KR100486382B1 - Method and system for developing intelligence of robot, method and system for educating robot thereby - Google Patents

Abstract

The present invention allows the robot, which has limitations in intelligence and capacity expansion due to the limitation of memory size, to be connected to a server and a manager terminal which can infinitely expand processing and data storage capabilities through a communication network to perform behavior control. The present invention relates to a method and system for supplementing the intelligence of a robot, and an education method and system that can be implemented using the same.

That is, the present invention allows the service to be provided by the management server or the administrator instructed for the command that can not be processed by the robot itself, it is possible to provide more services, and, at this time, The main point is to use the data as educational content so that the user can be educated through a robot.

Description

Intelligent supplement method and system of robot, dynamic education method and system by robot {METHOD AND SYSTEM FOR DEVELOPING INTELLIGENCE OF ROBOT, METHOD AND SYSTEM FOR EDUCATING ROBOT THEREBY}

The present invention relates to a method and system for complementing robot intelligence using a computer network, and more particularly, using a computer network capable of controlling behavior such as having a high level of intelligence by exchanging information with a remote server system and an administrator through a computer network. A method and system for complementing robot intelligence.

In the 1990s, the robot technology has been developed a lot from the industrial robot to the non-industrial robot, but there are still many problems to be commercialized.

In particular, in order for a service robot to provide a service that a user desires, the robot must understand a given command, recognize the surrounding environment, and judge itself. To have such a function, the robot must have artificial intelligence.

Artificial intelligence (artificial intelligence) refers to a technology that allows a computer to act like a human ability, such as learning or decision-making. Research began in the mid-1950s, and now games, mathematical proofs, It is widely researched and utilized in the fields of computer vision, speech recognition, natural language recognition, expert system, robotics, and production automation.

However, until now, artificial intelligence technology, like an expert system, stores all knowledge and inference forms in advance, models a symbolic environment based on them, and judges and determines the situation based on the model. Has been.

However, this method has a disadvantage in that the programmer must program in advance about all cases that may occur in advance, and as a result, the programmer cannot deal with a situation that is not predicted.

As an attempt to more closely resemble human abilities, approaches have been studied in terms of ecology and brain science, but they are still inferior to the intelligence of animals, and are expected to be practical after decades.

In addition, as the number of robots equipped with computers increased due to the development of computer technology, the computing power and memory power of the robots have been greatly improved, but the sensor technology and the technology for processing such collected information are still weak. For example, the recognition through the camera is not performed properly except in special cases, the speech recognition is still less than the natural language recognition processing, and reasoning and thinking are not even considered at present.

In such a state, in order to perform a task desired by the user, there is only a method that cannot be realized such as a person who manages the robot watching from the side or developing a program in consideration of all possible situations.

Therefore, there is a need for a new method for the service robot to be intelligent enough to perform a desired action.

The present invention has been proposed to solve the above-mentioned conventional problems. When an unexpected situation occurs, the robot receives instructions from a server or an administrator through a computer network so that the robot is similar to humans in terms of user. It is to provide a method and system for complementing the intelligence of robots that make them feel as if they have a sense of security.

Another object of the present invention is to enable the administrator to control the movement of the robot by acquiring the voice and image recognition data of the robot through a computer network, complementing the intelligence of the insufficient robot to complement the intelligence of the robot that enables the implementation of a variety of services It is to provide a method and system.

Another object of the present invention is to save the training program in the robot to make the training through the robot, when the unexpected situation occurs, the robot receives instructions from the server or administrator through the computer network to respond to the trainees, It is to provide a teaching method and system using a robot that provides a realistic learning environment.

Other objects and advantages of the invention will be described below and will be appreciated by the practice of the invention. Furthermore, the objects and advantages of the present invention can be realized by means and combinations indicated in the appended claims.

Intelligent security system of a robot as an aspect of the present invention for achieving the above object is

A management server for storing and defining data defining the behavior of the robot for various situations, and updating and managing the behavior definition data of the robot when a new situation occurs, connected to the management server via the wireless Internet, and freely movable; A robot that searches for and executes an appropriate behavior definition for the recognized command by searching the behavior definition database of the management server connected through its own behavior definition database and communication network when the command is generated externally or by its own judgment; It consists of a communication network that enables data communication between the management server and the robot. When there is no internally programmed behavior definition when a new command occurs in the robot, the robot accesses the management server and searches for data from the management server to search for appropriate behavior definition. And it is characterized in that to receive and perform the searched behavior definition data. By this configuration, the intelligence of the robot is not limited to a preprogrammed one, but can be extended as much as the data provided by the management server.

In addition, in the system, the command given to the robot is based on a basic command defining one action to be performed by the robot and the basic command, and according to the state of the robot with respect to one action to be performed by the robot. It consists of an extended command consisting of a number of basic commands, each defined, which can be implemented in a scripting language. Such a command system can facilitate a user's robot manipulation.

In addition, the system is further provided with one or more manager terminals connected to the management server, which outputs the data transmitted from the robot from the management server and transfers the data input by the administrator to the robot through the management server, the robot If there is no action definition data for the command required by the management server, the management server searches the accessible manager terminal to deliver the robot status to the corresponding manager terminal and delivers the behavior definition input by the manager to the robot. Intelligent complement system of the robot, characterized in that.

In addition, the system responds to the robot's response command by the administrator using scripts and actions to be taken by the robot are objectized and eventized, the objects associated with one command are bundled and delivered to the robot, the robot is all It is characterized in that the action is performed after the command data is received. As a result, it is possible to eliminate the unnaturalness caused by time delay or the like when performing the robot's command.

In addition, in the system, the manager terminal provides a list of command execution and behavior definition data stored in the management server, so that the administrator selects a definition action of the management server provided to the manager terminal or if no appropriate action exists in the list. You can enter it directly.

In addition, the response information input by the administrator to the administrator terminal is transmitted to the robot in text form, and the robot outputs the received text form contents to the robot through the TTS function so that the user always has a constant voice from the user's point of view. Conversation is possible, with the result that the identity can be maintained.

According to another aspect of the present invention, a method for supplementing the intelligence of a robot by connecting a robot, a management server, and a manager terminal through a communication network includes: a) generating a predetermined command according to a user's instruction or internal state change in the robot; b) the robot recognizes the command generated in the step and retrieves its own data whether there is a behavior definition for the generated command; c) performing a searched behavior definition if the search result exists for the command, and if the behavior definition does not exist, accessing a management server through a wireless network and requesting a search for the behavior definition for the command; d) retrieving whether the action definition for the command delivered from the robot exists in the database in the management server, and if present, transmitting the action definition to the robot; And e) the robot receiving data transmitted from the management server and executing a command according to the behavior definition of the received data.

In addition, the intelligent supplement method of the robot, f) in step d), if there is no action definition for the command in the management server, transmitting the request of the robot to the administrator terminal; g) the manager inputs contents to be performed by the robot with respect to the command transmitted from the robot to the manager terminal, and the manager terminal delivers the input contents by the manager to the robot through the management server; It further includes, and allows the robot to perform the indicated action provided from the management server or the administrator terminal. As a result, the user may feel as if the robot's intelligence is close to a human being.

In still another aspect of the present invention, a method for supplementing the intelligence of a robot includes: a user instructing a robot in a 1: 1 conversation command; Recognizing, by the robot, the 1: 1 conversation command instructed by the user and transmitting the same to the management server; When the management server receives a 1: 1 chat command from the robot, searching for an accessible manager, transmitting a 1: 1 chat request to the terminal of the manager, and connecting the manager terminal to the communication path of the robot ; And when the robot server 1: 1 connected to the administrator terminal, and collects the user's voice and video sent to the administrator terminal, the administrator consists of the step of viewing the user's status in the administrator terminal and instructs the response to the robot, It enables to provide natural 1: 1 conversation service in the robot.

In addition, the robot intelligence complementary method, the management server provides a list of behavior definitions defined as the administrator terminal, the administrator searches the list through the administrator terminal, if there is an appropriate corresponding command, selecting the command; The corresponding command selected by the manager is transmitted to the robot through a management server to be performed; If there is no appropriate corresponding command in the list provided by the management server, the administrator may directly enter the corresponding command through the administrator terminal, the input command is transmitted to the robot may be further performed.

As another aspect of the present invention, an educational method using a robot is freely movable, an intelligent robot for transmitting and receiving data through a computer network, processing and informing the data, and a computer for providing various educational information to the robot. A method for teaching an educator to learn a specific trainee, the method comprising: moving the robot to search for the location of the trainee and approaching the trained distance to the trainee; Transmitting the unique identification code of the robot to the computer and downloading the education content corresponding to the identification code if the trainee is included in the education possible range; Connecting the robot and a specific educator through a computer network.

The education method may further include determining whether the education content includes information for requesting an educator's learning guidance. Therefore, the learning management computer connects the robot and the educator to the network only when the educator's learning guidance is required.

The teaching method of the present invention includes the steps of the robot determining whether an action instruction exists in the training contents; If the action command exists, the method may further include analyzing the action command and performing a specific motion by the robot according to the action command.

The teaching method may further include: inputting, by the trainee, a request from the trainee such as a specific question to the robot; The robot outputting the educator's request to the educator; Inputting, by the educator, a response corresponding to the request on the participant's side to the robot; The robot may further include outputting the response to the trainee.

The method may further include transmitting an education performance result to the computer when an education schedule based on the education content ends. Storing the training performance result and outputting the training performance result to the educator; The educator making an evaluation based on the educational performance result and inputting the evaluation information into the computer; And outputting the evaluation information to the trainee.

The teaching method further includes the step of self-evaluating by the computer based on the result of the training and outputting the evaluation information to the trainee.

According to another aspect of the present invention, there is provided an education system, comprising: an intelligent robot that is freely movable and that transmits and receives data through a computer network, and processes and data the data; A learning management computer for providing appropriate educational content to the intelligent robot via a computer network; As a result, the intelligent robot outputs education contents provided from the learning management computer to the trainee through voice, image, and motion, and the trainee can transmit his / her intention to the learning management computer through the intelligent robot. Do.

In addition, the education system further includes an educator information terminal for transmitting an educator's voice or motion to the intelligent robot through a computer network. In this case, the learning management computer may further play a role of interconnecting the intelligent robot and the educator information terminal to transmit and receive information.

In addition, the intelligent robot of the present invention provides a location tracking system for searching for the location of the trainees by transmitting and receiving an RF module and a location tracking signal attached to the trainees, and approaching the trainees whose location is found at a predetermined distance. Include.

The intelligent robot of the present invention includes an image processing system for capturing an image of a trainee, digitizing the captured image signal, and delivering the digital captured signal to the educator information terminal. Therefore, the educator can observe the learning state of the trainees from time to time to perform efficient learning management.

As another aspect of the present invention, an educational method is freely movable, and includes an intelligent robot for transmitting and receiving data through a computer network, processing and informing the data, and a computer for providing various educational information to the robot. CLAIMS What is claimed is: 1. A method for teaching an educator to learn a specific educator, the method comprising: inputting a learning request to the computer through the robot; Downloading the corresponding educational content to the robot according to the learning request; And outputting, by the robot, the educational content to the trainee through voice, image, and motion.

The education method includes the step of connecting the robot and a specific educator through a network according to the learning request; Inputting, by the trainee, a request from the trainee, the question including a question; Outputting the request from the participant to a corresponding educator; Inputting an educator's response based on the educator's request; The robot may further include outputting the educator's response to the educator through voice, image, and motion.

In addition, the education method may further include the step of moving the robot to search for the location of the trainee, to approach within the distance available for the trainee.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, Figure 1 is a system configuration diagram showing an intelligent complement system of a robot according to a preferred embodiment of the present invention.

As shown in the drawings, the intelligent complement system of the robot according to the present invention is provided with a wireless data communication function and can not be processed in the program or when the situation occurs by connecting to the management server 300 through the wireless data communication function appropriate command The robot 100 to perform the instruction, the communication network 200 to provide a data transmission and reception path between the robot 100 and the management server 300, and the command data to be performed by the robot 100 for a number of situations The management server that stores and receives the data transmitted from the robot 100, recognizes the situation of the robot 100 and retrieves the corresponding instruction accordingly or is provided from the administrator terminal 400 and provided to the robot 100. 300 and the manager terminal 40 connected to the management server 300 and receiving the information of the robot 100 through the management server 300 and the administrator can give instructions accordingly. 0).

The terminal connected to the robot 100 side of the communication network 20 is a wireless modem for transmitting and receiving wireless data of the robot 100 is installed, the other terminal is made is connected to the management server 300, The hardware configuration of the management server 300 and the manager terminal 400 is the same as that of the general Internet server and the terminal.

In the above, the robot 100, as shown in Figure 2a, the battery 110 for supplying power to move freely, and the power supplied from the battery 110 to the appropriate voltage and current for each component or board Generates a command to be executed by the robot by recognizing the state of the robot through a signal input from the power supply unit 120 to convert and supply, and a plurality of sensors and sensing means mounted to the robot 100 or to perform an externally input command The upper control unit 130 for instructing the action to recognize and perform a command, the lower control unit 140 for controlling various driving devices in real time according to the instructions from the upper control unit 130, and the lower control unit 140 On the basis of the control signal, the robot makes the movement of the wheel, arm, and head of the driving unit, and consists of a driving / sensor unit 150 for detecting the movement and state.

In addition, the control processing structure of the robot 100 is configured as shown in Fig. 2b. First, the upper controller 130 of the robot 100 includes a network processor 131, a command generator 132, a command processor 133, and a control communication unit 134.

The network processing unit 131 connects to the management server 300 on the Internet 200, reports a situation, and performs a function of receiving an appropriate action command from the server 300.

In addition, the command generation unit 132 generates a command using data input from voice or video recognition, a keyboard or a button, and the like. The command generation is generated not only by the external data but also by the state conversion inside the robot. do. For example, a command may be generated by a change in hardware state such as battery consumption or a motor failure, or a change in internal state such as software state change such as emotion change.

When a specific command is generated in the command generation unit 132 as described above, the command is transferred to the command processing unit 133 to determine whether the command can be performed by the robot. In addition, when a command that can be processed by the robot is input, the command processing unit 133 compares the priority with commands currently being executed and executes the command according to the priority.

The command issued from the command processor 133 is transmitted to the controller 142 of the lower controller 140 through the control communication unit 134 and the interface 141, and behavior control is performed through the controller 142.

That is, when the controller 142 transmits the operation control signal to the driver 143 of the corresponding device according to the behavior control command, each driver 143 drives the corresponding device 144, and the change indicated by the sensor unit ( It is detected by the 150 and transmitted to the lower control unit 140 again.

In addition, an embodiment of the robot 100 is shown in FIG. 3 to make it easier to understand the operation performed in the robot 100.

Hereinafter, a detailed configuration of the robot 100 will be described with reference to FIG. 3.

The robot 100 basically includes an image processor 380, a voice processor 390, a controller 310, a storage device 320, a motion controller 360, a motion mechanism 365, a key input unit 350, The communication unit 340, the RF module 330, an antenna 335, and a sensor unit 370 are included.

The image processing unit 380 is composed of an image recognition unit 386 made of a charge coupled device (CCD) camera and an image display unit 385 made of a liquid crystal display panel (LCD).

That is, the image recognition unit 386 captures the surrounding situation, and sends the obtained image pickup signal to the image processing unit 380. The image processing unit 380 is an external situation captured by the image recognition unit 386 based on an image signal supplied from the image recognition unit 386 or image information supplied from the communication unit 340, or a telephone line from the outside. The content of the image transmitted through the image is recognized, and the recognition result is sent to the controller 310 as an image recognition signal.

In addition, the image processing unit 380 performs predetermined signal processing on the captured image signal from the image recognition unit 386 under the control of the control unit 310, and transmits the obtained image signal to the communication unit 340.

The sound processor 390 is composed of a microphone 396 and a speaker 395 again.

The microphone 396 transmits a sound collecting signal obtained by collecting external sound such as a sound from a user to the voice processing unit 390.

The voice processing unit 390 is transmitted through a telephone line or the like collected from the microphone 396 based on a sound collecting signal supplied from the microphone 396 or the voice information supplied from the communication unit 340 or the like. The meaning of the word is recognized and the recognition result is sent to the control unit 310 and the communication unit 340 as a voice recognition signal. The voice processing unit 390 also generates a synthesized voice under the control of the control unit 310 and transmits it to the speaker 395 or the communication unit 340 as a voice signal.

The communication unit 340 is configured as a wireless modem for the control unit 310 to communicate with the outside through a telephone line, an Internet dedicated line, and the like.

The key input unit 350 recognizes the instruction content based on the code number input by the user, and transmits the recognition result to the control unit 310 as a key input signal.

The motion controller 360 generates a motion drive signal by analyzing a motion control signal transmitted from the controller 310, and transmits the motion drive signal to the motion mechanism 365 to provide the robot 300. Move it to the front and back, left and right, or move the robot's arms and legs in a constant direction.

The RF module 330 generates a location tracking signal including a code for identifying a user recognized by the robot and transmits the location tracking signal to the outside through the antenna 335 and receives the external location tracking signal received through the antenna 335. The signal is sent to the control unit 310 after the predetermined signal processing.

The storage device 320 is a type of auxiliary memory device such as a hard disk. The storage device 320 converts the data transmitted from the management server 300 into a form that can be recognized by a user and displays the image on the image display unit 385. And contents downloaded from the management server 400 and programs included in the contents, a robot control program for controlling the robot according to a schedule, a location tracking program for searching and tracking the location of the trainees, and these programs. Built-in operating system programs that provide a platform to run

The sensor unit 370 consists of a plurality of sensors to detect the state of the robot and the surrounding environment.

The controller 310 is a voice recognition signal, image recognition given from the voice processing unit 390, the image processing unit 380, the communication unit 340, the key input unit 350, the RF module 330 and the sensor unit 370, respectively Based on the signal, the received information signal, the key input signal, the sensor signal, etc., it is determined whether the surrounding situation, the operation from the user, the abnormality, the user or the external command, the learning state of the user, and the posture and position of the user. .

Based on the determination result, the control unit 310 determines the next self action based on the robot control program, and drives the necessary motion mechanism 365 based on the determination result to raise the head, arms, and legs of the robot. Have them act or move, such as shaking up, down, left, or right, or driving with legs.

In addition, the control unit 310 controls the voice processing unit 390 and the image processing unit 380 as necessary to synthesize the voice generated by the voice information or the voice processing unit 390 based on the voice information received through the communication unit 340. Position tracking for displaying or transmitting an image based on external image information received through the speaker 395 or received through the communication unit 340 or an image generated by the image processing unit 380 on the image display unit 385 The signal is sent to the RF module 330.

In addition, the control unit 310 controls the communication unit 340 as necessary, in accordance with the voice information based on the audio signal from the audio processing unit 390, the image information based on the image signal from the image processing unit 380, and external operations. The control unit 310 transmits the command information generated by itself to the learning management server 400 or the educator information terminal 500.

The controller has a structure including a central processing unit (CPU), read only memory (ROM), and random access memory (RAM).

In the robot 100 configured as described above, a command is input through the key input unit 350 or the voice processing unit 390, or a predetermined command according to the robot state is generated by detecting a state of the robot itself through a plurality of sensors. In this case, the robot 100 searches for whether there is an action definition to be performed according to the command according to its own program. At this time, if the behavior of the robot for the command instructed in the robot 100 is defined, the command is performed according to the definition, and if the behavior for the command is not defined in its own database, the management server Access 300, and search the database of the management server 300 whether the behavior for the command is defined. If the action for the command is defined in the management server 300, and receives the action command to perform.

In addition, in the system of FIG. 1 including the robot configured as described above, when the user of the robot requests a 1: 1 conversation with the robot 100, the robot 100 is connected to the server 300 through the Internet 200. After transmitting the user's 1: 1 conversation request, the user's voice and video are transmitted. In addition, the server 300 checks a 1: 1 conversation request, connects the robot 100 with an arbitrary manager terminal 400, and the voice and video transmitted from the robot 100 are corresponding managers. The controller 400 is transmitted to the terminal 400, and the manager views a voice and an image transmitted from the robot 100 output to the manager terminal 400, and inputs a conversation or instructs a command. The instructions of the manager are transmitted from the manager terminal 400 to the robot 100 in a predetermined manner, and the robot 100 interprets the transmitted command to output the voice or video, or executes the command.

By the above process, the user can have a natural 1: 1 conversation with the robot 100.

The command processing process by the intelligent complement system is described below with reference to the accompanying drawings.

FIG. 4 is a flowchart showing a command processing process of a robot in the above description, wherein the robot 100 uses a user's voice as the main command source, but uses data input from other means, for example, a keyboard or a button. It can also be used in various ways, such as generating a command by itself according to the state of the robot.

In any case, when a command is given to the robot 100, the robot 100 first searches a database mounted on the internal controller to search whether there is an instruction for a given command (S402). At this time, if the corresponding command exists in its own database (S403), the command is executed according to the retrieved data (S404).

In the above, if there is no data associated with a given command in the database of the robot itself, the robot 100 is driven by the network processing unit 131 to connect to the server 300 (S405), the database of the server 300 Search whether there is a corresponding command within (S406).

If there is an instruction for the command in the database of the server 300 (407), the server 300 receives the command (408), and performs the command (404).

On the contrary, if there is no related command in the database of the server 300, a message indicating that the command cannot be performed is output (409).

By this, the robot 100 can process more instructions than the instructions held in its database.

In the above, the commands given to the robot 100 are implemented in a script language manner.

When constructing a robot command in a scripting language, the robot's behavior for various environments can be easily implemented and easily extended.

The command of the robot 100 is composed of a basic command and an extended command based on the basic command. The basic command is given to the controller of the robot 100, and one basic command becomes one action to be performed by the robot 100.

In addition, the extension command exists for the case where the robot 100 needs to react differently according to various states of the robot 100.

For example, when a movement command is issued as a basic command, when the battery is almost exhausted and when the power supply is sufficient, the movement needs to be different. For such a situation, the basic instructions of an internal one extension instruction have one basic instruction if they are identical according to the internal state, and have as many extension instructions as the number of states if they are different according to the internal state. By adopting such a structure, the user can more easily understand the command system of the robot 100, and as a result, the user's robot manipulation becomes easier.

5 is a diagram showing the structure of the extended command, in which the extended command ID, the voice recognition keyword for recognizing the voice command of the user, and the priority of command processing, and then the number of internal states of the robot 100 are shown. It consists of the basic commands of and finally extended command information.

6 shows an example of a command constructed using a script in accordance with the present invention.

The service robot should not simply move, but provide a service desired by the user. Therefore, in order to provide one service desired by the user, these commands must be gathered to form a new unit. In other words, it is necessary to have a command unit in which extended commands are gathered according to a user's command and environment. 6 illustrates an example of implementing such a command using a script language, and there is one script function corresponding to one extension command. By using these script functions, the behavior of a robot can be defined. .

However, scripts exist for basic commands, and experts can use them to define more detailed robot movements. In addition to scripts for controlling robot movement, there are also logical scripts such as if, switch, repeat, etc. to more easily program robot behavior.

The type of script implemented as described above is illustrated in FIG. 7. In this way, the behavior of the robot that combines a series of actions can be easily programmed using the script as shown in FIG.

6 shows an example of a command implemented by the above script, and shows a command for simple conversation with a user. The name of this command is defined as Hello and will be stored as a function. As the Hello function executes, it calls the Move function. Here, assume that the Move function is defined as moving to the user. When the Hello command is executed, the robot first moves to the user through a call to the Move function, and then sends a "hello" message to the user through a TTS script. Then, through the REPLY script, the user receives a voice of "yes" or "no". The result is stored in a temporary variable called a as "1" if "yes" is answered, and "no". If received, it is stored as 2. Depending on the value of the temporary variable a, the switch script sends a message "What can I do for you?" To the user via the TTS script if the result is 1, that is, "yes". If the answer is no, then the MoveHome script will be called. Assuming that MoveHome is defined as a function that returns the robot to its original position, if the user answers "no", the robot will return to the original position.

In addition, the processing of the robot when the user gives a command to the robot 100 using voice is similar to the command processing of FIG. 4 described above.

First, the upper controller 130 of the robot 100 recognizes a voice command commanded by a user, and sends the result recognized by the command processor 133. The command processing unit 133 searches for a voice command in its own database as described above. At this time, if a suitable command is found in the internal database, the command is executed. If not, the server 300 searches whether the server 300 has a script command for such a command through the network processor 131. As a result, when the behavior of the robot for the command given to the server 300 is defined, the robot 100 downloads the behavior of the defined robot from the server 300, and controls the behavior using the downloaded script do.

Therefore, the user feels as if he or she judges itself even in a situation where the robot is not programmed in advance.

In addition, the robot 100 periodically accesses the server 300 and downloads a new behavior definition script into its own database. By doing so, it is possible to expand and change the capabilities of the robot 100.

As described above, when the robot's behavior for a given command is not defined in its own database of the robot 100, the system connects to the server 300 that stores more data, and from the server 300. Receive instructions for action.

By the way, if the behavior of the robot for a given command is not defined in the database of the server 300, the robot 100 may output an error message indicating that the command is not possible, in this case, the user Is not provided with the desired service from the robot (100).

In order to solve this problem, if there is no action data for the command requested by the robot 100, the server 300 transmits an error message to the robot 100, instead of transmitting the error message to the robot 100. The transmitted command may be sent to the manager terminal 400 to request an answer.

One or more managers are arranged in the manager terminal 400, and after confirming a request from the server 300, an appropriate answer to the command transmitted from the robot 100 (behavior or message output of the robot 100, etc.) Countermeasures) are provided to the server 300 through the manager client (400).

The server 300 transmits the action definitions proposed from the manager terminal 400 to the robot 100, and the robot 100 performs a given command based on the manager's instructions.

As a result, the robot 100 can perform more various commands, and the performance of the robot 100 is evaluated higher from the user's point of view.

In addition, the system can provide 1: 1 conversation service to the user.

FIG. 8 is a flowchart illustrating a process of providing a 1: 1 conversation service to a user through the system. As described above, when a 1: 1 conversation command is given from the user to the robot 100 by voice or key input (see FIG. In step S801, the command recognition apparatus of the robot 100 recognizes the command (S802), and transfers the recognized 1: 1 conversation command to the command processor 133 (S803).

When the command processing unit 133 is a 1: 1 conversation command, the command processing unit 133 connects to the robot server 300 through the network processing unit 131 and transmits the 1: 1 conversation command to the server 300 (S804).

In this case, when a 1: 1 conversation command is requested, the server 300 searches for a manager that can be connected to the robot 100 and transmits a 1: 1 conversation request of the robot 100 to connect the manager's terminal ( 400 is connected to the robot 100 (S805). For example, the one-to-one dialogue command request of the robot 100 is transmitted to the plurality of manager terminals 400, and the manager terminal 400 of the plurality of manager terminals 400 that receives the request receives the response. It can be connected to the robot 100.

By the way, when there is no manager that can be connected to the robot 100 in the above, an error message is transmitted to the robot 100, and the robot 100 outputs a command impossible execution message and ends the 1: 1 conversation (S806). , S807).

On the contrary, if there is a manager that can be connected by the above process, the robot 100 and the manager client 400 are connected (S808).

In order to effectively send the user's voice and video in real time from the robot 100 connected to the supervisor, the voice and video should be compressed. To do this, load and run codecs for video and audio. At the end of the process, the user's voice is analyzed and the parser is executed for command execution, termination of 1: 1 conversations, or automated repetitive conversation processing. When the end command is called in the parser, the 1: 1 conversation ends.

By the above, when the connection with the arbitrary manager terminal 400 is completed, the robot 100 obtains the user's appearance and voice through the mounted camera and microphone, and delivers it to the manager client 400, and the manager is transferred. Check the user's status and enter the response. The response of the manager is transmitted to the robot 100 through the manager client 400 and the management server 300, it is implemented as a voice or motion through the robot 100 (S809 ~ S813).

In the above, the robot 100 transmits the user's image and voice, so that the administrator can accurately understand the user's situation, so that the robot 100 can instruct the correct response thereto. That is, the manager is provided with the user's video and audio in the same manner as the video chat through the manager terminal 400, according to the action of the robot 100 or to make the words that the robot 100 to say.

By the way, when the time delay occurs in the above, the natural conversation between the user and the robot 100 may not be made. For example, the communication between the actual robot 100 and the manager terminal 400 is serial communication in a TCP / IP method through Ethernet. Therefore, when data such as HTML arrives from the manager terminal 400 and displays it on the screen or starts an action, the control of the robot 100 becomes unstable or the user does not know what it means. In addition, in the case of 1: 1 conversation, the robot 100 should act or speak at the same time while making an action. You may also need to take action while showing video or animation on the screen.

Thus, if you use a simple serial protocol such as HTML, such as Internet communication in general, you may not be synchronized and you may not be able to do what you want.

In the present invention, for this purpose, as described above, using a script, an action or video to be taken by the robot is objectized, and an eventized protocol is used. In other words, the actions, voices, facial expressions, videos, animations, etc. to be taken by the robot are treated as one object through each script, and the objects to be executed simultaneously are recognized as one big script through the script called JOIN.

Therefore, even if the data length of the objects to be executed at the same time, all the objects are executed together after being delivered to the robot (100).

In addition, when the robot 100 is directly controlled through the communication network as described above, the robot 100 may malfunction or become unstable due to a communication delay time. However, as described above, in the case of transmitting a command given to the robot 100 by using a script method, the robot 100 may have a natural motion or motion in the robot 100 regardless of the communication delay.

When the administrator controls the robot 100 by this method, the user can feel the naturalness such as talking with a person while talking with the robot 100.

In addition, in a 1: 1 conversation, the contents of what the robot 100 should say to the user are instructed by the administrator, who determines the words that the robot should say based on the voice and video information checked through the administrator terminal 400. If the decision is sufficient as the type of data stored in the server 300, the server 300 simply selects the command data provided to the administrator terminal 400. At this time, the stored voice may be exported from the server 300. The contents selected by the administrator are transmitted to the robot in a text form, and are transmitted to the user through the robot's TTS function in a robot voice possessed by the robot.

Therefore, even if different administrators are connected, the user always hears the voice unique to the robot 100.

In the above, if the answer is a type that is not stored in the server 300, the administrator inputs the answer directly to the administrator terminal 400, which is transmitted to the robot 100 in text form, as above 100) is output as voice.

Such an intelligent security system can be used in various fields such as management and education.

For example, by programming the robot 100 for education, the server 300 to manage not only the behavior definition data for various commands, but also various educational materials, the robot 100 is a server for each training training Received from the (300) can be provided to educate the user, as another embodiment using the above-described 1: 1 chat service it is also possible to provide a chat partner and senior management services for the elderly.

Hereinafter, as a modification of the present invention, an education service providing system constructed by using the above-described intelligent security system will be described in detail.

10 is a system configuration diagram for realizing a dynamic education service using a robot according to a preferred embodiment of the present invention.

As shown in the figure, the system is configured by the educational robot 100a, the educator terminal 400a, and the learning management server 300a connected to each other through a network 200 such as the Internet. In addition, the trainee 600 notifies the education robot 100a of its location through the RF module 610.

In particular, the learning management server 300a connects a specific trainee 600 and an educator 500 to communicate with each other via a computer network 200 such as the Internet, and provides predetermined education contents to the trainee 600. Computer system. Specific functions of the learning management server 300a will be described later in detail with reference to FIG. 12.

The education robot 100a downloads education content from the learning management server 300a, and outputs voice, image, and motion to the trainee 600 based on the education content, and the educator 500 and the trainee. By interfacing communication between 600. The internal detailed configuration can be referred to FIG. 3.

The educator terminal 400a is a personal computer connected to the educational robot 100a through a server 300a and a network 200. In addition to the robot function, a communication module, an operating system program, and a web for transmitting and receiving data are provided. It has a browser program. Therefore, the educator terminal 400a outputs voice and image information transmitted from the educational robot 100a to the educator 500, and the learning management server 300a transmits the information input from the educator 500 through a network. Or transmit to the training robot (100a).

The network 200 representatively refers to the Internet, but is not necessarily limited thereto, and it should be understood that the network 200 includes all intranets, extranets, and dedicated networks.

The education robot 100a downloads education content from the management server 300a, analyzes the content, and trains the trainee through voice, video, and motion, and transmits the trainee's voice or video to the communication unit 340. ) Is transmitted to the educator information terminal 400a, and the response information of the educator 500 transmitted from the educator information terminal 400a is converted into voice, image, and motion and transmitted to the educator 600.

In addition, the educational robot 100a drives the location tracking program according to a schedule set by the robot control program, and transmits the location tracking signal to the outside through the RF module 330. In addition, by searching for the location of the trainee 600 by analyzing the corresponding position tracking signal received from the outside, the trainee is moved within a distance that can be trained.

Hereinafter, with reference to FIG. 11, a position tracking RF module 610 possessed by the trainee 600 will be described.

The RF module 610 illustrated in FIG. 11 is a device for notifying the location of the trainee 600 to the education robot 100a, and is manufactured in the form of a necklace or a bracelet, so that the trainee 600 can carry it.

In FIG. 11, the RF receiving module 613 of the RF module 610 receives a position tracking signal transmitted from the RF module 330 of the educational robot 100a to the outside, and transmits it to the signal processing module 611. To pass. The signal processing module 611 analyzes the received position tracking signal to extract the trainee identification code, and if the extracted identification code indicates the trainee, generates a response position tracking signal and transmits it to the RF transmission module 612. .

The RF transmitting module 612 emits the response position tracking signal to the outside through an antenna (not shown).

Next, a functional configuration of the learning management server 300a is shown in FIG.

The learning management server 300a communicates with the educational robot 100a to retrieve a behavior definition for a predetermined command required by the educational robot 100a from its own database, or receives an education robot 500a from an educator terminal 500a. 100a). In addition, it provides education content required by the user, and connects a specific educational robot 100a with an arbitrary educator terminal 400a, and based on the learning result information provided from the educational robot 100a. It is a computer system that makes an evaluation and produces a result report based on this learning evaluation and delivers it to the trainee.

The learning management server 300a is a large-scale computer system including a central processing unit, a RAM, a ROM, a network interface, a data storage device, and the like. A traditional personal computer or workstation with a significant amount of memory and processing power can be used as the learning management server 300a.

The learning management server 300a can perform a large amount of work by executing a huge amount of mathematical calculations in information processing or database search.

FIG. 12 shows program modules loaded into a ROM of the learning management server 300a and a plurality of databases constituting a data storage device.

Hereinafter, it will be described in detail as follows.

The learning management server 300a includes a database management module 410, an education content providing module 420, an educator connection module 430, a learning evaluation module 440, and a result report generation and transmission module 450. And a database system including a program module including an education content DB 460, an educator information DB 470, and a robot information DB 480.

The database management module 410 constructs the educational content DB 460, the educator information DB 470, and the robot information DB 480, and reflects these changes when a change occurs in the built database. This program is to manage the database as a whole.

The education content providing module 420, when a learning request including a teaching identification code is input from the education robot 300, identifies the trainee based on the unique identification code, determines the progress status of the corresponding trainee, and provides the corresponding training. It is a program to determine the educational content to be provided to the robot, and to download the determined educational content to the educational robot 300 through a network.

The educator connection module 430 selects an appropriate educator by searching the educator information database 470 when there is an educator connection command in the education content or a connection request from the robot 100a. It is a program for connecting the information terminal 500 and the education robot 300 of the trainee.

The learning evaluation module 440 receives education performance result information from the education robot 100a after the learning according to the education content is completed, and stores the performance result information in the robot information database 480 or the corresponding educator. It transmits to the terminal 400a. In addition, it is a program for executing its own evaluation based on the performance result information and storing the evaluation information in the robot information database 480.

In the case of FIG. 12, the learning evaluation module 440 is described as being on the learning management server 300a side. However, the learning evaluation module 440 may be included in the education content and stored in the education robot 100a. have. In this case, contrary to the foregoing, the evaluation result of itself should be uploaded from the robot 100a to the learning management server 300a.

In addition, the result report generation and transmission module 450 generates the result report for the trainee by summing the self-evaluation result and the evaluation result delivered from the educator, and the e-mail or cellular phone of the trainee who is preset to the report. Program to send to.

The educational content database 460 is for storing and managing various educational contents to be downloaded to the educational robot 300. That is, the education schedule information (or education progress information) of the individual trainees and the education content information according to this schedule are stored for each individual learner.

The educator information database 470 is a list of a number of clients 400 and educators currently connected to the learning management server 300a, personal information of each educator (resident number, address, education career, major, etc.) and the educator's information. Save and manage schedule information. By grasping the schedule information, the learning management server may determine who is an educator currently connected to the educational robot.

The robot information database 480 stores information such as a robot unique identification code, personal information (target number, education level, address, name, etc.) of the target trainee, learning evaluation results for each education, result report, learning level, and academic progress. , Manage.

Hereinafter, a detailed process of the dynamic teaching method according to the present invention implemented through the above system will be described with reference to FIGS. 13 to 16.

First, FIG. 13 illustrates a process in which an educational robot tracks an educator within a distance from which an educator can be educated.

The controller 310 of the robot loads the robot control program embedded in the storage device 320 to initialize the robot (S1301), and then there is a movement command (ie, whether the learning time has been reached) in the robot schedule information. It is determined whether or not (S1303).

At this time, if a movement command exists in the robot schedule information, the controller 310 initializes the position estimation module in the position tracking program (S1305).

The position estimation module generates a position tracking signal to be transmitted to the outside using, for example, a PSK modulation method, and transmits it to the outside through the RF module 330 and the antenna 335 (S1307).

The location tracking signal includes a unique identification code for identifying a trainee.

When the position tracking signal is transmitted to the outside and the RF receiving module 613 of the RF module 610 attached to the body of the trainee 600 receives the position tracking signal, the received position tracking signal is processed. Transfer to module 611 (S1309).

The signal processing module 611 demodulates the input position tracking signal to confirm the unique identification code, and if the position tracking signal is determined for the trainee, generates a position response signal and transmits it to the RF transmission module 612. (S1311).

The RF transmission module 612 transmits this position response signal to the outside through an antenna (not shown) (S1313).

The antenna 335 of the robot receives the position response signal transmitted from the RF transmission module 612 and transmits it to the RF module 330, and the RF module 330 analyzes the position response signal to control the controller. Transfer to the position estimation module (310) (S1315).

The position estimation module of the controller 310 calculates the distance and the direction angle from the trainee using the electric field strength or the phase difference or the time delay between the transmitted position tracking signal and the received position response signal (S1317).

As described above, when the distance and the direction angle with the trainee are calculated, a motion control signal is generated from the calculated value, and the motion control signal is transmitted to the motion controller 360 (S1319).

The motion control unit 360 generates a motion drive signal based on the motion control signal, and transfers the motion drive signal to the motion mechanism 365 to move the educational robot 100a toward the user (S1321).

By repeatedly performing the processes of steps S1307 to S1321, the robot 100a tracks the trainee within a distance from which the trainee can be trained.

By performing the process of FIG. 13, when the robot 100a tracks the trainee within a distance from which the trainee can be trained, the educational content download and the educator connection process are performed through steps S1401 to S1419 of FIG. 14.

That is, when the state of the trainee is transmitted to the controller 310 through the image recognition unit 386 of the robot, the controller 310 recognizes the trainee (S1401).

In the state of recognizing the trainee, the controller 310 generates a guide voice, for example, "It is time for training. Do you want to learn?" And outputs it to the trainee through the speaker 395 (S1403).

In this case, when the trainee transmits the intention to perform the learning through the microphone 396 or the key input unit 350 to the robot 300 (S1405), the controller 310 of the robot controls the learning through the communication unit 340. The server 300a is connected (S1407).

At this time, the controller 310 of the robot reads the robot unique identification code stored in the internal memory (not shown) and transmits it to the education content providing module 420 of the learning management server 300a (S1409).

The education content providing module 420, which has received the robot unique identification code from the education robot 100a, accesses the robot information database 480 to check the learner and the learning progress of the trainee corresponding to the unique identification code (S1411). ).

The education content providing module 420 confirming the learning progress extracts the education content corresponding to the learning progress from the education content database 460 and downloads the education content to the corresponding education robot 100a (S1413).

The controller 310 of the robot, which has downloaded the education content, stores the content in the storage device 320. In this case, the educational content includes robot motion control information for instructing the motion of the robot as well as various multimedia information such as pictures, texts, images, sounds, and voices. In addition, the educational content may also include an execution program (ie, an education program) for properly interworking the multimedia information and motion control information and executing the same through a robot. Alternatively, an execution program for interpreting and executing the multimedia information and motion control information may already be stored in the storage device of the robot.

In this way, the robot control unit 310 having downloaded the education content from the learning management server 300a analyzes the education content information and determines whether an educator connection command exists in the content information (S1415).

At this time, if there is an educator connection command in the content information, the robot controller 310 requests an educator connection request to the educator connection module of the learning management server through a communication unit. The educator connection module 430 receiving the educator connection request from the robot 100a searches the educator information database 470 and examines an educator who can access the robot 100a. At this time, if there is an educator who can be connected, the corresponding robot (100a) and the educator terminal (400a) is connected (S1417).

Of course, in step S1415, the robot and a specific educator may be automatically connected to the network at the same time as downloading the content regardless of the robot's request.

In a state where the robot 100a and the educator terminal 400a are connected in a network, the robot controller 310 analyzes the downloaded and stored education content and executes training for the trainee as shown in FIGS. 15 and 16. (S1419).

That is, when the robot control unit 310 executes training based on voice and image to the trainee through the image display unit 385 and the speaker 395 based on the downloaded education content, an action command exists in the content (S1501, S1502), the control unit 310 generates a motion control signal based on this action command, transfers it to the motion control unit 360, and executes the indicated action (S1503, S1504). That is, the robot 100a moves to the front, rear, left and right, or moves the arm or leg in a certain direction to execute dynamic education with a gesture and voice and image.

On the other hand, if there is no action command in the content, the process returns to the step S1501 to continuously execute the education based on voice and image (S1502).

On the other hand, if a participant's request, such as a question, is generated from the participant while executing the education based on the educational content (S1505), the robot controller 310 determines whether the request can be processed in a program in the program (S1506). . In other words, it is to search whether there is an appropriate behavior definition or behavior performance data in its own database of user request.

At this time, in the case of a request that can be processed in the program in the program itself, the response is outputted to the trainee according to the programming (S1507).

On the other hand, if the request cannot be processed in its own program, the request of the trainee 600 is transmitted to the management server 300a which is connected in advance (S1508).

Therefore, if there is a behavior definition for the request in the management server 300a, the behavior definition is transmitted to the robot 100a, and if there is no appropriate behavior definition in the management server 300a, the educator terminal ( Inquiry to 400a), and receives a response from the educator 500 (S1508, S1509).

The response data for the request of the trainee is transmitted to the robot 100a through a network, and the robot controller 310 analyzes the response information (S1510), and then responds to the educator's response with video, audio, and motion. Output to the trainee through (S1511).

In the process of performing the above steps S1501 to S1511, the image of the trainee is imaged through the image recognition unit 386, and is then transmitted to the educator information terminal through the communication unit 340, so that the educator can be trained throughout the training. Observe the learning state.

Therefore, the educator can transmit necessary instructions to the robot 100a through his terminal 400a without the request of the trainee, and the robot 100a transmits the instruction of the educator to the learner through voice, image, and motion. .

On the other hand, when all the training is finished according to the schedule of the training content (S1512), the robot controller 310 transmits the results of the previous training to the learning evaluation module 440 of the learning management server 300a (S1514). .

The learning evaluation module 440 stores the training result in the corresponding trainee directory of the robot information database 480 and transmits the training result to the corresponding educator terminal 500 (S1515 and S1516).

In addition, the learning evaluation module 440 automatically generates the evaluation information for the trainee based on the training performance result stored in the robot information database 480, and stores it in the corresponding trainee directory of the robot information database 480. (S1518).

On the other hand, the educator who received the training performance result information inputs the evaluation information for the trainee to the learning evaluation module 440 of the learning management server, the learning evaluation module 440 is the evaluation information of the educator also robot information database ( In operation S1517, the corresponding trainee directory is stored.

As such, in the state in which the automatic evaluation information and the educator evaluation information are stored, the result report generation and transmission module 450 generates a result report based on the automatic evaluation information and the educator evaluation information, and the result of the robot information database 480 Store in the corresponding trainee directory (S1519)

In addition, the result report generation and transmission module delivers the result report to the trainee by e-mail or mobile phone text message (S1520).

In the above, preferred embodiments of the present invention have been described with reference to the accompanying drawings. Herein, the terms or words used in the present specification and claims should not be interpreted as being limited to the ordinary or dictionary meanings, and the inventors properly define the concept of terms in order to explain their own invention in the best way. It should be interpreted as meaning and concept corresponding to the technical idea of the present invention based on the principle that it can. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

As described above, the present invention is equipped with a wireless modem in the service robot that requires more diverse and precise behavior control, and connected to the robot management server and the administrator terminal through the wireless modem, the command or instruction that can not be processed by the robot itself By providing the behavior definition for the management server or the administrator terminal, it is possible to process a variety of functions in addition to the function programmed in the robot itself, it is effective to make the robot's intelligence feel closer to human from the user's point of view. .

In addition, by connecting the robot and the administrator terminal 1: 1, the robot to perform a 1: 1 command through the manager, there is an excellent effect that can give a more human behavior to the robot.

In addition, the present invention enables data communication between the robot, the learning management server, the educator terminal, and the device, thereby providing a more dynamic education service through the robot.

In addition, the present invention is more active learning management is possible because the robot automatically checks the learning time, and when the learning time to track the trainees to train.

The following drawings attached to this specification are illustrative of preferred embodiments of the present invention, and together with the detailed description of the invention to serve to further understand the technical spirit of the present invention, the present invention is a matter described in such drawings It should not be construed as limited to

1 is a view showing the intelligent complement system configuration of the robot according to the present invention.

Figure 2a is a block diagram showing a schematic configuration of a robot used in the present invention.

Figure 2b is a block diagram showing the control structure of the robot.

3 is a block diagram showing an embodiment of a detailed configuration of a robot used in the present invention.

4 is a flowchart illustrating a command processing process for supplementing intelligence of a robot according to the present invention.

5 is a structural diagram of an extension command used in the intelligent complement system of the robot according to the present invention.

6 is an exemplary view showing a command of a robot according to the present invention configured using a script.

7 is a table showing a set of scripts used as instructions in the robot's intelligent complement system according to the present invention.

8 is a flowchart showing a 1: 1 conversation process performed through the robot's intelligent complement system according to the present invention.

9 is a flowchart illustrating a process of processing voice and video signals in an intelligent complement system of a robot according to the present invention.

10 is a configuration diagram of a dynamic education system implemented by applying an intelligent complement system of a robot according to the present invention.

11 is a schematic configuration diagram of a location tracking device possessed by a trainee in an education system according to the present invention.

12 is a functional configuration diagram of the learning management server according to the present invention.

13 is a flowchart illustrating a trainee location estimation process according to an embodiment of the present invention.

14 is a flowchart illustrating a process of downloading educational content and accessing an educator terminal according to the present invention.

15 and 16 are flowcharts illustrating a process of executing dynamic education for an educator using an education robot.

Explanation of symbols on the main parts of the drawings

100: robot

200: Internet

300; Management Server

500: administrator terminal

Claims (26)

Store and manage data defining the robot's behavior for various situations, update and manage the robot's behavior definition data when new situations occur, retrieve and provide stored behavior definition data according to the request from the robot, or respond to the behavior A management server that selects any manager terminal and connects it to the robot when no definition exists; Connected to the robot through the management server, and outputs the data transmitted from the robot so that the administrator can recognize the situation of the robot, and receives the action definition instructions from the manager, and receives the instruction from the manager through the management server Providing one or more administrator terminals; In case of command generation from outside or by self judgment, appropriate action definition can be obtained by searching its own action definition database, or by accessing the management server through a communication network, and appropriate action on commands recognized from the management server or administrator terminal. A mobile robot that receives the definition and performs it; And An intelligent complement system of a robot comprising a communication network that enables data communication between the management server, a manager terminal, and a robot. The method of claim 1, wherein the command given to the robot is: Basic commands that define an action for the robot to perform, Comprising the basic command, the robot's intelligent complementary system comprising an extended command consisting of a plurality of basic commands each defined according to the state of the robot for one action to be performed by the robot. The system of claim 2, wherein the instructions given to the robot are implemented in a script language manner. delete The method of claim 1, When the robot recognizes a 1: 1 conversation request, the robot transmits a 1: 1 conversation request to the management server. The management server receives the searchable manager, connects the manager terminal with the communication path of the robot, and the voice and video of the user inputted by the robot are transmitted to the manager terminal, and the manager inputs the manager terminal. The intelligent complement system of the robot, characterized in that to perform a 1: 1 conversation service by being delivered to the robot. The method of claim 1, The management server uses a script to respond to the robot's response command input to the manager terminal by using a script to objectize, event, and transfer objects related to one command to the robot. The robot is an intelligent complement system of the robot to perform an action after all the command data is received from the management server. The method of claim 1, When the manager terminal is connected to the robot through a management server, the manager terminal provides a list of command execution and behavior definition data stored in the management server, so that the administrator selects the defined behavior of the provided management server, or the action appropriate to the list. Intelligent complementary system of the robot, characterized in that the direct input if it does not exist. The method of claim 1, Of the data input by the administrator to the administrator's terminal, the response is transmitted to the robot in text form. The robot is an intelligent complement system of the robot, characterized in that for outputting the contents of the received text form in the voice of the robot through the TTS function. In a method of supplementing the intelligence of the robot by connecting the robot, the management server and the manager terminal in a communication network, a) generating a predetermined command according to a user's instruction or internal state change in a robot; b) the robot recognizes the command generated in the step and retrieves its own data whether there is a behavior definition for the generated command; c) performing a searched behavior definition if the search result exists for the command, and if the behavior definition does not exist, accessing a management server through a wireless network and requesting a search for the behavior definition for the command; d) the management server searching for whether a behavior definition for a command transmitted from the robot exists in the database, and if present, transmitting the behavior definition to the robot; e) in step d), if there is no action definition for the command in the management server, transmitting a request of the robot to an administrator terminal; f) when the administrator inputs contents to be performed by the robot with respect to the command transmitted from the robot to the administrator terminal, the administrator terminal delivers the contents input by the administrator to the robot through the management server; And g) the robot receiving the data transmitted from the management server and the administrator terminal, and performing a command according to the behavior definition of the received data. delete In a method of supplementing the intelligence of the robot by connecting the robot, the management server and the manager terminal in a communication network, A user instructing a robot in a 1: 1 conversation command; Recognizing, by the robot, the 1: 1 conversation command instructed by the user and transmitting the same to the management server; When the management server receives a 1: 1 chat command from the robot, searching for an accessible manager, transmitting a 1: 1 chat request to the terminal of the manager, and connecting the manager terminal to the communication path of the robot ; And When the robot is connected 1: 1 with the manager terminal, the robot collects a voice and an image of the user and sends the user's voice to the manager terminal. Intelligence complementary method. The method of claim 11, wherein the method is A management server providing a list of predefined action definitions to a manager terminal, and the manager searching the list through the manager terminal and selecting a corresponding command if an appropriate corresponding command exists; The corresponding command selected by the manager is transmitted to the robot through a management server to be performed; If there is no appropriate corresponding command in the list provided by the management server, the intelligent command method for the robot further comprising the step of receiving the response command directly input by the administrator to the robot terminal to perform the execution. The method of claim 11, wherein the corresponding command transmitted from the manager terminal to the robot is provided in a text form, and the robot outputs the received text form command to the robot voice through a TTS function. . In a robot which is freely movable, sends and receives data through a computer network, processes and informatizes the data, and a method for teaching an educator to learn a specific subject through a server connected to the robot and the network, The robot searching for the location of the trainee and moving to approach the trainable distance to the trainee; Transmitting the unique identification code of the robot by accessing the server when the trainee is included in the education possible range; Downloading the educational content corresponding to the identification code transmitted from the robot to the robot in the server; Determining whether the educational content includes information requesting an educator's learning, and if there is a learning instruction request, searching for the accessible educator and connecting the educator's terminal to the robot; Training the trainee by executing instructions indicated by the downloaded education content and an educator terminal by the robot; Dynamic education method using a robot comprising a. delete The method of claim 14 wherein the method is Determining, by the robot, whether an action command exists in the downloaded educational content; If there is an action command, analyzing the action command, and further comprising the step of performing a specific motion of the robot in accordance with the action command. The method of claim 14, Inputting, by the trainee, a request from the trainee such as a specific question to the robot; Transmitting, by the robot, the request from the participant to the educator terminal; Receiving, from the educator terminal, a response corresponding to the request from the educator and transmitted to the robot; The robot further comprises the step of outputting the response to the trainee. The method of claim 14 wherein the method is Transmitting an education performance result to the server when an education schedule based on the education content is completed; Storing the training performance result at the server and outputting the training performance result to the educator terminal; The educator making an evaluation based on the education performance result and inputting the evaluation information to the server; The server further comprises the step of outputting the evaluation information to the trainee through the robot Dynamic education method using a robot. 19. The method of claim 18, wherein the method is The server further evaluates itself based on the result of the training, and outputs the evaluation information to the trainee. An education server for providing a plurality of educational contents and data defining the behavior of the robot for various situations; An educator information terminal connected to the robot through the education server, the educator giving education instructions to the trainee according to the situation information transmitted from the intelligent robot; And a robot which is freely movable and connects to the education server and the educator information terminal through a communication network, receives education contents and education instructions of the trainees, and outputs the received education contents in the form of voice, video, and motion. Dynamic education system using a robot. delete The system of claim 20 wherein the system is An RF module carried by a trainee and transmitting a position tracking signal, an RF module installed in the robot and attached to the trainee, and a position tracking signal is searched for by the trainee. And a position tracking device comprising a position tracking unit for calculating a direction and a distance for approaching a predetermined distance with respect to the robot. The method of claim 21, The robot further includes an image processing apparatus for capturing an image of the educated subject, and digitizing the captured image signal to transmit the digital captured image signal to the educator information terminal. Dynamic education system using a robot. As a method for educators to learn specific trainees through an intelligent robot that is freely moveable, transmits and receives data through a communication network, processes and informatizes the data, and provides a server with various educational information. Inputting, by the trainee, a learning request into the computer through the robot; Downloading the corresponding educational content to the robot according to the learning request; Outputting, by the robot, the educational content to the trainee through voice, image, and motion; Connecting the robot and a specific educator through a network according to the learning request; Transmitting, by the trainee, a request to the trainee side including a question to the robot, the request from the trainee side to a corresponding educator terminal; Receiving, by the educator terminal, an educator's response based on the request of the educator's side and delivering the response to the robot; And The robot further comprises the step of outputting the educator-side response to the trainee through the voice, image and motion. delete The method of claim 24, wherein the method is And moving the robot to search for the location of the trainee and to approach a distance within which the trainee is able to be trained.