JP2008176750A - Driving mechanism control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving mechanism control device controlling directions of output parts of an information device and various equipment so that output directions of the information device and the equipment may be aligned with directions of a user seen from the device and equipment. <P>SOLUTION: The driving mechanism control device includes a reception processing part 32 for detecting whether or not a plurality of light reception sensors 31 receives a signal from a remote controller and an operation processing part 33 for processing a command included in the signal from the remote controller 10. The operation processing part 33 includes a command determination part 33a for determining the command included in the signal received by the reception processing part 32, a direction determination part 33b for calculating a direction of the remote controller 10, a command information generation part 33c for generating command information to a driving mechanism 23 so that a fixed direction of the driving mechanism control device may be aligned with the direction of the remote controller obtained by the direction determination part, and a mechanism control part 33d for controlling the driving mechanism on the basis of the command information generated by the command information generation part 33c. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a drive mechanism control device that enables an output unit such as a screen or an output port to be turned to the front of a user so that it can be output toward the user.

  Conventionally, an audio device, a television device, and other information devices are provided with an input unit for inputting commands from the user in the information device main body, and a remote controller is an accessory separately from the information device main body so that remote control can be performed. It is provided as. Some air conditioners such as coolers, lighting equipment and blind equipment are also equipped with remote controllers for remote operation. In a remote controller, infrared rays are usually used as a transmission carrier for command information for these various devices and facilities.

  On the other hand, as a mobile robot, an animal-type robot that walks by moving a moving mechanism provided at each joint such as a shoulder or a leg, or an autonomous movement that operates a moving mechanism provided at each joint such as a shoulder or a leg. Humanoid robots such as walking biped robots are known. In order to remotely control the mobile robot, it has been studied to adopt a mobile phone (Patent Document 1). In addition, as one type of mobile robot, the environment situation around the mobile robot is detected, mapping and position estimation are performed, a movement route to a designated destination is planned, and the movement according to the planned movement route is performed. So-called autonomous mobile robots have also been developed (Patent Documents 2 and 3).

JP 2005-246503 A JP 2004-280404 A JP 2005-117621 A

  By the way, normally, the light emitting portion of the remote controller is provided with a lens formed of an epoxy resin or the like, and directivity is imparted by this lens so that infrared rays output from the remote controller are directed in a predetermined direction. On the other hand, the light receiving sensor provided in various information devices and facilities is highly sensitive to light incident in a direction orthogonal to the light receiving surface, but is sensitive to light incident obliquely on the light receiving surface. Low. Therefore, the user must consciously point the remote controller at various information devices and facilities, and if necessary, perform the remote operation at a position facing the light receiving sensor as much as possible by moving the user himself / herself so that it enters the light receiving surface. There is a problem that there is.

  Furthermore, the direction in which screen information and acoustic information are output in various information devices is a fixed direction regardless of the position of the user. For example, in a television device, the user himself moves so that the user is positioned in front of the monitor, There is a problem that it is necessary for the user to change the direction of the monitor, which is troublesome for the user.

  In view of the above problems, the present invention can control the direction of the output unit of various information devices and facilities so that the output direction of the various information devices and facilities matches the direction of the user viewed from the various information devices and facilities. It is an object to provide a mechanism control device.

In order to achieve the above object, the present invention provides a drive mechanism control device that controls a drive mechanism in accordance with a signal received from a remote controller, a plurality of light receiving sensors that receive a signal from the remote controller, and a plurality of light receiving sensors. The light receiving sensor includes a reception processing unit that detects whether or not a signal is received from the remote controller, and an arithmetic processing unit that processes a command included in the signal from the remote controller, and the arithmetic processing unit receives the reception processing unit. A command determination unit that determines a command included in the signal, a direction determination unit that calculates the direction of the remote controller, and a drive mechanism so that the default direction of the drive mechanism control device matches the direction of the remote controller obtained by the direction determination unit The command information generation unit that generates command information for the command information and the command information generated by the command information generation unit Characterized in that it comprises a mechanism control unit for controlling the drive mechanism Zui.
In the above configuration, the direction determination unit obtains the direction of the remote controller from the position information of the light receiving sensor that has detected reception by the reception processing unit. The direction determination unit obtains the direction of the remote controller based on the amount actually measured by the drive mechanism.

  With the above configuration, when the arithmetic processing unit determines that the command determination unit has received a direction change command, the direction determination unit obtains the direction of the remote controller from the position information of the light receiving sensor that has received this command, and the drive mechanism control device The command information generation unit generates command information for the drive mechanism so that the predetermined direction matches the direction of the remote controller obtained by the direction determination unit. The mechanism control unit creates control information for controlling the drive mechanism based on the command information and actually controls the drive, so that the mechanism control unit is controlled to face the remote controller.

  According to the present invention, not only the command from the remote controller is received by the light receiving sensor and the command related to the command is executed, but also which of the plurality of light receiving sensors has detected the signal from the remote controller is determined. Thus, the direction of the remote controller can be obtained and the drive mechanism can be controlled so that the predetermined direction of the drive mechanism control device is directed to the direction of the remote controller. Therefore, when the user transmits a signal from the remote controller, it is possible to control the output units of various information devices and facilities to face the user. Since various information devices and equipment are equipped with a plurality of light receiving sensors, the user consciously points the remote controller toward the various information devices and equipment as in the past, and performs remote operation toward one light receiving sensor. There is no need to perform this, and the signal can be detected by any one of the light receiving sensors.

The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a block diagram schematically showing a remote operation system incorporating a drive mechanism control device according to an embodiment of the present invention. As shown in FIG. 1, the remote operation system 1 includes a remote controller 10 for remote operation and a controlled device 20 controlled by the remote controller, and a drive mechanism control device 30 is incorporated in the controlled device 20. It is.

  The remote controller 10 includes various buttons for a user to input an operation, and a control unit that generates and transmits a signal by turning on / off a switch of a light emitting diode in response to pressing input of the various buttons. This signal is transmitted in a predetermined format, and is composed of a leader code and a custom code and a data code constituting transmission data. This data code corresponds to the operation information from the user corresponding to the pressing input of the button.

  The controlled device 20 includes a sound output unit such as a speaker, an output unit 21 such as a liquid crystal display screen output unit, an output control unit 22 that controls an image and sound output from the output unit 21, and the drive mechanism control of the present invention. Device 30. The controlled device 20 includes a television device and other display devices, an audio device such as an audio component and a speaker, a cabinet on which the display device and the audio device are mounted, and an air conditioner equipped with an air outlet.

  The drive mechanism control device 30 includes a drive mechanism 23 configured by combining a motor and gears, and is configured to change the direction of the output unit 21 of the controlled device 20. Further, the drive mechanism control device 30 detects a plurality of light receiving sensors 31 for receiving signals from the remote controller 10 and the presence or absence of signal reception at the plurality of light receiving sensors 31, and any of the light receiving sensors 31 is effectively remote. A reception processing unit 32 that determines whether a signal from the controller 10 has been received, and an arithmetic processing unit 33 that processes the signal detected by the reception processing unit 31 and controls the drive mechanism 23.

  The light receiving sensor 31 includes a light receiving element and a preamplifier circuit designed to detect a predetermined wavelength region. The detection signal generated by the light receiving detection by the light receiving element is amplified by the amplifier, and only the carrier frequency component is extracted by the band filter. The signal is detected by the detector, the waveform is formed by the waveform shaping circuit, and the remote signal from the remote controller 10 is reproduced. The light receiving sensors 31 are respectively arranged at predetermined positions of the controlled device 20. Sensor information such as a number is attached to each light receiving sensor 31, and the sensor information attached to the light receiving sensor 31 and position information viewed from the center position of the controlled device 20 are provided in the arithmetic processing unit 33 as a pair. Stored in a position information table (not shown).

  The reception processing unit 32 receives a reproduced signal for each light receiving sensor 31 and compares the intensity of the input signal with a threshold value to determine whether light is received for each light receiving sensor 31 and the arrangement of the input signals. A detection processing unit 32a that determines whether or not the code is a valid custom code and a data code, and a sensitivity adjustment processing unit 32b that sets a threshold value that serves as a reference for whether or not the detection processing unit 32a has received light are provided. Therefore, the reception processing unit 31 determines the validity of the custom code and the data code for each light receiving sensor 23 only with respect to a signal having a certain intensity or more, and uses the received light receiving sensor information as attached information. The command, that is, the data code is output to the arithmetic processing unit 33.

  The arithmetic processing unit 33 includes a data code input from the reception processing unit 32, that is, a command determination unit 33a that determines a command from the remote controller 10, a direction determination unit 33b that determines the direction of the remote controller 10, and a drive mechanism control device. The command information generation unit 33c that generates command information for the drive mechanism 23 so that the predetermined direction of 30 matches the direction obtained by the direction determination unit 33b, and the drive mechanism 23 based on the command information generated by the command information generation unit 33c. And a mechanism control unit 33d for controlling. The significance of the “predetermined direction” will be described later.

Hereinafter, the processing in the arithmetic processing unit 33 will be described in detail.
As described above, the arithmetic processing unit 33 receives the sensor information of the sensor 31 that has effectively received the signal from the remote controller 10 and the data code obtained by converting the signal from the remote controller 10, that is, the command from the remote controller 10. , Input from the reception processing unit 32 as needed. First, the command determination unit 33a determines the command to be executed from the input command, that is, the data code. Therefore, the command determination unit 33a stores a command table indicating the correspondence between the data code and the command. The command determination unit 33a also determines whether or not the command resulting from the translation of the data code is a command related to direction change. If the determination is negative, the command is executed as before. For example, when the controlled device 20 is an audio device or a display device and is a command for increasing the volume, the command is output to the output control unit 22. On the other hand, when the determination is affirmative, that is, the command is related to the direction change, the command is input to the direction determination unit 33b together with one or more pieces of sensor information input from the reception processing unit 32.

  Then, the direction determination unit 33 b obtains the direction of the remote controller 10 as viewed from the controlled device 20. FIG. 2 is a schematic diagram for explaining processing performed in the direction determination unit 33b and the command information generation unit 33c. The controlled device 20 is provided with a plurality of light receiving sensors 31 (31a to 31f), and in the case shown in FIG. 2, it encloses a symbol “O” (white circle) indicating the center position of the controlled device 20. Six light receiving sensors 31 are arranged.

  Since the direction determination unit 33b receives a direction change command and sensor information of the light receiving sensor 31 that has received the command, the direction determination unit 33b refers to the position information table and calculates the direction of the remote controller based on the input sensor information. To do. When there is only one sensor information for which a command for changing the direction is input at substantially the same time, only one light receiving sensor 31 is effectively received. Therefore, the light receiving sensor 31 viewed from the center position of the controlled device 20. It is determined that there is the remote controller 10 in the direction of. On the other hand, when there are a plurality of sensor information for which a command related to direction change is input substantially simultaneously, the position information corresponding to each input sensor information is acquired from the position information table, and the light received effectively. The barycentric position of a figure such as a polygon formed by the sensor 31 is obtained, and the direction of the barycentric position of the polygon viewed from the center of the controlled device 20 is set as the direction of the remote controller 10. For example, as shown in FIG. 2, if three sensors, light receiving sensors 31a, 31b, and 31c, receive a direction change command almost simultaneously, a center of gravity G of a triangle formed by the light receiving sensors 31a, 31b, and 31c is obtained. The direction of the remote controller 10 can be obtained by calculating and calculating the OG vector. Information on the direction of the remote controller 10 thus determined (hereinafter referred to as “direction information”) is output to the command information generation unit 33c as needed.

  Based on the direction information of the remote controller 10 input from the direction determination unit 33b, the command information generation unit 33c sets the command information for the drive mechanism 23 so that the default direction of the drive mechanism control device matches the direction of the remote controller 10. Generate.

  Here, the predetermined direction of the drive mechanism control device is a direction determined according to the output unit 21 of the controlled device 20 incorporating the drive mechanism control device. For example, when the controlled device 20 is a display device, the default direction is determined as a direction in which the display device outputs a display. Therefore, the display device as the controlled device 20 generates command information for the drive mechanism 23 so as to output and display in the direction of the remote controller 10. In the case where the controlled device is a pair of speaker devices, similarly, the front direction as viewed from the midpoint of the position where the pair of speaker devices are respectively arranged is determined as the default direction. Conversely, when the controlled device 20 is an air conditioner such as a room air conditioner, the driving mechanism 23 adjusts the wind direction by directly or indirectly rotating the axis of the louver (wind direction plate). It is defined as a direction. The same applies to the window curtain provided near the window of the room, and the direction in which external light enters is determined as the default direction. As described above, the predetermined direction is determined as the direction in which the output information is output from the output unit in the controlled device 20 or the direction in which the passing information advances, but may be determined in the opposite direction depending on the case. Therefore, as a result of controlling the drive mechanism in the controlled device 20, the direction output from the controlled device 20 is the direction of the remote control as viewed from the controlled device 20, but the direction is reversed depending on how the predetermined direction is determined. Therefore, in the present invention, “the predetermined direction of the drive mechanism control device matches the direction of the remote controller” includes the case where the directions match and the case where the directions and directions match.

  FIG. 3 is an explanatory diagram for explaining how the command information is generated by the command information generation unit 33 c in FIG. 1, and FIG. 3A is a diagram illustrating the drive mechanism 23 with respect to the center O of the controlled device 20. FIG. 6B is a diagram illustrating a case where the drive mechanism 23 can turn in one axis direction with respect to the center O of the controlled device 20. It is assumed that xyz coordinates are set as local coordinates around the center coordinate O in the controlled device 20. Here, the local coordinates are coordinate axes provided on the controlled device 20 and are coordinate systems that do not change even when the controlled device 20 is moved by the drive mechanism 21.

First, the case where the drive mechanism 23 can respectively turn in the biaxial direction with respect to the center O of the controlled apparatus 20 will be described. It is assumed that the xyz axis is set so that one axis can turn around the y axis of the center coordinate O and the other axis can turn around the z axis of the center coordinate O.
Now, it is assumed that the direction of the remote controller 10 is the direction of the OG vector as shown, and the default direction is the x-axis direction. Here, it is assumed that the OG vector is an orientation in which the direction of the x axis is rotated by φ degrees around the y axis and further rotated by θ degrees around the z axis. Then, it is understood that the drive mechanism 23 only needs to rotate about −φ degrees around the y axis and rotate about −θ degrees around the z axis. Then, for example, when the rotation speeds with respect to the y-axis and the z-axis are set in advance, for example, how many seconds each of them should be rotated is calculated. That is, the command information generation unit 33c may calculate the rotation amount of each of the drive shafts of the drive mechanism 23, generally two axes, as the command information, or a shaft to be rotated when the rotation speed is determined. You may calculate every rotation time as command information. The command information generation unit 33c outputs the obtained command information to the mechanism control unit 33d.

Next, a case where the drive mechanism 23 turns in one axis direction with respect to the center of the controlled apparatus 20 will be described. In the xyz axis, the turning axis is the y axis, and the x axis and the y axis are set on a plane perpendicular to the turning axis.
Now, it is assumed that the direction of the remote controller 10 is the direction of the OG vector as shown, and the default direction is the x-axis direction. Here, it is assumed that the OG vector is an orientation in which the direction of the x axis is rotated by φ degrees around the y axis and further rotated by θ degrees around the z axis. In this case, the direction of the controller 10 is regarded as the direction of the vector orthogonally projected onto the xy plane that is a plane perpendicular to the pivot axis, that is, the direction of the OG1 vector shown in FIG. It is sufficient to rotate by −φ degrees. For example, when the rotational speed around the y-axis is set in advance, for example, how many seconds should be rotated is calculated. In other words, the command information generation unit 33c may calculate the rotation amount of the drive mechanism 23 around the turning axis as the command information, and when the rotation speed is determined, the rotation time of the axis to be rotated is set as the command information. May be calculated as
The command information obtained as described above is output to the mechanism control unit 33d by the command information generation unit 33c.

  The drive control unit 33 d creates control information from the input command information according to the configuration and arrangement relationship of the drive mechanism 23, and outputs the control information to the drive mechanism 23. For example, as shown in FIG. 1, the drive mechanism 23 is directly connected by a pair of left and right drive motors 23a and 23b, a pair of left and right transmission means 23c and 23d such as gears from the drive motors 23a and 23b, and each transmission means 23c and 23d. In the case of a pair of driven wheels 23e and 23f, the rotational speed and the rotational time of the drive motors 23e and 23f for driving the left and right wheels 23e and 23f corresponding to the command information are Are obtained for each of the drive motors 23e and 23f and output to the drive mechanism 23.

  The drive mechanism 23 performs control according to the input control information, and performs control so that the output unit 21 faces the predetermined direction, that is, faces the user. Thus, for example, when the output unit 21 is an output screen, the output unit 21 turns in parallel to the direction of the remote controller 10 and faces the user.

Since the controlled device 20 including the drive mechanism control device 30 of the present invention is configured as described above, the following drive mechanism control method is realized.
FIG. 4 is a flowchart showing an embodiment of a drive mechanism control method in the remote control system 1 shown in FIG. The flow diagram shown in FIG. 4 assumes a case where the user presses a predetermined button of the remote controller 10 only for a certain short time, for example, for a few seconds. The light receiving sensor 31 receives electromagnetic waves such as infrared rays (STEP 1-1). Then, the light receiving sensor 31 detects a signal from the remote controller 10 and shapes the waveform, converts the signal into a custom code and a data code, and outputs it to the reception processing unit 32. At this time, signal reception and signal processing are performed for each light receiving sensor 31 and output to the reception processing unit 32.

  Next, the detection processing unit 32a of the reception processing unit 32 determines that only signals having a signal strength higher than the threshold set by the sensitivity adjustment processing unit 32b are valid signals, and detects the code of the input signal. (STEP 1-2). At this time, the signals received and detected by the plurality of light receiving sensors 31 substantially simultaneously are determined for each light receiving sensor 31, and the sensor information of the light receiving sensor 31 and the detected code are transmitted to the arithmetic processing unit 33 as a determination result. . Then, the arithmetic processing unit 33 determines and executes a command to be executed based on the code input to the command determination unit 33a (STEP 1-3). At this time, the command determination unit 33a determines whether the command resulting from the translation of the data code is a command related to a direction change, and if the command is a command related to a direction change, one or more input from the reception processing unit 32 It inputs into direction judgment part 33b with sensor information.

  When the direction determination unit 33b receives an input of a command related to a direction change and sensor information of the light receiving sensor 31 that has received the command, the direction determination unit 33b refers to the position information table, and receives a command from the controlled device 20 based on the input sensor information. The direction of the remote controller is obtained and output as direction information to the command information generation unit 33c as needed (STEP1-4). Upon receiving the direction information, the command information generation unit 33c generates command information for the drive mechanism 23 based on the direction information so that the default direction of the drive mechanism control device 30 is along the direction of the remote controller 10, and the mechanism control unit 33d (STEP 1-5). The mechanism control unit 33d creates control information according to the configuration and arrangement relationship of the drive mechanism 23 based on the input command information, and outputs the control information to the drive mechanism 23 along the created control information (STEP 1-6). Here, the control information is information on how many seconds the drive motors 23a and 23b of the drive mechanism are rotated at what rotational drive speed.

  Upon receiving the control information, the drive mechanism 23 performs control according to the input control information, and controls the output unit 21 to face the predetermined direction (STEP 1-7). Thus, for example, when the output unit 21 is an output screen, the direction of the remote controller 10 matches the predetermined direction, and the output unit 21 turns in the direction facing the user.

  Next, a modification of the flowchart shown in FIG. 4 will be described. As a first modification, it is assumed that the user presses a predetermined button of the remote controller 10 for a long time. Here, the long time is a time until the output unit 21 faces the front of the user, and assumes a range of, for example, a few seconds to a few tens of seconds.

  As long as the user presses the button for changing the direction of the remote controller 10, one of the light receiving sensors 31 continues to receive a signal including the same command from the remote controller 10. Also in this case, effective code detection is performed by the reception processing unit 32, and the code is continuously output to the arithmetic processing unit 33. The code input to the arithmetic processing unit 33 is determined by the command determination unit 33a to determine whether or not the data code is related to direction change. If the determination is affirmative, one or more sensors input from the reception processing unit 32 The information is continuously input to the direction determination unit 33b together with the information.

  When the direction determination unit 33b receives an input of a command related to a direction change and sensor information of the light receiving sensor 31 that has received the command, the direction determination unit 33b refers to the position information table, and receives a command from the controlled device 20 based on the input sensor information. The direction of the remote controller 10 is obtained and output as direction information to the command information generation unit 33c. In that case, the direction of the remote controller 10 may not be obtained. For example, when the number of light receiving sensors 10 receiving light is large, the sensitivity adjustment processing unit 33b is adjusted so as to lower the light receiving sensitivity and lower the threshold for determining whether or not the detection is effective. When the number of the light receiving sensors 10 is small, adjustment is performed so as to increase the threshold for determining whether or not the detection is effective so as to increase the light receiving sensitivity in the sensitivity adjustment processing unit 32b of the reception processing unit 32. . Thus, the number of the light receiving sensors 10 can be appropriately adjusted, and the direction of the remote controller 10 can be obtained efficiently and accurately. That is, when the threshold value is set in advance for each rank in the sensitivity adjustment processing unit 32b of the reception processing unit 32, and the direction determination unit 33b in the calculation processing unit 33 determines that the direction of the remote controller 10 is not obtained. An instruction for raising and lowering the threshold value by one rank can be notified to the sensitivity adjustment processing unit 33b of the reception processing unit 32, and the rank of the sensitivity adjustment processing unit 32b can be changed.

  When the controlled device 20 receives a signal including the same command from the remote controller 10, the initial direction of the remote controller 10 obtained when the command determination unit 33a determines that the direction change command is received is It is temporarily stored, and the mechanism control unit 33d controls the drive mechanism 23 and compares it with the turning amount around the center position in the controlled device 20, whereby the current direction of the remote controller 10 can be calculated. . Therefore, the direction of the remote controller 10 when an arbitrary time has elapsed from when the drive control of the drive mechanism 23 is started can be estimated from the feedback amount from the drive mechanism 23 and the initial direction. Therefore, the drive mechanism 23 is provided with an encoder (not shown) for each of the drive motors 23a and 23b, and the rotation of the controlled device 20 by the drive mechanism 23 is measured by measuring the rotation speed of the drive motors 23a and 23b with the encoder. The direction determination unit 33b can also estimate the direction of the remote controller 10 at each input timing by obtaining the amount and receiving the input as the feedback amount. The estimation of the remote controller 10 can be applied even in the case of FIG. 4 described above.

  As described above, the direction determination unit 33b obtains the direction of the remote controller 10 as direction information for each arbitrary timing, and outputs it to the command information generation unit 33c. Based on the input direction information, the command information generation unit 33c generates command information for the drive mechanism 23 so that the default direction of the drive mechanism control device matches the direction of the remote controller, and inputs the command information to the mechanism control unit 33d. The mechanism control unit 33d creates control information according to the configuration and arrangement relationship of the drive mechanism 23 based on the input command information, and outputs the control information to the drive mechanism 23 along the created control information. Here, as already described, the control information is information indicating how many seconds the drive motors 23a and 23b of the drive mechanism 23 are rotated at what rotational drive speed. The drive mechanism 23 that has received the input of the control information performs control according to the input control information, and controls the output unit 21 to face the predetermined direction.

  Furthermore, the modification 2 is demonstrated. This is the same as the first modification in that the remote controller 10 transmits a signal including the same command, but is different from the first modification in that the absolute position of the remote remote controller 10 changes. In this case, reception from the remote controller 10 by the light receiving sensor 31, determination of the validity of the code included in the signal in the reception processing unit 32, code reception processing such as command interpretation in the command determination unit 33a, remote controller in the direction determination unit 33b 10 direction determination processing is repeatedly performed as appropriate, and the command information generation unit 33c may change the turning direction of the controlled device 20. Therefore, it is possible to reduce the speed of the turn every time the turning direction changes, and to converge in a certain direction. At this time, if the magnitude of the turning speed is equal to or less than a predetermined amount, the direction change command processing included in the signal received by the light receiving sensor 31 is terminated.

  As described above, in the drive mechanism control device 30 according to the embodiment of the present invention, not only the command from the remote controller 10 is received by the light receiving sensor 31 but the command according to the command is executed, It is possible to determine the direction of the remote controller 10 by determining which of the signals from the remote controller 10 is detected, and to control the drive mechanism so that the output unit 21 faces the direction of the remote controller 10. Therefore, when the user transmits a signal including a direction change command from the remote controller 10, the output unit 21 of various information devices and facilities can be controlled to face the remote controller 10.

Next, a specific example of the controlled device 20 equipped with the drive mechanism control device 30 will be described.
FIG. 5 is a perspective view showing a specific example 1 of the controlled apparatus 20. Specific example 1 is an autonomously traveling robot 50, which measures its position and moving speed with a built-in distance sensor via a photographing sensor or a sensor window, and a pair of left and right wheels 51a with a built-in driving mechanism. , 51b is rotated autonomously. Semicircular speaker boxes 52a and 52b are fixed to the robot body 51 so as not to rotate outside the wheels 51a and 51b. The speaker boxes 52a and 52b accommodate large and small speakers 53a and 53b, one for bass and the other for treble. A portable acoustic device 54 can be mounted on the robot body 51, and various music files are reproduced by the portable acoustic device 54 and output from the left and right speakers 53a and 53b.

  Here, the light receiving sensor 31 that receives a signal from the remote controller 10 is opposed to a pair of support disk portions 55a and 55b that rotatably support the wheels 51a and 51b, one on each of the front side and the back side of the robot body 51. Two are provided on the back side. Specifically, one light receiving sensor 31 is provided symmetrically in the vicinity of the lower part of the display 56 on the front side of the robot body 51 and in the vicinity of the lower part of the sensor window on the back side, and is opposed to the support disk parts 55a and 55b. Two pieces are installed on the back side, and a total of six pieces are provided. In that case, the light receiving sensor 31 installed in the support disk parts 55a and 55b may be provided in the left-right symmetric position, and may be provided in the left-right asymmetrical form. Moreover, in each of the support disk parts 55a and 55b, you may provide symmetrically in the front-back direction, and you may provide in the front-back asymmetrical form.

  Therefore, when a direction change command is output from the remote controller 10 to the robot 50, the light receiving sensor 31 receives a signal from the remote controller 10 by the built-in drive mechanism control device 30, and the received signal is When the signal including the direction change command is determined, the direction of the remote controller 10 with respect to the center position of the robot 50 is determined, and the drive mechanism is controlled to face the direction of the remote controller 10. This robot 50 can also behave as if it dances forward, backward, rotate, reverse, etc. by controlling the drive mechanism in accordance with the music rhythm of the music data file.

FIG. 6 is a perspective view showing a specific example 2 of the controlled apparatus 20.
Specific example 2 is a television monitor device 60, which includes a case 62 on which left and right speakers 61a and 61b, a center speaker 61c, and a woofer 61d are placed, and a display unit 63 that includes various display devices such as liquid crystal and fluorescent display tubes. And a support means 64 provided with a drive mechanism. The housing 62 is provided with light receiving sensors 31a, 31b, 31c on the same line at both the left and right ends and the center. Therefore, when a direction change command is output from the remote controller 10 to the television monitor device 60 so as to face the front of the user, the drive mechanism control device 30 built in the support means 64 causes the light receiving sensors 31a, 31b, and 31c. Receives a signal from the remote controller 10 and determines that the received signal is a signal including a direction change command, obtains the direction of the remote controller 10 and drives the display unit 63 to face the remote controller 10. Is controlled. Further, when a driving mechanism is provided in an acoustic system such as a speaker component composed of left and right speakers 61a and 61b, a center speaker 61c, and a woofer 61d, each of the acoustic systems such as the speakers 61a and 61b in The sound output means is controlled by the drive mechanism so as to face the direction of the user, and the direction of each sound output coincides with the direction of the user viewed from the sound system, so that the sound heard by the user's left and right hearings is substantially the same. It is controlled to become. Thus, the drive mechanism control device 30 of the present invention can be incorporated into, for example, a 5.1 CH acoustic system to realize an acoustic space with a sense of presence.

FIG. 7 is a perspective view showing a specific example 3 of the controlled apparatus 20.
A specific example 3 is an illumination device 70, in which a rotating base 72 is provided on a disk-shaped mounting base 71 so as to be rotatable by a drive mechanism (not shown), and a pair of support columns 73a, 73b is extended and comprised. A cylindrical illumination unit 74 is attached to the pair of support columns 73a and 73b. The illumination device 70 is provided with six light receiving sensors 31 at equal intervals on the outer peripheral edge of the mounting base 71 and three light receiving sensors 31 at equal intervals in the vertical direction on the front side of each column 73a, 73b. ing. Therefore, when a direction change command is output from the remote controller 10 to the illumination device 70 so as to face the front of the user, the light receiving sensor 31 receives a signal from the remote controller 10 by the built-in drive mechanism control device 30. When it is determined that the received signal is a signal including a direction change command, the direction of the remote controller 10 is obtained, and the drive control is performed so that the illumination from the illumination unit 74 is emitted in the direction of the user. Furthermore, not only the rotation of the illumination device 70 around the vertical axis, but also a drive mechanism is constructed so that the illumination unit 74 rotates on a support shaft for the pair of columns 73a and 73b, and the irradiation angle for the user is also adapted. Is preferred.

FIG. 8 is a perspective view showing a specific example 4 of the controlled apparatus 20.
The specific example 4 is an air conditioner 80, and the direction of the wind can be changed by controlling a louver 81 provided in the air blowing port with a drive mechanism (not shown). A plurality (three in the illustrated example) of light receiving sensors 31 are attached to the casing of the air conditioner 80 on a straight line at equal intervals. When the user operates the remote controller 10 at a stationary position and outputs a direction change command to the air conditioner 80 so as to blow air toward the user side, the built-in drive mechanism control device 30 causes the light receiving sensor 31 to move. When a signal from the remote controller 10 is received and it is determined that the received signal includes a direction change command, the direction of the remote controller 10 is obtained, and the drive mechanism is controlled to blow in the direction of the user.

FIG. 9 is a perspective view showing a specific example 5 of the controlled apparatus 20.
Specific example 5 is a blind device 90. The louver 92 is rotatably supported by upper and lower support portions 91a and 91b, and the louver 92 is rotationally controlled by a drive mechanism (not shown), thereby The amount of light incident from the back side can be changed. A plurality of light receiving sensors 31 (three in the illustrated case) are attached to the upper support portion 91a of the blind device 80 on a straight line at equal intervals. Therefore, when a direction change command is output from the remote controller 10 to the blind device 90 so as to increase the light incident on the user side, the light receiving sensor 31 is moved from the remote controller 10 by the built-in drive mechanism control device 30. When it is determined that the received signal includes a direction change command, the direction of the remote controller 10 is obtained, and drive control is performed so as to open the blind.

  As described above, the drive mechanism control device is incorporated in various types such as a television monitor device and an audio device, and can control the output direction and the like. The present invention can be implemented in various forms without departing from the spirit described in the claims, and can be applied not only to the specific examples described above but also in various fields.

It is a block diagram which shows typically the remote control system incorporating the drive mechanism control apparatus which concerns on embodiment of this invention. It is a schematic diagram for demonstrating the process performed by the direction judgment part and command information generation part which are shown in FIG. It is explanatory drawing for demonstrating how command information is produced | generated by the command information generation part in FIG. It is a flowchart which shows one form of the drive mechanism control method in the remote control system shown in FIG. 3 is a perspective view showing a specific example 1 of the controlled apparatus 20. FIG. 6 is a perspective view showing a specific example 2 of the controlled apparatus 20. FIG. 6 is a perspective view showing a specific example 3 of the controlled apparatus 20. FIG. 10 is a perspective view showing a specific example 4 of the controlled apparatus 20. FIG. 10 is a perspective view showing a specific example 5 of the controlled apparatus 20. FIG.

Explanation of symbols

1: remote operation system 10: remote controller 20: controlled device 21: output unit 22: output control unit 23: drive mechanism 23a, 23b: drive motor 23c, 23d: transmission means 23e, 23f, 51a, 51b: wheel 30: Drive mechanism control device 31 (31a to 31f): light receiving sensor 32: reception processing unit 32a: detection processing unit 32b: sensitivity adjustment processing unit 33: arithmetic processing unit 33a: determination unit 33b: direction determination unit 33c: command information generation unit 33d : Mechanism control unit 50: robot 51: robot main body 52a, 52b: speaker box 53a, 53b, 61a, 61b: speaker 54: portable acoustic device 55a, 55b: support disk unit 56: display unit 60: TV monitor device 61c: center Speaker 61d: Woofer 62: Housing 63: Display unit 64: Support means 7 : Lighting device 71: Mounting pedestal 72: turntable 73a, 73b: support column 74: Lighting unit 80: Air Conditioner 81 and 92: Louver 90: blind device 91a, 91b: support portion

Claims (3)

A drive mechanism control device that controls the drive mechanism according to a signal received from a remote controller,
A plurality of light receiving sensors for receiving signals from the remote controller;
A reception processing unit for detecting presence or absence of signal reception from the remote controller in the plurality of light receiving sensors;
An arithmetic processing unit for processing a command included in the signal from the remote controller,
The arithmetic processing unit determines a command included in the signal received by the reception processing unit, a direction determination unit that calculates the direction of the remote controller, and a default direction of the drive mechanism control device determines the direction A command information generation unit that generates command information for the drive mechanism so as to match the direction of the remote controller obtained by the unit, and a mechanism control unit that controls the drive mechanism based on the command information generated by the command information generation unit. A drive mechanism control device comprising: a drive mechanism control device;   The drive mechanism control device according to claim 1, wherein the direction determination unit obtains a direction of the remote controller from position information of a light receiving sensor detected by the reception processing unit.   The drive mechanism control device according to claim 1, wherein the direction determination unit obtains a direction of the remote controller based on an amount actually measured by the drive mechanism.

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