WO2007052892A1 - Datatransmission method for remote control of robot - Google Patents

Datatransmission method for remote control of robot Download PDF

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Publication number
WO2007052892A1
WO2007052892A1 PCT/KR2006/003637 KR2006003637W WO2007052892A1 WO 2007052892 A1 WO2007052892 A1 WO 2007052892A1 KR 2006003637 W KR2006003637 W KR 2006003637W WO 2007052892 A1 WO2007052892 A1 WO 2007052892A1
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WO
WIPO (PCT)
Prior art keywords
robot
udp packets
packets
data transmission
udp
Prior art date
Application number
PCT/KR2006/003637
Other languages
French (fr)
Inventor
Dong Kwon Cho
Original Assignee
Kt Corporation
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kt Corporation filed Critical Kt Corporation
Publication of WO2007052892A1 publication Critical patent/WO2007052892A1/en

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • H04Q9/02—Automatically-operated arrangements

Definitions

  • the present invention relates to a data transmission method for remote control of a robot, and more particularly, to a data transmission method for remote control of a robot, which improves promptness and reliability of data (hereinafter, referred to "robot control data") transmitted so as to remotely control the robot through a wire communication field and a wireless communication field.
  • robot control data a data transmission method for remote control of a robot
  • Internet network which is a world wide web allowed to be easily accessed anywhere in the world, becomes widespread, Internet robotics field has been studied and developed since the middle of 1990's, wherein the Internet robotics field means that a moving robot is remotely controlled using Internet.
  • Examples of an Internet based remote control system of a moving robot include a system for piling up blocks by controlling a robot arm while viewing an image transmitted through Internet, a remote gardening system for finding out an object hidden in the sand using an air nozzle and a vision system, a control system for controlling a sensor based moving robot through Internet, and a remote display system on Internet.
  • the Internet based remote control system of a moving robot is being widely used in various fields.
  • the Internet based remote control system of a moving robot allows the moving robot to control its motion by itself without assistance of an operator after a final objective is only set by the operator.
  • Such a remote control system of a moving robot is referred to as "supervisory control system.”
  • the supervisory control system is disclosed in the publication [Proc. IEEE Int. Symposium on Industrial Electronics, Vol. 1, pp. ss60- ss64] published prior to the filing date of this invention in the title of "remote supervisory control of an autonomous mobile robot via world wide web.”
  • the moving robot controls its motion by itself.
  • robot control data for controlling the moving robot
  • TCP transmission control protocol
  • UDP user datagram protocol
  • the TCP divides data into a plurality of packets, and sequentially transmits the packets while checking whether each packet has been completely received. Since the TCP sequentially transmits the packets after checking transmission status of each packet, it has reliability in data transmission. Moreover, since the TCP sequentially transmits the packets after checking transmission status of each packet, it has a drawback in that it takes a lot of time to transmit the whole data.
  • the TCP has maximumer packet loss in a wireless communication field than in a wire communication field. Accordingly, if the robot control data should be transmitted through the wireless communication field, the number of retransmission times of the packets increases due to packet loss. For this reason, it may take a lot of time to transmit the whole data to the robot. This may be a drawback in remotely controlling the robot.
  • the UDP may be used. However, since the UDP does not check whether each packet has been completely received, there are no measures to solve a problem occurring when each packet is not normally transmitted. Accordingly, the UDP does not assure reliability in data transmission. Moreover, since a packet loss rate increases in the wireless communication field, a problem occurs in that reliability of the robot control data cannot be assured if the robot control data should be transmitted through the wireless communication field.
  • An object of the present invention is to provide a data transmission method for remote control of a robot, which promptly transmits robot control data with reliability by transmitting the robot control data using a UDP in a wire communication field and using a multi- transmission mode in a wireless communication field if a robot is remotely controlled through Internet.
  • a data transmission method for remote control of a robot in a wireless communication mode through Internet which includes the steps of transmitting UDP packets for robot control data for remotely controlling the robot in a wire communication field, and multi-transmitting the UDP packets through the wireless communication mode in a wireless communication field.
  • a data transmission method for remote control of a robot in a wireless communication mode through Internet which includes the steps of (a) generating UDP packets for robot control data and transmitting the UDP packets to a wire communication field, (b) preferentially transmitting the UDP packets from the wire communication field to a wireless signal transmitting means which communicates with the robot in the wireless mode, and
  • step (c) allowing the wireless signal transmitting means to multi-transmit the UDP packets to the robot in the wireless communication mode.
  • the step (a) includes setting a PRI value in a priority field of the
  • the UDP packets have a objective address corresponding to an IP address of the robot.
  • the step (b) includes determining whether IP packets received in a router are the UDP packets, using header information of the received IP packets, determining whether the PRI value of the priority field exceeds the threshold value if it is determined that the IP packets are the UDP packets, and transmitting the UDP packets based on the priority order if the PRI value exceeds the threshold value.
  • the threshold value corresponds to a maximum priority order of the PRI value.
  • the step (b) further includes transmitting the IP packets in accordance with a FIFO mechanism if the IP packets are not the UDP packets or if the PRI value does not exceed the threshold value.
  • the step (c) includes checking whether the IP packets are the UDP packets, using header information of the received IP packets, checking whether the PRI value of the priority field exceeds the threshold value if the IP packets are the UDP packets, and multi-transmitting the UDP packets to the robot in the wireless communication mode if the PRI value exceeds the threshold value.
  • the step of multi-transmitting the UDP packets includes storing the UDP packets in a buffer, transmitting the UDP packets to the robot along with a wireless communication frequency signal, transmitting the UDP packets to the robot until the number of transmission times reaches the number of previously set times, and erasing the UDP packets from the buffer if the number of transmission times reaches the number of previously set times.
  • the UDP packets have a transmission period set based on the distance between the robot and the wireless signal transmitting means.
  • the step of multi-transmitting the UDP packets includes storing the UDP packets in a buffer, transmitting the UDP packets to the robot along with a wireless communication frequency signal, transmitting the UDP packets to the robot until an ACK message for reception of the UDP packets is received from the robot, and erasing the UDP packets from the buffer if the ACK message for reception of the UDP packets is received from the robot.
  • the wireless signal transmitting means is a base station of a mobile communication network.
  • the wireless signal transmitting means is an access point (AP) provided at home where the robot is located.
  • AP access point
  • a data transmission system comprising a user terminal generating UDP packets for robot control data, routers located in a wire communication field, for preferentially routing the UDP packets if the UDP packets are received, and a wireless signal transmitting means wirelessly communicating with a robot remotely controlled by the robot control data, wherein the wireless signal transmitting means multi-transmits the UDP packets if the UDP packets destined for the robot are received.
  • the user terminal sets a PRI value in a priority field of the UDP packets for the robot control data to exceed a threshold value.
  • the wireless signal transmitting means recognizes the UDP packets as the robot control data if the priority order of the UDP packets exceeds the threshold value, and multi-transmits them to the robot.
  • the wireless signal transmitting means transmits the UDP packets to the robot as many as the number of previously set times.
  • the wireless signal transmitting means repeatedly transmits the UDP packets until an ACK message for the UDP packets is received from the robot after the UDP packets are transmitted to the robot.
  • the wireless signal transmitting means is a base station of a mobile communication network.
  • the wireless signal transmitting means is an access point (AP) provided at home where the robot is located.
  • AP access point
  • FIG. 1 is a configuration view illustrating a data transmission system for remote control of a robot according to the preferred embodiment of the present invention
  • FIG. 2 is a flow chart illustrating a procedure of generating and transmitting UDP packets according to the preferred embodiment of the present invention
  • FIG. 3 is a flow chart illustrating the operation of a base station according to one embodiment of the present invention.
  • FIG. 4 is a flow chart illustrating the operation of a base station according to another embodiment of the present invention.
  • FIG. 1 is a configuration view illustrating a data transmission system for remote control of a robot according to the preferred embodiment of the present invention.
  • a robot 50 remotely controlled from a user terminal 10 is provided with a unique IP address, and is operated by robot control data received through a wireless communication network.
  • the robot 50 includes an interface means for supporting wireless communication, a main processor analyzing the robot control data received through the wireless communication network and performing control corresponding to the analyzed data, and a sub controller driving a joint or a wheel under the control of the main processor.
  • the wireless communication can be realized by wireless LAN, Bluetooth, and wireless Internet (Wibro).
  • the robot 50 is operated under the control of the user terminal 10 located at a remote place. If the robot control data for remotely controlling the robot 50 are transmitted from the user terminal 10, the robot control data are transmitted to a base station 40 through Internet 20 and then transmitted from the base station 40 to the robot 50. In this case, a field from the user terminal 10 to the base station 40 corresponds to the wire communication field while a field from the base station 40 to the robot 50 corresponds to the wireless communication field.
  • the robot 50 which has received the robot control data is operated by the robot control data. Accordingly, the user terminal 10 can remotely control the operation of the robot 50.
  • the user terminal 10 is preferably provided with a robot control application for controlling the robot.
  • the robot control application generates UDP packets for the robot control data by packeting the robot control data depending on the UDP, and transmits the UDP packets to the Internet 20.
  • the robot control data are comprised of IP packets adapted to the UDP guideline, and a priority field (PRI) of the IP packets is preferably set as a maximum value (for example, '15') representing a maximum priority order. This becomes available as IPv6 is used.
  • PRI priority field
  • Reference numerals 22 and 24 of FIG. 1 denote edge routers provided at the end of the Internet 20, wherein the Internet is connected with another network through the edge routers 22 and 24.
  • the Internet 20 is provided with a plurality of routers (not shown) therein, and the IP packets are transmitted to a objective through packet routing between the routers.
  • the router 22 checks whether the IP packets are UDP packets, based on header information of the IP packets. If it is checked that the IP packets are UDP packets, the router 22 preferentially transmits the UDP packets to assure promptness of the robot control data.
  • the base station 40 which is a wireless signal transmitting means communicating with the robot 50 in a wireless mode, serves to transmit the UDP packets to a objective terminal along with a wireless communication frequency signal (for example, RF signal).
  • a wireless communication frequency signal for example, RF signal
  • the base station 40 recognizes the UDP packets as the robot control data, stores the UDP packets in a buffer, and retransmits the UDP packets to the robot 50 as many as the number of previously set times. As a result, reliability of the robot control data is assured. Meanwhile, in another embodiment of the present invention, the base station 40
  • ACK acknowledgement
  • the robot 50 should transmit the ACK message to the base station 40.
  • the wireless signal transmitting means is not limited to the base station 40 of the mobile communication network.
  • an access point (AP) provided at home may be used as the wireless signal transmitting means.
  • the AP should be provided with a UDP packet multi-transmission function.
  • a building where the robot 50 is located can access the Internet through a wire, and the robot 50 can access the Internet through a wireless mode inside the building.
  • FIG. 2 is a flow chart illustrating a procedure of generating and transmitting
  • the user terminal 10 If a user inputs a robot control command for controlling the robot located at a remote place using a robot control application provided in the user terminal 10, the user terminal 10 generates the UDP packets for the robot control command and transmits the generated UDP packets to the Internet 20.
  • the PRI value of the priority field of the UDP packets is set as the maximum priority order (for example, '15'), and the objective IP address becomes an IP address of the robot 50.
  • a value (for example, '15') corresponding to the maximum priority order is set as the PRI value to promptly transmit the UDP packets.
  • a threshold value lower than the maximum priority order may be set as the PRI value to control the priority order for transmission of the UDP packets.
  • the UDP packets are transmitted to the router 22 of the Internet 20 through an
  • the router 22 analyzes header information of the received IP packets to determine whether the IP packets are the UDP packets (S 12).
  • step S 12 if the IP packets are the UDP packets (YES in S 12), it is checked whether the PRI value of the priority order corresponds to the maximum priority order (S 14).
  • the router 22 preferentially transmits the UDP packets. However, if the IP packets are not the UDP packets (NO in S 12) as a result of the step S 12, or if the PRI value does not correspond to the maximum priority order (NO in S 14) as a result of the step S 14, the router 22 stores the IP packets in a queue and transmits them in accordance with a FIFO queuing mechanism (S 18).
  • FIG. 3 is a flow chart illustrating a procedure of transmitting the robot control data of the wireless communication field according to one embodiment of the present invention.
  • the UDP packets routed in the Internet 20 through the procedure described with reference to FIG. 2 are transmitted from the router 24 to the base station 40 by the objective IP address.
  • the base station 40 analyzes header information of the received IP packets to check whether the IP packets are the UDP packets (S22).
  • the base station 40 checks whether the PRI value of the priority field of the UDP packets corresponds to the maximum priority order (for example, '15') (S24).
  • the base station 40 stores the UDP packets in a buffer (not shown) (S26).
  • the base station 40 transmits the UDP packets to the robot 50 corresponding to the objective IP address along with the RF signal (S28).
  • the UDP packets transmitted to the robot 50 are the robot control data.
  • the base station 40 performs multi-transmission in such a way to transmit the UDP packets as many as the number of previously set times (S30). If multi- transmission is completed, the base station 40 erases the UDP packets from the buffer (S32).
  • multi-transmission for the UDP packets is completed in such a manner that a signal transmission period is determined considering the distance between the base station 40 and the robot 50 and the UDP packets are transmitted as many as the number of previously set times based on the signal transmission period.
  • FIG. 4 is a flow chart illustrating the operation of the base station 40 according to another embodiment of the present invention.
  • the UDP packets routed in the Internet 20 through the procedure described with reference to FIG. 2 are transmitted from the router 24 to the base station 40 by the objective IP address (S40).
  • the base station 40 analyzes header information of the received IP packets to check whether the IP packets are the UDP packets (S42).
  • the base station 40 checks whether the PRI value of the priority field of the UDP packets corresponds to the maximum priority order (for example, '15') (S44). As a result of the step S44, if the PRI value of the priority field of the UDP packets corresponds to the maximum priority order, the base station 40 stores the UDP packets in a buffer (not shown) (S46).
  • the base station 40 transmits the UDP packets to the robot 50 corresponding to the objective IP address along with the RF signal (S48).
  • the UDP packets transmitted to the robot 50 are the robot control data.
  • the base station 40 checks whether the ACK message for reception of the UDP packets is received from the robot 50 (S50). If the ACK message is not received from the robot 50 (NO in S50), the current step advances to the step S48 so that the UDP packets are retransmitted to the robot 50. By contrast, if the ACK message is received from the robot 50 (YES in S50), the base station 40 erases the UDP packets from the buffer (S52).
  • the data transmission method for remote control of a robot has the following advantages.
  • the robot control data are transmitted to the robot using the UDP so that the robot control data can promptly be transmitted to the robot.
  • the robot is remotely controlled through wireless communication, since the robot control data are transmitted to the robot either through the transmission mode or by checking reception of the UDP packets in the wireless communication field, it is possible to improve reliability in transmission of the robot control data.
  • the foregoing embodiment and advantages are merely exemplary and are not to be construed as limiting the present invention.
  • the present teaching can be readily applied to other types of apparatuses.
  • the description of the embodiments of the present invention is intended to be illustrative, and not to limit the scope of the claims, and many alternatives, modifications, and variations will be apparent to those skilled in the art.

Abstract

A data transmission method for remote control of a robot is disclosed, which promptly transmits robot control data with reliability by multi-transmitting the robot control data using a UDP in a wire communication field in a wireless communication field if a robot is remotely controlled through Internet. The data transmission method for remote control of a robot in a wireless communication mode through Internet includes the steps of (a) generating UDP packets for robot control data and transmitting the UDP packets to a wire communication field, (b) preferentially transmitting the UDP packets from the wire communication field to a wireless signal transmitting means which communicates with the robot in the wireless mode, and (c) allowing the wireless signal transmitting means to multi-transmit the UDP packets to the robot and the wireless communication mode.

Description

DATATRANSMISSION METHOD FOR REMOTE CONTROL OF ROBOT
[Technical Field]
The present invention relates to a data transmission method for remote control of a robot, and more particularly, to a data transmission method for remote control of a robot, which improves promptness and reliability of data (hereinafter, referred to "robot control data") transmitted so as to remotely control the robot through a wire communication field and a wireless communication field.
[Background Art]
As Internet network, which is a world wide web allowed to be easily accessed anywhere in the world, becomes widespread, Internet robotics field has been studied and developed since the middle of 1990's, wherein the Internet robotics field means that a moving robot is remotely controlled using Internet. Examples of an Internet based remote control system of a moving robot include a system for piling up blocks by controlling a robot arm while viewing an image transmitted through Internet, a remote gardening system for finding out an object hidden in the sand using an air nozzle and a vision system, a control system for controlling a sensor based moving robot through Internet, and a remote display system on Internet. The Internet based remote control system of a moving robot is being widely used in various fields.
Meanwhile, the Internet based remote control system of a moving robot allows the moving robot to control its motion by itself without assistance of an operator after a final objective is only set by the operator. Such a remote control system of a moving robot is referred to as "supervisory control system." The supervisory control system is disclosed in the publication [Proc. IEEE Int. Symposium on Industrial Electronics, Vol. 1, pp. ss60- ss64] published prior to the filing date of this invention in the title of "remote supervisory control of an autonomous mobile robot via world wide web."
According to the supervisory control system of a moving robot disclosed as above, if the operator transmits a command for a final objective of the moving robot through Internet, the moving robot controls its motion by itself.
Meanwhile, when the command (hereinafter, referred to as "robot control data") for controlling the moving robot is transmitted through Internet, a transmission control protocol (TCP) or a user datagram protocol (UDP) is used.
The TCP divides data into a plurality of packets, and sequentially transmits the packets while checking whether each packet has been completely received. Since the TCP sequentially transmits the packets after checking transmission status of each packet, it has reliability in data transmission. Moreover, since the TCP sequentially transmits the packets after checking transmission status of each packet, it has a drawback in that it takes a lot of time to transmit the whole data.
Furthermore, the TCP has maximumer packet loss in a wireless communication field than in a wire communication field. Accordingly, if the robot control data should be transmitted through the wireless communication field, the number of retransmission times of the packets increases due to packet loss. For this reason, it may take a lot of time to transmit the whole data to the robot. This may be a drawback in remotely controlling the robot. To solve the above problem, the UDP may be used. However, since the UDP does not check whether each packet has been completely received, there are no measures to solve a problem occurring when each packet is not normally transmitted. Accordingly, the UDP does not assure reliability in data transmission. Moreover, since a packet loss rate increases in the wireless communication field, a problem occurs in that reliability of the robot control data cannot be assured if the robot control data should be transmitted through the wireless communication field.
[Detailed Description of the Invention]
[Technical Subject] The present invention has been developed in order to solve the above drawbacks and other problems associated with the conventional arrangement. An object of the present invention is to provide a data transmission method for remote control of a robot, which promptly transmits robot control data with reliability by transmitting the robot control data using a UDP in a wire communication field and using a multi- transmission mode in a wireless communication field if a robot is remotely controlled through Internet. [Technical Solution] In order to achieve the above-described aspects of the present invention, there is provided a data transmission method for remote control of a robot in a wireless communication mode through Internet, which includes the steps of transmitting UDP packets for robot control data for remotely controlling the robot in a wire communication field, and multi-transmitting the UDP packets through the wireless communication mode in a wireless communication field.
In another aspect of the present invention, there is provided a data transmission method for remote control of a robot in a wireless communication mode through Internet, which includes the steps of (a) generating UDP packets for robot control data and transmitting the UDP packets to a wire communication field, (b) preferentially transmitting the UDP packets from the wire communication field to a wireless signal transmitting means which communicates with the robot in the wireless mode, and
(c) allowing the wireless signal transmitting means to multi-transmit the UDP packets to the robot in the wireless communication mode. Preferably, the step (a) includes setting a PRI value in a priority field of the
UDP packets to exceed a threshold value.
The UDP packets have a objective address corresponding to an IP address of the robot.
The step (b) includes determining whether IP packets received in a router are the UDP packets, using header information of the received IP packets, determining whether the PRI value of the priority field exceeds the threshold value if it is determined that the IP packets are the UDP packets, and transmitting the UDP packets based on the priority order if the PRI value exceeds the threshold value.
Preferably, the threshold value corresponds to a maximum priority order of the PRI value.
The step (b) further includes transmitting the IP packets in accordance with a FIFO mechanism if the IP packets are not the UDP packets or if the PRI value does not exceed the threshold value.
The step (c) includes checking whether the IP packets are the UDP packets, using header information of the received IP packets, checking whether the PRI value of the priority field exceeds the threshold value if the IP packets are the UDP packets, and multi-transmitting the UDP packets to the robot in the wireless communication mode if the PRI value exceeds the threshold value.
The step of multi-transmitting the UDP packets includes storing the UDP packets in a buffer, transmitting the UDP packets to the robot along with a wireless communication frequency signal, transmitting the UDP packets to the robot until the number of transmission times reaches the number of previously set times, and erasing the UDP packets from the buffer if the number of transmission times reaches the number of previously set times.
The UDP packets have a transmission period set based on the distance between the robot and the wireless signal transmitting means.
The step of multi-transmitting the UDP packets includes storing the UDP packets in a buffer, transmitting the UDP packets to the robot along with a wireless communication frequency signal, transmitting the UDP packets to the robot until an ACK message for reception of the UDP packets is received from the robot, and erasing the UDP packets from the buffer if the ACK message for reception of the UDP packets is received from the robot.
The wireless signal transmitting means is a base station of a mobile communication network.
The wireless signal transmitting means is an access point (AP) provided at home where the robot is located.
In other aspect of the present invention, there is provided a data transmission system comprising a user terminal generating UDP packets for robot control data, routers located in a wire communication field, for preferentially routing the UDP packets if the UDP packets are received, and a wireless signal transmitting means wirelessly communicating with a robot remotely controlled by the robot control data, wherein the wireless signal transmitting means multi-transmits the UDP packets if the UDP packets destined for the robot are received.
Preferably, the user terminal sets a PRI value in a priority field of the UDP packets for the robot control data to exceed a threshold value. The wireless signal transmitting means recognizes the UDP packets as the robot control data if the priority order of the UDP packets exceeds the threshold value, and multi-transmits them to the robot. The wireless signal transmitting means transmits the UDP packets to the robot as many as the number of previously set times.
The wireless signal transmitting means repeatedly transmits the UDP packets until an ACK message for the UDP packets is received from the robot after the UDP packets are transmitted to the robot.
The wireless signal transmitting means is a base station of a mobile communication network.
The wireless signal transmitting means is an access point (AP) provided at home where the robot is located.
[Brief Description of the Drawings]
FIG. 1 is a configuration view illustrating a data transmission system for remote control of a robot according to the preferred embodiment of the present invention;
FIG. 2 is a flow chart illustrating a procedure of generating and transmitting UDP packets according to the preferred embodiment of the present invention;
FIG. 3 is a flow chart illustrating the operation of a base station according to one embodiment of the present invention; and
FIG. 4 is a flow chart illustrating the operation of a base station according to another embodiment of the present invention.
[Preferred Embodiments]
FIG. 1 is a configuration view illustrating a data transmission system for remote control of a robot according to the preferred embodiment of the present invention. A robot 50 remotely controlled from a user terminal 10 is provided with a unique IP address, and is operated by robot control data received through a wireless communication network.
Although not shown in FIG. 1, the robot 50 includes an interface means for supporting wireless communication, a main processor analyzing the robot control data received through the wireless communication network and performing control corresponding to the analyzed data, and a sub controller driving a joint or a wheel under the control of the main processor. The wireless communication can be realized by wireless LAN, Bluetooth, and wireless Internet (Wibro). The robot 50 is operated under the control of the user terminal 10 located at a remote place. If the robot control data for remotely controlling the robot 50 are transmitted from the user terminal 10, the robot control data are transmitted to a base station 40 through Internet 20 and then transmitted from the base station 40 to the robot 50. In this case, a field from the user terminal 10 to the base station 40 corresponds to the wire communication field while a field from the base station 40 to the robot 50 corresponds to the wireless communication field.
The robot 50 which has received the robot control data is operated by the robot control data. Accordingly, the user terminal 10 can remotely control the operation of the robot 50.
The user terminal 10 is preferably provided with a robot control application for controlling the robot. The robot control application generates UDP packets for the robot control data by packeting the robot control data depending on the UDP, and transmits the UDP packets to the Internet 20. The robot control data are comprised of IP packets adapted to the UDP guideline, and a priority field (PRI) of the IP packets is preferably set as a maximum value (for example, '15') representing a maximum priority order. This becomes available as IPv6 is used.
Reference numerals 22 and 24 of FIG. 1 denote edge routers provided at the end of the Internet 20, wherein the Internet is connected with another network through the edge routers 22 and 24.
In addition to the edge routers 22 and 24, the Internet 20 is provided with a plurality of routers (not shown) therein, and the IP packets are transmitted to a objective through packet routing between the routers.
If the IP packets are transmitted, the router 22 checks whether the IP packets are UDP packets, based on header information of the IP packets. If it is checked that the IP packets are UDP packets, the router 22 preferentially transmits the UDP packets to assure promptness of the robot control data.
If the UDP packets are transmitted from the edge router 24, the base station 40, which is a wireless signal transmitting means communicating with the robot 50 in a wireless mode, serves to transmit the UDP packets to a objective terminal along with a wireless communication frequency signal (for example, RF signal). Particularly, if the
PRI value of the priority field of the UDP packets is set as the maximum priority order (for example, '15'), the base station 40 recognizes the UDP packets as the robot control data, stores the UDP packets in a buffer, and retransmits the UDP packets to the robot 50 as many as the number of previously set times. As a result, reliability of the robot control data is assured. Meanwhile, in another embodiment of the present invention, the base station
40 may periodically transmit the robot control data to the robot 50 until an acknowledgement (ACK) message is received from the robot 50 without transmitting the robot control data to the robot 50 as many as the number of previously set times.
In another embodiment of the present invention, if the robot receives the UDP packets corresponding to the robot control data through the wireless communication field, the robot 50 should transmit the ACK message to the base station 40.
Although it has been described in the embodiment of the present invention that the robot 50 receives the UDP data through the base station 40, the wireless signal transmitting means is not limited to the base station 40 of the mobile communication network.
In other words, an access point (AP) provided at home may be used as the wireless signal transmitting means. In this case, the AP should be provided with a UDP packet multi-transmission function. For reference, when the AP is used as the wireless signal transmitting means, a building where the robot 50 is located can access the Internet through a wire, and the robot 50 can access the Internet through a wireless mode inside the building.
Hereinafter, a data transmission method for remote control of a robot according to the preferred embodiment of the present invention will be described in detail with reference to flow charts shown in FIGs. 2 to 4. FIG. 2 is a flow chart illustrating a procedure of generating and transmitting
UDP packets according to the preferred embodiment of the present invention.
If a user inputs a robot control command for controlling the robot located at a remote place using a robot control application provided in the user terminal 10, the user terminal 10 generates the UDP packets for the robot control command and transmits the generated UDP packets to the Internet 20. At this time, the PRI value of the priority field of the UDP packets is set as the maximum priority order (for example, '15'), and the objective IP address becomes an IP address of the robot 50. In the embodiment of the present invention, a value (for example, '15') corresponding to the maximum priority order is set as the PRI value to promptly transmit the UDP packets. However, a threshold value lower than the maximum priority order may be set as the PRI value to control the priority order for transmission of the UDP packets. The UDP packets are transmitted to the router 22 of the Internet 20 through an
Internet access network (not shown).
The router 22 analyzes header information of the received IP packets to determine whether the IP packets are the UDP packets (S 12).
As a result of the step S 12, if the IP packets are the UDP packets (YES in S 12), it is checked whether the PRI value of the priority order corresponds to the maximum priority order (S 14).
As a result of the step S 14, if the PRI value corresponds to the maximum priority order (YES in S 14), for prompt transmission of the UDP packets, the router 22 preferentially transmits the UDP packets. However, if the IP packets are not the UDP packets (NO in S 12) as a result of the step S 12, or if the PRI value does not correspond to the maximum priority order (NO in S 14) as a result of the step S 14, the router 22 stores the IP packets in a queue and transmits them in accordance with a FIFO queuing mechanism (S 18).
FIG. 3 is a flow chart illustrating a procedure of transmitting the robot control data of the wireless communication field according to one embodiment of the present invention.
The UDP packets routed in the Internet 20 through the procedure described with reference to FIG. 2 are transmitted from the router 24 to the base station 40 by the objective IP address. The base station 40 analyzes header information of the received IP packets to check whether the IP packets are the UDP packets (S22).
As a result, if it is checked that the IP packets are the UDP packets (YES in S22), the base station 40 checks whether the PRI value of the priority field of the UDP packets corresponds to the maximum priority order (for example, '15') (S24).
As a result of the step S24, if the PRI value of the priority field of the UDP packets corresponds to the maximum priority order, the base station 40 stores the UDP packets in a buffer (not shown) (S26).
Subsequently, the base station 40 transmits the UDP packets to the robot 50 corresponding to the objective IP address along with the RF signal (S28). At this time, the UDP packets transmitted to the robot 50 are the robot control data.
Next, the base station 40 performs multi-transmission in such a way to transmit the UDP packets as many as the number of previously set times (S30). If multi- transmission is completed, the base station 40 erases the UDP packets from the buffer (S32).
In the present invention, multi-transmission for the UDP packets is completed in such a manner that a signal transmission period is determined considering the distance between the base station 40 and the robot 50 and the UDP packets are transmitted as many as the number of previously set times based on the signal transmission period.
FIG. 4 is a flow chart illustrating the operation of the base station 40 according to another embodiment of the present invention.
The UDP packets routed in the Internet 20 through the procedure described with reference to FIG. 2 are transmitted from the router 24 to the base station 40 by the objective IP address (S40). The base station 40 analyzes header information of the received IP packets to check whether the IP packets are the UDP packets (S42).
As a result, if it is checked that the IP packets are the UDP packets (YES in S42), the base station 40 checks whether the PRI value of the priority field of the UDP packets corresponds to the maximum priority order (for example, '15') (S44). As a result of the step S44, if the PRI value of the priority field of the UDP packets corresponds to the maximum priority order, the base station 40 stores the UDP packets in a buffer (not shown) (S46).
Subsequently, the base station 40 transmits the UDP packets to the robot 50 corresponding to the objective IP address along with the RF signal (S48). At this time, the UDP packets transmitted to the robot 50 are the robot control data.
Next, the base station 40 checks whether the ACK message for reception of the UDP packets is received from the robot 50 (S50). If the ACK message is not received from the robot 50 (NO in S50), the current step advances to the step S48 so that the UDP packets are retransmitted to the robot 50. By contrast, if the ACK message is received from the robot 50 (YES in S50), the base station 40 erases the UDP packets from the buffer (S52).
As described above, the data transmission method for remote control of a robot according to the preferred embodiment of the present invention has the following advantages.
If the robot is remotely controlled through the Internet, the robot control data are transmitted to the robot using the UDP so that the robot control data can promptly be transmitted to the robot.
Also, if the robot is remotely controlled through wireless communication, since the robot control data are transmitted to the robot either through the transmission mode or by checking reception of the UDP packets in the wireless communication field, it is possible to improve reliability in transmission of the robot control data. The foregoing embodiment and advantages are merely exemplary and are not to be construed as limiting the present invention. The present teaching can be readily applied to other types of apparatuses. Also, the description of the embodiments of the present invention is intended to be illustrative, and not to limit the scope of the claims, and many alternatives, modifications, and variations will be apparent to those skilled in the art.

Claims

[What is claimed is:]
1. A data transmission method for remote control of a robot in a wireless communication mode through Internet, the data transmission method comprising the steps of: transmitting UDP packets for robot control data for remotely controlling the robot in a wire communication field; and multi-transmitting the UDP packets through the wireless communication mode in a wireless communication field.
2. A data transmission method for remote control of a robot in a wireless communication mode through Internet, the data transmission method comprising the steps of:
(a) generating UDP packets for robot control data and transmitting the UDP packets to a wire communication field;
(b) preferentially transmitting the UDP packets from the wire communication field to a wireless signal transmitting means which communicates with the robot in the wireless mode; and
(c) allowing the wireless signal transmitting means to multi-transmit the UDP packets to the robot in the wireless communication mode.
3. The data transmission method as claimed in claim 2, wherein the step (a) includes setting a PRI value in a priority field of the UDP packets to exceed a threshold value.
4. The data transmission method as claimed in claim 3, wherein the UDP packets have a objective address corresponding to an IP address of the robot.
5. The data transmission method as claimed in claim 3, wherein the step (b) includes: determining whether IP packets received in a router are the UDP packets, using header information of the received IP packets; determining whether the PRI value of the priority field exceeds the threshold value if it is determined that the IP packets are the UDP packets; and transmitting the UDP packets based on the priority order if the PRI value exceeds the threshold value.
6. The data transmission method as claimed in claim 5, wherein the threshold value corresponds to a maximum priority order of the PRI value.
7. The data transmission method as claimed in claim 5, wherein the step (b) further includes transmitting the IP packets in accordance with a FIFO mechanism if the
IP packets are not the UDP packets or if the PRI value does not exceed the threshold value.
8. The data transmission method as claimed in claim 3, wherein the step (c) includes: checking whether the IP packets are the UDP packets, using header information of the received IP packets; checking whether the PRI value of the priority field exceeds the threshold value if the IP packets are the UDP packets; and multi-transmitting the UDP packets to the robot in the wireless communication mode if the PRI value exceeds the threshold value.
9. The data transmission method as claimed in claim 8, wherein the step of multi-transmitting the UDP packets includes: storing the UDP packets in a buffer; transmitting the UDP packets to the robot along with a wireless communication frequency signal; transmitting the UDP packets to the robot until the number of transmission times reaches the number of previously set times; and erasing the UDP packets from the buffer if the number of transmission times reaches the number of previously set times.
10. The data transmission method as claimed in claim 9, wherein the UDP packets have a transmission period set based on the distance between the robot and the wireless signal transmitting means.
11. The data transmission method as claimed in claim 8, wherein the step of multi- transmitting the UDP packets includes: storing the UDP packets in a buffer; transmitting the UDP packets to the robot along with a wireless communication frequency signal; transmitting the UDP packets to the robot until an ACK message for reception of the UDP packets is received from the robot; and erasing the UDP packets from the buffer if the ACK message for reception of the UDP packets is received from the robot.
12. The data transmission method as claimed in claim 2, wherein the wireless signal transmitting means is a base station of a mobile communication network.
13. The data transmission method as claimed in claim 2, wherein the wireless signal transmitting means is an access point (AP) provided at home where the robot is located.
14. A data transmission system comprising: a user terminal generating UDP packets for robot control data; routers located in a wire communication field, for preferentially routing the UDP packets when the UDP packets are received; and a wireless signal transmitting means wirelessly communicating with a robot remotely controlled by the robot control data, wherein the wireless signal transmitting means multi-transmits the UDP packets if the UDP packets destined for the robot are received.
15. The data transmission system as claimed in claim 14, wherein the user terminal sets a PRI value in a priority field of the UDP packets for the robot control data to exceed a threshold value.
16. The data transmission system as claimed in claim 14, wherein the wireless signal transmitting means recognizes the UDP packets as the robot control data if the priority order of the UDP packets exceeds the threshold value, and multi-transmits them to the robot.
17. The data transmission system as claimed in claim 15, wherein the wireless signal transmitting means transmits the UDP packets to the robot as many as the number of previously set times.
18. The data transmission system as claimed in claim 15, wherein the wireless signal transmitting means repeatedly transmits the UDP packets until an ACK message for the UDP packets is received from the robot after the UDP packets are transmitted to the robot.
19. The data transmission system as claimed in claim 15, wherein the wireless signal transmitting means is a base station of a mobile communication network.
20. The data transmission method as claimed in claim 15, wherein the wireless signal transmitting means is an access point (AP) provided at home where the robot is located.
PCT/KR2006/003637 2005-09-16 2006-09-13 Datatransmission method for remote control of robot WO2007052892A1 (en)

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KR1020050086769A KR20070032495A (en) 2005-09-16 2005-09-16 Data transmission method for remote control of robot
KR10-2005-0086769 2005-09-16

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Citations (3)

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