JPH0884328A - Tele-existence type video telephone system - Google Patents

Abstract

PURPOSE: To attain stop and view or viewing at slow speed by remote control in which collision or congestion of plural robots does not take place even when plural users uses a video telephone set terminal so as to access tele-existence robots at the same position on which a camera and a microphone are mounted. CONSTITUTION: Plural remote control tele-existence robots 1 mounted with a camera and microphone and connected to a communication network are driven on the same track installed on a ceiling 6 on which a turnout 5 and a point 3 switching a running track leading to the turnout 5 are installed. Even when plural users access the tele-existence robots 1 running on the track 2 at the same position through a communication network by using each video telephone set, each robot 1 is turned out to the turnout 5 by the switching of the drive track with the point 3. Thus, the robots are in stand till on the turnout 5, run slowly or pass other robots running slowly to avoid congestion or collision.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control robot equipped with a camera and a microphone for connecting to a communication network, which allows no problem even if a plurality of users connect to the same point, and a videophone for connecting to the communication network. The present invention relates to a tele-gistance type videophone device including a terminal.

[0002]

2. Description of the Related Art There has already been proposed a service in which a tele-gistance robot that can be remotely controlled via a communication network can be accessed by dialing from a terminal in a home, office, hospital or the like to enjoy the atmosphere of a remote place with a high sense of presence. (Literature
Tate, Hirose supervision / work, virtual tech lab, industrial research meeting, 1992). In particular, it is typical that a mobile tele-existence robot with wheels for traveling on the ground or a corridor is wirelessly linked to a pilot, and the pilot controls the robot from a terminal at hand.

[0003]

A problem with such a conventional mobile (or traveling) tele-gistance robot is that if such a robot is brought into a crowded museum, museum, observatory, etc. There was the problem of disturbing and annoying other real people in the area.

As a method of solving such a problem, for example, application of a mobile surveillance camera robot running on a monorail installed on a ceiling used for a monitor in a containment vessel in a nuclear power plant is considered. In the surveillance camera robot, one surveillance operator monitors and runs one robot, and one surveillance robot runs on one monorail track. Orbits cannot be accessed by many users.

Therefore, even if a plurality of surveillance camera robots are made to run on one trajectory so that a large number of users can access, if the plurality of robots are not running at the same speed at all times, the ball It is assumed that there will be a collision and congestion will occur.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a telecontrol telestance robot which is equipped with a camera and a microphone connected to a communication network and travels on a track, In a tele-gistance type video-telephone device composed of a video-telephone terminal connected to the communication network, even if a plurality of users connect tele-gistance robots at the same point, the robots do not collide with each other and traffic jams occur. The goal is to make it available for viewing by running or stopping.

[0007]

In order to achieve the above object, the present invention provides a remote-controlled tele-existence robot equipped with a camera or a camera and a microphone for connecting to a communication network, and connecting to the communication network. In a tele-gistance type video-telephone device comprising a video-telephone terminal for accessing the camera or the camera and a microphone, a plurality of tele-gistance robots are used, and the same trajectories having the plurality of tele-gistance robots are installed overhead. A basic means is a tele-gistance type videophone device configured to run and to have one or more evacuation lines on the track and means for switching the travel track to the evacuation line.

In the above apparatus, the tele-gistance robot has two cameras in the horizontal direction or two cameras and two microphones, and the videophone terminal has left and right eyes corresponding to the two cameras. It is preferable to have a display for mobile phones and listening means for the left and right ears corresponding to the two microphones in order to enhance the realism.

Further, in the above apparatus, the videophone terminal has a display attitude control mechanism and the display attitude detecting means, and the attitude of the camera according to the attitude information detected by the telexistence robot by the attitude detecting means. It is preferable to have a structure for controlling the above because it facilitates the operation of the telexistence robot.

Further, in the above apparatus, the videophone terminal has a vertical movement mechanism of the display and a vertical position detecting means of the display, and the camera is operated according to the vertical position detected by the vertical position detecting means by the telexistence robot. It is also preferable to have a means for controlling the up and down position of the same in order to facilitate the operation of the telexistence robot.

In the apparatus having the above-mentioned vertical movement mechanism, it is preferable that the vertical movement mechanism of the display of the videophone terminal is of the ceiling hanging type in order to save space.

[0012]

In the tele-registance type video-phone device of the present invention, a plurality of remote-controlled tele-registance robots equipped with cameras and microphones connected to the communication network are provided with a retreat line and means for switching the running trajectory to the retreat line. By moving the same trajectory above the installed head, even if multiple users access the telelegance robots running at the same point from each telephone terminal through the communication network, the switching trajectory of each robot is switched. By switching the running trajectory by means, it is possible to evacuate to an evacuation line and slowly stop there, slowly run, or overtake other slowly running robots to avoid traffic jams and collisions.

[0013]

Embodiments of the present invention will now be described in detail with reference to the drawings.

(Embodiment 1) FIG. 1 is a schematic view showing a situation of a remote place where a mobile tele-existence robot for explaining a first embodiment of the present invention is installed. In FIG.
Reference numeral 1 is a mobile tele-restance robot, 2 is a trajectory along which a plurality of tele-restance robots 1 travel, 3 is a point for switching the trajectory of the tele-restance robot 1 to a retreat line, etc. 4 is a tele-restance robot A transmitting / receiving indoor antenna for transmitting and receiving information of cameras and microphones and control information, 5 is a retreat line that is a part of the track and can be switched by point 3, 6 is a ceiling where track 2 is installed, and 7 is The wall and 8 are floors.

FIG. 2 is an external view showing the details of the mobile tele-existence robot 1 of FIG. 1, part of which is drawn transparently. In FIG. 2, the track 2 has a V-shaped cross-section, and the telexistence robot 1 is supported by the dents on both sides of the track 2 for traveling. Reference numeral 11 denotes a camera / microphone unit, which is installed on a platform 12 with a servomotor attached to the lower end of the column A61. 13 is a pillar A
The support roller 61 is a sliding roller that can move up and down with respect to the support pillar B62, and the support pillar B62 is fixed to the traveling vehicle body 64 of the robot so as to face downward. Reference numeral 14 is an antenna, and 15 is a transceiver connected to the antenna 14. Reference numeral 16 is a current collecting brush that collects power from the power line 63 wired along the track 2, 17 is a guide wheel for traveling on the track 2, and 18 is a drive wheel for traveling on the track 2. 19 is a wire winding servo motor, and 60 is the servo motor 1
The wire 60 is wound around 9, and the tip of the wire 60 is fixed to the upper end of the pillar A61, and the camera / microphone unit 11 is moved in the arrow Z direction together with the pillar A61 by winding and rewinding the servo motor 19. Moved up and down.

At point 3, as in the case of monorails, there are other teleistance robots on the main track or other evacuation lines corresponding to the evacuation line section, and they are running at low speed or stopped. If there is, the branch track forming point 3 is moved in a fan shape between the main line and the retreat line to switch the running track. Instead of the point 3 having such a configuration, a rotary turntable, a parallel-moving traverser, or the like may be used as the means for switching the traveling track. In this case, after stopping the telexistence robot on the turntable or traverser and joining the trajectory of the vacant retreat line 5, the telexistence robot is started.

FIG. 3 shows a videophone terminal placed in a home, an office, etc., for accessing and connecting the above telegression robot 1. In the figure, 20 is a handset, 21 is a display for displaying an image from the camera of the tele-existence robot 1, 22 is a speaker for listening to voice from the microphone of the tele-existence robot, 23 is a dial, and 24 is a cross key. , 25 is a joystick, 26a is a zoom-in button, 26b is a zoom-out button, 27 is a housing, 28 is a field-of-view lowering button, and 29 is a field-of-view increasing button.

The operation and action of the first embodiment will be described with reference to FIGS. In remote areas, such as museums, observatories, etc., as shown in FIG.
Is installed, and a plurality of mobile tele-existence robots 1 are running around on the track 2 basically rightward in FIG. 1, for example, under the control of the user's videophone terminal. When the user dials an arbitrary place of installation of the tele-existence robot 1 with the dial 23 of the video-telephone terminal of FIG. 3, the video-telephone terminal is connected to the mobile tele-existence robot 1 via the communication network. A point 3 and a retreat line 5 are installed on the orbit 2 of FIG. 1, and a user evacuates the telexistence robot 1 on the retreat line 5 and slowly runs or stops to appreciate the painting attached to the wall 7. You can enjoy or enjoy the view of the observatory from the window on the wall 7. The real-time video and audio captured by the tele-existence robot 1 are wirelessly received by the indoor antenna 4 from the transceiver 15 via the antenna 14 and sent to the communication network. Further, a signal for control sent from a videophone terminal installed in a home or the like shown in FIG. 3 is sent to the telexistence robot 1 via the indoor antenna 4.

The mobile tele-existence robot 1 is
As shown in FIG. 2, it is a suspended monorail that runs on a track 2. The last brush 16 collects power from the power line 63 and drives the drive wheels 18 with a motor to run. The direction of travel is guided by guide wheels 17.

A camera / microphone unit 11 equipped with a camera and a microphone is a pan head 1 that moves in two degrees of freedom, pitch and yaw.
The support A61 is connected to the support A61 at 2, and the support A61 is connected to the support B62 at the sliding roller 13. The camera / microphone unit 11 is operated as follows. When the user presses the field-of-view raising button 29 of the videophone terminal of FIG. 3, the wire winding servomotor 19 rotates to pull up the column A61, and the field of view of the camera / microphone unit 11 increases. When the user presses the field-of-view lowering button 28, the wire winding servomotor 19 reversely rotates to lower the support A61 downward, and the field of view of the camera / microphone unit 11 decreases. Further, when the user tilts the joystick 25 to the right, the camera / microphone unit 11 moves to the right by moving the platform 12 with the servomotor, and when the joystick 25 is tilted to the left, the camera / microphone unit 11 turns to the left and moves upward. When tilted down, the camera / microphone unit 11 faces upward, and when tilted down, the camera / microphone unit 11 faces downward. When the user presses the zoom-in button 26a, the camera / microphone unit 11 is zoomed, and the image is zoomed up. Pressing the zoom-out button 26b zooms out.

The operation of the tele-gistance robot 1 and the operation of the point 3 are performed by the cross character key 24 of FIG.
When the front of the cross key 24 is pressed, the mobile tele-existence robot 1 moves forward, and when the back is pressed, it moves backward. The speed is adjusted by, for example, pressing the front of the cross key 24 many times to increase the forward speed according to the number of times the key is pressed, and to increase the backward speed when the number of times the rear key is pressed is large. When the right side of the cross key 24 is pressed, the teleistance robot 1
Turns point 3 to the right and left to turn point 3 to the left.

An image taken by the camera / microphone unit 11 is displayed on the display 21 of FIG.
The sound from the camera / microphone unit 11 is output to. In this way, the user can access the mobile tele-existence robot 1 at a remote place from home, office, hospital or the like, and enjoy the situation at the remote place.

In the first embodiment, the case where the communication between the indoor antenna 4 and the antenna 14 of the mobile tele-existence robot 1 is performed wirelessly has been described, but other communication such as optical communication such as infrared ray is performed. You may go by means.

(Embodiment 2) A second embodiment of the present invention is shown in FIG.
Will be explained.

FIG. 4 is an external view of a video telephone terminal on the user side, which is basically a controller unit operated by the user's fingers and an HMD (head mounted display) connected to a support boom used by being clamped on a desk or the like. ) Part is roughly divided into two. In FIG. 4, 30 is a controller housing,
Reference numeral 31 is a dial, 32 is a zoom-out button, 33 is a zoom-in button, 34 is a field-of-view up button, 35 is a field-of-view lowering button, and 36 is a cross key, which constitute a controller section. Further, 40 is an HMD unit casing, 41 is a grip handle, 42 is a left speaker, 43 is a right speaker, 4
4 is a liquid crystal display for the left eye, 45 is a liquid crystal display for the right eye, 46a to 46e are rotation angle detecting potentiometers, 4
Reference numeral 7 is a lens for the left eye, 48 is a lens for the right eye, and 49 is a face contact pad, which constitutes the HMD portion. Also, 50
Is a HMD support boom, 51 is a clamp part, 52 is a clamp screw, and the clamp 51 and the clamp screw 52 sandwich the clamp on a desk or the like to support the HMD part with the HMD support boom 50.

The basic service form in this second embodiment is the same as that in the first embodiment.

Basically, the difference from the first embodiment is that in FIG.
Two mobile cameras and two microphones are installed in the horizontal direction in the mobile tele-existence robot 1 shown in Fig. 2, and the image is a stereoscopic image and the sound is a stereo sound.
The video telephone terminal used by the user at home, office, hospital, etc. is composed of an HMD unit and a controller unit as shown in FIG.

Now, as shown in FIG. 4, the HMD housing 40
Is a support boom 50 (a desk lamp (for example, trade name Z
Light: Yamagiwa Electric))) configured like a boom
Rotation angle detection potentiometers 46a to 4 are provided at the respective bent portions.
6d is provided) and is rotatably connected to a U-shaped portion at the tip thereof by a rotation angle detecting potentiometer 46e. A left speaker 42, a right speaker 43, a left-eye liquid crystal display 44, and a right-eye liquid crystal display 45, which are applied to the left and right eyes and the left and right ears of the user, are built in the HMD unit housing 40, and a mobile-type television is provided via them. The images of the left and right cameras and the sounds of the left and right microphones sent from the presence robot 1 via the communication network are sent to the left and right eyes and the left and right ears of the user, respectively. While gripping the grip handle 41 connected to the HMD unit housing 40, the user can put his / her face on the HMD unit housing 40 and enjoy the situation of a remote place by stereoscopic video and stereo sound.

Since the user's neck pitch and yaw motions of the two axes are interlocked with the motion of the HMD part to which the head is applied (the user operates the grip handle 41), the attitude information of the display 45 is obtained. The rotation angle detection potentiometers 46a to 46e can detect the detected 2
The rotation angle of the shaft is sent to the mobile tele-existence robot 1 at a remote place via a communication network, and drives the camera / microphone unit 11 with the servomotor platform 12 by the same angle. Therefore, the joystick 25 of the first embodiment is not necessary in the second embodiment. The operation method and functions of the dial 31, cross-shaped key 36, zoom-out, in-buttons 32 and 33, field-of-view up / down buttons 34 and 35 are the same as those of the same names in the first embodiment.

(Third Embodiment) A third embodiment not shown is basically the same as the second embodiment. The third embodiment is different from the second embodiment in that the controller section of FIG. 4 of the second embodiment does not have the field-of-view raising and lowering buttons 34 and 35 and is detected by the rotation angle detecting potentiometers 46a to 46e. The amount of raising and lowering of the visual field of the HMD, which is the visual field of the user, is automatically calculated from the rotation angle and the length of the support boom, and the upper and lower sides of the support column 61 of the mobile tele-existence robot 1 are calculated in conjunction with the above. This is automatically performed according to the height of the visual field of the user. That is, the support boom 50 of FIG. 4 can move in the vertical position as well as control the attitude of the display 45, and the vertical position can be calculated as described above.
The height of the field of view of the camera can be controlled by the wire winding servomotor 19 of the telexistence robot 1 shown in FIG.

(Embodiment 4) FIG. 5 shows the configuration of a fourth embodiment of the present invention. The fourth embodiment is the HMD of the second embodiment.
Instead of supporting the section with a support boom such as a desk lamp, the HMD section is supported by hanging from the ceiling 6 of a home, office, etc. by a movable prop like a periscope of a submarine. There are advantages that can be achieved.

FIG. 5 is an external view of the user-side videophone terminal. In the figure, 70 is the HMD housing, 71 is the left speaker,
72 is a right speaker, 73 is a liquid crystal display for the left eye, 7
4 is a liquid crystal display for the right eye, 75 is a lens for the left eye, 7
Reference numeral 6 is a lens for the right eye, 77 is a face contact pad, and 78 is a grip handle, which constitutes the HMD portion. Reference numeral 80 is a controller housing, 81 is a dial, 82 is a zoom-in button, 83 is a zoom-out button, and 84 is a cross character key, which constitutes the controller unit. 90a to 90c are rotation angle detection potentiometers, 100 is a pillar A, 101 is a pillar B, the upper end of the pillar B101 is fixed to the ceiling 6, and the pillar A100 is in the vertical direction Z in the hollow of the pillar B101.
It can be slid on. A U-shaped support boom 103 is rotatably attached to the lower end of the column A100,
HMD units are rotatably connected to both ends thereof. The column C102 is integrally attached below the HMD unit, and the grip handle 78 and the controller unit are attached to the lower end. The potentiometer 90a is a connecting portion between the support A100 and the frame 103, the potentiometer 90b is a connecting portion between the support boom 103 and the HMD, and the potentiometer 90c is a support A1.
The column B101 is provided so that the movement amount of 00 can be detected by the rotation angle.

In FIG. 5, the rotation angle detecting potentiometers 90a to 9 are shown.
All the components below 0c are integrated, and when the user applies his / her face to the HMD part, the user grips the handle 77 with the left hand and operates the controller with the right hand. Regarding the movement of the user's neck, the two axes of pitch and yaw are potentiometer 90.
a, 90b, and the platform 12 of the mobile tele-existence robot 1 operates in conjunction with each other. When the user changes the height of the viewpoint, if the grip handle 78 is moved up and down while gripping the grip handle 78, the pillar A100 slides up and down with respect to the pillar B101, and the viewpoint height is automatically adjusted by the potentiometer 90c. Detected by the camera / microphone unit 11 of the mobile tele-existence robot 1 shown in FIG.
Moves up and down in conjunction with the column A61. The operation method and functions of the dial 81, the cross key 84, the zoom-in / out buttons 82 and 83 are the same as those having the same names in the first embodiment.

(Embodiment 5) FIG. 6 shows a fifth embodiment of the present invention. The fifth embodiment is the same as the second embodiment in the basic service form. The difference from the second embodiment is basically that the HMD part is not supported by the supporting boom such as the desk lamp, but is supported by the supporting boom such as the table lamp shown in FIG.

FIG. 5 is an external view of the videophone terminal on the user side. In the figure, 130 is a controller housing, 131 is a dial, 132 is a zoom-out button, 133 is a zoom-in button, 134 is a field-of-view up button, 135 is a field-of-view down button, and 136 is a cross-shaped key, which constitutes the controller section. . 140 is the HMD housing, 141 is a grip handle, 142 is a left speaker, 143 is a right speaker,
144 is a liquid crystal display for the left eye, 145 is a liquid crystal display for the right eye, 147 is a lens for the left eye, 148 is a lens for the right eye, 149 is a face contact pad, and constitutes the HMD unit. Reference numerals 146a and 146b are rotation angle detecting potentiometers, 150a and 150b are support booms, and 150c is a support stand.

As shown in FIG. 6, the support boom 150a is erected on a disk-shaped support stand 150c, a U-shaped support boom 150b is rotatably attached to the upper end of the support boom 150a, and the support boom 150a is rotatable at both ends thereof. The HMD unit is connected.
Further, the handle 141 is integrally attached to the HMD section housing 140. The rotation detection potentiometer 146a is provided at the connecting portion between the support boom 150a and the support boom 150b.
The rotation detection potentiometer portion 146-b is the support boom 150b.
It is attached to the connecting portion of the HMD section housing 140 and detects a posture represented by two axes of pitch and yaw. A left speaker 142, a right speaker 143, a left-eye liquid crystal display 144, and a right-eye display 145, which are applied to the left and right eyes and the left and right ears of the user, are built in the HMD housing 140.
The images of the left and right cameras and the sounds of the left and right microphones sent from the mobile tele-existence robot 1 via the communication network are sent to the left and right eyes and the left and right ears of the user, respectively.
The user holds the grip handle 1 connected to the HMD housing 140.
While holding 41, the face can be put on the HMD housing 140, and the stereoscopic image and stereo sound can be used to experience the remote situation with a sense of reality.

Since the biaxial movements of the user's neck pitch and yaw are interlocked with the movement of the HMD casing 140 (operated by the grip handle 141), the support boom 150a. , 150b connected to the rotation angle detection potentiometers 146a and 146b can be detected as the attitude information of the display, and the detected 2
The rotation angle of the axis is sent to a mobile tele-existence robot at a remote place via a communication network, and drives the platform 12 of the camera / microphone unit 11 by the same angle. Therefore, the joystick 25 of the first embodiment is not necessary in the fifth embodiment. The operation method and functions of the dial 131, the cross key 136, the zoom out button, the IN buttons 132 and 133, the field of view up / down buttons 134 and 135 are the same as those in the second embodiment.

In the above embodiment, an example in which the camera and the microphone are mounted on the presence robot 1 has been shown.
It is also possible to mount only the camera and transmit the voice together with the image of the camera by using another vocal source or sound source.

[0039]

As described above, according to the tele-gistance type video-phone device of the present invention, even if a plurality of users access a tele-gistance robot running on the same orbit, through a communication network, It is possible to switch the points of the orbit, evacuate to the evacuation line, slowly stop, and overtake other slowly running robots, so even if the access of multiple users is flooded, it is hard to be busy, and This has the advantage that a remote location can be walked through a communication network with a mobile tele-existence robot at the speed desired by the user.

Further, according to the present invention,
Applications such as remote walking of museums, art galleries, aquariums, zoos, amusement parks, observation decks, sports stadiums, etc. from hospitals and remote monitoring of factories, offices, hospitals, etc. will be possible.

[Brief description of drawings]

FIG. 1 is a schematic view showing a situation of a remote place where a mobile tele-existence robot according to a first embodiment of the present invention is installed.

FIG. 2 is an external view showing the details of the mobile tele-existence robot in the first embodiment.

FIG. 3 is an external view showing a videophone terminal placed in a home, an office or the like in the first embodiment.

FIG. 4 is an external view showing a videophone terminal placed in a home, an office or the like in a second embodiment of the present invention.

FIG. 5 is an external view showing a videophone terminal placed in a home, an office or the like in a fourth embodiment of the present invention.

FIG. 6 is an external view showing a videophone terminal placed in a home, an office or the like according to a fifth embodiment of the present invention.

[Explanation of symbols]

 1 ... Mobile tele-existence robot 2 ... Orbit 3 ... Point 4 ... Send / receive indoor antenna 5 ... Retract line 6 ... Ceiling 11 ... Camera / microphone unit 12 ... Servo motor platform 13 ... Sliding roller 14 ... Antenna 15 ... Send / receive Machine 19 ... Wire winding servo motor 21 ... Display 22 ... Speaker 24 ... Cross-shaped key 25 ... Joystick 26a, 26b ... Zoom out, in button 27 ... HMD part case 28, 29 ... Field of view lowering button 30 ... Controller case Body 32, 33 ... Zoom out, in button 34, 35 ... Field of view up / down button 36 ... Cross-shaped key 40 ... HMD part housing 41 ... Grip handle 42, 43 ... Left, right speaker 44, 45 ... Left eye, right Liquid crystal display for eyes 46a to 46e ... Rotation angle detection potentiometer 50 ... HMD support Boom 51 ... Clamping part 52 ... Clamping screw 60 ... Wires 61, 62 ... Struts 64 ... Traveling vehicle 70 ... HMD part housing 71, 72 ... Left, right speaker 73, 75 ... Left eye, right eye liquid crystal display 78 ... Grip handle 80 ... Controller housing 82, 83 ... Zoom in / out button 84 ... Cross-shaped keys 90a, 90b ... Rotation angle detection potentiometer 100, 101 ... HMD support boom 130 ... Controller housing 132, 133 ... Zoom out, in button 134 , 135 ... Field of view up / down button 136 ... Cross-shaped key 140 ... HMD section casing 141 ... Grip handle 142, 143 ... Left and right speakers 144, 145 ... Left eye / right eye liquid crystal display 146a, 146b ... Rotation angle detection Potentiometers 150a, 150b ... Support boom 150c ... Support stand

Claims (5)

[Claims] 1. A telecontrol robot comprising a camera or a camera and a microphone connected to a communication network for remote control, and a videophone terminal connected to the communication network to access the camera or the camera and microphone. In an immersion type video telephone, a plurality of telexistence robots are used and the plurality of telexistence robots are made to travel on the same track, and one or more evacuation lines and the evacuation line are provided on the track. And a trailing distance type video telephone device. 2. A telexistence robot has two cameras or two cameras and two microphones in a horizontal direction, and a videophone terminal has a display for the left and right eyes corresponding to the two cameras. 2. The tele-gistance type video telephone device according to claim 1, further comprising listening means for the left and right ears corresponding to the two microphones. 3. The videophone terminal has an attitude control mechanism for the display and an attitude detection means for the display, and a teleistance robot has means for controlling the attitude of the camera according to the attitude information detected by the attitude detection means. The tele-gistance type video telephone device according to claim 1 or 2. 4. The videophone terminal has a display vertical movement mechanism and a vertical position detecting means for the display, and a tele-gistance robot controls the vertical position of the camera according to the vertical position detected by the vertical position detecting means. The tele-gistance type video telephone apparatus according to any one of claims 1 to 3, further comprising a means. 5. The tele-gistance type video telephone apparatus according to claim 4, wherein the vertical movement mechanism of the display of the video telephone terminal is a ceiling hanging type.