JPH0481799B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an angular velocity detection device that detects the rotational angular velocity of a human arm when the arm is rotated, for example.

"Prior Art" Conventionally, there has been little need to detect the rotational angular velocity of a human arm, etc., and therefore there has been no particular device for detecting the rotational angular velocity of the arm.

``Problems to be Solved by the Invention'' Incidentally, in recent years, attempts have been made to convert body action into musical sounds, and for this purpose there has been a demand for the development of an angular velocity detection device that detects the rotational angular velocity of an arm, etc.

Therefore, an object of the present invention is to provide an angular velocity detection device that can detect the rotational angular velocity of a human arm or the like.

"Means for Solving the Problem" The first invention provides a measuring means for measuring the distance between two parts of a human body separated from a specific joint, and a measuring means for measuring the distance between two parts separated from a specific joint of the human body, and characterized by comprising a conversion means for converting into data corresponding to the relative rotation angle of the two parts around the joint of the body, and a change detection means for detecting a change in the data output from the conversion means. There is.

A second invention is characterized in that it comprises an angle detection means that is attached to a joint of a human body and detects a rotation angle of the joint, and a change detection means that detects a change in a detection result of the angle detection means. It is said that

"Operation" According to the first invention, the measurement means obtains measurement data corresponding to the distance between two parts of the human body separated from a specific joint, and this measurement data is converted to the following by the conversion means: 2 above centered on a specific joint
The data is converted into data corresponding to the relative rotation angle of the parts, and a change in the data output from the conversion means is detected by the change detection means, thereby determining the relative rotation angle of the two parts around a specific joint. The rotational angular velocity is obtained.

Further, according to the second invention, the rotation angle of the joint of the human body is directly detected by the angle detection means, and further, a change in the detection result of the angle detection means is detected by the change detection means. Thus, the rotational angular velocity of the joints of the human body can be obtained.

"Embodiments" Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the circuit configuration when the angular velocity detecting device according to the first embodiment of the present invention is applied to a musical tone generator, and FIG. 2 shows the external configuration when the same embodiment is attached to a performer. FIG.

In FIG. 1, 1 is the main body of the musical tone generator, 2
a, 2b are ultrasonic transmitters, 3a, 3b are ultrasonic receivers, and these musical tone generator body 1 and receivers 3a, 3b are connected to a belt 4 as shown in FIG.
It is attached to the waist of the performer by the transmitter 2.
a and 2b are attached to the inner arm sides of the right forearm and the left forearm at predetermined locations by means of supporter-like attachments 5, respectively. These transmitters 2a, 2b and receiver 3a,
3b is composed of a piezoelectric element such as a barium titanate vibrator, and the transmitter 2a, 2b
generates ultrasonic waves when a high frequency voltage is applied, and the receivers 3a and 3b generate high frequency voltages when receiving ultrasonic waves. In this case, each transmitter 2
a, 2b are configured by radially arranging two to three wave transmitting piezoelectric elements so as to radiate ultrasonic waves in a direction of 180 degrees, and each receiver 3a, 3
The receivers 3a and 3b are constructed by radially arranging two to three wave receiving piezoelectric elements so as to detect ultrasonic waves from a direction of 180 degrees.
When the positions of the transmitters 2a, 2b relative to the transmitters 3b change, the ultrasonic waves emitted from the transmitters 2a, 2b always reach the receivers 3a, 3b, regardless of their relative positional relationship. I'm starting to do that.

Next, the musical tone generator main body 1 will be explained.
In FIG. 1, 10 is a start pulse generator, which generates a start pulse SP of a constant period,
This start pulse SP is sent to the ultrasonic pulse generator 1.
1 input terminal, and S/R (set/reset)
It is supplied to each set input terminal S of flip-flops 12a and 12b. Ultrasonic pulse generator 11
is triggered by the start pulse SP, and supplies an ultrasonic pulse UP to the transmitters 2a and 2b, respectively, whereby ultrasonic waves are emitted from the transmitters 2a and 2b at a constant cycle. And the transmitter 2a
The ultrasonic waves emitted from 2b and 2b are transmitted to the receiver 3
a and 3b, the receivers 3a and 3b
each generate a high frequency voltage.

The high frequency voltage outputted from the receiver 3a is supplied to an amplifier 13a and amplified, and the amplified signal Sa is rectified by a diode 14a and then converted into an S/
Reset input terminal R of R flip-flop 12a
supplied to S/R flip-flop 12a
is reset by the start pulse SP,
It is reset by the output of diode 14a. That is, this S/R flip-flop 12
The pulse width of the Q output signal Sa ₁ of a corresponds to the distance R between the transmitter 2a and the receiver 3a. This Q output signal Sa ₁ is then supplied to one input terminal of the AND gate 15a. and gate 15a
is in an open state while the signal Sa ₁ is being supplied, and supplies a clock pulse φ to the clock input terminal CK of the counter 16a. counter 16a
counts up the clock pulse φ and outputs the count value as distance measurement data LR. That is, the distance measurement data LR output from this counter 16a is transmitted between the transmitter 2a and the receiver 3.
This corresponds to the distance R between a.

On the other hand, the high frequency voltage output from the receiver 3b is supplied to the amplifier 13b and amplified, and the amplified signal Sb is rectified by the diode 14b.
It is supplied to the reset input terminal R of the S/R flip-flop 12b. S/R flip-flop 12
b is set by the start pulse SP,
It is reset by the output of diode 14b. That is, this S/R flip-flop 12
The pulse width of the Q output signal Sb ₁ of b corresponds to the distance L between the transmitter 2b and the receiver 3b. This Q output signal Sb ₁ is then supplied to one input terminal of the AND gate 15b. and gate 15b
is in an open state while the signal _Sb1 is supplied, and supplies a clock pulse φ to the clock input terminal CK of the counter 16b. counter 16b
counts up the clock pulse φ and outputs the count value as distance measurement data LL. That is, the distance measurement data LL output from this counter 16b is transmitted between the transmitter 2b and the receiver 3.
It corresponds to the distance L between b. The ultrasonic measurement circuit 20 is configured as described above.

Next, the distance measurement data LR and LL respectively output from the counters 16a and 16b are as follows:
The signals are supplied to arithmetic circuits 21a and 21b, respectively.
Each of these arithmetic circuits 21a and 21b converts the distance measurement data LR and LL into a rotation angle θr of the right shoulder joint.
Angle data DR corresponding to (see Figure 2) and angle data DL corresponding to the rotation angle θl of the left shoulder joint.
It converts and outputs each file, and is mainly composed of a ROM that functions as a lookup table.

Here, as shown in Fig. 2, Ar is the distance from the rotation center Or of the right shoulder joint to the part where the transmitter 2a is attached, and the distance from the rotation center Or to the part where the receiver 3a is attached is Ar. If the distance is Br, then as is clear from the cosine theorem, θr=COS ^-1 (Ar ² +Br ² -R ² /2・Ar・Br)……
(1).

Therefore, in the above formula (1), Ar and Br
When is always constant, the rotation angle θr of the right shoulder joint can be found by substituting the distance measurement data LR for R. In other words, when the distance measurement data LR is input as an address to the arithmetic circuit 21a, the ROM outputs the angle data DR corresponding to the rotation angle θr.
is provided, thereby performing the calculation of equation (1) above.

Similarly, from the rotation center Ol of the left shoulder joint to the transmitter 2
Let Al be the distance to the part where b is attached, and let Bl be the distance from the center of rotation Ol to the part where receiver 3b is attached, then θr＝COS ^-1 (Al ² + Bl ² −L ² /2・Al・Bl)……
(2).

Therefore, in the above formula (2), Al and Bl
When is always constant, the rotation angle θl of the left shoulder joint can be found by substituting the distance measurement data LL for L. In other words, the arithmetic circuit 21b has a ROM that outputs angle data DL corresponding to the rotation angle θl when distance measurement data LL is input as an address.
is provided, thereby performing the calculation of equation (2) above.

Further, each arithmetic circuit 21a and 21b has a signal
At the falling edge of Sa ₁ and Sb ₁ , that is, when S/R flip-flops 12a and 12b are reset, counters 16a and 16b are reset.
The distance measurement data LR and LL output from the
and RPb are respectively supplied to the reset input terminals R of counters 16a and 16b.
and 16b, respectively. The angle data DR and DL output from the calculation circuits 21a and 21b, respectively, are
It is converted into an analog voltage signal by A (digital/analog) converters 22a and 22b. Voltage signals VR and VL output from these D/A converters 22a and 22b, respectively, are supplied to differentiating circuits 23a and 23b, respectively. Differentiating circuits 23a and 23b differentiate voltage signals VR and VL, respectively, and supply the resulting signals VR ₁ and VL ₁ to musical tone signal forming circuit 24 as musical tone control data.

Here, the voltage signals VR and VL correspond to the rotation angles θr and θl of the right shoulder joint and the left shoulder joint, respectively, and therefore, the voltage signals VR and
Signals VR ₁ and VL ₁ obtained by differentiating VL respectively
correspond to the rotational angular velocities of the right arm and left arm, respectively.

The musical tone signal forming circuit 24 receives signals VR ₁ and VL ₁ supplied from differentiating circuits 23a and 23b, respectively.
The percussion sound (drum sound, cymbal sound, etc.) sound signal is formed in accordance with a predetermined rhythm pattern at a performance speed corresponding to the percussion sound. In this case, the above signal
While the performance speed becomes faster according to VR ₁ , the signal
The playing speed slows down according to VL ₁ , and
The playing speed can now be increased to about ♪=90. The musical tone signal formed by the musical tone signal forming circuit 24 is outputted to the speaker 25, whereby percussion sounds of a predetermined rhythm pattern are outputted from the speaker 25 at performance speeds corresponding to the rotational angular velocity of the right arm and the rotational angular velocity of the left arm, respectively. Emitted. Further, reference numeral 26 in the figure is a transmitting circuit that wirelessly transmits the musical tone signal output from the musical tone signal forming circuit 24.

In this way, according to the above-described embodiment, the distance R between the transmitter 2a worn on the right arm of the performer and the receiver 3a worn on the waist is measured, and the distance R is calculated based on this distance R. By calculating the rotation angle θr of the right arm in the body side direction and further differentiating it in the differentiating circuit 23a, the rotational angular velocity of the right arm can be obtained. In addition, the distance L between the transmitter 2b attached to the left arm and the receiver 3b attached to the waist is measured, and the rotation angle θl of the left arm in the body direction is calculated based on this distance L. By differentiating with the differentiating circuit 23b, the rotational angular velocity of the left arm can be obtained. The performance speed of musical tones can be changed in accordance with the respective rotational angular velocities of the right and left arms.

Next, a second embodiment of the invention will be described with reference to FIG.

In Figure 3, 30 is the chest of the upper body of the performer,
It is a fitting that covers the shoulders and elbows, and can be put on and taken off like a normal jacket.
0a, 30b and the elbow parts 30c, 30d are made of a stretchable material, and the shoulder parts 30a, 30b
Thin absolute rotary encoders 31a to 31d are attached to the elbows 30c and 30d, respectively. A lever 32a is attached to each shaft of these rotary encoders 31a to 31d.
~32d are fixed respectively, and these levers 32a~
The distal end portion 32d is attached to the mounting tool 30 via buffer members 33a to 33d made of a stretchable material such as rubber. This allows if the performer rotates the right or left arm,
The rotation angle of the right shoulder joint is the rotary encoder 31.
a, and the rotation angle of the left shoulder joint is directly detected by the rotary encoder 31b. Further, when the performer bends the right or left elbow, the bending angle of the right elbow joint is directly detected by the rotary encoder 31c, and the bending angle of the left elbow joint is directly detected by the rotary encoder 31d.

And each rotary encoder 31a to 31
The angle data (digital signals of a predetermined number of bits) outputted from each of the angular parts d and d are supplied via a cable 34 to the musical tone generator main body 1a worn on the waist of the performer. The musical tone generator main body 1a includes four D/A converters that convert angle data supplied from each rotary encoder 31a to 31d into analog voltage signals, and analog voltage signals output from each D/A converter. It is comprised of four differentiating circuits for differentiating signals, a musical tone signal forming circuit 24, a speaker 25, and a transmitting circuit 26 shown in FIG. In this case, the musical tone signal forming circuit 24 is configured to form a musical tone signal of a percussion tone having a preset rhythm pattern and having a performance speed corresponding to the voltage signals supplied from the four differentiating circuits. There is. In this case, while the playing speed increases according to the rotational angular velocity of the right shoulder joint,
The playing speed slows down according to the rotational angular velocity of the left shoulder joint, and then increases to about ♪=90 according to the rotational speed of these shoulder joints. Also, the playing speed increases according to the rotational angular velocity of the right elbow joint, while the playing speed decreases according to the rotational angular velocity of the left elbow joint, and the playing speed changes according to the rotational angular velocity of these elbow joints ♪ = 150 ~ It is starting to increase to about 180.

According to the second embodiment described above, the performance speed of the percussion sound emitted from the speaker 25 of the musical tone generator main body 1a is freely changed according to the rotational angular velocity of the shoulder joint and the rotational angular velocity of the elbow joint of the performer. be able to. Also, when the left and right arms are rotated in the lateral direction (left-right direction) or in the front-back direction, the rotation angle of the left and right shoulder joints is determined by the rotary encoder 31.
a and 31b, the performer can move around freely, increasing the degree of freedom in choreography, etc. Furthermore, since the rotary encoders 31a to 31d and the like are incorporated in the wearing tool 30, which looks like a normal jacket, the fashionability is not impaired.

Note that in the first and second embodiments described above, the angle data DR, which is digital data,
Convert DL to analog voltage signals VR, VL, differentiate these voltage signals VR, VL to obtain signals VR ₁ , VL ₁ corresponding to the rotational angular velocity, and use these analog signals VR ₁ , VL ₁ to control the musical tone. Although it is configured to be supplied as a signal to the musical sound signal forming circuit 24, the difference data is directly obtained from the angle data DR and DL, this digital difference data is regarded as data corresponding to the rotational angular velocity, and the musical sound is generated as musical sound control data. The signal may be configured to be supplied to a signal forming circuit. Further, the detected rotational angular velocity may be used as musical tone control data as it is, or predetermined musical tone control data may be formed based on the detected rotational angular velocity.

Furthermore, in the first and second embodiments described above, the playing speed of musical tones was configured to change according to the rotational angular velocity of the arm or the rotational angular velocity of the shoulder joint and joints, but the pitch and volume of the musical tones were changed. , the tone length or tone color, etc. may be changed, and different musical tone parameters may be controlled by each rotational angular velocity of the left and right arms, shoulders, and elbows.
Furthermore, musical tone parameters may be controlled by appropriately combining any of these rotational angular velocities.

Further, in each of the embodiments described above, a case has been described in which the rotational angular velocity of the shoulder and the elbow is detected, but the rotational angular velocity of the knee can also be detected with a similar configuration.

Furthermore, in each of the above-mentioned embodiments, it is not necessary to provide a musical tone forming circuit and a speaker in the device main body, and the musical tone control data is outputted from the device main body (for example, taken out using the known MIDI method), and the musical tone control data is The control data may be supplied to a musical tone forming circuit (musical tone signal generating device) provided separately.

"Effects of the Invention" As explained above, according to the first invention, the measuring means generates measurement data corresponding to the distance between two parts separated from a specific joint, and the conversion means specifies this measurement data. The change detection means detects a change in the data representing the rotation angle by converting the data into data representing the relative rotation angle of the two parts around the joint, and detects the change between the two parts around the particular joint. Because it generates a relative rotational angular velocity of This has the effect that it is possible to accurately detect.

Further, according to the second invention, the rotation angle of the joint of the human body is directly detected by the angle detection means, and furthermore, the change in the detection result of the angle detection means is detected by the change detection means of the joint of the human body. Detected as rotational angular velocity. Therefore, compared to a mode in which only the rotation angle is detected, the variety of operations for generating a desired rotation angular velocity is increased. This has the effect of improving the degree of freedom of body action, which is a control operation, when controlling musical tones.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the circuit configuration when the angular velocity detecting device according to the first embodiment of the present invention is applied to a musical tone generating device, and Fig. 2 shows the case where the angular velocity detecting device according to the same embodiment is attached to a performer. FIG. 3 is a diagram showing the external structure when the angular velocity detecting device according to the second embodiment of the present invention is worn on a player. 2a, 2b... Ultrasonic transmitter, 3a, 3b...
Ultrasonic receiver, 20... Ultrasonic measurement circuit, 21
a, 21b... Arithmetic circuit, 22a, 22b...
D/A converter, 23a, 23b... Differential circuit, 3
1a to 31d...Rotary encoder.

Claims (1)

[Scope of Claims] 1. Measuring means for measuring the distance of two positions spaced apart from a specific joint of the human body, and measuring data obtained by the measuring means for measuring the distance between the two parts centered on the specific joint. An angular velocity detecting device comprising: a converting means for converting data into data corresponding to a relative rotation angle of the converting means; and a change detecting means for detecting a change in the data output from the converting means. 2. An angular velocity detection device attached to a joint of a human body, comprising an angle detection means for detecting a rotation angle of the joint, and a change detection means for detecting a change in the detection result of the angle detection means. .