Robot system that operates through a network firewall

{
  "publication_number": "US10682763B2",
  "country": "US",
  "kind": "B2",
  "title": "Robot system that operates through a network firewall",
  "abstract": "A remote controlled robot system that includes a robot and a remote control station that communicate through a communication network. Communication with the robot is limited by a firewall coupled to the communication network. A communication server establishes communication between the robot and the remote control station so that the station can send commands to the robot through the firewall.",
  "claims": [
    "1. A teleconferencing system that is coupled to a communication network, comprising: a firewall that connects a local area network to an external network; a teleconferencing device coupled to said local area network, said teleconferencing device includes a monitor and a camera; and a remote station that transmits a control command to a first Internet protocol (IP) address of the teleconferencing device on said local area network and retransmits said control command to a second IP address of the teleconferencing device on said external network when said transmission to said first IP address fails, wherein said teleconferencing device performs an action in response to said control command.",
    "2. The system of claim 1, further comprising a communication server that instructs said remote station and said teleconferencing device to transmit information to each other.",
    "3. The system of claim 2, wherein said teleconferencing device periodically polls said communication server.",
    "4. The system of claim 2, wherein said communication server allows communication between said remote station and said teleconferencing device for a designated time period that defines an entire time period in which said remote station controls said teleconferencing device.",
    "5. The system of claim 1, wherein said remote station and said teleconferencing device communicate with user datagram protocol (UDP) packets.",
    "6. The system of claim 2, wherein said control command is sent to said communication server from said remote station, and then retransmitted from said communication server to said teleconferencing device.",
    "7. The system of claim 1, wherein said teleconferencing device includes a camera and a monitor that move together in at least two degrees of freedom.",
    "8. The system of claim 1, wherein said teleconferencing device includes a camera that moves in accordance with a closed loop control scheme.",
    "9. A teleconferencing system that is coupled to a communication network, comprising: a remote station that transmits a control command; a teleconferencing device that includes a monitor and a camera, and performs an action in response to said control command; a communication server that establishes a communication between said remote station and said teleconferencing device for a designated time period that defines an entire allowable time interval in which said remote station can control said teleconferencing device.",
    "10. The system of claim 9, wherein said communication server instructs said remote station and said teleconferencing device to transmit information to at least one designated port of said communication server.",
    "11. The system of claim 9, wherein said teleconferencing device periodically polls said communication server.",
    "12. The system of claim 9, wherein said remote station and said teleconferencing device communicate with user datagram protocol (UDP) packets.",
    "13. The system of claim 9, wherein said control command is sent to said communication server from said remote station, and then retransmitted from said communication server to said teleconferencing device.",
    "14. The system of claim 9, wherein said teleconferencing device includes a camera and a monitor that move together In at least two degrees of freedom.",
    "15. The system of claim 9, wherein said teleconferencing device includes a camera that moves in accordance with a closed loop control scheme.",
    "16. A teleconferencing system that is coupled to a communication network, comprising: a remote station that transmits a control command and is coupled to the communication network by a remote station firewall; a teleconferencing device that is coupled to the communication network by a teleconferencing device firewall; a communication server that establishes a communication between said remote station and said teleconferencing device through the remote station firewall and teleconferencing device firewall by instructing said remote station and said teleconferencing device to essentially simultaneously send peer-to-peer packets to each other.",
    "17. The system of claim 16, wherein the teleconferencing device periodically polls said communication server.",
    "18. The system of claim 16, wherein said communication server allows communication between said remote station and said teleconferencing device for a designated time period that defines an entire time period in which said remote station controls said teleconferencing device.",
    "19. The system of claim 16, wherein said control command is sent to the communication server from the remote station, and then retransmitted from the communication server to the teleconferencing device.",
    "20. The system of claim 16, wherein said remote station and said teleconferencing device communicate with user datagram protocol (UDP) packets."
  ],
  "description_excerpt": "1. Field of the Invention\n\nThe subject matter disclosed generally relates to the field of mobile two-way teleconferencing.\n\n2. Background Information\n\nRobots have been used in a variety of applications ranging from remote control of hazardous material to assisting in the performance of surgery. For example, U.S. Pat. No. 5,762,458 issued to Wang et al. discloses a system that allows a surgeon to perform minimally invasive medical procedures through the use of robotically controlled instruments. One of the robotic arms in the Wang system moves an endoscope that has a camera. The camera allows a surgeon to view a surgical area of a patient.\n\nTele-robots such as hazardous waste handlers and bomb detectors may contain a camera that allows the operator to view the remote site. Canadian Pat. No. 2289697 issued to Treviranus, et al. discloses a teleconferencing platform that has both a camera and a monitor. The platform includes mechanisms to both pivot and raise the camera and monitor. The Treviranus patent also discloses embodiments with a mobile platform, and different mechanisms to move the camera and the monitor.\n\nThere has been marketed a mobile robot introduced by InTouch Technologies, Inc., the assignee of this application, under the trademark RP-7. The InTouch robot is controlled by a user at a remote station. The remote station may be a personal computer with a joystick that allows the user to remotely control the movement of the robot. Both the robot and remote station have cameras, monitors, speakers and microphones to allow for two-way video/audio communication.",
  "cpc": [
    "B25J 9/1689",
    "H04L 63/0209",
    "H04L 63/029",
    "H04L 67/025",
    "H04L 67/125"
  ],
  "ipc": [
    "B25J 9/16",
    "H04L 29/06",
    "H04L 29/08"
  ],
  "assignees": [
    "InTouch Technologies Inc"
  ],
  "inventors": [
    "Marco Pinter"
  ],
  "filing_date": "2015-10-09",
  "publication_date": "2020-06-16",
  "grant_date": "2020-06-16",
  "priority_date": "2007-05-09",
  "application_number": "US-201514879762-A",
  "family_id": "39970269",
  "cited_by_count": 3,
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