JP2002120171A - Movement expressing device and toy - Google Patents

Abstract

PROBLEM TO BE SOLVED: To move a moving member in plural directions by providing driving members kept from applying load to each other. SOLUTION: A horizontal rotating member 220 is so constructed that a curved part 221 is opposite to a central rotating member 210 to cover a spherical part 211, and with a vertical operation limiting projecting part 213 loosely penetrating through a vertical movable limiting groove 224, a first center support shaft 214a and a second center support shaft 214b are rotatably engaged with a hole 225. A vertical movable member 230 is so constructed that a curved part 231 is opposite to the central rotating member 210 so as to partially cover the central rotating member 210 and the horizontal rotating member 220, and with a horizontal movement limiting projection part 212 loosely penetrating through a horizontal movable limiting groove 234, a shaft part 233 and an arm shaft part 235 are rotatably engaged with a hole formed in a designated portion of a support plate 250.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion expression device and a toy, and more particularly, to a motion expression device which expresses omnidirectional rotation by combining a plurality of rotations in one direction. The present invention relates to a toy to which a motion expression device is applied.

[0002]

2. Description of the Related Art In recent years, there have been provided toys whose appearance is modeled on animals such as dogs and cats. Such a toy has a tail or the like formed like a dog or cat. For example, an exterior member constituting such a tail-like structure can be driven by a motor or the like.

An operation display device for displaying a tail-like structure includes, for example, a plurality of motors corresponding to the movements in each of the plurality of directions in order to realize a complicated operation in a plurality of directions. ing.

[0004] In the conventional operation display device, the exterior member is attached to, for example, a first motor, and is driven to rotate in one predetermined direction by the first motor. Further, the housing accommodating the first motor is attached to the second motor, and is driven by the second motor to rotate in a predetermined direction different from the rotation direction of the first motor. .

[0005] The exterior member is movable in multiple directions by a combination of the rotation of the first motor and the rotation of the second motor.

[0006]

However, in the conventional operation display device, if the second motor operates the exterior member including the first motor, the power consumption of the second motor increases. . Further, the entire device for driving the exterior member also becomes large.

On the other hand, in animals, the tail is one means for expressing emotions. If the toy can increase the variation of emotional expression due to the tail, it is possible to enhance the entertaining property.However, in the toy to which the motion expression device configured as described above is applied, a wide variety of motion expressions can be smoothly performed. May not be possible.

Therefore, the present invention has been proposed in view of such a conventional situation, and has a reduced power consumption.
It is an object of the present invention to provide a motion expression device and a toy capable of driving a member in a plurality of directions and increasing expression variations due to the tail of the toy.

[0009]

In order to achieve the above-mentioned object, an operation expression device according to the present invention comprises: an operation member;
A first drive unit, a second drive unit, a first drive member driven by the first drive unit, and a second drive member driven by the second drive unit; Is characterized in that the operating member displaces the operating member in a first direction, and the second driving member displaces the operating member in a second direction.

Here, the operating member includes a rotation support shaft, a first protruding portion, and a second protruding portion, and the first driving member includes the first driving member.
Engages with the opening of the first drive member to support the operating member rotatably in an axial direction perpendicular to the rotation support shaft,
The second drive member operates in a plurality of directions by engaging the second protrusion and the opening of the second drive member to support the operating member rotatably about a rotation support shaft. I do.

The toy according to the present invention has an appearance simulating an animal and operates at least in accordance with an internal state. The toy includes an operating member, first and second driving means, A first driving member driven by the first driving unit; and a second driving member driven by the second driving unit. The operating member is displaced in the first direction by the first driving member. , An operation expression device for displacing the operation member in the second direction by the second drive member, wherein the operation expression device is operated based on an internal state.

Here, the operating member includes a rotation support shaft, a first projecting portion, and a second projecting portion, and the first driving member includes a first projecting portion.
Engages with the opening of the first drive member to support the operating member rotatably in an axial direction perpendicular to the rotation support shaft,
The second drive member operates in a plurality of directions by engaging the second protrusion and the opening of the second drive member to support the operating member rotatably about a rotation support shaft. I do.

[0013]

Embodiments of the present invention will be described below in detail with reference to the drawings.

An operation expression device according to the present invention is characterized in that an operating member is displaced in a first direction by a horizontal driving motor as a first driving member, and the operating member is displaced by a vertical driving motor as a second driving member. Are displaced in a second direction, and when the driving members can be freely displaced in a plurality of directions by a combination of these two driving operations, each driving motor has a structure that does not cause any other load on each other.

Such an operation display device is suitably used for a part of the external shape of a toy, and is autonomous according to, for example, a surrounding environment (external factors) and an internal state (internal factors). The present invention can be applied to a tail-like structure of an autonomous robot device that behaves in a dynamic manner.

In the present embodiment, first, the configuration of a robot device will be described, and thereafter, a portion to which the present invention is applied in the robot device will be described in detail.

The robot apparatus 1 to which the present invention is applied is a so-called pet robot provided with a body unit, a leg unit, a head unit, and a tail unit, simulating a "dog".

As shown in FIG. 1, the robot unit 1 includes leg units 3 on the front, rear, left and right sides of the body unit 2.
A, 3B, 3C and 3D are connected.
Also, a head unit 4 is provided at the front end of the body unit 2,
The tail unit 5 is connected to the rear end of the body unit 2.

As shown in FIG. 2, a CPU (Central Processing Unit) 10 and a DRAM (Digital
dynamic Random Access Memory) 11, Flash RO
M (Read Only Memory) 12, PC (Personal Compute)
r) A control unit 16 formed by connecting the card interface circuit 13 and the signal processing circuit 14 to each other via the internal bus 15 and a battery 17 as a power source of the robot device 1 are housed. .
Further, the body unit 2 stores an angular velocity sensor 18 and an acceleration sensor 19 for detecting the direction of the robot apparatus 1 and the acceleration of the movement.

The head unit 4 receives a CCD (Charge Coupled Device) camera 20 for capturing an image of an external situation and a pressure applied by a physical action such as “stroke” and “hit” from the user. A touch sensor 21 for detection, a distance sensor 22 for measuring a distance to an object located ahead, a microphone 23 for collecting external sound, and a speaker 24 for outputting a sound such as a cry. And an LED (Light Emitting Diode) (not shown) or the like corresponding to an “eye” of the robot apparatus 1 is arranged at a predetermined position.

Further, the relation between the leg units 3A to 3D is
Knot part, each leg unit 3A to 3D and body unit
2, the head unit 4 and the body unit 2
For connecting parts with
Number of actuators 25 ₁To 25_nAnd the potentio
Meter 26₁To 26_nAnd are arranged. Where the example
For example, actuator 25₁~ 25_nHas a servo motor
I have. Therefore, the robot device 1 is
G, head unit 4 and tail unit 5 are servo motors
Is controlled to drive the target posture or target
Actions can be taken.

The above-described angular velocity sensor 18 and acceleration sensor 1
9 connection, the touch sensor 21, distance sensor 22, microphone 23, speaker 24 and various sensors such as potentiometers, and each actuator includes a signal processing circuit 14 of the corresponding hub 27 ₁ to control unit 16 via a 27 _n Have been. In addition, CCD camera 2
0 and the battery 17 are directly connected to the signal processing circuit 14, respectively.

Although the details will be described later, when learning the operation (action), the angular velocity sensor 18 and the acceleration sensor 1
9. The signal from each potentiometer is used.

The signal processing circuit 14 sequentially takes in sensor data, image data, audio data, and the like supplied from each of the above-described sensors, and sequentially stores them at predetermined positions in the DRAM 11 via the internal bus 15.

The signal processing circuit 14 includes a battery 17
Battery data indicating the remaining battery power supplied from the CPU 11 is sequentially taken in and stored in a predetermined position of the DRAM 11.

The sensor data, image data, audio data, and remaining battery data stored in the DRAM 11 as described above are used when the CPU 10 controls the operation of the robot apparatus 1.

The CPU 10 reads the control program stored in the flash ROM 12 and stores it in the DRAM 11 at the initial stage when the power of the robot apparatus 1 is turned on. Alternatively, the CPU 10 reads out a control program stored in a semiconductor memory device, for example, a so-called memory card 28 mounted on a PC card slot of the body unit 2 not shown in FIG. Store.

The CPU 10, based on the sensor data, image data, audio data, and remaining battery power data sequentially stored in the DRAM 11 from the signal processing circuit 14 as described above, as well as the situation of itself and surroundings from the user. Judges whether there is any instruction and action.

Further, the CPU 10 determines this result and
The action based on the control program stored in the RAM 11 is determined. CPU10, by driving the actuator that requires from the actuator 25 ₁ to 25 _n based on the determination result, or for example, swung the head unit 4 up and down and right and left, move the tail of the tail unit 5 Then, each of the leg units 3A to 3D is driven to walk.

Further, the CPU 10 generates audio data as required, and outputs the audio data to the speaker 24 via the signal processing circuit 14.
To supply. Further, the CPU 10 generates a signal for instructing turning on / off of the LED, and turns on / off the LED.

As described above, the robot apparatus 1 acts autonomously according to the situation of itself and the surroundings, and the instructions and actions from the user.

Next, FIG. 3 shows a software configuration of a control program in the robot apparatus 1.

In FIG. 3, a device driver layer 30 is located at the lowest layer of the control program, and includes a plurality of device drivers.
It is composed of a set 31. In this case, each device driver is an object permitted to directly access hardware used in a normal computer, such as the CCD camera 20 and a timer, and performs processing upon receiving an interrupt from the corresponding hardware.

The robotic server object 32 is located at the lowest layer of the device driver layer 30, and provides software for providing an interface for accessing hardware such as the various sensors and actuators described above. It comprises a group of device driver managers 35 and a designed robot 36 which is a group of software for managing the mechanism of the robot apparatus 1.

The manager object 37 includes an object manager 38 and a service manager 39.
It is composed of Object Manager 38
Is a software group that manages activation and termination of each software group included in the robotic server object 32, the middleware layer 40, and the application layer 41. Service Manager 39
Is a group of software for managing the connection of each object based on the connection information between the objects described in the connection file stored in the memory card 28.

The middleware layer 40 is located on the upper layer of the robotic server object 32 and is composed of a group of software for providing basic functions of the robot device 1 such as image processing and sound processing. .

Further, the application layer 41
It is located on the upper layer of the middleware layer 40 and is composed of a software group for determining the behavior of the robot apparatus 1 based on a processing result processed by each software group constituting the middleware layer 40. Have been.

As shown in FIG. 4, the middleware layer 40 includes a noise detection signal processing module 50, a temperature detection signal processing module 51, a brightness detection signal processing module 52, and a scale recognition signal processing module 53. , Distance detection signal processing module 54, attitude detection signal processing module 55, touch sensor signal processing module 5
6. Recognition system 60 having motion detection signal processing module 57, color recognition signal processing module 58, input semantics converter module 59, etc., output semantics converter module 68, attitude management signal processing module 61, tracking signal processing module 6
2, a signal processing module 63 for motion reproduction, a signal processing module 64 for walking, a signal processing module 65 for falling over, a signal processing module 66 for LED lighting, a recognition system 69 having a signal processing module 67 for sound reproduction, etc. ing.

Each of the signal processing modules 50 to 58 of the recognition system 60 fetches corresponding data from among sensor data, image data, and voice data read from the DRAM 11 by the virtual robot 33 of the robotic server object 32. , Performs predetermined processing based on the data, and provides the processing result to the input semantics converter module 59. Here, for example, the virtual robot 33 is configured as a part that exchanges or converts signals according to a predetermined communication protocol.

The input semantics converter module 59 detects, for example, "noisy", "hot", "bright", "ball detected", and "fallover" based on the processing results given from each of the signal processing modules 50 to 58. "Has been stroked,""beaten,""de mi
Recognize self and surrounding conditions, such as "hearing the scale of the sound", "detected a moving object", "detected an obstacle", etc., and commands and actions from the user. Output to

As shown in FIG. 5, the application layer 41 is composed of five modules: a behavior model library 70, a behavior switching module 71, a learning module 72, an emotion model 73, and an instinct model 74.

The behavior model library 70 includes, for example,
As shown in FIG. 6, "when the battery level is low", "when the vehicle returns to fall", "when avoiding an obstacle", "when expressing emotion", "when the ball is detected", and the like. Independent behavior models 70 _{1 to} 7 are respectively associated with several pre-selected condition items.
0 _n is provided.

These behavior models 70 _{1 to} 70 _n are provided as needed when a recognition result is given from the input semantics converter module 59 or when a certain period of time has passed since the last recognition result was given. The subsequent actions are determined with reference to the corresponding emotion parameter values held in the emotion model 73 and the corresponding desire parameter values held in the instinct model 74 as described later, and the determined result is changed to the action switching. Output to the module 71.

In the case of the robot apparatus 1 according to the present embodiment, each of the behavior models 70 _{1 to} 70 _n is transmitted from one node (node) NODE _{0 to} NODE _n as shown in FIG. Whether to make a transition or not is determined by using an algorithm called a finite probability automaton. Finite stochastic automaton is a node (state) NO
Whether the transition from one node of DE _{0 to} NODE _n to another node is determined by an arc AR connecting the nodes.
This is an algorithm that determines stochastically based on transition probabilities P _{1 to} P _n set corresponding to C _{1 to} ARC _n , respectively.

More specifically, each of the behavior models 70 _{1 to} 70
_n corresponds to nodes NODE _{0 to} NODE _n forming their own behavior models 70 _{1 to} 70 _n , respectively, and a state transition table 8 as shown in FIG.
It has 0.

In the state transition table 80, an input event (recognition result) as a transition condition at a certain node is preferentially listed in a row of “input event name”, and a further condition for the transition condition is “data name”. And "data range" are described in the corresponding columns in the rows.

Therefore, in the node NODE ₁₀₀ represented by the state transition table 80 in FIG. 8, for example, when a recognition result of “detection of ball (BALL)” is given, the “NO” of the ball given together with the recognition result is given. Size (SI
ZE) is in the range of “0 to 1000”, or when a recognition result of “obstacle detected (OBSTACLE)” is given, the “distance (DISTANCE)” to the obstacle given together with the recognition result is given. ) "Is" 0
To 100 "is a condition for transition to another node.

In this NODE ₁₀₀ , even when no recognition result is input, the behavior models 70 _{1 to} 70 _n
Model 73 and instinct model 74 that the user periodically refers to
Of the parameter values of each emotion and each desire held in
“Joy”, “Surprise”, and “Sadness” held in the emotion model 73
When any of the parameter values of “S)” is in the range of “50 to 100”, it is possible to make a transition to another node.

In the state transition table 80, in the column of the “transition destination node” column corresponding to the column of “transition probability to another node”,
The names of transition destination nodes that can transition from the nodes NODE _{0 to} NODE _n are listed. Also, when all the conditions described in the rows of “input event name”, “data value”, and “data range” are met, the transition probability to another node to which transition is possible is “ It is described in the corresponding part in the column of “transition probability”. The action to be output when transitioning to the node is described in the row of “output action” in the column of “transition probability to another node”.

The sum of the transition probabilities in each row in the column "Transition probabilities to other nodes" is 100 [%].

Therefore, in the node NODE 100 shown in the state transition table 80 of FIG. 8, for example, “ball is detected (BALL)”, and the “SIZE” of the ball is in the range of “0 to 1000”. If the recognition result is given, it is possible to transit to “node NODE ₁₂₀ (node 120)” with a probability of “30 [%]”, and at that time, the action of “ACTION 1” is output.

Each of the behavior models 70 _{1 to} 70 _n corresponds to the node NO described in the state transition table 80.
A plurality of DE _{0 to} NODE _n are connected. Each behavior model, stochastically determine the next action by utilizing a state transition table of the node NODE ₀ to NODE _n corresponding to when the recognition result from the input semantics converter module 59 given action switching determination results Output to the module 71.

The action switching module 71 shown in FIG. 5 includes the action models 70 _{1 to} 70 _n of the action model library 70.
Of the actions output from each of the actions, a command output from a predetermined high-priority action model is selected, and a command to execute the action (hereinafter, referred to as an action command) is transmitted to the middleware layer. 40 to the output semantics converter module 68. In addition,
In the present embodiment, the behavior model marked on the lower side in FIG. 6 has a higher priority.

The action switching module 71 notifies the learning module 72, the emotion model 73, and the instinct model 74 that the action has been completed, based on the action completion information given from the output semantics converter module 68 after the action is completed. .

On the other hand, the learning module 72 inputs, from among the recognition results given from the input semantics converter module 59, the recognition result of the teaching received from the user, such as "hit" or "stroke". I do.

Then, based on the recognition result and the notification from the action switching module 71, the learning module 72 lowers the probability of occurrence of the action when "beaten (scorched)" and "strokes ( praised obtained) "sometimes to increase the expression probability of that action, among the behavior model 70 ₁ to 70 _n in the behavioral model library 70, to change the transition probabilities of the corresponding behavior model.

On the other hand, the emotion model 73 indicates “joy (JO
Y), “Sadness”, “Angry (AN)
GER), "Surprise", "Disgust" (DISGUST), and "Fear" (FEAR), a parameter representing the strength of each of the six emotions. Then, the emotion model 73 sends the parameter values of each of these emotions to the specific recognition results such as “hit” and “stroke” from the input semantics converter module 59, the elapsed time, and the notification from the action switching module 71. Is periodically updated based on the above.

More specifically, the emotion model 73 calculates a predetermined calculation based on the recognition result given from the input semantics converter module 59, the behavior of the robot device 1 at that time, the elapsed time since the last update, and the like. It is calculated by the formula.

[0059] The amount of variation of affective ΔE [t], E [t ] of the current parameter value of the emotion, the coefficient representing the sensitivity of the emotion as k _e, in the next period by equation (1) below The parameter value E [t + 1] of the emotion is calculated, and the parameter value of the emotion is updated by replacing the parameter value E [t] with the parameter value E [t] of the current emotion. The emotion model 73 updates the parameter values of all emotions in the same manner.

[0060]

(Equation 1)

The degree to which each recognition result and the notification from the output semantics converter module 68 affect the variation ΔE [t] of the parameter value of each emotion is determined in advance. Is a variation ΔE of the parameter value of the emotion of “anger”.
[T] is greatly affected, and a recognition result such as "stroke" has a large effect on the parameter value ΔE [t] of the emotion of "joy".

Here, the notification from the output semantics converter module 68 is so-called action feedback information (action completion information), and is information on the appearance result of the action. The emotion model 73 changes the emotion according to such information. This means that, for example, the action of “barking” lowers the emotional level of anger.

The notification from the output semantics converter module 68 is transmitted to the learning module 72 described above.
The learning module 72 changes the corresponding transition probabilities of the behavior models 70 _{1 to} 70 _n based on the notification. The feedback of the action result may be made by the output of the action switching modulator 71 (the action to which the emotion is added).

On the other hand, the instinct model 74 includes, for example, “Exercise”, “Affection”
N), "Appetite", "Curiosity (C
For each of the four desires independent of each other, a parameter indicating the strength of the desire is held. Then, the instinct model 74 periodically updates these parameter values of the desire based on the recognition result given from the input semantics converter module 59, the elapsed time, the notification from the action switching module 71, and the like.

Specifically, in the instinct model 74, the “movement desire”, “affection desire” and “curiosity” are determined based on the recognition result, the elapsed time, the notification from the output semantics converter module 68, and the like. It is calculated from the calculation formula. ΔI the variation desire this time [k], I [k] of the parameter value of the current desire, as the coefficient k _i indicating the sensitivity of the desire, the following by using the equation (2) below a predetermined cycle The parameter value I [k + 1] of that desire in the cycle
Is calculated, and the parameter value of the desire is updated by replacing the calculation result with the current parameter value I [k] of the desire. Similarly, the instinct model 74 updates the parameter values of each desire excluding “appetite”.

[0066]

(Equation 2)

The degree to which the recognition result and the notification from the output semantics converter module 68 affect the variation ΔI [k] of the parameter value of each desire is determined in advance. For example, the output semantics converter module 68 The notification from 68 has a great effect on the variation ΔI [k] of the parameter value of “fatigue”.

In this embodiment, each emotion and
And the parameter value of each desire (instinct) is 0 to 10
It is regulated to fluctuate in the range up to zero.
Number k _e, K_iIs also set individually for each emotion and each desire
ing.

On the other hand, as shown in FIG. 4, the output semantics converter module 68 of the middleware layer 40 provides “forward” and “pleased” provided by the action switching module 71 of the application layer 41 as described above. , "Sound" or "tracking the ball" is given to the corresponding signal processing modules 61 to 67 of the recognition system 69.

When an action command is given, the signal processing modules 61 to 67, based on the action command, generate servo command values or the like to be given to the corresponding actuators 25 _{1 to} 25 _n in order to perform the action. The data is sequentially transmitted to the corresponding _{one of} the actuators 25 _{1 to} 25 _n via the virtual robot 33 of the robotic server object 32 and the signal processing circuit 14 in sequence.

The signal processing modules 61 to 67
Generates audio data of the sound output from the speaker 24 and / or data relating to the operation of the LED of the “eye”, and generates these data from the robotic server object 3.
The signal is sequentially transmitted to the speaker 24 or the LED via the second virtual robot 33 and the signal processing circuit 14.

In this way, the robot apparatus 1 can perform autonomous actions according to its own (internal) and surrounding (external) situations, instructions and actions from the user based on the control program. It has become.

Next, the tail unit 5 to which the present invention is applied will be described in detail.

The tail unit 5 is provided with an operation display device according to the present invention. A configuration example of the operation expression device 200 according to the present invention will be described in detail with reference to the drawings.

The motion display device 200 is incorporated in the tail unit 5 shown in FIG. 1, and operates a portion corresponding to the “tail” of the robot device 1.

FIGS. 9 to 13 show specific examples of the structure of the operation expression device 200. FIG. As shown in FIG. 9, the motion expression device 200 includes a center rotation member 210 and a horizontal rotation member 220.
, A vertical drive member 230 and an exterior member 240, supported by a support plate 250, and a tail unit 5.
Is fixed to the housing that constitutes.

Further, the operation display device 200 includes a first drive motor (horizontal drive motor) and a second drive motor (vertical drive motor) (not shown) and an arm 260 for transmitting the drive of the vertical drive motor. It has.

In this description, the term “vertical” refers to the lateral direction of the body unit 2, that is, the direction penetrating from the abdomen to the back of the robot device 1, and the term “horizontal” refers to the length of the body unit 2. Although the direction is indicated, the direction of the motion expression device according to the present invention is determined for convenience of explanation, and is not limited to the direction shown in the present embodiment.

In the robot device 1, only the exterior member 240 of the motion expression device 200 shown in FIG. 9 is exposed outside, and the portion other than the exterior member 240 is inside the tail unit 5, that is, the robot device 1. It will be stored inside. Here, FIG. 10 shows a part of the motion expression device 200 that is composed of the center rotating member 210, the horizontal rotating member 220, and the vertical direction driving member 230.

FIG. 11 shows the details of the center rotating member 210 in the motion display device 200. The center rotation member 210 is
As shown in FIG. 11, a spherical portion 211 having a substantially spherical shape,
It has a horizontal operation restricting convex portion 212 and a vertical operation restricting convex portion 213 for restricting the movement of the center rotating member 210, a first center support shaft 214a, and a second center support shaft 214b. .

The horizontal movement restricting convex portion 212 is provided at a predetermined position of the spherical portion 211 having a substantially spherical shape. The vertical operation restricting convex portion 213 is provided on the back of the spherical portion 211 at a predetermined position where the horizontal operation restricting convex portion 212 is provided.

Further, the center rotating member 210 is moved along the outer periphery of the spherical portion 211 by the first horizontal movement restricting convex portion 213 in the direction of the vertical motion restricting convex portion 213 by an angle of approximately 90 °. Center support shaft 214a and a second center support shaft 214b. Center rotating member 210
Are the horizontal movement limiting protrusion 212 and the vertical movement limiting protrusion 213
Are supported by a first center support shaft 214a and a second center support shaft 214b such that the first and second shafts can swing vertically.

Here, the horizontal movement restricting convex portion 212 has a portion near the end portion formed to be slightly larger than the diameter of the side joined to the spherical portion 211. In addition, the vertical operation restricting convex portion 213 has a trapezoidal portion 215 at the end of the vertical operation restricting convex portion 213, the end surface of which has an inclined cross section so as to be substantially trapezoidal when viewed from the horizontal direction.

Further, the vertical movement restricting convex portion 213 has a disk portion 216 at a predetermined interval from the trapezoidal portion 215 to the spherical portion 211. When a predetermined portion of the exterior member 240 is engaged with a groove formed between the vertical movement restricting convex portion 213 and the disk portion 216, the exterior member 2
40 is fixed to the spherical portion 211.

Next, referring to FIG.
0 will be described in detail. The horizontal rotating member 220 includes the bending portion 2
21, a protrusion 222, and a rotation support shaft 223.

The curved portion 221 is formed in a hemispherical shape having a curvature capable of covering a part of the spherical portion 211 with a gap. A vertical movable limiting groove 224 is opened in the curved portion 221 in parallel with the rotation axis of the rotation support shaft 223. The vertical movable restricting groove 224 has a groove width corresponding to the center rotation member 210.
Is approximately the same size as the diameter of the vertical movement restricting convex portion 213 in FIG.

Further, a hole 225 is formed in the curved portion 221 at a position shifted from the convex portion 222 by an angle of about 90 ° along the outer periphery of the curved portion 221 in the direction of the rotation support shaft 223. When the center rotation member 210 and the horizontal rotation member 220 are combined, the first center support shaft 214a and the second center support shaft 214b of the center rotation member 210 engage with the hole 225, and the hole 225 is rotatable. It is formed in such a size.

The convex portion 222 is provided at an upper end portion of the curved portion 221 and rotatably engages with a hole (not shown) formed at a predetermined position of a cover member covering a portion other than the exterior member 240. You.

The rotation shaft 223 is provided at the lower end of the curved portion 221. A notch 226 is formed at the base of the rotation support shaft 223. The horizontal rotation member 220 is
At the base of the rotation support shaft 223, it is engaged with a motor (not shown). Alternatively, it is engaged with a drive unit such as a gear transmitted from the motor, but the cutout 226 is provided at this time to transmit the drive force from the motor without interruption.

The center rotating member 210 and the horizontal rotating member 220 described above are combined with each other as shown in FIG.

That is, the horizontal rotating member 220 is moved so that the curved portion 221 covers the spherical portion 211.
The first center support shaft 214a and the second center support shaft 214b are rotatably engaged with the hole 225 in a state in which the vertical movement limiting protrusion 213 passes through the vertical movable limitation groove 224. Are combined. At this time, the horizontal rotation member 220 pivotally supports the center rotation member 210 with such a gap that the curved portion 221 does not contact the spherical portion 211.

Therefore, when the center rotating member 210 and the horizontal rotating member 220 are combined, the center rotating member 2
10, the vertical movement limiting protrusion 213 has the vertical movable limiting groove 22;
4 is rotatable within a range limited by the range. That is, the center rotating member 210 is rotatable in the vertical direction with a degree of freedom corresponding to the longitudinal length of the vertically movable restriction groove 224.

The center rotation member 210 is
0 is supported by the first center support shaft 214a and the second center support shaft 214b.
There is no horizontal swing between the horizontal rotating member 220 and the horizontal rotating member 220, and the movement in the horizontal direction is controlled by a motor or a motor driving unit engaged with the rotation support shaft 223.

Next, the vertically movable member 230 will be described in detail with reference to FIGS. Vertical movable member 2
30 is a curved portion 231, an arm portion 232, and a shaft portion 233.
And

The curved portion 231 has a curvature along the spherical portion 211 and is formed in a substantially hemispherical shape capable of covering the spherical portion 211 and a part of the curved portion 211 with a gap. The bending portion 231 has a horizontal movable restriction groove 234 opened perpendicularly to the rotation axis of the rotation support shaft 223. The horizontal movable restricting groove 234 has a groove width substantially equal to the diameter of the horizontal operation restricting convex portion 212 in the center rotating member 210.

A shaft 233 for engaging with a hole formed at a predetermined position of the support plate 250 is formed at one end of the extension of the horizontal movable restriction groove 234 on the curved portion 231. The vertically movable member 230 has an arm portion 232 at another end different from one end where the shaft portion 233 is formed.

The arm 232 is substantially rectangular, and is formed in parallel with a tangent to the curved surface of the curved portion 231.
An arm shaft portion 235 is formed at a position symmetrical to the curved portion 231 via the shaft portion 233. A gripping protrusion 236 is formed at an end of the arm 232 opposite to the end having the arm shaft 235. The arm portion 232 is connected to the drive arm 260 at a holding protrusion 236. Here, the shaft 233 and the arm shaft 235 are rotatably mounted on a hole formed at a predetermined position of the support plate 250.

Therefore, the vertically movable member 230 is
When the drive arm 260 swings vertically, the shaft 23
3 and the arm shaft 235 can be moved vertically so as to draw a part of an arc.

The vertically movable member 230, together with the center rotation member 210 and the horizontal rotation member 220,
Are combined as follows.

That is, in the vertically movable member 230, the bending portion 231 has the center rotating member 210 and the horizontal rotating member 220.
The shaft 233 and the arm shaft 235 are supported by the support plate 2 in a state in which the horizontal movement restricting convex portion 212 faces the center rotating member 210 so as to cover a part of
The holes 50 are rotatably engaged with and combined with holes formed at predetermined positions.

At this time, the positional relationship between the position where the horizontal rotating member 220 is engaged with the motor drive unit and the support plate 250 for supporting the vertically movable member 230 is determined by the relationship between the vertically movable member 230 and the center rotating member. 210 and horizontal rotating member 2
The horizontal rotation member 220 needs to be disposed with a gap that does not make contact with the rotation member 20 and does not hinder the rotation operation of the horizontal rotation member 220. For this reason, the positional relationship between the position where the center rotating member 210 is engaged and the support plate 250 that supports the vertically movable member 230 in a state where the center rotating member 210 is assembled in the tail unit 5 is such that the positional relationship that satisfies the above condition is satisfied. It has become.

Therefore, the center rotation member 210 is rotatable in the horizontal direction within a range where the horizontal movement restricting convex portion 212 is restricted by the horizontal movable restricting groove 234. That is, the center rotating member 210 is rotatable in the horizontal direction with a degree of freedom corresponding to the length of the horizontal movable restriction groove 234 in the longitudinal direction.

As described above, the motion expression device 200
By rotation from a motor (not shown) or a motor drive unit, the motor can be rotated in the horizontal direction within a range of the degree of freedom corresponding to the length of the horizontal movable restriction groove 234 in the longitudinal direction.
By the swing motion of 0, the vertical movable limiting groove 224 can be vertically swung within a range of the degree of freedom corresponding to the length in the longitudinal direction. Also, by combining these two directions of operation,
It is possible to rotate in any direction within the operating range allowed by each limiting groove.

As described above, the motion display device 200 has a drive unit outside the operation mechanism for freely rotating in any direction. Therefore, the motor for driving in the vertical direction and the motor for driving in the horizontal direction do not load each other, so that power consumption is reduced and the size of the entire apparatus can be reduced.

Next, the exterior member 240 of the motion displaying device 200 will be specifically described with reference to FIGS.

The exterior member 240 has a light emitting portion 241 and a light emitting member 242, and emits light from the light emitting portion 241 to the light emitting member 2
42 is irradiated.

The exterior member 240 is a member that simulates the “tail” of the robot device 1 and has a substantially triangular shape. It has a curved shape.
Further, a hole 243 is provided on a straight line connecting the base and the vertex. The exterior member 240 is engaged with a groove formed between the trapezoidal portion 215 and the disk portion 216 of the vertical movement restricting convex portion 213 at a predetermined position of the light emitting portion 241, and is fixed to the center rotating member 210. ing.

In the embodiment of the present invention, the light emitting unit 2
41 is illustrated as being built in the trapezoidal portion 215 in FIG. Therefore, in the embodiment of the present invention, the portion shown as the light emitting unit 241 in FIG.
Equivalent to 5.

The trapezoidal portion 215 is provided with an LED (Light Emitting
Diode) 244 and a light guide tube 245 for guiding light from the LED
The light from the LED 244 guided by the light guide tube is refracted from the end face 246 and emitted. The light emitted from the end surface 246 is applied to the light emitting member 242 from the inner surface of the exterior member 240.

In this case, the center rotating member 210 and the horizontal movement restricting convex portion 212 are hollow and have a means for supplying electric power to the light emitting portion 241 of the trapezoidal portion 215 therein, though not shown. This power supply means is made of a flexible material so as not to hinder the rotation of the center rotating member 210 in multiple directions.

Here, as the light emitting member 242, for example, a translucent material, a luminous material, a fluorescent material and the like can be mentioned. In addition, any material can be used without particular limitation as long as light from the LED 244 is transmitted so that a part of the exterior member 240 appears to emit light.

Further, at least a part of the exterior member 240 may be formed of a flexible material.

The operation display device 20 configured as described above
In the case of 0, the operation such as the movement and blinking of the LED is controlled in accordance with the parameter value of the emotion in the emotion model 73 of the robot apparatus 1 and the parameter value of the desire in the instinct model 74.

Therefore, the internal state of the robot device 1, such as the emotion and desire, can be widely expressed by the movement of the "tail" and the blinking of the LED.
Entertainment can be enhanced.

The operation display device 200 is provided with the exterior member 2.
Although 40 is shown as having a “tail” shape, the present invention is not limited to the “tail” structure, and may be applied to a case where a structure similar to other parts of the animal such as the “ear” of the animal is displayed. It is possible to

Further, it is needless to say that the present invention can be variously modified without departing from the gist of the present invention.

[0117]

As described in detail above, the operation display device according to the present invention comprises an operation member, a first driving means,
A second drive unit, a first drive member driven by the first drive unit, and a second drive unit driven by the second drive unit
The first driving member displaces the operating member in a first direction, and the second driving member displaces the operating member in a second direction.

Here, the operating member includes a rotation support shaft, a first protruding portion, and a second protruding portion, and the first driving member includes the first protruding portion.
Engages with the opening of the first drive member to support the operating member rotatably in an axial direction perpendicular to the rotation support shaft,
The second drive member operates in a plurality of directions by engaging the second protrusion and the opening of the second drive member to support the operating member rotatably about a rotation support shaft. I do.

Therefore, the operation display device according to the present invention can move the operating member in a plurality of directions without causing the driving members to receive another load, thereby reducing power consumption and miniaturization. It is possible to realize.

Further, the toy according to the present invention has an appearance simulating an animal, and operates at least in accordance with the internal state, and includes an operating member, first and second driving means, A first driving member driven by the first driving unit; and a second driving member driven by the second driving unit. The operating member is displaced in the first direction by the first driving member. , An operation expression device for displacing the operation member in the second direction by the second drive member, and the operation expression device is controlled based on the internal state.

Here, the operating member includes a rotation support shaft, a first protruding portion, and a second protruding portion, and the first driving member includes the first driving member.
Engages with the opening of the first drive member to support the operating member rotatably in an axial direction perpendicular to the rotation support shaft,
The second driving member engages with the second projecting portion and the opening of the second driving member to support the operating member so as to be rotatable about the rotation support shaft.

Therefore, the toy according to the present invention can move the operation member in a plurality of directions without causing the driving members of the operation expression device to be subjected to other loads.
It is possible to reduce power consumption and achieve miniaturization. Further, by applying the above-described motion expression device to a toy, a wide range of emotional expression of the toy can be realized, and a toy having a high degree of entertainment can be provided.

[Brief description of the drawings]

FIG. 1 is an external view showing an external appearance of a robot device to which a motion expression device according to the present invention is applied.

FIG. 2 is a configuration diagram showing a configuration of a robot device to which the motion expression device according to the present invention is applied.

FIG. 3 is a configuration diagram illustrating a software configuration of a control program in the robot device.

FIG. 4 shows a control program in the robot apparatus.
FIG. 3 is a configuration diagram illustrating a configuration of a middleware layer.

FIG. 5 shows a control program in the robot apparatus.
FIG. 2 is a configuration diagram illustrating a configuration of an application layer.

FIG. 6 shows a control program in the robot apparatus.
FIG. 3 is a configuration diagram illustrating a configuration of an action model library.

FIG. 7 is a schematic diagram illustrating a finite probability automaton that is an algorithm for determining an action of a robot device.

FIG. 8 is a diagram illustrating a state transition condition for determining an action of the robot device.

FIG. 9 is an external view showing the external appearance of the motion expression device according to the present invention.

FIG. 10 is a diagram showing a part of the motion expression device according to the present invention, the portion including a center rotating member, a horizontal rotating member, and a vertical driving member.

FIG. 11 is a view showing a center rotating member in the motion expression device according to the present invention.

FIG. 12 is a view showing a horizontal rotating member in the motion expression device according to the present invention.

FIG. 13 is a view showing a portion composed of a center rotating member and a horizontal rotating member in the motion expression device according to the present invention.

FIG. 14 is a view showing a vertically movable member in the motion expression device according to the present invention.

FIG. 15 is a view showing a vertically movable member in the motion expression device according to the present invention.

FIG. 16 is a side cutaway view showing a part of a side surface of an exterior member in the operation displaying device according to the present invention.

FIG. 17 is a top view of an exterior member in the operation displaying device according to the present invention.

[Explanation of symbols]

1 robot device, 2 body unit, 3A, 3B,
3C, 3D leg unit, 4 head unit, 5 tail unit, 200 motion expression device, 210 center rotating member, 211 spherical portion, 212 horizontal motion limiting convex portion, 2
13. Vertical movement limiting convex part, 214a, 214b Center support shaft, 215 trapezoidal part, 216 disk part, 220 horizontal rotating member, 221 spherical part, 222 convex part, 223
Rotating support shaft, 224 Vertical movable limit groove, 225 holes, 22
6 Notch, 230 vertically movable member, 231 curved portion, 232 arm portion, 233 shaft portion, 234 horizontal movable restriction groove, 235 arm shaft portion, 236 convex portion requiring grip,
240 exterior member, 241 light emitting portion, 242 light emitting member, 243 hole, 244 LED, 245 light guide tube, 2
46 End face

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Emi Kato 3-13-16 Mita, Minato-ku, Tokyo Mita 43 Mori Building 7F, Carrier Development International Co., Ltd. F-term (reference) 2C150 CA02 DA23 DA24 DA28 DF01 DF33 DG13 EB01 ED08 ED42 ED49 EF11 EF13 EF16 EF21 EF23 EF29 EH07 EH08 FA01 FA02 3F060 AA00 CA14 HA02

Claims (9)

[Claims] 1. An operating member, a first drive unit, a second drive unit, a first drive member driven by the first drive unit, and a drive by the second drive unit A second driving member, wherein the first driving member displaces the operating member in a first direction, and the second driving member displaces the operating member in a second direction. A motion expression device. 2. The operating member includes a rotation support shaft, a first protrusion, and a second protrusion. The first drive member and the second drive member each include an opening, The first drive member engages the first protrusion and an opening of the first drive member to support the operating member rotatably in an axial direction perpendicular to the rotation support shaft. The second drive member engages the second protrusion and the opening of the second drive member to support the operating member rotatably about the rotation support shaft. The motion expression device according to claim 1, wherein: 3. The operation table according to claim 1, wherein the operation member is mounted on a toy imitating an animal, and the operation member has an operation expression member that forms a part of the external shape of the toy imitating the animal. Output device. 4. The motion expression device according to claim 3, wherein the motion expression member constitutes a tail portion of the toy imitating the animal. 5. The operation displaying member includes a light emitting member that emits light when irradiated with light, and the operating member includes a light emitting unit that irradiates the light emitting member with light. The operation expression device as described. 6. The operation display device according to claim 5, wherein said light emitting means includes a light source and a light guiding means for guiding light emitted from said light source to said light emitting member. 7. A toy having an appearance simulating an animal and operating at least according to an internal state, wherein the toy is driven by an operating member, first and second driving means, and the first driving means. A first driving member, and a second driving member driven by the second driving means. The first driving member displaces the operating member in a first direction. A toy, comprising: a motion expression device that displaces the operation member in a second direction by a driving member, wherein the operation expression device is operated based on the internal state. 8. The toy according to claim 7, wherein the internal state is an emotional state. 9. The toy according to claim 7, wherein the motion expression device forms a tail portion of the external shape.