JP2000066626A - Three-dimensional display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional display device which is capable of displaying a three-dimensional body, expressing a regular motion, marking a display colored necessary, and changing the color. SOLUTION: The three-dimensional display device is provided with a plurality of movable rods 31 which are independent of each other and arranged in an expandable matrix and a control means (a control part comprising a memory, a CPU, an encoder and a decoder) to move each movable rod 31 based on a specified shape date every specified time. A pressure sensor to detect the force to be applied from the outside is installed on each movable rod 31, and the movable rods 31 are expanded/contracted according to the detected external force. In addition, a light-emitting element to emit the light of R, G or B to color its surface is provided on each movable rod 31. The light emission of each light-emitting element is also changed according to the magnitude of the external force.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional display device, and more particularly, to a device capable of arbitrarily generating and deforming a three-dimensional shape.
The present invention relates to a three-dimensional display device to which colors can be given as needed.

[0002]

2. Description of the Related Art Conventionally, the following techniques are known in the field of displaying / outputting a three-dimensional object. (1) Three-dimensional display: A technology for visually outputting a three-dimensional moving image by holography using light interference or an HMD that displays an image having parallax between the left and right eyes. (2) Three-dimensional output A machine tool that processes a mother body by numerically controlling a cutting tool, an optical molding device that laminates a cross section using a photocurable resin, an inkjet method that ejects a thermoplastic resin to mold, and a thin plate is cut out A technology that outputs a stereoscopic image in a substantial manner by a lamination method. (3) JP-A-8-5357 A plurality of pins movable in the axial direction are arranged in a plane lattice,
The height (projection amount) of each pin is changed according to the shape data output from the computer. Further, a change in the height of the pin due to an external force is read, and the changed shape is input to a computer.

[0003]

However, the three-dimensional display / output techniques (1), (2) and (3) have the following problems. In the visual stereoscopic display of (1), the image does not change even if the line of sight is changed, and information from an arbitrary viewpoint desired by the observer, such as the relationship with the back of the object, cannot be obtained. With the stereoscopic output of (2), shape correction and deformation cannot be achieved at high speed, and motion cannot be expressed. Further, the output object is a base material color such as transparent or white, and cannot express any color. In the publication of (3), there is no detailed description that can realize the temporal change of the shape, the expression of the color, the deformation due to the external force, and the generation of the repulsive force.

Therefore, an object of the present invention is not only to be able to display a three-dimensional solid, but also to be able to express a regular operation, to be colored or to change the color as required, and to display a three-dimensional image. An object of the present invention is to provide a three-dimensional display device capable of expressing a real feeling. It is another object of the present invention to provide a three-dimensional display which can be deformed or discolored by an external force applied by an operator and give a sense as if it is alive.

[0005]

SUMMARY OF THE INVENTION To achieve the above object, a stereoscopic display device according to the present invention comprises a plurality of mutually movable components and a control means for moving these components at predetermined time intervals. Have. By moving the constituent elements up, down, left, and right, a three-dimensional shape can be displayed, and by controlling the movement over time, an action can be given to the three-dimensional display object. For example, displaying human faces or animal figures,
It can be given a movement, and can be displayed as if a real object exists.

Further, the stereoscopic display device according to the present invention has a built-in detector for detecting a force acting on the component from outside, and the control means moves the component in accordance with the external force detected by the detector. As a result, the three-dimensional display object undergoes plastic / elastic deformation, and a more substantial display is possible.

Further, the three-dimensional display device according to the present invention includes a light emitting section for changing the color of the surface of the component, and the control means changes the color of the light emitting section at predetermined time intervals, or the detection section detects the color. The color changes according to the external force. Thus, the three-dimensional display object can be displayed more realistically.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a stereoscopic display device according to the present invention will be described below with reference to the accompanying drawings.

(First Embodiment) (Overall Configuration) FIG. 1 shows the overall configuration of a three-dimensional display device 10 according to a first embodiment, in which a plurality of rods 3 are used as constituent elements.
1 is used. The device 10 is roughly divided into a control unit 20 and a display unit 30. The display unit 30 includes a plurality of movable rods 3 arranged vertically and horizontally in a matrix when viewed from above.
1. The length and color of the movable rod 31 can be controlled as described below, and the control unit 20 controls the position (drive amount) of each movable rod 31 based on the three-dimensional shape data transferred from the computer 1. I do. A light emitting unit is installed on the upper part of each movable rod 31,
The light emitting section emits light in an arbitrary color according to a signal from the control section 20. When the movable rod 31 moves up and down and develops a color, a three-dimensional shape colored in full color is displayed. Further, by repeating a certain operation at predetermined time intervals, it is possible to express a moving object.

Further, each of the movable rods 31 has a pressure sensor and can detect a force applied from outside, and changes the length and color of the applied movable rod 31 according to the external force. Thereby, distortion or discoloration of the object can be expressed. By adjusting the moving speed of the movable rod 31 with respect to the applied force, it is possible to express the viscosity and elasticity of the object.

(Structure of movable rod) As shown in FIG.
The movable rod 31 includes an inner cylinder 32 serving as a base and the inner cylinder 3.
2 and an outer cylinder 33 that can move in the vertical direction. The inner cylinder 32 has a plurality of stacked piezoelectric elements 34.
Are arranged, and these piezoelectric elements 34 expand and contract in the laminating direction by a drive signal from the control unit 20. A lower end of a drive shaft 35 holding a carriage 36 is joined to the piezoelectric element 34, and the drive shaft 35 moves up and down as the piezoelectric element 34 expands and contracts. The carriage 36 is friction-coupled with the inner peripheral surface of the outer cylinder 33 and is also in contact with a resistance plate 37 fixed to the inner cylinder 32.

A driving voltage is applied to the piezoelectric element 34 so as to make the expanding and contracting deformation speeds different.
When the moving speed of the drive shaft 35 and the carriage 36 is high, the outer cylinder 33 is stopped by inertia, and when the moving speed is low, the outer cylinder 33 follows. The amount of movement of the outer cylinder 33 is detected by a change in the resistance value of the resistance plate 37 that contacts the carriage 36.

On the other hand, a pressure sensor 38 using a piezoelectric element is mounted above the outer cylinder 33. Pressure sensor 3
8 detects the magnitude of the external force applied to the tip of the movable rod 31.

The outside of the outer cylinder 33 is colored dark,
It is covered with a transparent cover (not shown). L that develops each color of R, G, and B is provided between the transparent cover and the outer cylinder 33.
Light emitting elements 39 such as EDs are arranged in a lattice. By controlling the amount of light of each light emitting element 39, the case rod 31 can be colored / changed to an arbitrary color in full color.

(Method of Expressing Shape) The display unit 30 in FIG. 1 shows a state in which a human face is expressed in an uneven shape. A
Corresponds to eyes, B corresponds to a nose, C corresponds to a mouth, and D corresponds to an ear. The face data measured and registered in advance by the three-dimensional measuring device is transferred from the computer 1 to the control unit 20. The control unit 20 determines a direction in which the face is reproduced and a plane serving as a reference for the height.

Here, an example will be described in which the front of the face is directed upward from the apparatus 10 and the position of the ear D is used as a reference for the height. The control unit 20 sets the size of the face to be expressed from the face data, and generates drive data corresponding to the pitch of the rod 31 by a method such as a linear interpolation method. For example, the rod 31 has a length / width of 100/100, and its pitch is 1 m.
If m, the device 10 can represent an object up to 100 mm ² in size. Now, the face length is 80m
m, the number of data in the vertical direction is 80mm
80 rods, which are the number of rods 31 between them, are required. If the corresponding part of the data transferred from the computer 1 is 160 pieces, two pieces of data are sequentially averaged to create 80 pieces of complementary data.

As described above, when the arrangement of the rod 31 and the data on the reference plane are matched, data in the height direction is generated for each coordinate on this plane. Data is complemented in advance according to the size of the object to be reproduced. Height data is sequentially read from the upper left to the lower right of the plane, and the height of the corresponding rod 31 is controlled in accordance with these data values, thereby reproducing an uneven face.

(Color Representation Method) When data transferred from the computer 1 includes color data, the color data can be reproduced by the present apparatus 10. Similarly to the height control described above, the color data of the expression object at the position of each rod 31 is sequentially read, and by controlling the light emission amount of each light emitting element 39, the rod 31 is reproduced in a predetermined color. Black or shaded parts such as hair and nostrils can be expressed by not turning on the light emitting element 39. In addition, a background portion having no object to be expressed, such as the periphery of a face, can be expressed by specifying an arbitrary color.

(Expression Method of Motion) FIG. 3 shows an example in which a motion is given to an object. For an object such as a human face, whose shape changes with the passage of time, such as an eye or a mouth, the present device 1
The motion can be represented by 0.

Data of a plurality of faces representing movements are input to the computer 1 in advance, and the control unit 20 reads these face data every time a predetermined time elapses, and reads the length of the rod 31 and the light emission of the light emitting element 39. Vary the amount. By setting the predetermined time to, for example, 1/30 second used in the current television image, it can be visually expressed as a continuous operation. FIG. 3 (A),
(B) and (C) show the movement every 1/30 second.

(Method of expressing change due to external force) When a human cheek is pressed with a finger or the like, a change such as denting of the face or reddening of the skin occurs according to the force. By simulating in advance the state of change when an external force is applied to the object in this way, the change can be expressed by the present apparatus 10.

For example, consider a case where a model (F = ax) in which a distortion proportional to an applied external force is generated over the entire face. The external force acting on the display object is detected by the pressure sensor 38 of the rod 31. The control unit 20 reads the output value of each pressure sensor 38 and controls the length of each rod 31 according to the output value to express deformation due to external force. That is, the output value of the pressure sensor 38 is sequentially read for each rod 31 from the upper left to the lower right, the amount of change of each rod 31 according to the output value is calculated, and the length of each rod 31 is controlled accordingly. Changes the shape.

By executing the deformation control by the external force at a predetermined time (every 1/30 seconds as described above), a change as if the display object is alive can be expressed. Also, the display color can be changed according to the external force, and such a change is determined according to the portion, such as the cheek but not the chin, or the ear becomes red but the nose becomes white. A more realistic expression can be realized.

Further, not only the rod 31 at the position where the pressure is detected but also the rod 31 around the rod 31 can be changed.
By formulating a rule that the pressed portion is depressed but the periphery swells and the whole volume does not change, it is possible to express a continuous integral object. Such control is a matter of the rule of how to change the length and color of the rod 31 according to the detected external force, and can be arbitrarily set by a control program or parameter.

(Expression method of repulsive force) When a human cheek is pressed with a finger or the like, a repulsive force is felt on the finger simultaneously with the deformation. In the present device 10, the magnitude of the repulsive force against the external force is formulated in advance, and the repulsive force according to the magnitude of the external force detected by the pressure sensor 38 of each rod 31 can be generated. Thereby, it can be expressed more realistically for the operator. Specifically, the moving speed of the rod 31 may be controlled, and the operator can feel elasticity and viscosity.

For example, to generate a repulsive force proportional to the displacement (F ′ = βx, β is a constant), the face of the face (displacement =
0), the repulsive force can be expressed by moving at an acceleration of a = (F′−βx) / m (m is the mass of the corresponding portion). At this time, in the early stage of the deformation, the repulsion is perceived to be small because the acceleration is large, and in the second half, the repulsion is perceived large because the acceleration is small.

(Control Circuit) FIG. 4 schematically shows a control circuit of the stereoscopic display device 10. The control unit 20 includes a CPU 21 that controls the entire system, a memory 22 that stores shape data, color data, and physical property data such as repulsion and color change.
The movable rods 31 _{1 to} 31 _n are constituted by an encoder 23 and a decoder 24 for organizing signals to communicate with the movable rods 31 _{1 to} 31 _n .
The CPU 21 exchanges data with an external device (computer 1) via the interface 25. FIG. 5 schematically shows a control circuit in each of the movable rods 31 _{1 to} 31 _n . The encoder 23 and the decoder 24 are connected to each of the rods 31 _{1 to} 31 _n
The signal is managed by assigning an address to and encoding this.

(Control Procedure) Next, a control procedure of the stereoscopic display device 10 by the CPU 21 will be described with reference to a flowchart of FIG.

First, when an operation start command is confirmed based on a start signal in step S1, the CPU 21 reads out shape data and color data to be expressed from the memory 22 in step S2. Next, in step S3, an instruction of the arrangement direction and size of the shape is received, and the data is complemented according to the output size, and the height of each rod 31, the light emitting element 39
Is generated. Next, steps S4 and S5
Then, the protruding length and the light emission amount of each rod 31 are controlled based on the data. In the control, addresses are sequentially allocated from the upper left rod 31 to the lower right rod 31 of the display unit 30, and the control is executed sequentially from the one with the smallest address.

When the control for all the rods 31 is completed (YES in step S6), the output values of the pressure sensors 38 for all the rods 31 are detected in step S7. When the detection of the external force on all the rods 31 is completed (step S
8; YES), if a pressure equal to or greater than the predetermined value is detected,
In step S9, the range, height, moving speed, and light emission amount of the rod 31 that reflects the influence of the external force are calculated in accordance with the specified physical property values. Next, steps S10, S
In step 11, the calculation data is read out from the memory 22, and the rods 31 are sequentially controlled in their protruding length and light emission amount.

When the control in the applicable range of the shape and color change is completed (YES in step S12), the flow waits for a predetermined time (1/30 second) in step S13. If the predetermined time has elapsed and the operation is to be continued (NO in step S14), the process returns to step S2.

Second Embodiment (Overall Configuration) FIG. 7 shows a stereoscopic display device 5 according to a second embodiment.
0 shows the overall configuration, and uses a microcell as a component. The basic concept and operation image are as follows.

First, the operator creates a three-dimensional shape on the computer 1 using design software. next,
After confirming the finished three-dimensional shape on a two-dimensional display such as a CRT, the shape data is transferred to the three-dimensional display device 50. When receiving the shape data, the three-dimensional display device 50 sequentially sends out minute spherical microcells on the display table 60 and creates a three-dimensional shape model 70. The scale ratio of the three-dimensional shape model 70 formed by the microcell is appropriately adjusted according to the size of the display stand 60 and the total number of cells.

The operator observes the three-dimensional shape model 70 output by the device 50 by observing it from the surroundings or touching it with his / her hand, and confirms whether or not the model is as perceived by the user. If you find a defect in the created shape,
The operator freely deforms the model 70 using a hand or a spatula, and corrects the shape as if processing a clay model (clay). At this time, the model 70 can be partially cut or added.

Each microcell can recognize its own position information, and the device 50 creates a corrected three-dimensional shape as shape data based on three-dimensional coordinates.
Therefore, when the correction to the desired shape is completed, the operator operates the keyboard or the like to read the corrected three-dimensional shape data from the device 50 to the computer 1. Thus, the computer 1 can acquire the three-dimensional shape data created by the model 70.

(Configuration of Microcell) As shown in FIGS. 8 and 9, the microcell 71 is covered with a spherical shell 72 made of plastic or the like. A joint 73 extending in six directions orthogonal to each other and a core 80 joining the joints 73 at the center are installed inside the joint. Each joint 73 is connected to a connecting unit 74 and an inter-cell communication unit 77.
It has. The core 80 includes a rotation control motor 81, an angle detector 85, a cell body communication unit (not shown), and a power supply. Further, on the surface of the shell 72, light emitting elements that emit light of each color of R, G, and B described in the first embodiment are arranged in a lattice.

The connecting portion 74 is constituted by, for example, an electromagnet 75, and performs joining / separation between the cells 71 by changing a polarity of the electromagnet 75 by switching a switch 76 based on an external signal. The inter-cell communication unit 77 includes an antenna and a communication circuit (not shown), and communicates information between the adjacent cells 71 using wireless communication means such as electromagnetic waves and infrared rays.
The cell main body communication unit (not shown) provided in the core 80 has the same configuration as the inter-cell communication unit 77, and communicates necessary information with a control unit described below.

The rotation control motor 81 and the angle detector 85 are arranged at a portion where each joint 73 is joined to the core 80. A spherical bulge 78 is formed at the base of the joint 73, and a core 80 is formed around the bulge 78.
The center of rotation of the joint 73 is formed by being covered by a concave holding portion (not shown) formed in the above. A pin-shaped projection 79 is formed at the other end of the joint 73,
It engages with the grooves of the semicircular guides 83 and 84.
The two guide portions 83 and 84 are orthogonal to each other, and convert the motion of the joint 73 in an arbitrary direction into a rotational motion about the axes X ₁ and X ₂ .

A motor 81 is connected to one end shaft of each of the guide portions 83 and 84 via a clutch 82, and an angle detector 85 is attached to each other end of the shaft.
By starting the motor 81 and turning on the clutch 82, the joint 73 is moved in any direction /
Can be moved to an angle. If the clutch 82 is turned off, the joint 73 moves freely without resistance of the motor 81 by an external force. When the joint 73 moves due to an external force or the like, the rotation direction and the angle are detected by a change in the resistance value of the angle detector 85.

(Structure of Display Stand) As shown in FIG. 10, the display stand 60 is composed of a cell storage section 61, a drive section 62, and a control section 63. A large number of lattice-shaped holes (not shown) are formed in the storage section 61 in the vertical direction, and a predetermined number of the microcells 71 are stored in each of the holes in the vertical direction. The drive unit 62 is provided with a drive unit 90 shown in FIG. 11 for each column of the microcell 71, and drives the drive unit 90 according to an instruction from the computer 1 to send out the cell 71 onto the display table 60. Also, cell 7
When a downward external force is applied to 1, the drive unit 90 detects the force and lowers the cell 71 by a predetermined amount. The control unit 63 performs communication with the computer 1, control of the drive unit 90, position control of each microcell 71, communication for acquiring information on the connection state, and the like.

(Configuration of Driving Unit) As shown in FIG. 11, the driving unit 90 has basically the same configuration as the movable rod 31 shown in the first embodiment. That is, it is composed of an inner cylinder 91 serving as a base, and an outer cylinder 92 which can cover the inner cylinder 91 and move vertically. A plurality of laminated piezoelectric elements 93 are arranged in the inner cylinder 91, and these piezoelectric elements 93 expand and contract in the laminating direction according to a drive signal from the control unit 63. A lower end of a drive shaft 94 sandwiching a carriage 95 is joined to the piezoelectric element 93, and the drive shaft 94 moves up and down as the piezoelectric element 93 expands and contracts. The carriage 95 frictionally couples with the inner peripheral surface of the outer cylinder 92, and a resistance plate 96 fixed to the inner cylinder 91.
Is also in contact.

A drive voltage is applied to the piezoelectric element 93 to make the expanding and contracting deformation speeds different.
When the moving speed of the drive shaft 94 and the carriage 95 is high, the outer cylinder 92 is stopped by inertia, and when the moving speed is low, the outer cylinder 92 is moved to follow. The amount of movement of the outer cylinder 92 is detected by a change in the resistance value of the resistance plate 96 that contacts the carriage 95.

On the other hand, a pressure sensor 97 using a piezoelectric element and an inter-cell communication unit 98 (the same as the inter-cell communication unit 77) are mounted on the upper part of the outer cylinder 92. The pressure sensor 97 detects the magnitude of an external force applied to the micro cell 71.

(Communication) Control Unit 63 and Each Microcell 71
The main body communication unit uses electromagnetic waves and the like, and the inter-cell communication units 77 and the communication units 77 and 98 perform wireless communication using infrared rays and the like. Each cell 71 is given a unique number for identifying it from other cells 71 in advance.

In each communication, the control unit 63 transmits a signal in the order of a cell number (corresponding to an address) and a communication content (corresponding to data). The data communication uses a general method of transmitting digital data such as the PCM / FM method. Each address, data, and the like are handled as an 8-bit character code. The address and data to be transmitted are converted into serial signals of one bit at a time, and the signals are superimposed on a carrier wave (electromagnetic wave or infrared light) and transmitted. On the receiving side, a carrier signal is subtracted from the signal to extract a serial signal, and the serial signal is grouped in units of 8 bits to be decoded as a character code corresponding to an address or data.

When each microcell 71 decodes the signal from the control section 63, it identifies the cell number, and if it is its own number, reads the data. The data includes a signal for controlling the polarity of the connecting portion 74 of each joint 73, a signal for controlling the rotation of each joint 73, and the like.
The transmission from the control unit 63 is performed at the first cell 7 every predetermined time.
The address is sequentially updated from 1 to the last cell 71.

When the transmission of the signal from the control unit 63 ends, the signal from each cell 71 is received. As described above, the control unit 63 sequentially transmits an address and a command signal (command) to the cell 71 from the first cell 71. There are two types of commands, one that instructs transmission of the detection value of the angle detector 85 and one that instructs the result of inter-cell communication.

Cell 71 that has received the angle detection value transmission command
Returns the detection values of the two detectors 85 to the control unit 63 at this time. In response to the inter-cell communication result transmission command, the number of the cell 71 itself is detected via the inter-cell communication unit 77 at the tip of the six joints 73,
The detection result is returned.

In the inter-cell communication, the communication unit 77 emits a weak infrared ray and transmits a command to return the cell number to the nearest other communication unit 77. The other communication unit 77 that has received this command calls the cell 7 to which it belongs.
Reply number 1 The infrared light used for this communication is set weak enough to allow communication only between the adjacent communication units 77. If there is no response even after the lapse of the predetermined time, it is considered that the adjacent cell 71 does not exist. When the inter-cell communication is completed for all six joints 73 in each cell 71, for example, the first joint becomes 5
The connection state between the cells 71 can be known, such as the cell No., the second joint is the cell No. 7, and the third joint is not connected.

The control section 63 performs communication with the main body communication sections of all the cells 71 to obtain connection information obtained by inter-cell communication. In the inter-cell communication, since the connection state of the lowermost cell 71 with the cell below itself is known, this can be omitted.

(Shape Output Method) FIG. 12 shows how the three-dimensional display device 50 outputs a three-dimensional shape. The three-dimensional shape data created by the computer 1 is sliced in the height direction along the diameter of the cell 71 and converted into two-dimensional data of each cross-sectional shape. By operating the drive unit 90, the control unit 63 sends out the cells 71 existing in each section from the lattice holes on the upper surface of the display table 60 one by one. When transmitting the cell group of the uppermost stage (first stage), the control unit 63 transmits, via the main body communication unit, a joint 73 arranged in a horizontal direction in each cell 71 so that all the adjacent cells 71 are connected to each other. Of the connecting portion 74 is controlled.

When sending out the cell group of the second and subsequent stages, all the cells 71 within the cross section of that stage are combined with the cell 71 located directly above the upper stage. The polarity of the connecting portion 74 of the joint 73 is controlled. The computer 1 calculates the control data of the connection unit 74 and transmits the control data to the control unit 63 when the two-dimensional cross-sectional shape is calculated from the three-dimensional shape. When the cells 71 are sent out according to all the cross-sectional shapes in the height direction, the output of the three-dimensional shape ends. In this series of operations, the joint 73 of each cell 71 may be kept at a fixed rotation angle or the like. Such an output method is similar to a shape modeling method using a photocurable resin.

In the three-dimensional display device 50, first, a standard cube may be output, and the operator may create a desired three-dimensional shape by performing manual shape deformation described below. . The shape output in this case is called a standard shape output.

(Method of Modifying Shape by Computer) FIG. 13 shows how the three-dimensional shape model output by the three-dimensional display device 50 is modified by the computer 1. When the computer 1 corrects the shape of the output model, the cells 71 are collected (downward) to the display table 60 up to a section having a corrected height, and then the cells 71 are raised one by one according to the corrected section shape. , Reshaping the model. By applying such a shape correction method, a constant movement can be given to the model 70 at predetermined time intervals.

(Manual Shape Deformation) FIG. 14 shows how an operator manually deforms a previously output three-dimensional shape model.

As shown in FIG. 13, when the output of the three-dimensional shape is completed, the three-dimensional display device 50 enters a standby state.
Here, the control unit 63 periodically detects the rotation angle of the joint 73 of each cell 71 via the main body communication unit of each cell 71. When a certain cell 71 (n) moves by an external force applied by the operator, the joint 73 of the cell 71 (n) rotates. The rotation of the joint 73 is detected by the control unit 63, and the control unit 63 checks the number of the cell 71 (m) to which the cell 71 (n) is newly adjacent, and determines that the cell 71 (n) is the cell 71 (m). The polarity of the connecting portion 74 is controlled so as to be connected to. Even when the plurality of cells 71 move, the polarity of the connecting portion 74 is similarly controlled to maintain the connected state of the cells 71.

When there is an unnecessary portion or a missing portion in the shape, the cell group 71A can be removed from the model, or a spare cell group 71B can be added to the model.

(Movement of Microcell) FIG. 15 shows a state where the microcell 71 moves by an external force. FIG.
(A) is an initial position. In this case, the cell 71b is connected to the lower part of the cell 71a, and the cell 71b is connected to the right side of the cell 71a.
c is linked. At this time, the joints 73a ₁ , 73a inside the cells 71a, 71b and the cells 71a, 71c.
b ₁ and the joint 73a _2, 73c ₂ are controlled so as to connect to each other. Also, the cell 71b is connected to the lower part of the cell 71a via the inter-cell communication unit 77,
The control unit 63 detects that 1c is connected to the right side of the cell 71a.

Here, when an external force α of a predetermined value or more is applied to the cell 71b from the left, the cell 71b moves to the right. At this time, the joints 73a ₁ and 73b ₁ rotate with each other inside the cells 71a and 71b (FIG. 15).
(B)). These rotations are detected by the angle detector 85, and the control unit 63 detects that the cell 71b is moving to the right. Here, the cell 71b by the angle of the joint 73a ₁ of the cell 71a detects that it is moving to the right.

When the control unit 63 detects that the cell 71b has moved by a predetermined amount or more, the joint 73 of the cell 71b
switching the connecting portion 74 of b ₁ to the polarity to repel the connecting portion 74 of the joint 73a ₁ of the cell 71a, the joint 73b
₁ so as to suction a joint 73c ₁ cell 71c (see FIG. 15 (c)). Thus, the connection state of the cell 71b changes from the cell 71a to the cell 71c (FIG. 15).
(D)).

The amount of movement of the cell 71b by the external force α is
If the cell 71b moves closer to the cell 71c than the cell 71a, even if it does not reach directly below 1c,
By driving the motor 81, the joint 73 of the cell 71c is driven.
by rotating the c ₁ to beneath, it is possible to move the cell 71b in the lower portion of the cell 71c (FIG. 15 (E)
reference).

(Method of Inputting Shape) When the computer 1 instructs to input a three-dimensional shape formed by the cells 71, the control unit 63 determines the connection order of the cells 71, ie, what cell number The number of the joint of the cell 71 and the joint of the cell of the number are detected by communication with the main body communication unit of the cell 71. The control unit 63 analyzes the connection information to create three-dimensional shape data, and transmits the data to the computer 1. Further, the control unit 63 may transmit the connection order of the cells 71 to the computer 1 and create three-dimensional shape data in the computer 1.

The conversion from the connection information to the coordinate information of the three-dimensional shape is performed, for example, by the following method. When the connection information of all the cells 71 is obtained, the control unit 63 searches for the cell number, the joint number, and the position on the display table 60 connected to the upper surface of the display table 60 from the information. As a result, the searched cell is located at the height Z = 1 (directly above the display table 60), and it is possible to determine the number of the joint 73 facing downward. Next, based on the connection information between the cells located at the height Z = 1, it is determined whether each joint of each cell is in any of the front, rear, left, and right directions.

When the above processing is completed, the cell (height Z = 2) connected to the joint pointing upward from the cell searched in the above processing and its joint number are searched. Is determined. By continuing such processing until there are no more cells to be searched (the uppermost cell), it is possible to determine the number of the cell at which position on which level on the display table 60. . When the cell hierarchy is applied to the Z coordinate and the position in each hierarchy is applied to the X and Y coordinates, coordinate information of a three-dimensional shape can be obtained.

(Expression of color, expression of movement, expression of repulsion)
The coloring of each microcell 71 can be expressed in the same manner as in the first embodiment. Specifically, the surface of the microcell 71 is made of a plastic material or the like having a light transmitting property and a diffusing property, and the three primary colors R, G,
A light emitting element such as an LED that emits color may be provided for B. By controlling the light emission amount of the light emitting element, the model 70 can be colored in full color, and a model close to the real thing can be created.

A plurality of cells 71 between adjacent cells 71
Can be output / corrected by sequentially transporting to a target position as if by bucket relay. According to this, it is not necessary to collect the cell 71 to the height at which the cell 71 is deformed, and the shape can be corrected at high speed. Further, using such a cell self-propelled system, the cell 71
Is moved at predetermined time intervals, the movement of an object (for example, an animal model) can be expressed.

On the other hand, when the microcell 71 is moved by an external force, a reaction force corresponding to the magnitude of the external force is output so as to be felt by the operator, thereby giving a feeling of processing rubber or clay. it can. As a method of detecting the external force, a method of obtaining the moving acceleration of the cell 71 based on the rotation speed of the joint 73, the method of detecting the outer
2, a method of providing a pressure sensor, or the like can be considered. The generation of the reaction force can be performed using the rotation control unit (motor) of the joint 73. When a reaction force proportional to the displacement amount of the cell 71 is given, an elastic feeling like rubber can be given, and when a reaction force proportional to the displacement speed is given, an elastic feeling like clay can be given.
Further, when an external force equal to or more than a predetermined amount is applied, plastic deformation can be expressed by weakening the reaction force.

(Control Circuit) FIG. 16 shows the present three-dimensional display device 50.
The outline of the control circuit of FIG. The control unit 63 includes a CPU 100 for overall control of the whole, an address encoder & decoder 101 for organizing signals to the cell 71 and the display stand 60, and a cell 7.
The communication unit 102 includes a main body communication unit 102 that communicates with the main unit 1. CPU 100 for address, command, data, etc.
Are coded, superimposed on electromagnetic waves by the communication unit 102, and transferred to the main unit communication unit of each cell 71. Similarly, the detection signal from each cell 71 is decoded and transmitted to the CPU 100 via an electromagnetic wave. The same applies to communication with each drive unit 90.

FIG. 17 schematically shows a control circuit in each cell 71. The connection unit 74, the angle detector 85, the motor 81, and the inter-cell communication unit 77 communicate with the control unit 63 collectively by the cell main body communication unit 89. Further, a power supply 88 for driving each unit is provided.

(Other Embodiments) The three-dimensional display device according to the present invention is not limited to the above-described embodiments, but can be variously modified within the scope of the gist.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the overall configuration of a stereoscopic display device according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing a movable rod that is a component of the stereoscopic display device.

FIG. 3 is a perspective view showing a change over time of the stereoscopic display device.

FIG. 4 is a block diagram showing a control circuit of the stereoscopic display device.

FIG. 5 is a block diagram showing a control circuit built in the movable rod.

FIG. 6 is a flowchart illustrating a control procedure of the stereoscopic display device.

FIG. 7 is an explanatory diagram showing a basic concept of a stereoscopic display device according to a second embodiment of the present invention.

FIG. 8 is a perspective view showing a microcell used in the stereoscopic display device.

FIG. 9 is a perspective view showing a joint arranged in the microcell.

FIG. 10 is a perspective view showing a schematic configuration of a display stand of the stereoscopic display device.

FIG. 11 is a perspective view showing a drive unit arranged on the display board.

FIG. 12 is a perspective view showing a state of shape output by the stereoscopic display device.

FIG. 13 is a perspective view showing a method of correcting the output three-dimensional shape.

FIG. 14 is a perspective view showing the state of manual deformation of the output three-dimensional shape.

FIG. 15 is an explanatory diagram showing a state of movement of the microcell caused by an external force.

FIG. 16 is a block diagram showing a control circuit of the stereoscopic display device.

FIG. 17 is a block diagram showing a control circuit built in the microcell.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Computer 10, 50 ... Stereoscopic display device 20 ... Control part 30 ... Display part 31 ... Movable rod 38, 97 ... Pressure sensor 39 ... Light emitting element 63 ... Control part 70 ... Three-dimensional shape model 71 ... Micro cell

Claims (4)

[Claims] 1. A stereoscopic display device comprising: a plurality of mutually movable components; and control means for moving the components at predetermined time intervals. 2. The three-dimensional display device according to claim 1, further comprising a light-emitting unit that changes a color of a surface of the component, and wherein the control unit changes a color of the light-emitting unit at predetermined time intervals. 3. A plurality of components which are mutually movable and have a built-in detection unit for detecting a force acting from outside, and wherein the components are moved at predetermined time intervals, and the detection unit detects the external force detected by the detection unit. A stereoscopic display device, comprising: control means for moving a component in accordance with the information. 4. The three-dimensional display according to claim 3, further comprising a light-emitting unit that changes a color of a surface of the component, and wherein the control unit changes a color according to an external force detected by the detection unit. apparatus.