JP2857551B2 - Doll operating device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a doll operating device for playing music and operating various parts of the doll in accordance with the music.

[0002]

2. Description of the Related Art There has been an attempt at a doll operating device in which music is performed under the control of a computer based on a signal input and a doll is danced to the music under the control of a computer based on the signal input based on this background. is there. In this attempt, as in the NC processing machine and the articulated robot, the operation signal for operating the doll in accordance with the music includes the degree of freedom for each degree of freedom of the doll (each independent movement axis of the doll). There is a method of inputting velocity data as displacement or time derivative of displacement in accordance with all movements of the doll.
Here, in NC machine tools and articulated robots, input data is generally simple in many cases. That is, the motion trajectory of the machine is often relatively simple, and sometimes even if a plurality of operation points of the machine are determined as position data, the motion trajectory between them may be arbitrary.

[0003]

In the doll operating device, when the doll is danced to music, the trajectory of the doll often varies widely. In many cases, the motion trajectory of a doll is difficult to obtain by calculation, and is determined by human sensitivity. Therefore, an enormous amount of time is spent on inputting a motion signal for causing the doll to dance with a desired motion trajectory. However, if the motion trajectory of the doll is replaced with a simple function and the motion signal is input, it is clear that the motion and the behavior intended by the person for the doll are considerably different.

An object of the present invention is to provide a doll operating device which can solve the above-mentioned drawbacks, can easily input an operation signal, and can make a doll dance as intended.

[0005]

In order to achieve the above object, according to the present invention, a sound output means for converting a music signal into a sound and outputting the sound signal, and converting an operation signal into an operation of each part of the doll. Doll driving unit 2, music signal input means 3 for inputting a music signal, operation signal input means 4 for inputting an operation signal, an operation signal from the operation signal input means 4 and a signal from the music signal input means 3. A storage unit 5 for storing a music signal; a music signal read out from the storage unit 5 and output to the audio output unit 1; or a music signal from the music signal input unit 3 is output to the audio output unit 1; A control means 6 for reading out an operation signal from the storage means 5 and outputting the operation signal to the doll driving section 2 in synchronization with the output of the music signal, or outputting an operation signal from the operation signal input means 4 to the doll driving section 2; Equipped In the doll operating device for performing music and operating each part of the doll in accordance with the music, the control means 6 adds and corrects the operation signal stored in the storage means 5 by the operation signal from the operation signal input means 4. Is what you do.

According to a second aspect of the present invention, there is provided a sound output means for converting a music signal into sound and outputting the sound, a doll driving unit for converting an operation signal into an operation of each part of the doll, and a music signal input for inputting a music signal. Means, an operation signal input means for inputting an operation signal, a storage means for storing an operation signal from the operation signal input means and a music signal from the music signal input means, and a music signal read out from the storage means for reading the music signal. Output to a sound output means or output a music signal from the music signal input means to the sound output means, and read an operation signal from the storage means in synchronization with the output of the music signal and output to the doll drive unit. Or a control means for outputting an operation signal from the operation signal input means to the doll driving section, wherein the doll operation device performs music performance and operates each section of the doll in accordance with the music. It said control means in which to connect the temporally and spatially continuously and smoothly operating signal to change the operation signal of a portion of the stored operation signal from the operation signal input means in said storage means.

[0007] The invention described in claim 3 is claim 1 or 2.
In the doll operating device described above, the operation signal input means comprises means for inputting an operation signal for each part of the doll.

[0008]

[0009]

According to the first aspect of the present invention, the sound output means 1 converts a music signal into a sound and outputs the sound, and the doll driving section 2 converts an operation signal into an operation of each section of the doll. Music signal input means 3
Inputs a music signal, and the operation signal input means 4 inputs an operation signal. The storage means 5 stores the operation signal from the operation signal input means 4 and the music signal from the music signal input means 3. The control means 6 reads a music signal from the storage means 5 and outputs it to the audio output means 1 or outputs a music signal from the music signal input means 3 to the audio output means 1 and stores the music signal in synchronization with the output of the music signal. The operation signal is read from 5 and output to the doll driving unit 2 or the operation signal from the operation signal input unit 4 is output to the doll driving unit 2 and stored in the storage unit 5 by the operation signal from the operation signal input unit 4. Adds and corrects operation signals.

[0010]

According to the second aspect of the present invention, the sound output means converts the music signal into sound and outputs the sound, and the doll driving section converts the operation signal into the operation of each part of the doll. The music signal input means inputs a music signal, and the operation signal input means inputs an operation signal. The storage means stores an operation signal from the operation signal input means and a music signal from the music signal input means. The control means reads out the music signal from the storage means and outputs it to the audio output means, or outputs the music signal from the music signal input means to the audio output means, and reads out the operation signal from the storage means in synchronization with the output of the music signal And outputs an operation signal from the operation signal input means to the doll drive section, and changes a part of the operation signal stored in the storage means to an operation signal from the operation signal input means to temporally change the operation signal. And connect the operation signals continuously and smoothly in space.

According to a third aspect of the present invention, in the doll operating device according to the first or second aspect, the operation signal input means inputs an operation signal for each part of the doll.

[0013]

[0014]

FIG. 2 schematically shows an embodiment of the present invention.
Shows the operation flow of this embodiment. This embodiment has a music performance system 11 and a doll drive system 12.
In the music performance system 11, a person 13 inputs performance data to a music performance computer 14 as a music signal while accompanying a creative activity such as composition or arrangement.
The data input method here has already been established, and there is also a method of inputting performance data to the music performance computer 14 using a piano keyboard in real time as if playing a musical instrument.

A music performance computer 14 drives a performance device (for example, an automatic performance music box) 15 in real time based on performance data from a piano keyboard, and the performance device 15 transmits the performance data from the music performance computer 14. Convert to audio and output. The music performance computer 14 temporarily stores the performance data from the piano-type keyboard in a memory, then reads out the performance data from the memory, drives the performance device 15 based on the performance data, and The performance data from the performance computer 14 is converted into voice and output. Therefore, the person 13 can play the music in real time by inputting the performance data with the piano keyboard, and can play the music by the performance data stored in the memory.

In the doll drive system 12, a person 13
Inputs an operation signal indicating the operation of the doll, that is, data of the displacement x or the velocity v of the doll to the computer 16 for controlling the doll. The doll control computer 16 drives the doll device 17 in real time based on the operation signal to make each part of the doll dance. The doll control computer 16 temporarily stores the operation signal input by the person 13 in the memory, then reads out the operation signal from the memory, drives the doll device 17 based on the operation signal, and controls each part of the doll. Let them dance.

In this embodiment, a synchronization signal is transmitted and received between the music performance computer 14 and the doll control computer 16 via a communication line such as RS232C to synchronize the performance of the music with the operation of the doll. Can be FIG. 2 shows a flow of information in which a voice from the performance device 15 is transmitted as information to the person 13, and FIG.
3 shows a flow of information transmitted as information to the third embodiment.

FIG. 3 shows the configuration of the doll drive system 12 in detail. The variable resistor 18 constituting the operation signal input means for inputting the operation signal uses a three-dimensional joystick. The analog operation signal from the three-dimensional joystick 18 is supplied to the analog / digital conversion circuit 1
The digital signal is converted into a digital signal by the computer 9 and input to the computer 20 for doll operation. The doll operation computer 20 and the music performance computer 14 are connected by a signal line 21 for transmitting and receiving a synchronization signal. The doll operation computer 20 is transmitted from the music performance computer 14 via the signal line 21, for example. The start or end of the music performance is notified by the incoming synchronization signal.

Further, the doll operating computer 20 takes in the operation signal from the analog / digital conversion circuit 19 as data at a predetermined sampling time, and drives the motor 22 in accordance with the data. This motor 22
Is a doll driving unit, which uses, for example, a servo motor for accurately displacing in accordance with a signal from the doll operation computer 20.
Each part 23 of the doll is driven and danced according to the signal from the doll. Therefore, each part 23 of the doll has the joystick 1
It will dance at the same time as the operation of 8. The doll operation computer 20 drives the motor 22 based on the operation signal from the analog / digital conversion circuit 19, and stores the operation signal from the analog / digital conversion circuit 19 in the memory 24.

As shown in FIG. 7, the music performance system 11 comprises a piano keyboard 31, a computer 32, a memory 33 and a solenoid 34, and the performance device 15 comprises a music box in which each vibration valve 35 is driven by the solenoid 34. Be composed. The computer 32 drives the solenoid 34 in real time based on the performance data from the piano-type keyboard 31 to drive the respective vibration valves 35 of the music box, thereby converting the performance data into voice and outputting the voice. The computer 32 temporarily stores the performance data from the piano-type keyboard 31 in the memory 33, then reads out the performance data from the memory 33 in response to a reproduction command from the keyboard 31, and drives the solenoid 34 based on the performance data. By driving each of the vibration valves 35 of the music box, the performance data is converted into sound and output. Therefore, the person 13 can play the music in real time by inputting the performance data with the piano-type keyboard 31, and inputting a reproduction command to the computer 32 with the piano-type keyboard 31 and playing the music stored in the memory 33. Music can be played by the data. The computer 32 is a computer 16 for controlling the doll.
Exchanges a synchronization signal with the

In the music performance system 11, music can be performed on the basis of the already input operation signals. At this time, the person 13 operates the joystick 18 in consideration of the choreography of the doll while listening to the music from the playing device 15. Joystick 18
Is input to the doll operation computer 20 via the analog / digital conversion circuit 19, and the doll operation computer 20
At the same time as the determined sampling time, and stores it in the memory 24. At the same time, the motor 22 is driven by the operation signal to make each part 23 of the doll dance. This operation ends when the music performance ends.

In the doll drive system 12, the memory 2
In order to make each part 23 of the doll dance according to the operation signal stored in 4, the doll operation computer 20 is synchronized with the music performance by the synchronization signal sent from the music performance computer 14 via the signal line 21. An operation signal is read from the memory 24 at the same interval as the sampling time determined as described above, and the motor 22 is driven by the operation signal to make each part 23 of the doll dance. Thereby, person 13
The operation of each part 23 of the doll, which is the same as when the user inputs the operation signal with the joystick 18, can be easily reproduced. Person 13
Since the operation signal input by the joystick 18 is stored in the memory 24, the operation of each part 23 of the doll can be reproduced at any time.

If a variety of movements of the doll are required, the doll must have many degrees of freedom, and the input operation of the above-described operation signal becomes complicated. Even if the joystick 18 is used as an operation signal input means for inputting an operation signal, there is a limit to the content that can be operated by a joystick 18 by a person. A period is needed.

As an actual example, FIG. 4 shows ten degrees of freedom F1 to F1.
An example of a doll having F10 is shown. F1 is the doll's right foot 25
Is the degree of freedom of left and right rotation about. F2 is the degree of freedom of the doll's left foot 26 swinging back and forth. F3 is the doll's left foot 26
Is the degree of freedom of right and left swing. F4 is the degree of freedom of the doll's torso 27 swinging left and right. F5 is the degree of freedom of the doll's body 27 swinging back and forth. F6 is the degree of freedom of swinging the right hand 28 of the doll up and down. F7 is the degree of freedom of right and left swing of the right hand 28 of the doll. F8 is the degree of freedom of swinging the left hand 29 of the doll up and down. F9 is the degree of freedom of the left and right swings of the left hand 29 of the doll. F10 is the degree of freedom in the rotation direction of the doll's neck 30.

The motor 22 includes a left-right rotation of the doll about the right foot 25, a left-right swing of the left foot 26, a left-right swing of the left foot 26, a left-right swing of the body 27, a forward-backward swing of the body 27, and a right hand 2.
The doll operation computer 20 includes ten motors for performing vertical swing of the right hand 8, right and left swing of the right hand 28, vertical swing of the left hand 29, left and right swing of the left hand 29 of the doll, and rotation of the neck 30. It is activated by the operation signal from.

It is beyond the ability of a person to input an operation signal while manipulating as many as 10 parts of the doll with the joystick 18. There is also a method in which a plurality of persons input an operation signal while operating each of the ten parts of the doll with the joystick 18, but mutual cooperation between the parts of the doll is expected to be difficult.

Therefore, when inputting the operation signals of many parts of the doll, the whole doll is divided into a plurality of blocks, and the input of the operation signals of the small parts of the doll is repeated for each block. The motion signals are superimposed to finally operate the doll having many degrees of freedom. That is, as the first step, only the rotation of each part 25, 30 of the doll is determined in accordance with the music by the playing device 15, and the joystick 1
At step 8, the operation signal is input.

As a second step, the joystick 1 is determined by determining the swinging motion of the left and right and left and right of the left foot 26 of the doll.
At step 8, the operation signal is input. In this case, each part 2 of the doll
It is possible to keep the rotation of the dolls 5 and 30 or to rotate them. In short, the most appropriate choreography of the doll may be determined and input while listening to the music. Thereafter, the operation is sequentially determined for each block, such as the doll's body 27, right hand 28, left hand 29, neck 30, etc., while considering comparison with other blocks and matching with music, and the operation is performed with the joystick 18. Input the signal.

Next, a case where the user is dissatisfied with the result of inputting the operation signal of the doll and corrects the result will be described. If you want to make subtle corrections that are close to the actions of the input motion signal,
A delicate correction can be made by performing an operation of adding the correction to the already input operation signal. More specifically, the joystick 18 is operated at a place where correction is desired while automatically operating each part 23 of the doll by the doll operation computer 20 based on the operation signal stored in the memory 24. The conceptual diagrams are shown in FIGS.

When the operation signal is re-input only during a part of the operation of the entire doll, the doll operation computer 20 is caused to cancel the input operation signal during that period. In this case, the input operation signal and the joystick 1
In order to ensure the continuity with the operation signal from the joystick 8, the start position and the end position of the period are set by the joystick 18.
The input operation signal is made coincident with the input operation signal, and the portion of the input operation signal between the two positions is replaced by the doll operation computer 20 with linear interpolation data in time and space. Thereafter, the operation signal of the correction operation is input by the joystick 18 in a manner of adding the operation signal to the input operation signal, and the doll operation computer 20 smoothly connects the operation signal from the joystick 18 to the input operation signal and connects the operation signal. The motor 22 is driven by the operation signal thus made to make the respective parts 23 of the doll dance.

[0031]

As described above, according to the first aspect of the present invention, a sound output means for converting a music signal into sound and outputting the sound, a doll driving unit for converting an operation signal into an operation of each part of the doll, Music signal input means for inputting a music signal; operation signal input means for inputting an operation signal; storage means for storing an operation signal from the operation signal input means and a music signal from the music signal input means; Reading a music signal from the means and outputting to the audio output means or outputting a music signal from the music signal input means to the audio output means,
Control means for reading out an operation signal from the storage means in synchronization with the output of the music signal and outputting the operation signal to the doll drive section, or outputting an operation signal from the operation signal input means to the doll drive section, In the doll operation device that performs the performance of the doll and the operation of each part of the doll according to this, the control means performs addition and correction of the operation signal stored in the storage means by the operation signal from the operation signal input means, The person listens to the music from the voice output means and inputs the operation signal by the operation signal input means while confirming the operation of the doll, and a kind of feedback system including the person is established. Therefore, a person can easily and intuitively input an operation signal. Further, the operation signal can be stored in the storage means and reproduced freely. Further, the addition or modification of the movement of the doll can be easily performed, and the doll can be made to dance as intended.

According to the second aspect of the present invention, a sound output means for converting a music signal into sound and outputting the sound, a doll driving unit for converting an operation signal into an operation of each part of the doll, and a music for inputting a music signal Signal input means, operation signal input means for inputting an operation signal, storage means for storing the operation signal from the operation signal input means and the music signal from the music signal input means, and reading the music signal from the storage means Output to the audio output means or output a music signal from the music signal input means to the audio output means, and read out an operation signal from the storage means in synchronization with the output of the music signal and transmit the operation signal to the doll driving section. Control means for outputting or outputting an operation signal from the operation signal input means to the doll drive unit, and a doll operating device for performing music and operating each part of the doll in accordance with the music. Since the control unit changes a part of the operation signal stored in the storage unit to the operation signal from the operation signal input unit and connects the operation signal continuously and smoothly temporally and spatially, The person listens to the music from the voice output means and inputs the operation signal by the operation signal input means while confirming the operation of the doll, and a kind of feedback system including the person is established. For this reason,
A person can easily and intuitively input an operation signal. Further, the operation signal can be stored in the storage means and reproduced freely. Further, continuity between the operation signal stored in the storage unit and the operation signal from the operation signal input unit can be ensured.

According to the third aspect of the present invention, in the doll operating device according to the first or second aspect, since the operation signal input means comprises means for inputting an operation signal for each part of the doll, input of the operation signal is performed. Becomes easier.

[0034]

[Brief description of the drawings]

FIG. 1 is a block diagram showing the first embodiment of the present invention.

FIG. 2 is a block diagram schematically showing an embodiment of the present invention.

FIG. 3 is a block diagram showing the doll drive system of the embodiment.

FIG. 4 is a diagram for explaining each degree of freedom of the doll in the embodiment.

FIG. 5 is a diagram showing an example of an input operation signal and an example of the correction when the operation of the doll according to the input operation signal in the embodiment is modified.

FIG. 6 is a diagram for explaining replacement of linear interpolation data of the input motion signal when correcting the motion of the doll according to the input motion signal in the embodiment.

FIG. 7 is a block diagram showing a music performance system of the embodiment.

FIG. 8 is a flowchart showing an operation flow of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Voice output means 2 Doll drive part 3 Music signal input means 4 Operation signal input means 5 Storage means 6 Control means

──────────────────────────────────────────────────続 き Continuation of the front page (51) Int.Cl. ⁶ Identification code FI G10F 1/06 G10F 1/06 AB G10H 1/00 102 G10H 1/00 102Z (58) Investigation field (Int. Cl. ⁶ A63H 13/00-13/20 A63H 3/00-3/48 A63H 30/02 G10F 1/06 G10H 1/00 102

Claims (3)

(57) [Claims] 1. A sound output means for converting a music signal into sound and outputting the sound, a doll driving unit for converting an operation signal into an operation of each part of the doll, a music signal input means for inputting a music signal, and a sound signal input means for inputting a music signal. Operation signal input means for inputting, storage means for storing an operation signal from the operation signal input means and a music signal from the music signal input means, reading a music signal from the storage means and outputting the read music signal to the audio output means Or outputting a music signal from the music signal input means to the audio output means, and reading an operation signal from the storage means in synchronization with the output of the music signal, and outputting the read operation signal to the doll driving unit, or the operation signal input means. And a control means for outputting an operation signal from the doll to the doll driving unit, wherein the doll operation device performs music performance and operates each part of the doll in accordance with the music. Doll operating device by the operation signal from the signal input means and performing addition and modifications of the stored operation signals in the storage means. 2. A sound output means for converting a music signal into sound and outputting the sound, a doll drive for converting an operation signal into an operation of each part of the doll, a music signal input means for inputting a music signal, and a sound signal input means for inputting a music signal. Operation signal input means for inputting, storage means for storing the operation signal from the operation signal input means and the music signal from the music signal input means, reading the music signal from the storage means and outputting the music signal to the audio output means Or outputting a music signal from the music signal input means to the audio output means, and reading an operation signal from the storage means in synchronization with the output of the music signal, and outputting the read operation signal to the doll driving unit, or the operation signal input means. And a control means for outputting an operation signal from the doll to the doll driving unit. The doll operating device performs music performance and operates each part of the doll in accordance with the music. Doll operating apparatus characterized by connecting a temporally and spatially continuously and smoothly operating signal to change the operation signal part from the operation signal input means of the stored operating signal to the means. 3. A doll operating device according to claim 1, wherein said operation signal input means comprises means for inputting an operation signal for each part of the doll.