An AI intelligent teaching robot control system and method

Abstract

The present invention provides an AI intelligent teaching robot control system and method. Among them, the system includes: a first acquisition module for acquiring the student situation of students in the classroom; a first determination module for determining teaching content based on the student situation; a second acquisition module for acquiring the position distribution of students in the classroom; a second determination module for determining the teaching position based on the position distribution; and a control module for controlling the intelligent teaching robot to go to the teaching position and teach the students according to the teaching content. The AI intelligent teaching robot control system and method of the present invention determine a suitable teaching position based on the position distribution of students in the classroom, enabling the intelligent teaching robot to imitate a teacher to adjust the lecture position according to the position distribution of students without the need for students to adjust their positions, improving convenience. In addition, according to the student situation, suitable teaching content is determined, and the intelligent teaching robot is controlled to teach with this teaching content to avoid affecting the teaching effect.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and particularly relates to an AI intelligent teaching robot control system and method. Background Art

[0002] At present, when using a robot to replace humans for teaching, the robot is set at a fixed position in the classroom to teach students. However, the positions of students in the classroom are not fixed (for example: the students do not fill the classroom and are scattered; or for example: the students are concentrated in a certain area of the classroom). If the robot still teaches at a fixed position, some students may need to adjust their positions, resulting in poor convenience and inability to imitate a teacher to adjust the teaching position according to the position distribution of students. In addition, the listening progress of different students may be different. If the same teaching content is used for teaching, it may affect the teaching effect.

[0003] Therefore, a solution is urgently needed. Summary of the Invention

[0004] One of the purposes of the present invention is to provide an AI intelligent teaching robot control system and method. Based on the position distribution of students in the classroom, a suitable teaching position is determined, and the intelligent teaching robot is controlled to go to the teaching position, so as to realize that the intelligent teaching robot imitates a teacher to adjust the teaching position according to the position distribution of students, that is, to realize AI, without the need for students to adjust their positions, improving convenience. In addition, according to the student situation, a suitable teaching content is determined, and the intelligent teaching robot is controlled to teach with this teaching content to avoid affecting the teaching effect.

[0005] An AI intelligent teaching robot control system provided by an embodiment of the present invention includes:

[0006] A first acquisition module for acquiring the student situation of students in the classroom;

[0007] A first determination module for determining the teaching content based on the student situation;

[0008] A second acquisition module for acquiring the position distribution of students in the classroom;

[0009] A second determination module for determining the teaching position based on the position distribution;

[0010] A control module for controlling the intelligent teaching robot to go to the teaching position and teach students according to the teaching content.

[0011] Preferably, the first determination module determines the teaching content based on the student situation, including:

[0012] Acquire the course content;

[0013] Analyze the progress of students' listening corresponding to the course content among students;

[0014] Determine the target course content after the minimum listening progress in the course content;

[0015] Obtain the progress bar of the target course content;

[0016] Determine the first progress points on the progress bar corresponding to the minimum listening progress and the maximum listening progress;

[0017] Determine the second progress points of multiple teaching progress between the first progress points on the progress bar;

[0018] Determine the progress intervals formed by pairwise combinations of the first progress points and the second progress points on the progress bar;

[0019] Determine the third progress points on the progress bar corresponding to the listening progress other than the minimum listening progress and the maximum listening progress;

[0020] Traverse the progress intervals in sequence;

[0021] Each time during traversal, obtain the teaching speed corresponding to the number of third progress points falling within the traversed progress interval;

[0022] Adjust the initial teaching speed of the partial course content corresponding to the traversed progress interval in the target course content to the teaching speed;

[0023] After the traversal of the progress intervals is completed, use the target course content as the teaching content to complete the determination.

[0024] Preferably, the second determination module determines the teaching position based on the position distribution, including:

[0025] Analyze the student position and face orientation of students in the position distribution;

[0026] Construct the first direction vector of the student based on the student position and face orientation of the student;

[0027] Obtain multiple free positions in the classroom that can accommodate the intelligent teaching robot except for the student positions of the students;

[0028] Traverse the free positions in sequence;

[0029] Each time during traversal, construct the second direction vector of the student based on the traversed free position and the straight-line direction from the free position to the student position of the student;

[0030] Calculate the first vector included angle between the first direction vector and the second direction vector of the same student;

[0031] Accumulate and calculate the first vector included angle to obtain the vector included angle sum;

[0032] After traversing all the idle positions, the idle position where the maximum vector angle is obtained during traversal is used as the teaching position, and the determination is completed.

[0033] Preferably, the control module controls the intelligent teaching robot to go to the teaching position and teach the students according to the teaching content, including:

[0034] Obtain the current position of the intelligent teaching robot;

[0035] Based on the current position, position distribution, and teaching position, plan the forward route;

[0036] Based on the forward route, control the intelligent teaching robot to go to the teaching position;

[0037] During the process of the intelligent teaching robot going to the teaching position, obtain the student movement status of the students within a preset distance range in the forward direction of the intelligent teaching robot;

[0038] Based on the student movement status, correct the forward route;

[0039] Based on the corrected forward route, continue to control the intelligent teaching robot to go to the teaching position in a relay manner.

[0040] Preferably, the control module corrects the forward route based on the student movement status, including:

[0041] Analyze the action position and action direction of the action part of the student in the student movement status;

[0042] Obtain the future movement route of the intelligent teaching robot with a preset length on the forward route;

[0043] Set a route point at every preset interval distance on the future movement route;

[0044] Traverse the route points in sequence;

[0045] Each time during traversal, obtain the straight-line distance between the action position of the action part of the student and the traversed route point;

[0046] If the straight-line distance is less than or equal to the preset straight-line distance threshold, regard the action part of the corresponding student as the target action part;

[0047] Based on the action position and action direction of the target action part, construct the third direction vector of the target action part;

[0048] Based on the traversed route point and the straight-line direction from the traversed route point to the action position of the target action part, construct the fourth direction vector;

[0049] Calculate the second vector angle between the third direction vector and the fourth direction vector;

[0050] If the included angle of the second vector is greater than or equal to a preset vector included angle threshold, obtain the target direction from the action position of the target action part to the traversed route point;

[0051] Obtain the correction limit corresponding to the traversed route point for the position distribution;

[0052] Determine the correction length corresponding to the target direction from the correction limit;

[0053] Correct the traversed route point in the target direction by the correction length.

[0054] A method for controlling an AI intelligent teaching robot provided by an embodiment of the present invention includes:

[0055] Step 1: Obtain the student situation of the students in the classroom;

[0056] Step 2: Determine the teaching content based on the student situation;

[0057] Step 3: Obtain the position distribution of the students in the classroom;

[0058] Step 4: Determine the teaching position based on the position distribution;

[0059] Step 5: Control the intelligent teaching robot to go to the teaching position and teach the students according to the teaching content.

[0060] Preferably, step 2: Determine the teaching content based on the student situation, including:

[0061] Obtain the course content;

[0062] Analyze the listening progress of the students corresponding to the course content in the student situation;

[0063] Determine the target course content after the minimum listening progress in the course content;

[0064] Obtain the progress bar of the target course content;

[0065] Determine the first progress points on the progress bar corresponding to the minimum listening progress and the maximum listening progress;

[0066] Determine the second progress points of multiple teaching progressions between the first progress points on the progress bar;

[0067] Determine the progress intervals formed by pairwise combinations of the first progress points and the second progress points on the progress bar;

[0068] Determine the third progress points on the progress bar corresponding to the listening progress other than the minimum listening progress and the maximum listening progress;

[0069] Traverse the progress intervals in sequence;

[0070] During each traversal, obtain the teaching speed corresponding to the number of third progress points that fall within the traversed progress interval.

[0071] Adjust the initial teaching speed of the partial course content corresponding to the traversed progress interval in the target course content to the teaching speed.

[0072] After the traversal of the progress interval is completed, determine the target course content as the teaching content.

[0073] Preferably, step 4: Determine the teaching position based on the position distribution, including:

[0074] Analyze the student positions and face orientations of the students in the position distribution.

[0075] Based on the student positions and face orientations of the students, construct the first direction vector of the students.

[0076] Obtain multiple free positions in the classroom that can accommodate the intelligent teaching robot except for the student positions of the students.

[0077] Traverse the free positions in sequence.

[0078] During each traversal, based on the traversed free position and the straight-line direction from the free position to the student position of the student, construct the second direction vector of the student.

[0079] Calculate the first vector angle between the first direction vector and the second direction vector of the same student.

[0080] Accumulatively calculate the first vector angle to obtain the vector angle sum.

[0081] After the traversal of the free positions is completed, determine the free position traversed when the maximum vector angle sum is obtained as the teaching position.

[0082] Preferably, step 5: Control the intelligent teaching robot to go to the teaching position and teach the students according to the teaching content, including:

[0083] Obtain the current position of the intelligent teaching robot.

[0084] Based on the current position, position distribution, and teaching position, plan the forward route.

[0085] Based on the forward route, control the intelligent teaching robot to go to the teaching position.

[0086] During the process of the intelligent teaching robot going to the teaching position, obtain the student movement conditions of the students within a preset distance range in the forward direction of the intelligent teaching robot.

[0087] Based on the student movement conditions, correct the forward route.

[0088] Based on the corrected forward route, the relay control intelligent teaching robot continues to move towards the teaching position.

[0089] Preferably, the forward route is corrected based on the student's movement situation, including:

[0090] Analyze the action position and action direction of the action part of the student in the student's movement situation;

[0091] Obtain the future movement route of the intelligent teaching robot with a preset length on the forward route;

[0092] Set a route point at every preset interval distance on the future movement route;

[0093] Traverse the route points in sequence;

[0094] Each time during traversal, obtain the straight-line distance between the action position of the student's action part and the traversed route point;

[0095] If the straight-line distance is less than or equal to the preset straight-line distance threshold, regard the action part of the corresponding student as the target action part;

[0096] Based on the action position and action direction of the target action part, construct the third direction vector of the target action part;

[0097] Based on the traversed route point and the straight-line direction from the traversed route point to the action position of the target action part, construct the fourth direction vector;

[0098] Calculate the second vector angle between the third direction vector and the fourth direction vector;

[0099] If the second vector angle is greater than or equal to the preset vector angle threshold, obtain the target direction from the action position of the target action part to the traversed route point;

[0100] Obtain the correction limit corresponding to the position distribution of the traversed route point;

[0101] Determine the correction length corresponding to the target direction from the correction limit;

[0102] Correct the traversed route point by the correction length in the target direction.

[0103] Other features and advantages of the present invention will be described in the subsequent specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written specification, claims, and drawings.

[0104] The technical solutions of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0105] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the accompanying drawings:

[0106] Figure 1 It is a schematic diagram of a control system and method for an AI intelligent teaching robot in an embodiment of the present invention;

[0107] Figure 2 It is a schematic diagram of the process of determining teaching content;

[0108] Figure 3 It is a schematic diagram of the process of determining teaching positions;

[0109] Figure 4 It is a schematic diagram of the process of correcting the forward route;

[0110] Figure 5 It is a schematic diagram of a control system and method for an AI intelligent teaching robot in an embodiment of the present invention. Detailed implementation manners

[0111] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to explain and illustrate the present invention and are not used to limit the present invention.

[0112] An embodiment of the present invention provides a control system for an AI intelligent teaching robot, as Figure 1 shown, including:

[0113] A first acquisition module 1, configured to acquire the student situation of students in the classroom;

[0114] A first determination module 2, configured to determine teaching content based on the student situation;

[0115] A second acquisition module 3, configured to acquire the position distribution of students in the classroom;

[0116] A second determination module 4, configured to determine teaching positions based on the position distribution;

[0117] A control module 5, configured to control the intelligent teaching robot to go to the teaching positions to teach students according to the teaching content.

[0118] The working principle and beneficial effects of the above technical solution are:

[0119] The specific situation of the students is as follows: the progress of the students' class attendance, for example, at the end of the first class hour, it can be determined based on the students' class attendance records. Based on the students' situation, the teaching content is determined, and teaching starts from the minimum class attendance progress of the students to ensure that each student can connect with the courses. The specific position distribution of the students in the classroom is as follows: the positions and facial orientations of each student in the classroom can be determined based on the images captured by the cameras in the classroom. Based on the position distribution, the teaching position is determined, and the position is determined such that each student can view the teaching actions and teaching demonstrations of the robot during teaching. Control the intelligent teaching robot to go to the teaching position and teach the students according to the teaching content.

[0120] Based on the position distribution of the students in the classroom, this application determines a suitable teaching position, controls the intelligent teaching robot to go to the teaching position, and realizes that the intelligent teaching robot imitates a teacher to adjust the lecturing position according to the position distribution of the students, that is, realizes AI, without the need for students to adjust their positions, improving convenience. In addition, according to the students' situation, suitable teaching content is determined, and the intelligent teaching robot is controlled to teach with this teaching content to avoid affecting the teaching effect.

[0121] In one embodiment, as Figure 2 shown, the first determination module 2 determines the teaching content based on the students' situation, including:

[0122] Obtain the course content;

[0123] Analyze the class attendance progress of the students corresponding to the course content in the students' situation;

[0124] Determine the target course content after the minimum class attendance progress in the course content;

[0125] Obtain the progress bar A of the target course content;

[0126] Determine the first progress point B on the progress bar A corresponding to the minimum class attendance progress and the maximum class attendance progress;

[0127] Determine the second progress point C of multiple teaching progressions between the first progress points B on the progress bar A;

[0128] Determine the progress interval D formed by pairwise combinations of the first progress points B and the second progress points C on the progress bar A;

[0129] Determine the third progress point E on the progress bar A corresponding to the class attendance progress other than the minimum class attendance progress and the maximum class attendance progress;

[0130] Traverse the progress interval D in sequence;

[0131] Each time during traversal, obtain the teaching speed corresponding to the number of third progress points E falling within the traversed progress interval D;

[0132] Adjust the initial teaching speed of the part of the course content corresponding to the traversed progress interval in the target course content to the teaching speed;

[0133] After the traversal of the progress interval ends, determine the target course content as the teaching content.

[0134] The working principle and beneficial effects of the above technical solution are as follows:

[0135] The course content is specifically the teaching content of the course of the intelligent robot teaching subject. Determine the target course content after the minimum listening progress in the course content, so that when the intelligent robot teaches, it can ensure that every student can carry out course connection. The multiple teaching progress is specifically the progress generated by dividing the teaching content in advance, for example: the end of the first class, the end of the second class, etc. The more the number of the third progress points E falling within the traversed progress interval D, it means that more students have listened up to this point. Therefore, it is necessary to appropriately slow down the teaching speed, and the corresponding teaching speed is smaller. The initial teaching speed is specifically: there is a part of the course content corresponding to the traversed progress interval in the target course content, that is, the course content between two teaching progress. To facilitate the intelligent robot to give lectures at a certain speed, set the initial teaching speed, and the initial teaching speed is the teaching speed suitable for newly learning students. After the traversal of the progress interval ends, all the initial teaching speeds that need to be adjusted are adjusted, and the target course content is determined as the teaching content.

[0136] Under the premise of ensuring that every student can carry out course connection, this application adaptively adjusts the teaching speed according to the number of the third progress points in each progress interval, so that the robot reduces the teaching speed for the teaching content with concentrated listening progress and increases the teaching speed for the teaching content with non-concentrated listening progress, avoiding emotions such as boredom for students who repeat listening.

[0137] In one embodiment, as Figure 3 shown, the second determination module 4 determines the teaching position based on the position distribution, including:

[0138] Analyze the student position F and the face orientation G of the students in the position distribution;

[0139] Based on the student position F and the face orientation G of the students, construct the first direction vector of the students;

[0140] Obtain multiple idle positions H in the classroom that can accommodate the intelligent teaching robot except for the student position F of the students;

[0141] Traverse the idle positions H in sequence;

[0142] Each time during the traversal, based on the traversed idle position H and the straight-line direction I from the idle position H to the student position F of the students, construct the second direction vector of the students;

[0143] Calculate the first vector angle between the first direction vector and the second direction vector of the same student;

[0144] Accumulate and calculate the first vector angle to obtain the sum of vector angles;

[0145] After traversing the idle positions, use the idle position traversed when obtaining the maximum sum of vector angles as the teaching position to complete the determination.

[0146] The working principle and beneficial effects of the above technical solution are as follows:

[0147] In some special classrooms (such as dance studios), students will sit side by side on the ground around the teaching robot. Wherever the students' faces are facing, they hope the teaching robot will be in that direction. The first direction vector reflects the viewing direction of the students. The second direction vector reflects the display direction of the students if the robot is at the traversed idle position. Generally, when the students are looking directly at the robot, the first vector angle is 180 degrees, and when the students are completely sideways to the robot, the first vector angle is 90 degrees. Therefore, the larger the first vector angle, the better the viewing angle when the students view the teaching actions and teaching displays of the robot. Then, use the idle position traversed when obtaining the maximum sum of vector angles as the teaching position, so as to ensure that each student views the teaching of the robot at the best angle as much as possible, greatly improving the accuracy and determination efficiency of teaching position determination and realizing AI.

[0148] In one embodiment, the control module 5 controls the intelligent teaching robot to go to the teaching position to teach the students according to the teaching content, including:

[0149] Obtain the current position of the intelligent teaching robot;

[0150] Based on the current position, position distribution, and teaching position, plan the forward route;

[0151] Based on the forward route, control the intelligent teaching robot to go to the teaching position;

[0152] During the process of the intelligent teaching robot going to the teaching position, obtain the student action conditions of the students within a preset distance range in the forward direction of the intelligent teaching robot;

[0153] Based on the student action conditions, correct the forward route;

[0154] Based on the corrected forward route, relay to control the intelligent teaching robot to continue going to the teaching position.

[0155] The working principle and beneficial effects of the above technical solution are as follows:

[0156] It is necessary to control the intelligent teaching robot to move to the teaching position. During the movement, it needs to avoid students to prevent collisions. Therefore, based on the current position, position distribution and teaching position of the intelligent teaching robot, the forward route is planned. The route planning of the robot belongs to the category of existing technologies and will not be elaborated here. However, although the students are in fixed positions (for example, sitting on chairs), they may make a series of movements (such as waving hands to practice dancing, etc.), which may collide with the intelligent teaching robot, and further obstacle avoidance is required. Therefore, during the process of the intelligent teaching robot moving to the teaching position, the student movement conditions of the students within a preset distance range in the forward direction of the intelligent teaching robot are obtained. The preset distance range is specifically: 1.5 meters. The student movement conditions are specifically: the parts and directions of the movements made by the students, etc. Based on the student movement conditions, the forward route is corrected to avoid the future movement paths of the movements, realizing obstacle avoidance. Based on the corrected forward route, the intelligent teaching robot is controlled in a relay manner to continue moving to the teaching position. To a great extent, the safety of the intelligent teaching robot during movement is improved, which is especially applicable to the classroom scenarios where it is crowded after the students enter the classroom.

[0157] In one embodiment, as Figure 4 shown, the control module 5 corrects the forward route based on the student movement conditions, including:

[0158] Analyze the action positions and action directions of the action parts of the students in the student movement conditions;

[0159] Obtain the future movement route of the intelligent teaching robot with a preset length on the forward route;

[0160] Set a route point J at every preset interval distance on the future movement route;

[0161] Traverse the route points J in sequence;

[0162] Each time during the traversal, obtain the straight-line distance between the action position of the action part of the student and the traversed route point J;

[0163] If the straight-line distance is less than or equal to the preset straight-line distance threshold, regard the action part of the corresponding student as the target action part;

[0164] Based on the action position K and action direction L of the target action part, construct the third direction vector of the target action part;

[0165] Based on the traversed route point J and the straight-line direction M from the traversed route point J to the action position K of the target action part, construct the fourth direction vector;

[0166] Calculate the second vector angle between the third direction vector and the fourth direction vector;

[0167] If the included angle between the second vectors is greater than or equal to a preset vector included angle threshold, obtain the target direction N of the route point J traversed from the action position K of the target action part;

[0168] Obtain the correction limit of the traversed route point corresponding to the position distribution O;

[0169] Determine the correction length P corresponding to the target direction N from the correction limit;

[0170] Correct the traversed route point by the correction length P in the target direction N.

[0171] The working principle and beneficial effects of the above technical solution are as follows:

[0172] The action position and action direction of the action part are specifically, for example: when a student makes a waving action, the action part is the hand, the action position is the position of the hand, and the action direction is the direction the hand waves to. The preset length is specifically: 1.6 meters. Obtain the future movement route of the intelligent teaching robot with a preset length on the forward route to achieve short-term obstacle avoidance and improve the timeliness of obstacle avoidance. The preset interval distance is specifically: 0.25 meters. If the straight-line distance is less than or equal to the preset straight-line distance threshold, it means that the action part of the corresponding student is relatively close to the traversed route point. As the target action part, determine the positional relationship between it and the traversed route point and conduct obstacle avoidance planning. The third direction vector of the target action part reflects the future action trend of the target action part. If the included angle between the second vectors is greater than or equal to the preset vector included angle threshold, it means that the target action part is approaching the traversed route point, and the traversed route point should be avoided. The direction from the action position of the target action part to the target direction of the traversed route point is used as the avoidance direction. However, when avoiding, the position distribution of the student needs to be used as a constraint to avoid collisions with the student. Obtain the correction limit of the traversed route point corresponding to the position distribution. The correction limit contains the maximum limit distance for the traversed route point to move in multiple directions, and the maximum limit distance is the correction distance that does not collide with other students. Determine the correction length corresponding to the target direction from the correction limit. The correction length is the moving distance for the traversed route point to move in the target direction without colliding with other students. Correcting the traversed route point by the correction length in the target direction means moving the traversed route point along the target direction by the correction length. The route points are freely stretched between each other.

[0173] This application corrects the route points one by one according to the student's action situation, avoids collisions, improves the correction efficiency and accuracy of route correction. In addition, when correcting, the correction limit is introduced. On the premise of ensuring no collision after correction, it also avoids collisions with other students, improves the rationality of correction, and has good applicability at the same time.

[0174] An embodiment of the present invention provides an AI intelligent teaching robot control method, as Figure 5 shown, including:

[0175] Step 1: Obtain the student situation of students in the classroom;

[0176] Step 2: Determine the teaching content based on the student situation;

[0177] Step 3: Obtain the location distribution of students in the classroom;

[0178] Step 4: Determine the teaching location based on the location distribution;

[0179] Step 5: Control the intelligent teaching robot to go to the teaching location and teach the students according to the teaching content.

[0180] In one embodiment, Step 2: Determine the teaching content based on the student situation, including:

[0181] Obtain the course content;

[0182] Analyze the listening progress of students corresponding to the course content in the student situation;

[0183] Determine the target course content after the minimum listening progress in the course content;

[0184] Obtain the progress bar of the target course content;

[0185] Determine the first progress points on the progress bar corresponding to the minimum listening progress and the maximum listening progress;

[0186] Determine the second progress points of multiple teaching progress between the first progress points on the progress bar;

[0187] Determine the progress intervals formed by pairwise combinations of the first progress points and the second progress points on the progress bar;

[0188] Determine the third progress points on the progress bar corresponding to the listening progress other than the minimum listening progress and the maximum listening progress;

[0189] Traverse the progress intervals in sequence;

[0190] Each time during traversal, obtain the teaching speed corresponding to the number of third progress points falling within the traversed progress interval;

[0191] Adjust the initial teaching speed of the partial course content corresponding to the traversed progress interval in the target course content to the teaching speed;

[0192] After the traversal of the progress intervals ends, use the target course content as the teaching content to complete the determination.

[0193] In one embodiment, step 4: determining the teaching position based on the position distribution, including:

[0194] Analyze the student positions and face orientations of the students in the position distribution;

[0195] Based on the student positions and face orientations of the students, construct the first direction vector of the students;

[0196] Obtain multiple free positions in the classroom that can accommodate the intelligent teaching robot except for the student positions of the students;

[0197] Traverse the free positions in sequence;

[0198] Each time during traversal, based on the traversed free position and the straight-line direction from the free position to the student position of the student, construct the second direction vector of the student;

[0199] Calculate the first vector angle between the first direction vector and the second direction vector of the same student;

[0200] Accumulatively calculate the first vector angle to obtain the vector angle sum;

[0201] After traversing the free positions, use the free position traversed when the maximum vector angle sum is obtained as the teaching position to complete the determination.

[0202] In one embodiment, step 5: controlling the intelligent teaching robot to go to the teaching position to teach the students according to the teaching content, including:

[0203] Obtain the current position of the intelligent teaching robot;

[0204] Based on the current position, position distribution, and teaching position, plan the forward route;

[0205] Based on the forward route, control the intelligent teaching robot to go to the teaching position;

[0206] During the process of the intelligent teaching robot going to the teaching position, obtain the student action conditions of the students within a preset distance range in the forward direction of the intelligent teaching robot;

[0207] Based on the student action conditions, correct the forward route;

[0208] Based on the corrected forward route, continuously control the intelligent teaching robot to continue going to the teaching position.

[0209] In one embodiment, based on the student action conditions, correcting the forward route includes:

[0210] Analyze the action positions and action directions of the action parts of the students in the student action conditions;

[0211] Obtain the future movement route of the intelligent teaching robot with a preset length on the forward route;

[0212] Set a route point at every preset interval distance on the future movement route;

[0213] Traverse the route points in sequence;

[0214] Each time during traversal, obtain the straight-line distance between the movement position of the student's body part and the traversed route point;

[0215] If the straight-line distance is less than or equal to the preset straight-line distance threshold, regard the corresponding student's body part as the target body part;

[0216] Based on the movement position and movement direction of the target body part, construct the third direction vector of the target body part;

[0217] Based on the traversed route point and the straight-line direction from the traversed route point to the movement position of the target body part, construct the fourth direction vector;

[0218] Calculate the second vector angle between the third direction vector and the fourth direction vector;

[0219] If the second vector angle is greater than or equal to the preset vector angle threshold, obtain the target direction from the movement position of the target body part to the traversed route point;

[0220] Obtain the correction limit corresponding to the position distribution of the traversed route point;

[0221] Determine the correction length corresponding to the target direction from the correction limit;

[0222] Correct the traversed route point by the correction length in the target direction.

[0223] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these changes and modifications.

Claims

1. An AI intelligent teaching robot control system, characterized in that, Including: A first acquisition module, configured to acquire the student situation of students in the classroom; A first determination module, configured to determine teaching content based on the student situation; A second acquisition module, configured to acquire the position distribution of the students in the classroom; A second determination module, configured to determine a teaching position based on the position distribution; A control module, configured to control an intelligent teaching robot to go to the teaching position and teach the students according to the teaching content; The first determination module determines teaching content based on the student situation, including: Acquiring course content; Analyzing the listening progress of the students corresponding to the course content in the student situation; Determining target course content after the minimum listening progress in the course content; Acquiring a progress bar of the target course content; Determining a first progress point corresponding to the minimum listening progress and the maximum listening progress on the progress bar; Determining second progress points of multiple teaching progressions between the first progress points on the progress bar; Determining a progress interval formed by pairwise combination of the first progress points and the second progress points on the progress bar; Determining a third progress point corresponding to the listening progress other than the minimum listening progress and the maximum listening progress on the progress bar; Traversing the progress intervals in sequence; Each time during traversal, acquiring a teaching speed corresponding to the number of the third progress points falling within the traversed progress interval; Adjusting an initial teaching speed of a partial course content corresponding to the traversed progress interval in the target course content to the teaching speed; After traversing the progress intervals, taking the target course content as the teaching content to complete the determination.

2. The AI intelligent teaching robot control system according to claim 1, wherein, The second determination module determines a teaching position based on the position distribution, including: Analyzing the student positions and face orientations of the students in the position distribution; Constructing a first direction vector of the students based on the student positions and face orientations of the students; Acquiring multiple idle positions in the classroom that can accommodate the intelligent teaching robot except for the student positions of the students; Traversing the idle positions in sequence; Each time during traversal, constructing a second direction vector of the students based on the traversed idle position and the straight-line direction from the idle position to the student positions of the students; Calculating a first vector included angle between the first direction vector and the second direction vector of the same student; Accumulatively calculating the first vector included angle to obtain a vector included angle sum; After traversing the idle positions, taking the idle position traversed when obtaining the maximum vector included angle sum as the teaching position to complete the determination.

3. The AI intelligent teaching robot control system according to claim 1, characterized in that, The control module controls the intelligent teaching robot to go to the teaching position and teach the students according to the teaching content, including: Acquiring the current position of the intelligent teaching robot; Planning a forward route based on the current position, the position distribution, and the teaching position; Controlling the intelligent teaching robot to go to the teaching position based on the forward route; During the process of the intelligent teaching robot going to the teaching position, acquiring the student action situation of the students within a preset distance range in the forward direction of the intelligent teaching robot; Modify the forward route based on the student's action situation; Based on the modified forward route, relay to control the intelligent teaching robot to continue moving towards the teaching position.

4. An AI intelligent teaching robot control system according to claim 3, characterized in that, The control module modifies the forward route based on the student's action situation, including: Analyze the action position and action direction of the student's action part in the student's action situation; Obtain the future movement route of the intelligent teaching robot with a preset length on the forward route; Set a route point at a preset interval distance on the future movement route; Traverse the route points in sequence; Each time during traversal, obtain the straight-line distance between the action position of the student's action part and the traversed route point; If the straight-line distance is less than or equal to the preset straight-line distance threshold, regard the action part corresponding to the student as the target action part; Based on the action position and action direction of the target action part, construct the third direction vector of the target action part; Based on the traversed route point and the straight-line direction from the traversed route point to the action position of the target action part, construct the fourth direction vector; Calculate the second vector angle between the third direction vector and the fourth direction vector; If the second vector angle is greater than or equal to the preset vector angle threshold, obtain the target direction from the action position of the target action part to the traversed route point; Obtain the correction limit corresponding to the position distribution of the traversed route point; Determine the correction length corresponding to the target direction from the correction limit; Correct the traversed route point by the correction length in the target direction.

5. A control method for an AI intelligent teaching robot, characterized in that, Include: Step 1: Obtain the student situation of the students in the classroom; Step 2: Determine the teaching content based on the student situation; Step 3: Obtain the position distribution of the students in the classroom; Step 4: Determine the teaching position based on the position distribution; Step 5: Control the intelligent teaching robot to move to the teaching position and teach the students according to the teaching content; The step 2: Determine the teaching content based on the student situation, including: Obtain the course content; Analyze the listening progress of the students corresponding to the course content in the student situation; Determine the target course content after the minimum listening progress in the course content; Obtain the progress bar of the target course content; Determine the first progress points corresponding to the minimum listening progress and the maximum listening progress on the progress bar; Determine the second progress points of multiple teaching progressions between the first progress points on the progress bar; Determine the progress intervals formed by the pairwise combination of the first progress points and the second progress points on the progress bar; Determine the third progress points corresponding to the listening progress except for the minimum listening progress and the maximum listening progress on the progress bar; Traverse the progress intervals in sequence; Each time during traversal, obtain the teaching speed corresponding to the number of the third progress points falling within the traversed progress interval; Adjust the initial teaching speed of the partial course content corresponding to the traversed progress interval in the target course content to the teaching speed; After traversing the progress interval, the target course content is determined as the teaching content, and the determination is completed.

6. The control method of an AI intelligent teaching robot according to claim 5, characterized in that, Step 4: Determine the teaching position based on the position distribution, including: Analyze the student positions and face orientations of the students in the position distribution; Construct a first direction vector of the student based on the student's position and face orientation; Obtain multiple idle positions in the classroom that can accommodate the intelligent teaching robot except for the student positions of the students; Traverse the idle positions in sequence; Each time during traversal, construct a second direction vector of the student based on the traversed idle position and the straight-line direction from the idle position to the student's position; Calculate the first vector angle between the first direction vector and the second direction vector of the same student; Accumulatively calculate the first vector angles to obtain the vector angle sum; After traversing the idle positions, determine the idle position traversed when the maximum vector angle sum is obtained as the teaching position, and the determination is completed.

7. The control method of an AI intelligent teaching robot according to claim 5, characterized in that, Step 5: Control the intelligent teaching robot to go to the teaching position and teach the student according to the teaching content, including: Obtain the current position of the intelligent teaching robot; Plan a forward route based on the current position, the position distribution, and the teaching position; Control the intelligent teaching robot to go to the teaching position based on the forward route; During the process of the intelligent teaching robot going to the teaching position, obtain the student movement conditions of the students within a preset distance range in the forward direction of the intelligent teaching robot; Correct the forward route based on the student movement conditions; Based on the corrected forward route, continue to control the intelligent teaching robot to go to the teaching position in a relay manner.

8. The control method of an AI intelligent teaching robot according to claim 7, wherein The correcting the forward route based on the student movement conditions includes: Analyze the movement positions and movement directions of the movement parts of the students in the student movement conditions; Obtain the future movement route of the intelligent teaching robot with a preset length on the forward route; Set a route point at each preset interval distance on the future movement route; Traverse the route points in sequence; Each time during traversal, obtain the straight-line distance between the movement position of the movement part of the student and the traversed route point; If the straight-line distance is less than or equal to a preset straight-line distance threshold, take the movement part of the corresponding student as the target movement part; Construct a third direction vector of the target movement part based on the movement position and movement direction of the target movement part; Construct a fourth direction vector based on the traversed route point and the straight-line direction from the traversed route point to the movement position of the target movement part; Calculate the second vector angle between the third direction vector and the fourth direction vector; If the second vector angle is greater than or equal to a preset vector angle threshold, obtain the target direction from the movement position of the target movement part to the traversed route point; Obtain the correction limit of the traversed route point corresponding to the position distribution; Determine a correction length corresponding to the target direction from the correction limit; Correct the traversed route point in the target direction by the correction length.

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