JP2017140678A - Driving device and control method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving device and a control method of the same used for expressing emotion by driving an eyelid, an eyeball, an eyebrow, a lip and the like of a humanoid robot, which realizes both of a quick movement and a minute movement in a simple structure.SOLUTION: In a driving device, one end of a first horn 103 is connected with a rotation shaft 102 of a first RC servo motor 101. A body of a second RC servo motor 105 is directly or indirectly connected with the other end of the first horn 103. Length of a second horn 107 is shorter than that of the first horn 103, and one end of the second horn is connected with a rotation shaft 106 of the second servo motor 105. One end of a linkage 108, 109 and 110 is connected with the other end of the second horn 107, the other end of the linkage is connected with an eyelid 114. The eyelid 114 is quickly blinked by controlling drive of the first RC servo motor 101, and the eyelid 114 is slowly and minutely moved by controlling drive of the second RC servo motor 105.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a drive device used for the purpose of expressing emotions by driving the eyelids, eyeballs, eyebrows, lips and the like of a humanoid robot, and a control method therefor.

  In order to express the emotions of humanoids and fictitious animals, it is necessary to attach a large number of driving devices to the eyelids, eyeballs, eyebrows, lips, etc. The out parts need to be able to move quickly or slowly and delicately.

  For this reason, as a first conventional technique, by attaching a dedicated drive device such as an ultrasonic linear actuator to the buttocks of the head, etc., the emotional expression is achieved so as to achieve both high-speed motion and precise control in the buttocks and the like. Research that realizes the above is known (for example, techniques described in Non-Patent Documents 1 and 2).

  On the other hand, as a second conventional technique, there is known a facial expression changing device that realizes a variety of facial expressions by rotationally driving a heel member arranged so as to cover a spherical eyeball member using a servo motor. (For example, the technique described in Patent Document 1).

Japanese Patent No. 3738908

“KOBIAN-RIII, a bipedal humanoid robot that can express emotions using the whole body”, Research introduction on the homepage of Ikuo Takanishi Laboratory, Waseda University, [Search January 30, 2016], Internet <URL : Http://www.takanishi.mech.waseda.ac.jp/top/research/kobian/KOBIAN-R/index_j.htm> Kishi Tatsuhiro, Endo Nobutsuna, Otani Takuya, Przemyslaw Kryczka, Hashimoto Kenji, Nakata Satoshi, Takanishi Tatsuo May 2013, Journal of the Robotics Society of Japan, Vol.31, No.4, pp.106-116

  However, the first conventional technique has a problem that it takes a large cost and time to develop a dedicated drive device.

  On the other hand, in the second prior art, considering the use of an inexpensive RC (Radio Control) servo motor that is used for radio control applications, etc. as a servo motor, it is suitable as a rich emotional expression application such as a bag. There is a problem that is not. The RC servo motor was originally designed to be used for steering a radio controlled airplane or a radio controlled car, so that the movable range with an angle of about 150 degrees is rotated at a speed of about 0.2 seconds / 60 degrees. Is made. Therefore, even if eyeball driving or eyelid driving is performed via a link mechanism connected to the horn of the RC servomotor, only slow movement can be expressed when the RC servomotor is linked using a wide range of motion.

  The problem of the second prior art will be described in more detail with reference to FIG. FIG. 6 is a side view showing a conventional example of a link mechanism that drives the eyelid 601 on the eyeball 602 of the robot using the RC servo motor 603 as a driving device. 6 (a), (b), (c), and (d), the same numbered parts indicate the same mechanism.

  First, for example, as shown in FIG. 6A, the link mechanism 606 is rotated by a pin 609 whose one end is coupled to the root of the eyelid 601 at a fixed angle and the other end projects horizontally on the side surface of the eyeball 602. Connect freely. In addition, one end of the link mechanism 607 is coupled to the other end at a fixed angle so as to form a right angle with the link mechanism 606, for example. The link mechanism 606 and the link mechanism 607 can freely rotate around the pin 609 while maintaining a right angle, for example. On the other hand, a short fixed-length horn 605 is coupled to the rotation shaft 604 of the RC servo motor 603. The horn 605 is rotationally driven according to the drive of the RC servomotor 603 within a range of a certain angle (for example, 150 degrees) around the rotation shaft 604. One end of a link mechanism 608 is rotatably connected to the other end of the horn 605 by a pin 611. The other end of the link mechanism 608 is rotatably connected to the other end of the link mechanism 607 by a pin 610.

  In the above configuration, when the angle of the horn 605 connected to the rotation shaft 604 of the RC servo motor 603 maintains the angle shown in FIG. 6A, the eyelid 601 is open with respect to the eyeball 602. Become. On the other hand, in FIG. 6B, when the RC servo motor 603 is driven, the angle of the horn 605 rotates about 120 degrees from the position 605 ′ corresponding to FIG. 601 changes to a closed state with respect to the eyeball 602. As shown in FIGS. 6 (a) and 6 (b), when the length of the horn 605 is relatively short, when the rotational speed of the RC servo motor 603 is about 0.2 seconds / 60 degrees, the hook 601 is closed. It takes about 0.2 × 120/60 = 0.4 seconds to rotate the horn 605 by 120 degrees by the time. Here, since the blink of 瞼 601 is a reciprocating operation from closing to reopening, in the case of the blink change of FIG. 6 (a) → (b) → (a), 0.4 × 2 = It will take about 0.8 seconds. Since normal eyeblink blinks are on the order of 0.1 to 0.15 seconds, the above speed is too slow to blink and cannot express natural blinks.

  6 (c) and 6 (d) show that the horn 609 is made longer than the horn 605 in FIGS. 6 (a) and 6 (b) in order to solve the above-described problem, thereby allowing the RC servomotor 603 to be used. It is a side view which shows the prior art example of the link mechanism which narrowed. The angle change of the horn 609 from the state in which the ridge 601 in FIG. 6C is opened to the state in which the ridge 601 in FIG. 6D is closed is 30 degrees from the horn 609 ′ to the horn 609 in FIG. Degree. Therefore, when the rotational speed of the RC servo motor 603 is about 0.2 seconds / 60 degrees, the time required to rotate the horn 609 by 30 degrees to close the flange 601 is 0.2 × 30/60 = 0. About 1 second is sufficient, and the time required for blinking is about 0.2 seconds, which is twice this, and the expression close to natural blinking can be achieved.

  However, in the configuration of FIGS. 6C and 6D, only the narrow range of motion of the RC servo motor 603 is used, so that the positioning accuracy is lowered, and the slow movement of the heel 601 when drowsiness is caused. There was a problem that the expressive power of subtle movements declined.

  Accordingly, an object of the present invention is to realize both a quick movement and a subtle movement with a simple configuration.

  In one example, in order to move one driving object, the second motor that is directly or indirectly coupled to the driving object and moves the driving object, and the second motor is directly or indirectly coupled. A first motor that moves the second motor is connected in series.

  According to the present invention, it is possible to realize both quick movement and subtle movement with a simple configuration.

It is a figure (the 1) which shows the structural example of the link mechanism by this embodiment. It is a figure (the 1) which shows the structural example of the link mechanism by this embodiment. It is a figure which shows the system configuration example of this embodiment. It is a flowchart which shows the example of the control processing of this embodiment. It is operation | movement explanatory drawing of RC servomotor. It is explanatory drawing of the problem of a prior art.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. 1 and 2 are diagrams showing a configuration example of the link mechanism according to the present embodiment. In FIGS. 1A and 1B and FIGS. 2A and 2B, the same numbered parts indicate the same mechanism. The present embodiment relates to a driving device that drives a blinking operation of each eyelid 114 of two eyeballs 115 provided in the head 116 and a control system thereof in a humanoid robot including a head 116 and a body portion 117.

  First, as shown in FIG. 1A, for example, the link mechanism according to the present embodiment includes a first RC servo motor 101 (first motor) and a second RC servo motor 105 (second motor). A structure is arranged in series on the linkage. As these motors, inexpensive RC servo motors used for radio control applications and the like can be used.

  Specifically, one end of the first horn 103 is fixedly coupled to the rotation shaft (drive rotation shaft) 102 of the first RC servo motor 101. Next, the second RC servomotor 105 is fixedly coupled to the other end of the first horn 103 at a coupling point 104. The first horn 103 is rotationally driven in accordance with the driving of the first RC servo motor 101 within a range of a certain angle (for example, 150 degrees) around the rotation shaft 102.

  One end of the second horn 107 is fixedly coupled to the rotation shaft (drive rotation shaft) 106 of the second RC servo motor 105. The second horn 107 has a shorter length than the first horn 103. Similar to the first horn 103, the second horn 107 is rotationally driven in accordance with the driving of the second RC servo motor 105 within a range of a certain angle (for example, 150 degrees) around the rotation shaft 106.

  Next, one end of the rod of the link mechanism 108 is coupled to the root of the eyelid 114 at a fixed angle, and the other end is rotatably connected to a pin 111 projecting horizontally on the side surface of the eyeball 115. In addition, one end of a rod of the link mechanism 109 is coupled to the other end of the link mechanism 108 at a fixed angle so as to form a right angle with the link mechanism 108, for example. The link mechanism 108 and the link mechanism 109 can freely rotate around the pin 111 while maintaining a right angle, for example. On the other hand, one end of the link mechanism 110 is rotatably connected to the other end of the second horn 107 by a pin 113. The other end of the link mechanism 110 is rotatably connected to the other end of the link mechanism 108 by a pin 112.

  In the above configuration, as shown in FIG. 1A, the angle of the first horn 103 connected to the rotating shaft 102 of the first RC servo motor 101 maintains the neutral angle, and the second When the angle of the second horn 107 connected to the rotation shaft 106 of the RC servo motor 105 is maintained at the angle shown in the figure, the eyelid 114 is open with respect to the eyeball 115. In contrast, in FIG. 1B, the second RC servo motor 105 is driven while the angle of the first horn 103 is maintained at the neutral angle. In this case, since the second horn 107 having a relatively short length is used, when the angle of the second horn 107 rotates about 120 degrees from the position of FIG. 114 changes to a closed state with respect to the eyeball 115. Assuming that the rotation speed of the second RC servo motor 105 is about 0.2 seconds / 60 degrees, 0.2 × 120/60 = 0 is required to rotate the second horn 107 120 degrees before closing the flange 114. It will take about 4 seconds. Therefore, in this case, it is possible to express an emotion that the cocoon 114 closes slowly when it seems sleepy. Moreover, since the rotation angle can be increased in the combination of the second RC servo motor 105 and the second horn 107, it is possible to express subtle emotions such as the bag 114 slowly closing and opening again. It becomes possible.

  Next, as shown in FIG. 2A, the angle of the first horn 103 connected to the rotation shaft 102 of the first RC servo motor 101 is slightly below the neutral angle, and When the angle of the second horn 107 connected to the rotating shaft 106 of the second RC servo motor 105 maintains the neutral angle, the eyelid 114 opens to the eyeball 115 fully. On the other hand, in FIG. 2B, the first RC servo motor 101 is driven so that the angle of the first horn 103 is about 30 degrees above the angle of FIG. On the other hand, the second RC servo motor 105 maintains the neutral angle. In this case, since the first horn 103 is longer than the second horn 107, the angle of the first horn 103 is 30 degrees from the position of FIG. By rotating about a certain amount, the eyelid 114 changes into a closed state with respect to the eyeball 115 at a stretch. Assuming that the rotation speed of the first RC servo motor 101 is about 0.2 seconds / 60 degrees, 0.2 × 30/60 = 0.1 is required to rotate the first horn 10330 degrees before closing the flange 114. It only takes about a second. Therefore, in this case, it is possible to express a natural emotion such that the eyelid 114 blinks during normal times.

  As described above, two inexpensive RC servo motors (first RC servo motor 101 and second RC servo motor 105) are linked by the configuration example of the link mechanism of the present embodiment shown in FIGS. With a simple configuration arranged in series above, it is possible to realize both a quick movement and a subtle movement of the ridge 114.

  FIG. 3 is a diagram showing a system configuration example of the present embodiment including the configurations of FIGS. 1 and 2. For example, the camera 302 is installed in each of the two eyeballs 115 shown in FIG. For example, the microphones 303 are respectively installed at two ear positions (not shown) in the head 116 shown in FIG. The imaging information signal 306 from the camera 302 and the audio information signal 307 from the microphone 303 are input to the control microcomputer (control unit) 301. The control microcomputer 301 determines what kind of emotion is to be expressed by an imaging information signal 306 and an audio information signal 307, in particular by an algorithm not shown, and the first RC shown in FIG. Either the first servo control pulse signal 304 or the second servo control pulse signal 305 is selectively output to the servo motor 101 or the second RC servo motor 105, and the operations shown in FIGS. 1 and 2 are performed. Let it run.

  FIG. 4 is a flowchart showing an example of control processing by the control microcomputer 301. This control processing is an operation in which the control microcomputer 301 executes a control processing program stored in a built-in program ROM (not shown) while using a built-in work RAM (random access memory) (not shown) as a work area. It is.

  First, the control microcomputer 301 determines the situation around the humanoid robot (head 116, body 117) having the configuration shown in FIG. 1 or 2 based on the imaging information signal 306 and the audio information signal 307 (step S401). .

  Next, as a result of the determination in step S401, the control microcomputer 301 determines whether or not it is a situation that expresses emotion when the surrounding situation becomes sleepy (step S402).

  If the determination in step S402 is YES, the second servo control pulse signal 305 is output to the second RC servo motor 105, and the rod 114 described above with reference to FIGS. The moving operation is executed (step S403). After executing this operation for the time determined in step S401, the control microcomputer 301 ends the control process of moving the current bag 114 shown in the flowchart of FIG.

  If the determination in step S402 is NO, the control microcomputer 301 determines whether or not the result of the determination in step S401 is a situation where an emotional expression of natural blinks is present (step S404).

  If the determination in step S404 is YES, the first servo control pulse signal 304 is output to the first RC servo motor 101 to quickly blink the eyelid 114 as described above with reference to FIGS. 2 (a) and 2 (b). Is executed (step S405). After executing this operation for the time determined in step S401, the control microcomputer 301 ends the control process of moving the current bag 114 shown in the flowchart of FIG.

  If both the determinations in step S402 and step S404 are NO, the control microcomputer 301 does not perform the control process for moving the bag 114, and ends the control process shown in the flowchart of FIG.

  FIG. 5 is an explanatory diagram of the operation of the first RC servo motor 101 based on the first servo control pulse signal 304 or the second RC servo motor 105 based on the second servo control pulse signal 305. As shown in FIG. 5B, the control microcomputer 301 shown in FIG. 3 uses the first servo control pulse signal 304 or the second servo control pulse signal 305 as a pulse width of 1.5 ms (milliseconds), for example. The first RC servo motor 101 or the second RC servo motor 105 causes the first horn 103 or the second horn 107 to be neutralized by continuing to output the above-mentioned pulse at a constant interval (for example, about 15 to 20 ms). Keep the angle at. As shown in FIG. 5 (a), the control microcomputer 301 in FIG. 3 uses, as the first servo control pulse signal 304 or the second servo control pulse signal 305, a pulse having a pulse width of, for example, 2 ms as described above. 1, the first RC servo motor 101 or the second RC servo motor 105 keeps the first horn 103 or the second horn 107 constant from the neutral angle to the maximum angle in the clockwise direction. It is rotated at a rotational speed (for example, about 0.2 seconds / 60 degrees as described above). On the other hand, as shown in FIG. 5C, the control microcomputer 301 in FIG. 3 generates a pulse having a pulse width of, for example, 1 ms as the first servo control pulse signal 304 or the second servo control pulse signal 305. By continuing to output at the above-mentioned regular intervals, the first RC servo motor 101 or the second RC servo motor 105 causes the first horn 103 or the second horn 107 to move the maximum angle counterclockwise from the neutral angle. Until the rotation speed is constant. The control microcomputer 301 can control the second RC servo motor 105 to rotate 120 degrees and the first RC servo motor 101 to rotate 30 degrees by further finely controlling the pulse width.

  Normally, in the operation of a robot or the like, the movement of the end is subtle and small displacement, but the space allowed is very limited, and further, if the weight as an actuator becomes large, the main part is driven. Since the load on the actuator becomes very large, it becomes a major obstacle to downsizing, weight reduction, and power saving of the device as a whole. According to the present embodiment, in view of such points, the second RC servo motor 105 is arranged at the end portion, and a fast movement and a large movement are performed on the backbone while carrying a fine and delicate movement. By having the larger first RC servo motor 101 disposed, it is possible to realize both quick movements and subtle movements with a simple configuration. Further, in this embodiment, by changing the connection length of the first RC servo motor 101 and the second RC servo motor 105, it is possible to easily balance the operation speed and the positioning accuracy without changing the performance of the motor. It can be changed. Thus, according to the present embodiment, it is possible to realize realistic emotional expression such as a humanoid robot at a low cost.

  In the above embodiment, the eyelid 114 on the eyeball 115 is the driving target, but any of the eyeballs, eyebrows, and lips of a humanoid robot may be the driving target. Further, the present invention is not limited to a robot, and can be applied to a device that needs to realize both a quick movement and a subtle movement, such as a toy.

  In the above embodiment, the number of the second RC servo motors 105 is one, but one or more of the second RC servo motors 105 may be arranged in series on the linkage.

  In the above embodiment, either the first RC servo motor 101 or the second RC servo motor 105 is selectively driven, but both may be driven simultaneously.

  In the above embodiment, the first RC servo motor 101 and the second RC servo motor 105 are used, but two stepping motors may be used.

Regarding the above embodiment, the following additional notes are disclosed.
(Appendix 1)
In order to move one driving object, the second motor that is directly or indirectly coupled to the driving object and moves the driving object; and the second motor that is directly or indirectly coupled to the second motor. And a first motor that moves the motor, and a drive device that is connected in series.
(Appendix 2)
A first motor;
A first horn having one end coupled to the drive rotation shaft of the first motor;
A second motor having a body coupled directly or indirectly to the other end of the first horn;
A second horn having one end coupled to the drive rotation shaft of the second motor;
A link mechanism in which one end is connected to the other end of the second horn and the other end is coupled to the driven object;
A drive device comprising:
(Appendix 3)
The drive device according to appendix 2, wherein the second horn has a shorter length than the first horn.
(Appendix 4)
The drive device according to appendixes 1 to 3, wherein a connection length of the first motor and the second motor can be changed.
(Appendix 5)
The drive device according to any one of appendices 1 to 4, wherein at least one of the first motor and the second motor is a servo motor.
(Appendix 6)
The drive device according to any one of appendices 1 to 4, wherein at least one of the first motor and the second motor is a stepping motor.
(Appendix 7)
The drive device according to any one of appendices 1 to 6, wherein the drive object is any one of a eyelid, an eyeball, an eyebrow, and a lip of a robot.
(Appendix 8)
Any one of appendices 1 to 7, further comprising: a control unit that drives and controls the first motor when moving the driving object large and fast, and further controls the driving of the second motor when moving the driving object small and slow. Or the drive device according to any one of the above.
(Appendix 9)
A first motor, a first horn having one end coupled to the drive rotation shaft of the first motor, and one or more first horns having a main body coupled directly or indirectly to the other end of the first horn. A second motor, one end connected to the drive rotation shaft of the second motor, a second horn, one end connected to the other end of the second horn, and the other end connected to the drive object A drive device control method comprising a mechanism,
When moving the driving object large and fast, the first motor is driven and controlled,
A control method in which the second motor is driven and controlled when the driven object is moved small and slowly.

101 First RC servo motor 102, 106 Rotating shaft 103 First horn 104 Connection point 105 Second RC servo motor 107 Second horn 108, 109, 110 Link mechanism 111, 112, 113 Pin 114 瞼 115 Eyeball 116 Head 117 Body 301 Microcontroller for control 302 Camera 303 Microphone 304 First servo control pulse signal 305 Second servo control pulse signal 306 Imaging information signal 307 Audio information signal

Claims (9)

  In order to move one driving object, the second motor that is directly or indirectly coupled to the driving object and moves the driving object; and the second motor that is directly or indirectly coupled to the second motor. And a first motor that moves the motor, and a drive device that is connected in series. A first motor;
A first horn having one end coupled to the drive rotation shaft of the first motor;
A second motor having a body coupled directly or indirectly to the other end of the first horn;
A second horn having one end coupled to the drive rotation shaft of the second motor;
A link mechanism in which one end is connected to the other end of the second horn and the other end is coupled to the driven object;
A drive device comprising:   The drive device according to claim 2, wherein the second horn has a shorter length than the first horn.   The drive device according to claim 1, wherein a connection length between the first motor and the second motor can be changed.   The drive device according to any one of claims 1 to 4, wherein at least one of the first motor and the second motor is a servo motor.   The drive device according to any one of claims 1 to 4, wherein at least one of the first motor and the second motor is a stepping motor.   The drive device according to any one of claims 1 to 6, wherein the drive object is one of a robot's eyelid, eyeball, eyebrow, and lips.   The control unit according to any one of claims 1 to 7, further comprising a control unit that controls driving of the first motor when the driving target is moved large and fast, and controls driving of the second motor when the driving target is moved small and slow. Any one of the drive devices. A first motor, a first horn having one end coupled to the drive rotation shaft of the first motor, and one or more first horns having a main body coupled directly or indirectly to the other end of the first horn. A second motor, one end connected to the drive rotation shaft of the second motor, a second horn, one end connected to the other end of the second horn, and the other end connected to the drive object A drive device control method comprising a mechanism,
When moving the driving object large and fast, the first motor is driven and controlled,
A control method in which the second motor is driven and controlled when the driven object is moved small and slowly.