RU2718513C1 - Small anthropomorphic robot educational and research complex - Google Patents

Abstract

FIELD: robotics; training.SUBSTANCE: invention relates to educational and research complex for training robotics. Complex comprises an anthropomorphic robot and interacting with it an interface with software for training robotics. Robot has housing in the form of two manipulators with grips, made in the form of claws, body, two legs and head, arranged in housing microcomputer, connected to interface, central microcontroller controlled by microcomputer, servo drives controlled by central microcontroller, a system of technical vision consisting of at least one video camera, a device for processing and transmitting a video signal to a computer monitor, ultrasonic modules for measuring distance, placed in the feet and in the body, a gyroscope placed in the trunk to determine the body position in space and its angular velocity of movement, a voice recognition module with a microphone capable of recognizing voice commands, a speech reproduction module connected to the speaker, sound sensors, an RGB LED and fault sensors. Microcomputer is configured to operate in an autonomous mode, wherein all said modules are connected to the microcomputer and connected to the central microcontroller by an interface bus, and servo drives are made by controlled central microcontroller through board for control of servo drives.EFFECT: technical result consists in expansion of training area of robotics, possibility of teaching programming and designing in information technology and robotics.1 cl, 4 dwg

Description

The technical solution relates to the field of robotics, namely to educational and research complexes, more precisely to an educational and research complex, a small anthropomorphic robot (hereinafter referred to as ROMA), intended for vocational training of schoolchildren and students in programming, design, information technology and robotics, advanced training of specialists with using the educational and research set as an educational tool (interactive study guide) CSA small anthropomorphic robot (ROMA). The main purpose of the claimed technical solution is to conduct laboratory and research work, demonstrate skills acquired in the process of training students in the field of programming, design, information technology and robotics, and also test the practical skills and knowledge acquired by students in these areas of practical activity.

Currently, there are no dynamic simulator models on the robotic technology market that allow students to study the design features of robots and robotic systems, to program multiple combinations of commands, since the robotic simulator models available at the time of filing application materials are designed primarily for narrow areas of use, for example, only for the study of technical vision, only for the study of tactile sensory, only for the study of language in programming, etc.

At the same time, such a limited range of functional capabilities hinders the training of specialists in the field of robotics with the entire necessary spectrum of capabilities of technical systems as such and, as a result, significantly limits the possibility of instilling theoretical and practical skills of students, which does not meet the requirements for training highly competent and qualified specialists in many fields of science and technology.

Further, the applicant performed an analysis of analogues identified from the studied prior art in the studied technical field.

From the prior art examined by the applicant, the anthropomorphic robot control system according to the utility model patent RU No. 124623 is identified, the essence is an anthropomorphic robot control system containing a technical vision system connected to a computer input and a microcontroller connected to a computer, robot drives and tactile sensor outputs, different the fact that contact and non-contact fault sensors are additionally introduced into it, installed respectively on communication lines and interface buses or directly close to 1-2 cm from the communication line or interface bus for detecting internal and external electromagnetic interference from sources of failure in the form of connectors / connectors, interface buses, control buses, grounding and power supply, while the system is capable of algorithmic processing of signals from the aforementioned fault sensors.

A disadvantage of the known system is the inability to use this control system in training due to the lack of key subsystems for programming, including an interface for interacting with the trainee user.

Known anthropomorphic robot for the educational process according to the patent for utility model RU No. 153699, the essence is an anthropomorphic robot for the educational process, containing an interaction interface, a computer, a television camera, a motion sensor and a video signal processing device, information related to the computer, characterized in that the video signal processing device is made in in the form of a block for forming a contour image of an object and a block for calculating the movement of a robot, the input of which is connected to a motion sensor, the computer is equipped with and it is configured to control the robot using a software application created during the educational process and loaded via the interaction interface to provide the search for the subject assigned to the search, and the comparison tool is informationally connected with the contour image forming unit and is configured to compare the contour image formed a contour image forming unit with a contour image of an object assigned to search.

A disadvantage of the known robot is functional limitation. He is able to carry out only a program for searching objects by their contour image. Thus, with its help it is impossible to fully conduct training on the entire spectrum of capabilities of robotic systems.

Known anthropomorphic mobile robot according to the patent for utility model RU No. 151795, the essence is an anthropomorphic mobile robot containing a moving device, tactile sensors, the outputs of which are connected to a computer located in the robot body, a technical vision unit connected to the computer and consisting of at least one television camera mounted on the head of the robot, and a video signal processing device associated with the video output of the camera, characterized in that it is equipped with a displacement sensor, and the video processing device eosignalov embodied as a contour image forming unit associated with the camera video output, and a displacement calculation unit, whose input is connected with the displacement sensor, wherein the contour image forming unit configured to form a spatial differentiation block video signal and the comparison result of differentiation with a threshold value.

A disadvantage of the known technical solution is the lack of voice control of the robot, its reproduction of speech, as well as the inability to determine the position of the body of the robot in space, which can be adjusted due to remote exposure through the control device. This drawback is somewhat offset by the technical vision system, however, this approach complicates the system and is insufficient for the process of teaching programming in a wider scope.

The objective of the claimed technical solution is to eliminate the shortcomings of the prototype and create a more competitive model that allows to increase the level of theoretical, practical knowledge, instilling the skills and methods of practical application of the acquired knowledge during training in educational institutions, as well as import substitution due to the fact that similar systems of foreign production, such a company like Robotis (BIOLOID) [https://robotbaza.ru/product/bioloid-premium-kit], Ubtech Alpha 2 [https://nanojam.ru/products/ubtech-alpha-2], Darwin OP [http: //robotgeeks.ru/collection/darwin], have a number of characteristics, obs tacle wide application in educational institutions of Russia.

The basic characteristics of imported small anthropomorphic robots are presented in more detail in the table in FIG. one.

A comparative analysis performed on the main technical characteristics of the robots shown in Fig. 1 allows us to conclude that:

- the Darwin OP robot of the Korean company Robotis is the closest to the claimed model in technical specifications, however, the cost of the robot is 1.3 million rubles or more, which is an obstacle to widespread use as a teaching aid in educational institutions of the Russian Federation, these shortcomings are characteristic of the well-known robot due to the fact that the robot is not collapsible at its core, which is why it does not provide the ability to perform manipulations with it, which are required in the process of teaching students the basics of robots hniki, programming, disassembly, assembly, testing efficiency when making any damage to inculcate repair skills. The high cost of the robot (worth about 1 million 300,000 rubles) and its components entails a reverent attitude during operation, which does not fully enable students to develop the skills to work with various subsystems of robotic systems.

- The Ubtech Alpha 2 robot is essentially a toy for children of home use and was conceived by the manufacturer as a “friend-toy” for a child. The characteristics and technical capabilities laid down by the manufacturer are not subject to modification, the design has a finished look, the design does not have the opportunity to study individual subsystems of robotic systems (technical vision, speech synthesis and analysis, etc.), therefore this robot cannot be used in principle as study guide for educational institutions

- BIOLOID robot of Korean company Robotis is the closest to the claimed technical solution in terms of price and technical characteristics, but it does not have a video camera - one of the most important components of robotic systems, such as technical vision, which limits the use of this robot in the educational process, except In addition, there is no possibility to modify the software, which also limits the scope of use of this model in the educational process

LEGO kits for teaching the basics of robotics [https://www.lego.com/ru-ru/mindstorms] are widely used in the Russian Federation.

The disadvantages of these kits are that they:

- designed for schoolchildren, while they are designed to teach only the BASICS of robotics and are not suitable for teaching in higher education institutions (the study of technical vision, speech analysis and synthesis systems, etc.),

- use software that does not involve modification and addition,

- use only their limited set of sensors and sensors, which limits these sets in use,

- do not contain a video camera - one of the most important components of robotic systems, such as technical vision, which limits the use of this robot in the educational process.

In this case, the applicant draws attention to the fact that information on the availability of patent protection for LEGO kits from the studied prior art has not been identified.

From the investigated prior art revealed the invention according to patent CN107186732. The essence of the known technical solution is an anthropomorphic robot for entertaining children, an anthropomorphic robot containing a torso and a head, the head being equipped with a human-computer interaction system; and the bottom of the body is provided with a drive mechanism for driving the body. The upper body is movably connected to the head by a rotating mechanism; the body and / or head are provided with a sound source positioning system, and the drive mechanism makes the body move when the sound source positioning system fixes the position of the sound source. The position of the sound source, the rotating mechanism brings the head into rotation to the system of human interaction with the machine facing the sound source. The anthropomorphic robot for children's entertainment according to claim 1, wherein the human-machine interaction system comprises an interaction control module, a display module, a sound reproduction module, a sound collection module, a storage module and a communication module, as well as a display. a module, a sound reproducing module, a sound collecting module, a storage module, and a communication module, respectively, are electrically connected to the interactive control module. The anthropomorphic robot for children's entertainment according to claim 1, wherein the human-computer interaction system further comprises an intelligent chat unit. The anthropomorphic robot for entertaining children according to claim 1, wherein the human-computer interaction system further comprises a parent-child communication unit. The anthropomorphic robot for children's entertainment according to claim 1, wherein the human-computer interaction system further comprises a “fairy tale on demand” block. The anthropomorphic robot for children's entertainment according to claim 1, wherein the human-computer interaction system further comprises a joy exchange unit. The anthropomorphic robot for children's entertainment according to claim 1, wherein the human-computer interaction system further comprises a home monitoring unit. The anthropomorphic robot for entertaining children according to claim 1, wherein the human-computer interaction system further comprises a mental development training unit. The anthropomorphic robot for children's entertainment according to claim 1, wherein the human-computer interaction system further comprises an obstacle sensor, and the obstacle sensor is connected to the interaction control module. Anthropomorphic robot for children's entertainment according to any one of claims 1 to 9, characterized in that the interactive control module is a single-chip microcomputer.

Moreover, the scope of patent claims presented in the first independent claim is presented below: an anthropomorphic robot for entertaining children, containing a trunk and a head, the head is equipped with an interactive system of human-computer interaction; the lower part of the body is equipped with a drive mechanism for moving the body, the upper part of the body is movably connected to the head by a rotating mechanism; the body and / or head are equipped with a sound source detection and positioning system, and the drive mechanism drives the body to rotate, when the sound source positioning system determines the direction to the sound source, the rotation mechanism sets the head in motion to rotate to the sound source.

A disadvantage of the known technical solution is that:

- it is a toy for its intended purpose and is intended for the entertainment of children,

- it is not intended for training, as is a complete device not subject to modification,

- there is no possibility to modify the software of the robot due to the fact that the source code of the software is not attached, which excludes the expansion of functionality,

- there is no fundamental possibility to modify existing and add new functional capabilities of the robot depending on the requirements of the teaching objectives by using additional sensors, sensors, etc. by virtue of exception.

From the investigated prior art revealed a group of inventions for a patent in the Russian Federation No. 2361726 "Anthropomorphic robot control system and control method." The essence is the control system of an anthropomorphic robot, consisting of a body with manipulators and brushes and drives, characterized in that it is equipped with a technical vision system including at least one camera and a video processing unit, a microcontroller, the outputs of which are connected to the robot drives, with a remote control, tactile sensors, a light beacon and a computer with three pre-trained neural networks installed on it, while tactile sensors are installed on the internal palm and finger surfaces of robot hands and are connected to inputs of the microcontroller, and a light beacon placed on the index finger of one of the brushes. The system according to claim 1, characterized in that each tactile sensor is made in the form of two sensitive elements separated by a spring, the spring stiffness being selected taking into account the optimal compression ratio for a set of objects that the robot manipulates. A method for controlling an anthropomorphic robot containing a housing with manipulators and brushes and actuators, characterized in that they use the control system according to claim 1, determine the position of the robot, supply control signals to the microcontroller and turn on the robot drives after receiving signals from the microcontroller, pre-train neural networks to perform tasks related to the capture and retention by the robot of objects of various shapes and weights and form the final sample of images of the relative position of the robot and the object and the corresponding values of the angles of rotation of the body, manipulators and brushes of the robot, as well as degrees of flexion of the fingers and degrees of curvature of the palms, and as input training signals for the first neural network, images of the location of the object located in the capture zone obtained from the technical vision system are used, relative to the body and robot manipulators, and as the output signals use the angle α of rotation of the body relative to the horizontal axis of symmetry of the robot, the angle β of inclination of the body from to the vertical axis, the angle γ between the shoulder of the manipulator and the body and the angle δ between the shoulder and elbow of the manipulators, images of the location of the object relative to the light beacon received from the vision system are used as input training signals for the second neural network, and as output signals additives used corrective α _1, β _1, γ _1, δ ₁ to angles α, β, γ, δ, as input signals for training the neural network using the third received from the vision system iso reflection of the shape of the object, and as the output signals use the angle ε of rotation of the plane of the hands, the degree of bending of the fingers and the degree of curvature of the plane of the palms of the hands, then after setting the task, the first neural network gives the microcontroller the values of the angles α, β, γ, δ necessary to achieve touch object with brushes of the robot, the second neural network gives the microcontroller the corrective additives α ₁ , β ₁ , γ ₁ , β ₁ to the values of the angles α, β, γ, δ, until the signal from at least one tactile sensor arrives at the microcontroller ka, when more than 70% of tactile sensors receive signals from the third neural network to the microcontroller, they give the microcontroller the values of the angle ε, the degree of flexion of the fingers and the degree of curvature of the plane of the palms of the hands. The method according to claim 3, characterized in that the correction of the angles (α + α ₁ ), (β + β ₁ ), (γ + γ ₁ ), (δ + δ ₁ ), (ε + ε ₁ ) by small α values ₂ , β ₂ , γ ₂ , δ ₂ , ε _{2 are} carried out in accordance with the random search algorithm.

A disadvantage of the known technical solution as a whole is the limited use of the robot as a teaching aid due to the fact that the known design focuses only on the detection and capture of an object through the use of a manipulator equipped with tactile sensors located on the surfaces of the hands of the robot, which limits the ability of students to learn all possible training ranges in the specified area.

By virtue of the above, the known technical solution does not have the functionality that the claimed technical solution has, namely:

- the scope for training is limited - the well-known technical solution is intended solely for studying the basics of technical vision, which limits the scope of its use,

- the well-known model is not autonomous - the calculation and decision-making takes place on a remote computer with three pre-trained neural networks installed on it, which limits the possibility of using mobile autonomous robots, for example, speech recognition and synthesis, recognition and avoidance of obstacles, when learning robotics in the whole spectrum of capabilities studying the basics of stability of anthropomorphic robots using gyroscopes, etc.

- there is no opportunity to solve tasks of a universal nature, namely, except for detecting objects and taking them, the robot is not capable of solving other tasks that are posed by the curriculum for students.

The closest analogue accepted by the applicant as a prototype both in the number of matching features and in the intended purpose is the source SIRAZETDINOV R.T. et al., New education technologies based on the small-sized anthropomorphic ROMA robot, Information and Education, Moscow, Information and Education, 1 (300), February, 2019, pp. 33-36. The essence of the prototype is a robot, created on the basis of two controllers Raspberry PI model B + and Arduino Mega 2560 and intended for use in the educational process when teaching a fairly wide range of disciplines and for students of different ages.

The prototype has the following characteristics:

• Height, mm: 394.

• Weight, kg: 2.7.

• Vision: Camera - 1 pc. (Image recognition, video transmission via WiFi from the camera to the smartphone in On-line mode).

• Hearing: Sound sensors - 2 pcs., Command recognition - microphone - 1 pc.

• Voice: DFPlayer voice module.

• Speaker - 1 pc.

• Movement and orientation: Gyroscope + accelerometer + compass (IMU module).

• Bluetooth module for controlling the robot using a smartphone.

• Ultrasonic module for measuring distance - 3 pcs. (2 pcs. In the feet, 1 pcs. In the body).

• Controllers: Arduino Mega 2560 (ATmega2560 microcontroller), Raspberry PI3 model B + microcomputer.

• Servos: 19 pcs. (5 degrees of freedom for each leg, 4 degrees in the hand and 1 for the head).

For preschoolers and primary school children, the robot can show slides on the screen using a projector and sound a predefined text. To do this, the projector is directly connected to the HDMI-connector of the robot. In this case, the robot can perform any funny movements. The robot can be used during a physical pause.

It can also turn out to be a very interesting object in the lessons of labor and technology, or in circles of additional education, when you can learn to disassemble, assemble, connect and launch a robot yourself. Within the same subjects, you can study the basics of 3D modeling, develop your own robot design elements, for example, grips, print them on a 3D printer and add to the robot. You can even create your own robot design.

One of the broadest applications of the robot in education is programming. Younger students can learn to program using a visualized language similar to ScratchDuino. The required sequence of actions of the robot is made up of typical blocks, and then the robot performs these actions in accordance with a given program.

For older students, as well as students, it is possible to program the Arduino controller directly. In this case, the student learns the basics of algorithmization. First, he programs certain actions of individual servos of the robot, and the robot immediately executes a given program. Those. execution of program code is directly visualized. Having mastered the control of drives, you can learn to program more complex robot actions, learn to receive and process information from sensors. Further, the principles of object programming are mastered when the student does not work with abstract objects, but directly with robot elements, which are represented in the program as objects of certain classes.

More complex programming, intelligent algorithms, pattern recognition methods, etc. can be mastered using the Raspberry PI microcomputer integrated in the robot. At the same time, during the development of programs, a keyboard, mouse, and monitor can be connected to the robot. The image from the camcorder can be directly transmitted via Wi-Fi to a mobile device. This will be interesting for older schoolchildren and students.

In addition to programming, the robot allows you to learn the basics of automatic control, the concepts of feedback, explore and tune PID controllers. To do this, you can use the rotation of the head of the robot as a tracking system, and the feedback goes through a video camera built into the head of the robot. Using the built-in IMU module, one can study the concept of stability, navigation problems, develop algorithms for stable walking, orientation and targeted movement of the robot.

The disadvantage of the prototype is that the microcomputer is made without the ability to provide offline work.

The objective of the claimed technical solution is to eliminate the shortcomings of the prototype and create a more competitive model that allows you to increase the level of theoretical, practical knowledge, instilling skills and methods of practical application of the knowledge gained in training in educational institutions, as well as ensuring import substitution, in more detail:

- use of the robot as a training tool,

- expanding the scope of the robot through the use of additional technical means in training,

- ensuring the autonomy of the robot through the use of a microcomputer located in the body of the robot, while all modules are informationally connected to the microcomputer and connected to the central microcontroller via the interface bus, and the servos are controlled by the central microcontroller through a board for controlling servo drives,

- providing the possibility of using robot autonomous robots in teaching the entire spectrum of capabilities, for example, speech recognition and synthesis, recognition and avoidance of obstacles, studying the basics of stability of anthropomorphic robots using gyroscopes, etc.

The technical result implemented in the claimed technical solution is:

- expanding the field of robotics training;

- training in programming and design in the field of information technology and robotics;

- professional development of specialists, using a small anthropomorphic robot (hereinafter referred to as ROMA) as a training tool (interactive teaching aid) of the declared educational and research complex.

The main purpose of the claimed technical solution are:

- laboratory and research work,

- demonstration of skills acquired in the process of training students in the field of programming,

- demonstration of skills acquired in the process of training in the field of design,

- Demonstration of skills acquired in the process of teaching information technology and robotics, as well as verification of acquired knowledge by trainees, instilling practical skills and knowledge in these areas of practical activity.

The essence of the claimed technical solution is an educational and research complex for teaching robotics, containing an anthropomorphic robot and interacting with it an interface with software for teaching robotics, while the robot has a body in the form of two manipulators with grippers made in the form of claws, trunk, two legs and heads, housed in a microcomputer housing connected to the interface, a central microcontroller controlled by a microcomputer, servos controlled by a central m a microcontroller, a technical vision system consisting of at least one video camera, a device for processing and transmitting a video signal to a computer monitor, ultrasonic distance measuring modules located in the feet and body, a gyroscope placed in the body to determine the position of the body in space and its angular moving speeds, voice recognition module with a microphone capable of recognizing voice commands, speech reproduction module connected to the speaker, sound sensors, RGB LED and sensors and malfunctions, characterized in that the microcomputer is configured to provide operation in autonomous mode, all modules mentioned information related to the microcomputer and connected to the main microcontroller through the interface bus, and actuators made controllable via the central micro controller board for controlling the servomotors.

The ability to achieve the claimed technical result is due to the fact that the presence of modules allows you to use the declared educational and research complex a small anthropomorphic robot as an interactive teaching aid for practicing the practical skills of students and, in addition to the above tasks, it is intended for the teacher to assess the level of acquired skills by students in the field of robotics programming and design .

The claimed technical solution is illustrated in Fig.1 - Fig.4.

Figure 1 presents a table comparing the functionality and costs of famous robots and photos of their appearance.

In FIG. 2 is a schematic diagram of an educational research complex a small anthropomorphic robot (ROMA), where:

1 - expansion board for controlling servos

2 - central microcontroller

3 - microcomputer with a video processing and transmission system to an external device

4 - vision system

5 - speech reproduction module

6 - remote control module

7 - voice recognition module with microphone

8 - gyro module

9 - ultrasonic sensors

10 - sound detection modules

11 - servos in the amount of 19 pcs.

12 - signal level converter

13 - fault sensor

14 - voltage stabilizer

15 - battery power

16 - connector for connecting an external power supply

17 - RGB LED

Figure 3 schematically shows the appearance of the educational and research complex of the robot small anthropomorphic (ROMA), front view, where:

20 - case,

21 and 22 - two manipulators,

23 - head

24 and 25 - two legs,

26 - video camera

27 - ultrasonic sensors,

28 is a microphone module for voice recognition,

29 - HDMI connector,

30 - connector for connecting an Ethernet cable,

31 - speaker.

Figure 4 schematically shows the appearance of the educational and research complex of the robot small anthropomorphic (POMA), rear view, where:

32 - two connectors for USB (Type A),

33 - USB connector (Type B),

34 - RGB LED.

In more detail, the essence of the claimed technical solution is a small anthropomorphic robot (ROMA) containing an interaction interface, a microcomputer, a microcontroller controlled by a microcomputer, a vision system connected to a microcomputer, consisting of at least one video camera, a video signal processing and transmission device to an external device, 19 servos controlled by a microcontroller through an expansion board for controlling servos and a fault sensor placed in a housing containing manipulators with captures made, for example, in the form of claws, characterized in that the design also includes ultrasonic modules for measuring distance, for example, in the feet and in the body, a gyroscope for determining the position of the body in space and the angular velocity of movement, for example, in the body, module voice recognition with a microphone and sound sensors, for example, in the head and body, capable of recognizing, for example, up to 80 commands, as well as a speech reproduction module connected to the speaker located in front of the body, RGB- vetodiod installed in the upper rear part of the trunk, capable of outputting a signal of a programmed event any predetermined color, with all the additional information modules are connected with a computer and connected to the main microcontroller through the interface bus.

Further, the applicant provides a description of the claimed technical solution in relation to its structural features in statics and the method of its operation using some specific embodiments as an example with reference to the drawing, which shows a basic block diagram of the functioning of an educational research complex based on a small anthropomorphic robot (ROMA).

The presented set of structural elements presented on the principle block diagram of figure 2, operates as follows:

When using the claimed design of the robot, the student, using the interaction interface installed on the computer, programs the robot to execute various commands, realizing by means of a pre-thought out algorithm of the robot’s behavior on the installed microcomputer 3 both in stand-alone mode and through the remote control module 6. Command signals are sent to the central microcontroller 2, which, through the connection to the expansion card 1, controls the movement of 19 servos 11. In addition, a converter is installed l signal level 12, which is able to increase or decrease the signal level in both directions for matching the microcircuit of the central microcontroller 2 and microcomputer 3 with different levels of supply voltage. The gyroscope module 8 allows you to determine the position of the robot in space, helps to maintain stability when walking. RGB LED 17 is capable of signaling a programmed event by flashing or glowing in any color.

The robot is powered by 15 batteries, the voltage for the small anthropomorphic robot control system is stabilized at 5 V by the internal regulator 14. When the external power supply is connected to the external power supply 16, the robot automatically switches to the external power supply system. Therefore, batteries are only needed for offline operation.

The claimed small anthropomorphic robot provides the ability to perform the following basic (basic) functions for learning, namely:

- sustainable walking of a two-legged anthropomorphic robot,

- a vision system, for example, for detecting, tracking and identifying a given object,

- recognition of voice commands by the robot, for example, the "Forward" command to start the movement of the robot forward,

- determining the direction of the sound source / command using the sound detection modules, for example, to turn the head with the built-in video camera towards the sound source,

- detection, bypass and prevention of collisions with obstacles using ultrasonic sensors,

- the use of light-emitting elements, for example, an RGB LED for use as an indicator of a predefined programmed event, for example, recognition of a voice command, and the names of the RGB LED lights up in green when the command is recognized successfully and red if the command is not recognized,

- the study of the possibility of using sensors on the example of a sensor made on a Hall sensor to detect faults in servos by constantly analyzing the strength of the current consumption,

- the claimed small anthropomorphic robot can be used as a regular computer - the HDMI connector and 2 USB ports of the microcomputer are brought out to connect a monitor, keyboard and computer mouse.

At the same time, these functions are not fixed, are not limited to the examples of use presented below, and can be expanded by finalizing specific tasks by connecting standard sensors (equipment) to additional sensors and devices that provide enhanced functionality with finalizing software for specific tasks.

In this case, the claimed technical solution operates as follows.

To implement this or that task and / or set of tasks, the applicant further presents in an enlarged form the design features of the eight basic functions necessary for training:

1 - to create a program of movements of the ROMA robot (walking, dancing, etc.), software previously developed and applied to the anthropomorphic robot is used. In this case, it is first necessary to determine what movements the robot will perform, and only then, using the ready-made software that allows you to record a sequence of frames (frames) into a file with subsequent playback, the required rotation angle of all 19 servos is recorded in each frame, The result of which is the necessary movement of the robot.

The created file with a set of frames is loaded into the microcontroller 2 and called using the control commands of the microcomputer 3. The signals for the servos 11 are supplied by the microcontroller 2 via the expansion card 1. If necessary, to control the stability of the robot during movement, the signals of the gyroscope module 8 connected to the microcontroller 2 are used I2C protocol. Using remote control module 6 (Bluetooth module) connected to microcontroller 3 via UART protocol, you can send commands to microcomputer 3 to execute them (for example, the forward command is sent from the smartphone or computer to move the robot forward).

2 - a vision system, which is a video camera 4 connected to a microcomputer 3 using a loop. Allows you to transfer the image from the camera of the robot 4 to the computer monitor (or smartphone) on-line by transmitting video via a Wi-Fi wireless connection established by the microcomputer module 3. It is also used to recognize faces, various objects when studying the technical vision of robots by installing / creating the appropriate software on the microcomputer 3.

3 - voice commands are recognized by the robot using the sound recognition module 7 (the software loaded on the module by the manufacturer allows you to record on the module and then recognize 80 short (no more than 1.5 seconds duration) voice commands connected to the module of microcontroller 2 via UART protocol The response to the commands can be both various movements of the robot (“Forward!”, “Stop”, etc.), and a voice response through the speech reproduction module 5 pre-recorded phrases on the SD card installed in the module (in case e, if a question was asked) connected to the microcontroller module 2 via UART protocol. The speech playback module allows you to play 255 audio files located in 100 directories. 25500 files in total.

In addition, by connecting an external microphone to the microcomputer 3 module (to the USB connector) and installing additional software, it is possible to use the microcomputer 3 as a speech recognition and synthesis device.

4 - sound detection modules 10 are connected to the analog inputs of the microcontroller 2 module and can be used to determine the direction of the sound source / command and turn the robot head towards the sound source to point the video camera 4 at the sound / command source.

5 - ultrasonic sensors 9 connected to the digital inputs of the microcontroller module 2, two of which are installed in the front of the feet, and one in the front of the body, allow to detect obstacles (sensors in the legs allow, for example, to perform an exercise - climb the stairs) .

6 - an RGB LED 17 installed in the upper rear part of the body, connected to three digital inputs of the microcontroller module 2, allows you to use it as an indicator of a predefined event. For example, it can glow in red if an obstacle is detected in the robot, or in blue if a sound command is recognized, and yellow if not.

7 - the fault sensor 13 installed in the body of the robot (executed on the Hall sensor) analyzes the current consumed by the servos of the robot 11 and gives a signal - interruption to the central microcontroller 2, starting the program to stop the servos 11 in order to prevent overheating and failure.

8 - HDMI connector and 2 USB ports of microcomputer 3 are brought out to connect a monitor, keyboard and computer mouse. As a result, the educational and research complex can be used as a regular computer, which allows you to expand the functionality of the robot in the study of various operating systems, programming languages and writing programs for robotic systems.

Based on the above description of a general nature, it seems possible to conclude that the claimed technical solution allows to realize all the basic goals and achieve all the set technical results, namely:

To assess the quality of learning by the students and the depth of understanding of the essence of the operation of the subsystems of robotic complexes, it is possible to introduce artificial malfunctions into each of the robot subsystems, for example, by disconnecting selected contacts of certain sensors in advance, installing software “plugs” in the robot software. In this case, the student must understand the essence of the malfunction, find the cause and eliminate it in order to obtain a fully functioning complex as a result.

An embodiment of the claimed technical solution is presented in FIG. 3 (front view) and FIG. 4 (rear view).

In FIG. 3 educational and research complex small anthropomorphic robot (ROMA) includes a body 20, two manipulators 21 and 22, a head 23, two legs 24 and 25. Each manipulator, for example, 21, has 4 degrees of freedom and 1 capture. The head of the robot 23 has, for example, 1 degree of freedom. Each leg (24, 25) has, for example, 5 degrees of freedom. Video camera - 26, 27 - ultrasonic sensors, 28 - microphone of the voice recognition module, 29 - HDMI connector, 30 - connector for connecting an Ethernet cable, 31 - speaker.

In FIG. 4 in the robot housing there are: 32 - two connectors for USB (Type A), 33 - USB (Type B), 34 - RGB-LED.

Using the educational and research complex small anthropomorphic robot (ROMA) in the educational process as a whole allows providing a creative approach to learning, practicing practical skills by trainees and to some extent formalize the educational process, making it easier for teachers to evaluate acquired skills in programming, design, and robotics.

At the same time, it is also important that the claimed technical solution allows import substitution in a short time period due to the fact that it (ROMA) uses available components, affordable (free) software, the totality of these characteristics ensures the creation and widespread replication both in the territory The Russian Federation, the CIS countries own system of training, retraining the basics of robotics, programming, is characterized in general by the fact that the development of this system provides basic knowledge for To work with more complex and expensive systems of foreign production, as they (foreign production systems) basically do not differ in the principle of action, etc. from the claimed technical solution, which is the basis of high competitiveness in the domestic and foreign markets.

Thus, we can conclude that the applicant has achieved the claimed technical result, aimed at:

- expanding the field of robotics training;

- training in programming and design in the field of information technology and robotics;

- professional development of specialists, using a small anthropomorphic robot (hereinafter POMA) as a training tool (interactive training manual) of the declared educational and research complex.

The claimed technical solution meets the criterion of "novelty" presented to the invention, because from the investigated prior art, the applicant has not identified technical solutions having the claimed combination of features.

The claimed technical solution meets the criterion of "inventive step" for inventions, as it is not obvious to a person skilled in the analyzed field of technology.

The claimed technical solution meets the criterion of "industrial applicability" to the invention, because can be implemented at any specialized enterprise using standard equipment, well-known domestic materials and technologies.

Claims (1)

Educational and research complex for teaching robotics, containing an anthropomorphic robot and interacting with it an interface with software for teaching robotics, while the robot has a body in the form of two manipulators with grippers made in the form of claws, a body, two legs and a head, placed in the body a microcomputer connected to the interface, a central microcontroller controlled by a microcomputer, servos controlled by a central microcontroller, a vision system, consisting of at least one video camera, a device for processing and transmitting a video signal to a computer monitor, ultrasonic distance measuring modules located in the feet and body, a gyroscope placed in the body for determining the position of the body in space and its angular velocity, voice recognition module with a microphone capable of recognizing voice commands, a speech reproduction module connected to the speaker, sound sensors, RGB LEDs and fault sensors, characterized in that the microcomputer is configured n with the ability to provide offline operation, while all of the mentioned modules are informationally connected to the microcomputer and connected to the central microcontroller via the interface bus, and the servos are controlled by the central microcontroller through a board for controlling servo drives.

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