JP2005092675A - Robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot which responds to surrounding winds with fewer detection means of the wind expensively without causing a sense of incongruity by using an electronic display. <P>SOLUTION: The robot has data 3, 4, and 5 on three-dimensional model for displaying head parts of men or animals; a three-dimensional model display means 2 for displaying them to a display 1; a wind volume detection means 7 for detecting the winds surrounding the display 1; and a wind volume estimation means 6 for estimating behaviors of the winds from the detection result of the wind volume detection means 7. The data 3 and 5 on the behaviors of the winds in the three-dimensional model data for expressing the head parts are updated by the estimation result of the wind volume estimation means 6 and displayed to the display 1 by the three-dimensional model display means 2. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

The present invention relates to a robot in which facial expressions, particularly hair movement, can be seen naturally.

In order to realize a human- or animal-shaped robot, its head has a face and hair, and it is necessary that the human head does not feel uncomfortable.

Therefore, the “communication robot” of Patent Document 1 discloses a technique for creating a facial expression by mechanically driving a rubber film by an electromagnetic motor.
However, when a facial expression is mechanically realized, there are problems such as a complicated structure, high cost, and failure.

On the other hand, attempts have been made to realize facial expressions using an electronic display device.
For example, in “Intelligent robot having facial expression” of Patent Document 2, a robot face is realized by drawing a plurality of prepared facial expression patterns on an electronic display device.
However, in the case of this method, the face is expressed without being influenced by the surrounding environment, for example, light, wind, etc., as compared with the case of the mechanical type described above, and it becomes uncomfortable.

In order to solve such a problem, the “robot” of Patent Document 3 has an electronic display and a means for detecting ambient light or wind, so that facial expressions can be expressed without feeling uncomfortable in conjunction with the surrounding situation. A technique for realizing a changing robot is disclosed.

JP-A-6-261982 JP 2001-215940 A JP 2003-187267 A

If the 3D computer graphics technology and the means for detecting external environmental factors are used like the technology described in Patent Document 3, the human or animal face linked to the environment is realistically represented on the display. It is possible to display. Then, using this as the face of the robot can realize a realistic face at a low cost and with few failures compared to the case of the mechanical type described above.

However, although the technique described in Patent Document 3 has a means for detecting wind that is one of the external environmental factors, it does not have a means for estimating the behavior of the wind, and many wind Without the detection means, the reflection of the wind was insufficient, and the robot's hair fluttering in the wind felt an unnatural difference.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a robot having a head that reacts to the surrounding wind at low cost with less wind detection means and with no sense of incongruity using an electronic display.

In order to solve the above-mentioned problems, a robot according to the present invention includes a three-dimensional model data representing a human or animal head, three-dimensional model display means for displaying the data on a display, and wind around the display. An air volume detecting means for detecting, and an air volume estimating means for estimating the behavior of the wind from the detection result of the air volume detecting means, and the wind in the data of the three-dimensional model representing the head by the estimation result of the air volume estimating means The data related to the behavior is updated and displayed on the display by the three-dimensional model display means.

According to the above-described robot according to the present invention, there is provided a three-dimensional model display means for displaying data on a display having three-dimensional model data representing a human or animal head, and a display on which the head is displayed. It has an air volume detecting means for detecting the intensity or direction of the surrounding wind, and the behavior of the wind is estimated by the air volume estimating means from the detection result of the air volume detecting means, and the three-dimensional model is calculated based on the estimation result of the wind behavior. In order to update the data related to the behavior of the wind in the data, such as the shape data of the hair that flutters in the wind, and display it on the display by the 3D model display means, the wind blows around the display on which the head is displayed And the head of the robot displayed on the display will change according to the strength of the wind or the direction,
Realistic display of human and animal heads.
In addition, although it is not possible to freely change the hair quality, color, hairstyle, etc. with a mechanical robot, since the robot of the present invention uses so-called computer graphics, they can be freely changed and are versatile. Can be expected.

Hereinafter, the best embodiment of the robot according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing an example of a system configuration of a robot according to the present invention. As shown in this figure, the robot according to the present invention includes a display 1 that displays the head of the robot, a three-dimensional model display unit 2 that displays a three-dimensional model on the display 1, and the three-dimensional model display unit 2.
The three-dimensional model data such as the air volume data 3, the material data 4 and the shape data 5 as the data to be given to the data, and one or a plurality of air volume sensors 7, and the data from the air volume sensor 7 are analyzed to analyze the three-dimensional model data. An air volume estimation unit 6 that updates data to be given to the model display unit 2 is configured.
The 3D model display unit 2 and the air volume estimation unit 6 are processing units inside the computer, and the 3D model data such as the air volume data 3, material data 4 and shape data 5 are data inside the computer.

As shown in FIG. 2, the air volume sensor 7 is arranged around the display 1 that displays the head so that the air volume and wind pressure around the display 1 can be detected.
As the air volume sensor 7, a microphone or the like can be used. In particular, a pressure microphone is preferable because a weak wind can be sensed. For pressure microphones,
There are a dynamic microphone, a condenser microphone, an electret condenser microphone, and the like, and an electret condenser microphone is particularly preferable from the viewpoint of ease of maintenance, durability, and cost.

On the display 1, head shape data 5 for a thing moving in the wind such as a hair or a ribbon is displayed. Of course, a shape that does not react to the wind may be displayed at the same time. The air volume estimation unit 6 estimates the behavior of the wind from the detection result of the air volume sensor 7, and based on the estimation result, the air volume data 3 in the computer, the shape data 5 of the hair fluttering in the wind, etc. Update data on wind behavior. Then, the shape data 5 representing the shape of the head obtained from the air volume estimation unit 6, the material data 4 indicating the color and texture corresponding to the head shape data 5, and the air volume data 3 are used. An image of the head of the robot is displayed on the display 1 by the three-dimensional model display unit 2.
In addition, although the said display 1 can obtain only a rectangular thing at present, the display close | similar to the shape of a human or animal head can also be used.

FIG. 3 is a flowchart for explaining an example of the operation of the robot according to the present invention.
As shown in this flowchart, first, the analysis part is initialized and set (P1).
Here, as shown in FIG. 4, each axis is equally divided into an arbitrary number to define a grid point for analysis, and along with the shape data 5, a grid point with a face and a grid point without a face And various settings related to analysis, such as defining obstacles that exist in space during analysis.

Next, data is obtained from the air volume sensor 7 (P2). Then, using the data of the air volume sensor 7 as a boundary condition, the behavior of the wind is obtained by fluid analysis. That is, the velocity vector V and pressure P of each lattice point are obtained (P3). Next, the data of the three-dimensional model such as the shape data 5 is updated from the result of the fluid analysis (P5), and the three-dimensional model is displayed on the display 1 based on the updated data (P5).
By repeating the above processing, the wind blows around the head of the robot, and at the same time, the shape of the head of the robot displayed in the display 1 can be changed according to the wind around the head. For example, if the wind hits from the right, the robot's hair flutters to the left, and if the wind hits from the right, the robot's hair flutters to the left.

FIG. 4 is a view showing an example of grid points for analysis arranged around the head shape data 5. As shown in this figure, each axis is equally divided into an arbitrary number including the place where the shape data 5 is arranged, and the lattice points are determined. In this embodiment, a normal grid is used, but a staggered grid or the like may be used.

なお、（１）式は運動量保存の式であり、（２）式はエネルギー保存の式である。（２
）式より、速度Ｖは時間発展型になっているが、圧力Ｐは時間発展型になってないことが
明らかである。
したがって、速度Ｖを時間発展型で求めるためには、各時間ステップで、連続の式であ
る（１）式を満足するように圧力Ｐを求める必要がある。 FIG. 5 is a flowchart for explaining in detail an example of the operation of the analysis part (P3) of FIG.
In this embodiment, it is assumed that the wind speed is sufficiently smaller than the sound speed and is incompressible, and the Navier-Stokes equations consisting of the following expressions (1) and (2) are analyzed by the MAC method.

Equation (1) is an equation for conservation of momentum, and equation (2) is an equation for conservation of energy. (2
From equation (1), it is clear that the velocity V is a time evolution type, but the pressure P is not a time evolution type.
Therefore, in order to obtain the velocity V in the time evolution type, it is necessary to obtain the pressure P so as to satisfy the equation (1) which is a continuous equation at each time step.

となる。
ここで、レイノルズ数は、物理的には慣性力と粘性力の比を表す無次元のパラメータで
あり、

で表される。 When the above equations (1) and (2) are modified,

It becomes.
Here, Reynolds number is a dimensionless parameter that physically represents the ratio of inertial force to viscous force,

It is represented by

As shown in the flowchart of FIG. 5, first, the wind pressure on the display surface is linearly approximated from the wind pressure obtained by the air volume sensor 7, and this is used as a boundary condition (Q1). By substituting this pressure into the above equation (4), the speed V at the current time is obtained (Q2). Next, by substituting this velocity V into the above equation (3), the pressure P at the next time step is obtained (Q3).
In the part (Q4), whether the wind is detected by the air volume sensor 7, or the wind speed V and wind pressure P at each lattice point.
If it does not return to the standard state, No is output, the process returns to the above (Q2), and the velocity V at the next time step is obtained using the wind pressure P obtained in (Q3).
In this way, by repeating (Q2) and (Q3), the state of the wind is changed to the air volume sensor 7.
Based on the pressure obtained by
In this embodiment, the MAC method is used for the analysis part, but the SMAC method or SIMP is used.
The LE method may be used.

なお、この実施の形態では、風速をそのまま格子点の速度とした。
また、この実施の形態では、髪の表示に点群を用いたが、Ｂｅｚｉｅｒ曲線やＢ−ｓｐ
ｌｉｎｅ曲線などのスプライン曲線の制御点を風の速度ベクトルで動かしても良い。 FIG. 6 is a diagram for explaining an example of a hair display method. As shown in this figure, in the hair display portion, a point cloud for displaying hair is placed along the hemisphere, and is connected by a line from the center of the hemisphere to be a pinch.
When the wind field linked to the real world is obtained in the virtual space by fluid analysis, as shown in FIG. 6 and the following formula (6), the wind speed is added to the innumerable point cloud placed on the hair of the robot. Is a mechanism that fluctuates.

In this embodiment, the wind speed is used as the grid point speed as it is.
In this embodiment, a point cloud is used for displaying hair, but a Bezier curve or B-sp is used.
A control point of a spline curve such as a line curve may be moved by a wind velocity vector.

The embodiment of the robot according to the present invention has been described above. However, the present invention is not limited to the embodiment described above, and within the scope of the technical idea of the present invention described in the claims, Naturally, various modifications and changes are possible.

It is the figure which showed an example of the system configuration | structure of the robot which concerns on this invention. It is the figure which showed an example of the general view of the head of the robot which concerns on this invention. It is a flowchart for demonstrating an example of operation | movement of the robot which concerns on this invention. It is the figure which showed the grid point example for the analysis of the robot which concerns on this invention. It is a flowchart for demonstrating in detail an example of operation | movement of the analysis part of the robot which concerns on this invention. It is a figure for demonstrating an example of the display method of the hair of the robot which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Display 2 3D model display part 3 Airflow data 4 Material data 5 Shape data 6 Airflow estimation part 7 Airflow sensor

Claims (3)

Three-dimensional model data representing the head of a human or animal, three-dimensional model display means for displaying the data on a display, air volume detection means for detecting wind around the display, and detection of the air volume detection means It has an air volume estimation means for estimating the wind behavior from the result, updates the data on the wind behavior in the data of the 3D model representing the head by the estimation result of the air volume estimation means, and updates the data on the 3D A robot characterized by being configured to display on the display by a model display means. The robot according to claim 1, wherein a microphone is used as the air volume detecting means. 3. The robot according to claim 1, wherein fluid analysis is used for estimating wind behavior in the air volume estimating means.

Images