公开(公告)号：WO2010065257A1

公开(公告)日：2010-06-10

申请号：PCT/US2009/064063

申请日：2009-11-11

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： WANG, Yulun ,  JORDAN, Charles, S. ,  PINTER, Marco

IPC: H04N5/232

CPC classification number: H04N7/18 ,  G06F19/3418 ,  G06T7/0012 ,  G06T2207/10132 ,  H04N7/185

Abstract: A remote controlled robot system that includes a mobile robot and a remote control station. The mobile robot is controlled by the remote control station and includes a robot monitor, and a robot camera that captures a robot image. The system also includes a medical image device that can be coupled to the robot. The remote control station includes a camera that captures a remote station image, and a monitor that displays the robot image captured by the robot camera in a robot view field, displays the remote station image in a station view field. The robot transmits the robot and medical images to the remote control station such that a larger portion of a network bandwidth is allocated for the medical image than the robot image.

Abstract translation: 一种遥控机器人系统，包括移动机器人和遥控站。 移动机器人由遥控站控制，并且包括机器人监视器和捕获机器人图像的机器人相机。 该系统还包括可耦合到机器人的医学图像设备。 远程控制站包括拍摄远程站图像的摄像机和在机器人视野区域中显示由机器人摄像机拍摄的机器人图像的监视器，在站视野区域中显示远程站图像。 机器人将机器人和医疗图像发送到远程控制站，使得为机器人图像分配较大部分的网络带宽用于医学图像。

公开(公告)号：WO2010062798A1

公开(公告)日：2010-06-03

申请号：PCT/US2009/064138

申请日：2009-11-12

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： HERZOG, John, Cody ,  WHITNEY, Blair ,  WANG, Yulun ,  JORDAN, Charles, S. ,  PINTER, Marco

IPC: G06F15/16

CPC classification number: B25J9/1689 ,  B25J5/00 ,  B25J5/007 ,  B25J19/023 ,  G05B2219/40153 ,  G05B2219/40178 ,  G05B2219/40195 ,  G05D1/0038 ,  G05D1/0246 ,  G05D2201/0206 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot system with a robot that has a camera and a remote control station that can connect to the robot. The connection can include a plurality of privileges. The system further includes a server that controls which privileges are provided to the remote control station. The privileges may include the ability to control the robot, joint in a multi-cast session and the reception of audio/video from the robot. The privileges can be established and edited through a manager control station. The server may contain a database that defines groups of remote control station that can be connected to groups of robots. The database can be edited to vary the stations and robots within a group. The system may also allow for connectivity between a remote control station at a user programmable time window.

Abstract translation: 具有机器人的机器人系统，其具有能够连接到机器人的照相机和远程控制站。 该连接可以包括多个特权。 该系统还包括控制向远程控制站提供哪些特权的服务器。 权限可以包括控制机器人，多播会话中的联合以及来自机器人的音频/视频的接收的能力。 可以通过管理员控制台建立和编辑权限。 服务器可以包含定义可以连接到机器人组的远程控制站组的数据库。 可以编辑数据库以改变组内的站和机器人。 该系统还可以允许在用户可编程时间窗口的远程控制站之间的连接。

公开(公告)号：WO2008100272A2

公开(公告)日：2008-08-21

申请号：PCT/US2007/014099

申请日：2007-06-13

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： WANG, Yulun ,  JORDAN, Charles, S. ,  PINTER, Marco

IPC: H04N5/232

CPC classification number: H04N7/185 ,  G06F19/00 ,  G06F19/3418

Abstract: A remote controlled robot system that includes a mobile robot and a remote control station. The mobile robot includes a camera that captures an image. The remote control station may include a monitor that displays the image captured by the robot camera. A projector is coupled to the remote control station to project the image. The system allows for the projection of the image captured by the robot to a relatively large viewing audience. The audience can thus view images provided by a moving robot.

Abstract translation:

一个遥控机器人系统，包括一个移动机器人和一个遥控站。 移动机器人包括捕捉图像的相机。 遥控台可以包括显示由机器人照相机拍摄的图像的监视器。 投影机连接到遥控台以投影图像。 该系统允许将机器人拍摄的图像投影到相对较大的观众。 观众可以看到移动机器人提供的图像。

公开(公告)号：WO2011097130A3

公开(公告)日：2011-08-11

申请号：PCT/US2011/022953

申请日：2011-01-28

Applicant: INTOUCH TECHNOLOGIES, INC. ,  WANG, Yulun ,  JORDAN, Charles, S. ,  PINTER, Marco ,  HANRAHAN, Kevin, P. ,  WHITNEY, Blair ,  SANCHEZ, Daniel S. ,  ROE, David, B.

Inventor： WANG, Yulun ,  JORDAN, Charles, S. ,  PINTER, Marco ,  HANRAHAN, Kevin, P. ,  WHITNEY, Blair ,  SANCHEZ, Daniel S. ,  ROE, David, B.

IPC: B25J13/00 ,  A61B5/00 ,  G06Q50/00

Abstract: A robot system that includes a remote control station and a robot that has a camera, a monitor and a microphone. The robot includes a user interface that allows a user to link the remote control station to access the robot. By way of example, the user interface may include a list of remote control stations that can be selected by a user at the robot site to link the robot to the selected control station. The user interface can display a connectivity prompt that allows a user at the robot site to grant access to the robot. The connectivity prompt is generated in response to a request for access by a remote control station. The robot may include a laser pointer and a button that allows a user at the robot site to turn the laser pointer on and off.

公开(公告)号：WO2010120407A1

公开(公告)日：2010-10-21

申请号：PCT/US2010/025547

申请日：2010-02-25

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： WANG, Yulun ,  PINTER, Marco ,  HANRAHAN, Kevin ,  SANCHEZ, Daniel, Steven ,  JORDAN, Charles, S. ,  ROE, David, Bjorn ,  ROSENTHAL, James ,  WALTERS, Derek

IPC: G05B19/418

CPC classification number: G05B19/414 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  B25J5/00 ,  B25J9/161 ,  B25J9/162 ,  B25J9/1689 ,  B25J9/1697 ,  B25J19/022 ,  Y10S901/01

Abstract: A remote control station that accesses one of at least two different robots that each have at least one unique robot feature. The remote control station receives information that identifies the robot feature of the accessed robot. The remote station displays a display user interface that includes at least one field that corresponds to the robot feature of the accessed robot. The robot may have a laser pointer and/or a projector.

Abstract translation: 远程控制站，其访问至少两个不同的机器人中的一个，每个具有至少一个唯一的机器人特征。 远程控制站接收识别被访问机器人的机器人特征的信息。 远程站显示显示用户界面，该界面包括至少一个对应于所访问机器人的机器人特征的字段。 机器人可以具有激光指示器和/或投影仪。

公开(公告)号：WO2010088214A1

公开(公告)日：2010-08-05

申请号：PCT/US2010/022121

申请日：2010-01-26

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： WRIGHT, Timothy, C. ,  WANG, Yulun ,  PINTER, Marco ,  LAI, Fuji

IPC: B25J1/00

CPC classification number: B25J9/1689 ,  G05B2219/45117 ,  G06F19/00 ,  G06F19/321 ,  G06F19/328 ,  G06F19/3418 ,  G06Q30/0283 ,  H04N7/185

Abstract: A robotic system that is used in a tele-presence session. For example, the system can be used by medical personnel to examine, diagnose and prescribe medical treatment in the session. The system includes a robot that has a camera and is controlled by a remote station. The system further includes a storage device that stores session content data regarding the session. The data may include a video/audio taping of the session by the robot. The session content data may also include time stamps that allow a user to determine the times that events occurred during the session. The session content data may be stored on a server that accessible by multiple users. Billing information may be automatically generated using the session content data.

Abstract translation: 在远程存在会话中使用的机器人系统。 例如，医疗人员可以使用该系统在会议中检查，诊断和开出治疗。 该系统包括具有相机并由远程站控制的机器人。 系统还包括存储关于会话的会话内容数据的存储设备。 数据可以包括机器人对会话的视频/音频录音。 会话内容数据还可以包括允许用户确定在会话期间发生的事件的时间的时间戳。 会话内容数据可以存储在可由多个用户访问的服务器上。 可以使用会话内容数据自动生成开票信息。

公开(公告)号：WO2010006205A1

公开(公告)日：2010-01-14

申请号：PCT/US2009/050163

申请日：2009-07-09

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： WANG, Yulun ,  JORDAN, Charles, S. ,  PINTER, Marco ,  SANCHEZ, Daniel, Steven ,  ROSENTHAL, James ,  MANGASER, Amante

IPC: G06F19/00

CPC classification number: B25J13/06 ,  B25J5/00 ,  B25J9/1697 ,  B25J13/006 ,  B25J19/005 ,  G05D1/0225 ,  G05D1/0242 ,  G05D2201/0206 ,  H02J7/0042 ,  Y10S901/02

Abstract: A remote controlled robot system that includes a mobile robot with a robot camera and a battery plug module, and a remote control station that transmits commands to control the mobile robot. The system also includes a battery charging module that mates with the mobile robot battery plug module, and an alignment system that aligns the battery plug module with the battery charging module. The battery modules may also be aligned with the aid of video images of the battery charging module provided to the remote station by a camera located within the battery plug module.

Abstract translation: 一种遥控机器人系统，包括具有机器人相机和电池插头模块的移动机器人，以及发送命令以控制移动机器人的远程控制站。 该系统还包括与移动机器人电池插头模块相配合的电池充电模块，以及将电池插头模块与电池充电模块对准的对准系统。 电池模块还可以借助位于电池插头模块内的相机借助于提供给远程站的电池充电模块的视频图像进行对准。

公开(公告)号：WO2009145958A2

公开(公告)日：2009-12-03

申请号：PCT/US2009/036472

申请日：2009-03-09

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： ROE, David, Bjorn ,  SANCHEZ, Daniel, Steven ,  PINTER, Marco ,  WALTERS, Derek ,  JORDAN, Charles, S.

IPC: G06T7/20

CPC classification number: B25J13/003 ,  B25J9/0003 ,  B25J19/023 ,  G06F19/00 ,  G06F19/3418

Abstract: A remote controlled robot system that includes a robot and a remote control station. The robot includes a binaural microphone system that is coupled to a speaker system of the remote control station. The binaural microphone system may include a pair of microphones located at opposite sides of a robot head, the location of the microphones roughly coincides with the location of ears on a human body. Such microphone location creates a mobile robot that more effectively simulates the tele-presence of an operator of the system. The robot may include two different microphone systems and the ability to switch between systems. For example, the robot may also include a zoom camera system and a directional microphone. The directional microphone may be utilized to capture sound from a direction that corresponds to an object zoomed upon by the camera system.

Abstract translation: 包括机器人和远程控制站的遥控机器人系统。 机器人包括耦合到远程控制站的扬声器系统的双耳麦克风系统。 双耳麦克风系统可以包括位于机器人头部的相对侧的一对麦克风，麦克风的位置大致与耳朵在人体上的位置重合。 这样的麦克风位置创建了更有效地模拟系统的操作员的远程存在的移动机器人。 机器人可以包括两个不同的麦克风系统和在系统之间切换的能力。 例如，机器人还可以包括变焦摄像机系统和定向麦克风。 定向麦克风可以用于从与相机系统放大的对象对应的方向上捕获声音。

公开(公告)号：WO2008140685A1

公开(公告)日：2008-11-20

申请号：PCT/US2008/005572

申请日：2008-04-30

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： PINTER, Marco

IPC: G06F19/00

CPC classification number: B25J9/1689 ,  H04L63/0209 ,  H04L63/029 ,  H04L67/025

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.

Abstract translation: 一种远程控制的机器人系统，其包括通过通信网络进行通信的机器人和远程控制站。 与机器人的通信受到耦合到通信网络的防火墙的限制。 通信服务器建立机器人与远程控制站之间的通信，使得站可以通过防火墙向机器人发送命令。

公开(公告)号：WO2006078611A2

公开(公告)日：2006-07-27

申请号：PCT/US2006/001517

申请日：2006-01-17

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： WANG, Yulun ,  JORDAN, Charles, S. ,  PINTER, Marco ,  SOUTHARD, Jonathan

IPC: G06F19/00

CPC classification number: B25J9/1689 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  G05B2219/40061 ,  G05B2219/40136 ,  G05B2219/40169 ,  G05B2219/40172 ,  G05B2219/40173 ,  G05B2219/40174 ,  G05B2219/45119

Abstract: A remote controlled robot system that includes a robot and a remote control station. A user can control movement of the robot from the remote control station. The remote control station may generate robot control commands that are transmitted through a broadband network. The robot has a camera that generates video images that are transmitted to the remote control station through the network. The user can control movement of the robot while viewing the video images provided by the robot camera. The robot can automatically stop movement if it does not receive a robot control command within a time interval . The remote control station may transmit a stop command to the robot if the station does not receive an updated video image within a time interval.

Abstract translation: 包括机器人和远程控制站的遥控机器人系统。 用户可以控制机器人从遥控站的移动。 遥控站可以生成通过宽带网络发送的机器人控制命令。 机器人具有产生通过网络发送到远程控制站的视频图像的相机。 用户可以在观察由机器人摄像机提供的视频图像的同时控制机器人的移动。 如果在一段时间内没有收到机器人控制命令，机器人可以自动停止运动。 如果站在一段时间内没有接收到更新的视频图像，则遥控站可以向机器人发送停止命令。