JP2011183509A - Rotation angle detecting device, jointed structure and mode taking-in device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enlarge a movable area for detecting an angle by rotating, more than a conventional movable area. <P>SOLUTION: This rotation angle detecting device includes a frame body 101 having a shaft support part 102a and bearing members 102b and 102c extending in the orthogonal direction to the shaft support part 102a, a rotary shaft 111 supported by the shaft support part 102a and extending on a projection to a surface of the shaft support part 102a, a rotary shaft 122 supported by shaft support parts 102b and 102c and extending on a projection to a surface of the shaft support parts 102b and 102c, a rotation angle detecting member 113 for detecting a rotation angle around the rotary shaft 111, a rotation angle detecting member 122 for detecting a rotation angle around a rotary shaft 121 and a substrate 114 electrically connected to the rotation angle detecting member 113 and the rotation angle detecting member 122 and supported by the frame body 101. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a rotation angle detection device, an articulated structure, and a mode capturing device.

As techniques for using an articulated robot as a conventional three-dimensional data input system, techniques described in Patent Documents 1 and 2 below are known.
Japanese Patent Application Laid-Open No. 2005-71182 as Patent Document 1 includes a link (L) having a length attribute, a joint (J) that couples a pair of links (L), and a pair of joints joined by a joint. A configuration of an articulated robot (2) having an angle sensor (2a) for detecting an angular displacement between the links (L) is described.
In Patent Document 1, when the joint of the multi-joint robot (2) rotates, the angular displacement of the joint (J) is detected by the angle sensor (2a), and the display device (3) of the display device (3) is detected according to the detected angular displacement. A technique for imparting a rotational motion to a character displayed on a screen is described. However, it is not specifically described how the angle sensor (2a) is arranged with respect to the joint (J) to detect the angular displacement of the joint (J).

Japanese Patent Application Laid-Open No. 08-305473 as Patent Document 2 discloses a joint that constitutes a doll-shaped input device (600) for a three-dimensional data input system, and is a joint that couples a pair of links. A first potentiometer shaft rotatable as a rotation center, a potentiometer (713) installed on the first potentiometer shaft, and an orthogonal rotation shaft rotatable as a second rotation center orthogonal to the first potentiometer shaft Rotation is transmitted from the orthogonal rotation shafts (706, 720) via the bevel gears (717, 721) and extends in the same direction as the first potentiometer shaft, and the orthogonal rotation shafts (706, 720). A second potentiometer shaft that is installed on the opposite side of the first potentiometer shaft, and a second potentiometer shaft. A potentiometer (702), is arranged joint is described.
In the technique described in Patent Document 2, when the joint rotates around the first potentiometer shaft, the first potentiometer shaft rotates, and the potentiometer (713) detects the angular displacement of the first potentiometer shaft. Further, when the joint rotates around the orthogonal rotation axis (706, 720), the second potentiometer shaft rotates via the bevel gears (717, 721), and the potentiometer (702) rotates the orthogonal rotation axis (706, 720). ) Is detected.

Although different from the three-dimensional data input systems disclosed in Patent Documents 1 and 2, regarding an input device having a stick-type operation unit used for operation of a robot or the like, a configuration for detecting a rotation angle of two orthogonal rotation axes A technique described in Patent Document 3 below is known.
Japanese Patent Application Laid-Open No. 08-66882 as Patent Document 3 discloses a small frame (48) rotatably supported around an axis of rotation (76, 78) in an opening of a fixed large frame (82), and a rotation. A potentiometer (88) installed at the end of the shaft (78) and a pair of left and right rotating shafts (44, 46) orthogonal to the rotating shaft (76, 78) are rotated around the opening of the small frame (48). The configuration of a stick (6) as an input device having a Z-axis sensor unit (26) supported in a possible manner and a potentiometer (54) installed at the end of the left-right rotation shaft (44) is described. .
In the technique described in Patent Document 3, when the stick (6) is operated to move the Z-axis sensor unit (26), rotation about the rotation axes (76, 78) of the Z-axis sensor unit (26) is performed as a potentiometer. (88), and the rotation about the rotation axis (44, 46) of the Z-axis sensor unit (26) is detected by the potentiometer (54).

Further, although different from the three-dimensional data input systems of Patent Documents 1 and 2, regarding the configuration for detecting the rotation angles of two orthogonal axes in a joint motor unit used for controlling the operation of the robot joint, the following A technique described in Patent Document 4 is known.
Japanese Patent Application Laid-Open No. 2006-43848 as Patent Document 4 includes a cross joint (50) in which a through hole (51a) and an orthogonal through hole (51b) orthogonal to the through hole (51a) are formed, and a through hole A first housing (41) as a motor unit having a first rotating shaft (41b) having an end fixed to (51a), and a second housing having an end fixed to the orthogonal through hole (51b). A configuration of a robot joint servo unit having a second casing (42) having a rotation axis (42b) is described, and each casing (41, 42) is connected to the rotation axis (41b, 42b). It has a motor (21, 21) for transmitting driving and a potentiometer (26, 26) for detecting a rotation angle by the motor (21, 21).
In the technique described in Patent Document 4, when the robot (21, 21) is driven to bend and extend the robot joint, the rotation angle of the motor (21, 21) detected by each potentiometer (26, 26) is set in advance. This is related to a so-called servo that stops driving the motors (21, 21) when the rotation angle is reached.

JP-A-2005-71182 ("0029" to "0031", "0036" to "0038", FIGS. 1 and 2) JP 08-305473 A (“0009”, “0010”, “0015”, FIGS. 1 and 7) JP-A-08-66882 ("0017" to "0019", "0021", "0022", FIGS. 1 to 3) JP 2006-43848 A ("0013" to "0021", FIGS. 1 to 5)

  This invention makes it a technical subject to enlarge the movable area | region where an angle is detected by rotating compared with the past.

In order to solve the technical problem, the rotation angle detection device according to claim 1,
A frame having a first shaft support portion and a second shaft support portion extending in a direction orthogonal to the first shaft support portion;
A first rotation shaft supported by the first shaft support portion and extending in a convex shape with respect to the surface of the first shaft support portion;
A second rotating shaft supported by the second shaft support portion and extending convexly with respect to the surface of the second shaft support portion;
A first rotation angle detection member for detecting a rotation angle around the first rotation axis;
A second rotation angle detection member for detecting a rotation angle around the second rotation axis;
A substrate electrically connected to the first rotation angle detection member and the second rotation angle detection member and supported by the frame;
It is provided with.

The invention according to claim 2 is the rotation angle detection device according to claim 1,
Based on signals supported by the substrate and transmitted from the first rotation angle detection member and the second rotation angle detection member, rotation angles of the first rotation shaft and the second rotation shaft are calculated. An arithmetic unit;
A signal transmission unit configured to transmit a rotation angle supported by the substrate and calculated by the calculation unit to a calculation device electrically connected to the outside of the rotation angle detection device;
It is provided with.

In order to solve the technical problem, the articulated structure according to claim 3,
A plurality of connected bodies constituting the structure;
It is a rotation angle detection apparatus of Claim 1 or Claim 2 arrange | positioned at the connection part to which the said connection bodies are connected, Comprising: One end of one said connection body connected with the said connection part is detachable. The rotation angle detection device comprising: the first rotation shaft to be supported; and the second rotation shaft on which the other end of the other connecting body connected by the connecting portion is detachably supported.
It is provided with.

In order to solve the technical problem, the aspect capturing device according to claim 4 is:
An articulated structure having a plurality of connecting bodies constituting the structure, and a rotation angle detecting device arranged at a connecting portion to which the connecting bodies are connected;
A calculation device electrically connected to the rotation angle detection device;
With
The rotation angle detection device includes:
A frame having a first shaft support portion and a second shaft support portion extending in a direction orthogonal to the first shaft support portion;
One end of one of the connecting bodies supported by the first shaft support portion and extending in a convex shape with respect to the surface of the first shaft support portion and connected by the connecting portion is detachably supported. A first axis of rotation
The other end of the other connecting body supported by the second shaft supporting portion and extending in a convex shape with respect to the surface of the first shaft supporting portion and connected by the connecting portion is detachable. A second rotating shaft supported;
A first rotation angle detection member that is supported by the first rotation axis and detects a rotation angle around the first rotation axis;
A second rotation angle detection member supported by the second rotation shaft and detecting a rotation angle around the second rotation shaft;
A substrate electrically connected to the first rotation angle detection member and the second rotation angle detection member and supported by the frame;
Based on signals supported by the substrate and transmitted from the first rotation angle detection member and the second rotation angle detection member, rotation angles around the first rotation axis and the second rotation axis are determined. A computing unit for computing,
A signal transmission unit that transmits the rotation angle supported by the substrate and calculated by the calculation unit to the calculation device electrically connected to the outside of the rotation angle detection device;
Have
The computing device is:
A position calculation unit that calculates the position of the rotation angle detection device in a preset virtual space based on the rotation angle transmitted from the signal transmission unit;
An image processing unit that creates an image of the articulated structure in the virtual space based on the position calculated by the position calculation unit;
An image display unit for displaying an image of the articulated structure created on a display device electrically connected to the computing device;
Have
A mode of the articulated structure according to the rotation angle of each rotation axis is captured as an image in the virtual space.

According to the first aspect of the present invention, since the first shaft support portion and the second shaft support portion on which the two orthogonal axes are rotatably supported are provided, the conventional orthogonal 2 is provided. Compared with a rotation angle detection device that detects the rotation angle of the shaft, it is less likely that the movable region is restricted by contact with the frame during rotation around the rotation axis, and the movable region where the angle is detected is increased. can do.
According to the second aspect of the present invention, since the rotation angle detection device includes the calculation unit, the calculation load on the calculation device can be reduced as compared with the case where the calculation unit is not provided. In particular, when a plurality of rotation angle detection devices are connected to the calculation device, the calculation of the rotation angle is performed by the calculation unit of each rotation angle detection device as compared with the case of calculating the rotation angle only at one place of the calculation device. The calculation load applied to the computing device can be further reduced.

According to a third aspect of the present invention, there is provided the rotation angle detection device having the frame body in which the first shaft support portion and the second shaft support portion on which the orthogonal two axes are rotatably supported are orthogonal to each other. Therefore, the movable region of the portion corresponding to the joint between the connected bodies can be increased as compared with the articulated structure having the rotation angle detection device that detects the rotation angle of the two orthogonal axes.
According to invention of Claim 4, it has a frame body in which the 1st axis | shaft support part and 2nd axis | shaft support part by which orthogonal 2 axis | shaft is rotatably supported are orthogonal, and it is a joint between connection bodies. Since the movable region of the portion corresponding to the above has a large articulated structure, it corresponds to the mode of the articulated structure that can be captured in the virtual space, compared to the mode capture device that captures the mode of the conventional articulated structure The image variation can be increased.

FIG. 1 is an overall explanatory view of an aspect capturing device according to Embodiment 1 of the present invention. FIG. 2 is an explanatory view showing a state in which the decorative portion is removed from the aspect capturing device according to the first embodiment of the present invention. FIG. 3 is an explanatory diagram of the entire rotation angle detection apparatus according to the first embodiment of the present invention. FIG. 4 is an exploded explanatory view of the rotation angle detection device according to the first embodiment of the present invention. FIG. 5 is an explanatory diagram of a main part of the main body of the detection apparatus according to the first embodiment of the present invention. FIG. 6 is a functional block diagram illustrating the functions provided in the control unit of the computing apparatus according to the first embodiment. FIG. 7 is a main part explanatory view showing the length of the skeleton part of the doll U1 according to the first embodiment of the present invention and the distance between each rotating shaft and each connecting part of each joint part. FIG. 8 is an explanatory diagram simply showing an example of the configuration mode of the articulated structure of the first embodiment, FIG. 8A is an explanatory diagram showing the configuration mode of “snake type”, and FIG. 8B is “dog type” It is explanatory drawing which showed the structure aspect of. FIG. 9 is an explanatory diagram of a state in which the decoration portion is put on the skeleton portion in the three-dimensional virtual space according to the first embodiment of the present invention. FIG. 10 is a flowchart of the three-dimensional data creation process of the control unit of the computing device according to the first embodiment of the present invention. 11 is an explanatory diagram of a second embodiment of the present invention corresponding to FIGS. 2 to 4 of the first embodiment, FIG. 11A is an explanatory diagram of a main part of the left arm portion of the second embodiment, and FIG. FIG. 11C is an exploded explanatory view of the rotational angle detection device, and FIG. 11C is an overall explanatory view of the rotational angle detection device of the second embodiment. FIG. 12 is a schematic explanatory view of a rotation angle detection device according to a modification.

Next, specific examples (examples) of the embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited to the following examples.
In order to facilitate understanding of the following description, in the drawings, the front-rear direction is the X-axis direction, the left-right direction is the Y-axis direction, the up-down direction is the Z-axis direction, and arrows X, -X, Y, -Y, The direction indicated by Z and -Z or the indicated side is defined as the front side, the rear side, the right side, the left side, the upper side, the lower side, or the front side, the rear side, the right side, the left side, the upper side, and the lower side, respectively.
In the figure, “•” in “○” means an arrow heading from the back of the page to the front, and “×” in “○” is the front of the page. It means an arrow pointing from the back to the back.
In the following description using the drawings, illustrations other than members necessary for the description are omitted as appropriate for easy understanding.

(Description of Aspect Capture Device of Example 1)
FIG. 1 is an overall explanatory view of an aspect capturing device according to Embodiment 1 of the present invention.
In FIG. 1, a motion capture system U as an example of an aspect capturing device according to the first embodiment includes a client personal computer PC as an example of a computing device.
(Description of the calculation apparatus of Example 1)
The client personal computer PC is constituted by a so-called computer device, and includes a computer main body H1 as an example of a computing device main body, a display H2 as an example of a display, a keyboard H3 and a mouse H4 as examples of an information input device, and the like. The computer main body H1 incorporates an HDD (HDD: Hard Disk Drive) as an example of a storage medium (not shown) that stores an OS (OS: Operating System), a program, and the like.
The client personal computer PC is connected to a doll U1 as an example of an articulated structure and a cable K as an example of a connection line. In the first embodiment, the cable K is configured as a USB cable (USB: Universal Serial Bus) as an example. However, the cable K is not limited to the USB cable, and any type of cable is used depending on the design. Is possible. In addition, the configuration is not limited to the wired method, and a configuration capable of transmitting and receiving information by a wireless method is also possible. Moreover, the doll U1 of Example 1 is comprised by the stuffed bear of the bear as an example.

(Description of the articulated structure of Example 1)
FIG. 2 is an explanatory view showing a state in which the decorative portion is removed from the aspect capturing device according to the first embodiment of the present invention.
1 and 2, the doll U <b> 1 of the first embodiment includes a human-shaped skeleton part 1 and a decorative cover Ca as an example of a decorative part that covers the skeleton part 1 as an example of a structure.
In FIG. 2, the skeleton 1 includes a chest part 2 arranged as a chest member at a position corresponding to the chest of the doll U1. As an example of the main board, the chest part 2 supports a main board 3 that can be electrically connected via the client personal computer PC and the cable K.

A screw hole-shaped neck joint support portion 4 and an upper abdominal joint support portion 6 are formed as an example of a connecting portion and an example of a connected portion at the center in the left-right direction at both the upper and lower ends of the chest part 2. In addition, a screw hole-shaped left shoulder joint support portion 7 and a right shoulder joint support portion 8 are formed as an example of a connecting portion and an example of a connected portion at the center in the vertical direction at both left and right ends of the chest part 2. Yes.
A left upper arm part 11 is rotatably supported by the left shoulder joint support portion 7 via a left shoulder joint part K1 as an example of a multi-axis rotation angle detection device and an example of a joint part.
The left shoulder joint part K1 according to the first embodiment rotatably supports the left upper arm part 11 with a first rotation shaft extending in the left-right direction and a second rotation shaft extending in the up-down direction as the rotation center. The detailed configuration of the left shoulder joint part K1 will be described later.

The left upper arm part 11 is formed in a square bar shape extending in the vertical direction. A convex left shoulder supported portion 11a is formed at the right end of the upper end portion of the left upper arm part 11 as an example of a connected portion to which the left shoulder joint part K1 is connected and supported. The outer peripheral surface of the left shoulder supported portion 11a A screw groove is formed in the. At the lower end of the left upper arm part 11, a screw hole-like left elbow support portion 11b is formed as an example of a connecting portion, similarly to the left shoulder joint support portion 7. The left lower arm part 12 is rotatably supported by the left elbow support part 11b via a left elbow joint part K2 configured similarly to the left shoulder joint part K1.
The left elbow joint part K2 of the first embodiment rotatably supports the left lower arm part 12 with a first rotation axis extending in the up-down direction and a second rotation axis extending in the left-right direction as the rotation center.

  The left lower arm part 12 is formed in a square bar shape extending in the vertical direction. At the upper end of the left lower arm part 12, a convex left elbow supported part 12a to which the left elbow joint part K2 is connected and supported is formed as an example of a connecting part. The outer peripheral surface of the left elbow supported part 12a A screw groove is formed in the. At the lower end of the left lower arm part 12, a screw hole-like left wrist support portion 12b is formed as an example of a connecting portion, similarly to the left elbow support portion 11b. A left wrist part Jo1 corresponding to the left wrist of the doll U1 is supported by the left wrist support portion 12b.

The left wrist part Jo1 of the first embodiment uses a so-called joystick-type rotation angle detection device, and the upper part of one left hand support shaft 13 extending in the vertical direction is supported so as to be rotatable in the front-rear and left-right directions. Thus, the rotation angle of the rotated left hand support shaft 13 can be detected. Such a joystick type rotation angle detection device configured to detect the rotation angle of one rotation shaft is disclosed in, for example, Patent Document 3, Japanese Patent Application Laid-Open No. 2007-4703, and Japanese Patent Application Laid-Open No. 2002-217209. Since it is described in the gazette etc. and can employ | adopt conventionally well-known arbitrary structures, detailed description is abbreviate | omitted.
A left hand part 14 corresponding to the left hand of the doll U1 is supported at the lower end of the left hand support shaft 13.
The left arm part 16 of the first embodiment is composed of the parts denoted by the reference numerals 11, 12, 14, Jo1, K1, and K2.

  The right shoulder joint support portion 8 supports a right arm part 26 that is symmetrical to the left arm part 16. That is, the right arm part 26 is symmetrical with the left upper arm part 11, left lower arm part 12, left wrist part Jo1, left hand part 14, left shoulder joint part K1, and left elbow joint part K2 of the left arm part 16. It has an arm part 21, a right lower arm part 22, a right wrist part Jo2, a right hand part 24, a right shoulder joint part K3, and a right elbow joint part K4.

The upper abdominal joint support portion 6 is rotatably connected to and supported by the upper abdominal joint part K5 configured in the same manner as the left shoulder joint part K1, and the lower end of the upper abdominal joint part K5. A waist part 31 corresponding to the waist of the doll U1 is rotatably supported via the constructed lower abdominal joint part K6.
The upper abdominal joint part K5 of the first embodiment is rotatably connected to and supported by the lower abdominal joint part K6 with the first rotation axis extending in the vertical direction and the second rotation axis extending in the left-right direction as the rotation center. Yes. In addition, the lower abdominal joint part K6 of the first embodiment connects and supports the waist part 31 rotatably around the first rotation shaft extending in the up-down direction and the second rotation shaft extending in the front-rear direction. Yes.
Therefore, the lumbar part 31 is supported by the upper abdominal joint part K5 and the lower abdominal joint part K6 so as to be rotatable about the three axes of front and rear, left and right, and the vertical direction.

A convex lower abdominal joint support part 32 to which the lower abdominal joint part K6 is connected and supported is supported at the center in the left-right direction at the upper end of the waist part 31.
Further, on both the left and right parts of the lower end of the waist part 31, as an example of a connected part, a screw hole-like left crotch joint support part 33 configured in the same manner as the left shoulder joint support part 7, and a right crotch joint support part 34 is formed.

A left thigh part 51 is rotatably supported by the left hip joint support part 33 via a left hip joint part K7 configured similarly to the left shoulder joint part K1.
The left hip joint part K7 according to the first embodiment rotatably supports the left thigh part 51 with a first rotation shaft extending in the up-down direction and a second rotation shaft extending in the left-right direction as the rotation center.
The left thigh part 51 is formed in a rectangular bar shape that extends in the vertical direction. At the upper end of the left thigh part 51, as an example of a connecting portion, a left hip supported part 51a is formed, which is connected and supported by the left hip joint part K7, and the outer peripheral surface of the left thigh supported part 51a A screw groove is formed in the. At the lower end of the left thigh part 51, a screw hole-shaped left knee support portion 51b is formed as an example of a connecting portion, similar to the left elbow support portion 11b.

A left shin part 52 is rotatably supported by the left knee support part 51b via a left knee joint part K8 configured similarly to the left shoulder joint part K1.
The left knee joint part K8 according to the first embodiment is configured to rotatably connect and support the left shin part 52 with a first rotation shaft extending in the vertical direction and a second rotation shaft extending in the left-right direction as the rotation center. Yes.
The left shin part 52 is formed in a square bar shape extending in the vertical direction. At the upper end of the left shin part 52, a convex left knee supported part 52a to which the left knee joint part K8 is connected and supported as an example of a connecting part is formed. The outer peripheral surface of the left knee supported part 52a A screw groove is formed in the. A screw hole-shaped left ankle support portion 52b is formed at the lower end of the left shin part 52 as an example of a connecting portion, similarly to the left knee support portion 51b.

The left ankle support part 52b supports a left ankle part Jo3 corresponding to the left ankle of the doll U1. The left ankle part Jo3 of the first embodiment uses a joystick-type rotation angle detection device, like the left wrist part Jo1, and the upper part of the left foot support shaft 53 extending in the vertical direction is supported to rotate in the front-rear and left-right directions. The rotation angle of the rotated left foot support shaft 53 can be detected. Since the configuration of the left ankle part Jo3 can adopt a conventionally known configuration like the configuration of the left wrist part Jo1, a detailed description thereof will be omitted.
A left foot part 54 corresponding to the left foot of the doll U1 is supported at the lower end of the left foot support shaft 53.
The left leg part 56 of the first embodiment is constituted by the parts denoted by the reference numerals 51, 52, 54, Jo3, K7, and K8.

  The right crotch joint support portion 34 supports a right leg part 66 that is symmetrical to the left leg part 56. That is, the right leg part 66 is configured symmetrically with the left thigh part 51, the left shin part 52, the left ankle part Jo3, the left leg part 54, the left hip joint part K7, and the left knee joint part K8 of the left leg part 56. A right thigh part 61, a right shin part 62, a right ankle part Jo4, a right foot part 64, a right hip joint part K9, and a right knee joint part K10.

The neck joint support part 4 is rotatably connected to and supported by the first neck joint part K11 having the same configuration as the left shoulder joint part K1, and the upper end of the first neck joint part K11, and the left shoulder joint part K1. The head body part 71 corresponding to the head of the doll U1 is rotatably supported via the second neck joint part K12 configured in the same manner as described above.
The first neck joint part K11 of the first embodiment can rotate the second neck joint part K12 with a first rotation shaft extending in the up-down direction and a second rotation shaft extending in the left-right direction as the rotation center. Connected and supported. In addition, the second neck joint part K12 of the first embodiment is capable of rotating the head body part 71 with the first rotation axis extending in the vertical direction and the second rotation axis extending in the front-rear direction as the rotation center. Connected and supported.
Therefore, the head body part 71 is supported by the first neck joint part K11 and the second neck joint part K12 so as to be rotatable about three axes in the front-rear, left-right, and vertical directions.
At the lower end of the head body part 71, a convex head support part 72 connected and supported corresponding to the second neck joint part K12 is formed, and a screw is provided on the outer peripheral surface of the head support part 72. Grooves are formed.
The head part 73 of the first embodiment is configured by the parts denoted by the reference numerals 71 to 72 and K11 to K12.
In addition, each part forming the skeleton of the doll U1 with the signs 2, 11, 12, 14, 21, 22, 24, 51, 52, 54, 61, 62, 64 and 71 is for easy understanding. The skeleton forming part Ko as an example of the connected body is represented by the same symbol.

(Description of joint parts of Example 1)
FIG. 3 is an explanatory diagram of the entire rotation angle detection apparatus according to the first embodiment of the present invention.
FIG. 4 is an exploded explanatory view of the rotation angle detection device according to the first embodiment of the present invention.
FIG. 5 is an explanatory diagram of a main part of the main body of the detection apparatus according to the first embodiment of the present invention.
3-5, each joint part K1-K12 of Example 1 has the flame | frame 101 as an example of a frame. The frame 101 includes a main frame 102 as an example of a main frame and a subframe 103 as an example of a sub-frame. The main frame 102 is a flat main plate 102a as an example of a first shaft support portion, and a flat plate shape that extends from both ends of the main plate 102a in a direction perpendicular to the main plate 102a as an example of a second shaft support portion. A pair of first side plate 102b and second side plate 102c.

The main plate 102a is formed with a first shaft through hole 102d penetrating the main plate 102a. The first side plate 102b and the second side plate 102c are formed with second shaft through holes 102e and 102f penetrating the side plates 102b and 102c.
In addition, the second side plate 102c is provided with a second potentiometer housing portion 102g configured by a groove extending from the main plate 102a side as an example of the detection member housing portion.

The subframe 103 includes a plate-like subplate 103a facing the main plate 102a as an example of the first shaft support portion. A pair of wall portions 103b extending toward the main plate 102a are formed at both ends of the sub plate 103a. A space surrounded by the main plate 102a, the sub plate 103a, and the wall 103b constitutes a first potentiometer housing 106 as an example of the detection member housing.
The first potentiometer housing part 106 according to the first embodiment is connected to the end of the second potentiometer housing part 102g, and is detected by the first potentiometer housing part 106 and the second potentiometer housing part 102g. A detection substrate housing portion 107 that is a substantially L-shaped space as an example of a member housing space is configured.

The sub plate 103a is formed with a first shaft through hole 103c that penetrates the sub plate 103a corresponding to the first shaft through hole 102d.
A first shaft 111 as an example of a first rotating shaft that passes through the first shaft through hole 102d and the first shaft through hole 103c is rotatably supported by the main plate 102a and the sub plate 103a. Yes.
A convex connecting portion 112 configured in the same manner as the left shoulder supported portion 11a is supported at the outer end of the first shaft 111, and a screw groove is formed on the outer peripheral surface of the connecting portion 112. Yes.
A first potentiometer 113 that is housed in the first potentiometer housing portion 106 and detects the rotational angle of the first shaft 111 is supported on the first shaft 111 as an example of a first rotational angle detection member. ing. The first potentiometer 113 is electrically connected to the joint part substrate 114 housed in the first potentiometer housing portion 106.

Further, a second shaft 121 as an example of a second rotating shaft that passes through the second shaft through holes 102e and 102f is rotatable in the first side plate 102b and the second side plate 102c. It is supported by.
The second shaft 121 supports a second potentiometer 122 that is housed in the second potentiometer housing portion 102g and detects the rotational angle of the second shaft 121 as an example of a second rotation angle detection member. ing.

The second potentiometer 122 is electrically connected to the joint part substrate 114. The joint parts substrate 114 supports a CPU (CPU: Central Processing Unit) electrically connected to the joint parts substrate 114, that is, a central processing unit 116, as an example of a calculation unit.
The central processing unit 116 according to the first embodiment uses a signal transmitted from the first potentiometer 113 or the second potentiometer 122 when the first shaft 111 or the second shaft 121 rotates. Based on this, the rotation angle information of the first shaft 111 and the second shaft 121 is calculated.

  The joint parts substrate 114 supports a connector 117 that is electrically connected to the joint parts substrate 114 as an example of a calculation unit and an example of a connection terminal. The connector 117 is directly connected to each of the joint parts K1 to K12, Jo1 to Jo4 and indirectly connected to the chest part 2 side through the adjacent joint parts K1 to K12 or the skeleton forming parts Ko. Are connected to adjacent joint parts K1 to K12 and Jo1 to Jo4 via cables. Therefore, the connector 117 is connected to cables from the joint parts K1 to K12 and Jo1 to Jo4 adjacent to the joint parts K1 to K12 on the side farther from the chest part 2, and approaches the chest part 2. Cables to the joint parts K1 to K12 adjacent to the side are also connected.

Therefore, in the first embodiment, the rotation angle information calculated by the central processing unit 116 can be transmitted to the main board 3 via the connectors of the adjacent joint parts K1 to K12. Further, the rotation angle information transmitted from other connectors 117 and the like adjacent to the side farther from the chest part 2 is relayed and transmitted toward the main board 3.
In the first embodiment, the data transmitted to the main board 3 includes information specifying each joint part K1 to K12, Jo1 to Jo4 in addition to each rotation angle information, and the joint parts K1 to K12. Information for specifying each first potentiometer 113 and each second potentiometer 122 is also included.

  In the first embodiment, as a cable (not shown) for connecting the connector 117 to the main board 3 and another adjacent connector 117, any detachable cable can be used. Cables can also be used. In addition, it is desirable that information can be transmitted and received while power is supplied to the first potentiometer 113, the joint part substrate 114, and the second potentiometer 122 via a cable. In addition, the configuration is not limited to the wired method, and a configuration capable of transmitting and receiving information by a wireless method is also possible. Further, it is desirable to connect adjacent joint parts K1 to K12 and Jo1 to Jo4 so that the cable does not become too long. However, the joint parts K1 to K12, Jo1 to Jo4 and the chest part 2 are directly connected. It is also possible to adopt a configuration in which the cables are connected.

  Further, a connecting arm 123 as an example of a connecting arm portion is fixedly supported at both ends of the second shaft 121. The connecting arm 123 is supported by both ends of the second shaft 121 and extends in a direction away from the main plate 102a, and a pair of plate-like shaft connecting portions 123a and an outer end of the shaft connecting portion 123a. Connecting plate 123b. A connected portion 123c extending on the extension line of the first shaft 111 is formed in the connected member support portion 123b, and the connected portion 123c has a screw hole shape configured in the same manner as the left shoulder joint support portion 7. The coupled hole 123d is formed.

(Function of control unit of computer main body H1 of client personal computer PC)
FIG. 6 is a functional block diagram illustrating the functions provided in the control unit of the computing apparatus according to the first embodiment.
1 and 6, the computer main body H1 has a control unit C. The control unit C includes a configuration setting unit C1, an origin position setting unit C2, a rotation angle information reception storage unit C3, a part position calculation unit C4, an image creation unit C5, and an image display unit C6.

C1: Configuration Setting Unit The configuration setting unit C1 includes a part information storage unit C1A, a configuration pattern determination unit C1B, and a part setting value setting unit C1C. The configuration setting unit C1 according to the first embodiment acquires pattern specifying information as an example of the mode specifying information of the doll U1 from the main board 3, and sets part setting values corresponding to the configuration pattern as an example of the configuration of the doll U1. Set.

FIG. 7 is a main part explanatory view showing the length of the skeleton part of the doll U1 according to the first embodiment of the present invention and the distance between each rotating shaft and each connecting part of each joint part.
C1A: Part information storage unit The part information storage unit C1A stores part information corresponding to each configuration pattern of the doll U1. The part information storage unit C1A according to the first embodiment stores part information corresponding to the configuration pattern of the doll U1 for each configuration pattern. In the first embodiment, as part information corresponding to the configuration pattern, how to connect the joint part and the skeleton forming part in each configuration pattern, the number of support parts of the reference parts such as the chest part 2, the total number b of the joint parts, the joystick The total number b 'of the joint parts of the mold and the distance between adjacent joint parts are stored.

Specifically, as an example of the configuration pattern of the first embodiment, the “humanoid” doll U1 shown in FIG. 2 is associated with pattern specifying information for specifying the configuration pattern “human type”, As part information associated with the pattern specifying information, “a = 4, the number of support parts formed on the chest part 2, how to connect the parts K1 to K12, Jo1 to Jo4, and Ko shown in FIG. The total number of joint parts b is b = 12, the total number of joystick-type joint parts b ′ is b ′ = 4, each joint part K1 to K12, Jo1 to Jo4, the length of each skeleton forming part Ko, and The distances L _{0 to} L ₄₇ between the rotation axes of the joint parts K1 to K12 and Jo1 to Jo4 and the support portions of the joint parts K1 to K12 and Jo1 to Jo4 are stored.

That is, in Example 1, as an example, as shown in FIG. 7, the distance L ₀ as the distance between the center of gravity position A ₀ of the chest part 2 and the left shoulder joint support part 7, the left shoulder joint support part 7 and the left shoulder joint part K 1 The distance L ₁ as the distance from the second shaft 121, the distance L ₂ as the distance between the second shaft 121 of the left shoulder joint part K1 and the left shoulder supported portion 11a, the left shoulder supported portion 11a and the left elbow supporting portion 11b The distance L ₃ as the distance between the left elbow support part 11b and the distance L ₄ as the distance between the second elbow joint part K2 and the second shaft 121 of the left elbow joint part K2, and the left elbow cover distance _{L 5} as the distance between the supporting portion 12a, and the distance _L 1 ~L ₅ similarly to the joint parts K3～K12, the rotary shafts and each joint parts Jo1~Jo4 K3~K12, support Jo1～Jo4 Department and The distances L _{6 to} L ₄₇ are stored.

FIG. 8 is an explanatory diagram simply showing an example of the configuration mode of the articulated structure of the first embodiment, FIG. 8A is an explanatory diagram showing the configuration mode of “snake type”, and FIG. 8B is “dog type” It is explanatory drawing which showed the structure aspect of.
8 are simplified for ease of explanation. The joint parts K ′ and K ″ are rounded, the joystick-type joint parts Jo ′ and Jo ″ are triangular, and the skeleton. The formed parts Ko ′ and Ko ″ are indicated by bar lines or the like.

In FIG. 8, the part information storage means C1A has a joint pattern K ′, K ″ configured in the same manner as the left shoulder joint part K1 and a skeleton formation similar to the skeleton formation part Ko in addition to the “humanoid” configuration pattern. It also stores part information of a configuration pattern in which the parts Ko ′ and Ko ″ are combined, for example, a “snake type” shown in FIG. 8A and a “dog type” shown in FIG. 8B.
As part information of the “snake type” pattern identification information, as shown in FIG. 8A, the joint parts K ′ and the skeleton forming parts Ko ′ are connected in series in a straight line, and the reference parts 2 ′ are supported. The number of parts a = 2, the total number of joint parts b = 8, the total number of joint parts of joystick type b ′ = 0, and the joint parts K1 ′ to K8 ′, Jo′1 to Jo′4 and each The length of the skeleton forming part Ko ′, the rotation axes of the joint parts K1 ′ to K8 ′, Jo′1 to Jo′4, and the support parts of the joint parts K1 ′ to K8 ′ and Jo′1 to Jo′4 Distances L ₀ ′ to L ₂₄ ′ are stored.

In addition, as part information of the “dog type” pattern specifying information, as shown in FIG. 8B, a joint part K ″ and a skeleton forming part Ko ″ are connected to each other at positions corresponding to the dog skeleton and joints. The number of support parts a = 4 for the reference part 2 ″, the total number of joint parts b = 14, the total number of joystick-type joint parts b ′ = 4, and the joint parts K1 ″ to K14 ″, Jo ″. 1 to Jo ″ 4 and the length of each skeleton forming part Ko ″, the rotation axes of the joint parts K1 ″ to K14 ″, Jo ″ 1 to Jo ″ 4 and the joint parts K1 ″ to K14 ″, Jo ″. The distances L ₀ ″ to L ₅₃ ″ with the support portions 1 to Jo ″ 4 are stored.
In the first embodiment, “human type”, “snake type”, and “dog type” are shown as an example of the configuration pattern. However, the configuration pattern is not limited to these, and according to the configuration of the doll U1, Any configuration pattern such as “can be adopted.

C1B: Configuration Pattern Discriminating Unit The configuration pattern discrimination unit C1B as an example of the configuration mode discrimination unit acquires pattern specifying information stored in the main board 3 in advance from the main board 3, and based on the acquired pattern specifying information, the doll The configuration pattern of U1 is determined. When the doll U1 shown in FIGS. 1 and 2 is connected to the client personal computer PC, the configuration pattern discriminating means C1B of the first embodiment receives pattern specifying information from the main board 3 of the doll U1 as “humanoid”. It is acquired, and the configuration pattern of the doll U1 is determined as “humanoid”.
C1C: Part set value setting means The part set value storage means C1C reads part information corresponding to the configuration pattern of the doll U1 determined by the configuration pattern determination means C1B from the part information storage means C1A, and is connected to the client personal computer PC. It is set as a part set value for the doll U1.
C2: Origin Position Setting Unit The origin position setting unit C2 sets a predetermined specific position of the doll U1 at the origin in the three-dimensional virtual space. Home position setting means C2 of Example 1, the preset part 2 as a reference part read from the part information storing unit C1A, 3-dimensional virtual center of gravity A ₀ of the chest part 2 in the space coordinate axes origin ( 0, 0, 0). In Example 1, the origin of the three-dimensional space, as an example, has been set to the centroid position A ₀ chest part 2 is not limited to the center of gravity position A ₀ chest part 2, in accordance with the design or the like The origin can be set for any position that constitutes the doll U1, such as the upper end of the head body part 71 and the toe of the left foot part 54.

C3: Rotation angle information reception storage means The rotation angle information reception storage means C3 receives and stores the rotation angle information transmitted from the joint parts K1 to K12 and the wrist-ankle joint parts Jo1 to Jo4. The rotation angle information reception storage means C3 according to the first embodiment receives and stores the rotation angle information of the joint parts K1 to K12 and the wrist-ankle joint parts Jo1 to Jo4 transmitted from the main board 3 of the chest part 2. To do.

C4: Part position calculation means The part position calculation means C4 calculates the position of each part of the doll U1 in the three-dimensional virtual space based on the rotation angle information and the part setting value stored in advance. The part position calculation means C4 according to the first embodiment is based on the rotation angle information stored in the rotation angle information reception storage means C3 and the part setting values stored in the part setting value storage means C1C. The coordinates (X, Y, Z) with respect to the origin of each joint part K1 to K12, each skeleton formation part Ko, and each limb ankle joint part Jo1 to Jo4 are calculated. Specifically, in FIG. 7, assuming that the center of gravity A ₀ of the chest part 2 is the origin, the position coordinate A ₁ as the coordinate of the position where the left shoulder joint support portion 7 is arranged is calculated based on the distance L _0. Is done. That is, A ₁ = A ₁ (L ₀ ). Then, when the rotation angle of the second shaft 121 of the left shoulder joint parts K1 and the rotation angle theta _12, the position coordinates A ₂ of the left shoulder supported portion 11a, based on the rotational angle theta ₁₂ and position coordinates A ₁ Calculated. That is, A ₂ = A ₂ (L ₁ , L ₂ , θ ₁₂ , A ₁ ). Then, when the rotation angle of the first shaft 111 of the left shoulder joint parts K1 and the rotation angle theta _11, the position coordinates _{A 3} of the left elbow supporting unit 11b, based on the rotational angle theta ₁₁ and position coordinates _{A 2} Is calculated. That is, A ₃ = A ₃ (L ₃ , θ ₁₁ , A ₂ ). Further, when the rotation angle of the second shaft 121 of the left elbow joint parts K2 and the rotation angle theta _22, the position coordinates _{A 4} of the left elbow supported portion 12a is in the rotation angle theta ₂₂ and position coordinates _{A 3} Calculated based on That is, A ₄ = A ₄ (L ₄ , L ₅ , θ ₂₂ , A ₃ ). And it calculates also about other joint parts K3-K12, Jo1-Jo4, and each other frame | skeleton formation part Ko.

C5: Image creation means The image creation means C5 has a three-dimensional information creation means C5A, a display direction determination means C5B, and a display image creation means C5C, and the position of each part calculated by the part position calculation means C4. According to the direction in which the doll U1 is to be displayed by creating three-dimensional data as an example of the three-dimensional information of the doll U1 in the three-dimensional virtual space corresponding to the posture from the coordinates such as the posture and movement of the doll U1. A display image is created by projecting and projecting three-dimensional data in two dimensions.

FIG. 9 is an explanatory diagram of a state in which the decoration portion is put on the skeleton portion in the three-dimensional virtual space according to the first embodiment of the present invention.
C5A: 3D information creation means The 3D information creation means C5A is information indicating the posture of the doll U1 in the 3D virtual space based on the position coordinate information indicating the position coordinates of each part calculated by the part position calculation means C4. Is created as three-dimensional data. As an example, the three-dimensional information creating means C5A according to the first embodiment is set in advance to the parts K1 to K12, Jo1 to Jo4, and Ko from the three-dimensional skeleton data corresponding to the skeleton part 1 of the doll U1 as shown in FIG. With reference to the data of the decorated cover Ca, three-dimensional data in a state where the decorative cover Ca is put on the skeleton portion 1 in the three-dimensional virtual space, that is, a state in which the skeleton is fleshed out is created.

C5B: Display Direction Discriminating Unit The display direction discriminating unit C5B discriminates the display direction as the direction of viewing the doll U1 when the user views the doll U1 on the display H2. Note that the display direction determination means C5B of Embodiment 1 stores and determines the direction vector toward the origin in the three-dimensional virtual space as display direction information, and is set or changed according to input from the keyboard H3, mouse H4, or the like. The display direction is determined based on the direction vector.

C5C: Display image creation means The display image creation means C5C displays on the display H2 based on the three-dimensional data created by the three-dimensional information creation means C5A and the display direction determined by the display direction determination means C5B. A display image is created as an image of the doll U1 in the three-dimensional virtual space. The display image creating means C5C according to the first embodiment projects and projects the three-dimensional data of the doll U1 on a plane perpendicular to the direction vector based on the three-dimensional data and the display direction information, and displays it on the two-dimensional display H2. A two-dimensional image depicting the doll U1 to be created is created.
Further, in the display image creation means C5C, for example, a shadow is added to the display image of the doll U1 or the doll U1 is enlarged or reduced according to an input from the keyboard H3, the mouse H4, or the like. Arbitrary image effects can be added to the image. Such a rendering technique as a technique for adding an image effect to a display image is well known in the art and will not be described in detail.

C6: Image Display Unit The image display unit C6 displays the two-dimensional image created by the display image creation unit C5C on the display H2.

(Description of Flowchart of Example 1)
(3D data creation process)
Next, a flow of three-dimensional data creation processing of the client personal computer PC according to the first embodiment will be described with reference to a flowchart, so-called flowchart.
In the following description of the flowcharts, descriptions other than necessary portions related to the description of the embodiment of the present application are omitted as appropriate for easy understanding.
FIG. 10 is a flowchart of the three-dimensional data creation process of the control unit of the computing device according to the first embodiment of the present invention.

Each step in the flowchart of FIG. 10, so-called step ST, is performed according to a program stored in the ROM of the control unit. This process is executed in parallel with the two-dimensional image creation process and image display process of the client personal computer PC.
The flowchart shown in FIG. 10 is started when the three-dimensional data creation program of the client personal computer PC is started.
In ST1 of FIG. 10, pattern specifying information is acquired from the doll U1 connected to the client personal computer PC. Then, the process proceeds to ST2.

In ST2, the configuration pattern of the doll U1 connected to the client personal computer PC is determined from the pattern specifying information acquired from the doll U1. Then, the process proceeds to ST3.
In ST3, the part information corresponding to the determined configuration pattern of the doll U1 is read and set as the part setting value of the doll U1. Then, the process proceeds to ST4.
In ST4, it sets the gravity center position A ₀ chest part 2 set in advance as a reference part as the origin of the three-dimensional virtual space. Then, the process proceeds to ST5.

In ST5, it is determined whether or not rotation angle information is acquired from the doll U1. If yes (Y), the process proceeds to ST6, and if no (N), ST5 is repeated.
In ST6, the rotation angle information acquired from the doll U1 is stored. Then, the process proceeds to ST7.
In ST7, the following processes (1) and (2) are executed, and the process proceeds to ST8.
(1) Based on the stored rotation angle information and the set part setting values, the position coordinates of the parts K1 to K12, Jo1 to Jo4, and Ko with respect to the origin are calculated.
(2) The position coordinates of the parts K1 to K12, Jo1 to Jo4, and Ko are stored as position coordinate information.

In ST8, three-dimensional data is created or updated based on the stored position coordinate information. Then, the process proceeds to ST9.
In ST9, it is determined whether or not “end” is input from the keyboard H3, the mouse H4, or the like. If yes (Y), the three-dimensional data creation process is terminated, and if no (N), the process returns to ST5.

(2D image creation processing)
In parallel with the three-dimensional data creation process, the two-dimensional image creation process of the first embodiment is executed. In the two-dimensional image creation process, display direction information that is updated in response to input from the keyboard H3, the mouse H4, or the like. Since only the two-dimensional image is created and updated based on the three-dimensional data created and updated by the three-dimensional data creation process, illustration and detailed description of the flowchart are omitted.
(Image display processing)
In parallel with the 3D data creation process and the 2D image creation process, the image display process of the first embodiment is executed. The image display process is created and updated by the 2D image creation process 2. Since only the three-dimensional image is displayed on the display H2, the illustration and detailed description of the flowchart are omitted.

(Operation of Example 1)
In the doll U1 of Example 1 having the above-described configuration, it is connected to each skeleton forming part Ko through each joint part K1 to K12, and the first shaft 111 of each joint part K1 to K12, Each skeleton forming part Ko can be rotated about the second shaft 121 orthogonal to the first shaft 111 as a rotation center, and the doll U1 can take an arbitrary posture.

  Here, when the configuration of the conventional joystick as in Patent Document 3 is to be used as the joint of the doll U1, it intersects in a plane orthogonal to the cylinder (30) connected to the skeleton forming part Ko. Since it has two frames (48, 82) that can rotate around the axis, if the cylinder (30) is tilted around one of the axes, the frame having the other axis must be have a finger in the pie. Therefore, when the configuration of Patent Document 3 is used as a joint part of the doll U1, the orthogonal two-axis rotatable region of the joint part is at most −90 ° to + 90 °, and actually from −60 ° to + 60 °. The range of motion was limited.

  On the other hand, in each joint part K1-K12 of Example 1 shown in FIG. 3, the 1st shaft 111 penetrates the flame | frame 101 and is supported rotatably, and the flame | frame etc. which rotate with the 1st shaft 111 are provided. It is not done. Therefore, when the skeleton forming part Ko is rotated with the first shaft 111 as the rotation center, the skeleton forming part Ko can be rotated 360 ° or more without being interfered with the rotation around the first shaft 111.

Further, when the skeleton forming part Ko is rotated with the second shaft 121 as the rotation center, the connecting arm 123 that supports the second shaft 121 interferes with the frame 101 and the first shaft 111, but the frame 101 and the first shaft One shaft 111 is arranged at one place with respect to the rotation around the second shaft 121. Therefore, the connecting arm 123 has a movable area in the range until the rotation is interfered by the frame 101 or the like, that is, in the range from −90 ° to + 90 ° or more, actually in the range from −150 ° to + 150 °. It can be rotated.
Therefore, in each joint part K1-K12 of Example 1, compared with the case where it is going to make the structure of the conventional joystick like patent document 3 into the joint of doll U1, the 1st shaft 111 as two orthogonal axes, and The movable region of the second shaft 121 can be increased.

Further, in the first embodiment, the two shafts 111 and 121 are orthogonal to each other, and the posture of the doll U1 that the user wants to realize in the three-dimensional space is compared with the case where the two shafts 111 and 121 are not orthogonal or have only one rotation axis. It is easy to realize.
Therefore, in the doll U1 of the first embodiment, it is possible to increase the movable area of the joint as compared with a conventional animal or the like, for example, a doll imitating a human shape, that is, a so-called figure configuration. It is possible to let the doll U1 of the first embodiment take a posture that could not be realized by exceeding the movable region with the configuration of the joint.
The posture of the doll U1 of the first embodiment having a large movable area can be taken into the client personal computer PC and converted into data, and can be displayed on the display H2.

Further, in the conventional configuration of Patent Document 2, the rotation of the orthogonal rotation shaft (706, 720) orthogonal to the first potentiometer shaft is transmitted via the plurality of bevel gears (717, 721), and the first potentiometer. The angle is detected by the second potentiometer (702) disposed on the opposite side of the orthogonal rotation axis (706, 720) with respect to (713). That is, in the prior art, the bevel gears (717, 721) are required, and the number of parts and cost increase, and the size is increased as a whole.
On the other hand, potentiometers 113 and 122 are directly supported on the shafts 111 and 121 in the joint parts K1 to K12 of the first embodiment, respectively.
Therefore, in each joint part K1-K12 of Example 1, compared with the conventional structure of patent document 2, while being able to reduce a number of parts and cost, it is possible to reduce each joint part K1-K12.

  Furthermore, compared to a conventional servo system robot, that is, a configuration having a servo motor for driving a joint, a sensor for detecting the rotation angle of the servo motor, a substrate for controlling the motor, and the like, each joint part K1 of the first embodiment. In K12, a servo motor or the like is omitted, the number of parts and production cost can be reduced, and each joint part K1 to K12 can be reduced in size and weight.

  Further, in the first embodiment, the central processing unit 116 is provided in each joint part K1 to K12, rotation angle information is calculated, and the calculation is not performed in the client personal computer PC. Therefore, the central processing unit 116 is not provided in each joint part K1 to K12, and the load on the client personal computer PC is reduced by the distributed processing as compared with the case where the calculation is performed at one place of the client personal computer PC. Even if the number of central processing units 116 is increased by changing the pattern, the load on the client personal computer PC does not need to increase so much.

Furthermore, in each joint part K1-K12 of the doll U1 of Example 1, each joint part K1-K12 itself is made common, and the convex connection part 112 in which the screw groove was formed in the outer peripheral surface, and a screw All of the hole-shaped connected holes 123d are shared. Further, in each skeleton forming part Ko, a supported portion having a screw groove formed on the outer peripheral surface and a screw hole-shaped support portion are all shared.
Therefore, each joint part K1-K12, Jo1-Jo4 and each skeleton formation part Ko are exchanged with each joint part K1-K12, Jo1-Jo4 or each skeleton formation part Ko by connecting and disconnecting with a screw. Therefore, it is possible to easily deal with parts replacement at the time of failure or removal or addition of parts when the configuration pattern of the doll U1 is changed. In addition, the joint parts K1 to K12 can be shared to reduce the cost by mass production.

  In the first embodiment, three-dimensional data is created according to an arbitrary posture of the doll U1 and displayed on the display H2. Therefore, by tracing and copying the image displayed on the display H2 on the software, it is possible to create an image of the posture taken by the doll U1. Therefore, if a painter or a manga artist wants to draw and draw a posture that makes it difficult to visualize details in his head alone, the doll U1 will take the posture and take it into the client PC to reduce the time and effort of drawing. Is possible.

In addition, the technique for capturing three-dimensional data while continuously changing the posture of the doll U1 in the first embodiment can be used in a technique for digitally recording the motion of an actual person or an object, so-called motion capture.
Here, in the conventional motion capture technology, a marker as an example of a mark is attached to an object for creating three-dimensional data such as a person or an object, and the motion of the object is photographed by a plurality of video cameras and calculated. The 3D data editing apparatus as an example of the apparatus has created 3D data of the object through operations such as tracking the movement of the marker from the captured image and measuring the 3D position table. .

Therefore, with conventional motion capture technology, it is expensive to provide a studio for shooting, hire a performer with a marker attached, perform equipment installation, and explain the operation to be performed by the performer. There was a problem that it took time to practice.
In addition, it is not impossible to create motion using 3DCG (3DCG: 3 Dimensional Computer Graphics) software, but it requires advanced and specialized knowledge and skill. It was.

On the other hand, in the motion capture technology using the configuration of the first embodiment, the doll U1 can be operated without using a performer, a video camera or other equipment, a video camera photographer, or a photography studio. Motion capture is possible by capturing 3D data while continuously changing the posture. Therefore, in the motion capture technology using the configuration of the first embodiment, the cost for motion capture can be reduced as compared with the conventional technology.
Also, with the motion capture technology using the configuration of the first embodiment, it is possible to save time spent installing equipment such as a video camera, explaining operations to performers, and practicing operations. In comparison, the time required for motion capture is shortened, and the cost for motion capture can be reduced.

11 is an explanatory diagram of a second embodiment of the present invention corresponding to FIGS. 2 to 4 of the first embodiment, FIG. 11A is an explanatory diagram of a main part of the left arm portion of the second embodiment, and FIG. FIG. 11C is an exploded explanatory view of the rotational angle detection device, and FIG. 11C is an overall explanatory view of the rotational angle detection device of the second embodiment.
Next, the second embodiment of the present invention will be described. In the description of the second embodiment, the same reference numerals are given to the components corresponding to the components of the first embodiment, and the detailed description thereof will be given. Omitted.
The second embodiment is different from the first embodiment in the following points, but is configured in the same manner as the first embodiment in other points.

In FIG. 11, in the joint part 151 of the second embodiment, instead of the frame 101 having the main frame 102 and the subframe 103 of the first embodiment, a first bearing plate 153 that extends in the vertical direction is an example of a substrate support portion. And an L-shaped frame 101 ′ having a second bearing plate 152 extending in a direction orthogonal to the end of the first bearing plate 153.
A hole-shaped first bearing portion 152 a is formed in the first bearing plate 152. A columnar first connecting arm 154 configured in the same manner as the connecting portion 112 is rotatably supported by the first bearing portion 152a. A first shaft 111 ′, which is an example of a first rotating shaft, is supported inside the first connecting arm 154.

The second bearing plate 153 has a hole-shaped second bearing portion 153a. As an example of the second connecting arm portion, a second connecting arm 156 corresponding to the connecting arm 123 of the first embodiment is rotatably supported by the second bearing portion 153a. The second connecting arm 156 includes a columnar second rotating shaft support portion 156a that extends leftward through the second bearing portion 153a. An upper and lower connecting arm portion 156b extending upward is formed at the left end of the second rotating shaft support portion 156a, and a connected member supporting portion 156c extending rightward is formed at the upper end of the upper and lower connecting arm portion 156b. ing. A connected portion 156d extending on an extension line of the first shaft 111 ′ is formed in the connected member support portion 156c, and the connected portion 156d has a screw hole shape configured similarly to the connected hole 123d. The to-be-connected hole 156e is formed.
In addition, a second shaft 121 ′ as an example of a second rotation shaft is supported on the inner end portion of the second rotation shaft support portion 156a.

A first potentiometer 113 'as an example of a first rotation angle detection member is connected to the first shaft 111', and an example of a second rotation angle detection member is connected to the second shaft 121 '. A second potentiometer 122 'is connected. The first potentiometer 113 ′ and the second potentiometer 122 ′ are supported by a flat joint part substrate 114 facing the second bearing plate 153.
In the joint part 151 of the second embodiment, since the central processing unit 116 and the connector 117 are supported on the joint part substrate 114 as in the first embodiment, the illustration is omitted.
Therefore, as shown in FIG. 11A, the first connecting arm 154 and the second connecting arm 156 of the joint part 151 are connected to the skeleton forming part Ko, and each skeleton forming part Ko is connected via the joint part 151. , Rotatably connected and supported.

(Operation of Example 2)
In the doll U1 of the second embodiment having the above-described configuration, as in the first embodiment, the first shaft 111 'of each joint part 151 and the second shaft 121' orthogonal to the first shaft 111 'are rotated. As the center, each skeleton forming part Ko can be rotated, and the doll U1 can take an arbitrary posture in the same manner as the doll U1 of the first embodiment.

(Example of change)
As mentioned above, although the Example of this invention was explained in full detail, this invention is not limited to the said Example, A various change is made in the range of the summary of this invention described in the claim. Is possible. Modification examples (H01) to (H08) of the present invention are exemplified below.
(H01) In each of the above-described embodiments, the joint portions corresponding to the elbows, knees, and the like of the doll U1 have been illustrated as being connected by one joint part K1 to K4, K7 to K10. It is possible to arrange two or more joint parts such as the upper abdominal joint part K5 and the lower abdominal joint part K6 at each joint part, and so-called double joints or triple joints can be used. is there. As a result, it is possible to adopt an arbitrary posture such as a posture in which arms are difficult to realize with one joint or a cross-legged posture.

(H02) In each of the above-described embodiments, the configuration in which the joystick-type rotation angle detection device is used for the wrist-ankle joint parts Jo1 to Jo4 is exemplified, but the present invention is not limited thereto, and the left wrist support portion 12b and the left ankle support portion 52b Etc., the joint parts K1 to K12 can be used.
(H03) In each of the above embodiments, the configuration in which each of the joint parts K1 to K12 and the skeleton forming part Ko are connected by screws is illustrated, but the present invention is not limited to this. For example, a magnet or a hook as an example of a fastener They can be connected by a snap fit as an example of a fitting coupling member, or by a configuration of fitting and fitting like a child block (toy).

(H04) In each of the above embodiments, two joint parts having two axes are used in the upper abdominal joint part K5, the lower abdominal joint part K6, and the first neck joint part K11 and the second neck joint part K12. However, the present invention is not limited to this. For example, one of the two first shafts 111, which are overlapping axes, cannot be rotated, and as a result, rotates about three axes. A possible configuration is also possible.
Further, the present invention is not limited to three or four axes, and it is possible to combine three or more joint parts having two axes so as to be rotatable around a total of five or more axes.
(H05) In each of the above-described embodiments, the configuration of the coupled portion 123c extending on the extension line of the first shaft 111 is exemplified, but the configuration is not limited thereto, and the coupled portion is connected to the axial direction of the first shaft 111. With respect to the frame part Ko in which the first shaft 111 and the second shaft 123 are connected to each other by making the portion 123c extend in an inclined direction or by making the connecting arm 123 oblique to the frame 101. It is also possible to arrange it as an inclined axis that inclines.

(H06) In each of the above embodiments, the rotation angle information and the like transmitted from each joint part K1 to K12, Jo1 to Jo4 is converged on one main board 3 and transmitted to the client personal computer PC. However, the present invention is not limited to this, and a configuration in which two or more main boards are arranged on the doll U1 and rotation angle information is distributed to the plurality of main boards and transmitted from each main board to the client personal computer PC is also possible. . For example, the rotation angle information transmitted from the upper body side of the doll U1 is converged on the main board 3, and the rotation angle information transmitted from the lower body side is converged on the second main board 3 ', so that each main board 3 is converged. , 3 'can be transmitted to the client personal computer PC.
Moreover, the structure which connects each joint parts K1-K12, Jo1-Jo4, and client personal computer PC with a cable directly is also possible. Further, transmission / reception of information is not limited to a wired system, and a configuration in which transmission / reception is performed by a wireless system is also possible.

FIG. 12 is a schematic explanatory view of a rotation angle detection device according to a modification.
(H07) In each of the above-described embodiments, as shown in FIGS. 2 to 4, the side plates 102 b and 102 c that rotatably support the second shaft 121, and the connecting arms that are supported on both ends of the second shaft 121. Although the configuration having 123 is illustrated, a configuration in which one of the side plates 102b and 102c is omitted or the connecting arm 123 is omitted is also possible. For example, in FIG. 12, the frame 101 ′ has a first side plate 102 c ′ extending from the right end of the main frame 102 a in a direction orthogonal to the main plate 102 a, and the left upper arm part 11 at the lower end of the first shaft 111 ′. ′ Can be connected and supported, and the left shoulder joint support portion 7 of the chest part 2 can be connected to and supported by the second shaft 121 ′ rotatably supported by the first side plate 102c ′. It is. In the configuration of FIG. 12, both the first shaft 111 ′ and the second shaft 121 ′ can be rotated by 360 ° or more.

(H08) In each of the above embodiments, the configuration in which the skeletal parts Ko of the doll U1 are connected by the joint parts K1 to K12 is exemplified, but the present invention is not limited to this. For example, the first shaft 111 or the second shaft It is also possible to connect the skeleton parts of the robot by joint parts K1 to K12 having a drive source attached to the shaft 121.

  DESCRIPTION OF SYMBOLS 1 ... Structure, 4-8, 11a, 11b, 12a, 12b, 51a, 51b, 52a, 52b ... Connection part, 101 ... Frame, 102a ... 1st axis | shaft support part, 102b, 102c ... 2nd axis | shaft Support unit, 111 ... first rotation axis, 113 ... first rotation angle detection member, 114 ... substrate, 116 ... calculation unit, 117 ... signal transmission unit, 121 ... second rotation axis, 122 ... second rotation Angle detection member, C4 ... Position calculation unit, C5 ... Image processing unit, C6 ... Image display unit, H2 ... Display, K1-K12 ... Rotation angle detection device, Ko ... Connected body, PC ... Calculation device, U ... Aspect Insertion device, U1 ... articulated structure.

Claims (4)

A frame having a first shaft support portion and a second shaft support portion extending in a direction orthogonal to the first shaft support portion;
A first rotation shaft supported by the first shaft support portion and extending in a convex shape with respect to the surface of the first shaft support portion;
A second rotating shaft supported by the second shaft support portion and extending convexly with respect to the surface of the second shaft support portion;
A first rotation angle detection member for detecting a rotation angle around the first rotation axis;
A second rotation angle detection member for detecting a rotation angle around the second rotation axis;
A substrate electrically connected to the first rotation angle detection member and the second rotation angle detection member and supported by the frame;
A rotation angle detection device comprising: Based on signals supported by the substrate and transmitted from the first rotation angle detection member and the second rotation angle detection member, rotation angles of the first rotation shaft and the second rotation shaft are calculated. An arithmetic unit;
A signal transmission unit configured to transmit a rotation angle supported by the substrate and calculated by the calculation unit to a calculation device electrically connected to the outside of the rotation angle detection device;
The rotation angle detection device according to claim 1, further comprising: A plurality of connected bodies constituting the structure;
It is a rotation angle detection apparatus of Claim 1 or Claim 2 arrange | positioned at the connection part to which the said connection bodies are connected, Comprising: One end of one said connection body connected with the said connection part is detachable. The rotation angle detection device comprising: the first rotation shaft to be supported; and the second rotation shaft on which the other end of the other connecting body connected by the connecting portion is detachably supported.
An articulated structure characterized by comprising: An articulated structure having a plurality of connecting bodies constituting the structure, and a rotation angle detecting device arranged at a connecting portion to which the connecting bodies are connected;
A calculation device electrically connected to the rotation angle detection device;
With
The rotation angle detection device includes:
A frame having a first shaft support portion and a second shaft support portion extending in a direction orthogonal to the first shaft support portion;
One end of one of the connecting bodies supported by the first shaft support portion and extending in a convex shape with respect to the surface of the first shaft support portion and connected by the connecting portion is detachably supported. A first axis of rotation
The other end of the other connecting body supported by the second shaft supporting portion and extending in a convex shape with respect to the surface of the first shaft supporting portion and connected by the connecting portion is detachable. A second rotating shaft supported;
A first rotation angle detection member that is supported by the first rotation axis and detects a rotation angle around the first rotation axis;
A second rotation angle detection member supported by the second rotation shaft and detecting a rotation angle around the second rotation shaft;
A substrate electrically connected to the first rotation angle detection member and the second rotation angle detection member and supported by the frame;
Based on signals supported by the substrate and transmitted from the first rotation angle detection member and the second rotation angle detection member, rotation angles around the first rotation axis and the second rotation axis are determined. A computing unit for computing,
A signal transmission unit that transmits the rotation angle supported by the substrate and calculated by the calculation unit to the calculation device electrically connected to the outside of the rotation angle detection device;
Have
The computing device is:
A position calculation unit that calculates the position of the rotation angle detection device in a preset virtual space based on the rotation angle transmitted from the signal transmission unit;
An image processing unit that creates an image of the articulated structure in the virtual space based on the position calculated by the position calculation unit;
An image display unit for displaying an image of the articulated structure created on a display device electrically connected to the computing device;
Have
An aspect capture device that captures an aspect of the articulated structure according to the rotation angle of each rotation axis as an image in the virtual space.

Images