
network appliance rather than a full computer with an operating
system. Alternatively, the server 52 may in fact be a distributed
network of physical servers or network devices, each at different
IP addresses, for which a given robot 12 and remote station 16 may
be connected to different physical devices, and those physical
devices share data about the systems connected to the devices. In
cases where a server 52 is used as a data conduit, one of the
following may occur: (a) either the robot 12 or remote station 16
is instructed to disconnect from one physical device and re-connect
to the same physical device to which the other device is connected,
or (b) the data within the server network is transmitted from one
server to another as necessary. In addition, the server 52 may have
a router, firewall or similar device, with sufficient port
forwarding and/or packet management to effect the same behavior as
if residing on the public internet, for purposes of communication
with the robots 12 and remote stations 16.
[0031] FIGS. 3 and 4 show an embodiment of a robot 12. Each robot
12 may include a high level control system 150 and a low level
control system 152. The high level control system 150 may include a
processor 154 that is connected to a bus 156. The bus 156 is
coupled to the camera 38 by an input/output (I/O) port 158. The
monitor 40 is coupled to the bus 156 by a serial output port 160
and a VGA driver 162. The monitor 40 may include a touchscreen
function that allows the patient to enter input by touching the
monitor screen.
[0032] The speaker 44 is coupled to the bus 156 by a digital to
analog converter 164. The microphone 42 is coupled to the bus 156
by an analog to digital converter 166. The high level controller
150 may also contain random access memory (RAM) device 168, a
non-volatile RAM device 170 and a mass storage device 172 that are
all coupled to the bus 156. The mass storage device 172 may contain
medical files of the patient that can be accessed by the user at
the remote control station 16. For example, the mass storage device
172 may contain a picture of the patient. The user, particularly a
health care provider, can recall the old picture and make a side by
side comparison on the monitor 24 with a present video image of the
patient provided by the camera 38. The robot antennae 46 may be
coupled to a wireless transceiver 174. By way of example, the
transceiver 174 may transmit and receive information in accordance
with IEEE 802.11b.
[0033] The controller 154 may operate with a LINUX OS operating
system. The controller 154 may also operate MS WINDOWS along with
video, camera and audio drivers for communication with the remote
control station 16. Video information may be transceived using MPEG
CODEC compression techniques. The software may allow the user to
send e-mail to the patient and vice versa, or allow the patient to
access the Internet. In general the high level controller 150
operates to control communication between the robot 12 and the
remote control station 16.
[0034] The remote control station 16 may include a computer that is
similar to the high level controller 150. The computer would have a
processor, memory, I/O, software, firmware, etc. for generating,
transmitting, receiving and processing information. The high level
controller 150 may be linked to the low level controller 152 by
serial ports 176 and 178. The low level controller 152 includes a
processor 180 that is coupled to a RAM device 182 and non-volatile
RAM device 184 by a bus 186. Each robot 12 contains a plurality of
motors 188 and motor encoders 190. The motors 188 can actuate the
movement platform and move other parts of the robot such as the
monitor and camera. The encoders 190 provide feedback information
regarding the output of the motors 188. The motors 188 can be
coupled to the bus 186 by a digital to analog converter 192 and a
driver amplifier 194. The encoders 190 can be coupled to the bus
186 by a decoder 196. Each robot 12 also has a number of proximity
sensors 198 (see also FIG. 1). The sensors 198 can be coupled to
the bus 186 by a signal conditioning circuit 200 and an analog to
digital converter 202.
[0035] The low level controller 152 runs software routines that
mechanically actuate the robot 12. For example, the low level
controller 152 provides instructions to actuate the movement
platform to move the robot 12. The low level controller 152 may
receive movement instructions from the high level controller 150.
The movement instructions may be received as movement commands from
the remote control station or another robot. Although two
controllers are shown, it is to be understood that each robot 12
may have one controller, or more than two controllers, controlling
the high and low level functions.
[0036] The various electrical devices of each robot 12 may be
powered by a battery(ies) 204. The battery 204 may be recharged by
a battery recharger station 206 (see also FIG. 1). The low level
controller 152 may include a battery control circuit 208 that
senses the power level of the battery 204. The low level controller
152 can sense when the power falls below a threshold and then send
a message to the high level controller 150.
[0037] FIG. 5 shows an embodiment of the robot 12. The robot 12 may
include a holonomic platform 250 that is attached to a robot
housing 250. The holonomic platform 250 provides three degrees of
freedom to allow the robot 12 to move in any direction.
[0038] The robot 12 may have a pedestal assembly 254 that supports
the camera 38 and the monitor 40. The pedestal assembly 254 may
have two degrees of freedom so that the camera 38 and monitor 40
can together be swiveled and pivoted as indicated by the
arrows.
[0039] The camera 38 and monitor 40 may in accordance with a closed
loop control system. The platform 250 is located within a platform
reference coordinate system that may have axes X.sub.p, Y.sub.p and
Z.sub.p. By way of example, the y-axis Y.sub.p may extend from a
nose of the platform 250. The camera 38 is fixed to a camera
reference coordinate system that may have axes X.sub.c, Y.sub.c and
Z.sub.c. The y-axis Y may extend perpendicular from the camera
lens. When the robot is initialized, the y-axis Y.sub.c of the
camera coordinate system may be aligned with the y-axis Y.sub.p of
the platform coordinate system. A forward pivoting of the joystick
32 (shown in FIG. 1) may cause a corresponding movement of the
platform 250 in the direction of the y-axis Y.sub.p in the platform
coordinate system.
[0040] The robot may have a drive vector that may have axes
X.sub.d, Y.sub.d, and Z.sub.d that is mapped to the camera
coordinate system, the platform coordinate system or some other
system. By way of example, the y-axis Y.sub.p may extend in the
direction of forward motion. Mapping includes the process of
transforming an input command into a directional movement relative
to one or more coordinate systems. The robot controller may perform
certain algorithms to translate input commands to platform movement
in accordance with a specified mapping scheme. For example, when
the drive vector is mapped to the camera coordinate system the
controller computes the drive vector of the input command relative
to the camera coordinate system. In a platform mapping scheme the
input drive vector is computed relative to the platform coordinate
system. In yet another scheme the drive vector can be computed
relative to another coordinate system, such as a world coordinate
system (e.g. coordinate system relative to the ground) that is
independent of the camera or platform coordinate systems. Mapping
the drive vector to the camera coordinate system may be desirable
because all movement would be relative to the image viewed by the
user, providing a system that is intuitive to use.
[0041] A twisting of the joystick 32 may cause the camera 38 to
swivel as indicated by arrows 4. For example, if the joystick 32 is
twisted +45 degrees the camera 38 will pivot +45 degrees. Swiveling
the camera 38 also moves the y-axis Y.sub.c of the camera
coordinate system, because the y-axis Y is fixed to the camera.
This may be different than the drive direction. The remote station
computer may operate a program to generate a command that will
automatically rotate the platform 250 to realign the y-axis Y.sub.p
of the platform coordinate system with the y-axis Y.sub.c of the
camera coordinate system. For the above example, the platform 250
is rotated +45 degrees. This approach keeps the platform 250
aligned with the camera 38, so that any subsequent movement of the
robot will be intuitive relative to the image provided by the
camera. For example, a forward pivot of the joystick will induce a
forward movement of the robot as viewed through the monitor of the
remote station. In this driving scheme, the platform may not be
aligned with the head. The computer may generate trajectory
planning for the platform coordinate system to move into alignment
with the head coordinate system over a period of time or distance
traveled, with or without an initial delay in time or some
distance.
[0042] The system may be configured so that pivotal movement of the
joystick 32 may be mapped to a corresponding directional movement
of the robot. For example, pivoting the joystick along a +45 degree
may cause the robot to move in a +45 degree direction relative to
the y-axis Y.sub.c of the camera coordinate frame. Alternatively,
the camera may pan +45 degrees and the platform 250 may rotate +45
degrees before forward movement by the robot. The automatic panning
and platform rotation causes the robot to move in a forward
direction as depicted by the image provided by the camera. The
robot may have a mode wherein the user can twist the joystick to
pan the camera during robot movement such that the movement is not
in the direction the camera is pointing. This allows the user to
visually pan while moving the robot. The joystick may have a spring
return that automatically returns the position of the stick when
released by the user. This causes the camera to be aligned with the
direction of movement.
[0043] In general the robot may have a number of different mapping
schemes and relative, dependent or independent, movement between
the camera, the platform and drive direction. Relative movement
between the camera and platform may occur in a camera based mapping
scheme, a platform based mapping scheme, or some other scheme.
[0044] Although, the automatic platform rotation commands have been
described as be generated by the remote station computer, it is to
be understood that the robot may determine the commands and signals
necessary to re-orient the platform 250 and/or the camera 38. The
robot 12 may include a potentiometer (not shown) that tracks the
position of the camera and provides feedback to the low level
controller 180. The low level controller 180 may automatically
rotate the platform to align the y-axes Y.sub.c and Y.sub.p or
otherwise compensate for camera movement. A mode button (not shown)
may allow the operator to place the system in either a tracking
mode or a normal mode. In the tracking mode the robot moves
relative to the camera coordinate system so that movement is
intuitive relative to the screen even when the camera is panned. In
normal mode the robot moves within the platform coordinate
system.
[0045] The system may be the same or similar to a robotic system
provided by the assignee InTouch-Health, Inc. of Santa Barbara,
Calif. under the name RP-7. The system may also be the same or
similar to the system disclosed in U.S. Pat. No. 6,925,357 issued
Aug. 2, 2005, which is hereby incorporated by reference.
[0046] FIG. 6 shows a display user interface ("DUI") 300 that can
be displayed at the remote station 16. The DUI 300 may include a
robot view field 302 that displays a video image provided by the
camera of the robot. The DUI 300 may also include a station view
field 304 that displays a video image provided by the camera of the
remote station 16. The DUI 300 may be part of an application
program stored and operated by the computer 22 of the remote
station 16. The display user interface and the various features and
functions provided by the interface may be the same or similar as
the DUI provided by the RP-7 system.
[0047] In operation, the robot 12 may be placed in a home or a
facility where one or more patients are to be monitored and/or
assisted. The facility may be a hospital or a residential care
facility. By way of example, the robot 12 may be placed in a home
where a health care provider may monitor and/or assist the patient.
Likewise, a friend or family member may communicate with the
patient. The cameras and monitors at both the robot and remote
control stations allow for teleconferencing between the patient and
the person at the remote station(s).
[0048] The robot 12 can be maneuvered through the home or a
facility by manipulating the input device 32 at a remote station
16. The robot 10 may be controlled by a number of different users.
To accommodate for this the robot may have an arbitration system.
The arbitration system may be integrated into the operating system
of the robot 12. For example, the arbitration technique may be
embedded into the operating system of the high-level controller
150.
[0049] By way of example, the users may be divided into classes
that include the robot itself, a local user, a caregiver, a doctor,
a family member, or a service provider. The robot 12 may override
input commands that conflict with robot operation. For example, if
the robot runs into a wall, the system may ignore all additional
commands to continue in the direction of the wall. A local user is
a person who is physically present with the robot. The robot could
have an input device that allows local operation. For example, the
robot may incorporate a voice recognition system that receives and
interprets audible commands.
[0050] A caregiver is someone who remotely monitors the patient. A
doctor is a medical professional who can remotely control the robot
and also access medical files contained in the robot memory. The
family and service users remotely access the robot. The service
user may service the system such as by upgrading software, or
setting operational parameters.
[0051] The robot 12 may operate in one of two different modes; an
exclusive mode, or a sharing mode. In the exclusive mode only one
user has access control of the robot. The exclusive mode may have a
priority assigned to each type of user. By way of example, the
priority may be in order of local, doctor, caregiver, family and
then service user. In the sharing mode two or more users may share
access with the robot. For example, a caregiver may have access to
the robot, the caregiver may then enter the sharing mode to allow a
doctor to also access the robot. Both the caregiver and the doctor
can conduct a simultaneous tele-conference with the patient.
[0052] The system 10 can be used for doctor proctoring where a
doctor at the remote station provides instructions and feedback to
a doctor located in the vicinity of the robot. For example, a
doctor at the remote location can view a patient and assist a
doctor at the patient location in a diagnosis. Likewise, the remote
doctor can assist in the performance of a medical procedure at the
robot location.
[0053] The arbitration scheme may have one of four mechanisms;
notification, timeouts, queue and call back. The notification
mechanism may inform either a present user or a requesting user
that another user has, or wants, access to the robot. The timeout
mechanism gives certain types of users a prescribed amount of time
to finish access to the robot. The queue mechanism is an orderly
waiting list for access to the robot. The call back mechanism
informs a user that the robot can be accessed. By way of example, a
family user may receive an e-mail message that the robot is free
for usage. Tables I and II, show how the mechanisms resolve access
request from the various users.
TABLE-US-00001 TABLE I Access Medical Command Software/Debug Set
User Control Record Override Access Priority Robot No No Yes (1) No
No Local No No Yes (2) No No Caregiver Yes Yes Yes (3) No No Doctor
No Yes No No No Family No No No No No Service Yes No Yes Yes
Yes
TABLE-US-00002 TABLE II Requesting User Local Caregiver Doctor
Family Service Current Local Not Allowed Warn current user Warn
current user Warn current user Warn current user User of pending
user of pending user of pending user of pending user Notify
requesting Notify requesting Notify requesting Notify requesting
user that system is user that system is user that system is user
that system is in use in use in use in use Set timeout Set timeout
= 5 m Set timeout = 5 m No timeout Call back Call back Caregiver
Warn current Not Allowed Warn current user Warn current user Warn
current user user of pending of pending user of pending user of
pending user user. Notify requesting Notify requesting Notify
requesting Notify user that system is user that system is user that
system is requesting user in use in use in use that system is in
Set timeout = 5 m Set timeout = 5 m No timeout use. Queue or
callback Callback Release control Doctor Warn current Warn current
user Warn current user Notify requesting Warn current user user of
pending of pending user of pending user user that system is of
pending user user Notify requesting Notify requesting in use Notify
requesting Notify user that system is user that system is No
timeout user that system is requesting user in use in use Queue or
callback in use that system is in Set timeout = 5 m No timeout No
timeout use Callback Callback Release control Family Warn current
Notify requesting Warn current user Warn current user Warn current
user user of pending user that system is of pending user of pending
user of pending user user in use Notify requesting Notify
requesting Notify requesting Notify No timeout user that system is
user that system is user that system is requesting user Put in
queue or in use in use in use that system is in callback Set
timeout = 1 m Set timeout = 5 m No timeout use Queue or callback
Callback Release Control Service Warn current Notify requesting
Warn current user Warn current user Not Allowed user of pending
user that system is of request of pending user user in use Notify
requesting Notify requesting Notify No timeout user that system is
user that system is requesting user Callback in use in use that
system is in No timeout No timeout use Callback Queue or callback
No timeout
[0054] The information transmitted between the station 16 and the
robot 12 may be encrypted. Additionally, the user may have to enter
a password to enter the system 10. A selected robot is then given
an electronic key by the station 16. The robot 12 validates the key
and returns another key to the station 16. The keys are used to
encrypt information transmitted in the session.
[0055] The robot 12 and remote station 16 transmit commands through
the broadband network 18. The commands can be generated by the user
in a variety of ways. For example, commands to move the robot may
be generated by moving the joystick 32 (see FIG. 1). Table III
provides a list of control commands that are generated at the
remote station and transmitted to the robot through the
network.
TABLE-US-00003 TABLE III Control Commands Command Example
Description drive drive 10.0 0.0 5.0 The drive command directs the
robot to move at the specified velocity (in cm/sec) in the (x, y)
plane, and turn its facing at the specified rate (degrees/sec).
goodbye goodbye The goodbye command terminates a user session and
relinquishes control of the robot gotoHomePosition gotoHomePosition
The gotoHomePosition 1 command moves the head to a fixed "home"
position (pan and tilt), and restores zoom to default value. The
index value can be 0, 1, or 2. The exact pan/tilt values for each
index are specified in robot configuration files. head head vel pan
5.0 The head command controls tilt 10.0 the head motion. It can
send commands in two modes, identified by keyword: either
positional ("pos") or velocity ("vol"). In velocity mode, the pan
and tilt values are desired velocities of the head on the pan and
tilt axes, in degree/sec. A single command can include just the pan
section, or just the tilt section, or both. keepalive keepalive The
keepalive command causes no action, but keeps the communication
(socket) link open so that a session can continue. In scripts, it
can be used to introduce delay time into the action. odometry
odometry 5 The odometry command enables the flow of odometry
messages from the robot. The argument is the number of times
odometry is to be reported each second. A value of 0 turns odometry
off. reboot reboot The reboot command causes the robot computer to
reboot immediately. The ongoing session is immediately broken off.
restoreHeadPosition restoreHeadPosition The restoreHeadPosition
functions like the gotoHomePosition command, but it homes the head
to a position previously saved with gotoHomePosition.
saveHeadPosition saveHeadPosition The saveHeadPosition command
causes the robot to save the current head position (pan and tilt)
in a scratch location in temporary storage so that this position
can be restored. Subsequent calls to "restoreHeadPosition" will
restore this saved position. Each call to saveHeadPosition
overwrites any previously saved position. setCameraFocus
setCameraFocus The setCameraFocus 100.0 command controls focus for
the camera on the robot side. The value sent is passed "raw" to the
video application running on the robot, which interprets it
according to its own specification. setCameraZoom setCameraZoom The
setCameraZoom command 100.0 controls zoom for the camera on the
robot side. The value sent is passed "raw" to the video application
running on the robot, which interprets it according to its own
specification. shutdown Shutdown The shutdown command shuts down
the robot and powers down its computer. stop stop The stop command
directs the robot to stop moving immediately. It is assumed this
will be as sudden a stop as the mechanism can safely accommodate.
timing Timing 3245629 The timing message is used to 500 estimate
message latency. It holds the UCT value (seconds + milliseconds) of
the time the message was sent, as recorded on the sending machine.
To do a valid test, you must compare results in each direction
(i.e., sending from machine A to machine B, then from machine B to
machine A) in order to account for differences in the clocks
between the two machines. The robot records data internally to
estimate average and maximum latency over the course of a session,
which it prints to log files. userTask userTask "Jane The userTask
command Doe" "Remote notifies the robot of the current Visit" user
and task. It typically is sent once at the start of the session,
although it can be sent during a session if the user and/or task
change. The robot uses this information for record-keeping.
[0056] Table IV provides a list of reporting commands that are
generated by the robot and transmitted to the remote station
through the network.
TABLE-US-00004 TABLE IV Reporting Commands Command Example
Description abnormalExit abnormalExit This message informs the user
that the robot software has crashed or otherwise exited abnormally.
Te robot software catches top-level exceptions and generates this
message if any such exceptions occur. bodyType bodyType 3 The
bodyType message informs the station which type body (using the
numbering of the mechanical team) the current robot has. This
allows the robot to be drawn correctly in the station user
interface, and allows for any other necessary body- specific
adjustments. driveEnabled driveEnabled true This message is sent at
the start of a session to indicate whether the drive system is
operational. emergencyShutdown emergencyShutdown This message
informs the station that the robot software has detected a possible
"runaway" condition (an failure causing the robot to move out of
control) and is shutting the entire system down to prevent
hazardous motion. odometry odometry 10 20 340 The odometry command
reports the current (x, y) position (cm) and body orientation
(degrees) of the robot, in the original coordinate space of the
robot at the start of the session. sensorGroup group_data Sensors
on the robot are arranged into groups, each group of a single type
(bumps, range sensors, charge meter, etc.) The sensorGroup message
is sent once per group at the start of each session. It contains
the number, type, locations, and any other relevant data for the
sensors in that group. The station assumes nothing about the
equipment carried on the robot; everything it knows about the
sensors comes from the sensorGroup messages. sensorState groupName
state The sensorState command data reports the current state values
for a specified group of sensor. The syntax and interpretation for
the state data is specific to each group. This message is sent once
for each group at each sensor evaluation (normally several times
per second). systemError systemError This message informs the
driveController station user of a failure in one of the robot's
subsystems. The error_type argument indicates which subsystem
failed, including driveController, sensorController, headHome.
systemlnfo systemlnfo wireless This message allows regular 45
reporting of information that falls outside the sensor system such
as wireless signal strength. text text "This is The text string
sends a text some text" string from the robot to the station, where
the string is displayed to the user. This message is used mainly
for debugging. version version 1.6 This message identifies the
software version currently running on the robot. It is sent once at
the start of the session to allow the station to do any necessary
backward compatibility adjustments.
[0057] The processor 154 of the robot high level controller 150 may
operate a program that determines whether the robot 12 has received
a robot control command within a time interval. For example, if the
robot 12 does not receive a control command within 2 seconds then
the processor 154 provides instructions to the low level controller
150 to stop the robot 12. Although a software embodiment is
described, it is to be understood that the control command
monitoring feature could be implemented with hardware, or a
combination of hardware and software. The hardware may include a
timer that is reset each time a control command is received and
generates, or terminates, a command or signal, to stop the
robot.
[0058] The remote station computer 22 may monitor the receipt of
video images provided by the robot camera. The computer 22 may
generate and transmit a STOP command to the robot if the remote
station does not receive or transmit an updated video image within
a time interval. The STOP command causes the robot to stop. By way
of example, the computer 22 may generate a STOP command if the
remote control station does not receive a new video image within 2
seconds. Although a software embodiment is described, it is to be
understood that the video image monitoring feature could be
implemented with hardware, or a combination of hardware and
software. The hardware may include a timer that is reset each time
a new video image is received and generates, or terminates, a
command or signal, to generate the robot STOP command.
[0059] The robot may also have internal safety failure features.
For example, the robot may monitor communication between the robot
controller and the robot servo used to operate the platform motors.
The robot monitor may switch a relay to terminate power to the
platform motors if the monitor detects a lack of communication
between the robot controller and the motor servo.
[0060] The remote station may also have a safety feature for the
input device 32. For example, if there is no input from the
joystick for a certain time interval (e.g. 10 seconds) the computer
22 may not relay subsequent input unless the user presses a button
for another time interval (e.g. 2 seconds), which reactivates the
input device.
[0061] FIG. 7 shows another embodiment of the robot as a robot head
350 that can both pivot and spin the camera 38 and the monitor 40.
The robot head 350 can be similar to the robot 12 but without the
platform 250. The robot head 350 may have actuators 352 and
linkages 354 to pivot the camera 38 and monitor 40 about a pivot
axis 4, and spin the camera 38 and monitor 40 about a spin axis 5.
The pivot axis may intersect the spin axis. Having a robot head 350
that both pivots and spins provides a wide viewing area. The robot
head 350 may be in the system either with or instead of the mobile
robot 12. The robot head can be particularly useful for doctor
proctoring. The head can be located at a medical facility such as
an emergency room or a doctor's office. A doctor at the remote
location can assist in the diagnosis and medical treatment of a
patient located at the robot location. The doctor can move the head
to view the patient through control commands from the remote
control station. Doctor proctoring can also be performed with a
mobile robot 12.
[0062] While certain exemplary embodiments have been described and
shown in the accompanying drawings, it is to be understood that
such embodiments are merely illustrative of and not restrictive on
the broad invention, and that this invention not be limited to the
specific constructions and arrangements shown and described, since
various other modifications may occur to those ordinarily skilled
in the art.
* * * * *