KR101626966B1 - Apparatus and method for developing robot contents - Google Patents

Abstract

Disclosed is an apparatus and method for sequentially authoring motions of a robot according to the flow of time and authoring contents that can be produced by synchronizing motions of media and robots. The robot content authoring apparatus includes a rendering unit for outputting an interface including an editing region and a motion event track, and implementing a 3D robot model in the editing region and rendering the 3D robot model; And a motion editor for generating a robot motion event according to the motion manipulation of the robot model of the editing area and arranging the robot motion event on the motion event track according to time.

Description

[0001] APPARATUS AND METHOD FOR DEVELOPING ROBOT CONTENTS [0002]

The present invention relates to an apparatus and a method for authoring content capable of controlling a robot, and more particularly, it relates to an apparatus and a method for authoring content of a robot capable of sequentially controlling the motions of the robot in accordance with time, And more particularly, to a device and a method for authoring content that can be used in a mobile communication system.

Generally, the current robot control method is a series of processes in which a developer performs programming, executes directly in a robot, finds an error of a result, and performs a few debugging processes. It is also a simple task to connect and synchronize the motion of the displayed image with the actual robot.

Due to these technical limitations, it is difficult to commercialize a robot that provides various contents useful for real life. Because the robot needs different platform and control parts, the authoring tool and contents developed for the control of the specific robot are difficult to apply to other robots.

For example, in the case of an initially developed robot, there was no need to control it because there was no arm, but in the case of a robot developed in the future, an arm was added and control was required. Function can not be used, so that every time a new robot is developed, there arises a problem of developing a new authoring tool and contents dependent thereon.

In addition, it is difficult to apply functions such as specialized face recognition, dialogue technology, navigation, and user gazing only for robots to the contents, which is a limitation in developing contents differentiated from contents developed for PCs. In order to develop original contents of robots, it is necessary to combine robot-related development technology with contents.

Recently, robots have been developed to provide educational contents services. Such an intelligent service robot can have a natural dialogue with the human being in similarity with the appearance, and emotional exchange can occur through the screen and face LED. In addition, the learners' state can be recognized through voice or sensors, which can stimulate voluntary learning by responding to and stimulating individual learner needs.

These robots go beyond the traditional instrumental teaching medium concept and cooperate with the infant to reach coexisting robot teacher or friend. These intelligent service robots are also adopting the same open architecture as the Android operating system. Therefore, many general developers can participate in application development of intelligent service robots. As described above, unlike a mobile terminal, the intelligent service robot has its own mobility and has a function of avoiding start during autonomous traveling. Sensors for avoiding functions are employed, and in order to provide emotional service, Various kinds of hardware such as LED are adopted.

Therefore, there is a need for an environment capable of freely developing contents that can utilize and control hardware resources of the intelligent service robot.

Korean Published Patent 2009-0078244 (Released on July 17, 2009)

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above problems, and it is an object of the present invention to provide a robot content authoring apparatus and a robot content authoring apparatus for providing a authoring environment in which a robot user can use and control hardware resources of a robot without programming, The purpose of the method is to provide.

Other objects and advantages of the present invention will become apparent from the following description, and it will be understood by those skilled in the art that the present invention is not limited thereto. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

In order to achieve the above object, a robot content authoring apparatus includes: a rendering unit for outputting an interface including an editing region and a motion event track, and embodying and expressing a 3D robot model in the editing region; And a motion editor for generating a robot motion event according to the motion manipulation of the robot model of the editing area and arranging the robot motion event on the motion event track according to time.

Wherein the motion editing unit calculates a head movement angle in accordance with an operation of the head of the robot model, receives a drive time from a user, and displays a head having a length corresponding to the drive time, A motion event bar can be placed in the motion event track.

The motion editing unit may display a line corresponding to a line of sight of the robot model and a reference line corresponding to the position of the robot model, and may calculate an angle between a line corresponding to the line of sight and the reference line as a head motion angle.

The motion editing unit may display an indicator on the neck joint part of the robot model and display a line corresponding to the reference line and the visual line when the display unit is selected.

The motion editing unit changes the screen of the editing area to a perspective view when the head motion editing mode is in operation.

The motion editing unit may change the screen of the editing area to a top view and display two moving images on the robot model in the editing area in the moving motion editing mode.

One of the two indicators may be a back and forth moving motion edit indicator and the other may be a rotational motion edit indicator.

Wherein the motion editing unit calculates a moving distance in accordance with an operation of moving back and forth of the robot model when the forward / backward motion editing / display indicator is selected, receives a moving speed from the user, The event bar can be arranged in the motion event track in a length corresponding to the movement time.

The motion editing unit may display a position line before movement and a position line after movement of the robot model in the editing area and display the movement distance therebetween.

Wherein the motion editing unit calculates a rotation angle in accordance with an operation on the rotation of the robot model when receiving the rotation motion edit indicator, receives a rotation speed from the user, May be arranged in the motion event track in a length corresponding to the rotation time.

The motion editing unit may display a line at a time point before the rotation of the robot model and a line at a time point after the rotation in the editing area and display a rotation angle between the lines.

The motion editing unit may change the screen of the editing area to a front view and display at least one lamp position on the robot model of the editing area when the lamp expression editing mode is operated.

The motion editing unit receives a selection input for the lamp position, a color and a time of the lamp, and outputs the lamp position and the lamp information including the information of the color to the motion event track at a length corresponding to the input time. Event bars can be placed.

Wherein the robot content authoring device comprises: a motion playback unit operable to operate the robot model of the editing area according to an event arranged on the motion event track; And a synchronization unit for establishing communication with the physical physical robot and synchronizing the operation of the robot model and the actual robot.

In the content editing mode, the editing area of the robot content authoring device is switched to an emulation area in which the robot model only operates in a virtual space, and a preview window for outputting the media is displayed. Wherein the robot content authoring device includes a template management unit for storing a template and a media template of the robot motion event generated by the motion editing unit and providing a list; And a content authoring unit for representing the robot motion event and the media selected from the list provided by the template management unit with an event bar having a length corresponding to the playback length of the robot motion event and the media, can do.

Wherein the content authoring unit operates the robot model of the emulation area in response to a robot motion event disposed on the content event track upon receiving the playback input and reproduces the media placed on the content event track, Can be output.

According to another aspect of the present invention, there is provided a method of authoring robot content in a robot content authoring apparatus, the method comprising: outputting an interface including an edit region and a motion event track; Embodying and expressing a three-dimensional robot model in the editing area; And generating a robot motion event according to a motion operation on the robot model of the editing area and arranging the robot motion event on the motion event track with time.

Wherein the step of arranging comprises: calculating a movement angle of the head according to an operation on the head of the robot model and receiving a driving time; And arranging a head motion event bar having a length corresponding to the driving time including the information on the motion angle of the head on the motion event track.

The receiving step may include displaying a line corresponding to a position of the robot model and a line corresponding to a line of sight of the robot model; And calculating an angle between the line along the line of sight and the reference line as a head movement angle.

The step of displaying the line may display a display device on the neck joint part of the robot model and display a line corresponding to the reference line and the line of sight when the display device is selected.

The method may further include changing a screen of the editing area to a perspective view.

The method further includes the step of changing the screen of the editing area to a top view and displaying two moving images on the robot model of the editing area after the expressing step can do.

One of the two indicators is a back and forth moving motion edit indicator, and the other is a rotational motion edit indicator.

Wherein the arranging step includes the steps of: calculating a moving distance in accordance with an operation for moving the robot model back and forth when the forward / backward motion editing / displaying device is selected; And placing a moving motion event bar including information on the moving distance on the motion event track in a length corresponding to the moving time.

The receiving step may include displaying a position line before the movement and a position line after the movement of the robot model in the editing area and displaying a movement distance therebetween.

Wherein the step of arranging includes the steps of: calculating a rotation angle in accordance with an operation on rotation of the robot model and receiving a rotation speed from a user when the rotation motion edit indicator is selected; And disposing a motion motion event bar including information on the rotation angle on the motion event track in a length corresponding to the rotation time.

The receiving step may include displaying a line at a time point before the rotation and a line at a time point after the rotation of the robot model in the editing area and displaying a rotation angle between the lines.

The method may further include, after the expressing step, changing a screen of the editing area to a front view and displaying at least one lamp position on the robot model of the editing area in an operation of a lamp expression edit mode ; ≪ / RTI >

Wherein the disposing comprises receiving a selection input for the lamp position and an input of color and time of the lamp; And disposing a lamp expression event bar including information of the lamp position and the color in the motion event track at a length corresponding to the time.

The method includes communicating with a physical physical robot and synchronizing the operation of the robot model with the actual robot; And operating the robot model of the editing area according to an event disposed on the motion event track.

Converting the editing area into an emulation area in which the robot model only operates in a virtual space, displaying a preview window for outputting the media, and converting the motion event track into a content event track; Providing a template of a robot motion event and a list of media templates; And displaying the robot motion event and the media selected from the list as an event bar having a length corresponding to a playback length of the robot motion event and the media, and arranging the robot motion event and the media on the content event track.

The method may further include operating the robot model of the emulation area in accordance with a robot motion event disposed on the content event track and reproducing the media placed on the content event track and outputting the media to the preview window can do.

The present invention enables a general robot user, not a robot developer, to easily author content for robots. Therefore, teachers can utilize various educational contents suitable for learning curriculum by using robot.

1 is a block diagram of a robot content authoring apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram showing a configuration of a robot content authoring program of FIG. 1. FIG.
3 is a basic interface screen of a robot content authoring program according to an embodiment of the present invention.
4 is a view showing a screen of a head motion editing mode according to an embodiment of the present invention.
FIG. 5 is a view illustrating an angle and time of a head motion according to an embodiment of the present invention.
6 is a diagram illustrating a screen of a moving motion editing mode according to an embodiment of the present invention.
Fig. 7 is a diagram showing position lines before and after movement of the robot model in the moving motion edit mode. Fig.
FIG. 8 is a view showing a screen of a moving motion editing mode according to another embodiment of the present invention.
9 is a diagram illustrating a screen of an LED expression edit mode according to an embodiment of the present invention.
10 is a block diagram of a robot content authoring program according to another embodiment of the present invention.
11 is a screen of a content editing mode according to an embodiment of the present invention.
12 is a block diagram of a robot according to an embodiment of the present invention.
13 is a block diagram of a motion debugger according to an embodiment of the present invention.

The foregoing and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, in which: There will be. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a robot content authoring apparatus according to an embodiment of the present invention.

1, a robot content authoring apparatus 100 includes a memory 110, a memory controller 121, one or more processors (CPU) 122, a peripheral interface 123, an input / output (I / O) 130, a display device 141, an input device 142, and an RF circuit 152. These components communicate through one or more communication buses or signal lines. The various components shown in FIG. 1 may be implemented in hardware, software, or a combination of both hardware and software, including one or more signal processing and / or application specific integrated circuits.

The memory 110 may include a high-speed random access memory and may also include one or more magnetic disk storage devices, non-volatile memory such as a flash memory device, or other non-volatile semiconductor memory device. In some embodiments, the memory 110 may include a storage device, e.g., RF circuitry 152, located remotely from the one or more processors 122, and an Internet, Intranet, Local Area Network (WLAN) , A Storage Area Network (SAN), or the like, or any suitable combination thereof, via a network (not shown). Access to the memory 110 by other components of the robot content authoring apparatus 100 such as the processor 122 and the peripheral interface 123 may be controlled by the memory controller 121. [

The peripheral interface 123 connects the input / output peripheral device of the robot content authoring device with the processor 122 and the memory 110. The one or more processors 122 execute various software programs and / or a set of instructions stored in the memory 110 to perform various functions and process data for the robot content authoring apparatus 100.

In some embodiments, peripheral interface 123, processor 122, and memory controller 121 may be implemented on a single chip, such as chip 120. In some other embodiments, these may be implemented as separate chips.

The I / O subsystem 130 provides an interface between the input / output peripheral of the robotic content authoring device 100, such as the display device 141 and other input devices 142, and the peripheral interface 123.

The display device 141 may be a liquid crystal display (LCD) technology or a light emitting polymer display (LPD) technology. The display device 141 may be capacitive, resistive, infrared, or the like. The touch display provides an output interface and an input interface between the robotic content authoring device and the user. The touch display displays a visual output to the user. The visual output may include text, graphics, video, and combinations thereof. Some or all of the visual output may correspond to a user interface object. The touch display forms a touch sensitive surface that accommodates user input.

The processor 122 is a processor configured to perform an operation associated with the robot content authoring apparatus 100 and to execute instructions, for example, using the instructions retrieved from the memory 110, It is possible to control the reception and the operation of the input and output data.

In some embodiments, the software components are installed in the memory 110, such as an operating system 111, a graphics module (instruction set) 112, and a robot content authoring program (instruction set)

The operating system 111 may be an embedded operating system such as, for example, Darwin, RTXC, LINUX, UNIX, OS X, WINDOWS or VxWorks, Android, Management, storage control, power management, etc.), and facilitates communication between the various hardware and software components.

Graphics module 112 includes a number of well known software components for providing and displaying graphics on display device 141. The term "graphics" includes, without limitation, text, web pages, icons (e.g., user interface targets including soft keys), digital images, video, animations, .

The RF circuit 152 transmits and receives electromagnetic waves. The RF circuit 152 converts electrical signals to electromagnetic waves and vice versa and communicates with the communication network, other mobile gateways, and communication devices through the electromagnetic waves. The RF circuit 152 includes, for example, an antenna system, an RF transceiver, one or more amplifiers, a tuner, one or more oscillators, a digital signal processor, a CODEC chipset, a subscriber identity module But are not limited to, well known circuits for performing such functions. The RF circuitry 152 may be an Internet, referred to as the World Wide Web (WWW), a network such as an intranet and / or a cellular telephone network, a wireless LAN and / or a metropolitan area network (MAN) It can communicate with other devices by communication. The wireless communication may be implemented in a variety of communication systems such as Global System for Mobile Communications (GSM), Enhanced Data GSM Environment (EDGE), wideband code division multiple access (WCDMA), code division multiple access (CDMA), time division multiple access (TDMA) Protocol, Wi-MAX, Bluetooth, zigbee, Near Field Communication (NFC), email, instant messaging and / Any of a plurality of communication standards, protocols, and techniques may be used, including, but not limited to, any other suitable communication protocol including a communication protocol not yet developed at the time of filing.

The robot content authoring program 113 cooperates with the display device 141 and the input device 142 to author the robot content. The robot content authoring program will be described in detail below.

FIG. 2 is a block diagram of a robot content authoring program of FIG. 1, and FIG. 3 is a basic interface screen of a robot content authoring program according to an embodiment of the present invention.

3, the robot content authoring program includes an editing region 310 in which a robot model 350 is implemented at the time of driving and a user can edit the motion by directly manipulating the robot model, And displays a motion event track 330 that arranges an event of the operated motion, that is, the head motion, the moving motion, and the LED expression with respect to time. The robot model 350 implemented in the editing area 310 at the time of reproducing the events arranged in the motion event track 330 may be configured to move the motion according to the event at a designated time, for example, turning the head, And blinking.

2, the robot contents authoring program 113 includes a motion editing unit 210, a motion reproducing unit 220, a synchronizing unit 230, a template managing unit 240, a file processor 250, (260).

The 3D rendering unit 260 includes a 3D engine that can represent robot functions in 3D space and expresses the editing area 310 in a virtual 3D space and expresses the 3D robot model 350 in the editing area 310 . The 3D rendering unit 260 represents a 2D or 3D effect and represents a 2D or 3D UI (User Interface).

The motion editing unit 210 creates a series of operations, that is, an animation, sequentially sequencing the LEDs mounted on the robot, such as the neck joint, the wheel, and the robot.

The motion editing unit 210 provides three editing modes. Here, three editing modes include head motion editing, moving motion editing, and LED expression editing. The motion editing unit 210 can select an editing mode from the user by displaying the editing mode type in the menu tool or can select the editing mode by selecting the editing site name displayed on the motion event track 330 from the user.

head motion  edit

The motion editing unit 210 changes the screen of the editing area 310 to a perspective view and displays an indicator on the neck of the robot model 350 displayed in the editing area 310 do. For example, a yellow circle appears on the neck of the robot model.

FIG. 4 is a view showing a screen of the head motion editing mode according to an embodiment of the present invention. As shown in FIG. 4, the robot model 350 displayed on the editing area 310 changed to the oblique view A colored circle 410 is displayed.

FIG. 5 is a view illustrating an angle and time of a head motion according to an embodiment of the present invention.

5, the motion editing unit 210 extracts, from the editing area 310, a line 510 along the line of sight of the robot and a position of the robot, centering the indicator 410 displayed on the neck of the robot model 350 A reference line 530 is displayed and the angle between the lines is changed according to the mouse input by the user so that the user can select the angle. Preferably, each of the right and left bases 530 may be selected by 30 degrees based on the position of the robot.

The motion editing unit 210 displays a window 550 for selecting the time after setting the angle and receives the driving time of the head motion of the robot through the window 550. [ That is, the user inputs a time at which the user actually moves the selected angle. When the driving time is input, the motion editing unit 210 displays the estimated length in the motion event track 330 and blinks. When the final input is received, the motion editing unit 210 outputs the motion information of the head motion having the set driving time to the motion event track 330 Event 570 is added in the form of a bar.

move motion  edit

The motion editing unit 210 changes the screen of the editing area 310 to a top view and operates the robot model 350 displayed in the editing area 310 to select two selectable circles Display. One of the two circles serves to process the robot forward / backward, and the other circle handles the rotation of the robot.

6, the robot model 350, which is changed to the height view and displayed in the editing area 310 as shown in FIG. 6, is displayed in the moving motion editing mode according to an embodiment of the present invention. And two circles 610 are displayed on the robot model.

The motion editing unit 210 outputs the speed setting window 630 to the editing area and receives the moving speed and the rotating speed of the mobile robot from the user through the speed setting window 630. [ The moving speed is a value related to forward / backward, and the unit means a distance in one second to the centimeter per second, and the rotational speed means a value related to the leftward / rightward rotation and the angular speed. The rotational speed may be an angle that rotates per second.

(1) Forward / Reverse editing

The motion editing unit 210 receives a position from the user to add the forward / backward motion event in the motion event track 330. The motion editing unit 210 starts the forward / backward editing operation and moves the robot model 350 to the position selected by the user when the circle 610 relating to the forward / backward movement is selected by the user. 7, the motion editing unit 210 divides the line 710 of the original position of the robot model and the line 730 of the moved position of the robot model (for example, different colors) A line 750 is displayed along with the distance value. The motion editing unit 210 blinks and displays the expected movement time on the motion event track 330 when the circle 610 associated with the forward / backward motion is selected again by the user. When the motion input event is finally received, 330 to the forward / backward events.

(2) Edit rotation

FIG. 8 is a view showing a screen of a moving motion editing mode according to another embodiment of the present invention, which is a screen at the time of rotation editing.

The motion editing unit 210 receives a position from the user to add a rotating motion event in the motion event track 330. The motion editing unit 210 starts the rotation editing operation when the circle 610 associated with the rotation is selected by the user and calculates the rotation value of the robot model 350 according to the position where the user's mouse moves. The motion editing unit 210 displays a line 810 representing an angle of view originally before rotation of the robot model 210 and a line 830 representing an angle after rotation of the robot model 210. The motion editing unit 210 displays a rotation angle, Mark the dotted circle.

When the angle is calculated by the user's absolute position of the mouse, the robot model 350 can be expressed only up to 180 degrees around the line 810 of the original viewing angle before the rotation of the robot model 350, In the case of calculating the angle to the relative position, when the user moves the mouse in a state in which the special key (for example, the shift key) is pressed by the user, the angle is accumulated by the relative value of the left and right movement of the mouse, Can be calculated.

The motion editing unit 210 blinks and displays the expected movement time on the motion event track 330 when the circle 610 associated with the rotation is selected again by the user. When the motion input event is finally received, And adds the event bar of the set rotation.

LED  Edit expression

The motion editing unit 210 changes the screen of the editing area 330 to the front view and operates the robot model 350 displayed in the editing area 330 to display an LED, For example, a circle. 9 is a view showing a screen of the LED expression editing mode according to an embodiment of the present invention. The screen of the editing area 330 is changed to the front view and the LED indicator 910 is displayed on the robot model 350. In Fig. 9, a total of five circles are indicated by LED indicators 910.

The motion editing unit 210 receives a position from the user to add an LED presentation event in the motion event track 330. [ The motion editing unit 210 displays a window 930 in which one of the LED indicators 910 of the robot model 350 is set by the user and can set the color and the time, The LED is turned on. The motion editing unit 210 displays the LED indicator 910 with the color of the LED input by the user. When the color and time are input, the motion editing unit 210 displays an expected length on the motion event track 330 and blinks. When the additional input is finally received, the motion edit track 210 displays the LED having the set color and time Add an expression event bar.

The motion reproduction unit 220 reproduces the set event when the reproduction input is received by the user after the event editing of the head motion, the moving motion, and the LED expression of the robot is completed by the motion editing unit 210. That is, the motion reproducing unit 220 starts to reproduce from the point of time selected by the user or from the point of time selected by the user in the motion event track 330, and edits in accordance with the event at the point of the event of head motion, The robot model 350 of the region 310 is operated.

The synchronization unit 230 performs remote synchronization with the physical robot to synchronize the motion events of the robots generated through the motion editing unit 210. The synchronization unit 230 provides an automatic connection or a manual connection.

The synchronization unit 230 searches for a robot that can be remotely connected when an automatic connection is input from the user, provides the list to the user, and remotely connects with the selected robot. In addition, the synchronization unit 230 displays an IP address input window when a manual connection is input from a user, receives an IP address of a robot to be remotely connected through the IP address input window, and connects to the robot using the input IP address.

The synchronizer 230 synchronizes the robot model of the editing area 310 with the actual robot when the event of the robot is reproduced by the motion reproducing unit 220 or when a specific event is selected and reproduced from the motion event track 330. [ 350).

The template management unit 240 stores a template related to the motion of the robot and converts the template object into actual editing data. Here, the template includes a basic template included in the authoring program as a file related to the motion of the robot and a user template created by the user as an authoring program. When the user inserts the motion file created through the motion editing unit 210 into the template directory, the template management unit 240 manages the user templates stored in the template directory and provides the list as a list upon request of the user.

The template management unit 240 may display the template list including the basic template and the user template through a separate template window and add the template selected by the user to the motion event track 330. [ Preferably, the template management unit 240 displays a list of the basic template and the user template so that they can be distinguished from each other. For example, you can distinguish the default template from the user template by prefixing the name with a '+' sign.

The file processor 250 generates a motion file by combining the events generated in the motion editing unit and transmits the motion file to the actual robot through the synchronization unit 230. The extension of the motion file is rmm.

10 is a block diagram of a robot content authoring program according to another embodiment of the present invention. In FIG. 10, the same reference numerals as in FIG. 2 denote the same functions and operations, and a detailed description thereof will be omitted.

Referring to FIG. 10, the robot content authoring program 113 according to the present embodiment further includes a content authoring unit 1010. Here, the content is a concept including the motion of the robot and the media synchronized with the motion of the robot. Therefore, playback of the content by the robot means that the robot simultaneously reproduces a media file synchronized with the motion, for example, a song, a moving image, or the like, while the motion is operating according to the motion file. The robot contents authoring program 113 according to the present embodiment authorizes such contents.

The robot content authoring program 113 provides a similar interface in the content editing mode and the motion editing mode. 11, the robot content authoring program 113 switches the 3D editing area in the motion editing mode to the emulation area 1110, as shown in FIG. 11, in the contents editing mode according to an embodiment of the present invention. , And switches the motion event track to the content event track 1130. Then, a preview window 1150 is displayed.

The emulation region 1110 is a virtual space where the robot model 1170 is displayed, and the robot model 1170 moves in accordance with a motion event, mimicking that an actual robot is driven in the emulation region 1110. In the content edit mode, the user does not directly manipulate the robot model 1170 of the emulation region 1110 at all, while the user performs the motion edit by directly manipulating the robot model 350 in the edit region in the motion edit mode, The robot model 1170 of the emulation area 1110 only operates as an actual robot in accordance with a motion event included in the content.

The content event track 1130 is similar to the motion event track 330, but the constituent items are different from the motion event track 330. The motion event track 330 arranges a head event, a movement event, and an LED expression event related to the motion of the robot as a configuration item in the order of time, while the content event track 1130 is a motion event, a media event, Arrange as a configuration item. Here, the motion event is an item including all the events of head, movement, and LED expression generated in the motion edit mode. The medium means sound or image, and the picture means a normal still image.

The template management unit 240 stores and manages templates of media as well as templates related to motion of the robot. The template for motion of the robot is as described above, and the template of the medium includes sound, image, and picture. The template management unit 240 displays the template list of the motion in the template window 1190 or displays the template list of the media in the template window 1190 according to the user's selection.

The content authoring unit 1010 activates the content event track 1130 when the content authoring editing mode is selected by the user and selects the template selected by the user in the template window 1190 in cooperation with the template managing unit 240 And places it in the content event track 1130. The content authoring unit 1010 automatically arranges the template selected by the user in a corresponding item of the content event track 1130. The motion template is placed on the motion track, the sound or video template is placed on the media track, and the picture is placed on the picture track.

At this time, the content authoring unit 1010 arranges the event on the track 1130 in the form of a bar corresponding to the actual reproduction length of the motion or the media, and the start point of the event is a point selected by the user. In the case of sound or video, there is an absolute length and the bar is displayed by the corresponding length. However, since the picture does not have a length, the picture event is arranged by the length bar of the preset basic value.

The content authoring unit 1010 can edit events disposed in the content event track 1130. [ The content authoring unit 1010 moves and arranges the event in the left and right according to the drag and drop input of the user for the event disposed in the content event track 1130. The content authoring unit 1010 adjusts the length of the event according to the drag and drop input of the user to the end of the event disposed in the content event track 1130.

The content authoring unit 1010 interprets the event placed in the content event track 1130 according to the time order when the user inputs the playback after the event placement in the content event track 1130 is completed and implements the implementation in the emulation region 1110 Thereby driving the robot model 1170. That is, the content authoring unit 1010 may be configured to rotate the head of the robot model 1170, forward / backward or rotate the robot model 1170, or display the LEDs, The sound / video / picture is outputted together with the motion of the robot model 1170. In the case of a video or picture, it can be displayed in the preview window 1150 or displayed in the display area of the robot model 1170.

The file processor 250 synthesizes the events generated by the content authoring unit 1010 to generate a content file. Preferably, the motion file generated by the motion editing unit 210 and the motion file generated by the content authoring unit 1010 have different extensions.

FIG. 12 is a block diagram of a robot according to an embodiment of the present invention. FIG. 12 is a block diagram of a robot for reproducing robot content authored by the robot content authoring apparatus.

12, the robot according to the present embodiment includes a display manager 1210, an audio output unit 1220, a robot manager abstract interface 1230, and a content engine 1240. Here, the display manager 1210, the audio output unit 1220, and the robot manager abstract interface 1230 exist in the application layer of the robot system, and the content engine 1240 exists in the framework native runtime library layer .

The display manager 1210 outputs the image processed by the content engine 1240 to the display device of the robot, and further outputs the bitmap image to the display device by processing the image processed and delivered by the content engine 1240. If the operating system installed in the robot is an Android system, the display manager 1210 generates an image using the Android canvas.

The audio output unit 1220 transmits the audio output data generated by the content engine 1240 to an audio device such as a speaker and outputs the audio output data.

The robot manager abstract interface 1230 is a wrapping of a robot manager (e.g., Android service) mounted on the operating system of the robot, and performs a function of converting information of robot contents into information required by the robot manager. Since the robot manager mounted on the robot can not process the complex data included in the robot contents, a separate robot manager abstract interface is implemented to convert information of the robot contents into information required by the robot manager.

The robot manager abstract interface 1230 calls a robot manager when the robot manager supports some functions of motion included in the robot contents. In the case of a function not supported by the robot manager, the robot manager abstract interface 1230 performs functions in the robot driver, And calls the Hardware Abstract Layer (HAL) to play the motion.

The robot manager abstract interface 1230 includes a robotics control synchronization function for motion synchronization. Since the motion generated by the content engine 1240 undergoes an optimization process, a separate task must be performed for the actual synchronization of the motions, and the robot manager abstract interface 1230 performs synchronization of motions through the robotics control synchronization function .

The content engine 1240 manages the robot contents file and performs image creation, sound creation, image reproduction, and robot motion creation from the robot contents file, as shown by a dotted line in FIG.

The content engine 1240 has a content duplication function that allows a file to be processed in a managed Java domain and also extracts a raw image from the robot content and delivers the raw image to the display manager 1210.

The content engine 1240 includes a codec that can process and play back audio files such as WAV, MP3, and OGG, extracts audio files from the robot contents, synthesizes the sounds reproduced by the codec to generate PCM data, (1220).

Also, the content engine 1240 includes an open source project library and an image codec for image processing, extracts an image file from the robot contents, processes the data created by the codec into an image image in accordance with synchronization logic that can actually reproduce the image file To the display manager (1210).

The content engine 1240 extracts a motion file from the robot content, performs motion optimization, and transmits the motion file to the robot manager abstract interface 1230. That is, all the motion included in the motion file is blended to process one motion as one motion, and the intermediate process due to the missing or missing is optimized.

13 is a block diagram of a motion debugger according to an embodiment of the present invention. The motion debugger 1300 is installed in the robot as middleware for communicating with the robot content authoring device and confirming motions generated by the robot content authoring device and processing data.

13, the motion debugger 1300 includes a file explorer 1310, a downloader 1330, and a robot application interface 1350. [

The file explorer 1310 manages the motion file stored in the memory of the robot. The downloader 1330 downloads the motion file created by the robot content authoring apparatus and stores the downloaded motion file in the memory of the robot.

The robot application interface 1350 provides a function for remotely controlling functions of the robot in the robot content authoring apparatus. In other words, it provides the actual debugging function.

The robot application interface 1350 calls a robotics hardware abstract layer (HAL) 1370 according to the control data received from the robot content authoring apparatus to control motion execution, And displays it on the display device.

The robot application interface 1350 processes the robot driver, that is, the robotics abstraction layer, to stop the function of the robotics abstraction layer and convert it to a remote core so that it can be operated only by a robot content authoring device that is connected remotely.

The robot application interface 1350 transfers the control data received from the robot content authoring device to a robotics hardware abstract layer (HAL) 1370 installed in the robot, and transmits the robot content authoring device and the robotic hardware abstract layer 1370 ) So that the same processing occurs at the same time. Preferably, the robotic application interface 1350 uses a synchronization technique using time division techniques.

Preferably, the robotic application interface 1350 controls the motion of the robot in frame units (about 0.5 second). The robotics hardware abstraction layer 1370 controls the robot control board 1390 according to the control data to drive the motion of the robot.

The method of the present invention as described above may be embodied as a program and stored in a computer-readable recording medium (such as a CD-ROM, a RAM, a ROM, a floppy disk, a hard disk, or a magneto-optical disk).

While the specification contains many features, such features should not be construed as limiting the scope of the invention or the scope of the claims. In addition, the features described in the individual embodiments herein may be combined and implemented in a single embodiment. Conversely, various features described herein in a single embodiment may be implemented in various embodiments individually or in a suitable subcombination.

It is to be understood that, although the operations have been described in a particular order in the figures, it should be understood that such operations are performed in a particular order as shown, or that a series of sequential orders, or all described operations, . In some circumstances, multitasking and parallel processing may be advantageous. It should also be understood that the division of various system components in the above embodiments does not require such distinction in all embodiments. The above-described program components and systems can generally be implemented as a single software product or as a package in multiple software products.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The present invention is not limited to the drawings.

210: Motion Editing Unit 220:
230: synchronization unit 240: template management unit
250: file processor 260: 3D rendering unit

Claims (32)

delete delete delete A robot content authoring apparatus for outputting an interface including an edit region and a motion event track,
A rendering unit for implementing and expressing a 3D robot model in the editing area; And
And a motion editing unit for generating a robot motion event according to a motion operation of the robot model of the editing area and arranging the robot motion event on the motion event track according to time,
The motion-
A head motion event bar having a length corresponding to the driving time including information on a motion angle of the head, the motion information including a head motion of the robot model, Placed on a motion event track,
Wherein a line corresponding to a line of sight of the robot model and a reference line corresponding to a position of the robot model are displayed, an angle between a line along the line of sight and the reference line is calculated as a head movement angle,
Wherein a display device is displayed on the neck joint part of the robot model and a line corresponding to the reference line and the line of sight is displayed when the display device is selected. 5. The method of claim 4,
The motion-
And changes the screen of the editing area to a perspective view when the head motion editing mode is operated. delete delete A robot content authoring apparatus for outputting an interface including an edit region and a motion event track,
A rendering unit for implementing and expressing a 3D robot model in the editing area; And
And a motion editing unit for generating a robot motion event according to a motion operation of the robot model of the editing area and arranging the robot motion event on the motion event track according to time,
The motion-
Wherein the moving image editing mode changes the screen of the editing area to a top view and displays two moving image editing related indicators on the robot model of the editing area,
Wherein one of the two indicators is a forward-backward motion edit indicator and the other is a rotational motion edit indicator,
The motion-
When the forward / backward motion editing / editing indicator is selected, a movement distance is calculated in accordance with an operation for moving the robot model back and forth, a movement speed is input from a user, and a movement motion event bar including information of the movement distance Is arranged in the motion event track in a length corresponding to the motion event track. 9. The method of claim 8,
The motion-
Wherein the editing area displays the position line before movement and the position line after movement of the robot model and displays the movement distance therebetween. A robot content authoring apparatus for outputting an interface including an edit region and a motion event track,
A rendering unit for implementing and expressing a 3D robot model in the editing area; And
And a motion editing unit for generating a robot motion event according to a motion operation of the robot model of the editing area and arranging the robot motion event on the motion event track according to time,
The motion-
Wherein the moving image editing mode changes the screen of the editing area to a top view and displays two moving image editing related indicators on the robot model of the editing area,
Wherein one of the two indicators is a forward-backward motion edit indicator and the other is a rotational motion edit indicator,
The motion-
When the user selects the rotation motion edit indicator, the rotation angle is calculated in accordance with the operation of the robot model rotation, the rotation speed is input from the user, and the motion motion event bar including the rotation angle information corresponds to the rotation time Wherein the motion event track is arranged in the motion event track. 11. The method of claim 10,
The motion-
A line at a time point before the rotation of the robot model and a line at a time point after the rotation are displayed in the editing area, and a rotation angle is displayed between the lines. delete delete The method according to any one of claims 4, 5, and 8 to 11,
A motion reproducing unit for operating the robot model of the editing region according to an event disposed on the motion event track; And
And a synchronization unit for establishing communication with the physical physical robot and synchronizing the operation of the robot model with the operation of the actual robot. The method according to any one of claims 4, 5, and 8 to 11,
In the content editing mode, the editing area is switched to an emulation area where the robot model only operates in a virtual space, a preview window for outputting the media is displayed, the motion event track is switched to a content event track,
A template management unit for storing a template and a media template of the robot motion event generated by the motion editing unit and providing a list; And
And a content authoring unit for presenting the robot motion event and the media selected from the list provided by the template management unit with the robot motion event and an event bar having a length corresponding to the playback length of the media, Robot content authoring device. 16. The method of claim 15,
The content authoring unit,
When the reproduction input is received, the robot model of the emulation area is operated according to the robot motion event arranged in the content event track, and the media arranged in the content event track is reproduced and output to the preview window A robot content authoring device. delete delete delete As a method for authoring robot contents in a robot content authoring apparatus,
Outputting an interface including an edit area and a motion event track;
Embodying and expressing a three-dimensional robot model in the editing area; And
Generating a robot motion event according to a motion operation on the robot model of the editing area and arranging the robot motion event on the motion event track according to time,
Wherein the disposing comprises:
Calculating a movement angle of the head according to an operation of the head of the robot model and receiving a driving time; And
And placing a head motion event bar having a length corresponding to the drive time in the motion event track, the motion event track including information on the motion angle of the head,
The method of claim 1,
Displaying a line according to a line of sight of the robot model and a reference line according to the position of the robot model; And
And calculating an angle between the line along the line of sight and the reference line as a movement angle of the head,
Wherein the step of displaying the line comprises:
Wherein a display device is displayed on a neck joint portion of the robot model, and when the display device is selected, a line corresponding to the reference line and the line of sight is displayed. 21. The method of claim 20,
And changing a screen of the editing area to a perspective view. delete delete As a method for authoring robot contents in a robot content authoring apparatus,
Outputting an interface including an edit area and a motion event track;
Embodying and expressing a three-dimensional robot model in the editing area; And
Generating a robot motion event according to a motion operation on the robot model of the editing area and arranging the robot motion event on the motion event track according to time,
After the expressing step,
Changing the screen of the editing area to a height view and displaying two moving images on the robot model of the editing area;
Wherein one of the two indicators is a forward-backward motion edit indicator and the other is a rotational motion edit indicator,
Wherein the disposing comprises:
Calculating a movement distance in accordance with an operation for back and forth movement of the robot model and receiving a movement speed from a user when the forward / backward motion edit / display controller is selected; And
And arranging a moving motion event bar including information on the moving distance on the motion event track in a length corresponding to the moving time. 25. The method of claim 24,
The method of claim 1,
And displaying the position line before movement and the position line after movement of the robot model in the editing area, and displaying the movement distance therebetween. As a method for authoring robot contents in a robot content authoring apparatus,
Outputting an interface including an edit area and a motion event track;
Embodying and expressing a three-dimensional robot model in the editing area; And
Generating a robot motion event according to a motion operation on the robot model of the editing area and arranging the robot motion event on the motion event track according to time,
After the expressing step,
Changing a screen of the editing area to a top view and displaying two moving images on the robot model of the editing area,
Wherein one of the two indicators is a forward-backward motion edit indicator and the other is a rotational motion edit indicator,
Wherein the disposing comprises:
Calculating a rotation angle according to an operation on the rotation of the robot model and receiving a rotation speed from a user when the rotation motion edit indicator is selected; And
And arranging a moving motion event bar including information on the rotation angle on the motion event track in a length corresponding to the rotation time. 27. The method of claim 26,
The method of claim 1,
And displaying a line at a time point before the rotation and a line at a time point after the rotation of the robot model in the editing area, and displaying a rotation angle between the lines. delete delete 28. The method according to any one of claims 20, 21, 24-27,
Communicating with a physical physical robot and synchronizing the operation of the robot model and the actual robot; And
And operating the robot model of the editing area according to an event arranged on the motion event track. 28. The method according to any one of claims 20, 21, 24-27,
Converting the editing area into an emulation area in which the robot model only operates in a virtual space, displaying a preview window for outputting the media, and converting the motion event track into a content event track;
Providing a template of a robot motion event and a list of media templates; And
And displaying the robot motion event and the media selected from the list in an event bar having a length corresponding to a playback length of the robot motion event and the media, and arranging the robot motion event and the media on the content event track. 32. The method of claim 31,
And operating the robot model of the emulation area in accordance with the robot motion event arranged in the content event track and reproducing the media arranged in the content event track and outputting the media to the preview window. A method of authoring robot contents.

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