Robot system that operates through a network firewall
View Patent ↗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.
1. 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, and moves in response to said robot control command;
a communication server that establishes a communication between said remote control station and said robot for a designated time period that defines an entire allowable time interval in which said remote control station can control said robot.
2. The system of claim 1 , wherein said communication server instructs said remote control station and said robot to transmit information to at least one designated port of said communication server.
3. The system of claim 1 , further comprising one or more additional communication servers and information is transmitted between said servers.
4. The system of claim 1 , further comprising one or more additional communication servers, and either said robot or said remote control station is instructed to disconnect from one server and reconnect to a server connected to said remote control station or said robot.
5. The system of claim 1 , wherein said robot control command is sent to said communication server from said remote control station, and then retransmitted from said communication server to said robot.
6. The system of claim 1 , wherein said communication server allows a server operator to charge a fee that is divisible by units of time.
7. The system of claim 1 , wherein said robot moves in accordance with a closed loop control scheme.
8. 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, by a communication server, a communication between the robot and a remote control station through the firewall for a designated time period that defines an entire allowable time interval in which the remote controls station can control the robot;
transmitting robot control commands from the remote control station to the robot;
moving the robot in accordance with the robot control command; and,
terminating control of the robot by the remote control station at the end of the time interval.
9. The method of claim 8 , wherein the robot periodically polls a communication server that establishes the communication between the robot and the remote control station.
10. The method of claim 8 , wherein the communication between the remote control station and the robot is limited to a designated time period.
11. The method of claim 8 , 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.
12. A remote controlled robot system that is coupled to a communication network, comprising:
a firewall that connects a local area network to an external network;
a robot coupled to said local area network, said robot includes a monitor and a camera; and,
a remote control station that transmits a robot control command to a first robot IP address on said local area network and retransmits said robot control command to a second robot IP address on said external network if said transmission to said first robot IP address failed,
and wherein said robot moves in response to said robot control command.
13. The system of claim 12 , wherein said remote control station and said robot communicate with UDP packets.
14. The system of claim 12 , wherein said robot control command is sent to a communication server from said remote control station, and then retransmitted from said communication server to said robot.
15. The system of claim 12 , wherein said robot includes said camera and said monitor that move together in at least two degrees of freedom.
16. The system of claim 12 , wherein said robot moves in accordance with a closed loop control scheme.
17. The communication server of claim 12 , wherein said communication server establishes a communication between the remote control station and the robot for a designated time period that defines an entire time interval in which said remote control station controls said robot.
18. A remote controlled robot system that is coupled to a communication network, comprising:
a remote control station that transmits a robot control command and is coupled to the communication network by a control station firewall;
a robot that is coupled to the communication network by a robot firewall;
a communication server that establishes a communication between said remote control station and said robot through the remote control station and robot firewalls by instructing said remote control station and said robot to essentially simultaneously send peer to peer packets to each other.
19. The system of claim 18 , wherein said communication server instructs said remote control station and said robot to transmit information to each other.
20. The system of claim 18 , wherein said robot periodically polls said communication server.
21. The system of claim 18 , wherein said communication server allows communication between said remote control station and said robot for a designated time period that defines an entire time interval in which said remote control station controls said robot.
22. The system of claim 18 , further comprising a plurality of remote control stations and a plurality of mobile robots and said communication server links said remote stations with said mobile robots.