RU2830330C1 - Sound-reproducing robotic structure "sea king" - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: invention relates to electromechanical sound-reproducing robotic structures which can be used in nursery, pre-school, cultural, entertainment and educational centres. Proposed sound-reproducing robot structure, made in the form of a Sea king figure, comprising a head in which placed are an eye movement mechanism, a mouth movement mechanism, a head and body turning mechanism, a crown, a hand movement mechanism, a trident, legs, a pedestal, a control unit, in which a presence sensor, a power supply, power supply buses of microcircuits of the control unit, a lighting source, a pulse generator with a command counter, a programmable read-only memory (PROM) are located, instruction register, phrase generator, low frequency amplifier (LFA), eye control signal generator, sound signal generator, mouth control signal generator, head and body turn control signal generator, hand movement control signal generator, wherein the presence sensor is connected to the input of the power supply, the output of the power supply is connected to the power supply buses of the control unit microcircuits and to the input of the lighting source, output of pulse generator with command counter is connected to input of PROM, outputs of PROM are connected to inputs of command register, outputs of command register are connected to input of phrase generators, to the head and body turn control signal generator input and to the hand movement control signal generator input, the phrase generator output is connected to the LFA input, LFA output is connected to the audio signal generator inputs and to the mouth control signal generator input, the eye control signal generator output is connected to the eye movement mechanism, audio signal generator is connected to the input of the speaker, outputs of the mouth control signal generator are connected to the input of the mouth control mechanism, outputs of head and body turn control signals generator are connected to head and body turn mechanism, outputs of the hand movement control signal generator are connected to the hand movement mechanism input, according to the invention, the visitor location sensors are excluded from the robotic structure and in the robotic structure the control panel is included, which includes a console sound receiver, an operator headphones, a console video receiver, a console display, a console microphone, a console sound amplifier, a console sound transmitter, a panel with controls, a console command generator, a console command transmitter; control unit includes external commands receiver and “External-internal” commands switch, at that, console audio receiver output is connected to operator headphones input, console video signal receiver output is connected to console display input, console microphone output is connected to console audio amplifier input, which is connected to console audio transmitter input, panel with controls is connected to console command generator input, output of the console commands generator is connected to the input of the console commands transmitter, the external commands receiver of the control unit is connected to the input of the "External-internal" commands switch, “External-internal” command switch output is connected to input of pulse generator with command counter. Microchips of K 561, K 176 series, standard memory elements, standard PROM, which are characterized by low cost and high reliability, are used as element base for sound-reproducing robotic structure.

EFFECT: feature of the proposed invention is that during operation no adjustment and preparatory work is required, since the proposed structure operates automatically in the mode of direct communication between the operator and the visitors through the robotic figure of the Sea king.

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Description

The invention relates to electromechanical, sound-reproducing robotic structures that can be used in children's, preschool, cultural, entertainment and educational centers.

There are a large number of robotic structures made in the form of fairy-tale and epic heroes, animals, people, performing movements of individual organs and producing sound information. (Applications No. 2594041 (France), No. 0S3536242 (FRG), No. 2585583 (France), No. 2635017 (France), No. 2594041 (FRG), No. 0S3703491 (FRG), RU 2090234). A talking doll is known, Russian Federation patent No. 94031919 A, which is a figure of a child with built-in speakers and actuators that cause the movement of speech organs synchronously with sound.

The prototype of the proposed invention is the robotic structure "Parrot", described in the Russian Federation patent for utility model No. 218 643, published on 02.06.2023, application No. 2022133323 dated 19.12.2022. The robotic structure is made in the form of a figure of a Parrot and contains a head in which the eyes and mouth are located, a body, a crest, wings, a mechanism for raising the wings and crest; a rod connecting the head and the body, a head rotation mechanism, legs fixed to a branch, and the head is connected to the body through a rod. The Parrot figure is placed on a tripod fixed on a rectangular pedestal where a control device is installed, which contains a pulse generator with a command counter, a ROM, a command register, the first phrase generator, a low-frequency amplifier, a generator of eye control signals, a generator of sound accompaniment signals, a generator of mouth control signals, a generator of head rotation control signals, a generator of wing and crest raising control signals, visitor location sensors (DP 1, DP 2, DP 3), an "OR" element, the second phrase generator, a presence sensor, a power source and a speaker. In the initial state, the Parrot is at rest. When visitors appear, the presence sensor is triggered, which turns on the power supply and the Parrot comes to life. The pulse generator with a command counter is turned on, the ROM is turned on, commands are formed at the output of the command register, which are executed. At the same time, the Parrot blinks its eyes, turns its head, raises its crest and wings, the parrot with an accent says separate unrelated words and phrases with the mouth moving in time with the words, for example, "I'm Kesha", "Hello", "Kesha is great", "I want to eat", "I'm very smart", "We will win" and so on. The phrases can be repeated and do not make sense, but they attract the attention of visitors who approach the Parrot. If a visitor approaches one of the visitor location sensors, the Parrot turns in his direction, looks at him attentively, blinks his eyes and produces phrases from the second phrase generator, for example: "Hello", "What is your name", "I'm Kesha", "I'm smart", "I like you" etc. The visitors leave, the presence sensor is triggered and the Parrot goes into rest mode.

The disadvantages of the prototype are that the robotic figure of the Parrot cannot move in space due to the presence of external sensors of the location of visitors, which are attached to the floor surface; the robotic figure of the Parrot has a one-way communication with visitors, since the sound information is pre-recorded on the phrase generator and, therefore, the robot cannot perform the functions of a tour guide, which significantly reduces its functionality.

The main goal The proposed invention is to eliminate the above-mentioned disadvantages.

The technical result is achieved in that the proposed sound-reproducing robotic structure, made in the form of a figure of the Sea King, contains a head in which an eye movement mechanism is located, a mouth movement mechanism, a head and torso rotation mechanism, a crown, an arm movement mechanism, a trident, legs, a pedestal, a control unit in which a presence sensor is located, a power source, power buses of the control unit microcircuits, a light source, a pulse generator with a command counter, a programmable read-only memory (PROM), a command register, a phrase generator, a low-frequency amplifier (LFA), a generator of eye control signals, a generator of sound accompaniment signals, a generator of mouth control signals, a generator of head and torso rotation control signals, a generator of arm movement control signals, wherein the presence sensor is connected to the input of the power source, the output of the power source is connected to the power buses of the control unit microcircuits and to the input of the light source, the output of the pulse generator with the command counter is connected to the input of the PROM, the outputs of the PROM are connected to the inputs of the command register, the outputs of the command register are connected to the input of the phrase generators, to the input of the head and torso rotation control signal generator and to the input of the hand movement control signal generator, the output of the phrase generator is connected to the input of the low frequency amplifier, the output of the low frequency amplifier is connected to the inputs of the sound accompaniment signal generator and to the input of the mouth control signal generator, the output of the eye control signal generator is connected to the eye movement mechanism, the sound accompaniment signal generator is connected to the input of the speaker, the outputs of the mouth control signal generator are connected to the input of the mouth control mechanism, the outputs of the head and torso rotation control signal generator are connected to the head and torso rotation mechanism, the outputs of the hand movement control signal generator are connected to the input of the hand movement mechanisms, according to the invention, the visitor location sensors are excluded from the composition of the robotic structure and a control panel is introduced into the composition of the robotic structure, which includes a console sound receiver, operator headphones, a video signal receiver remote control, remote control display, remote control microphone, remote control audio amplifier, remote control audio transmitter, control panel, remote control command generator, remote control command transmitter; the control unit includes an external command receiver and an "External-Internal" command switch, wherein the output of the remote control audio receiver is connected to the input of the operator's headphones, the output of the remote control video signal receiver is connected to the input of the remote control display, the output of the remote control microphone is connected to the input of the remote control audio amplifier, which is connected to the input of the remote control audio transmitter, the control panel is connected to the input of the remote control command generator, the output of the remote control command generator is connected to the input of the remote control command transmitter, the receiver of external commands of the control unit is connected to the input of the "External-Internal" command switch, the output of the "External-Internal" command switch is connected to the input of a pulse generator with a command counter.

The element base for the sound-reproducing robotic design of the structure is made up of microcircuits of the K 561, K 176 series, typical memory elements, standard EPROMs, which are characterized by low cost and high reliability. The peculiarity of the proposed invention is that no adjustment or preparatory work is required during operation, since the functioning of the proposed design occurs automatically in the mode of direct communication between the operator and visitors through the robotic figure of the Sea King.

The general appearance of the Sea King figure is shown in Fig. 1, the structural diagram of the control unit is shown in Fig. 2, the structural diagram of the control panel is shown in Fig. 3.

A sound-reproducing robotic structure made in the form of a figure of the Sea King 1, containing a head 2 in which an eye movement mechanism 3 is located, a mouth movement mechanism 4 and a head and torso rotation mechanism 5, a crown 6, an arm movement mechanism 7, a trident 8, legs 9, a pedestal 10, a control unit 11 in which a presence sensor 12 is located, a power source 13, power buses of the microcircuits 14 of the control unit 11, a light source 15, a pulse generator with a command counter 16, a programmable read-only memory (PROM) 17, a command register 18, a phrase generator 19, a low-frequency amplifier (LFA) 20, an eye control signal generator 21, a sound accompaniment signal generator 22, a mouth control signal generator 23, a head and torso rotation control signal generator 24, a control signal generator hand movement 25, wherein presence sensor 12 is connected to input of power source 13, output of power source 13 is connected to power buses of microcircuits 14 of control unit 11 and to input of light source 15, output of pulse generator with command counter 16 is connected to input of EPROM 17, outputs of EPROM 17 are connected to inputs of command register 18, outputs of command register 18 are connected to input of phrase generators 19, to input of generator of signals for control of head and body rotation 24 and to input of generator of signals for control of hand movement 25, output of phrase generator 19 is connected to input of low frequency amplifier 20, output of low frequency amplifier 20 is connected to inputs of generator of sound accompaniment signals 22 and to input of generator of mouth control signals 23, output of generator of eye control signals 21 is connected to eye movement mechanism 3, generator of sound accompaniment signals 22 is connected to the input of the speaker 39, the output of the mouth control signal generator 23 are connected to the input of the mouth control mechanism 4, the outputs of the head and torso rotation control signal generator 24 are connected to the head and torso rotation mechanism 5, the output of the hand movement control signal generator 25 is connected to the input of the hand movement mechanisms. In addition, the robotic structure includes a control panel 28, which includes a remote control audio receiver 29, operator headphones 30, a remote control video receiver 31, a remote control display 32, a remote control microphone 33, an amplifier 34, a remote control audio transmitter 35, a panel with controls 36, a remote control command generator 37, a remote control command transmitter 38, in addition, a receiver of external commands 26 and a switch of commands "External-internal" 27 are included in the composition of the control unit 11, wherein the output of the remote control audio receiver 29 is connected to the input of the operator headphones 30, the output of the remote control video receiver 31 is connected to the input of the remote control display 32, the output of the remote control microphone 33 is connected to the input of the amplifier 34, which is connected to the input of the remote control audio transmitter 35, the panel with controls 36 is connected to the input of the remote control command generator 37, the output of the remote control command generator 37 is connected to the input of the command transmitter remote control 38, external command receiver 26 of control unit 11 is connected to the input of command switch "External-internal" 27, the output of command switch "External-internal" 27 is connected to the input of pulse generator with command counter, 16

The operation of the proposed sound-reproducing robotic design occurs as follows.

In the initial state, the Sea King 1 is at rest. When visitors appear, the presence sensor 12 is triggered, which turns on the power source 13 and the light source 15, and the figure of the Sea King 1 comes to life, the pulse generator with the command counter 16 is turned on, the EPROM 17 is turned on, and commands are formed at the output of the command register 18, which are executed. In this case, the Sea King 1 blinks his eyes 3, turns his head 2, turns his body 5, moves his arms 7. The Sea King 1 says individual words and phrases with mouth movements in time with the words, for example: "I am the Sea King", "Hello", "Visit our exhibition", etc. The phrases can be repeated, but they attract visitors who approach the Sea King and then, at his direction, proceed to the cultural event. Operation in the external control mode is performed using the control panel 28 and the operator, who is in the room and sees the robotic figure and hears the background sound and at the same time is not visible in the room where the robot is located. When switching to external control, the operator presses the corresponding key on the control panel 36 on the control panel 28, which forms a command and, using the command transmitter of the control panel 38, issues a command to the external command receiver 26 of the control unit 11, switching the robotic structure to the external control mode. In this case, the formation of internal commands is prohibited, and the robot executes only external commands with external sound accompaniment. This mode is very effective, since the visitor hears the Sea King 1 with the movement of the mouth, can ask him a question and receive an exhaustive answer and even enter into polemics with him, communicating directly. Visitors leave, the presence sensor 12 is triggered and the robotic structure goes into the rest mode.

The K 561, K 176 series microcircuits, typical memory elements, standard EPROMs, which are characterized by low cost and high reliability, are used as the element base for the sound-reproducing robotic structure. The peculiarity of the proposed invention is that no adjustment or preparatory work is required during operation, since the functioning of the proposed structure occurs automatically in the mode of direct communication between the operator and visitors through the robotic figure of the Sea King.

Claims (1)

A sound-reproducing robotic structure made in the form of a figure of the Sea King, containing a head in which an eye movement mechanism is located, a mouth movement mechanism, a head and torso rotation mechanism, a crown, an arm movement mechanism, a trident, legs, a pedestal, a control unit in which a presence sensor is located, a power source, power buses of the control unit microcircuits, a light source, a pulse generator with a command counter, a programmable read-only memory (PROM), a command register, a phrase generator, a low-frequency amplifier (LFA), a generator of eye control signals, a generator of sound accompaniment signals, a generator of mouth control signals, a generator of head and torso rotation control signals, a generator of arm movement control signals, wherein the presence sensor is connected to the input of the power source, the output of the power source is connected to the power buses of the control unit microcircuits and to the input of the light source, the output of the pulse generator with the command counter is connected to the input of the PROM, the outputs of the PROM are connected to the inputs of the command register, the outputs of the register commands are connected to the input of phrase generators, to the input of the generator of head and torso rotation control signals and to the input of the generator of arm movement control signals, the output of the phrase generator is connected to the input of the low frequency amplifier, the output of the low frequency amplifier is connected to the inputs of the sound accompaniment signal generator and to the input of the mouth control signal generator, the output of the eye control signal generator is connected to the eye movement mechanism, the sound accompaniment signal generator is connected to the input of the speaker, the outputs of the mouth control signal generator are connected to the input of the mouth control mechanism, the outputs of the head and torso rotation control signal generator are connected to the head and torso rotation mechanism, the outputs of the arm movement control signal generator are connected to the input of the arm movement mechanism, characterized in that the visitor location sensors are excluded from the composition of the robotic structure and a control panel is introduced into the composition of the robotic structure, which includes a console sound receiver, operator headphones, a console video signal receiver, a console display, a console microphone, an amplifier remote control sound, remote control sound transmitter, control panel, remote control command generator, remote control command transmitter; the control unit includes an external command receiver and an "External-Internal" command switch, wherein the output of the remote control sound receiver is connected to the input of the operator's headphones, the output of the remote control video signal receiver is connected to the input of the remote control display, the output of the remote control microphone is connected to the input of the remote control audio amplifier, which is connected to the input of the remote control sound transmitter, the control panel is connected to the input of the remote control command generator, the output of the remote control command generator is connected to the input of the remote control command transmitter, the receiver of external commands of the control unit is connected to the input of the "External-Internal" command switch, the output of the "External-Internal" command switch is connected to the input of a pulse generator with a command counter.