US 12,459,127 B2
Methods and arrangements for controlling a robot device over a wireless network
Geza Szabo, Kecskemet (HU); Attila Báder, Paty (HU); Bence Formanek, Budapest (HU); and Sándor Rácz, Cegléd (HU)
Assigned to Telefonaktiebolaget LM Ericsson (publ), Stockholm (SE)
Appl. No. 16/980,482
Filed by Telefonaktiebolaget LM Ericsson (publ), Stockholm (SE)
PCT Filed Jun. 19, 2018, PCT No. PCT/EP2018/066280
§ 371(c)(1), (2) Date Sep. 14, 2020,
PCT Pub. No. WO2019/242846, PCT Pub. Date Dec. 26, 2019.
Prior Publication US 2021/0023712 A1, Jan. 28, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); G06V 20/10 (2022.01); G06V 20/40 (2022.01); G08C 17/02 (2006.01); H04N 7/14 (2006.01)
CPC B25J 9/1689 (2013.01) [B25J 13/08 (2013.01); G06V 20/10 (2022.01); G06V 20/46 (2022.01); G08C 17/02 (2013.01); H04N 7/147 (2013.01); B25J 9/1697 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of controlling a robot device within a two-way video session between the robot device and a control device over a mobile radio communication network, the method being implemented in the control device, the method comprising:
extracting sensor data of the robot device, from an up-stream video stream of said two-way video session, wherein the up-stream video stream comprises up-stream video frames and up-stream information messages interleaved with one another, and wherein extracting sensor data from the up-stream video stream comprises extracting sensor data from the up-stream information messages, and wherein the sensor data is embedded into the up-stream video stream, as network abstraction layer (NAL) units containing a user data supplemental enhancement information (SEI) message;
providing the sensor data within the control device;
determining control commands for controlling the robot device, based on the provided sensor data, wherein the up-stream video stream is packetized into the NAL units, wherein different NAL unit types contain different data types, wherein the different data types comprises at least one of sequence parameters, picture parameters, or video frame data, wherein the control commands for controlling the robot device are embedded into a first NAL unit type out of the different NAL unit types, and wherein the first NAL unit type contains the user data SEI message; and
embedding the control commands in a down-stream video stream of said two-way video session, wherein embedding the control commands for controlling the robot device into the up-stream video stream enables video communication between multiple remote sites while sending the control commands for controlling the robot device and the sensor data.