JPH06154426A - Doll operating device - Google Patents

Abstract

PURPOSE:To permit a doll to dance at will with the simple input of an action signal. CONSTITUTION:A doll operating device is provided with a voice output means 1, a doll driving section 2, a music signal input means 3 an action signal input means 4 and a memory means 5 for storing the action signal from the action signal input means 4 and the music signals from the music signal input means 3 and reads the music signal out of the memory means 5 and output it to the voice output means 1 or output the music signal from the music signal input means 3 to the voice output means 1. The doll operating device is also provided with a control means 6 to read the action signal out of the memory means 5 in synchronization with the output of the music signal and output it to the doll driving section 2 or output action signal from the action signal input means 4 to the doll driving section 2.

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 performance.

[0002]

2. Description of the Related Art Attempts have been made for a doll operation device in which music is played under the control of a computer based on a signal input, and a doll is danced in accordance with the music under the control of a computer based on the signal input against this background. is there. In this attempt, the motion signal for moving the doll to the music is determined by the degree of freedom of each doll's degree of freedom (each independent movement axis of the doll) as in the NC processing machine and the articulated robot. There is a method of inputting the velocity data, which is the displacement or the time derivative of the displacement, according to all the movements of the doll.
Here, in NC machine tools and articulated robots, the input data is often simple. That is, the motion locus of the machine is often relatively simple, and sometimes the motion locus between them may be arbitrary if the plural motion points of the machine are determined as position data.

[0003]

In the above doll operation device, when the doll is made to dance to music, the movement trajectory of the doll often becomes various. In many cases, it is difficult to obtain the motion locus of the doll by calculation, and it is decided by the sensitivity of the person. Therefore, it takes a huge amount of time to input the motion signal for causing the doll to dance on the motion locus as intended. 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 or behavior that the person intended for the doll is considerably different.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a doll operation device which improves the above-mentioned drawbacks and which allows a doll to dance as intended by simple input of motion signals.

[0005]

In order to achieve the above object, the invention according to claim 1 is a doll operation device for performing music and operating each part of the doll in accordance with it, as shown in FIG. A voice output unit 1 for converting a music signal into a voice and outputting the voice, a doll driving unit 2 for converting a motion signal into a motion of each part of the doll, a music signal input unit 3 for inputting a music signal, and a motion signal for input. Operation signal input means 4, storage means 5 for storing the operation signal from the operation signal input means 4 and the music signal from the music signal input means 3, and the sound output means by reading the music signal from the storage means 5. 1 or outputs the music signal from the music signal input means 3 to the audio output means 1, and reads an operation signal from the storage means 5 in synchronization with the output of the music signal to the doll drive unit 2. output Or an operation signal from the operation signal input means 4 is obtained by a control unit 6 for outputting the doll drive unit 2.

According to a second aspect of the invention, in the doll operation device according to the first aspect, the operation signal input means comprises means for inputting an operation signal for each part of the doll.

According to a third aspect of the present invention, in the doll operation device according to the first or second aspect, the control means adds and corrects the operation signal stored in the storage means according to the operation signal from the operation signal input means. Is to do.

According to a fourth aspect of the invention, in the doll operation device according to the third aspect, the control means changes a part of the operation signal stored in the storage means into an operation signal from the operation signal input means. The operation signals are continuously and smoothly connected temporally and spatially.

[0009]

According to the first aspect of the invention, the music signal is input by the music signal input means 3 and the operation signal is input by the operation signal input means 4. The operation signal from the operation signal input means 4 and the music signal from the music signal input means 3 are stored in the storage means 5, and the control means 6 reads out the music signal from the storage means 5 and outputs it to the audio output means 1. The music signal from the signal input means 3 is output to the audio output means 1. Further, the control means 6 reads the operation signal from the storage means 5 in synchronization with the output of the music signal and outputs the operation signal to the doll drive section 2, or outputs the operation signal from the operation signal input means 4 to the doll drive section 2. Then, the voice output means 1 converts the music signal into a voice and outputs the voice, and the doll drive unit 2 converts the motion signal into motions of each part of the doll.

Therefore, a person listens to the music from the voice output means 1 and inputs the operation signal by the operation signal input means 4 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 the operation signal. Further, the operation signal can be stored in the storage means 5 and can be freely reproduced.

According to a second aspect of the invention, in the doll operation device according to the first aspect, the motion signal input means inputs a motion signal for each part of the doll. Therefore, it becomes easier to input the operation signal.

According to the invention of claim 3, claim 1 or 2
In the doll operation device described above, the control means adds and corrects the operation signal stored in the storage means by the operation signal from the operation signal input means. Therefore, the operation of the doll can be easily added or modified, and the doll can be caused to dance as intended.

According to a fourth aspect of the present invention, in the doll operation device according to the third aspect, the control means changes a part of the operation signal stored in the storage means to an operation signal from the operation signal input means and temporally changes the operation signal. And spatially continuously and smoothly connecting motion signals. Therefore, continuity between the operation signal stored in the storage means and the operation signal from the operation signal input means can be ensured.

[0014]

FIG. 2 shows the outline of one embodiment of the present invention.
Shows the operation flow of this embodiment. This embodiment has a music playing system 11 and a doll drive system 12.
In the music playing system 11, the person 13 inputs performance data as a music signal to the music playing computer 14 while performing creative activities 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 playing computer 14 using a piano-type keyboard in an environment where a musical instrument is played in real time.

The music playing computer 14 drives a performance device (for example, an automatic performance type music box) 15 in real time based on the performance data from the piano type keyboard, and the performance device 15 receives the performance data from the music playing computer 14. Convert to voice and output. Further, the music playing computer 14 temporarily stores the performance data from the piano type keyboard in the memory, thereafter reads the performance data from the memory, drives the performance device 15 based on this performance data, and the performance device 15 plays the music. 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 type keyboard, and can play the music by the performance data stored in the memory.

In the doll driving system 12, a person 13
Inputs an operation signal indicating the operation of the doll, that is, data of displacement x or speed v of the doll to the doll control computer 16. The doll control computer 16 drives the doll device 17 in real time based on the operation signal to cause each part of the doll to dance. Further, the doll control computer 16 temporarily stores the motion signal input by the person 13 in the memory, then reads the motion signal from the memory, drives the doll device 17 based on this motion signal, and controls each part of the doll. Make them dance.

In this embodiment, a synchronization signal is transmitted and received between the music playing computer 14 and the doll control computer 16 via a communication line such as RS232C to synchronize the music playing and the doll's motion. To be 2 shows the flow of information in which the sound from the performance device 15 is transmitted to the person 13 as information, and the operation state of the doll is 1
3 shows the flow of information transmitted as the information to 3).

FIG. 3 specifically shows the configuration of the doll driving system 12. A three-dimensional joystick is used as the variable resistor 18 which constitutes the operation signal input means for inputting the operation signal. The analog operation signal from the three-dimensional joystick 18 is an analog / digital conversion circuit 1
It is converted into a digital signal by 9 and input to the doll operating computer 20. The doll operating computer 20 and the music playing computer 14 are connected by a signal line 21 for transmitting and receiving a synchronization signal, and the doll operating computer 20 is sent from the music playing computer 14 via the signal line 21, for example. The incoming sync signal informs the start and end of music performance.

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 this data. This motor 22
Is a doll driving unit, and uses, for example, a servomotor that performs accurate displacement in accordance with a signal from the doll operating computer 20, and uses the doll operating computer 20.
Each part 23 of the doll is driven and made to dance according to the signal from. Therefore, each part 23 of the doll has a joystick 1
You will dance at the same time as step 8. The doll operating 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 playing system 11 is composed of a piano type keyboard 31, a computer 32, a memory 33 and a solenoid 34, and the playing device 15 is a music box in which each vibration valve 35 is driven by a solenoid 34. Composed. The computer 32 drives the solenoid 34 in real time based on the performance data from the piano-type keyboard 31 to drive each vibration valve 35 of the music box, thereby converting the performance data into voice and outputting it. Further, the computer 32 temporarily stores the performance data from the piano type keyboard 31 in the memory 33, then reads the performance data from the memory 33 by a reproduction command from the keyboard 31, and drives the solenoid 34 based on the performance data. By driving each vibration valve 35 of the music box, the performance data is converted into voice and output. Therefore, the person 13 can input performance data with the piano-type keyboard 31 to play music in real time, and can input a reproduction command to the computer 32 with the piano-type keyboard 31 and play the music stored in the memory 33. Data can be used to play music. The computer 32 is a doll control computer 16
Sends and receives synchronization signals to and from.

In the music playing system 11, it is possible to play music based on the operation signal already input in this way. At this time, the person 13 operates the joystick 18 while considering the choreography of the doll while listening to the music from the performance device 15. Joystick 18
The operation signal from the doll operating computer is input to the doll operating computer 20 via the analog / digital converting circuit 19, and the doll operating computer 20 receives the analog / digital converting circuit 19
The motion signals from the above are sequentially fetched at a predetermined sampling time and stored in the memory 24, and at the same time, the motor 22 is driven by the motion signals to cause the doll parts 23 to dance. This work ends when the music performance ends.

In the doll driving system 12, the memory 2
When each part 23 of the doll is caused to dance by the motion signal stored in 4, the doll operating computer 20 synchronizes with the music performance by the synchronizing signal sent from the music playing computer 14 through the signal line 21. An operation signal is read from the memory 24 at the same intervals as the sampling time determined above, and the motor 22 is driven by the operation signal to cause each part 23 of the doll to dance. This allows person 13
The same operation of each part 23 of the doll as when the operation signal is input by the joystick 18 is easily reproduced. Person 13
Since the motion signal input by the joystick 18 is stored in the memory 24, the motion of each part 23 of the doll can be reproduced at any time.

When the movement of the doll is required to have a variety of movements, the doll is required to have many degrees of freedom, and the input operation becomes complicated even with the input of the motion signal described above. Even if the joystick 18 is used as an operation signal input means for inputting an operation signal, there is a limit to what a person can operate the joystick 18, and a long training is required for a person to perform a complicated operation of the joystick 18. Need a period.

As an example, the ten degrees of freedom F1 to F1 shown in FIG.
An example of a doll having F10 is shown. F1 is the doll's right foot 25
This is the degree of freedom of left-right rotation around the axis. F2 is the degree of freedom of the back and forth swing of the left foot 26 of the doll. F3 is the doll's left foot 26
This is the degree of freedom of left and right swings of. F4 is the degree of freedom of lateral swing of the body 27 of the doll. F5 is the degree of freedom of swinging the body 27 of the doll back and forth. F6 is the freedom of vertical swing of the right hand 28 of the doll. F7 is the degree of freedom of right and left swing of the doll's right hand 28. F8 is the freedom of vertical swing of the left hand 29 of the doll. F9 is the degree of freedom of the left / right swing of the left hand 29 of the doll. F10 is the degree of freedom in the rotation direction of the neck 30 of the doll.

As the motor 22, left / right rotation of the doll's right foot 25 as an axis, left / right swing of the left foot 26, left / right swing of the left foot 26, left / right swing of the body 27, front / back swing of the body 27, right hand 2
The doll operation computer 20 uses 10 motors for vertically swinging 8, swinging the right hand 28 horizontally, swinging the left hand 29 vertically, swinging the doll's left hand 29 horizontally, and rotating the neck 30. It operates by the operation signal from.

It is beyond the ability of a person to input a motion signal while operating a joystick 18 on each of the 10 parts of a doll. There is also a method in which a plurality of people input operation signals while operating each of the 10 parts of the doll with the joystick 18, but it is expected that there will be many difficulties in linking the parts of the doll with each other.

Therefore, when inputting the motion signals of many parts of the doll, the whole doll is divided into a plurality of blocks, and the motion signals of the small parts of the doll are repeatedly input for each block. Finally, the motion signals are overlapped to operate the doll with multiple degrees of freedom. That is, as the first step, only the rotation of each part 25, 30 of the doll is determined according to the music by the performance device 15 and the joystick 1 is selected.
At 8, the operation signal is input.

As a second step, the joystick 1 is determined by determining the front and rear and left and right swinging motions of the left foot 26 of the doll.
At 8, the operation signal is input. In this case, each part of the doll 2
It is possible to keep 5 and 30 stopped or to rotate, and the point is to determine and input the optimal doll choreography while listening to music. After that, the movement of each block such as the body 27 of the doll, the right hand 28, the left hand 29, and the neck 30 is sequentially determined while considering the comparison with other blocks and the matching with music, and the movement is performed by the joystick 18. Input the signal.

Next, a case where the user is dissatisfied with the result of inputting the motion signal of the doll and the correction is performed will be described. If you want to make a subtle correction close to the operation by the input operation signal,
Subtle corrections can be made by adding the corrections to the already input motion signals. Specifically, the joystick 18 is operated at a position to be corrected while automatically operating the respective parts 23 of the doll by the doll operation computer 20 based on the operation signal stored in the memory 24. The conceptual diagram is shown in FIGS.

When the operation signal is re-input only for a part of the operation of the entire doll, the doll operating computer 20 is caused to cancel the input operation signal for that period. In this case, the input motion signal and joystick 1
In order to ensure continuity with the operation signal from 8, the start position and end position of the period are joystick 18
The input motion signal is made to coincide with the input motion signal, and the portion between the two positions in the input motion signal is replaced by the doll operation computer 20 with linear interpolation data in terms of time and space. After that, the operation signal of the correction operation is input by the joystick 18 in a manner of adding it to the input operation signal, and the puppet operation computer 20 smoothly connects the input operation signal with the operation signal from the joystick 18 and connects the operation signal. The motion signal drives the motor 22 to cause each part 23 of the doll to dance.

[0031]

As described above, according to the first aspect of the invention, in the doll operation device for playing music and operating each part of the doll in accordance with the music, a sound for converting a music signal into a sound and outputting the sound. Output means, a doll driving section for converting motion signals into motions of various parts of the doll, music signal input means for inputting music signals, and motion signal input means for inputting motion signals,
Storage means for storing the operation signal from the operation signal input means and the music signal from the music signal input means, and a music signal read from the storage means and output to the audio output means or from the music signal input means. A music signal is output to the voice output means, and an operation signal is read from the storage means and output to the doll drive section in synchronization with the output of the music signal, or an operation signal from the operation signal input means is used to drive the doll. Since it is equipped with a control means for outputting to the section, a person listens to music from the voice output means and inputs an operation signal with the operation signal input means while confirming the operation of the doll. The feedback system of is established.
Therefore, a person can easily and intuitively input the operation signal. Further, the operation signal can be stored in the storage means and reproduced freely.

According to a second aspect of the present invention, in the doll operation device according to the first aspect, the operation signal input means comprises means for inputting an operation signal for each part of the doll.
It becomes easier to input the operation signal.

According to a third aspect of the invention, in the doll operation device according to the first or second aspect, the control means adds the operation signal stored in the storage means by the operation signal from the operation signal input means. Also, since the doll's motion can be added or modified easily, the doll can be caused to dance as intended.

According to a fourth aspect of the invention, in the doll operation device according to the third aspect, the control means uses a part of the motion signal stored in the storage means as the motion signal from the motion signal input means. Since the operation signals are changed and continuously and smoothly connected in time and space, the continuity between the operation signal stored in the storage means and the operation signal from the operation signal input means can be ensured.

[Brief description of drawings]

FIG. 1 is a block diagram showing an invention according to claim 1.

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

FIG. 3 is a block diagram showing a doll drive system of the same 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 input motion signal and an example of the correction when the motion of the doll by the motion signal having been input is corrected in the embodiment.

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

FIG. 7 is a block diagram showing the music playing 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 section 3 music signal input means 4 operation signal input means 5 storage means 6 control means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Internal reference number FI Technical display location G10F 1/06 B 6821-5H A 6821-5H G10H 1/00 102 Z 2116-5H

Claims (4)

[Claims] 1. A doll operation device for playing music and operating each part of the doll according to it, and a voice output means for converting a music signal into a sound and outputting the sound, and converting an operation signal into an operation of each part of the doll. A doll driving section, a music signal input means for inputting a music signal, an operation signal input means for inputting an operation signal, an operation signal from the operation signal input means and a music signal from the music signal input means are stored. Storage means and a music signal read from the storage means and output to the voice output means or a music signal from the music signal input means to the voice output means, and the storage in synchronization with the output of the music signal And a control means for reading out an operation signal from the means 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. Work equipment. 2. The doll operating device according to claim 1, wherein the operation signal input means comprises means for inputting an operation signal for each part of the doll. 3. The doll operation device according to claim 1, wherein the control means adds and corrects the operation signal stored in the storage means by the operation signal from the operation signal input means. Doll control device. 4. The doll operation device according to claim 3, wherein the control means changes a part of the operation signal stored in the storage means into an operation signal from the operation signal input means, thereby temporally and spatially. A doll operation device characterized by continuously and smoothly connecting motion signals to the doll.