KR100814330B1 - Robot system for learning-aids and teacher-assistants - Google Patents

Abstract

A robot system for providing learning aid and assisting a teacher is provided to offer a self-controlled and creative learning environment, assist a teacher, and express a thought like a human being by having a chat with students while moving in a classroom. A contents server(21) storing various kinds of learning contents, a home PC(24) communicating with a teacher at home through the Internet, and a modem(23) are placed in a remote place. A classroom is equipped with a teacher PC(32) enabling the teacher to control a mobile robot(37) and the projection TV(33), the projection TV outputting various kinds of learning information in video/audio, the LAN(Local Area Network)(31) connecting the contents server and the home PC to the teacher PC and an AP(Access Point) sharing device(34), the AP sharing device, and the mobile robot. The mobile robot assists the teacher by having a chat with students and expressing an opinion while moving in the classroom according to a control signal output from the teacher PC and a remote controller(35). The AP sharing device transmits data between the mobile robot, and the teacher PC, the contents server, and the home PC to the mobile robot through the wireless network.

Description

Robot system for learning-aids and teacher-assistants}

1 is a block diagram of the entire system of the present invention.

Figure 2 is a block diagram of a robot of the present invention system.

Figure 3 is a block diagram of a remote control of the present invention.

Figure 4 is a front view of the robot and charging station used in the present invention system.

5 is a schematic cross-sectional view of the head of the robot.

Figure 6 is an exploded perspective view of a touch screen protector installed in the robot of the present invention system.

7 is a side cross-sectional view of a state where the touch screen and the LCD are covered by the touch screen protector.

Fig. 8 is a side sectional view of the state in which the touch screen and LCD are open.

9 is a front view of the touch screen and LCD with the touch screen protector closed.

10 is a front view of the touch screen and LCD with the touch screen protector open.

11 is a front view of the robot with the touch screen protector open;

12 is a main flowchart for explaining an operating state of the system of the present invention.

Figure 13 is an illustration of a state in which the present invention system is applied to a school classroom.

Explanation of symbols on the main parts of the drawings

1: head 2: body

3: arm 4: leg

5: touch screen and LCD 6: motor fixture

6a: guide protrusion 6b: hole

7: motor 7a: pinion gear

8: sliding opening and closing means 8a: body portion

8b: rack 8c: guide rod

9: cover 9a: cover body

9b: lid 10a, 10b: upper and lower position detection switch

11a, 11b: upper and lower position detection projection 21: content server

22: Internet network 23: modem

24: Home PC 31: LAN

32: Teacher's PC 33: Projection TV

34: wireless AP router 35: remote control

36: charging station 37: mobile robot

100: touch screen protector 351: robot movement control key

352: cover up / down key 353: voice transmission key

354: microphone 355: neck motor stop key

356: neck reference position reset key 371: control unit

372: WiFi adapter 373: LVDS

374: speaker 375: amplifier

376: position recognition camera 377,378: image camera

379: Charging station docking camera 380: Ultrasonic sensor

381: sensor control unit 382: voice recognition and controller

383: 3-axis motion control unit 384: LDM

385: LDM control unit 386: remote control receiver

387: wheel two-axis control unit 388: arm control unit

389: BMS 389a: battery

390: charging station connection 391: collision detection switch

392 bumper

The present invention relates to a learning aid and a teacher helper robot system, and more particularly, to develop a robot for supporting effectively the ICT (Information & Communication Technology) education introduced to improve the education efficiency of students in the classroom. To move freely from and to have a simple conversation with students to provide an autonomous and creative learning environment, to express human-like doctors and to assist teachers, and to provide a touch screen and LCD on the front of the robot. In addition to being able to protect against contamination and damage, it was invented so that students can concentrate on the projection TV, without seeing the robot's movements, images or texts on the touch screen and LCD.

Generally speaking, education is very important in the country. It is especially important that early education is important due to the rapid development of advanced technologies. It is an urgent and important matter that does not require words.

On the other hand, elementary schools in advanced countries of Gumi have invested in the continuous improvement of the educational environment based on the above importance. As a result, the number of students per class is 10-15. Although it has been reduced to 35 students a year, there is still a large number of students, which is not passive, but rather passive.

In addition, the change in the number of students per teacher shows that the number of middle and high school students is steadily decreasing, reaching the level of 18 and 16 in 2003, and that the class can be relatively efficient. The role and burden is so large that efficient teaching is difficult.

Moreover, unlike the middle and high school, the elementary school has to teach a large number of subjects by the teacher alone. Therefore, it is necessary to effectively reduce the number of students per class to less than half.

However, in order to cut the number of students per elementary school class in half, there was a problem of doubling the number of teachers, and in particular the real difficulty of doubling the size of school classrooms, which led to the departure of the first-generation education, where the classroom teacher taught all subjects to all students in the class. In recent years, ICT (Information & Communication Technology) education has been introduced to increase educational efficiency.

Such education using ICT has advantages such as providing autonomy and self-directed learning environment of learning, improving creativity and problem solving ability, promoting various teaching and learning activities, and expanding the field of education. This can open the door to wider thinking and increase your ability to think higher.

In addition, ICT education should be used to support the achievement of curriculum goals, not just intriguing interests, but especially ICT should be used for learning, not lessons.

By the way, the conventional ICT utilization class shows the data transmitted through the computer itself and the Internet network through a large projection TV with a computer, the students have the form of sitting on the individual or group to see the same screen.

In this situation, however, the benefits of the original ICT education disappear.

In other words, since ICT is approached first, only "ICT utilization class" is emphasized, while "ICT utilization learning" is not emphasized much.

In addition, there are many difficulties in properly training ICT with a PDP display-only device.

On the other hand, in the prior art, the interactive robot for foreign language learning as a learning robot has been disclosed in Korea Registered Utility Model Publication No. 20-421555, which is a speech recognition program that encodes and recognizes the user's voice input from the microphone through a codec, Dialog data files containing text files and oral MP3 compressed files of one-to-one foreign language conversation sentences, music data files containing lyrics text files and live performance mp3 compressed files of songs, video chat text files and video compressed files The audio data is stored in the video data file and the speaker through the speaker, and the foreign language dialogue sentences stored in the dialog data file are continuously spoken one-on-one interactively with the user according to the menu selected by the user, or stored in the music data file. Compression wave Storage decoded by playing the music or video data is stored in the file is the main program to play a video stored in a compressed file; A microcomputer that executes the voice recognition program and the main program; And controlling the main program to display the text file in the dialog data file in synchronization with the oral MP3 file playback, or to display the lyrics text file in the music data file in synchronization with the MP3 compressed file playback or in the video data file. LCD display for synchronizing the dialogue text file with the playback of the compressed video file; and comprising a USB to the microcomputer, the dialog data file, a music data file or a video data file from a computer connected to the Internet through the USB. It is configured to download.

However, the interactive robot for learning a foreign language having such a configuration can perform foreign language practice by one-to-one conversation using voice recognition, sing along with foreign music, according to a user's selection, and talk contents or music without a separate printout. While you can practice foreign languages while checking the lyrics in real time, you can double the interest and efficiency of foreign language learning.However, since the robot is not mobile at all, the robot moves freely in the classroom and has a simple conversation with students. While not being able to provide an autonomous and creative learning environment as well as expressing human-like expressions, they cannot assist the teacher, and thus there is a problem in that the robot can not be used as a class assistant and teacher assistant.

In addition, since the LCD display itself installed on the front of the robot has a configuration that is exposed to the outside, it may be easily burned out or damaged due to hits by the unspecified person and various objects, and also depending on the surrounding environment. There is such a problem that it may be easily contaminated.

The present invention has been made in order to solve the above-mentioned problems, learning aid and teacher helper that can support the effective implementation of ICT education introduced to improve the educational efficiency of students by developing a robot that can move freely Its purpose is to provide a robotic system.

In other words, it is possible to provide a learning assistant and teacher helper robot system that can move freely in the classroom and provide a free and creative learning environment while having simple conversations with students. There is a purpose.

In addition, the present invention by installing a sliding open and close cover on the touch screen and LCD installed on the front of the robot can protect the touch screen and LCD from contamination and damage as well as unspecified people regardless of the operator of the robot System operation problems caused by inputting predetermined data through the touch screen and LCD can be prevented in advance. Also, images and characters appearing on the screen of the projection TV without focusing on the touch screen and LCD of the moving robot. There is an additional purpose to provide a learning aid and teacher helper robotic system that can perform intensive learning while watching.

The present invention system for achieving the above object, in the configuration of the learning aid and teacher helper system using a robot having a head, a body, an arm, a leg and a moving device, the content that the various learning content data is stored at a remote location A server; A home personal computer (hereinafter, abbreviated as "home PC") that allows counseling service with a teacher through internet communication at home; Install a modem for data communication by interconnecting the home personal computer with a teacher PC and an access point router in each classroom through an internet network and a LAN;

In the classroom, the teacher PC to enable the teacher to have overall control necessary for learning through the learning aid and teacher helper robot and projection TV existing in each classroom; A projection TV for outputting various learning information provided from the teacher PC as a display and an audio signal; A LAN for connecting the remote content server and home PC to a teacher PC and an AP router; Wireless AP that transmits the information transmitted from the remote content server and home PC to the robot, including the teacher PC, and transmits various data transmitted wirelessly from the robot to the teacher PC and the remote content server and home PC. A router; In response to the control signals output from the teacher PC and the remote controller, the robot freely moves in the classroom, installs a mobile robot that assists the teacher with simple conversation and expression.

In this case, the robot is connected to a LAN card embedded in the control unit so that the operator of the robot may load various learning contents existing in a remote home PC or content server and a teacher PC in a classroom through a wireless AP router or installed for remote control. Wifi adapter; A control unit having a predetermined control program and performing overall control of the robot in response to a user's request; Low Voltage Differential Signaling (LVDS), which transmits and receives data according to the IEEE 1596 3 signal standard between the control unit and a touch screen and a liquid crystal display (hereinafter, referred to as "LCD"); A touch screen and an LCD for receiving and displaying various information necessary for learning aid and teacher helper through the LVDS, and allowing the operator of the robot to input various information; An amplifier for amplifying and outputting voice and sound signals output from the sound card of the controller; A position recognition camera installed at an upper portion of the head of the robot so as to face the ceiling, and recognizing a landmark attached to the ceiling to recognize the current position of the robot; Two imaging cameras installed at the front of the head of the robot and at the chest of the torso to allow the remote home PC to view the front of the robot through a network and to provide consultation services with a teacher; A charging station docking camera installed at an upper portion of the charging station connection terminal at the rear of the body to determine an orientation and a position to dock by recognizing an image of the IR attached to the charging station for automatic charging of the robot; A plurality of ultrasonic sensors installed at a lower portion of the body and at a waist portion to detect various obstacles in the classroom; A sensor controller converting an object detection signal detected as an analog signal by the ultrasonic sensors into a digital signal and converting the detected object signal into a digital signal to a controller; A three-axis motion control unit controlling the pan / tilt of the head and driving of the touch screen protector; An electronic board module (hereinafter, abbreviated as "LDM") installed on the face of the robot to produce various emotion expressions; An LDM controller for outputting a control signal corresponding to the output signal of the controller to the LDM; A remote control receiver for transmitting a robot control related switch signal and a voice signal transmitted from the remote controller to a controller; A two-wheeled wheel controller which controls the driving of the robot by driving the wheels installed in the leg part by controlling two motor driving directions in response to the output signal of the controller; An arm controller comprising a plurality of motion controllers respectively controlling driving of the left and right arm control motors respectively installed on three axes in response to a signal output from the controller; A battery motion system (hereinafter, abbreviated as "BMS") for measuring a battery remaining or charged state, current, voltage, and temperature and transmitting the same to a controller; It is installed in the lower rear portion of the body is characterized in that consisting of the charging station connection portion in contact with the charging station to perform the charging function of the battery.

In addition, if necessary, a collision detection switch and a bumper are installed at the lower portion of the front of the body and the collision detection switch is immediately turned on when the robot collides with an unspecified object, causing the controller to move the robot unspecified. When the collision detection signal is input from the collision detection switch due to collision with an object, it is characterized in that the driving of the robot is immediately blocked through the two-axis wheel control unit.

In addition, the controller of the robot is additionally provided with a voice recognition and a controller, if necessary, when the operator of the robot generates a voice signal for controlling the running of the robot through the remote control, the voice recognition and the controller recognizes it and through the controller It is characterized in that the robot can run and change direction and stop.

In addition, the remote control is a four-way robot movement control key for controlling the left, right and forward, backward and stop of the robot, a cover up / down key for closing or opening the cover of the touch screen protector, a voice transmission key, And a microphone, a neck motor stop key, and a neck reference position reset key.

On the other hand, the touch screen protector and the motor is fixed to the inside of the body through the fixture at the bottom of the touch screen and LCD installed on the body to generate power for opening and closing of the cover; A sliding opening and closing means installed between the motor and the cover to allow the cover to move up and down in response to the driving direction of the motor; It is installed detachably on the front portion of the sliding opening and closing means to rise and fall in response to the driving direction of the motor, characterized in that consisting of a cover to block or open the touch screen and LCD.

At this time, the sliding opening and closing means includes a body portion in which each component is installed, including the cover; A rack installed vertically at the center of the body part and engaged with the pinion gear of the motor to move the body part up and down in response to the driving direction of the motor; It is fitted in the hole of the guide protrusion formed in the motor fixture and is fixed in the vertical direction at both sides of the body part so that the body part does not flow when the body part is moved up and down in response to the driving direction of the motor, and is moved up and down in the vertical direction exactly. It characterized in that composed of a pair of guide rods to be.

In addition, the cover and the cover body is detachably installed in the front of the body portion of the sliding opening and closing means; It is characterized by consisting of a lid body detachably installed in the front portion of the cover body.

In addition, the upper and lower position detection switches for limiting the upper and lower position of the sliding opening and closing means for the upper and lower positions of the sliding opening and closing means are respectively installed on the bottom left and right sides of the motor fixture, and the bottom of the body and the cover of the sliding opening and closing means. In order to cut off the power voltage supplied to the motor by operating the upper and lower position detection switch respectively in response to the position of the sliding opening and closing means to move up and down in response to the driving direction of the motor, It is characterized in that the lower limit position detecting projection is additionally installed.

At this time, the motor is controlled by the controller to control the driving. When any one of the upper and lower position detecting switches of the upper and lower position detecting switches is turned off by the position detecting protrusion, the controller is controlled. It recognizes this and cuts off the power supply to the motor, and when the "open" or "close" signal of the cover is input by the robot operator in the future, it is irrelevant to the state of the upper and lower position detection switches currently being "off" or "on". In response to the intention of the robot operator to drive the motor in the forward or reverse direction characterized in that the control to open or close the cover.

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

1 is a block diagram of the entire system of the present invention, Figure 2 is a block diagram of a robot of the present invention system, Figure 3 is a block diagram of a remote control of the present invention, Figure 4 is a present invention A front view of the robot and the charging station used in the system is shown, Figure 5 shows a schematic cross-sectional view of the head of the robot.

In addition, Figure 6 shows an exploded perspective view of the touch screen protector installed in the robot of the system of the present invention, Figure 7 is a side cross-sectional view of a state where the touch screen and LCD is covered by the touch screen protector, Figure 8 is a touch screen 9 is a side cross-sectional view of the LCD being opened, and FIG. 9 is a front view of the touch screen and LCD with the touch screen protector closed, and FIG. 10 is a front view of the touch screen and LCD with the touch screen protector open. will be.

11 is a front view of the robot in a state where the touch screen protector is opened, FIG. 12 is a main flowchart illustrating an operation state of the system of the present invention, and FIG. 13 is a state where the present system is applied to a school classroom. An illustration of the is shown.

Accordingly, the present invention is a learning aid and teacher using a robot having a head 1, a body 2, an arm 3, a leg 4, and a moving device as shown in FIGS. 1, 2, and 4. In constructing the helper system, the content server 21 and the home PC 24 and the teacher PC 32 and the AP router 34 in each classroom are connected to each other via the Internet network 22 and the LAN 31 at a remote location. The modem 23 that connects, and the installation of the teacher PC 32, projection TV 33, LAN 31, wireless AP router 34 and mobile robot 37 in the classroom is the main component Shall be.

At this time, the content server 21 is installed in a remote location is stored a variety of learning content data, the home PC (24) is installed in each home, etc. to provide a consultation service with the teacher through the Internet communication, The modem 23 connects the home personal computer 24 with the teacher PC 32 and the wireless AP router 34 in each classroom through the Internet network 22 and the LAN 31 to perform data communication. It performs the function that makes it possible.

In addition, the teacher PC 32 in the classroom is the teacher through the learning aid and teacher helper robot 37 and projection TV 33 present in each classroom to control the overall control (that is, providing data and system operation) Necessary control), and the projection TV 33 is installed at one side of the blackboard of the classroom to display various learning information provided through the teacher PC 32 as well as output various sound signals necessary for learning. The LAN 31 connects the remote content server 21 and the home PC 24 to the teacher PC 32 and the wireless AP router 34 to facilitate various learning-related data communication with the remote site. Let it go.

In addition, the wireless AP router 34, including the teacher PC 32 in the classroom, transmits various types of information transmitted from the remote content server 21 and the home PC 24 to the robot 37 at the same time. The robot 37 transmits various types of data wirelessly transmitted to the teacher PC 32, the remote content server 21, and the home PC 24, and the mobile robot 37 moves freely in the classroom. Under the control of the teacher PC 32 and the remote controller 35, the audio signal is output in response to the control signals output from each of the teachers, and a simple conversation with the students is made, as well as to express a doctor's expression and assist the teacher's learning activities. Done.

Meanwhile, the mobile robot 37 includes a wireless LAN adapter 372, an LVDS 373, a touch screen and LCD 5, a speaker 374 and an amplifier 375, a position recognition camera 376, and two Image cameras 377 and 378, charging station docking cameras 379, several ultrasonic sensors 380, sensor controllers 381, 3-axis motion controllers 383, LDMs 384, LDM controllers 385 ), The remote control receiver 386, the wheel biaxial control unit 387, the arm control unit 388, BMS 389, the charging station connection unit 390 is the main technical element.

In addition, if necessary, a collision detection switch 391 and a bumper 392 are additionally installed in the lower portion of the front of the torso 2 of the mobile robot 37, and voice recognition is performed in the controller 371 of the robot 37. And the installation of the controller 382 as an additional technical component.

In this case, the wireless LAN adapter 372 of the mobile robot 37 may use the wireless LAN adapter 372 because the robot cannot use a wired LAN to use a network even though a LAN card is built in the controller 371. In addition, built-in wireless LAN adapter 372 that supports 802.11G to support up to 54Mbps network speed, allowing the operator of the robot to access the remote home PC (24) or content server through the wireless AP router (34). It is installed so that it can be used when it is necessary to load various learning contents existing in 21 and the teacher PC 32 in a classroom, or to control a robot remotely.

In addition, the control unit 371 includes a predetermined control program and performs the overall control function of the robot in response to input and output of various information and a user's request, and the LVDS 373 serves as a control unit 371 and a touch screen. The LCD 5 plays a role of exchanging data with the IEEE 1596 3 signal standard.

In addition, the touch screen and LCD (5) is a touch screen attached LCD as one of the methods for the interface between the teacher or students and the robot supports a resolution of 1024 × 768, and through the LVDS 373 learning aids and In addition to receiving and displaying a variety of information required for the teacher helper, the operator of the robot can display various menus directly on the screen, as well as input various information.

The amplifier 375 amplifies the voice and sound signals output from the sound card in the controller 371 and outputs them through the speaker 374.

On the other hand, the position recognition camera 376 is installed above the head 1 of the robot 37 so as to face the ceiling, the controller 371 through recognition of the landmark (not shown) attached to the ceiling Recognizes the current position of the robot, and the image cameras 377 and 378 are installed at the front of the head (1) and the chest of the body (2) of the robot 37, respectively In the remote home PC (24) to view the front of the robot 37 through the network as well as to provide consultation services with the teacher, the charging station docking camera (379) is the body (2) It is installed above the charging station connection part 390 in the rear part and recognizes the IR (not shown) attached to the charging station 381 for the automatic charging of the robot 37 as an image, and causes the control unit 371 to control the robot 37 The charging station connection part 390 of the It is possible to determine the direction and the position that can be docked with the station (36).

In addition, the several ultrasonic sensors 380 are installed at the lower part and the lower part of the body 2 with a predetermined interval (for example, the lower part and the upper part are installed in three sets, but attached to the waist, respectively) The ultrasonic sensor is installed in consideration of the height of an obstacle such as a desk or a table in a classroom) to detect various obstacles in the classroom, and the sensor controller 381 is an analog signal by the ultrasonic sensors 380. By converting the various object detection signals detected as a digital signal and converting it into a distance, and converting it to a distance to the control unit 371, the control unit 371 is an algorithm that can recognize and avoid the distance to the obstacle through this distance data By applying it, the driving direction and the stop of the robot 37 can be performed.

In addition, the three-axis motion control unit 383 is hardware designed to control three axes by one control unit, and is used to control driving of one axis along the pan / tilt two axes of the head and the touch screen protector 100.

In addition, it may be connected to the collision detection switch 391 of the bumper 392 described below, by connecting the digital input and output in the three-axis motion control unit 383 with the collision detection switch 391. It can detect collisions with obstacles and support RS232 communication, which is connected to the LDM control unit 385 which outputs facial expressions so that the emotion of the robot 37 can be expressed through the LDM 384.

On the other hand, the LDM 384 is installed on the face of the robot 37 as shown in Figure 5 under the control of the LDM control unit 385 for generating a control signal corresponding to the output signal of the control unit 371, various emotion expressions It basically consists of six expressions (ie happiness and sadness, anger, surprise and general), and is expressed through three LDMs (ie two eyes and mouth) in front.

At this time, the LDM 384 has a size of 16 X 16, the front face cover of the head 1 is a black transflective case, and the light of the LDM 384 through the transflective case. Only the light went out and the light coming in from the outside is blocked as much as possible so that only the facial expression can be correctly delivered to the user.

In addition, the remote control receiver 386 performs a function of transmitting a robot control related switch signal and a voice signal transmitted from the remote controller 35 operated by the robot operator to the controller 371, wherein the remote controller 35 3) closes the cover 9 of the robot movement control key 351 and the touch screen protector 100 in four directions that can control the left, right, forward, backward and stop of the robot 37 as shown in FIG. A cover up / down key 352, an audio transmission key 353, a microphone 354, a neck motor stop key 355, and a neck reference position reset key 356 for opening are provided.

In addition, the wheel two-axis controller 387 controls the driving direction of the two motor for driving the wheel in response to the output signal of the controller 371 to control the driving of the robot through the driving of the wheel installed in the leg portion The arm controller 388 includes several motion controllers for controlling driving of left and right arm control motors respectively installed on three axes, and controls robot arm operation in response to a signal output from the controller 371. In this case, the left and right arms of the robot have a three-way induction structure, respectively, so that it is possible to increase the concentration in communication by appropriate gestures rather than expressing them with simple voices, and arms that are difficult to transmit by voice. Can be replaced by motion.

In addition, the BMS 389 measures the remaining amount and the state of charge of the battery 389a, the current, the voltage, and the temperature, and transmits the same to the control unit 371. The charging station connection unit 390 is a body of the robot 37 ( 2) is installed in the lower rear portion is in contact with the charging station 36 that performs the charging function of the battery to transfer the voltage output from the charging station 36 to the battery 389a to charge the battery.

On the other hand, the robot 37 to which the present invention is applied is not only a heavy body that weighs relatively much, but also moves in a classroom with students and plays a role of learning aid and teacher helper. do.

Therefore, in the present invention, as described above, when the collision detection switch 391 and the robot collide with the unspecified object at the lower front of the body 2 of the robot 37, the collision detection switch 391 is immediately "on". A bumper 392 is installed, and the controller 371 causes the moving robot to collide with an unspecified object so that the bumper 392 operates the collision detection switch 391 to the collision control signal 371. Is inputted by the control unit 371, the robot 2 axis control unit 387 to stop the driving of the driving-related motors of the robot 37 immediately by the robot and the human body or object to collide because of safety Can solve the problem beforehand.

In addition, since the above-described voice recognition and controller 382 are connected to the input terminal of the control unit 371 of the robot 37, the operator of the robot 37 uses the keys of the remote controller 35 to control the robot. Not only can control the driving, but also by pressing the voice transmission key (353) installed on the remote control 35 from the robot and a short distance and wirelessly generating a voice signal for controlling the running of the robot through the microphone 354 Through this, it is possible to control the robot's running, turning, and stopping.

On the other hand, the touch screen protector 100 is a motor (7) for generating the power required for opening and closing of the cover (9), so that the cover 9 is opened and lowered in response to the driving direction of the motor (7) The main technical configuration consists of a cover 9 for raising and lowering in response to the driving direction of the sliding opening and closing means 8 and the motor 7 to block or open the touch screen and the LCD 5.

At this time, the motor 7 is fixed to the inside of the body 2 through the fastener 6 at the bottom of the touch screen and the LCD (5) installed on the body (2), the sliding opening and closing means (8) Silver is installed between the motor 7 and the cover 9, the cover 9 has a configuration that is detachably installed on the front portion of the sliding opening and closing end (8).

On the other hand, the sliding opening and closing means 8 is composed of a body portion (8a) and a rack (8b) and a pair of guide rods (8c), wherein the body portion (8a) comprises a cover 9 each component It has a rectangular housing shape with the rear surface opened so that it can be installed.

In addition, the rack 8b is installed in the vertical direction at the center of the body portion 8a and meshes with the pinion gear 7a provided on the shaft of the motor 7 so as to correspond to the driving direction of the motor 7. Allow 8a) to move up or down.

The guide rods 8c are vertically fixed at both sides of the body portion 8a while being fitted in the holes 6b of the guide protrusion 6a formed in the motor fixing member 6, so that When the body portion 8a is moved up or down in response to the driving direction, the body portion 8a does not flow but rises and falls in the vertical direction exactly.

In addition, the cover 9 may be molded into a single cover, but in this case, a fixture or the like for coupling with the body portion 8a of the sliding opening and closing means 8 may be exposed to the outside, thereby preventing the appearance from being beautiful. .

Therefore, in the present invention, the cover 9 is formed by dividing the cover body 9a and the lid body 9b, wherein the cover body 9a is the front of the body portion 8a of the sliding opening and closing means 8. Removably installed on the cover 9b is detachably installed in the front portion of the cover body 9a to serve to make the appearance of the cover 9 itself beautiful.

On the other hand, when opening and closing the cover 9 by using the power of the motor 7 detects that the cover 9 is completely open or closed and the power supply voltage supplied to the motor 7 to cut off the motor 7 In addition to preventing overloading, the pinion gear 7a, the rack 8b, and the like can be prevented from being damaged by the strong rotational force of the motor 7.

Therefore, in the present invention, the upper and lower position detection switches 10a and 10b are installed at the left and right sides of the bottom of the motor fixture 6, respectively, and one side of the bottom part of the body part 8a of the sliding opening and closing means 8 is provided. And the upper and lower position detection protrusions 11a and 11b for operating the upper and lower position detection switches 10a and 10b on the other upper side of the rear surface of the main body 9a of the cover 9. The control unit 371 for controlling the driving of 7) causes the upper and lower limit position detecting protrusions 11a and 11b to rotate the upper and lower positions during the operation of the motor 7 in the forward or reverse direction. When any of the lower limit position detection switches 10a and 10b is "off", the power supply to the motor 7 is cut off, and the robot operator "opens" or "closes" the cover 9 later. When the signal is input, the motor (regardless of the state of the upper and lower position detection switches 10a and 10b currently being "off" or "on") In response to the intention of the robot operator, 7) was driven again in the reverse direction or the forward direction so that the cover 9 was opened or closed.

On the other hand, when the operator of the robot inputs a signal to open or close the cover 9 through the cover open or close switch installed on the remote control or the robot itself, not shown, the controller 371 recognizes this, and the motor ( 7) will operate in the forward or reverse direction.

Accordingly, since the pinion gear 7a fixed to the shaft of the motor 7 rotates in the forward or reverse direction, the rack 8b of the sliding opening / closing means 8 engaged therein is lowered or raised and lowered so that Since the body portion 8a is lowered or raised, the cover 9 fixed to the front of the body portion 8a is also opened as shown in FIGS. 8 and 10, or closed as shown in FIGS. 7 and 9.

At this time, the rack 8b and the cover 9 including the body portion 8a of the sliding opening and closing means 8 are fitted in the holes 6b of the guide protrusion 6a formed in the motor fastener 6. In accordance with the guide direction of the pair of guide rods 8c fixedly installed at both sides in the vertical direction to couple the motor fixture 6 and the sliding opening and closing means 8 itself to each other in response to the driving direction of the motor 7. When it descends, it does not flow with respect to the left and right directions, but ascends and descends in the vertical direction and opens and closes.

In addition, as described above, the lower limit position detecting projection protruding from the upper end of the cover 9 while the sliding opening / closing means 8 is lowered or raised in response to the driving direction of the motor 7 and the cover 9 is opened or closed ( 11b) or the upper limit position detecting protrusion 11a protruding from the bottom of one side of the body portion 8a of the sliding opening and closing means 8 at the lower left and right sides of the bottom surface of the motor fixture 6, respectively. When the lower limit position detection switch (10b) and the sliding "off" each of them, the controller 371 recognizes this and cuts off the power voltage supplied to the motor (7) life due to the overload of the motor (7) Not only can the fall be prevented, but the pinion gear 7a, the rack 8b, and the like can be prevented from being damaged by the strong rotational force of the motor 7.

In addition, when the normal or unspecified person who does not operate the robot and wants to prevent the predetermined data from being input or viewed through the robot's touch screen and LCD 5, the cover 9 may be closed as shown in FIGS. 7 and 9. Since it can be closed, the touch screen and LCD 5 itself can be prevented from being burned or damaged due to contamination by dust or the like, or being touched by unspecified or various objects, and unspecified touches regardless of the intention of the robot operator. It is possible to prevent damage caused by inputting or withdrawing predetermined data through the screen in advance, and also in terms of design, the touch screen and LCD 5 are covered by the elegant cover 9 so that the robot itself The appearance can be kept beautiful.

On the other hand, the overall software for controlling the system of the present invention can be largely composed of three, the first is the main software for controlling the entire hardware system, the second is a content player capable of executing the learning content, the third is a remote Remote control software for control.

At this time, since the remote control software is controlled at the operating system level, there is no structural relationship with the other two softwares.

In addition, the main software is software for controlling the hardware constituting the robot, and serves as an intermediary for various communications. A TCP (Transmission Control Protocol) server is operated inside to receive and process a client's command from the outside.

The 3-axis motion controller 383, which is used for pan / tilt control of the head, is controlled by USB (Universal Serial Bus), and the arms and wheels, a remote controller module, and a BMS are controlled by RS232 communication. Are controlled in the main software.

In addition, the main software provides a service other than the learning aid and includes various algorithms for the motion of the robot, and two image cameras located inside the cover of the head 1 and the touch touch screen protector 100 ( 377 (378) can take a picture or video, or transmit it over a wireless network.

This robotic system is managed and managed directly through the main software.

It is the content player that is executed to show the actual educational content, which is a combination of a network program through Extensible Markup Language (XML) to the content which is a Flash animation.

In other words, when a message is transmitted to a player program in Flash animation, a network program (TCP Client program) actually transmits data, and the content player requests a specific motion from the main software and receives a response to the request if necessary. Can be.

On the contrary, the main software, which is a TCP server, may send a command to the content player. When the user requests the screen player to switch the content player through the remote controller 35, the main software recognizes the voice and sends the command to the content player. Delivered to the network.

In this way, the two softwares must be interoperable, but they can operate normally in the robot.

12 is a main flow chart for explaining the operation of the system of the present invention, the voice recognition for each part of the robot registration, arm motion, RS232 communication reception, TTS (Text To Speech), head control and There is a wheel control thread, which operates by requesting each thread based on data received through the robot's input device or LAN.

In such main software, the lower hardware is controlled by interpreting the data transmitted from the content player, and the inputs from the external input devices (microphone, remote controller, sensor, etc.) must also be processed.

On the other hand, the remote control software is software that is performed independently of the main software or content player, the screen of the touch screen and LCD (5) of the robot is transmitted to the operator, that is, the teacher PC 32 through the network, The teacher can remotely control the robot through the teacher PC (32), and can receive video and remotely make video calls with students.

In other words, all functions that can be performed in the robot itself are also possible remotely, 1: 1 counseling service with the teacher is also provided through the robot.

In addition, in order to display the learning content on the projection TV 33 arranged in each classroom of the school with a remote control, the teacher PC 32 and the projection TV 33 are connected, and the robot PC 32 remotely You can receive the screen and show it.

In addition to the above, the robot 37 is embedded in an algorithm capable of autonomous driving in a classroom or a school, in addition to the above, and basically, the robot 37 stores a map building for a moving section with an ultrasonic sensor. And it is possible to develop an algorithm that can be updated and have the autonomous movement to the target point by recognizing the current position by the position recognition camera 376 attached to the top of the head of the robot.

On the other hand, Figure 13 is an illustration of a state of applying the present invention to the school classroom, the robot moves between the desks where the students sit in the classroom where the projection TV 33 is installed on one side of the blackboard learning You can see your status as an assistant and teacher assistant.

Although the above-described embodiments have been described with respect to the most preferred embodiments of the present invention, it is not limited to the above embodiments, and it will be apparent to those skilled in the art that various modifications can be made without departing from the technical spirit of the present invention.

As described above, according to the present invention, the first robot can freely move in the classroom, provide a free and creative learning environment while having a simple conversation with students, and at the same time, express a human-like expression and assist the teacher. ICT education introduced to improve the educational efficiency of students can be effectively performed. Second, the touch screen and LCD are installed on the touch screen and LCD installed on the front of the robot to prevent the touch screen and LCD from contamination and damage. In addition, it can prevent the system operation problem caused by unspecified people inputting predetermined data through touch screen and LCD regardless of the intention of the robot operator. Pro without focusing on the screen and LCD Such as watching a video or text that appears on the TV screen design is very useful inventions such as to implement an intensive learning.

Claims (11)

In constructing a learning aid and teacher helper system using a robot having a head, a torso, arms, legs, and a moving device, A content server storing various learning content data at a remote location; A home PC for providing counseling services to teachers through the Internet at home; A modem for data communication by interconnecting the home personal computer with the teacher PC and the wireless AP router in each classroom through an internet network and a LAN; In the classroom, the teacher PC to enable the teacher to have overall control necessary for learning through the learning aid and teacher helper robot and projection TV existing in each classroom; A projection TV for outputting various learning information provided from the teacher PC as a display and an audio signal; A LAN for connecting the remote content server and home PC to a teacher PC and an AP router; Wireless AP that transmits the information transmitted from the remote content server and home PC to the robot, including the teacher PC, and transmits various data transmitted wirelessly from the robot to the teacher PC and the remote content server and home PC. A router; A learning aid and teacher helper robot system, characterized in that the mobile robot freely moves in response to the control signals output from the teacher PC and the remote controller, installs a simple dialogue and expression, and assists the teacher. The method according to claim 1, The robot is connected to a LAN card embedded in the control unit so that the operator of the robot can load various learning contents existing in a remote home PC or content server and a teacher PC in a classroom through a wireless AP router or installed for remote control. With a LAN adapter; A control unit having a predetermined control program and performing overall control of the robot in response to a user's request; An LVDS for transmitting and receiving data between the controller and the touch screen / LCD in IEEE 1596 3 signal standard; A touch screen and an LCD for receiving and displaying various information necessary for learning aid and teacher helper through the LVDS, and allowing the operator of the robot to input various information; An amplifier for amplifying and outputting voice and sound signals output from the sound card of the controller; A position recognition camera installed at an upper portion of the head of the robot so as to face the ceiling, and recognizing a landmark attached to the ceiling to recognize the current position of the robot; Two imaging cameras installed at the front of the head of the robot and at the chest of the torso to allow the remote home PC to view the front of the robot through a network and to provide consultation services with a teacher; A charging station docking camera installed at an upper portion of the charging station connection terminal at the rear of the body to determine an orientation and a position to dock by recognizing an IR attached to the charging station for automatic charging of the robot; A plurality of ultrasonic sensors installed at a lower portion of the body and at a waist portion to detect various obstacles in the classroom; A sensor controller converting an object detection signal detected as an analog signal by the ultrasonic sensors into a digital signal and converting the detected object signal into a digital signal to a controller; A three-axis motion control unit controlling the pan / tilt of the head and driving of the touch screen protector; An LDM installed on the face of the robot to produce various emotion expressions; An LDM controller for outputting a control signal corresponding to the output signal of the controller to the LDM; A remote control receiver for transmitting a robot control related switch signal and a voice signal transmitted from the remote controller to a controller; A two-wheeled wheel controller which controls the driving of the robot by driving the wheels installed in the leg part by controlling two motor driving directions in response to the output signal of the controller; An arm controller comprising a plurality of motion controllers respectively controlling driving of the left and right arm control motors respectively installed on three axes in response to a signal output from the controller; A BMS for measuring the remaining amount or the state of charge of the battery, the current, the voltage, and the temperature, and transmitting the same to the controller; A learning assistant and teacher helper robot system, characterized in that the charging station is installed in contact with the charging station is installed in the lower rear portion of the body to perform the charging function of the battery. The method according to claim 2, Since the collision detection switch and a bumper for installing the collision detection switch "on" when the robot collides with the unspecified object is installed at the lower front of the body of the robot, the control unit causes the moving robot to collide with the unspecified object. When the collision detection signal is input from the collision detection switch, the learning aid and teacher helper robot system, characterized in that to stop the running of the robot immediately through the two-axis wheel control. The method according to claim 2, And a voice recognition and a controller are additionally installed in the controller of the robot to enable the operator of the robot to change the running, direction, and stop of the robot by voice through the remote controller. The method according to claim 2, The remote control includes a four-way robot movement control key for controlling the left, right, forward, backward and stop of the robot, a cover up / down key for closing or opening the cover of the touch screen protector, a voice transmission key, a microphone, A learning aid and teacher helper robotic system comprising a neck motor stop key and a neck reference position reset key. The method according to claim 2, The touch screen protector includes: a motor fixed to the inside of the body through a motor fixture at the bottom of the touch screen and the LCD installed on the body to generate power for opening and closing of the cover; A sliding opening and closing means installed between the motor and the cover to allow the cover to move up and down in response to the driving direction of the motor; A learning aid and teacher helper robot system, characterized in that it is installed detachably on the front portion of the sliding opening and closing means to cover up or down in response to the driving direction of the motor to prevent or open the touch screen and LCD. The method according to claim 6, The sliding opening and closing means, the body portion, each component is installed, including the cover; A rack installed vertically at the center of the body part and engaged with the pinion gear of the motor to move the body part up and down in response to the driving direction of the motor; It is fitted in the hole of the guide protrusion formed in the motor fixture and is fixed in the vertical direction at both sides of the body part so that the body part does not flow when the body part is moved up and down in response to the driving direction of the motor, and is moved up and down in the vertical direction exactly Learning assistant and teacher helper robot system, characterized in that consisting of a pair of guide rods to be. The method according to claim 7, The cover and the cover body is detachably installed in the front of the body portion of the sliding opening and closing means; Learning assistant and teacher helper robot system, characterized in that consisting of a lid body detachably installed in the front portion of the cover body. The method according to claim 6, On the left and right sides of the bottom of the motor fixture, upper and lower position detection switches for limiting the upper and lower positions according to the rising and lowering of the sliding opening and closing means are respectively installed, and the bottom of the body part of the sliding opening and closing means and the main body of the cover are respectively provided. The upper and lower limits of the rear upper and lower parts cut off the power voltage supplied to the motor by operating the upper and lower position detection switches, respectively, in response to the position of the sliding opening and closing means which is moved up and down in response to the driving direction of the motor. Learning assistant and teacher helper robot system, characterized in that additionally installed position sensing projection. The method according to claim 9, The control unit cuts off the power supplied to the motor when any one of the upper and lower position detection switch of the upper and lower position detection projection is turned off by any one of the upper and lower position detection switches. Assistant and teacher helper robotic system. The method according to claim 10, The controller responds to the intention of the robot operator when the "open" or "close" signal of the cover is input by the robot operator regardless of the state of the upper and lower position detection switches that are currently "off" or "on". A learning aid and teacher helper robot system, characterized in that the drive to operate in the forward or reverse direction to control the opening or closing of the cover.

Images