CN1743144A - Internet-based robot long-distance control method - Google Patents
Internet-based robot long-distance control method Download PDFInfo
- Publication number
- CN1743144A CN1743144A CN 200510015283 CN200510015283A CN1743144A CN 1743144 A CN1743144 A CN 1743144A CN 200510015283 CN200510015283 CN 200510015283 CN 200510015283 A CN200510015283 A CN 200510015283A CN 1743144 A CN1743144 A CN 1743144A
- Authority
- CN
- China
- Prior art keywords
- control
- robot
- user
- time delay
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
A robot remote control method based on Internet is disclosed. The remote user computer is connected to the robot control website through Internet, connected to the moving robot system via LAN. When the robot control website accesses in the control requirement of the remote user computer, the system detects the delay of the user by a delay-detection module, sends the result to the control selection module, provides responding control module such as direct control, prediction control or monitoring control to the user according to the delay type. The user accesses in responding control module and controls the moving of the robot through the control interface displayed on the user terminal.
Description
[technical field]
The present invention relates to the ROBOT CONTROL method, particularly a kind of robot long-distance control method based on the internet.
[background technology]
In the tele-control system based on the internet, the tele-control system of robot is the most complicated, relates to the real-time Transmission problem of instruction, data, image and environmental information.Problem in the wherein topmost Long-distance Control is the influence of time delay to control.Existing robots Long-distance Control mode generally has two kinds, is about to propagation delay time and handles according to fixed delay or two kinds of situations of varying time delay.Fixed delay is that the supposition propagation delay time is the upper bound that there are a variation in some fixed values or time delay.It is big or when changing between the zero-sum time delay upper bound, the stability of system and model accuracy are difficult to guarantee that the control system that designs in the fixed delay mode departs from fixed value in time delay.Varying time delay has then taken into full account the variability and the uncertain characteristics of network delay, thinks that time delay changes constantly, but does not consider the size of time delay.The control system of setting up on this basis, the stability of system is guaranteed, and but often is difficult to the real-time that obtains.
Simultaneously, be the robot remote control system of medium of communication with the internet, because robot is structured on the website of internet, towards the different network users.The network user inserts the mode difference of internet, and (network connection speed as common dial-up user is 56Kbps, DDN user's access speed reaches as high as 2Mbps, the highest access speed of ADSL user is descending 8Mbps, up 640Kbps, and can reach 100Mbps by user's access speed of optical fiber access internet.), the network bandwidth of internet is different with the route situation, and the variation that also causes the different remote control terminals and the communication of robotic end to have different propagation delay times and time delay is uncertain.This time delay exists and the uncertainty of variation all will make Long-distance Control be difficult to realize, and can cause the unstability of control system.Therefore delay problem is the subject matter that the network robot Long-distance Control need solve.
[summary of the invention]
The objective of the invention is in order to overcome prior art problems, and provide a kind of robot long-distance control method based on the internet, this method is directly control of basic integrated application, PREDICTIVE CONTROL and Supervised Control mode with time delay detection, thereby realizes the stable of the Long-distance Control of robot and accurately.
The present invention discloses a kind of robot long-distance control method based on the internet for addressing the above problem.Comprise that remote user computer is connected to robot control website by the internet, be connected to mobile-robot system by LAN again, it is characterized in that said robot control website is when inserting the control request of remote user computer user proposition, system detects by the time delay of time delay detection module to the user, finish the propagation delay time between user side and robot network's server is detected and classifies, then the result is passed to control mode and select module, control mode selects module directly to control by the time delay type is corresponding for the user calls according to the testing result of time delay detection module, PREDICTIVE CONTROL or Supervised Control module, the user enters the control corresponding module, and by the control interface that user side shows robot is carried out motion control; Robot location's information that said mobile robot gathers and environmental information return to the control website by wireless network.
The transmitted in both directions time delay RTT that said direct control module is a network when the user proposes to control request realizes the direct control to robot less than under the 50ms condition.
The transmitted in both directions time delay RTT that said PREDICTIVE CONTROL module is a network when the user proposes to control request realizes that the prediction of robot shows control under 50ms and 200ms condition.
The transmitted in both directions time delay RTT that said Supervised Control module is a network when the user proposes to control request is greater than under the 200ms condition, sends goal task and dependent instruction by the teleworker and finishes control to tele-robotic.
Having proposed with the time delay in Long-distance Control user request control and the control in the design of robot remote control system of the present invention is the control strategy that input parameter is chosen control mode.Difference according to heterogeneous networks user's time delay situation, provide the control corresponding mode with detected user's time delay, and serve as with reference to setting up the control model, control compensation with the environmental information of robot, with compensation since network transfer delay to the influence of control real-time.According to time delay size and steadiness, three kinds of control modes in the robot Long-distance Control, have been adopted: direct control mode, prediction display mode and Supervised Control mode.And provide condition for setting up more accurate system control model.The present invention is the robot long-distance control method towards the Internet user, can independently provide a kind of control mode that adapts with its time delay situation for the user according to user's difference.Therefore can solve the problem that can't satisfy the stability of a system and real-time at a kind of tele-control system of time delay state design simultaneously to a certain extent.Make different user can both obtain satisfied effect in control machine man-hour.
[description of drawings]
Fig. 1 control system is formed structural representation;
Fig. 2 robot control method schematic flow sheet.
[specific embodiment]
The robot long-distance control method that the present invention is based on the internet mainly is made up of three parts: remote user computer, robot control website and mobile-robot system.Network Control Segment adopts the design of browser/server network structure.Referring to Fig. 1.
Subscriber computer is any computer that is connected on the internet, and connected mode can be any modes such as dialing, ADSL and broadband.The user uses general browser to sign in to machine to go on the website and just can control robot.The computer that the long-distance user is used does not have special requirement, does not need to install special client software, does not need the user to have the robot knowledge of specialty yet.
Robot control website is mainly by the webserver (one or more server of size configure of the information content that can handle according to system's needs, native system disposes a station server and can meet the demands) realize, it logically is divided into Web service layer, Business Logic and back-end system layer, the network intelligent proxy system that provides services on the Internet and realize the robot Long-distance Control for the user.Intelligent proxy system is realized the intelligent management to user's management and robot control, as the network management that realizes robot control mode, control strategy and robot communication etc.Database is used for the relevant information of storing subscriber information, environmental information and robot; Database can be on the webserver, also can be on the independently data server that is connected on the network.Utilize wireless network card to carry out communication between the webserver and the mobile robot by LAN.
Mobile robot and robot server are formed the autonomous machine robot system.Video camera is housed on the mobile robot, and video camera has the function of monitoring, tracking and environment identification, and is responsible for providing the environmental information of robot site.Group of ultrasonic sensors also is housed in the robot,, determines the motion state of robot by to the obtaining and handle the perception environment-identification of sensor information.The user can obtain mobile robot's relevant information in real time, and further controls in view of the above.Robot server is responsible for processes sensor information and the motion control of carrying out robot.
The robot long-distance control method flow process is to be directly control of basic integrated application, PREDICTIVE CONTROL and Supervised Control mode with time delay detection in the robot of the present invention control website.As shown in Figure 2:
The long-distance user can any mode inserts the subscriber computer of internet.When the user inserted robot control website proposition control request, system detected the propagation delay time between user side and robot network's server by the time delay detection module and classifies, and then the result is passed to control mode and selects module.Control mode selects module to call control corresponding module by the time delay type for the user according to the testing result of time delay detection module, the user enters the control corresponding module, and showing this control interface at user side, the user can begin operation to robot, enters motion control.Motion control is then sent relevant control instruction and operation according to the instruction of different control modules to the robot motion.In the robot motion, robot information such as the position in robot motion's process, attitude and speed detect by the sensor of installing in the robot again, feed back to user side.
Above-mentioned and the corresponding control mode of time delay detection result are divided into: three kinds of directly control, PREDICTIVE CONTROL and Supervised Control.Wherein:
Directly control module is used to realize the direct control of robot, has the intuitive characteristics, and presence is strong in the robot control procedure, and can give full play to operator's judgement and decision-making capability.But this control mode than higher, requires the network transfer delay minor swing little to the requirement of network performance.Exist under the tangible communication time delay situation at network, control procedure will form " motion-wait " control result, reduces the efficient of control, also can the stability of control procedure be impacted.If the network communication situation is good, the little and random fluctuation of time delay just relaxes relatively, and adopting directly actuated mode will be simple and effective way.Can find in the face of in delay testing result's the analysis in the past, for the most of users under LAN subscriber and the education network condition, the propagation delay time of network is little and relatively stable in the period at each section, if propagation delay time is less than 50ms (RTT) when the user proposes to control request, the user enters direct control mode, directly send control instruction to robot, as advance, turn and stop etc.User side directly shows the scene image information (not needing compensation) of camera acquisition, and the user is by the image information manipulation robot of the real time environment at scene.And mobile robot's capacity of will can not embody under this control mode.
The PREDICTIVE CONTROL module realizes that the prediction of robot shows control.The operator comes the motor behavior of observer robot to plan by the analog simulation interface of virtual reality, guarantees the actual robot accuracy of action.In experiment, take prediction to show control mode to the situation of relatively stable type time delay (50ms and 200ms), user side no longer returns the on-the-spot realtime graphic of camera acquisition, and for the user provides through time delay being carried out the virtual emulation environmental information of predictive compensation, be that parameter is corrected the environmental information that analog simulation shows with detected time delay.With the increase of time delay, control system will reduce mobile robot's movement velocity automatically in this scope.Virtual reality technology has been adopted in the modeling of PREDICTIVE CONTROL mode, has made up environmental model and robot control model, and robot location's information of utilizing sensor to gather, and the motion state of playback robot is to produce the effect of telepresenc.
The Supervised Control module is implemented in the robot control under big network transfer delay (time delay from several seconds to a few minutes) condition.The variation of time delay is also big.Under such network condition, directly the real-time of control mode requires and can't guarantee.If adopt the PREDICTIVE CONTROL mode, can't set up accurate control model.And Supervised Control does not need the parameter of propagation delay time as model, is a good solution therefore.Because Supervised Control places operating personnel outside the control system closed loop, the teleworker only need send goal task and dependent instruction, and specific tasks are independently finished by the tele-robotic control loop.So requiring robot self is the independent closed-loop control system with certain capacity of will, be about to the time delay link and place outside the closed-loop control, adopt the algorithm of artificial intelligence to make robot have the ability of automatic obstacle avoiding, path planning.The impact point position that only needs given robot to move in control, the smart motion that robot just can utilization itself arrives the target location.The time delay link is not present within this closed-loop control system, thereby reduces the influence of time delay to whole system stability.
Long-distance user of the present invention utilizes general browser (as IE, Netscape etc.) to sign in to robot control website by being connected to the computer on the internet, can enter the main interface of robot control website.When the user clicked control request button, system call time delay detection module detected the communication time delay, and testing result is sent to control mode selection module.Control mode selects module according to the communication time delay that detects, for the user calls control corresponding mode module.If the communication time delay is less than 50ms, the direct control module of system call, the user enters direct control mode; If propagation delay time was when 50ms and 200ms when the user proposed to control request, the user enters the PREDICTIVE CONTROL mode; When detected communication time delay during greater than 200ms, system call Supervised Control module, the user will enter the Supervised Control mode.(with three kinds of corresponding time delay scopes of control mode according to repeatedly measure and result of the test definite) every kind of control mode all has corresponding patterned control interface, the user can be by clicking control button, or the impact point of designated robot motion, robot is operated.When the user carries out the control corresponding operation, control instruction corresponding sends robot bottom layer driving module to by wireless network, robot can produce corresponding motion according to instruction, as advance, retreat, turn left, turn right and stop etc., directly related with the driving of motor, this robot adopts differential type of drive that the robot motion is controlled.Simultaneously, the robot location's information of the sensor collection in the robot and the robot environment's of camera acquisition video information returns to the control website by wireless network, and shows at user side.
The user is in control procedure, and the time delay detection device regularly detects user's time delay state, if find the time delay situation marked change has been arranged, and no longer is suitable for existing control mode, then new time delay type parameter is passed to the control mode converter.The control mode converter calls the control mode that adapts with current time delay for the user again, makes the user proceed control operation.Show that in prediction the positional information correction parameter as compensation of time delay information that the time delay detection device regularly detects and robot is proofreaied and correct forecast model in the control procedure of control mode, to guarantee the precision of model.The automatic conversion of control mode is merged in the integrated use of several control modes, has guaranteed that different users successfully finishes the operated from a distance of robot under different time delay conditions.
Claims (8)
1 one kinds of robot long-distance control methods based on the internet, comprise that remote user computer is connected to robot control website by the internet, be connected to mobile-robot system by LAN again, it is characterized in that said robot control website is when inserting the control request of remote client computer proposition, system detects by the time delay of time delay detection module to the user, finish the propagation delay time between user side and robot network's server is detected and classifies, then the result is passed to control mode and select module, control mode selects module directly to control by the time delay type is corresponding for the user calls according to the testing result of time delay detection module, PREDICTIVE CONTROL or Supervised Control module, the user enters the control corresponding module, and by the control interface that user side shows robot is carried out motion control; Robot location's information that said mobile robot gathers and environmental information return to the control website by wireless network, and pass to user side.
2 according to the described long-range control method of claim 1, it is characterized in that transmitted in both directions time delay RTT that said direct control module is a network when the user proposes to control request less than under the 50ms condition, realizes the direct control to robot.
3 according to the described long-range control method of claim 1, it is characterized in that transmitted in both directions time delay RTT that said PREDICTIVE CONTROL module is a network when the user proposes to control request under 50ms and 200ms condition, realizes that the prediction of robot shows control.
4 according to the described long-range control method of claim 1, it is characterized in that transmitted in both directions time delay RTT that said Supervised Control module is a network when the user proposes to control request greater than under the 200ms condition, send goal task and dependent instruction by the teleworker and finish control tele-robotic.
5 according to the described long-range control method of claim 1, it is characterized in that said remote user computer is any computer that is connected on the internet, and the user uses general browser to sign in on the robot website robot is controlled.
6 according to claim 1 or 5 described long-range control methods, it is characterized in that said remote user computer is connected to the mode of internet, can be a kind of in dialing, ADSL and the broadband.
7 according to the described long-range control method of claim 1, it is characterized in that the robot system that said mobile robot and robot server are formed is the independent closed-loop control system with certain capacity of will.
8 according to claim 1 or 7 described long-range control methods, it is characterized in that being equipped with on the said mobile robot have monitoring, the video camera of tracking and environment recognition function, and be equipped with and obtain and handle the perception environment-identification, determine the motion state group of ultrasonic sensors of robot.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 200510015283 CN1743144A (en) | 2005-09-29 | 2005-09-29 | Internet-based robot long-distance control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 200510015283 CN1743144A (en) | 2005-09-29 | 2005-09-29 | Internet-based robot long-distance control method |
Publications (1)
Publication Number | Publication Date |
---|---|
CN1743144A true CN1743144A (en) | 2006-03-08 |
Family
ID=36138736
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN 200510015283 Pending CN1743144A (en) | 2005-09-29 | 2005-09-29 | Internet-based robot long-distance control method |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN1743144A (en) |
Cited By (57)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100507784C (en) * | 2006-06-06 | 2009-07-01 | 中国地质科学院地质研究所 | Remotely control systems and method |
CN101879720A (en) * | 2010-07-09 | 2010-11-10 | 上海交通大学 | Control system of reconfigurable modular robot |
CN102124491A (en) * | 2008-08-20 | 2011-07-13 | 欧洲航空防务和航天公司 | Method and device for remotely controlling a camera on board a mobile station |
CN101452289B (en) * | 2007-12-06 | 2011-09-28 | Abb研究有限公司 | A robot service system and a method for providing remote service for a robot |
CN102395931A (en) * | 2009-04-17 | 2012-03-28 | 英塔茨科技公司 | Tele-presence robot system with software modularity, projector and laser pointer |
CN102736622A (en) * | 2011-03-31 | 2012-10-17 | 泰怡凯电器(苏州)有限公司 | Multifunctional robot system and control method for robot body to search module part |
CN102830677A (en) * | 2012-09-03 | 2012-12-19 | 中国第一汽车股份有限公司 | Remote control method of industrial robot |
CN103534068A (en) * | 2010-12-16 | 2014-01-22 | 三星重工业株式会社 | Wind turbine assembly and management robot and wind turbine system including same |
CN103916875A (en) * | 2014-04-24 | 2014-07-09 | 山东大学 | Management and planning system of multi-class control terminals based on WIFI wireless network |
CN104015190A (en) * | 2014-05-13 | 2014-09-03 | 中国科学院力学研究所 | Robot remote control method and system under indeterminate bidirectional time delay condition |
CN104050241A (en) * | 2013-10-23 | 2014-09-17 | 东软集团股份有限公司 | Remote-operating accepting system, remote operating system and program |
US8965579B2 (en) | 2011-01-28 | 2015-02-24 | Intouch Technologies | Interfacing with a mobile telepresence robot |
US8983174B2 (en) | 2004-07-13 | 2015-03-17 | Intouch Technologies, Inc. | Mobile robot with a head-based movement mapping scheme |
US8996165B2 (en) | 2008-10-21 | 2015-03-31 | Intouch Technologies, Inc. | Telepresence robot with a camera boom |
US9089972B2 (en) | 2010-03-04 | 2015-07-28 | Intouch Technologies, Inc. | Remote presence system including a cart that supports a robot face and an overhead camera |
US9098611B2 (en) | 2012-11-26 | 2015-08-04 | Intouch Technologies, Inc. | Enhanced video interaction for a user interface of a telepresence network |
US9138891B2 (en) | 2008-11-25 | 2015-09-22 | Intouch Technologies, Inc. | Server connectivity control for tele-presence robot |
US9160783B2 (en) | 2007-05-09 | 2015-10-13 | Intouch Technologies, Inc. | Robot system that operates through a network firewall |
US9174342B2 (en) | 2012-05-22 | 2015-11-03 | Intouch Technologies, Inc. | Social behavior rules for a medical telepresence robot |
US9193065B2 (en) | 2008-07-10 | 2015-11-24 | Intouch Technologies, Inc. | Docking system for a tele-presence robot |
US9198728B2 (en) | 2005-09-30 | 2015-12-01 | Intouch Technologies, Inc. | Multi-camera mobile teleconferencing platform |
US9224181B2 (en) | 2012-04-11 | 2015-12-29 | Intouch Technologies, Inc. | Systems and methods for visualizing patient and telepresence device statistics in a healthcare network |
US9251313B2 (en) | 2012-04-11 | 2016-02-02 | Intouch Technologies, Inc. | Systems and methods for visualizing and managing telepresence devices in healthcare networks |
US9264664B2 (en) | 2010-12-03 | 2016-02-16 | Intouch Technologies, Inc. | Systems and methods for dynamic bandwidth allocation |
US9296107B2 (en) | 2003-12-09 | 2016-03-29 | Intouch Technologies, Inc. | Protocol for a remotely controlled videoconferencing robot |
CN101997710B (en) * | 2009-08-20 | 2016-04-06 | 宏正自动科技股份有限公司 | Long-distance management system and method |
US9323250B2 (en) | 2011-01-28 | 2016-04-26 | Intouch Technologies, Inc. | Time-dependent navigation of telepresence robots |
US9361021B2 (en) | 2012-05-22 | 2016-06-07 | Irobot Corporation | Graphical user interfaces including touchpad driving interfaces for telemedicine devices |
US9381654B2 (en) | 2008-11-25 | 2016-07-05 | Intouch Technologies, Inc. | Server connectivity control for tele-presence robot |
CN105844881A (en) * | 2016-04-21 | 2016-08-10 | 奇弩(北京)科技有限公司 | Method for establishing connection between robot and remote controller |
US9429934B2 (en) | 2008-09-18 | 2016-08-30 | Intouch Technologies, Inc. | Mobile videoconferencing robot system with network adaptive driving |
CN105931440A (en) * | 2016-04-21 | 2016-09-07 | 奇弩(北京)科技有限公司 | Method for establishing connection between robot and remote controller |
US9602765B2 (en) | 2009-08-26 | 2017-03-21 | Intouch Technologies, Inc. | Portable remote presence robot |
US9616576B2 (en) | 2008-04-17 | 2017-04-11 | Intouch Technologies, Inc. | Mobile tele-presence system with a microphone system |
CN105934723B (en) * | 2014-02-07 | 2017-07-07 | Abb瑞士股份有限公司 | Web browser to robot cell's device is accessed |
US9715337B2 (en) | 2011-11-08 | 2017-07-25 | Intouch Technologies, Inc. | Tele-presence system with a user interface that displays different communication links |
CN107197536A (en) * | 2017-05-10 | 2017-09-22 | 成都优威骐翼教育科技有限公司 | Robot and internet automatic connecting system |
CN107197003A (en) * | 2017-05-10 | 2017-09-22 | 成都优威骐翼教育科技有限公司 | Support internetwork machine people's system of multi-user Cooperation |
CN107247634A (en) * | 2017-06-06 | 2017-10-13 | 广州视源电子科技股份有限公司 | A kind of method and apparatus of Robotic Dynamic asynchronous remote procedure call |
US9842192B2 (en) | 2008-07-11 | 2017-12-12 | Intouch Technologies, Inc. | Tele-presence robot system with multi-cast features |
US9849593B2 (en) | 2002-07-25 | 2017-12-26 | Intouch Technologies, Inc. | Medical tele-robotic system with a master remote station with an arbitrator |
US9974612B2 (en) | 2011-05-19 | 2018-05-22 | Intouch Technologies, Inc. | Enhanced diagnostics for a telepresence robot |
CN108961711A (en) * | 2018-04-28 | 2018-12-07 | 深圳市牛鼎丰科技有限公司 | Control method, device, computer equipment and the storage medium of remote-controlled movement device |
CN109933069A (en) * | 2019-03-21 | 2019-06-25 | 东南大学 | The conducting wire flaw detection robot tele-control system and control method of view-based access control model and force feedback |
US10343283B2 (en) | 2010-05-24 | 2019-07-09 | Intouch Technologies, Inc. | Telepresence robot system that can be accessed by a cellular phone |
US10471588B2 (en) | 2008-04-14 | 2019-11-12 | Intouch Technologies, Inc. | Robotic based health care system |
US10769739B2 (en) | 2011-04-25 | 2020-09-08 | Intouch Technologies, Inc. | Systems and methods for management of information among medical providers and facilities |
US10808882B2 (en) | 2010-05-26 | 2020-10-20 | Intouch Technologies, Inc. | Tele-robotic system with a robot face placed on a chair |
US10875182B2 (en) | 2008-03-20 | 2020-12-29 | Teladoc Health, Inc. | Remote presence system mounted to operating room hardware |
US11154981B2 (en) | 2010-02-04 | 2021-10-26 | Teladoc Health, Inc. | Robot user interface for telepresence robot system |
US11389064B2 (en) | 2018-04-27 | 2022-07-19 | Teladoc Health, Inc. | Telehealth cart that supports a removable tablet with seamless audio/video switching |
US11398307B2 (en) | 2006-06-15 | 2022-07-26 | Teladoc Health, Inc. | Remote controlled robot system that provides medical images |
US11399153B2 (en) | 2009-08-26 | 2022-07-26 | Teladoc Health, Inc. | Portable telepresence apparatus |
US11636944B2 (en) | 2017-08-25 | 2023-04-25 | Teladoc Health, Inc. | Connectivity infrastructure for a telehealth platform |
US11742094B2 (en) | 2017-07-25 | 2023-08-29 | Teladoc Health, Inc. | Modular telehealth cart with thermal imaging and touch screen user interface |
US11850757B2 (en) | 2009-01-29 | 2023-12-26 | Teladoc Health, Inc. | Documentation through a remote presence robot |
US11862302B2 (en) | 2017-04-24 | 2024-01-02 | Teladoc Health, Inc. | Automated transcription and documentation of tele-health encounters |
-
2005
- 2005-09-29 CN CN 200510015283 patent/CN1743144A/en active Pending
Cited By (110)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10315312B2 (en) | 2002-07-25 | 2019-06-11 | Intouch Technologies, Inc. | Medical tele-robotic system with a master remote station with an arbitrator |
US9849593B2 (en) | 2002-07-25 | 2017-12-26 | Intouch Technologies, Inc. | Medical tele-robotic system with a master remote station with an arbitrator |
US9956690B2 (en) | 2003-12-09 | 2018-05-01 | Intouch Technologies, Inc. | Protocol for a remotely controlled videoconferencing robot |
US9375843B2 (en) | 2003-12-09 | 2016-06-28 | Intouch Technologies, Inc. | Protocol for a remotely controlled videoconferencing robot |
US9296107B2 (en) | 2003-12-09 | 2016-03-29 | Intouch Technologies, Inc. | Protocol for a remotely controlled videoconferencing robot |
US10882190B2 (en) | 2003-12-09 | 2021-01-05 | Teladoc Health, Inc. | Protocol for a remotely controlled videoconferencing robot |
US9766624B2 (en) | 2004-07-13 | 2017-09-19 | Intouch Technologies, Inc. | Mobile robot with a head-based movement mapping scheme |
US10241507B2 (en) | 2004-07-13 | 2019-03-26 | Intouch Technologies, Inc. | Mobile robot with a head-based movement mapping scheme |
US8983174B2 (en) | 2004-07-13 | 2015-03-17 | Intouch Technologies, Inc. | Mobile robot with a head-based movement mapping scheme |
US9198728B2 (en) | 2005-09-30 | 2015-12-01 | Intouch Technologies, Inc. | Multi-camera mobile teleconferencing platform |
US10259119B2 (en) | 2005-09-30 | 2019-04-16 | Intouch Technologies, Inc. | Multi-camera mobile teleconferencing platform |
CN100507784C (en) * | 2006-06-06 | 2009-07-01 | 中国地质科学院地质研究所 | Remotely control systems and method |
US11398307B2 (en) | 2006-06-15 | 2022-07-26 | Teladoc Health, Inc. | Remote controlled robot system that provides medical images |
US10682763B2 (en) | 2007-05-09 | 2020-06-16 | Intouch Technologies, Inc. | Robot system that operates through a network firewall |
US9160783B2 (en) | 2007-05-09 | 2015-10-13 | Intouch Technologies, Inc. | Robot system that operates through a network firewall |
CN101452289B (en) * | 2007-12-06 | 2011-09-28 | Abb研究有限公司 | A robot service system and a method for providing remote service for a robot |
US10875182B2 (en) | 2008-03-20 | 2020-12-29 | Teladoc Health, Inc. | Remote presence system mounted to operating room hardware |
US11787060B2 (en) | 2008-03-20 | 2023-10-17 | Teladoc Health, Inc. | Remote presence system mounted to operating room hardware |
US10471588B2 (en) | 2008-04-14 | 2019-11-12 | Intouch Technologies, Inc. | Robotic based health care system |
US11472021B2 (en) | 2008-04-14 | 2022-10-18 | Teladoc Health, Inc. | Robotic based health care system |
US9616576B2 (en) | 2008-04-17 | 2017-04-11 | Intouch Technologies, Inc. | Mobile tele-presence system with a microphone system |
US9193065B2 (en) | 2008-07-10 | 2015-11-24 | Intouch Technologies, Inc. | Docking system for a tele-presence robot |
US10493631B2 (en) | 2008-07-10 | 2019-12-03 | Intouch Technologies, Inc. | Docking system for a tele-presence robot |
US10878960B2 (en) | 2008-07-11 | 2020-12-29 | Teladoc Health, Inc. | Tele-presence robot system with multi-cast features |
US9842192B2 (en) | 2008-07-11 | 2017-12-12 | Intouch Technologies, Inc. | Tele-presence robot system with multi-cast features |
CN102124491B (en) * | 2008-08-20 | 2013-09-04 | 欧洲航空防务和航天公司 | Method and device for remotely controlling a camera on board a mobile station |
CN102124491A (en) * | 2008-08-20 | 2011-07-13 | 欧洲航空防务和航天公司 | Method and device for remotely controlling a camera on board a mobile station |
US9429934B2 (en) | 2008-09-18 | 2016-08-30 | Intouch Technologies, Inc. | Mobile videoconferencing robot system with network adaptive driving |
US8996165B2 (en) | 2008-10-21 | 2015-03-31 | Intouch Technologies, Inc. | Telepresence robot with a camera boom |
US9138891B2 (en) | 2008-11-25 | 2015-09-22 | Intouch Technologies, Inc. | Server connectivity control for tele-presence robot |
US10059000B2 (en) | 2008-11-25 | 2018-08-28 | Intouch Technologies, Inc. | Server connectivity control for a tele-presence robot |
US10875183B2 (en) | 2008-11-25 | 2020-12-29 | Teladoc Health, Inc. | Server connectivity control for tele-presence robot |
US9381654B2 (en) | 2008-11-25 | 2016-07-05 | Intouch Technologies, Inc. | Server connectivity control for tele-presence robot |
US11850757B2 (en) | 2009-01-29 | 2023-12-26 | Teladoc Health, Inc. | Documentation through a remote presence robot |
US9983571B2 (en) | 2009-04-17 | 2018-05-29 | Intouch Technologies, Inc. | Tele-presence robot system with software modularity, projector and laser pointer |
CN102395931A (en) * | 2009-04-17 | 2012-03-28 | 英塔茨科技公司 | Tele-presence robot system with software modularity, projector and laser pointer |
US10969766B2 (en) | 2009-04-17 | 2021-04-06 | Teladoc Health, Inc. | Tele-presence robot system with software modularity, projector and laser pointer |
CN102395931B (en) * | 2009-04-17 | 2017-03-08 | 英塔茨科技公司 | There is the remote ground apparent robot system of software module, projector and laser designator |
CN101997710B (en) * | 2009-08-20 | 2016-04-06 | 宏正自动科技股份有限公司 | Long-distance management system and method |
US10911715B2 (en) | 2009-08-26 | 2021-02-02 | Teladoc Health, Inc. | Portable remote presence robot |
US9602765B2 (en) | 2009-08-26 | 2017-03-21 | Intouch Technologies, Inc. | Portable remote presence robot |
US11399153B2 (en) | 2009-08-26 | 2022-07-26 | Teladoc Health, Inc. | Portable telepresence apparatus |
US10404939B2 (en) | 2009-08-26 | 2019-09-03 | Intouch Technologies, Inc. | Portable remote presence robot |
US11154981B2 (en) | 2010-02-04 | 2021-10-26 | Teladoc Health, Inc. | Robot user interface for telepresence robot system |
US10887545B2 (en) | 2010-03-04 | 2021-01-05 | Teladoc Health, Inc. | Remote presence system including a cart that supports a robot face and an overhead camera |
US11798683B2 (en) | 2010-03-04 | 2023-10-24 | Teladoc Health, Inc. | Remote presence system including a cart that supports a robot face and an overhead camera |
US9089972B2 (en) | 2010-03-04 | 2015-07-28 | Intouch Technologies, Inc. | Remote presence system including a cart that supports a robot face and an overhead camera |
US11389962B2 (en) | 2010-05-24 | 2022-07-19 | Teladoc Health, Inc. | Telepresence robot system that can be accessed by a cellular phone |
US10343283B2 (en) | 2010-05-24 | 2019-07-09 | Intouch Technologies, Inc. | Telepresence robot system that can be accessed by a cellular phone |
US10808882B2 (en) | 2010-05-26 | 2020-10-20 | Intouch Technologies, Inc. | Tele-robotic system with a robot face placed on a chair |
CN101879720A (en) * | 2010-07-09 | 2010-11-10 | 上海交通大学 | Control system of reconfigurable modular robot |
US10218748B2 (en) | 2010-12-03 | 2019-02-26 | Intouch Technologies, Inc. | Systems and methods for dynamic bandwidth allocation |
US9264664B2 (en) | 2010-12-03 | 2016-02-16 | Intouch Technologies, Inc. | Systems and methods for dynamic bandwidth allocation |
CN103534068A (en) * | 2010-12-16 | 2014-01-22 | 三星重工业株式会社 | Wind turbine assembly and management robot and wind turbine system including same |
CN103534068B (en) * | 2010-12-16 | 2015-09-30 | 三星重工业株式会社 | Wind turbine assembling and handle machine people and comprise its wind turbine system |
US10591921B2 (en) | 2011-01-28 | 2020-03-17 | Intouch Technologies, Inc. | Time-dependent navigation of telepresence robots |
US10399223B2 (en) | 2011-01-28 | 2019-09-03 | Intouch Technologies, Inc. | Interfacing with a mobile telepresence robot |
US11468983B2 (en) | 2011-01-28 | 2022-10-11 | Teladoc Health, Inc. | Time-dependent navigation of telepresence robots |
US8965579B2 (en) | 2011-01-28 | 2015-02-24 | Intouch Technologies | Interfacing with a mobile telepresence robot |
US11289192B2 (en) | 2011-01-28 | 2022-03-29 | Intouch Technologies, Inc. | Interfacing with a mobile telepresence robot |
US9785149B2 (en) | 2011-01-28 | 2017-10-10 | Intouch Technologies, Inc. | Time-dependent navigation of telepresence robots |
US9469030B2 (en) | 2011-01-28 | 2016-10-18 | Intouch Technologies | Interfacing with a mobile telepresence robot |
US9323250B2 (en) | 2011-01-28 | 2016-04-26 | Intouch Technologies, Inc. | Time-dependent navigation of telepresence robots |
CN102736622B (en) * | 2011-03-31 | 2015-08-19 | 科沃斯机器人有限公司 | Multifunctional robot system and robot body find the control method in module portion |
CN102736622A (en) * | 2011-03-31 | 2012-10-17 | 泰怡凯电器(苏州)有限公司 | Multifunctional robot system and control method for robot body to search module part |
US10769739B2 (en) | 2011-04-25 | 2020-09-08 | Intouch Technologies, Inc. | Systems and methods for management of information among medical providers and facilities |
US9974612B2 (en) | 2011-05-19 | 2018-05-22 | Intouch Technologies, Inc. | Enhanced diagnostics for a telepresence robot |
US10331323B2 (en) | 2011-11-08 | 2019-06-25 | Intouch Technologies, Inc. | Tele-presence system with a user interface that displays different communication links |
US9715337B2 (en) | 2011-11-08 | 2017-07-25 | Intouch Technologies, Inc. | Tele-presence system with a user interface that displays different communication links |
US9251313B2 (en) | 2012-04-11 | 2016-02-02 | Intouch Technologies, Inc. | Systems and methods for visualizing and managing telepresence devices in healthcare networks |
US10762170B2 (en) | 2012-04-11 | 2020-09-01 | Intouch Technologies, Inc. | Systems and methods for visualizing patient and telepresence device statistics in a healthcare network |
US11205510B2 (en) | 2012-04-11 | 2021-12-21 | Teladoc Health, Inc. | Systems and methods for visualizing and managing telepresence devices in healthcare networks |
US9224181B2 (en) | 2012-04-11 | 2015-12-29 | Intouch Technologies, Inc. | Systems and methods for visualizing patient and telepresence device statistics in a healthcare network |
US10658083B2 (en) | 2012-05-22 | 2020-05-19 | Intouch Technologies, Inc. | Graphical user interfaces including touchpad driving interfaces for telemedicine devices |
US11453126B2 (en) | 2012-05-22 | 2022-09-27 | Teladoc Health, Inc. | Clinical workflows utilizing autonomous and semi-autonomous telemedicine devices |
US11515049B2 (en) | 2012-05-22 | 2022-11-29 | Teladoc Health, Inc. | Graphical user interfaces including touchpad driving interfaces for telemedicine devices |
US9174342B2 (en) | 2012-05-22 | 2015-11-03 | Intouch Technologies, Inc. | Social behavior rules for a medical telepresence robot |
US11628571B2 (en) | 2012-05-22 | 2023-04-18 | Teladoc Health, Inc. | Social behavior rules for a medical telepresence robot |
US9361021B2 (en) | 2012-05-22 | 2016-06-07 | Irobot Corporation | Graphical user interfaces including touchpad driving interfaces for telemedicine devices |
US10780582B2 (en) | 2012-05-22 | 2020-09-22 | Intouch Technologies, Inc. | Social behavior rules for a medical telepresence robot |
US10328576B2 (en) | 2012-05-22 | 2019-06-25 | Intouch Technologies, Inc. | Social behavior rules for a medical telepresence robot |
US10061896B2 (en) | 2012-05-22 | 2018-08-28 | Intouch Technologies, Inc. | Graphical user interfaces including touchpad driving interfaces for telemedicine devices |
US10603792B2 (en) | 2012-05-22 | 2020-03-31 | Intouch Technologies, Inc. | Clinical workflows utilizing autonomous and semiautonomous telemedicine devices |
US10892052B2 (en) | 2012-05-22 | 2021-01-12 | Intouch Technologies, Inc. | Graphical user interfaces including touchpad driving interfaces for telemedicine devices |
US9776327B2 (en) | 2012-05-22 | 2017-10-03 | Intouch Technologies, Inc. | Social behavior rules for a medical telepresence robot |
CN102830677A (en) * | 2012-09-03 | 2012-12-19 | 中国第一汽车股份有限公司 | Remote control method of industrial robot |
US10924708B2 (en) | 2012-11-26 | 2021-02-16 | Teladoc Health, Inc. | Enhanced video interaction for a user interface of a telepresence network |
US10334205B2 (en) | 2012-11-26 | 2019-06-25 | Intouch Technologies, Inc. | Enhanced video interaction for a user interface of a telepresence network |
US9098611B2 (en) | 2012-11-26 | 2015-08-04 | Intouch Technologies, Inc. | Enhanced video interaction for a user interface of a telepresence network |
US11910128B2 (en) | 2012-11-26 | 2024-02-20 | Teladoc Health, Inc. | Enhanced video interaction for a user interface of a telepresence network |
CN104050241B (en) * | 2013-10-23 | 2017-04-12 | 东软集团股份有限公司 | Remote-operating accepting system, remote operating system and remote operating method |
CN104050241A (en) * | 2013-10-23 | 2014-09-17 | 东软集团股份有限公司 | Remote-operating accepting system, remote operating system and program |
CN105934723B (en) * | 2014-02-07 | 2017-07-07 | Abb瑞士股份有限公司 | Web browser to robot cell's device is accessed |
CN103916875B (en) * | 2014-04-24 | 2018-04-06 | 山东大学 | Management and planning system based on WIFI wireless networks multiclass control terminal |
CN103916875A (en) * | 2014-04-24 | 2014-07-09 | 山东大学 | Management and planning system of multi-class control terminals based on WIFI wireless network |
CN104015190A (en) * | 2014-05-13 | 2014-09-03 | 中国科学院力学研究所 | Robot remote control method and system under indeterminate bidirectional time delay condition |
CN104015190B (en) * | 2014-05-13 | 2016-04-13 | 中国科学院力学研究所 | Robot long-distance control method under a kind of uncertain two-way time delay condition and system |
CN105931440A (en) * | 2016-04-21 | 2016-09-07 | 奇弩(北京)科技有限公司 | Method for establishing connection between robot and remote controller |
CN105844881A (en) * | 2016-04-21 | 2016-08-10 | 奇弩(北京)科技有限公司 | Method for establishing connection between robot and remote controller |
US11862302B2 (en) | 2017-04-24 | 2024-01-02 | Teladoc Health, Inc. | Automated transcription and documentation of tele-health encounters |
CN107197536A (en) * | 2017-05-10 | 2017-09-22 | 成都优威骐翼教育科技有限公司 | Robot and internet automatic connecting system |
CN107197003A (en) * | 2017-05-10 | 2017-09-22 | 成都优威骐翼教育科技有限公司 | Support internetwork machine people's system of multi-user Cooperation |
CN107247634A (en) * | 2017-06-06 | 2017-10-13 | 广州视源电子科技股份有限公司 | A kind of method and apparatus of Robotic Dynamic asynchronous remote procedure call |
US11742094B2 (en) | 2017-07-25 | 2023-08-29 | Teladoc Health, Inc. | Modular telehealth cart with thermal imaging and touch screen user interface |
US11636944B2 (en) | 2017-08-25 | 2023-04-25 | Teladoc Health, Inc. | Connectivity infrastructure for a telehealth platform |
US11389064B2 (en) | 2018-04-27 | 2022-07-19 | Teladoc Health, Inc. | Telehealth cart that supports a removable tablet with seamless audio/video switching |
CN108961711B (en) * | 2018-04-28 | 2020-06-02 | 深圳市牛鼎丰科技有限公司 | Control method and device for remotely controlling mobile device, computer equipment and storage medium |
CN108961711A (en) * | 2018-04-28 | 2018-12-07 | 深圳市牛鼎丰科技有限公司 | Control method, device, computer equipment and the storage medium of remote-controlled movement device |
CN109933069A (en) * | 2019-03-21 | 2019-06-25 | 东南大学 | The conducting wire flaw detection robot tele-control system and control method of view-based access control model and force feedback |
CN109933069B (en) * | 2019-03-21 | 2022-03-08 | 东南大学 | Wire flaw detection robot remote control system and control method based on vision and force feedback |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1743144A (en) | Internet-based robot long-distance control method | |
CN111897332B (en) | Semantic intelligent substation robot humanoid inspection operation method and system | |
CN106182027B (en) | A kind of open service robot system | |
CN111633644A (en) | Industrial robot digital twin system combined with intelligent vision and operation method thereof | |
CN112099510B (en) | Intelligent agent control method based on end edge cloud cooperation | |
CN102707675B (en) | Group robot controller, group robot control method and controller terminal | |
CN101373380B (en) | Humanoid robot control system and robot controlling method | |
CN109920295A (en) | A kind of intelligent industrial internet teaching experience system and method | |
CN107193271A (en) | Preposition service adapter and trouble-shooter for industrial information physical system | |
CN106378780A (en) | Robot system and method and server for controlling robot | |
CN107097241A (en) | A kind of service robot and its control method | |
KR20200063340A (en) | Method and system that machine learning-based quality inspection using the cloud | |
CN102825603A (en) | Network teleoperation robot system and time delay overcoming method | |
US11577834B1 (en) | Method and system for synchronizing virtual and real statuses of digital twin system of unmanned aerial vehicle (UAV) | |
CN108983636A (en) | Human-machine intelligence's symbiosis plateform system | |
CN105759650A (en) | Method used for intelligent robot system to achieve real-time face tracking | |
CN113487760A (en) | Turbine system of intelligent ship | |
CN107499786A (en) | A kind of dustbin automatic lid closing/opening method, apparatus and automatic lid closing/opening dustbin | |
CN113112088A (en) | Edge cloud cooperative digital twin intelligent scheduling application operation position adaptation method | |
CN111590562A (en) | Unmanned shop container monitoring system based on robot | |
Kristensen | Sensor planning with bayesian decision theory | |
CN111509856A (en) | Intelligent inspection integrated platform system | |
CN110039537A (en) | A kind of automatic measure on line multi joint motion planing method neural network based | |
CN115314850A (en) | Intelligent motion system based on cloud edge cooperative control | |
CN112417661B (en) | Data acquisition and analysis system for unmanned equipment packaging test |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
WD01 | Invention patent application deemed withdrawn after publication |