JP6918317B2

JP6918317B2 - 3D motion display device and its control method

Info

Publication number: JP6918317B2
Application number: JP2017164917A
Authority: JP
Inventors: 翌中安
Original assignee: 翌中安
Priority date: 2017-08-30
Filing date: 2017-08-30
Publication date: 2021-08-11
Anticipated expiration: 2037-08-30
Also published as: JP2019045533A

Description

本発明は、複数本のリニアアクチュエータを備えてなる三次元モーション・ディスプレイ装置及びその制御方法に関するものである。 The present invention relates to a three-dimensional motion display device including a plurality of linear actuators and a control method thereof.

特開２０１１−１８７０５０号公報（特許文献１）には、やわらかい動きや生物的な動きを表現することができる従来の三次元モーション・ディスプレイ装置が開示されている。この従来の三次元モーション・ディスプレイ装置は、一端が固定端となり且つ他端が自由端となる可撓性を有する長尺状本体と、姿勢変更指令に応じて長尺状本体の姿勢を任意の三軸方向に変更させる姿勢変更機構とを有する複数本のリニアアクチュエータがベースに固定された構造を有する。姿勢変更機構は、形状記憶合金等を用いた機械的な構造により長尺状本体の姿勢を変更するように構成されている。 Japanese Unexamined Patent Publication No. 2011-187050 (Patent Document 1) discloses a conventional three-dimensional motion display device capable of expressing soft movements and biological movements. In this conventional three-dimensional motion display device, a flexible long main body having one end having a fixed end and the other end having a free end, and an arbitrary posture of the long main body in response to a posture change command can be used. It has a structure in which a plurality of linear actuators having a posture changing mechanism for changing in three axial directions are fixed to a base. The posture changing mechanism is configured to change the posture of the elongated main body by a mechanical structure using a shape memory alloy or the like.

また本出願の発明者である中安翌が発表した「Luminescent Tentacles」（In SIGGRAPH ASIA 2016 Art Gallery, ACM）［非特許文献１］に示された三次元モーション・ディスプレイ装置では、複数の長尺状本体の先端に発光ダイオード（発光手段）を配置して、複数の長尺状本体の先端の発光ダイオードを発光させた状態で、複数の長尺状本体の姿勢を変更させている。 In addition, the three-dimensional motion display device shown in "Luminescent Tentacles" (In SIGGRAPH ASIA 2016 Art Gallery, ACM) [Non-Patent Document 1] announced by the inventor of this application, Nakayasu Tsugu, has a plurality of long shapes. A light emitting diode (light emitting means) is arranged at the tip of the main body, and the posture of the plurality of long main bodies is changed while the light emitting diodes at the tips of the plurality of long main bodies are made to emit light.

特開２０１１−１８７０５０号公報Japanese Unexamined Patent Publication No. 2011-187050

「Luminescent Tentacles」（In SIGGRAPH ASIA 2016 Art Gallery, ACM）"Luminescent Tentacles" (In SIGGRAPH ASIA 2016 Art Gallery, ACM)

非特許文献１に示された三次元モーション・ディスプレイ装置では、複数の長尺状本体の動きと、その先端の発光ダイオード（発光手段）の発光との間に同期関係を持たせることを特に考慮していなかった。 In the three-dimensional motion display device shown in Non-Patent Document 1, it is particularly considered to have a synchronous relationship between the movement of a plurality of elongated main bodies and the light emission of the light emitting diode (light emitting means) at the tip thereof. I didn't.

発明の目的は、複数の長尺状本体の動きと、その先端の発光手段との間に同期関係を持たせことができる三次元モーション・ディスプレイ装置及びその制御方法を提供することにある。 An object of the present invention is to provide a three-dimensional motion display device capable of having a synchronous relationship between the movement of a plurality of elongated main bodies and the light emitting means at the tip thereof, and a control method thereof.

本発明が改良の対象とする三次元モーション・ディスプレイ装置は、一端が固定端となり且つ他端が自由端となる可撓性を有する長尺状本体と、姿勢変更指令に応じて長尺状本体の姿勢を任意の方向に変更させる姿勢変更機構とを有する複数本のリニアアクチュエータと、複数本のリニアアクチュエータに対して複数の姿勢変更指令を個別に与える姿勢変更指令発生装置と、複数本の長尺状本体の他端に設けられた複数の発光手段と、複数の発光手段をそれぞれ発光させる発光用電流を複数の発光手段に供給する複数の発光駆動回路を具備している。そして姿勢変更機構は、長尺状本体の内部にあって、長尺状本体の長手方向に延びる複数本の形状記憶合金線状体と、複数本の形状記憶合金線状体に個別に駆動用電流を流す複数の配線回路と、姿勢変更指令に応じて配線回路を通して形状記憶合金線状体に所望の駆動用電流を個別に供給する複数の電流供給回路とを備えている。本発明の三次元モーション・ディスプレイ装置では、複数の発光駆動回路が、駆動用電流の立ち上がり及び立ち下がりの少なくとも一方に対して発光用電流の立ち上がり及び立ち下がりの少なくとも一方を調整可能に遅延させる遅延調整機能を有している。 The three-dimensional motion display device to be improved by the present invention has a flexible long main body having a fixed end at one end and a free end at the other end, and a long main body in response to a posture change command. A plurality of linear actuators having a posture change mechanism for changing the posture of a plurality of linear actuators, a posture change command generator for individually giving a plurality of posture change commands to a plurality of linear actuators, and a plurality of lengths. It includes a plurality of light emitting means provided at the other end of the scale-shaped main body, and a plurality of light emitting drive circuits for supplying light emitting currents for causing the plurality of light emitting means to emit light to the plurality of light emitting means. The posture changing mechanism is inside the long body and is individually driven into a plurality of shape memory alloy linear bodies extending in the longitudinal direction of the long body and a plurality of shape memory alloy linear bodies. It is provided with a plurality of wiring circuits for passing a current and a plurality of current supply circuits for individually supplying a desired driving current to the shape memory alloy wire through the wiring circuit in response to an attitude change command. In the three-dimensional motion display device of the present invention, a plurality of light emitting drive circuits delay an adjustable delay of at least one of the rise and fall of the light emitting current with respect to at least one of the rise and fall of the drive current. It has an adjustment function.

長尺状本体の内部に配置した形状記憶合金線状体は、駆動用電流が通電されてから時間遅れを持って変形し、また駆動用電流の通電が停止されてからも時間遅れを持って最初の形状に復帰する。そしてこの時間遅れは、温度の影響を大きく受ける。この時間遅れと温度を考慮せずに、長尺状本体の動きに合わせて発光手段を発光させると、発光手段がリニアアクチュエータの長尺状本体の動きと非同期で発光しているように観者には見える。その結果、三次元モーション・ディスプレイ装置を用いて使用者の意図する表現または動作をさせようとしても、リニアアクチュエータの動きと発光に観者は違和感を感じとる可能性がある。本発明のように、発光駆動回路が遅延調整機能を有していると、この温度特性持った時間遅れを考慮して、駆動用電流の立ち上がり及び立ち下がりの少なくとも一方に対して発光用電流の立ち上がり及び立ち下がりの少なくとも一方を調整することができる。その結果、三次元モーション・ディスプレイ装置の動きと発光を同時に見る観者に違和感のない印象を与えることができる。 The shape memory alloy striatum placed inside the long body deforms with a time delay after the drive current is energized, and also has a time delay after the drive current is stopped. It returns to the original shape. And this time delay is greatly affected by temperature. If the light emitting means is made to emit light according to the movement of the long main body without considering this time delay and temperature, the viewer seems to emit light asynchronously with the movement of the long main body of the linear actuator. Looks like. As a result, the viewer may feel uncomfortable with the movement and light emission of the linear actuator even if he / she tries to make the expression or movement intended by the user by using the three-dimensional motion display device. When the light emitting drive circuit has a delay adjusting function as in the present invention, in consideration of the time delay having this temperature characteristic, the light emitting current is charged with respect to at least one of the rise and fall of the drive current. At least one of rising and falling can be adjusted. As a result, it is possible to give a natural impression to the viewer who simultaneously sees the movement and light emission of the three-dimensional motion display device.

動作と発光の時間遅れは、特に、駆動用電流の通電が停止されるのと一緒に発光を停止すると、発光停止後にも長尺状本体が動いているという違和感を観者に与える。この違和感に対して、複数の発光駆動回路は、それぞれ遅延調整機能により、駆動用電流の立ち下がりよりも所定の時間遅れて対応する発光用電流を立ち下げることにより対処ができる。この所定の時間は、電流供給回路から対応する形状記憶合金線状体に所望の電流を供給することを停止した後に形状記憶合金線状体が変形を停止するまでの時間であるのが好ましい。なお実際には、多少の時間誤差があってもよいのは勿論である。 The time delay between the operation and the light emission gives the viewer a sense of discomfort that the long main body is still moving even after the light emission is stopped, especially when the light emission is stopped at the same time when the energization of the driving current is stopped. Each of the plurality of light emitting drive circuits can deal with this discomfort by lowering the corresponding light emitting current with a predetermined time delay from the falling of the driving current by the delay adjusting function. This predetermined time is preferably the time from when the supply of a desired current from the current supply circuit to the corresponding shape memory alloy striatum is stopped until the shape memory alloy striatum stops deforming. In reality, it goes without saying that there may be some time error.

また動作と発光の時間遅れは、駆動用電流の通電が開始されるのと一緒に発光を開始すると、発光開始後にも長尺状本体が動着き始めるという違和感を観者に与える場合がある。この違和感も考慮すると、複数の発光駆動回路は、それぞれ遅延調整機能により、駆動用電流の立ち上がりよりも第１の時間遅れて対応する発光用電流を立ち上げ、駆動用電流の立ち下がりよりも第２の時間遅れて対応する前記発光用電流を立ち下げるようにするのが好ましい。このようにすると駆動用電流の通電開始時の違和感を含めて時間遅れに対処することができる。なおこの場合、第１の時間を、電流供給回路から対応する形状記憶合金線状体に所望の電流を個別に供給することを開始した後に形状記憶合金線状体が変形を開始するまでの時間とするのが好ましい。また第２の時間を、電流供給回路から対応する形状記憶合金線状体に所望の電流を個別に供給することを停止した後に前記形状記憶合金線状体が変形を停止するまでの時間とするのが好ましい。 Further, the time delay between the operation and the light emission may give the viewer a sense of discomfort that the long main body starts to move even after the start of the light emission when the light emission is started at the same time when the energization of the driving current is started. Considering this discomfort, each of the plurality of light emitting drive circuits raises the corresponding light emitting current with a delay of the first time from the rising of the driving current by the delay adjustment function, and is the second with the falling of the driving current. It is preferable to reduce the corresponding light emitting current with a delay of 2 time. In this way, it is possible to deal with the time delay including a feeling of strangeness at the start of energization of the driving current. In this case, the first time is the time from when the current supply circuit starts to individually supply the desired current to the corresponding shape memory alloy striatum until the shape memory alloy striatum starts to be deformed. Is preferable. Further, the second time is defined as the time from when the current supply circuit stops supplying the desired current to the corresponding shape memory alloy striatum individually until the shape memory alloy striatum stops deforming. Is preferable.

駆動用電流は、立ち上がりにおいて徐々に電流が増加し、立ち下がりにおいて徐々に電流が減少し、立ち上がり部と立ち下がり部の間に電流値が一定値になる部分を有しているのが好ましい。 It is preferable that the driving current has a portion where the current gradually increases at the rising edge, the current gradually decreases at the falling edge, and the current value becomes a constant value between the rising portion and the falling portion.

本発明の三次元モーション・ディスプレイ装置の制御方法では、複数の発光駆動回路は、駆動用電流の立ち上がり及び立ち下がりの少なくとも一方に対して発光用電流の立ち上がり及び立ち下がりの少なくとも一方を遅延させる。また駆動用電流の立ち下がりよりも所定の時間遅れて対応する発光用電流を立ち下げもよい。さらに駆動用電流の立ち上がりよりも第１の時間遅れて対応する発光用電流を立ち上げ、駆動用電流の立ち下がりよりも第２の時間遅れて対応する発光用電流を立ち下げるようにしてもよい。なお第１の時間は、電流供給回路から対応する形状記憶合金線状体に所望の電流を個別に供給することを開始した後に形状記憶合金線状体が変形を開始するまでの時間であるのが好ましい。また第２の時間は、電流供給回路から対応する形状記憶合金線状体に所望の電流を個別に供給することを停止した後に形状記憶合金線状体が変形を停止するまでの時間とするのが好ましい。 In the control method of the three-dimensional motion display device of the present invention, the plurality of light emitting drive circuits delay at least one of the rise and fall of the light emitting current with respect to at least one of the rise and fall of the drive current. Further, the corresponding light emitting current may be reduced with a predetermined time delay from the fall of the driving current. Further, the corresponding light emitting current may be started up with a first time delay from the rise of the drive current, and the corresponding light emission current may be started up with a second time delay from the fall of the drive current. .. The first time is the time from when the current supply circuit starts to individually supply the desired current to the corresponding shape memory alloy striatum until the shape memory alloy striatum starts to be deformed. Is preferable. The second time is the time from when the current supply circuit stops supplying the desired current to the corresponding shape memory alloy striatum individually until the shape memory alloy striatum stops deforming. Is preferable.

上記発明は、発光手段の発光動作に対してアクチュエータの動きが遅れることの対応を、発光駆動回路側を中心にして特定したものであるが、電流供給回路側を中心にしても本発明を特定することができる。この場合、本発明の装置は、複数の電流供給回路は、発光用電流の立ち上がり及び立ち下がりの少なくとも一方に対して駆動用電流の立ち上がり及び立ち下がりの少なくとも一方を調整可能に進める進み調整機能を有していてもよい。また本発明の方法でも、複数の電流供給回路が、発光用電流の立ち上がり及び立ち下がりの一方に対して駆動用電流の立ち上がり及び立ち下がりの少なくとも一方を進めるようにしてもよい。 In the above invention, the correspondence that the movement of the actuator is delayed with respect to the light emitting operation of the light emitting means is specified centering on the light emitting drive circuit side, but the present invention is also specified centering on the current supply circuit side. can do. In this case, the apparatus of the present invention has a lead adjustment function in which the plurality of current supply circuits allow at least one of the rise and fall of the light emitting current to be adjustable with respect to at least one of the rise and fall of the light emitting current. You may have. Further, also in the method of the present invention, the plurality of current supply circuits may advance at least one of the rise and fall of the drive current with respect to one of the rise and fall of the light emitting current.

（Ａ）は本発明の三次元モーション・ディスプレイ装置のディスプレイ部の構成を示す概略斜視図であり、（Ｂ）は１つのリニアアクチュエータ３の拡大図である。(A) is a schematic perspective view showing a configuration of a display unit of the three-dimensional motion display device of the present invention, and (B) is an enlarged view of one linear actuator 3. ディスプレイ部に設けられる複数のリニアアクチュエータの回路の具体的な構成を示すブロック図である。It is a block diagram which shows the specific structure of the circuit of a plurality of linear actuators provided in a display part. （Ａ）乃至（Ｃ）は、それぞれリニアアクチュエータの長尺状本体の構造を説明するために用いる図である。(A) to (C) are diagrams used for explaining the structure of a long main body of a linear actuator, respectively. （Ａ）及び（Ｂ）は、リニアアクチュエータの長尺状本体の動作原理を説明するために用いる図である。(A) and (B) are diagrams used for explaining the operating principle of a long body of a linear actuator. （Ａ）はリニアアクチュエータの動きを示す図であり、（Ｂ）は姿勢変更指令が指令する電流値の時間変化を示す波形図であり、（Ｃ）は発光指令が指令する電流値の時間変化を示す図である。(A) is a diagram showing the movement of the linear actuator, (B) is a waveform diagram showing a time change of the current value commanded by the attitude change command, and (C) is a time change of the current value commanded by the light emission command. It is a figure which shows.

以下図面を参照して本発明の実施の形態を詳細に説明する。図１（Ａ）は、本発明の三次元モーション・ディスプレイ装置のディスプレイ部１の構成を示す概略斜視図であり、図１（Ｂ）は１つのリニアアクチュエータ３の拡大図を示している。図１（Ａ）に示すディスプレイ部１は、図１（Ｂ）に拡大して示す１つのエレメントユニットであるリニアアクチュエータ３が複数、設置面に沿って等間隔で並べられることにより構成される。複数のリニアアクチュエータ３は、例えば長尺状本体７が１ｃｍ²当たり４本以上の密度で植設されるように設置面上に敷き詰められる。このような複数のエレメントユニットからなるディスプレイ部１は、三次元形状の物の表面に容易に設置することができる。長尺状本体７は、リニアアクチュエータ３の一部をなす。リニアアクチュエータ３は、輪郭がほぼ三角形形状の回路基板５と、回路基板５の上面に突設されて、下端が固定端となり上端が自由端となる長尺状本体７と、回路基板５の三角形形状の各辺から外方向に延びて隣接する他のアクチュエータ３の回路基板５同士を電気的及び物理的に接続する可撓性を有する接続構造基板８とからなる。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 (A) is a schematic perspective view showing the configuration of the display unit 1 of the three-dimensional motion display device of the present invention, and FIG. 1 (B) shows an enlarged view of one linear actuator 3. The display unit 1 shown in FIG. 1 (A) is configured by arranging a plurality of linear actuators 3, which are one element unit enlarged in FIG. 1 (B), at equal intervals along the installation surface. The plurality of linear actuators 3 are spread on the installation surface so that, for example, the long main body 7 is planted at a density of 4 or more per ^{1 cm 2.} The display unit 1 composed of such a plurality of element units can be easily installed on the surface of a three-dimensional object. The elongated main body 7 forms a part of the linear actuator 3. The linear actuator 3 has a circuit board 5 having a substantially triangular outline, a long main body 7 projecting from the upper surface of the circuit board 5 and having a fixed end at the lower end and a free end at the upper end, and a triangle of the circuit board 5. It is composed of a flexible connection structure substrate 8 that electrically and physically connects the circuit boards 5 of other actuators 3 that extend outward from each side of the shape and are adjacent to each other.

図２は、ディスプレイ部１に設けられる複数のリニアアクチュエータ３の制御回路４の具体的な構成を示すブロック図である。制御回路４は、複数のリニアアクチュエータ３は、長尺状本体７と、姿勢変更指令に応じて長尺状本体７の姿勢を任意の方向に変更させる姿勢変更機構６を有する。図２に示されるパーソナルコンピュータＰＣ内には、姿勢変更指令発生装置２が構成されている。姿勢変更指令発生装置２は、各リニアアクチュエータ３に対する個別の姿勢変更指令Ｓ１及び発光指令Ｓ２を生成する。 FIG. 2 is a block diagram showing a specific configuration of control circuits 4 of a plurality of linear actuators 3 provided in the display unit 1. The control circuit 4 has a plurality of linear actuators 3 having a long main body 7 and a posture changing mechanism 6 for changing the posture of the long main body 7 in an arbitrary direction in response to a posture change command. A posture change command generator 2 is configured in the personal computer PC shown in FIG. The attitude change command generator 2 generates individual attitude change commands S1 and light emission commands S2 for each linear actuator 3.

図３（Ａ）（Ｂ）及び（Ｃ）並びに図４（Ａ）及び（Ｂ）に示すように、長尺状本体７は長さ９０ｍｍ、直径５ｍｍであり、下端が回路基板５に固定されて回路基板５の上面に突設される。長尺状本体７の下端の端面からは、８本のエナメル線１４が延びており、６本が電流供給回路９に、２本が発光駆動回路１３にそれぞれ接続されて、駆動用電流と発光用電流が流される。長尺状本体７の上端には、透光性を有する拡散光キャップ１５が長尺状本体７の上端の端面を覆うように取り付けられている。拡散光キャップ１５の内部に位置する長尺状本体７の上端には、ＬＥＤ１２Ａを発光源とする発光手段１２が設けられている。 As shown in FIGS. 3 (A), (B) and (C), and FIGS. 4 (A) and 4 (B), the elongated main body 7 has a length of 90 mm and a diameter of 5 mm, and the lower end thereof is fixed to the circuit board 5. It is projected onto the upper surface of the circuit board 5. Eight enamel wires 14 extend from the end face of the lower end of the elongated main body 7, six of which are connected to the current supply circuit 9 and two of which are connected to the light emitting drive circuit 13, respectively, to drive the current and emit light. Current is passed. A diffused light cap 15 having translucency is attached to the upper end of the elongated main body 7 so as to cover the end surface of the upper end of the elongated main body 7. At the upper end of the elongated main body 7 located inside the diffused light cap 15, a light emitting means 12 having the LED 12A as a light emitting source is provided.

長尺状本体７は、自立性の無いシリコンチューブ製の外装部の内部に自立性を有する長尺状芯材として超弾性形状記憶合金からなる線状バネ部材１０（図５）が配置されて自立性を補助するようにしている。長尺状本体７に設けられた中央貫通孔１６は、長尺状本体７の中心に空けられている。中央貫通孔１６には、下端が回路基板５に固定された線状バネ部材１０が挿通されて、長尺状本体７を自立させている。また中央貫通孔１６の上にはＬＥＤ１２Ａが基板に実装された発光手段１２が配置されており、ＬＥＤ１２Ａへの発光用電流を流すためのエナメル線１４が中央貫通孔１６を通っている。 In the long main body 7, a linear spring member 10 (FIG. 5) made of a superelastic shape memory alloy is arranged as a long core material having self-supporting property inside an exterior portion made of a silicon tube having no self-supporting property. I try to help independence. The central through hole 16 provided in the elongated main body 7 is formed in the center of the elongated main body 7. A linear spring member 10 whose lower end is fixed to the circuit board 5 is inserted through the central through hole 16 to allow the elongated main body 7 to stand on its own. Further, a light emitting means 12 in which the LED 12A is mounted on the substrate is arranged on the central through hole 16, and an enamel wire 14 for passing a light emitting current to the LED 12A passes through the central through hole 16.

中央貫通孔１６を囲むように、長尺状本体７の中心から半径方向にずれた位置に、周方向に間隔をあけて３組の一対の周辺貫通孔１７、１８及び１９が設けられている。各周辺貫通孔１７、１８及び１９の長尺状本体７の上端面の開口部周縁は、それぞれハトメ２０が貼付されて、シリコンチューブの破損を防止している。各組の周辺貫通孔１７、１８及び１９には、それぞれ形状記憶合金線状体２１Ａ、２１Ｂ及び２１Ｃが挿通されている。一対の周辺貫通孔１７の一方に、形状記憶合金線状体２１Ａの先端を、周辺貫通孔１７の下端側から上端側に通していき、上端側から突き出した形状記憶合金線状体２１Ａの先端を他方の周辺貫通孔１７の上端から下端側に通し、先端及び後端を長尺状本体７の下端近くに固定することにより、形状記憶合金線状体２１Ａは長尺状本体７の上端及び下端に対し固定される。形状記憶合金線状体２１Ａの先端及び後端にはエナメル線１４が接続されている。 Three pairs of peripheral through holes 17, 18 and 19 are provided at positions offset in the radial direction from the center of the elongated main body 7 so as to surround the central through hole 16 at intervals in the circumferential direction. .. Eyelets 20 are attached to the peripheral edges of the openings on the upper end surfaces of the elongated main bodies 7 of the peripheral through holes 17, 18 and 19, respectively, to prevent damage to the silicon tube. Shape memory alloy linear bodies 21A, 21B and 21C are inserted into the peripheral through holes 17, 18 and 19 of each set, respectively. The tip of the shape memory alloy linear body 21A is passed through one of the pair of peripheral through holes 17 from the lower end side to the upper end side of the peripheral through hole 17, and the tip of the shape memory alloy linear body 21A protruding from the upper end side. Is passed from the upper end to the lower end side of the other peripheral through hole 17, and the tip and rear ends are fixed near the lower end of the elongated main body 7, so that the shape memory alloy linear body 21A is formed with the upper end and the upper end of the elongated main body 7. Fixed to the bottom edge. Enamel wires 14 are connected to the front and rear ends of the shape memory alloy linear body 21A.

このような長尺状本体７は、図３（Ｃ）に示すように、形状記憶合金線状体２１Ａ、２１Ｂ及び／または２１Ｃに電流を流すことにより、長尺状本体７を任意の方向に曲げることができる。例えば図３（Ｃ）で矢印で示した下方向Ｄ１に長尺状本体７を曲げる場合には、形状記憶合金線状体２１Ａのみに通電すると、形状記憶合金線状体２１Ａが緊張収縮して長尺状本体７の上端面を下端方向に引っ張り、長尺状本体７を図４（Ｃの下方向Ｄ１に曲げる。逆方向Ｄ２に曲げるためには、形状記憶合金線状体２１Ｂ及び２１Ｃに同じ電流を流すと、長尺状本体７は形状記憶合金線状体２１Ｂと２１Ｃとの丁度中間に向かう図３（Ｃ）の上方向Ｄ２に曲がることになる。各形状記憶合金線状体２１Ａ、２１Ｂ及び２１Ｃに流す電流の量やタイミングを適切に設定することにより、長尺状本体７は単に一方向に向かって曲がるだけでなく、旋回や振動やその組み合わせのような複雑な運動を実行することができることは明らかである。 As shown in FIG. 3C, such a long main body 7 causes the long main body 7 to move in an arbitrary direction by passing an electric current through the shape memory alloy linear bodies 21A, 21B and / or 21C. Can be bent. For example, when the elongated main body 7 is bent in the downward direction D1 indicated by the arrow in FIG. 3C, when only the shape memory alloy linear body 21A is energized, the shape memory alloy linear body 21A is tension-contracted. The upper end surface of the elongated main body 7 is pulled toward the lower end, and the elongated main body 7 is bent in the downward direction D1 of C. In order to bend in the reverse direction D2, the shape memory alloy linear bodies 21B and 21C are used. When the same current is applied, the elongated main body 7 bends in the upward direction D2 of FIG. 3 (C) toward the middle between the shape memory alloy linear bodies 21B and 21C. Each shape memory alloy linear body 21A By appropriately setting the amount and timing of the current flowing through the 21B and 21C, the elongated main body 7 not only bends in one direction but also performs complicated movements such as turning, vibration and a combination thereof. It is clear that you can.

図３に示した姿勢変更機構６は、前述のように、長尺状本体７の内部にあって、長尺状本体７の長手方向に延びる複数本の形状記憶合金線状体２１と、回路基板５に搭載され、複数本の形状記憶合金線状体２１に個別に駆動用電流を流す複数の配線回路１１と、回路基板５に搭載され、姿勢変更指令に応じて配線回路１１を通して形状記憶合金線状体２１に所望の駆動用電流を個別に供給する複数の電流供給回路９とを備えている。また姿勢変更指令発生装置２は、他の複数本のリニアアクチュエータ３及び複数の接続構造基板８を介して、複数本のリニアアクチュエータ３それぞれに接続されており、複数本のリニアアクチュエータ３それぞれに、対応する複数の姿勢変更指令を個別に与えることができる。ＬＥＤ１２Ａを備えた発光手段１２は複数本の長尺状本体７それぞれの先端に設けられており、回路基板５に搭載された発光駆動回路１３は、姿勢変更指令発生装置２からの発光指令に応じて、複数のＬＥＤ１２Ａをそれぞれ発光させる発光用電流を複数のＬＥＤ１２Ａに供給する。電流供給回路９及び発光駆動回路１３には図示しない定電流回路ＣＣから電流が供給される。 As described above, the posture changing mechanism 6 shown in FIG. 3 includes a plurality of shape memory alloy linear bodies 21 inside the elongated main body 7 and extending in the longitudinal direction of the elongated main body 7, and a circuit. A plurality of wiring circuits 11 mounted on the board 5 and individually passing a driving current to the plurality of shape memory alloy linear bodies 21, and shape memory mounted on the circuit board 5 through the wiring circuits 11 in response to an attitude change command. A plurality of current supply circuits 9 for individually supplying a desired driving current to the alloy wire 21 are provided. Further, the attitude change command generator 2 is connected to each of the plurality of linear actuators 3 via the other plurality of linear actuators 3 and the plurality of connection structure boards 8, and the attitude change command generator 2 is connected to each of the plurality of linear actuators 3. A plurality of corresponding posture change commands can be individually given. The light emitting means 12 provided with the LED 12A is provided at the tip of each of the plurality of elongated main bodies 7, and the light emitting drive circuit 13 mounted on the circuit board 5 responds to a light emitting command from the attitude change command generator 2. Therefore, a light emitting current that causes the plurality of LEDs 12A to emit light is supplied to the plurality of LEDs 12A. A current is supplied to the current supply circuit 9 and the light emitting drive circuit 13 from a constant current circuit CC (not shown).

図５（Ａ）は、本発明の三次元モーション・ディスプレイ装置の一実施の形態に含まれるリニアアクチュエータ３の長尺状本体７の動きを示し、図５（Ｂ）は、長尺状本体７の姿勢を制御するために形状記憶合金線状体２１に個別に流す駆動用電流を電流供給回路９から供給するための姿勢変更指令Ｓ１が指令する電流値の時間変化を示す波形を示す図であり、図５（Ｃ）は長尺状本体７の先端に設けられたＬＥＤ１２Ａに供給される発光用電流を流すための発光指令Ｓ２が指令する電流値の時間変化を示す図である。図５に示すように、長尺状本体７の変形は、長尺状本体７を変形させる動作原理上、姿勢変更指令Ｓ１で示される駆動用電流の通電後に時間遅れを持って開始され、且つ駆動用電流の通電が停止してから時間遅れを持って最初の形状に復帰する。 FIG. 5 (A) shows the movement of the long main body 7 of the linear actuator 3 included in one embodiment of the three-dimensional motion display device of the present invention, and FIG. 5 (B) shows the long main body 7. It is a figure which shows the waveform which shows the time change of the current value commanded by the attitude change command S1 for supplying the driving current which flows individually to the shape memory alloy linear body 21 from the current supply circuit 9 in order to control the attitude of. FIG. 5C is a diagram showing a time change of the current value commanded by the light emitting command S2 for passing the light emitting current supplied to the LED 12A provided at the tip of the elongated main body 7. As shown in FIG. 5, the deformation of the elongated main body 7 is started with a time delay after the drive current indicated by the posture change command S1 is energized due to the operating principle of deforming the elongated main body 7. After the energization of the drive current is stopped, it returns to the original shape with a time delay.

リニアアクチュエータ３の動作原理を説明するための図５（Ａ）及び（Ｂ）を参照すると、円筒状に形成されたシリコンチューブ７１を外装部とする長尺状本体７と、シリコンチューブ７１の中心軸に沿って埋め込まれた超弾性形状記憶合金製の線状バネ部材１０と、長尺状本体７の周縁近くを中心軸と平行に延び、長尺状本体７の上下端にその上下端が固定された形状記憶合金線状体２１とを有するものとする。この状態では、長尺状本体７を構成するシリコンチューブ７１は可撓性を有するが非自立性であり、可撓性と自立性を有する超弾性形状記憶合金製の線状バネ部材１０のために、長尺状本体７には応力が加わらない限り、図５（Ａ）に示すように真っ直ぐな姿勢を保持することができる。形状記憶合金線状体２１は、例えば７０℃に加熱することにより長さ方向に緊張収縮する。加熱は、形状記憶合金線状体２１に通電することにより実行することができる。収縮した形状記憶合金線状体２１は長尺状本体７の上面を引っ張るので、図５（Ｂ）に示すように長尺状本体７は右方向に曲がった姿勢に変形する。形状記憶合金線状体２１への通電を停止すると、形状記憶合金線状体２１が自然冷却して弛緩伸長し、線状バネ部材１０の自立性により、長尺状本体７は図４（Ａ）の真っ直ぐな姿勢に復帰する。 With reference to FIGS. 5A and 5B for explaining the operating principle of the linear actuator 3, a long main body 7 having a cylindrical silicon tube 71 as an exterior portion and a center of the silicon tube 71. A linear spring member 10 made of a superelastic shape memory alloy embedded along an axis and a linear spring member 10 extending near the peripheral edge of the elongated body 7 in parallel with the central axis, and the upper and lower ends thereof are located at the upper and lower ends of the elongated body 7. It is assumed to have a fixed shape memory alloy linear body 21. In this state, the silicon tube 71 constituting the elongated main body 7 is flexible but non-self-supporting, and is because of the linear spring member 10 made of a superelastic shape memory alloy having flexibility and self-supporting property. In addition, as long as no stress is applied to the elongated main body 7, it is possible to maintain a straight posture as shown in FIG. 5 (A). The shape memory alloy linear body 21 is tension-contracted in the length direction by heating to, for example, 70 ° C. The heating can be performed by energizing the shape memory alloy linear body 21. Since the contracted shape memory alloy linear body 21 pulls the upper surface of the elongated main body 7, the elongated main body 7 is deformed into a posture bent to the right as shown in FIG. 5 (B). When the energization of the shape memory alloy linear body 21 is stopped, the shape memory alloy linear body 21 naturally cools and relaxes and expands, and due to the independence of the linear spring member 10, the elongated main body 7 is shown in FIG. 4 (A). ) Returns to a straight posture.

このような動作原理のリニアアクチュエータ３の動きには、通電開始から加熱されて緊張収縮するまで、及び通電停止から自然冷却して弛緩伸長するまでに、時間的遅れを伴わざるを得ない。これに対してＬＥＤ１２Ａの発光にはこのような遅延がなく、ＬＥＤ１２Ａに発光駆動用電流を通電すると同時に発光し、通電を停止すると同時に消灯する。本実施の形態の三次元モーション・ディスプレイ装置１は、両者の動作の時間的ずれに基づく観者に与える違和感を解消しようとするものである。 The movement of the linear actuator 3 based on such an operating principle must be accompanied by a time delay from the start of energization to heating and tension contraction, and from the stop of energization to natural cooling and relaxation and extension. On the other hand, the light emission of the LED 12A does not have such a delay, and the LED 12A emits light at the same time when the light emission driving current is applied to the LED 12A, and turns off at the same time when the energization is stopped. The three-dimensional motion display device 1 of the present embodiment is intended to eliminate a sense of discomfort given to the viewer based on the time lag between the operations of the two.

本実施の形態の三次元モーション・ディスプレイ装置では、複数の発光駆動回路１３が、駆動用電流の立ち上がり及び立ち下がりに対して発光用電流の立ち上がり及び立ち下がりを調整可能に遅延させる遅延調整機能を有している。 In the three-dimensional motion display device of the present embodiment, the plurality of light emitting drive circuits 13 have a delay adjusting function that delays the rise and fall of the light emitting current in an adjustable manner with respect to the rising and falling of the driving current. Have.

また、動作と発光の時間遅れは、特に、駆動用電流の通電が停止されるのと一緒に発光を停止すると、発光停止後にも長尺状本体７が動いているという違和感を観者に与える。この違和感に対して、本実施の形態では、複数の発光駆動回路１３は、それぞれ遅延調整機能により、駆動用電流の立ち下がりよりも所定の時間遅れて対応する発光用電流を立ち下げることにより対処ができる。この所定の時間は、電流供給回路９から対応する形状記憶合金線状体２１Ａ、２１Ｂまたは２１Ｃに所望の電流を供給することを停止した後に形状記憶合金線状体２１Ａ、２１Ｂまたは２１Ｃが変形を停止するまでの時間である。 Further, the time delay between the operation and the light emission gives the viewer a sense of discomfort that the long main body 7 is moving even after the light emission is stopped, especially when the light emission is stopped at the same time when the energization of the driving current is stopped. .. In the present embodiment, the plurality of light emitting drive circuits 13 deal with this discomfort by lowering the corresponding light emitting current with a predetermined time delay from the falling of the driving current by the delay adjustment function. Can be done. During this predetermined time, the shape memory alloy striatum 21A, 21B or 21C is deformed after stopping the supply of the desired current from the current supply circuit 9 to the corresponding shape memory alloy striatum 21A, 21B or 21C. It is the time to stop.

また、動作と発光の時間遅れは、駆動用電流の通電が開始されるのと一緒に発光を開始すると、発光開始後に長尺状本体７が動き始めるという違和感を観者に与える場合がある。この違和感も考慮して、本実施の形態においては、複数の発光駆動回路１３は、それぞれ遅延調整機能により、駆動用電流の立ち上がりよりも第１の時間ｔ１遅れて対応する発光用電流を立ち上げ、駆動用電流の立ち下がりよりも第２の時間ｔ２遅れて対応する発光用電流（Ｓ２）を立ち下げるようにしている。このようにすると駆動用電流の通電開始時の違和感を含めて時間遅れに対処することができる。本実施の形態では、第１の時間ｔ１を、電流供給回路９から対応する形状記憶合金線状体２１に所望の電流を個別に供給することを開始した後に形状記憶合金線状体２１が変形を開始するまでの時間とし、第２の時間ｔ２を、電流供給回路から対応する形状記憶合金線状体に所望の電流を個別に供給することを停止した後に形状記憶合金線状体が変形を停止するまでの時間としている。 Further, the time delay between the operation and the light emission may give the viewer a sense of discomfort that the elongated main body 7 starts to move after the start of the light emission when the light emission is started at the same time when the energization of the driving current is started. In consideration of this discomfort, in the present embodiment, each of the plurality of light emitting drive circuits 13 starts up the corresponding light emitting current with a delay of the first time t1 from the rising of the driving current by the delay adjustment function. , The corresponding light emitting current (S2) is made to fall with a second time t2 delay from the falling of the driving current. In this way, it is possible to deal with the time delay including a feeling of strangeness at the start of energization of the driving current. In the present embodiment, the shape memory alloy linear body 21 is deformed after starting to individually supply a desired current to the corresponding shape memory alloy linear body 21 from the current supply circuit 9 for the first time t1. The shape memory alloy wire is deformed after the second time t2 is set to stop supplying the desired current individually from the current supply circuit to the corresponding shape memory alloy wire. It is the time until it stops.

次に本実施の形態の作用について、図５を参照しつつ説明する。 Next, the operation of the present embodiment will be described with reference to FIG.

長尺状本体７の動きと駆動用電流を指令する波形（Ｓ１）とを比較すると、前述したように、長尺状本体７は駆動用電流が立ち上がると同時ではなく、動き始めるまでに時間遅れを伴っている。また長尺状本体７は駆動用電流が立ち下がってから、時間遅れを伴って元の姿勢に戻る。 Comparing the movement of the long main body 7 with the waveform (S1) that commands the driving current, as described above, the long main body 7 is not at the same time as the driving current rises, but is delayed in time until it starts moving. Is accompanied by. Further, the elongated main body 7 returns to its original posture with a time delay after the driving current drops.

発光駆動回路１３は、図５（Ｂ）の駆動用電流を指令する波形（Ｓ１）と図５（Ｃ）発光用電流を指令する波形（Ｓ２）との比較より明らかなように、駆動用電流の立ち上がりよりも第１の時間ｔ１だけ遅れて対応する発光用電流を立ち上げ、駆動用電流の立ち下がりよりも第２の時間ｔ２だけ遅れて対応する発光用電流を立ち下げるようにしている。さらに本実施の形態においては、第２の時間ｔ２は、電流供給回路９から対応する形状記憶合金線状体２１Ａ、２１Ｂまたは２１Ｃに所望の電流を個別に供給することを停止した後に形状記憶合金線状体２１Ａ、２１Ｂまたは２１Ｃが変形を停止するまでの時間ｔｅとほぼ等しく、第１の時間ｔ１は、電流供給回路９から対応する形状記憶合金線状体２１Ａ、２１Ｂまたは２１Ｃに所望の電流を個別に供給することを開始した後に形状記憶合金線状体２１Ａ、２１Ｂまたは２１Ｃが変形を開始するまでの時間ｔｓとほぼ等しい。 The light emitting drive circuit 13 has a drive current as is clear from a comparison between the waveform (S1) for commanding the drive current in FIG. 5 (B) and the waveform (S2) for commanding the light emission current in FIG. 5 (C). The corresponding light emitting current is started up with a delay of the first time t1 from the rise of the above, and the corresponding light emitting current is started with a delay of the second time t2 with respect to the fall of the driving current. Further, in the present embodiment, the second time t2 is the shape memory alloy after stopping the supply of the desired current individually from the current supply circuit 9 to the corresponding shape memory alloy linear bodies 21A, 21B or 21C. The time until the linear body 21A, 21B or 21C stops deforming is almost equal to te, and the first time t1 is the desired current from the current supply circuit 9 to the corresponding shape memory alloy linear body 21A, 21B or 21C. Is approximately equal to the time ts until the shape memory alloy linear bodies 21A, 21B or 21C start to deform after starting to supply the shapes individually.

なお本実施の形態では、駆動用電流は、立ち上がりにおいて徐々に電流が増加し、立ち下がりにおいて徐々に電流が減少し、立ち上がり部と立ち下がり部の間に電流値が一定値になる期間（固定時間）を有している。 In the present embodiment, the driving current is a period (fixed) in which the current gradually increases at the rising edge, the current gradually decreases at the falling edge, and the current value becomes a constant value between the rising edge and the falling edge. Have time).

以上述べたように本実施の形態の三次元モーション・ディスプレイ装置によると、長尺状本体７の内部に配置した形状記憶合金線状体２１Ａ、２１Ｂ及び２１Ｃの動きと、長尺状本体７の先端に配置したＬＥＤ１２Ａの発光との非同期を解消することができる。これにより、三次元モーション・ディスプレイ装置を用いた使用者の意図する表現または動作を、違和感なく観者に伝達することができる。 As described above, according to the three-dimensional motion display device of the present embodiment, the movements of the shape memory alloy linear bodies 21A, 21B and 21C arranged inside the long main body 7 and the movement of the long main body 7 It is possible to eliminate the asynchronous with the light emission of the LED 12A arranged at the tip. As a result, the expression or operation intended by the user using the three-dimensional motion display device can be transmitted to the viewer without discomfort.

なお、上述の実施の形態においては、ＬＥＤ１２Ａの発光動作に対してアクチュエータの動きが遅れることへの対応を、各リニアアクチュエータに搭載された発光駆動回路１３側を中心にして特定したものであるが、他の実施の形態では、各リニアアクチュエータ３に電流を供給する電流供給回路９側を中心に特定することもできる。すなわち他の実施の形態においては、複数の電流供給回路９は、発光用電流（Ｓ２）の立ち上がり及び立ち下がりの少なくとも一方に対して駆動用電流（Ｓ１）の立ち上がり及び立ち下がりの少なくとも一方を調整可能に進める進み調整機能を有していてもよい。そして、複数の電流供給回路９が、発光用電流の立ち上がり及び立ち下がりの一方に対して駆動用電流の立ち上がり及び立ち下がりの少なくとも一方を進めることにより、上述の実施の形態と同様の作用効果を得ることができる。 In the above-described embodiment, the response to the delay in the movement of the actuator with respect to the light emitting operation of the LED 12A is specified centering on the light emitting drive circuit 13 side mounted on each linear actuator. In another embodiment, the current supply circuit 9 side that supplies the current to each linear actuator 3 can be specified as the center. That is, in another embodiment, the plurality of current supply circuits 9 adjust at least one of the rise and fall of the drive current (S1) with respect to at least one of the rise and fall of the light emitting current (S2). It may have a progress adjustment function that advances as much as possible. Then, the plurality of current supply circuits 9 advance at least one of the rise and fall of the drive current with respect to one of the rise and fall of the light emitting current, thereby achieving the same effect as that of the above-described embodiment. Obtainable.

本発明の三次元モーション・ディスプレイ装置によると、複数の長尺状本体の動きと、その先端の発光手段の発光とを同期させることにより、観者に違和感のない印象を与えることができる。 According to the three-dimensional motion display device of the present invention, by synchronizing the movement of a plurality of elongated main bodies with the light emission of the light emitting means at the tip thereof, it is possible to give the viewer a natural impression.

１ディスプレイ部
２姿勢変更指令発生装置
３リニアアクチュエータ
４駆動制御装置
５回路基板
６姿勢変更機構
７長尺状本体
８接続構造基板
９電流供給回路
１０線状バネ部材
１１配線回路
１２発光手段
１２ＡＬＥＤ
１３発光駆動回路
１４エナメル線
１５拡散光キャップ
１６中央貫通孔
１７、１８、１９周辺貫通孔
２０ハトメ
２１Ａ、２１Ｂ、２１Ｃ形状記憶合金線状体 1 Display unit 2 Attitude change command generator 3 Linear actuator 4 Drive control device 5 Circuit board 6 Attitude change mechanism 7 Long body 8 Connection structure board 9 Current supply circuit 10 Linear spring member 11 Wiring circuit 12 Light emitting means 12A LED
13 Emission drive circuit 14 Enamel wire 15 Diffuse light cap 16 Central through hole 17, 18, 19 Peripheral through hole 20 Eyelet 21A, 21B, 21C Shape memory alloy striatum

Claims

It has a flexible long body with one end being a fixed end and the other end being a free end, and a posture change mechanism that changes the posture of the long body in an arbitrary direction in response to a posture change command. With multiple linear actuators
An attitude change command generator that individually gives a plurality of attitude change commands to the plurality of linear actuators, and
A plurality of light emitting means provided at the other end of the plurality of elongated main bodies, and
A plurality of light emitting drive circuits for supplying a light emitting current for causing the plurality of light emitting means to emit light to the plurality of light emitting means are provided.
The posture changing mechanism is inside the elongated main body, and is individually divided into a plurality of shape memory alloy linear bodies extending in the longitudinal direction of the elongated main body and the plurality of shape memory alloy linear bodies. A plurality of wiring circuits for passing a driving current to the shape memory alloy wire, and a plurality of current supply circuits for individually supplying a desired driving current to the shape memory alloy linear body through the wiring circuit in response to the attitude change command. 3D motion display device
The plurality of light emitting drive circuits have a delay adjusting function for adjustingably delaying at least one of the rising and falling edges of the light emitting current with respect to at least one of the rising and falling edges of the driving current. A three-dimensional motion display device featuring.

The tertiary according to claim 1, wherein each of the plurality of light emitting drive circuits causes the corresponding delay adjusting function to lower the corresponding light emitting current with a predetermined time delay from the falling of the driving current. Former motion display device.

The predetermined time is a time from when the supply of a desired current from the current supply circuit to the corresponding shape memory alloy linear body is stopped until the shape memory alloy linear body stops deforming. Item 2. The three-dimensional motion display device according to item 2.

Each of the plurality of light emitting drive circuits raises the corresponding light emitting current with a first time delay from the rising edge of the driving current by the delay adjusting function, and is second than the falling edge of the driving current. The three-dimensional motion display device according to claim 1, wherein the corresponding light-emitting current is turned off with a time delay.

The first time is the time from when the current supply circuit starts to individually supply a desired current to the corresponding shape memory alloy striatum until the shape memory alloy striatum starts to be deformed. And
The second time is the time from when the current supply circuit stops supplying the desired current individually to the corresponding shape memory alloy linear body until the shape memory alloy linear body stops deforming. The three-dimensional motion display device according to claim 4.

The driving current has a portion between the rising portion and the falling portion, in which the current gradually increases at the rising edge and the current gradually decreases at the falling portion, and the current value becomes a constant value between the rising portion and the falling portion. The three-dimensional motion display device according to claim 4.

It has a flexible long body with one end being a fixed end and the other end being a free end, and a posture change mechanism that changes the posture of the long body in an arbitrary direction in response to a posture change command. With multiple linear actuators
An attitude change command generator that individually gives a plurality of attitude change commands to the plurality of linear actuators, and
A plurality of light emitting means provided at the other end of the plurality of elongated main bodies, and
A plurality of light emitting drive circuits for supplying a light emitting current for causing the plurality of light emitting means to emit light to the plurality of light emitting means are provided.
The posture changing mechanism is inside the elongated main body, and is individually divided into a plurality of shape memory alloy linear bodies extending in the longitudinal direction of the elongated main body and the plurality of shape memory alloy linear bodies. A plurality of wiring circuits for passing a driving current to the shape memory alloy wire, and a plurality of current supply circuits for individually supplying a desired driving current to the shape memory alloy linear body through the wiring circuit in response to the attitude change command. It is a control method of the three-dimensional motion display device that is used.
The plurality of light emitting drive circuits of a three-dimensional motion display device, characterized in that at least one of the rise and fall of the light emitting current is delayed with respect to at least one of the rise and fall of the drive current. Control method.

The control method for a three-dimensional motion display device according to claim 7, wherein the corresponding light emitting current is lowered with a predetermined time delay from the falling of the driving current.

The predetermined time is a time from when the supply of a desired current from the current supply circuit to the corresponding shape memory alloy linear body is stopped until the shape memory alloy linear body stops deforming. Item 8. The method for controlling a three-dimensional motion display device according to Item 8.

The corresponding light-emitting current is started up with a first time delay from the rise of the drive current, and the corresponding light-emitting current is started with a second time delay with respect to the fall of the drive current. The control method of the three-dimensional motion display device according to claim 9.

The first time is the time from when the current supply circuit starts to individually supply a desired current to the corresponding shape memory alloy striatum until the shape memory alloy striatum starts to be deformed. And
The second time is the time from when the current supply circuit stops supplying the desired current individually to the corresponding shape memory alloy linear body until the shape memory alloy linear body stops deforming. The control method of the three-dimensional motion display device according to claim 10.

It has a flexible long body with one end being a fixed end and the other end being a free end, and a posture change mechanism that changes the posture of the long body in an arbitrary direction in response to a posture change command. With multiple linear actuators
An attitude change command generator that individually gives a plurality of attitude change commands to the plurality of linear actuators, and
A plurality of light emitting means provided at the other end of the plurality of elongated main bodies, and
A plurality of light emitting drive circuits for supplying a light emitting current for causing the plurality of light emitting means to emit light to the plurality of light emitting means are provided.
The posture changing mechanism is inside the elongated main body, and is individually divided into a plurality of shape memory alloy linear bodies extending in the longitudinal direction of the elongated main body and the plurality of shape memory alloy linear bodies. A plurality of wiring circuits for passing a driving current to the shape memory alloy wire, and a plurality of current supply circuits for individually supplying a desired driving current to the shape memory alloy linear body through the wiring circuit in response to the attitude change command. 3D motion display device
The plurality of current supply circuits have an advance adjustment function that allows at least one of the rise and fall of the drive current to be adjustable with respect to at least one of the rise and fall of the light emitting current. A featured 3D motion display device.

It has a flexible long body with one end being a fixed end and the other end being a free end, and a posture change mechanism that changes the posture of the long body in an arbitrary direction in response to a posture change command. With multiple linear actuators
An attitude change command generator that individually gives a plurality of attitude change commands to the plurality of linear actuators, and
A plurality of light emitting means provided at the other end of the plurality of elongated main bodies, and
A plurality of light emitting drive circuits for supplying a light emitting current for causing the plurality of light emitting means to emit light to the plurality of light emitting means are provided.
The posture changing mechanism is inside the elongated main body, and is individually divided into a plurality of shape memory alloy linear bodies extending in the longitudinal direction of the elongated main body and the plurality of shape memory alloy linear bodies. A plurality of wiring circuits for passing a driving current to the shape memory alloy wire, and a plurality of current supply circuits for individually supplying a desired driving current to the shape memory alloy linear body through the wiring circuit in response to the attitude change command. It is a control method of the three-dimensional motion display device that is used.
A control method for a three-dimensional motion display device, wherein the plurality of current supply circuits advance at least one of the rising and falling edges of the driving current with respect to one of the rising and falling edges of the light emitting current. ..