JP2002081925A - Driving device for spherical phase, phase detecting method, and information recording medium - Google Patents

Abstract

(57) [Problem] To provide a phase driving device and the like for rotationally driving a spherical body with respect to a supporting portion rotatably supporting the spherical body. A sphere (102) of a ball joint (101)
Has a surface divided into a plurality of sections, each of the plurality of sections is printed with a different graphic pattern, the support section 103 rotatably supports the sphere 102, and the plurality of optical sensors 104 The acquisition unit 105 acquires the phase of the sphere 102 with respect to the support unit 103 from the figure pattern recognized by the plurality of optical sensors, and the driving unit 131 supports the sphere 102 The unit 103 is driven to rotate.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a phase driving device for rotating a sphere relative to a supporting portion for rotatably supporting the sphere, a phase detecting method, and a program for realizing these by a computer. Computer-readable information recording medium.

[0002]

2. Description of the Related Art Conventionally, a universal joint called a ball joint has been proposed. In such a universal joint,
One of the joint members (a universal joint member) is fixed to a sphere, and the other (a support joint member) is fixed to a support that rotatably supports the sphere.

[0003] Thereby, the universal joint member can take a free position within a certain range (a range where the universal joint member does not collide with the support portion) with respect to the support joint member.

On the other hand, in a mouse used as an input device of a computer, a sphere is supported by a supporting portion, and the amount of rotation of the sphere is detected by a roller or the like, and the relative movement of the mouse is obtained.

[0005]

However, particularly when the universal joint is used as a joint of an actuator or a machine, the posture (phase) taken by the universal joint member with respect to the support joint member is obtained to obtain a desired posture. It is desirable to be able to drive to the phase.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has a phase driving device for rotating a sphere with respect to a supporting portion for rotatably supporting the sphere, a phase detecting method, and An object of the present invention is to provide a computer-readable information recording medium on which a program for realizing the above is recorded by a computer.

[0007]

In order to achieve the above object, the following invention is disclosed in accordance with the principle of the present invention.

[0008] A phase driving apparatus according to a first aspect of the present invention is configured to include a sphere, a support section, a plurality of optical sensors, and an acquisition section.

Here, the surface of the sphere is divided into a plurality of sections, and different graphic patterns are printed on each of the plurality of sections.

On the other hand, the supporting portion rotatably supports the sphere.

Further, the plurality of optical sensors recognize a figure pattern printed on the surface of the sphere.

The acquisition unit acquires the phase of the sphere with respect to the support from the graphic pattern recognized by the plurality of optical sensors.

On the other hand, the drive section rotates the sphere with respect to the support section to change its phase.

A phase driving device according to a second aspect of the present invention is configured to include a sphere, a support, a plurality of electrode sensors, an acquisition unit, and a driving unit.

Here, the surface of the sphere is divided into a plurality of sections, and electrodes of different graphic patterns are arranged in each of the plurality of sections.

On the other hand, the supporting portion rotatably supports the sphere.

Further, the plurality of electrode sensors come into contact with the electrodes arranged on the surface of the sphere and recognize the figure pattern of the electrodes.

The acquisition unit acquires the phase of the sphere with respect to the support from the graphic pattern recognized by the plurality of electrode sensors.

On the other hand, the driving section rotates the sphere relative to the supporting section to change its phase.

A phase driving apparatus according to a third aspect of the present invention is configured to include a sphere, a support section, a plurality of capacitance sensors, an acquisition section, and a drive section.

Here, the surface of the sphere is divided into a plurality of sections, and dielectrics having different graphic patterns are arranged in each of the plurality of sections.

On the other hand, the supporting portion rotatably supports the sphere.

Further, the plurality of capacitance sensors detect the capacitance with a dielectric placed on the surface of the sphere, and recognize the figure pattern of the dielectric.

The acquisition unit acquires the phase of the sphere with respect to the support from the figure pattern recognized by the plurality of capacitance sensors.

On the other hand, the drive section rotates the sphere relative to the support section to change its phase.

In the phase driving apparatus of the present invention,
The mutually different graphic patterns can be configured such that a predetermined square is divided into a plurality of small squares having the same area, and a graphic pattern obtained by selecting any of the divided small squares.

In the phase driving apparatus of the present invention,
The graphic patterns different from each other can be configured to be a graphic pattern obtained by dividing a predetermined square into four small squares and selecting one or both diagonal lines of each of the divided small squares. .

A phase driving apparatus according to a fourth aspect of the present invention is configured to include a sphere, a support section, a plurality of magnetic heads, an acquisition section, and a drive section.

Here, the sphere is magnetically polarized.

On the other hand, the supporting portion rotatably supports the sphere.

Further, the plurality of magnetic heads detect a magnetic flux that changes as the sphere rotates with respect to the support.

The acquisition unit acquires the phase of the sphere with respect to the support from the change in magnetic flux detected by the plurality of magnetic heads.

Further, the drive section rotates the sphere relative to the support section to change its phase.

Further, the phase driving device of the present invention can be configured to further include a universal joint member and a support joint member.

Here, the universal joint member is fixed to a sphere.

On the other hand, the support joint member is fixed to the support.

The phase obtained by the obtaining unit is
This is the posture of the universal joint member with respect to the support joint member.

In a phase detection method according to a fifth aspect of the present invention, the surface is divided into a plurality of sections, each of which has a sphere on which a different graphic pattern is printed, and a sphere which can be rotated. , The phase of the supporting portion supporting the optical sensor is acquired, and an optical sensing step and an acquiring step are provided.

Here, in the optical sensing step, a figure pattern printed on the surface of the sphere is optically recognized from a plurality of locations on the support.

On the other hand, in the obtaining step, the phase of the sphere with respect to the supporting portion is obtained from the figure pattern recognized in the optical sensing step.

Further, in the driving step, the sphere is rotationally driven with respect to the supporting portion to change its phase.

In a phase detection method according to a sixth aspect of the present invention, a sphere in which the surface is divided into a plurality of sections, and a plurality of spheres each having electrodes of different graphic patterns arranged in each of the plurality of sections is provided. The phase of the rotatable support portion is acquired, and an electrode sensing step and an acquisition step are provided.

Here, in the electrode sensing step, a figure pattern of an electrode arranged on the surface of the sphere is recognized from an electrode in contact with an electrode arranged on the surface of the sphere from a plurality of locations of the support portion.

On the other hand, in the obtaining step, the phase of the sphere with respect to the supporting portion is obtained from the figure pattern recognized in the electrode sensing step.

Further, in the driving step, the sphere is rotationally driven with respect to the supporting portion to change its phase.

In a phase detection method according to a seventh aspect of the present invention, there is provided a sphere having a surface divided into a plurality of sections, each of which has a dielectric having a different figure pattern arranged on each of the plurality of sections; And a supporting portion that rotatably supports the device, and comprises a capacitance sensing step and an obtaining step.

Here, in the capacitance sensing step, the capacitance with the dielectric disposed on the surface of the sphere is detected from a plurality of positions of the support portion, and the figure pattern of the dielectric is recognized.

On the other hand, in the obtaining step, the phase of the sphere with respect to the supporting portion is obtained from the figure pattern recognized in the capacitance sensing step.

Further, in the driving step, the sphere is rotationally driven with respect to the supporting portion to change its phase.

In the phase detecting method of the present invention,
The mutually different graphic patterns can be configured such that a predetermined square is divided into a plurality of small squares having the same area, and a graphic pattern obtained by selecting any of the divided small squares.

In the phase detecting method according to the present invention,
The graphic patterns different from each other can be configured to be a graphic pattern obtained by dividing a predetermined square into four small squares and selecting one or both diagonal lines of each of the divided small squares. .

A phase detecting method according to an eighth aspect of the present invention includes the steps of: obtaining a phase of a magnetically polarized sphere and a support portion rotatably supporting the sphere; It comprises so that it may be provided.

Here, in the magnetic sensing step, magnetic fluxes that change as the sphere rotates with respect to the support are detected from a plurality of locations on the support.

On the other hand, in the obtaining step, the phase of the sphere with respect to the supporting portion is obtained from the change in the magnetic flux detected in the magnetic sensing step.

Further, in the driving step, the sphere is rotationally driven with respect to the supporting portion to change its phase.

The phase detecting method of the present invention can be configured as follows.

That is, the sphere has a universal joint member fixed to the sphere.

On the other hand, the support has a support joint member fixed to the support.

Further, the phase obtained in the obtaining step is:
This is the posture of the universal joint member with respect to the support joint member.

A computer-readable information recording medium according to a ninth aspect of the present invention is configured to record a program for causing a computer to execute the phase detection method.

Further, the information recording medium of the present invention can be configured to be a compact disk, a floppy disk, a hard disk, a magneto-optical disk, a digital video disk, a magnetic tape, or a semiconductor memory.

Further, the information recording medium of the present invention is written on WWW (Wo
rld Wide Web), the program is downloaded from here as appropriate, the program is stored in the computer, the program is updated, and the updated program is executed by the computer. And a phase detection method.

[0063]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below. The embodiments described below are for explanation, and do not limit the scope of the present invention. Therefore, those skilled in the art can adopt embodiments in which each of these elements or all elements are replaced with equivalents, and these embodiments are also included in the scope of the present invention.

(First Embodiment) FIG. 1 is a sectional view showing an outline of a ball joint according to a first embodiment of the phase driving apparatus of the present invention. Hereinafter, description will be made with reference to this figure.

The ball joint (free joint) 101 is
The sphere 102, the support 103, and the plurality of optical sensors 10
4 and an acquisition unit 105. This figure shows the sphere 102
And the optical sensor 104 show the appearance, and the support 103 shows a cross section.

The sphere 102 has its surface divided into a plurality of sections, and different graphic patterns are printed on each of the plurality of sections. For printing, for example, a technique such as laser marking can be used.

The sphere 102 has the universal joint member 11 attached thereto.
2 is fixed, and the universal joint member 113 is fixed to the support portion 103. The ball joint 101 of the present embodiment acquires the phase (posture) that the universal joint member 112 makes with the support 103.

Further, the ball joint 101 can be connected to another member by the universal joint member 112 and the universal joint member 113, and can be used as an actuator by using the drive unit 131 as described later. .

The support section 103 rotatably supports the sphere 102. Therefore, the ball bearing 121 is provided on the support portion 103.
, A plurality of sets of a pressure spring 122 and a presser 123 are arranged.

The plurality of optical sensors 104 recognize a figure pattern printed on the surface of the sphere 102.

The obtaining unit 105 determines the supporting unit 10 of the sphere 102 from the figure pattern recognized by the plurality of optical sensors.
3 is obtained.

As the different graphic patterns printed on the surface of the sphere 102, the following are adopted in the present embodiment.

That is, the unit of the figure pattern is a square. Each square is divided into small squares of equal area. For example, when a square is divided into 4 × 4 small squares, 2 (4 × 4) = 65536 ways (considering pattern rotation, depending on whether a predetermined color is applied to each small square or not). For example, 65536/4 = 16384 patterns) can be obtained. FIG. 2 shows an example of this graphic pattern.

As shown in the figure, the inside of the small square is painted in a predetermined color as appropriate. Also, the outer peripheral lines of the entire graphic pattern may be painted in a predetermined color to enhance the optical recognition accuracy.

The graphic patterns are printed on the surface of the sphere 102 at equal intervals as much as possible. For example, the sphere 102 is regarded as a globe and arranged so that the sides of each square are orthogonal or parallel to the latitude and longitude lines.

When the plurality of optical sensors 104 are two,
The line connecting the optical sensors 104 is arranged so as not to pass through the center of the sphere 102. In the case of three or more, the optical sensors 104 are arranged so as to be as evenly spaced as possible, but such that the plane formed by these optical sensors does not pass through the center of the sphere 102 as much as possible. By arranging in this way, the error of the acquired phase can be reduced as much as possible.

The optical sensor 104 optically reads the state of the surface of the sphere 102 closest to the optical sensor 104 at present by a CCD (Charge-Coupled Device) camera or the like, acquires the image, and obtains a known graphic. Recognize using a recognition method or the like.

On the other hand, a database (not shown) prepared in advance in the acquisition unit 105 includes a figure pattern recognized by each of the optical sensors 104 and a sphere 1 at that time.
02 and are registered in advance in association with each other.

FIG. 3 is a schematic diagram showing a conceptual configuration of such a database. Hereinafter, description will be made with reference to this figure.

In the database, the figure pattern recognized by each optical sensor 104 and the corresponding relationship between the sphere 102 and the supporting portion 103 at that time are registered.

Since there is a restriction due to the positional relationship between the optical sensors 104, even if there are two optical sensors 104, the number of graphic pattern combinations is 16384 × 1638.
The number is much less than four, up to 454 patterns.

When the graphic pattern recognized by the plurality of optical sensors 104 is given to the obtaining unit 105, the obtaining unit 105 searches the database using the graphic pattern as a key to obtain the phase.

To construct such a database,
A figure pattern is arranged on the surface of the sphere 102 in advance according to a predetermined algorithm,
04 from the respective arrangements.

It is also possible to obtain data to be registered in the database by experiments using an actual machine. In this case, a measuring device that detects the phase of the sphere 102 and the support portion 103 from the outside and the recognition result of the optical sensor 104 at that time may be acquired and recorded in the database.

In this embodiment, the sphere 102, the support 103, and the optical sensor 104 are arranged at a portion used as a ball joint, and the acquisition unit 105 is arranged at the computer for measuring and controlling the sphere 102.
Yesterday, the figure pattern may be arranged on the computer side yesterday. When a small-sized and low-priced optical sensor 104 having a pattern recognition function is provided, the optical sensor 104 is used.
An embodiment can be appropriately selected according to the application and cost requirements, such as disposing only the CCD camera on the ball joint side.

Now, with the above configuration, the phase of the ball joint can be obtained. Therefore, sphere 1
If there is a drive unit that rotates the 02 with respect to the support unit 103, this can be applied as an actuator, and can be used as, for example, a robot arm.

In this embodiment, three stators each composed of a piezoelectric vibrator having a contact end that performs elliptical vibration are prepared as the drive unit 131 in the support unit 103 (some are not shown). This enables rotation in the X-axis, Y-axis, and Z-axis directions.

The driving units 131 are controlled by the control unit 132. The control unit 132 obtains a difference between the current phase obtained from the acquisition unit 105 and the target phase,
Until they match, the plurality of driving units 131 are appropriately driven.

For these arrangements, for example, the arrangements disclosed in Japanese Patent Application Laid-Open No. H11-18459 can be adopted. Further, as a stator, Japanese Patent Application Laid-Open
An ultrasonic motor or the like disclosed in JP-A-15176 and JP-A-7-87764 can be employed.

For example, consider the case where the actuator of this embodiment is used for the limbs and the like of a pet robot. The specifications are considered as follows. -Weight (total weight) is 2kg. -The length of limbs is 5cm. -The diameter of the sphere 102 is 2 cm.・ The weight is evenly applied to four limbs. The coefficient of friction between the sphere 102 and the driving unit 131 is 0.2.

Thus, the rotational torque of the actuator needs to be about 2.5 kgf · cm (0.245 N · m) or more, and the advancing force of the sphere surface is 2.5 kgf (24.
5N) or more is necessary. Therefore, it is necessary to pressurize the stator with 12.5 kg weight (123 N) or more.

(Second Embodiment) In the above embodiment, a plurality of optical sensors 104 are prepared. However, when there is a limit to the movable range of rotation of the sphere 102 with respect to the support portion 103, the position of one figure pattern and its In some cases, the phase can be immediately obtained from the angle at which the graphic pattern is inclined with respect to the optical sensor 104. In this case, the number of the optical sensors 104 may be one.

In this case, the number of records registered in the database is the same as the number of graphic patterns arranged on the spherical surface. The phase can be obtained by calculating the numerical value obtained from the database in consideration of the inclination of the graphic pattern with respect to the optical sensor 104.

(Third Embodiment) In the above embodiment, a figure pattern is printed on the surface of the sphere 102, and the figure pattern is optically read to perform figure recognition.
The phase of the sphere 102 was obtained.

In addition, it is possible to recognize the figure pattern on the surface of the sphere 102 by the following combinations. An electrode sensor is used as a sensor while arranging electrodes in the shape of a figure pattern on the surface of the sphere 102. A plurality of conductive brushes are prepared in the electrode sensor, and a figure pattern can be recognized by detecting which conductive brush is conductive. -The surface of the sphere 102, the shape of the figure pattern, the sphere 1
While a member having a different dielectric constant from that of 02 is printed, coated, embedded, or the like, a dielectric constant sensor is used as a sensor. In addition, the spherical body 102 is made of a dielectric material, and a concave portion or a convex portion is provided on the surface of the spherical body 102 in the shape of a graphic pattern, and a dielectric sensor is used as a sensor. Since the dielectric constant varies depending on the location of the graphic pattern, the graphic pattern can be recognized.

(Fourth Embodiment) In the above embodiment, 4
The whole square figure pattern was created by painting small squares of × 4. FIG. 4 is an explanatory diagram illustrating a state of the graphic pattern according to the present embodiment.

In the present embodiment, as the graphic pattern, 2
Consider a × 2 small square. The following figures are assigned to each small square.・ Diagonal line from upper right to lower left.・ Diagonal line from lower right to upper left. -Both diagonals.・ None.

As a result, four patterns are assigned to each small square, and the figure pattern is 4 to the fourth power.
= 256 ways, and 256 /
4 = 64 ways are obtained.

As shown in FIG. 4, the outer periphery of each of the small squares need not be painted. This is shown by a dotted line in FIG.

(Fifth Embodiment) In the above embodiment, the phase of the sphere 102 was measured using a predetermined figure pattern. In this embodiment, magnetic polarization is used.

That is, the sphere 102 is magnetically polarized, and a change in magnetic flux is detected by using a magnetic head. From this, the phase of the sphere 102 with respect to the support portion 103 is detected.

By preparing a plurality of magnetic heads and examining the measurement results, the phase of the sphere 102 can be obtained by calculation using the basic theory of electromagnetism.

[0103]

As described above, according to the present invention,
A sphere, a phase driving device that rotationally drives a supporting portion that rotatably supports the sphere, a phase detection method, and
It is possible to provide a computer-readable information recording medium on which a program for realizing these by a computer is recorded.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an outline of a ball joint according to a first embodiment of a phase driving device of the present invention.

FIG. 2 is an explanatory diagram showing a state of a graphic pattern used in the first embodiment.

FIG. 3 is an explanatory diagram showing a conceptual configuration of a database for obtaining a phase from a combination of graphic patterns.

FIG. 4 is an explanatory diagram showing a state of a graphic pattern used in a fourth embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 101 Ball joint 102 Sphere 103 Support part 104 Optical sensor 105 Acquisition part 112 Free joint member 113 Free joint member 121 Ball bearing 122 Pressure spring 123 Holding 131 Drive part 132 Control part

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F065 AA37 AA56 BB08 CC00 FF04 JJ02 JJ05 JJ26 NN20 PP01 QQ23 QQ25 5B057 AA05 BA02 DA07 DA20 DB02 DC33 DC36 5L096 AA03 BA08 CA05 CA27 EA16 EA17 GA10 GA17 GA19 JA07

Claims (16)

[Claims] 1. A sphere on which a surface is divided into a plurality of sections, and a plurality of different graphic patterns are printed on each of the plurality of sections; a support section rotatably supporting the sphere; and a surface of the sphere. A plurality of optical sensors for recognizing a printed graphic pattern; an obtaining unit for obtaining a phase of the sphere with respect to the support unit from the graphic pattern recognized by the plurality of optical sensors; and the sphere on the support unit. And a driving unit that rotates and drives the driving unit with respect to the phase. 2. A sphere in which the surface is divided into a plurality of sections, and electrodes of different graphic patterns are arranged in each of the plurality of sections; a support section rotatably supporting the sphere; A plurality of electrode sensors for recognizing a graphic pattern of the electrode in contact with an electrode arranged on the surface, and obtaining a phase of the sphere with respect to the support portion from the graphic pattern recognized by the plurality of electrode sensors. And a drive unit configured to rotate the sphere with respect to the support unit to drive the sphere. 3. A sphere on which a surface is divided into a plurality of sections, each of which has a dielectric having a different graphic pattern arranged on each of the plurality of sections, a support section rotatably supporting the sphere, and the sphere. A plurality of capacitance sensors that detect the capacitance with a dielectric placed on the surface of the sensor and recognize the figure pattern of the dielectric, and a figure pattern recognized by the plurality of capacitance sensors, A phase driving device, comprising: an acquisition unit configured to acquire a phase of the sphere with respect to the support unit; and a drive unit configured to rotate and drive the sphere with respect to the support unit. 4. The graphic pattern different from the above is a graphic pattern obtained by dividing a predetermined square into a plurality of small squares having the same area and selecting one of the divided small squares. The phase driving device according to claim 1. 5. The graphic pattern different from one another is a graphic pattern obtained by dividing a predetermined square into four small squares and selecting one or both diagonal lines of each of the divided small squares. The phase driving device according to any one of claims 1 to 3, characterized in that: 6. A magnetically polarized sphere, a support portion rotatably supporting the sphere, a plurality of magnetic heads detecting a magnetic flux that changes as the sphere rotates with respect to the support portion, and the plurality of magnetic heads; An acquisition unit that acquires a phase of the sphere with respect to the support unit from a change in magnetic flux detected by the magnetic head, and a drive unit that rotates and drives the sphere with respect to the support unit. Drive. 7. A universal joint member fixed to the sphere, and a support joint member fixed to the support portion, wherein the phase acquired by the acquisition portion is the universal joint with respect to the support joint member. The phase driving apparatus according to claim 1, wherein the driving state is a posture of a member. 8. A sphere having a surface divided into a plurality of sections, each of which has a different graphic pattern printed on each of the plurality of sections, and a support portion rotatably supporting the sphere, From a plurality of locations of the support portion, an optical sensing step of optically recognizing a graphic pattern printed on the surface of the sphere, and from the graphic pattern recognized in the optical sensing step,
A phase detecting method, comprising: an acquiring step of acquiring a phase of the sphere with respect to the support portion; and a driving step of rotating and driving the sphere with respect to the support portion. 9. A sphere having a surface divided into a plurality of sections, each of which has electrodes of different graphic patterns arranged on each of the plurality of sections, and a support portion rotatably supporting the sphere. An electrode sensing step of recognizing a graphic pattern of an electrode arranged on the surface of the sphere from an electrode in contact with an electrode arranged on the surface of the sphere from a plurality of locations of the support portion; From the figure pattern recognized by
A phase detecting method, comprising: an acquiring step of acquiring a phase of the sphere with respect to the support portion; and a driving step of rotating and driving the sphere with respect to the support portion. 10. A sphere on which a surface is divided into a plurality of sections, each of which has a dielectric having a different graphic pattern arranged on each of the plurality of sections, and a support portion rotatably supporting the sphere. A capacitance sensing step of detecting capacitance with a dielectric disposed on the surface of the sphere from a plurality of locations of the support, and recognizing a figure pattern of the dielectric; An acquisition step of acquiring a phase of the sphere with respect to the support portion from the graphic pattern recognized in the capacitance sensing step; and a drive step of driving the sphere by rotating the sphere with respect to the support portion. Detection method. 11. The graphic pattern different from the above is a graphic pattern obtained by dividing a predetermined square into a plurality of small squares having the same area and selecting one of the divided small squares. The phase detection method according to any one of claims 8 to 10. 12. The different graphic pattern is a graphic pattern obtained by dividing a predetermined square into four small squares and selecting one or both diagonal lines of each of the divided small squares. The phase detection method according to claim 8, wherein: 13. A magnetically polarized sphere and a support portion rotatably supporting the sphere, wherein the sphere rotates from a plurality of locations of the support portion by rotating with respect to the support portion. A magnetic sensing step of detecting a magnetic flux to be generated; an obtaining step of obtaining a phase of the sphere with respect to the support portion based on a change in the magnetic flux detected in the magnetic sense step; And a driving step of driving the phase. 14. The sphere has a universal joint member fixed to the sphere, the support section has a support joint member fixed to the support section, and a phase acquired in the acquiring step. The phase detection method according to any one of claims 8 to 13, wherein is a posture of the universal joint member with respect to the support joint member. 15. A computer-readable information recording medium having recorded thereon a program for causing a computer to execute the phase detecting method according to claim 8. Description: 16. The information recording medium according to claim 15, wherein the information recording medium is a compact disk, a floppy (registered trademark) disk, a hard disk, a magneto-optical disk, a digital video disk, a magnetic tape, or a semiconductor memory. Information recording medium.