JP2011118924A - Articulated structure, and wearing tool, system and human machine interface using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To arbitrarily change the length of an articulated structure by manual operation. <P>SOLUTION: The articulated structure includes: a change detection sensor such as a potentiometer provided at a connecting portion each between joints; a signal processing unit receiving a signal of the sensor for each group of a plurality of sensors, the signal processing unit being connected to a communication network; and a processing arithmetic unit connected to the communication network to perform arithmetic processing based on signal data of the sensors. The outer shape of the articulated structure is formed in a tubular or cylindrical shape. A power line is arranged therein. When the shape of the articulated structure is deformed, an amount of change of the connecting portion between joints can be detected in real time to output a moving amount and a vector in translation and rotation of the joints. The articulated structure is incorporated into a human body or a mobile body. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a recognition means for attaching a multi-joint structure formed by connecting or separating one or more node units to a living body, a robot, a machine, or the like and identifying its position, movement, shape, etc. At the same time, the articulated structure can be separated or connected in units of one or several units automatically or manually.

  In addition, the present invention enables the multi-joint structure to be connected in multiple stages using one or more connecting and branching means, thereby recognizing the positions of human limbs and heads, or extending or expanding the surface, mesh structure It is a technology that enables deployment to the future. Furthermore, it is a technique that enables the multi-joint structure to be driven and deformed by adding an actuator means to the connecting portion of the multi-joint structure.

  Further, the present invention is for a special environment used when the articulated structure made movable is entered into a damaged building collapsed due to a large-scale earthquake or the like and a person under the building is searched. It is a technology related to position identification by cooperation between wired technology and wireless technology, such as application to robots.

  In order to identify the current position and shape of a measurement object that moves in a complicated manner such as rotation and bending, conventionally, expensive and complicated means such as preparing an encoder for the drive shaft or using the refractive index of an optical fiber have been used.

  In the application of Japanese Patent Application No. 2005-166558, the position, movement, shape, etc. of the multi-joint structure can be identified with low cost and high accuracy by attaching a potentiometer to the joint portion of each node. However, the length of the multi-joint structure is too long or too short for the amount required for the object, and there are situations in which it is difficult to apply it successfully. This is the first problem of the prior art.

  In addition, in the application of Japanese Patent Application No. 2005-166558, although a branching means was taken, a more complicated mesh structure or position on the surface could not be identified. Moreover, they could not be deformed or driven autonomously. This is the second problem of the prior art.

In addition, when a disaster such as a large-scale earthquake occurs, quick lifesaving work is required. The damaged buildings (subways, underground malls, high-rise buildings, etc.) are extremely dangerous and are expected to support life-saving operations using robots.
Prompt collection of information immediately after a disaster occurs is important in carrying out prompt lifesaving. High-efficiency and high-precision through high-speed and decentralized information gathering is expected to reduce subsequent damage. Humans collecting information in a dangerous space in a damaged building increases the probability of a secondary disaster, so multiple robots run through the building at high speeds, collecting high-speed and distributed information. It is hoped that it can be done.

  Conventionally, robots that search for disaster victims, such as rescue robots, using a multi-degree-of-freedom manipulator while removing obstacles such as under the rubble of damaged buildings have been studied. Among them, a search robot system that realizes an efficient rescue operation is known in which a search space is divided into at least one mesh and the search robot is arranged in the divided mesh (see Patent Document 1). ). This system divides the search space into one or more meshes and arranges search robots for each mesh, so that the search area such as the stricken area can be searched and the location of the victims can be accurately grasped. In this way, the rescue operation is developed efficiently. In addition, the search activity can be realized by an inexpensive small robot, and it is possible to search a wide range through a small gap of an obstacle.

  However, in the case of the technology disclosed in Patent Document 1, since the search robot is arranged for each mesh using the flying means driven by the wings, the search is primarily performed along the surface of the obstacle, It was not intended to search through the obstacles through the gaps on the surface. Therefore, it has been difficult to quickly collect information on the victims confined in closed spaces such as subways, underground malls, and high-rise buildings.

  A crawler-type robot is known that intrudes into and searches an obstacle while being remotely controlled by wireless communication or wired communication (see, for example, Patent Documents 2 to 4). However, they search for inconsistent places such as under the debris of a disaster-built building, but individual robots cannot cooperate and collect information on the victims at high speed and in a distributed manner. These are the third problem of the prior art.

JP 2003-339896 A JP 2004-188581 A Japanese Patent Application No. 2004-157777 JP-A-9-142347

  In view of the above problems, a first problem of the present invention is to allow the length of the multi-joint structure to be arbitrarily changed manually. The node unit may be divided into one unit. Further, a configuration / means for automatically separating and connecting to an appropriate length by automatic control may be employed.

A second problem of the present invention is that the articulated structures are connected to each other, and a connection with a branch unit that branches in a one-to-many manner is connected to a further other branch unit. The multi-joint structure and the branch unit can be connected with a mesh structure. For example, when identifying the movement of the human body, the first branch unit at the waist, the multi-joint structure extending to the limbs, the branch unit connected to the tip, and the multi-joint structure extending from the finger unit. Realization of the configuration.
Alternatively, it is a realization of means for recognizing the position identification and movement of a plurality of articulated joints and objects to be connected in the sea with the articulated structure configured with a mesh configuration or a surface configuration.

A third problem of the present invention is the realization of position identifying means by cooperation of wired technology such as the articulated structure and wireless technology capable of communication even in a discrete environment or by area adjustment between wireless communications. Based on this technology, multiple robots can quickly avoid obstacles, get over, and eliminate lightweight objects in closed spaces (including stairs and doors) such as subway platforms (including ticket gates), underground malls, and high-rise buildings. It is possible to run semi-autonomously at an average speed similar to that of a human walking.
A fourth problem of the present invention is to monitor traveling routes of a plurality of robots and map sensing information including a plurality of images on a GIS (Geographic Information System).

  In other words, in subway stations, underground malls, airports, high-rise buildings, etc., multiple robots move quickly while searching for victims in buildings with stairs and doors, and are determined based on the GIS map of the building. It is an object of the present invention to provide a device capable of collecting information on a given point and sensor information such as video up to that point at high speed and in a distributed manner.

  In order to achieve the above object, the articulated structure of the present invention is provided with a change amount detection sensor such as a potentiometer at the joint between the node units, and a plurality of sensors are grouped, and sensor signals are signaled in groups. A multi-joint structure that is captured by the processing unit and is connected to the communication network between the signal processing units, and the processing calculation unit connected to the communication network performs arithmetic processing based on the signal data of the sensor. The outer shape of the tube is configured in a tubular or cylindrical shape, power lines are arranged inside, and when the shape of the multi-joint structure is deformed, the amount of change in the connecting portion between the node units is detected in real time, and the node unit It is possible to output a translation amount and a vector at the time of translational and rotational movement of the connecting portion between them, and a multi-joint structure is incorporated into a human body or a movable body.

In the multi-joint structure of the present invention, a plurality of unit devices (referred to as node units in this specification) are connected in a long shape via a connecting portion to form an overall shape. Each node unit is provided with a change amount detection sensor such as a potentiometer at a connecting portion between the node units so that the position and operation of adjacent node units can be relatively detected and measured.
The output signals from the change amount detection sensors are grouped into groups and taken into the signal processing unit. Here, the group unit is used to avoid the necessity of forming a signal processing unit in each node unit. The signal processing units are connected to the communication network. Similarly, the processing calculation unit connected to the communication network uses the detection signals from all the sensors of the multi-joint structure to determine the overall shape of the multi-joint structure. Is calculated.

The point of the present invention is that when the overall shape of the multi-joint structure is deformed, the amount of change in the connection between the node units is detected in real time, and the amount of movement when the connection between the node units is translated and rotated. And outputting a vector. The translation of the connecting portion between the node units means that the continuous joints follow linearly, and the rotational movement means that the continuous joints change the relative positional relationship left and right and up and down. The twisting of the connecting portion between the node units can be similarly detected and output.
By using the translation of the connecting part between the joint units, the amount of movement and the vector at the time of rotational movement, various application devices described below can be designed.

  The outer shape is formed in a tubular shape or a cylindrical shape so that a power line or a signal line can be incorporated (arranged).

  In pursuing downsizing of the articulated structure of the present invention, wiring such as signal lines and power lines is eliminated, and a pattern is arranged on the body of the articulated structure itself. For example, the surface material of the multi-joint structure is made of a plastic resin, and the circuit pattern of the circuit board is drawn on the surface or the inner layer of the plastic resin, whereby the electronic circuit board and the wiring can be eliminated.

  The wearing tool of the present invention is characterized in that the above-described multi-joint structure is incorporated.

  The wearing equipment here includes, for example, general clothes such as a jacket, special clothes such as fire fighting clothes, and body suits. Incorporate articulated structures in these clothes. A method for incorporating the multi-joint structure will be described in the following embodiments.

  The wearing tool of the present invention is characterized in that the arithmetic processing unit of the multi-joint structure has a filter process for invalidating minute fluctuations of the human body when worn on the human body.

  It is intended to invalidate minute fluctuations when worn on the human body like a camera shake prevention camera.

  The mounting tool of the present invention is such that the above-mentioned multi-joint structure is mounted on both hands, both legs and the head, and the position of the reference device attached to the waist or back and the overall shape of the multi-joint structure are both hands, both legs and head. It is characterized in that each position and each movement of the apparatus can be measured in real time.

  The mounting tool of the present invention measures the arm movement operation in real time from the position of the reference device attached to the mobile body including at least the wheelchair and the overall shape of the multi-joint structure when the multi-joint structure is mounted on the arm. In addition, the moving body can be controlled.

  According to the mounting tool of the present invention, the above-described multi-joint structure is mounted on both hands, both feet, and the head, and from the position of the reference device attached to the waist or back and the overall shape of the multi-joint structure, both hands, both feet, the head A configuration that can measure each position and each motion of the joint in real time, use the measurement data as rehabilitation data or training data, and move to the connecting portion of the multi-joint structure according to a difference from the target value data; It is characterized by that.

  The mounting tool of the present invention is characterized in that the above-described multi-joint structure is mounted on a finger so that each input such as keyboard input can be performed.

  The mounting tool of the present invention is characterized in that the above-described multi-joint structure is mounted on an arm and a finger so that a surgical procedure can be performed remotely.

  The medical instrument of the present invention is characterized in that the above-described multi-joint structure is attached to a medical instrument used for an endoscopic procedure, and the position of the medical instrument can be recognized. By identifying the position of endoscopes such as the stomach and large intestine, the pain of the patient is reduced. Alternatively, it is possible to enter the inside of a blood vessel or the ureter by finely configuring the FST.

  In the system of the present invention, the above-described multi-joint structure connects a moving unit having a moving means such as a propeller that floats and sinks in water or moves back and forth, and a control device on a ship. It is characterized in that an operation can be identified in real time, movement control can be performed with respect to a target position, and data communication and power supply can be performed with respect to the moving unit.

The system according to the present invention is characterized in that, in the above-described system, the moving unit includes a camera and / or a sensor so that the bottom of the ship can be surveyed without being raised to the ship dock.
Further, the system of the present invention is further characterized in that the moving part is provided with an arm, and a foundation assembling work at the bottom of the water is possible.

  The human machine interface of the present invention is a reference device attached to a moving body including a waist, a back, or a robot to be mounted, with the above articulated structure mounted on each part of the human body including both hands, both feet, head, and fingers. It is characterized in that the moving body can be operated using a mounting tool that can measure the position and motion of each part of the human body in real time from the position and the overall shape of the multi-joint structure.

  In the multi-joint structure, the node unit is further provided with a means for fixing the outer skin to the node unit at the same time as covering the node unit with a waterproof, dustproof, fireproof or other necessary outer shell.

If the articulated structure of the present invention is attached to a human body, it can be used as a sensor for detecting the movement of a human body or a finger. A wearing device using the articulated structure of the present invention can be used as a rehabilitation training device or a sports training. It has the effect that it can be used for a device or a transfer assist device for skilled technicians. Further, according to the multi-joint structure of the present invention, it is possible to easily perform work in a poor environment where it is difficult to grasp the positional relationship such as underwater.
By having the above configuration, in a subway station, underground mall, airport, high-rise building, etc., multiple joints move quickly while searching for a victim in a building with stairs and doors, and a GIS map of the building Based on the above, it is possible to collect information on a predetermined point and video information up to that point at high speed and in a distributed manner.

Schematic perspective view of flexible sensor tube (FST) of the present invention External perspective view of two FSTs according to the present invention Schematic diagram combined with a branching unit Illustration of attaching FST to human hands, feet and head Image diagram incorporated in clothes Schematic diagram of FST that can be divided into units Schematic of FST with crawler Rescue site development Image of wireless and wired collaboration Image of collaboration in water Image of cooperation with getting on and off robot Image of finger FST (gloves) Image of application to endoscope An image of a chair made up of FST Schematic configuration diagram of FST External appearance image of FST connected long Image of each joint moving and searching independently Image of exploring the building on the 3rd basement floor by FST Image of FST joints discharging and arranging GPS communication relay station units It shows a state in which the joints of the FST are connected to each other and have started going up one step. Each of the joints of the FST is connected to each other in a long way, and the stairs are shown up three steps. It shows how the joints of the FST are connected and climbed up to the position of the door knob. It shows how the door knob is sandwiched from the left and right.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the scope of the present invention is not limited to the illustrated examples.

  FIG. 1 is an overall perspective view of a multi-joint structure (FST) according to the present invention, and FIG. 2 is a perspective view of a state in which two FSTs are fitted together. The FST 1 is a tube-like structure composed of a plurality of nodes with the node 2 as a minimum unit, and the structure between the nodes is freely movable. Each FST can be connected to other FSTs with nodes at both ends as connection nodes 3 to form a multi-joint structure in which a large number of nodes are connected. A potentiometer for detecting the amount of change is installed in the movable part of each node with respect to variations in the opposing angle between nodes, variations in distance, and variations (twist) in shaft rotation. The CPU board is arranged at a ratio of 1 in 10 sections, and 1 processing operation device is arranged in the entire FST. An electric wire is disposed in the tube.

  The change amount data detected by the potentiometer is taken into the CPU board in units of 10 nodes, and the data processed by the CPU board is transmitted to the processing operation unit in real time via the wired communication network in the tube and processed. The processed inter-node variation data is output as a movement amount and vector.

  1 and 2 show a tube-like structure, and a communication network for detection data is performed by wired communication wired in the tube. However, the articulated structure according to the present invention is limited to a tube shape. is not. For example, as a rod-like or linear structure, the wired wiring can be baked as a circuit pattern on the surface or inner layer of the rod-like structure.

  FIG. 3 is a perspective view of a state in which the FST is combined with a branch unit. The FST end node (connection node) 3 is inserted into the connection part 4 with the FST provided in the relay / branch box 5 and can be combined with a plurality of other FSTs at once via the coupling unit.

  FIG. 6A is a perspective view of the node of the smallest unit. Each node of the FST has a connecting portion 13 for connecting to other nodes at both ends. One of the connecting parts provided at both ends is a ring shape (ring part) that is slightly smaller than the node body, and the other is the same diameter as the main body, and has a ring shape (notch ring part) at three locations. ). The dimensions of the ring part can be fitted into the notch ring part, and by using the power of a motor or the like, each node can be easily separated and connected.

  FIG. 6B is a perspective view of a state where three nodes are coupled. The ring part A is fitted in the notch ring part B, and the three nodes are in a connected state. When the ring part A is rotated along the inner periphery of the notch ring part B by a small motor (not shown), the rotation angle between the nodes varies. Although the rotation method is not particularly illustrated, it is conceivable to provide a mechanism such as a rotation within a range of ± 90 ° like a focus ring of a camera lens. Although not shown in the figure, the ring part and the notch ring part are connected via a flexible joint, and equipped with a motor and a control device, the distance between the node units can be expanded and contracted forward and backward, and the positional relationship can be changed vertically and horizontally. Can be. Even if the ring part and the notch ring part itself are bent to form a flexible structure and include a motor and a control device, the same effect can be obtained.

  FIG. 7A is a perspective view in a state where the crawler 14 is installed at a node, and FIG. 7B is a perspective view when each node is separated and moved in units of nodes. The driving means is preferably a crawler type in order to travel on a flat surface having unevenness such as a step or a depression, but other means for traveling can be used. In FIG. 7, the crawler is installed at the lower part of both side surfaces of the node, but is not limited to this. By additionally installing at the upper part, it is also possible to provide a function of assisting the crawlers at the lower part of both side surfaces that are idling when tilted into the depression.

  FIG. 4 is a conceptual diagram of the FST attached to a human body. A head-mounted display connected to the FST is attached to the human head, a total of four FSTs are attached to both arms and legs, a hand controller is installed in both hands, and a foot controller is installed in both legs. . Further, a reference portion (branching unit) connected to five FSTs is installed on the waist. The positional relationship and shape of the head, left and right hands, feet, arms, and legs centered on the reference portion are grasped in real time by FST, and the data can be transmitted to the outside such as a remote place by wired communication or wireless communication. .

  Based on this information, a so-called “master-slave operation” for controlling an external robot or machine can be realized. Furthermore, it is also possible to output image data obtained by the HMD, data of the hand controller, and foot controller by communication. If a drive unit is added to the FST, it is possible to control the human body through the FST, such as appropriately correcting the movements of both hands and both feet of the human body. Controllers attached to both hands and feet can also support human movements. Various applications such as moving the human body at normal speed or slow motion to perform an ideal golf swing can be considered simply by wearing the FST.

FIG. 5 is a conceptual diagram showing a state in which the FST is incorporated in a fire fighting suit. A garment 12 incorporating an FST includes an FST 1, a head mounted display (HMD) 8, a hand controller 9, and an elbow grip 11. A firefighter can control a rescue robot or the like that is remotely operated by a master / slave by wearing clothes incorporating FST in a dark disaster site. As a specific example, if the firefighter wearing FST is the master and the fire extinguishing robot close to a high-heated site that cannot be approached by the slave is the slave, the master converts the video from the site to the HMD to the camera video mounted on the fire extinguishing robot. The situation can be grasped by projecting. Next, when the arm wearing the FST is moved, the FST detects changes in its position and movement. By making it possible to control the slave with such information, it is possible to perform movement such as forward movement, fire extinguishing arm, control of water discharge, and the like only by operating the arm based on the information of the HMD. Further, if the HMD is provided with means having a night vision function such as an infrared camera, it is possible to obtain image information in the dark.
It is also possible to add a sensor for receiving information from the human body and the periphery as an FST or a peripheral component. By attaching a sensor group that recognizes biological information such as myoelectric signals and pulses, environmental information such as geomagnetism and atmospheric pressure, danger information such as radioactivity and toxic gas, etc. to the FST, the information can be centrally managed by the HMD8. .

  FIG. 12 is a conceptual diagram of an apparatus in which an FST is mounted on a finger. 23 is a finger pressure sensor, 24 is a thin FST designed for fingers, 25 is a branch unit from a general FST to a finger FST, and 26 is a glove incorporating a finger FST and finger pressure sensor. The movement of the wearer's fingertip can be converted into data through the FST and the finger pressure sensor, and stored and output. In addition, it is possible to accurately reproduce the information that has been converted into data through the FST and the acupressure sensor. By adding a wireless communication device to this device, it is possible to perform diagnosis and treatment at a remote place. It is possible to measure the pulse by the acupressure sensor and grasp the state of convulsions. Treatment and fine surgery can be performed in combination with image information from a TV camera or the like. If this apparatus is installed in a non-medicine village area such as a remote island, it is possible to perform linked play such as performing first aid with this apparatus and then performing surgery by the doctor. Further, the apparatus can be mounted on the performer's fingers, and the movement of the performer's fingers can be converted into data and the information converted into data can be reproduced using the apparatus.

FIG. 13 is a conceptual diagram of an apparatus in which an FST is combined with an endoscope. Reference numeral 27 is a human body, and 28 is an endoscope. Since the position and orientation of the endoscope can be accurately grasped by FST, the position of a tumor or the like can be accurately grasped. In addition, since the movement of the endoscope can be precisely controlled through the FST, the internal state of the intestinal tract and the like can be completely checked without causing a check leak that may occur when a human operates.
Alternatively, by finely configuring the FST, the image can be taken by entering the inside of the blood vessel or used for removing an obstacle on the blood vessel wall that causes arteriosclerosis. Alternatively, it can be used for taking pictures from the urethra through the bladder, further through the ureter and kidney, and for destroying stones. These are practical only when the position and shape of the tube to be entered can be identified and the actuator means for moving the tip portion or the whole in the front-back and left-right directions (deforming the tube) is mounted. For example, after entering from the urethra, such as a penis, it was extremely difficult to put the tube that entered the bladder into the ureter with the conventional technology. However, while confirming the information on the image and FST shape, the tip was entered. It becomes possible to move with respect to.

  FIG. 14A is a conceptual diagram of an apparatus in which FSTs are arranged side by side to form a plane. Reference numeral 29 denotes a planar FST. FIG. 14B is a conceptual diagram in which a part of the FST configured in a planar shape is raised to form a seat portion and a backrest of the chair. Reference numeral 30 denotes a seating state recognition sensor. Various shapes can be created by making the FST planar. It is possible to change to an appropriate shape according to the situation at the time of a disaster, and to change to another shape according to the change of the situation. As an example, if you are bedridden or sitting in a wheelchair, it may be difficult for the patient to cause bed slipping. It is possible to move the place where the load is applied and reduce pain. In this case, it is also effective to combine the power for deformation with means such as pneumatic pressure or hydraulic pressure.

  FIG. 10 is a conceptual diagram of a system that performs an underwater operation or the like using FST. This system includes an FST 1, an FST connection reference point 16 on the ship, an underwater moving unit 18 with moving power, a surveillance camera 19, and an underwater hand 20. Underwater work and monitoring are difficult to accurately grasp the position because light does not reach and is easily affected by ocean currents, and it is difficult to control the position quickly. Easy to control. The FST is branched by the underwater moving unit, can perform more agile movement, and can simultaneously deal with a plurality of objects. Cameras and sensors are installed in the underwater mobile unit, and the underwater situation can be monitored. An underwater hand is attached to one of the underwater mobile units. The position of the underwater hand is accurately grasped by the position identification function of the FST with reference to the FST connection reference point 16 and can easily reach the moving target object 21. After gripping the object to be moved, the destination can be accurately and quickly reached by the FST position identification function.

  The FST is equipped with a surveillance camera, so it is possible to check the bottom of the ship such as scratches and shellfish. Since accurate position identification is possible in relation to the reference position even if the current is swept by the ocean current, it is possible to return the surveillance camera to the correct position by position control and not to miss the state to be checked.

FIG. 11 is a conceptual diagram of a system in which the FST is linked to the getting on / off robot 22. The getting on and off robot is designed to move the shoulders, elbows, hands, hips, knees and ankles. The FST is attached to the operator's shoulder, both hands, both arms, both legs, and both feet in correspondence with the movable parts of the getting-on / off robot.
When the operator moves his shoulder, arm, etc., the operation is converted into data by FST and transmitted as an operation command to the corresponding part of the boarding / exiting robot. The robot operates the movable part according to the command and performs the same movement as the operator. Thus, by combining with FST, it is possible to operate the boarding / alighting robot at the will of the operator.

FIG. 15 shows a schematic configuration diagram of a multi-joint structure (FST) of the present invention.
Each joint of the FET includes a crawler type driving unit and a wireless communication unit, and also includes a camera sensor or a heat ray sensor as a sensing unit.
Each joint can be freely connected and separated via a connecting portion.
When entering the building, when going up and down stairs, overcoming obstacles, or in some cases opening the entrance door, the joints move in a long tube connected like a tube. On the other hand, when searching for a wide range after entering, individual joints move independently and search.

In this case, it is possible to move and search separately as a single joint, but it is also possible to move and search with two or three joints in a connected state. This is because all the individual joints may have the same function, but some joints may function as special modules.
Special modules include, for example, robots whose main function is transporting rescue supplies (food, water), robots having clamping means, robots for battery replenishment, etc., and function as joints of multi-joint structures It also has.

Further, the portion where each joint is connected has a function of multi-axis driving. The joints can be driven in multiple axes in the up / down, left / right, and rotational directions so that the joints can be moved together like a snake.
FIG. 9 is a conceptual diagram in which the FST is controlled by cooperation between wireless and wired. When the FST is connected as a whole, communication and position identification can be performed by wire, but when the FST is separated, communication and position identification can be performed by the radio 15. Even in the connected state, it can serve as a wired supplementary device.

In FIG. 16, the external appearance image figure which the multi joint structure of this invention connected long is shown.
A node unit having clamping means is connected to the head of the long connection, and a node unit having a camera sensor is connected to the second unit. A state in which crawler type driving means is provided in each of the second and subsequent node units is shown.

FIG. 17 shows a state in which long-connected node units are separated after entering the building, and each node unit moves and searches independently. Each node unit communicates with each other by communication means to collect search information. In the process of collecting information, it is necessary to accurately know the position of each node unit in order to create a three-dimensional map in the building. In order for each node unit that moves independently to recognize its position, a relay station unit for indoor GPS construction is arranged inside the building.
That is, a GPS communication relay station unit having a GPS unit including a positioning antenna and a wireless network unit is appropriately arranged indoors so that the node unit lays eggs.

Specifically, a new egg is laid (one set) when it reaches the last point where reception from the three relay unit units for GPS communication becomes impossible. As a result, the GPS network can be expanded by autonomous control, so that the node unit position identification function can be continued.
When the relay station unit is arranged, the current position of the identified node unit is set in the relay station unit. As a result, the relay station unit can be recovered upon withdrawal.

  Further, the plurality of node units and the plurality of GPS communication relay station units arranged are all authenticated and registered in the ad hoc network. Here, an ad hoc network means a network composed only of terminals (PCs, PDAs, mobile phones, etc.) that can be connected wirelessly without requiring an access point such as a wireless LAN, and is also referred to as an autonomous distributed wireless network. Is called. Each node unit is configured to switch the relay station unit for GPS communication belonging to the mesh network composed of the relay station unit for GPS communication serving as a fixed base in real time as it moves.

Based on the position information from the installed GPS communication relay station unit, each node unit identifies its own position and recognizes the environment. Environment recognition is created by synthesizing a three-dimensional map based on distance data of a three-dimensional detection sensor constituted by a distance image CMOS (map creation based on data photographed around 360 degrees).
However, this method requires several seconds to create each map at the shortest, and the movement performance is limited. When the ability to run down stairs quickly is required, real-time performance is ensured by creating a map by synthesizing moving image data.

Then, the victim is discovered with a heat ray sensor or a camera sensor, and a dialogue with the victim is made by voice or relief supplies are conveyed.
FIG. 18 shows an image diagram in which a multi-joint structure of the present invention searches for a building on the third basement floor.
Long-connected node units enter from the entrance of 1F, two node units and one GPS communication relay station unit are installed on the first floor, and two node units are installed on the B1 floor with GPS communication. Two relay station units are installed, one node unit and two GPS communication relay station units are installed on the B2 floor, and one node unit and one GPS communication relay station unit are installed on the B3 floor. A stand is installed.

  A three-dimensional map in the building is created from the collected information from each node unit, and the position of each node unit in it is mapped. A plane map is also created to map the position of the node unit. Furthermore, on the B3 floor, a victim is found and the captured image is shown. These map information, position information of each node unit and relay station unit, and field image information are sent to a long-connected node unit that has entered wirelessly. Node units connected in a long way transmit information and deliver information outside the building. A monitoring operation terminal is provided outside the building to collect information sequentially so that the operator can grasp the damage situation.

  A human who enters the communication network constructed with the multi-joint structure of the present invention checks the image and position information from each node unit with an HMD (head mounted display) connected to the network, and It is also possible to give instructions.

  In addition, a plurality of node units are loaded on a moving body such as a buggy car having mobility and a base function, and reach the vicinity of the damaged building. A primary search is performed on a moving body, and it is possible to formulate an optimal approach path (such as debris removal) in a damaged state where it is difficult for the node unit to enter.

  FIG. 19 shows an image diagram in which each node unit discharges and arranges the GPS communication relay station unit. The GPS communication relay station unit has a streamlined egg shape in appearance so that it can be easily discharged from the inside of the node unit.

Next, when the multi-joint structure of the present invention enters the building, when the stairs are climbed up and down, obstacles are climbed, or in some cases, the doors of the entrances are opened, the individual node units are long. A description will be given of how to solve the problem of the steps of the stairs and the height of the door knob by connecting and moving like a tube.
20 and 21 show a state in which each knot unit is connected in a long way and goes up the stairs. FIG. 20 shows a state where the staircase has begun to rise one step, and FIG. 21 shows a state where the staircase has been raised three steps. It can be seen that the crawler type driving means and the shaft driving means of the connecting portion are linked in order to overcome the steps of the stairs.

  FIG. 22 shows a state in which each node unit is connected and climbed up to the position of the door knob. With respect to the door knob, each joint unit is connected and moved like a tube, so that it is possible to crawl up to the position of the door knob. Operate to open the door.

  Here, as shown in FIG. 23, the clamping means is to clamp the rotating door knob from the left and right directions. The shape, size and position of the doorknob are recognized by the sensing means. For example, it is assumed that the door opens when the door knob is turned clockwise. Each node unit is connected long and deforms the entire shape of the tube, thereby turning the door knob clockwise to open the door.

  The multi-joint structure of the present invention described above is the multi-joint structure in which the multi-joint structure is composed of the knot unit constituting the multi-joint structure or the knot unit block composed of a plurality of knot units. The entire system needs to recognize whether a structure exists. For example, when wearing on the human body, it is necessary for both the FST and the entire system to recognize which FST is on the right hand side when the right-hand FST and the left-hand FST are connected. Although the recognition method can be selected according to each application, it can be roughly divided into the following three.

(1) Originally made exclusively for each part (lowest versatility)
(2) Recognize ID at the time of connection such as DIP switch (slightly low)
(3) Ad hoc authentication (high versatility) that can be automatically authenticated at the same time as the connection, such as in-house LAN
These are selected according to the cost and the required function.

In particular, in a situation where a multi-stage connection or a branch connection is made by a plurality of FSTs and a communication network is formed between a plurality of units by wireless means, setting is required for extension or addition of FSTs or replacement at the time of failure. It is necessary to add, delete, or replace the FST instantly without need. For such applications, it is optimal to select an ad hoc authentication means such as found in personal computer LANs.
On the other hand, if the application is clear, such as being always connected to a specific one, ID authentication can be easily configured, such as burning individual information into a ROM at the time of shipment.

  The articulated structure according to the present invention as described above is a technology that enables the articulated structure to be separated or connected in units or several units automatically or manually, and the articulated structure is connected to one or more units. Having technology that enables multi-stage connection using branching means, technology related to position identification by cooperation between wired technology and wireless technology, and self-ID authentication technology can be widely used in various industries.

  If the multi-joint structure of the present invention is attached to a human body, it can be used as a sensor for detecting the movement of a human body or fingers. Further, the wearing tool using the multi-joint structure of the present invention can be expected to be applied to a rehabilitation training device, a sports training device, a transfer assist device for skilled technicians, and the like.

The articulated structure of the present invention can be used for a robot system for special environments used when searching for a person who lays a building under a disaster.
In closed spaces (including stairs and doors) such as subway platforms (including ticket gates), underground malls, and high-rise buildings, average speeds similar to those of a fast walking person while avoiding obstacles, getting over, and eliminating lightweight objects Thus, it can be understood that semi-autonomous traveling can be performed, the traveling route of a plurality of node units can be monitored, and sensing information including a plurality of images can be mapped on a GIS (Geographic Information System). Multiple node units move quickly while searching for victims in a building with stairs and doors, and based on the GIS map of the building, the video information, etc. up to that point is obtained. It is possible to collect information at high speed and in a distributed manner.

1 Flexible sensor tube (FST)
2 Node unit 3 Connection 4 FST connection 5 Relay / branch BOX
6 Waist-mounted branch BOX
7 Human body 8 Head mounted display (HMD)
DESCRIPTION OF SYMBOLS 9 Hand controller 10 Foot controller 11 Elbow grip 12 Clothes incorporating FST 13 Connection part enabling movable back and forth, right and left, rotation, etc. 14 Crawler 15 Communication and position identification means using radio 16 FST connection reference point on ship 17 Ship 18 Underwater mobile unit (with connection function)
DESCRIPTION OF SYMBOLS 19 Surveillance camera 20 Underwater hand 21 Moving object 22 Boarding / alighting robot 23 Acupressure sensor or motion response 24 Finger FST
25 FST branch unit for fingers 26 Gloves incorporating FST for fingers, etc. 27 Human body 28 Endoscope 29 FST configured on the surface by arranging in parallel
30 Seating state recognition sensor 31 Battery 32 Wireless LAN
A head FST (connected to HMD)
B FST for right hand (connected to hand controller)
C Left-handed FST (connected to hand controller)
D FST for right foot (connected to foot controller)
E Left foot FST (connected to foot controller)

Claims (14)

A change amount detection sensor such as a potentiometer is provided at a connecting portion between the node units, a plurality of sensors are set as a group unit, and a signal of the sensor is taken into the signal processing unit for each group unit. And a processing operation unit connected to the communication network is an articulated structure that performs arithmetic processing based on signal data of the sensor,
The outer shape of the multi-joint structure is configured in a tubular or cylindrical shape, and a power line is disposed inside,
When the shape of the multi-joint structure is deformed, the amount of change in the connecting portion between the node units is detected in real time, and the amount of movement and vector when the connecting portion between the node units is translated and rotated are output. Can
A multi-joint structure, wherein the multi-joint structure is incorporated in a human body or a moving body.   A multi-joint structure according to claim 1 is incorporated.   The wearing tool according to claim 2, wherein the arithmetic processing unit includes a filtering process for invalidating minute fluctuations of the human body when the wearing tool is worn on the human body.   The positions of both hands, both feet, and the head are determined from the position of the reference device that is mounted on both hands, both feet, and the head, and the overall shape of the multi-joint structure. And a wearable device capable of measuring each operation in real time.   The movement of the arm is measured in real time from the position of the reference device attached to the mobile body including at least the wheelchair and the overall shape of the multi-joint structure, wherein the multi-joint structure according to claim 1 is attached to the arm. A wearing tool capable of controlling the moving body.   The multi-joint structure according to claim 1 is mounted on both hands, both feet, and the head, and from the position of the reference device attached to the waist or the back and the overall shape of the multi-joint structure, The position and each movement are measured in real time, and the measurement data is used as rehabilitation data or training data, and can be moved to the connecting portion of the articulated structure according to a difference from target value data. Wearing equipment.   A multi-joint structure according to claim 1, wherein the multi-joint structure is mounted on a finger and each input such as keyboard input can be performed.   A wearable device, wherein the multi-joint structure according to claim 1 is worn on an arm and a finger so that a surgical operation can be performed remotely.   A medical instrument, wherein the articulated structure according to claim 1 is attached to a medical instrument used for an endoscopic procedure, and the position of the medical instrument is recognized.   The articulated structure according to claim 1 connects a moving part having a moving means such as a propeller that floats and sinks in water or moves back and forth and a control device on a ship, and the position and operation of the moving part are connected to each other. A system capable of being identified in real time, capable of movement control with respect to a target position, and capable of data communication and power supply to the moving unit.   The system according to claim 10, wherein the moving unit is provided with one or both of a camera and a sensor, and can inspect the ship bottom without raising the ship dock.   The system according to claim 10, wherein the moving unit includes an arm to enable foundation assembling work at the bottom of the water.   The multi-joint structure according to claim 1 is mounted on each part of a human body including both hands, both feet, head, and fingers, and the position of the reference device attached to a movable body including a waist, back, or a robot on board, and the multiple A human-machine interface characterized in that the moving body can be operated using a wearing tool capable of measuring in real time the position and motion of each part of the human body from the overall shape of the joint structure. 2. The multi-joint structure according to claim 1, wherein means for fixing the outer skin to the node unit at the same time as covering the node unit with a waterproof, dustproof, fireproof or other outer skin as necessary is added. Structure.