CN102262873B - Calibrating device, automatic playing piano using calibrating device and calibrating method - Google Patents

Calibrating device, automatic playing piano using calibrating device and calibrating method Download PDF

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CN102262873B
CN102262873B CN 201110215851 CN201110215851A CN102262873B CN 102262873 B CN102262873 B CN 102262873B CN 201110215851 CN201110215851 CN 201110215851 CN 201110215851 A CN201110215851 A CN 201110215851A CN 102262873 B CN102262873 B CN 102262873B
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key
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CN102262873A (en
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吴天延
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Yichang Jinbao Music Instrument Manufacture Co ltd
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Ring High Musical Instrument Manufacturing (yichang) Co Ltd
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Abstract

The invention provides a calibrating device, an automatic playing piano using the calibrating device and a calibrating method. By using a method for controlling a terminal, namely a device and a method for directly performing sound or vibration acquisition on digital signals on the terminal, the interference of intermediate links is avoided, so that a final calibration result accords with a predetermined result. In the device and the method provided by the invention, during the playing of any one music, a system with the device provided by the invention can identify all speed values, lower than the default lowest speed value (namely the lowest speed value which can be reproduced by an automatic playing system), of all musical notes having a musical instrument digital interface (MIDI) format, and can automatically update the speed values into a new default lowest speed value of the system. Proper level difference is divided between the lowest speed value and the highest speed value, sothe musical notes which are automatically played have sufficient resolution rate, and the music can be truly reproduced.

Description

Calibrating installation, use the automatic playing piano and the calibration steps of this calibrating installation
Technical field
The present invention relates to calibrating installation, the musical instrument that uses this calibrating installation and calibration steps that musical instrument is used; Particularly a kind of through sound or vibration transducer are set, and cooperate automatically that control comes calibrating installation, the musical instrument that uses this calibrating installation and the calibration steps of compensation system error.
Background technology
The present employed automatic calibration function of piano automatic playing system on the market generally is to come automatic playing system is calibrated, is provided with and tests by an external control enclosure.Simultaneously, these calibration functions all must be provided with through the parameter to automatic playing system of mode manually, as are both the playing effect of each key of piano is debugged from the max volume to the minimal volume one by one.The shortcoming of this manual calibration function is: at first, use the calibration function just must a supporting special external device, new capital is set more each time need be accomplished by the technician who accepted professional training; Secondly, the people carries out the manual calibration setting to have very strong individual subjectivity, because the technical capability and the experience of installing or safeguarding the technician self of this system depended in being provided with of all parameters fully, can't accomplish objective judgement.
Chinese patent 200510099534.5 provides a kind of " transducer that avoids wearing out, the musical instrument that uses this transducer and method of application thereof "; This invention is to adopt execution unit; For hitting the movement locus of hammerhead, the method for monitoring is come the error of compensation system hereof, and the problem of existence is; The device of this invention is comparatively complicated, need monitor each movement locus that hits hammerhead; The computing of method is comparatively complicated, and is not the control of terminal link, i.e. the acquisition of final effect also depends on the influence of other factors, the for example influence of the state of string self, compensated after the kinematic error of hitting hammerhead might not can obtain ideal results.
Summary of the invention
The purpose of this invention is to provide a kind of calibrating installation, use the automatic playing piano and the calibration steps of this calibrating installation, can realize compensation automatically and need not consider the motion state of intermediate link in final link.
For solving the problems of the technologies described above; The technical scheme that the present invention adopted is: a kind of calibrating installation; Comprise obtain vibration or voice signal convert into digital signal sensor, receiving sensor digital signal and export the master controller of control signal, according to the topworks of the control signal output mechanical action of master controller output, convert digital signal D into according to preset value with the analogue value that sensor obtains nAfter the numerical value that obtains through master controller comparison be foundation, confirm the maximal value D of the digital signal of master controller output MaxWith minimum value D Min
The maximal value D of digital signal MaxWith minimum value D MinMaximal value U with the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinOr the maximal value I of current value MaxWith minimum value I MinCorresponding, with the scope classification between this maximal value and the minimum value, each value of series after the classification is U nOr I n
Magnitude of voltage U at different levels nOr current value I nAdd the output voltage values U after off-set value conduct and the corresponding calibration of the digital signal of input nOr current value I n
The numerical value that is used to compare in the described master controller is constant or interval.
A kind of automatic playing piano that uses above-mentioned calibrating installation, main control box, power supply, solenoid controller and have a plurality of solenoidal solenoid guide rails and be installed on the piano housing;
Vibration transducer is installed on the soundboard of piano and/or acoustic pickup is installed on the qin dorsal column of piano;
The digital signal of the master controller output in the main control box has a plurality of solenoidal solenoid guide rails through the conversion driving of solenoid controller, solenoid controller and be used for storing the data that calibration process obtains;
According to preset value with vibration transducer and/or acoustic pickup, it is foundation that the analogue value of obtaining converts the numerical value that comparison obtains through the master controller in the main control box after the digital signal into, confirms the maximal value D of the digital signal of master controller output MaxWith minimum value D Min
The maximal value D of digital signal MaxWith minimum value D MinMaximal value U with the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinOr the maximal value I of current value MaxWith minimum value I MinCorresponding, with the scope classification between this maximal value and the minimum value, each value of series after the classification is U nOr I n
Magnitude of voltage U at different levels nOr current value I nAdd the output voltage values U after off-set value conduct and the corresponding calibration of the digital signal of input nOr current value I nMagnitude of voltage U nOr current value I nBe stored in the solenoid controller.
The numerical value that is used to compare in the described master controller is constant or interval.
A kind of calibration steps that is used for above-mentioned calibrating installation may further comprise the steps:
One, will preset the maximum drive voltage U of output MaxOr electric current I MaxPlay the maximal value of key as topworks, and be stored in the master controller, perhaps in the solenoid controller;
Two, begin to play the numerical value of the digital signal of obtaining by sensor and the numerical value D in the master controller with the #n key MinCompare;
If the numerical value of the digital signal of obtaining is greater than the numerical value D in the master controller Min, the digital signal of then key being played by the driving execution mechanism of output deducts an increment, and driving voltage correspondingly deducts an increment Dt;
Three, begin once more to play, the numerical value of the digital signal that is obtained by sensor compares once more, is less than or equal to contrast number D until the numerical value of the digital signal that is obtained by sensor Min, then previous pairing driving voltage value of effective output digital signal or current value store as #n key minimum value;
Four, computing #n+1, whether the #n after the contrast computing surpasses maximal value, then begins the calibration of next key if not, then finishes calibration if yes;
Five, with the maximal value U of the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinBetween or the maximal value I of current value MaxWith minimum value I MinBetween the scope classification;
Magnitude of voltage U at different levels nOr current value I nAdd off-set value e nAs with the input the corresponding calibration of digital signal after output voltage values U nOr current value I n
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
Output voltage values U nOr current value I nComputing formula be:
U n=U Max-U Min/ N-1 * n+e nOr U n=U Max-U Min/ N-1 * n * e n
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; N is the progression of classification; N is current progression; e nBe the off-set value of current progression, comprise constant or number percent;
I n=I Max-I Min/ N-1 * n+e nOr I n=I Max-I Min/ N-1 * n * e n
I wherein MaxMaximal value for the current corresponding value; I MinMinimum value for the current corresponding value; N is the progression of classification; N is current progression; e nBe the off-set value of current progression, comprise constant or number percent.
The computing formula of increment is:
Dt=U Max-U Min/ N-1 or Dt=I Max-I Min/ N-1
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; I MaxMaximal value for the current corresponding value; I MinMinimum value for the current corresponding value; N is the progression of classification.
A kind of calibration steps that is used for above-mentioned calibrating installation may further comprise the steps:
One, with original prestore play the maximal value of key the time sensor digital signal D that obtains MaxValue is preset a driving voltage or electric current are played key as topworks maximal value as a comparison;
Two, begin to play the digital signal D that obtains by sensor with the #n key nNumerical value and the original digital signal D that prestores in the master controller MaxCompare, if the digital signal D that newly obtains nLess than the original digital signal D that prestores Max, the digital signal of then key being played by the driving execution mechanism of output increases an increment, and driving voltage correspondingly increases an increment Dt;
Three, begin to play the numerical value D of the digital signal that obtains until sensor once more nMore than or equal to the original digital signal D that prestores Max, the then current pairing maximal value of output digital signal is as #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller;
Four, continue preset minimum value of output and begin to play, this minimum value is generally the original minimum value D that prestores Min, the numerical value D of the digital signal of obtaining by sensor nSmallest interval range values D with preset contrast number in the master controller Min []Compare;
The numerical value D of the digital signal of obtaining when sensor nGreater than the smallest interval range values, then the key dynamics of playing reduces by an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
The numerical value D of the digital signal of obtaining when sensor nLess than the smallest interval range values, then the key dynamics of playing increases an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
Five, with current output digital signal D nPairing driving voltage value or current value are as #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller, thereby accomplish the calibration of this #n key;
Six, the calibration of the next key of beginning is until finishing calibration;
Seven, with the maximal value U of the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinBetween or the maximal value I of current value MaxWith minimum value I MinBetween the scope classification;
Magnitude of voltage U at different levels nOr current value I nAdd the output voltage U after off-set value conduct and the corresponding calibration of the digital signal of input nOr electric current I n
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
A kind of calibration steps that is used for above-mentioned calibrating installation may further comprise the steps:
One, with original prestore play the maximal value of key the time sensor digital signal D that obtains Max []Range values as a comparison, this correlative value is an interval range numerical value;
Two, begin to play the maximal value that a preset driving voltage or electric current are played key as topworks, the numerical value D of the digital signal of obtaining by sensor with the #n key nWith the original contrasting region numerical value D that prestores in the master controller Max []Compare;
The numerical value D of the digital signal of obtaining when sensor nGreater than this interval range numerical value D Max [], the digital signal of then key being played by the driving execution mechanism of output reduces by an increment, and driving voltage correspondingly reduces by an increment Dt, and key is played dynamics and is reduced by an increment, continues to play the numerical value D of the digital signal of obtaining until sensor nDrop into this interval range numerical value D Max []In;
The numerical value D of the digital signal of obtaining when sensor nLess than this interval range numerical value D Max [], then the key dynamics of playing increases an increment, continues to play the numerical value D of the digital signal of obtaining until sensor nDrop into this interval range numerical value D Max []In; The current pairing maximal value of output digital signal is as #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller;
Three, continue preset minimum value of output and begin to play, this minimum value is generally the original minimum value D that prestores Min, the numerical value D of the digital signal of obtaining by sensor nSmallest interval range values D with preset contrast number in the master controller Min []Compare;
The numerical value D of the digital signal of obtaining when sensor nGreater than the smallest interval range values, then the key dynamics of playing reduces by an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
The numerical value D of the digital signal of obtaining when sensor nLess than the smallest interval range values, then the key dynamics of playing increases an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
Four, with current output digital signal D nPairing driving voltage value or current value are as #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller, thereby accomplish the calibration of this #n key;
Five, the calibration of the next key of beginning is until finishing calibration;
Six, with the maximal value U of the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinBetween or the maximal value I of current value MaxWith minimum value I MinBetween the scope classification;
Magnitude of voltage U at different levels nOr current value I nAdd the output voltage U after off-set value conduct and the corresponding calibration of the digital signal of input nOr electric current I n
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
A kind of calibration steps that is used for above-mentioned automatic playing piano may further comprise the steps:
One, will preset the maximum drive voltage U of output MaxOr electric current I MaxPlay the maximal value of key as topworks, and be stored in the master controller, perhaps in the solenoid controller;
Two, begin to play the numerical value of the digital signal of obtaining by sensor and the numerical value D in the master controller with the #n key MinCompare;
If the numerical value of the digital signal of obtaining is greater than the numerical value D in the master controller Min, the digital signal of then key being played by the driving execution mechanism of output deducts an increment, and driving voltage correspondingly deducts an increment Dt;
Three, begin once more to play, the numerical value of the digital signal that is obtained by sensor compares once more, is less than or equal to contrast number D until the numerical value of the digital signal that is obtained by sensor Min, then previous pairing driving voltage value of effective output digital signal or current value store as #n key minimum value;
Four, computing #n+1, whether the #n after the contrast computing surpasses maximal value, then begins the calibration of next key if not, then finishes calibration if yes;
Five, with the maximal value U of the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinBetween or the maximal value I of current value MaxWith minimum value I MinBetween the scope classification;
Magnitude of voltage U at different levels nOr current value I nAdd off-set value e nAs with the input the corresponding calibration of digital signal after output voltage values U nOr current value I n
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
Output voltage values U nOr current value I nComputing formula be:
U n=(U Max-U Min)/(N-1) * n+e nOr U n=(U Max-U Min)/(N-1) * n * e n
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; N is the progression of classification; N is current progression; e nBe the off-set value of current progression, comprise constant or number percent;
I n=(I Max-I Min)/(N-1) * n+e nOr I n=(I Max-I Min)/(N-1) * n * e n
I wherein MaxMaximal value for the current corresponding value; I MinMinimum value for the current corresponding value; N is the progression of classification; N is current progression; e nBe the off-set value of current progression, comprise constant or number percent.
The computing formula of increment is:
Dt=(U Max-U Min)/(N-1) or Dt=(I Max-I Min)/(N-1)
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; I MaxMaximal value for the current corresponding value; I MinMinimum value for the current corresponding value; N is the progression of classification.
A kind of calibration steps that is used for above-mentioned automatic playing piano may further comprise the steps:
One, with original prestore play the maximal value of key the time sensor digital signal D that obtains MaxValue is preset a driving voltage or electric current are played key as topworks maximal value as a comparison;
Two, begin to play the digital signal D that obtains by sensor with the #n key nNumerical value and the original digital signal D that prestores in the master controller MaxCompare, if the digital signal D that newly obtains nLess than the original digital signal D that prestores Max, the digital signal of then key being played by the driving execution mechanism of output increases an increment, and driving voltage correspondingly increases an increment Dt;
Three, begin to play the numerical value D of the digital signal that obtains until sensor once more nMore than or equal to the original digital signal D that prestores Max, the then current pairing maximal value of output digital signal is as #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller;
Four, continue preset minimum value of output and begin to play, this minimum value is generally the original minimum value D that prestores Min, the numerical value D of the digital signal of obtaining by sensor nSmallest interval range values D with preset contrast number in the master controller Min []Compare;
The numerical value D of the digital signal of obtaining when sensor nGreater than the smallest interval range values, then the key dynamics of playing reduces by an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
The numerical value D of the digital signal of obtaining when sensor nLess than the smallest interval range values, then the key dynamics of playing increases an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
Five, with current output digital signal D nPairing driving voltage value or current value are as #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller, thereby accomplish the calibration of this #n key;
Six, the calibration of the next key of beginning is until finishing calibration;
Seven, with the maximal value U of the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinBetween or the maximal value I of current value MaxWith minimum value I MinBetween the scope classification;
Magnitude of voltage U at different levels nOr current value I nAdd the output voltage U after off-set value conduct and the corresponding calibration of the digital signal of input nOr electric current I n
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
A kind of calibration steps that is used for above-mentioned automatic playing piano may further comprise the steps:
One, with original prestore play the maximal value of key the time sensor digital signal D that obtains Max []Range values as a comparison, this correlative value is an interval range numerical value;
Two, begin to play the maximal value that a preset driving voltage or electric current are played key as topworks, the numerical value D of the digital signal of obtaining by sensor with the #n key nWith the original contrasting region numerical value D that prestores in the master controller Max []Compare;
The numerical value D of the digital signal of obtaining when sensor nGreater than this interval range numerical value D Max [], the digital signal of then key being played by the driving execution mechanism of output reduces by an increment, and driving voltage correspondingly reduces by an increment Dt, and key is played dynamics and is reduced by an increment, continues to play the numerical value D of the digital signal of obtaining until sensor nDrop into this interval range numerical value D Max []In;
The numerical value D of the digital signal of obtaining when sensor nLess than this interval range numerical value D Max [], then the key dynamics of playing increases an increment, continues to play the numerical value D of the digital signal of obtaining until sensor nDrop into this interval range numerical value D Max []In; The current pairing maximal value of output digital signal is as #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller;
Three, continue preset minimum value of output and begin to play, this minimum value is generally the original minimum value D that prestores Min, the numerical value D of the digital signal of obtaining by sensor nSmallest interval range values D with preset contrast number in the master controller Min []Compare;
The numerical value D of the digital signal of obtaining when sensor nGreater than the smallest interval range values, then the key dynamics of playing reduces by an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
The numerical value D of the digital signal of obtaining when sensor nLess than the smallest interval range values, then the key dynamics of playing increases an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
Four, with current output digital signal D nPairing driving voltage value or current value are as #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller, thereby accomplish the calibration of this #n key;
Five, the calibration of the next key of beginning is until finishing calibration;
Six, with the maximal value U of the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinBetween or the maximal value I of current value MaxWith minimum value I MinBetween the scope classification;
Magnitude of voltage U at different levels nOr current value I nAdd the output voltage U after off-set value conduct and the corresponding calibration of the digital signal of input nOr electric current I n
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
A kind of calibrating installation provided by the invention, use the automatic playing piano and the calibration steps of this calibrating installation; Through adopting the method for terminal control; Promptly directly carry out the device and method of sound or vibration acquisition digital signal at the terminal; Avoided the interference of intermediate link, made final calibration result accord with expectation.Apparatus and method of the present invention; When playing any song; Velocity amplitude when notes that the system that has apparatus of the present invention can identify all midi formats that are lower than acquiescence minimum speed value (being the minimum speed value that automatic playing system can reproduce) are played, and can this velocity amplitude be automatically updated into the new acquiescence minimum speed value of system.And between minimum speed value and top speed value, divide suitable differentially, make to have enough resolution between the note of playing out automatically, thereby guarantee the true reappearance of music.
Even and the automatic playing system that does not use this automatic calibration function can identify the minimum performance velocity amplitude of piano, but also can't play out the note of this minimal volume.For example; The acquiescence minimum speed value of certain key is 10 (v=10); During all be lower than 10 at the velocity amplitude of playing all notes song of (v < 10), existing automatic playing system can drive piano and equal 10 (v=10) according to velocity amplitude and play, like this; Note velocity amplitude 10 (v=10) when the note of all midi formats will be by piano performance in this first song covers, and can't realize the true reappearance of song.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Fig. 1 is the connection block diagram of calibrating installation among the present invention.
Fig. 2 is for adopting the structural representation of musical instrument of the present invention.
Fig. 3 is the calibration steps process flow diagram of embodiment 3 among the present invention.
Fig. 4 is the calibration steps process flow diagram of embodiment 4 among the present invention.
Fig. 5 is the calibration steps process flow diagram of embodiment 5 among the present invention.
Embodiment
Embodiment 1:
A kind of calibrating installation; Comprise obtain vibration or voice signal convert into digital signal sensor, receiving sensor digital signal and export the master controller of control signal, according to the topworks of the control signal output mechanical action of master controller output, it is characterized in that: convert digital signal D into according to preset value and/or with the analogue value that sensor obtains nAfter the numerical value that obtains through master controller comparison be foundation, confirm the maximal value D of the digital signal of master controller output MaxWith minimum value D MinThe maximal value D of digital signal MaxWith minimum value D MinMaximal value U with the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinOr the maximal value I of current value MaxWith minimum value I MinCorresponding, with the scope classification between this maximal value and the minimum value, each value of series after the classification is U nOr I n
Magnitude of voltage U at different levels nOr current value I nAdd off-set value e nAs with the input the corresponding calibration of digital signal after output current value U nOr current value I n
With the Control of Voltage is example:
Then be U n=(U Max-U Min)/(N-1) * n+e nOr U n=(U Max-U Min)/(N-1) * n * e n
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; N is the progression (for example 128 grades) of classification; N is current progression (for example corresponding input signal is the 10th grade); e nBe the off-set value of current progression, (for example after the measuring and calculating, the 10th grade off-set value can be a constant, comprises positive number, negative and zero, also can be number percent).
With the Current Control is example:
I n=I Max-I Min/ N-1 * n+e nOr I n=I Max-I Min/ N-1 * n * e n
I wherein MaxMaximal value for the current corresponding value; I MinMinimum value for the current corresponding value; N is the progression of classification; N is current progression; e nBe the off-set value of current progression, comprise constant or number percent.
Need to prove that after calibration, obtained new differential numerical value, promptly increment Dt is:
Dt=（U max-U min）/（N-1）
This numerical value is stored in the memory storage, as the increment numerical value in the follow-up calibration procedure.
Described sensor is vibration transducer 5 or converts voice signal the sensor of digital signal into, piezoelectric transducer for example, and this piezoelectric transducer is installed on the soundboard 7, converts digital signal to the analog quantity of the vibration of the soundboard 7 that obtains; The analog quantity of the voice signal that obtains is converted into the sensor of digital signal; Acoustic pickup for example converts digital signal into after voice signal amplified, and this scheme can obtain higher resolution; But acoustic pickup might obtain the environment noise; Therefore have relatively high expectations for calibration environment, acoustic pickup will be installed in comparatively firm position usually, for example on the qin dorsal column of piano housing 2.
If the digital signal of input is the MIDI digital music signal; Its intensity rank is 128 grades; The digital signal that is corresponding master controller output also is 128 grades; The velocity amplitude of then controlling the topworks output of output mechanical action through the size of Control current also should be 128 grades, and the dynamics of promptly playing key is 128 grades.
After calibration; Enough big of the maximal value of the digital signal of master controller output and the scope between the minimum value and when suitable; Resolution between then at different levels is comparatively obvious, and for example the audience can recognize the difference between first order intensity and the second level intensity, can recognize the difference between first order intensity and the third level intensity significantly; Then the degree of fitting of single unit system and input signal is higher, and music is reproduced by real; Be difficult to recognize the difference between first order intensity and the third level intensity and work as the audience, even be difficult to recognize the difference between first order intensity and the level V intensity, then the concert of single unit system is very stiff, can't realize the true reappearance of music, lets the people be difficult to accept.
Should explain; The voltage of increment and the driving execution mechanism output mechanical action of the digital signal at different levels of output or electric current be can linearity corresponding relation; For example have a plurality of solenoidal solenoid guide rails 3; The increment 1 of digital signal is 1 unit with the increment Dt of driving voltage or electric current; Be linear corresponding relation, but the driving voltage of linear incremental or electric current can not obtain the increment of same loudness of a sound usually, promptly the linear incremental of driving voltage or electric current is not corresponding with the linear incremental of loudness of a sound usually; This is relevant with the musical instrument self characteristics with mechanically operated characteristic, therefore also should generate one and the corresponding off-set value e of each value of series according to mechanically operated characteristic and musical instrument self characteristics n, so that the linear as much as possible corresponding relation of increment of the digital signal of output and final loudness of a sound.Usually this off-set value is obtained through after fitting to linearity curve or broken line by the nonlinear relationship curve of voltage or electric current and loudness of a sound, is stored in the storage unit.
The concrete maximal value U that obtains the magnitude of voltage of output driving execution mechanism operation MaxWith minimum value U MinOr the maximal value I of current value MaxWith minimum value I MinMethod and the calibration output voltage or method of current, the back about the embodiment of method in further explanation.
Embodiment 2:
This example describes as example with the automatic playing piano that uses this calibrating installation; Main control box 1, power supply 4, ECR controller (Solenoid controller unit) promptly be used to control the solenoid motion controller, have a plurality of solenoidal solenoid guide rails 3 and be installed in piano housing 2; Vibration transducer 5 is installed on the soundboard 7 of piano and/or acoustic pickup 6 is installed on the qin dorsal column of piano; Master controller is installed in the main control box 1 with other peripheral circuits; The digital signal of main control box 1 output; Have a plurality of solenoidal solenoid guide rails 3 through the conversion driving of solenoid controller and realize playing automatically, solenoid controller and be used for storing the data that calibration process obtains.When certain solenoid occurs unusually, such as short circuit, connection error, when catastrophic failure occurring, solenoid controller can control system promptly break off connection, and display reminding information, and these abnormal conditions are played control action.Owing to the control action that solenoid controller mainly also has been, in this example solenoid controller is regarded as the part of master controller.
Having a plurality of solenoidal solenoid guide rails 3 is to be connected with solenoid controller, and an electromagnetic induction device that is driven by solenoid controller.Be made up of 80 solenoids in this example, each solenoid inside is equipped with special piston.The solenoid that has piston is the mechanical operating part of whole automatic playing system, impacts the single key of piano through control piston, touches the string pronunciation through hammered string instrument, and whole like this piano is just played out needs the song played.
Vibration transducer 5 is the bar shaped piezoelectric transducers that are bonded on the soundboard 7 of piano.When hammered string instrument impacted string, soundboard can produce vibration thereupon, and this sensor can be different according to the amplitude that soundboard produces, and convert the correspondent voltage signal into, and finally convert digital signal into.It can be with the minimum vibration value that identifies, will be as the minimum value of the digital signal of master controller output in this example.
The principle of acoustic pickup and vibration transducer 5 are similar; It is the device that signal amplifying function is arranged; After acoustic pickup receives the hammered string instrument vibration signal that soundboard produces when impacting string; Loudspeaker amplifies this voice signal, and the digital signal after will amplifying imports to solenoid controller and is stored in the corresponding memory device.
According to preset value and/or with sensor; In this example vibration transducer 5 or acoustic pickup; It is foundation that the analogue value of obtaining converts the numerical value that comparison obtains through the master controller in the main control box 1 after the digital signal into, confirms the maximal value D of the digital signal of master controller output MaxWith minimum value D MinThe maximal value D of digital signal MaxWith minimum value D MinWith driving execution mechanism, in this example for having a plurality of solenoidal solenoid guide rails 3, the maximal value U of the magnitude of voltage of operation MaxWith minimum value U MinOr the maximal value I of current value MaxWith minimum value I MinCorresponding, with the scope classification between this maximal value and the minimum value, each value of series after the classification is U nOr I n
Magnitude of voltage U at different levels nOr current value I nAdd off-set value e nAs with the input the corresponding calibration of digital signal after output voltage values U nOr magnitude of voltage I nMagnitude of voltage U nOr magnitude of voltage I nBe stored in the solenoid controller.
With the Control of Voltage is example:
Then be U n=(U Max-U Min)/(N-1) * n+e nOr U n=(U Max-U Min)/(N-1) * n * e n
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; N is the progression (for example 128 grades) of classification; N is current progression (for example corresponding input signal is the 10th grade); e nBe the off-set value of current progression, (for example after the measuring and calculating, the 10th grade off-set value can be a constant, also can be number percent).
The Current Control formula is identical with the Control of Voltage formula, repeats no more.
Need to prove, after calibration, obtained new differential numerical value and be:
Dt=（U max-U min）/（N-1）
This numerical value is stored in the memory storage, as the increment numerical value in the follow-up calibration procedure.
All the other are with embodiment 1, and the maximal value U of the magnitude of voltage of driving execution mechanism operation is exported in concrete acquisition MaxWith minimum value U MinOr the maximal value I of current value MaxWith minimum value I MinMethod and the calibration output voltage or method of current, the back about the embodiment of method in further explanation.
Embodiment 3:
In Fig. 3, the step of concrete calibration is: begin calibration, whether detecting sensor connects, otherwise stops calibration, with the maximum drive voltage U of preset output MaxOr electric current I MaxPlay the maximal value of key as topworks, and be stored in the master controller, perhaps in the solenoid controller.
For ease of narration, be adjusted into example with voltage below and describe, electric current adjustment be illustrated in that this is identical.
Begin to play with #n (for example n=1) key, by sensor, in this example for being installed in the piezoelectric transducer on the soundboard 7 or being installed in the numerical value of the digital signal that the acoustic pickup on the piano qin dorsal column obtains and the numerical value D in the master controller MinCompare, (adopt contrast number D in this example MinBeing zero, is the example for the ease of explanation, if the enough height of precision of sensor, for example is higher than the hearing of people's ear, then this contrast number also possibly be other greater than zero value).If the numerical value of the digital signal of obtaining is greater than the numerical value D in the master controller MinThe digital signal of then key being played by the driving execution mechanism of output deducts an increment; Driving voltage correspondingly deducts an increment Dt; Begin once more to play, the numerical value of the digital signal that is obtained by sensor compares once more, is less than or equal to contrast number D until the numerical value of the digital signal that is obtained by sensor Min, then previous pairing driving voltage value of effective output digital signal or current value store as #n key minimum value.
Computing #n+1, the #n of contrast after the computing whether=81, (in this example be example with 80 keys).Then begin the calibration of next key if not, then finish calibration if yes.
Maximal value U with the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinBetween or the maximal value I of current value MaxWith minimum value I MinBetween the scope classification, each value of series after the classification is U nOr I n
Magnitude of voltage U at different levels nOr current value I nAdd off-set value e nAs with the input the corresponding calibration of digital signal after output voltage U nOr electric current I nVoltage U nOr electric current I nBe stored in the solenoid controller.
With the Control of Voltage is example:
Then be U n=(U Max-U Min)/(N-1) * n+e nOr U n=(U Max-U Min)/(N-1) * n * e n
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; N is the progression (for example 128 grades) of classification; N is current progression (for example corresponding input signal is the 10th grade); e nBe the off-set value of current progression, (for example after the measuring and calculating, the 10th grade off-set value can be a constant, also can be number percent).
Need to prove, after calibration, obtained new differential numerical value and be:
Dt=（U max-U min）/（N-1）
This numerical value is stored in the memory storage, as the increment numerical value in the follow-up calibration procedure.
Identical with embodiment 1, at maximal value U MaxOr I MaxWith minimum value U MinOr I MinBetween again classification with the input digital signal corresponding.For example the MIDI digital music signal of input is 128 grades; Then also be divided into 128 grades between digital signal maximal value after the classification and the minimum value again; Again the increment Dt between then at different levels also changes accordingly after the classification, obtains enough resolution to guarantee the system of playing automatically.All to play the value of driving voltage or drive current of key corresponding with a driving execution mechanism for digital signal at different levels, and for guaranteeing the final effect of playing, the value of this driving voltage and electric current also need add off-set value e n, off-set value e nBe to play an instrument correspondingly with different, be generally the preset value of the equipment of corresponding different performance, this preset value is by repeatedly obtaining after accurate the measurement.The magnitude of voltage U that for example works as this grade nCorrespond to 5V, and be+U with the corresponding off-set value of this grade n1%, then the driving voltage of the final output of this level is 5.05 V.
In this example because preset maximal value U MaxOr I MaxBe the peaked upper limit that can export of device, and minimum value U MinOr I MinFor the minimum value of exporting that can receive gets lower limit, this means in this example that maximal value and minimum value have maximum interval that device can reach, therefore calibrate effect and be the best.
But should see; Because the wearing and tearing of device and aging, though each adjustment all can reach the optimum efficiency of device, this optimum efficiency and initial effect are distinguishing; The effect that obtains after promptly each calibration is all inequality, and this is insufferable for high-end crowd.
Embodiment 4:
In Fig. 4, in embodiment 3 output valve U with preset maximum MaxOr I MaxAs the maximal value that key is played by topworks, the problem of existence is, if device has the words of enough redundant surpluses; This maximal value maybe be excessive; Perhaps cause the effect after each calibration different, and in the playing procedure of automatic playing system, owing to wearing and tearing or other reason of machinery; The loudness of a sound that this preset value is played out may reduce gradually, thereby makes automatic playing system playing effect afterwards inconsistent with the playing effect that begins most.
Is the example explanation with the Control of Voltage, the calibration steps of optimization is: begin calibration, whether detecting sensor connects, otherwise stops calibration, with original prestore play the maximal value of key the time sensor digital signal D that obtains MaxValue is preset the maximal value that a driving voltage or electric current are played key as topworks, the normally original maximal value U that prestores of this maximal value as a comparison MaxOr I Max, (this original maximal value U that prestores MaxOr I MaxHas certain amount of redundancy; But after use after a while; Loudness of a sound when this original maximal value that prestores is played reduces, and needs calibration), begin to play with #n (for example n=1) key; By sensor, in this example for to be installed in the piezoelectric transducer on the soundboard 7 or to be installed in the digital signal D that the acoustic pickup on the piano qin dorsal column obtains nNumerical value and the original digital signal D that prestores in the master controller MaxCompare, if the digital signal D that newly obtains nLess than the original digital signal D that prestores Max, the digital signal of then key being played by the driving execution mechanism of output increases an increment, and driving voltage correspondingly increases an increment Dt, begins to play the numerical value D of the digital signal that obtains until sensor once more nMore than or equal to the original digital signal D that prestores Max, the then current pairing maximal value U of output digital signal MaxAs #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller.
Continue preset driving voltage minimum value U of output MinBegin to play, this minimum value is generally the original minimum value D that prestores Min, the numerical value D of the digital signal of obtaining by sensor nSmallest interval range values D with preset contrast number in the master controller Min []Compare, the contrast number of the minimum value that this is preset is an interval range numerical value, and this scope is between 1-2 the increment Dt, to avoid numerical value D nBe difficult to drop in the interval range and endless loop occurs.
The numerical value D of the digital signal of obtaining when sensor nGreater than the smallest interval range values, then the key dynamics of playing reduces by an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
The numerical value D of the digital signal of obtaining when sensor nLess than the smallest interval range values, then the key dynamics of playing increases an increment, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
With current output digital signal D nPairing driving voltage value U nOr current value I nAs #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller.
Thereby accomplish the calibration of this #n key.
Computing #n+1, the #n of contrast after the computing whether=81, (in this example be example with 80 keys).Then begin the calibration of next key if not, then finish calibration if yes.
Maximal value U with the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinBetween or the maximal value I of current value MaxWith minimum value I MinBetween the scope classification, each value of series after the classification is U nOr I n
Magnitude of voltage U at different levels nOr current value I nAdd off-set value e nAs with the input the corresponding calibration of digital signal after output voltage U nOr electric current I nVoltage U nOr electric current I nBe stored in the solenoid controller.
Magnitude of voltage U at different levels after the classification nOr current value I nComputing and the embodiment 3 of computing and increment numerical value identically repeat no more here.
New increment numerical value is stored in the memory storage, as the increment numerical value in the follow-up calibration procedure.
Adopt this routine calibration steps can obtain calibration data faster.
Embodiment 5:
In Fig. 5, be the example explanation with the Control of Voltage, the calibration steps of further optimizing is: begin calibration, whether detecting sensor connects, otherwise stops calibration, with original prestore play the maximal value of key the time sensor digital signal D that obtains Max []Range values as a comparison, this correlative value is an interval range numerical value, this scope is between 1-2 the increment Dt.
The original maximal value that prestores is after use after a while, corresponding different musical instruments, and therefore the situation that the loudness of a sound in the time of maximal value also possibly occurring and play increases needs calibration.Begin to play the maximal value that a preset driving voltage or electric current are played key as topworks, the normally original maximal value U that prestores of this maximal value with #n (for example n=1) key Max, by in this example of sensor for being installed in the piezoelectric transducer on the soundboard 7 or being installed in the numerical value D of the digital signal that the acoustic pickup on the piano qin dorsal column obtains nWith the original contrasting region numerical value D that prestores in the master controller Max []Compare the numerical value D of the digital signal of obtaining when sensor nGreater than this interval range numerical value D Max [], the digital signal of then key being played by the driving execution mechanism of output reduces by an increment, and driving voltage correspondingly reduces by an increment Dt, and key is played dynamics and is reduced by an increment, continues to play the numerical value D of the digital signal of obtaining until sensor nDrop into this interval range numerical value D Max []In;
The numerical value D of the digital signal of obtaining when sensor nLess than this interval range numerical value D Max [], then the key dynamics of playing increases an increment, continues to play the numerical value D of the digital signal of obtaining until sensor nDrop into this interval range numerical value D Max []In; The current pairing maximal value U of output digital signal MaxAs #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller.
Continue preset driving voltage minimum value U of output MinBegin to play, this minimum value is generally the original minimum value D that prestores Min, the numerical value D of the digital signal of obtaining by sensor nSmallest interval range values D with preset contrast number in the master controller Min []Compare, the contrast number of the minimum value that this is preset is an interval range numerical value, this scope is between 1-2 the increment Dt.
The numerical value D of the digital signal of obtaining when sensor nGreater than the smallest interval range values, then the key dynamics of playing reduces by an increment Dt, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
The numerical value D of the digital signal of obtaining when sensor nLess than the smallest interval range values, then the key dynamics of playing increases an increment, and the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values D Min []In;
With current output digital signal D nPairing driving voltage U nAs #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller.
Thereby accomplish the calibration of this #n key.
Computing #n+1, the #n of contrast after the computing whether=81, (in this example be example with 80 keys).Then begin the calibration of next key if not, then finish calibration if yes.
Maximal value U with the magnitude of voltage of driving execution mechanism operation MaxWith minimum value U MinBetween or the maximal value I of current value MaxWith minimum value I MinBetween the scope classification, each value of series after the classification is U nOr I n
Magnitude of voltage U at different levels nOr current value I nAdd off-set value e nAs with the input the corresponding calibration of digital signal after output voltage U nOr electric current I nVoltage U nOr electric current I nBe stored in the solenoid controller.
Magnitude of voltage U at different levels after the classification nOr current value I nComputing and the embodiment 3 of computing and increment numerical value identically repeat no more here.
New increment numerical value is stored in the memory storage, as the increment numerical value in the follow-up calibration procedure.
Adopt this routine calibration steps can obtain calibration data faster.And can tackle various situation flexibly, for example in some musical instrument, use the situation that loudness of a sound increases on the contrary after a period of time.Adopt this routine calibration steps, can guarantee that the effect after each calibration is all approaching as much as possible with initial effect, thereby satisfy the requirement of high-end customer.
Comprehensive the foregoing description, the purpose of this automatic calibration function be, lets the piano by automatic playing system control when playing, reach best effect, or as far as possible with the initial identical effect of effect, and do not receive the aging influence of device.
When playing any song; The velocity amplitude that the system that has this automatic calibration function can identify all notes that are lower than the midi formats of acquiescence minimum speed value when playing; And can this velocity amplitude be automatically updated into the new acquiescence minimum speed value of system; Even and the automatic playing system that does not use this automatic calibration function can identify the minimum performance velocity amplitude of piano, but also can't play out the note of this minimal volume.For example; The acquiescence minimum speed value of certain key setting is 10 (v=10); During all be lower than 10 at the velocity amplitude of playing all notes song of (v < 10), automatic playing system can drive piano and equal 10 (v=10) according to velocity amplitude and play, like this; Note velocity amplitude 10 (v=10) when the note of all midi formats will be by piano performance in this first song covers, and can't realize the true reappearance of song.And the present invention is through confirming maximal value and minimum value again, and the mode of classification again, guaranteed that the music of output has enough progression, and corresponding with the MIDI digital music or the manual music of playing of input, thereby guaranteed the effect of automatic playing.

Claims (14)

1. calibrating installation; Comprise obtain vibration or voice signal convert into digital signal sensor, receiving sensor digital signal and export the master controller of control signal, according to the topworks of the control signal output mechanical action of master controller output, it is characterized in that: convert digital signal (D into according to preset value with the analogue value that sensor obtains n) after the numerical value that obtains through master controller comparison be foundation, confirm the maximal value (D of the digital signal of master controller output Max) and minimum value (D Min);
Maximal value (the D of digital signal Max) and minimum value (D Min) with the maximal value (U of the magnitude of voltage of driving execution mechanism operation Max) and minimum value (U Min) or the maximal value (I of current value Max) and minimum value (I Min) corresponding, with the scope classification between this maximal value and the minimum value, each value of series after the classification is (U n) or (I n);
Magnitude of voltage (U at different levels n) or current value (I n) add the output voltage values (U after off-set value conduct and the corresponding calibration of the digital signal of input n) or current value (I n).
2. a kind of calibrating installation according to claim 1 is characterized in that: the numerical value that is used to compare in the described master controller is constant or interval.
3. automatic playing piano that uses the described calibrating installation of claim 1 is characterized in that: main control box (1), power supply (4), solenoid controller and have a plurality of solenoidal solenoid guide rails (3) and be installed on the piano housing (2);
The soundboard (7) that vibration transducer (5) is installed in piano goes up and/or acoustic pickup (6) is installed on the qin dorsal column of piano;
The digital signal of the master controller output in the main control box (1) has a plurality of solenoidal solenoid guide rails (3) through the conversion driving of solenoid controller, solenoid controller and be used for storing the data that calibration process obtains;
According to preset value with vibration transducer (5) and/or acoustic pickup (6); It is foundation that the analogue value of obtaining converts the numerical value that comparison obtains through the master controller in the main control box (1) after the digital signal into, confirms the maximal value (D of the digital signal of master controller output Max) and minimum value (D Min);
Maximal value (the D of digital signal Max) and minimum value (D Min) with the maximal value (U of the magnitude of voltage of driving execution mechanism operation Max) and minimum value (U Min) or the maximal value (I of current value Max) and minimum value (I Min) corresponding, with the scope classification between this maximal value and the minimum value, each value of series after the classification is (U n) or (I n);
Magnitude of voltage (U at different levels n) or current value (I n) add the output voltage values (U after off-set value conduct and the corresponding calibration of the digital signal of input n) or current value (I n); Magnitude of voltage (U n) or current value (I n) be stored in the solenoid controller.
4. a kind of automatic playing piano according to claim 3 is characterized in that: the numerical value that is used to compare in the described master controller is constant or interval.
5. calibration steps that is used for each described calibrating installation of claim 1-2 is characterized in that may further comprise the steps:
One, will preset the maximum drive voltage (U of output Max) or electric current (I Max) play the maximal value of key as topworks, and be stored in the master controller, perhaps in the solenoid controller;
Two, begin to play the numerical value of the digital signal of obtaining by sensor and the numerical value (D in the master controller with the #n key Min) compare;
If the numerical value of the digital signal of obtaining is greater than the numerical value (D in the master controller Min), the digital signal of then key being played by the driving execution mechanism of output deducts an increment, and driving voltage correspondingly deducts an increment (Dt);
Three, begin once more to play, the numerical value of the digital signal that is obtained by sensor compares once more, is less than or equal to contrast number (D until the numerical value of the digital signal that is obtained by sensor Min), then previous pairing driving voltage value of effective output digital signal or current value store as #n key minimum value;
Four, computing #n+1, whether the #n after the contrast computing surpasses maximal value, then begins the calibration of next key if not, then finishes calibration if yes;
Five, with the maximal value (U of the magnitude of voltage of driving execution mechanism operation Max) and minimum value (U Min) between or the maximal value (I of current value Max) and minimum value (I Min) between the scope classification;
Magnitude of voltage (U at different levels n) or current value (I n) add off-set value e nAs with the input the corresponding calibration of digital signal after output voltage values (U n) or current value (I n);
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
6. method according to claim 5 is characterized in that: output voltage values (U n) or current value (I n) computing formula be:
U n=(U Max-U Min)/(N-1) * n+e nOr U n=(U Max-U Min)/(N-1) * n * e n
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; N is the progression of classification; N is current progression; e nBe the off-set value of current progression, comprise constant or number percent;
I n=(I Max-I Min)/(N-1) * n+e nOr I n=(I Max-I Min)/(N-1) * n * e n
I wherein MaxMaximal value for the current corresponding value; I MinMinimum value for the current corresponding value; N is the progression of classification; N is current progression; e nBe the off-set value of current progression, comprise constant or number percent.
7. method according to claim 5 is characterized in that: the computing formula of increment is:
Dt=(U Max-U Min)/(N-1) or Dt=(I Max-I Min)/(N-1)
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; I MaxMaximal value for the current corresponding value; I MinMinimum value for the current corresponding value; N is the progression of classification.
8. calibration steps that is used for each described calibrating installation of claim 1-2 is characterized in that may further comprise the steps:
One, with original prestore play the maximal value of key the time sensor digital signal (D that obtains Max) be worth a preset driving voltage or electric current are played key as topworks maximal value as a comparison;
Two, begin to play the digital signal (D that obtains by sensor with the #n key n) numerical value and the original digital signal (D that prestores in the master controller Max) compare, if the digital signal (D that newly obtains n) less than the original digital signal (D that prestores Max), the digital signal of then key being played by the driving execution mechanism of output increases an increment, and driving voltage correspondingly increases an increment (Dt);
Three, begin to play the numerical value (D of the digital signal that obtains until sensor once more n) more than or equal to the original digital signal (D that prestores Max), the then current pairing maximal value of output digital signal is as #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller;
Four, continue preset minimum value of output and begin to play, this minimum value is generally the original minimum value (D that prestores Min), the numerical value (D of the digital signal of obtaining by sensor n) with master controller in the smallest interval range values (D of preset contrast number Min []) compare;
Numerical value (the D of the digital signal of obtaining when sensor n) greater than the smallest interval range values, then the key dynamics of playing reduces an increment (Dt), the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values (D Min []) in;
Numerical value (the D of the digital signal of obtaining when sensor n) less than the smallest interval range values, then the key dynamics of playing increases an increment (Dt), the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values (D Min []) in;
Five, with current output digital signal (D n) pairing driving voltage value or current value are as #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller, thereby accomplish the calibration of this #n key;
Six, the calibration of the next key of beginning is until finishing calibration;
Seven, with the maximal value (U of the magnitude of voltage of driving execution mechanism operation Max) and minimum value (U Min) between or the maximal value (I of current value Max) and minimum value (I Min) between the scope classification;
Magnitude of voltage (U at different levels n) or current value (I n) add the output voltage (U after off-set value conduct and the corresponding calibration of the digital signal of input n) or electric current (I n);
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
9. calibration steps that is used for each described calibrating installation of claim 1-2 is characterized in that may further comprise the steps:
One, with original prestore play the maximal value of key the time sensor digital signal (D that obtains Max []) range values as a comparison, this correlative value is an interval range numerical value;
Two, begin to play the maximal value that a preset driving voltage or electric current are played key as topworks, the numerical value (D of the digital signal of obtaining by sensor with the #n key n) with master controller in the original contrasting region numerical value (D that prestores Max []) compare;
Numerical value (the D of the digital signal of obtaining when sensor n) greater than this interval range numerical value (D Max []), the digital signal of then key being played by the driving execution mechanism of output reduces by an increment, and driving voltage correspondingly reduces an increment (Dt), and key is played dynamics and is reduced by an increment, continues to play the numerical value (D of the digital signal of obtaining until sensor n) drop into this interval range numerical value (D Max []) in;
Numerical value (the D of the digital signal of obtaining when sensor n) less than this interval range numerical value (D Max []), then the key dynamics of playing increases an increment, continues to play the numerical value (D of the digital signal of obtaining until sensor n) drop into this interval range numerical value (D Max []) in; The current pairing maximal value of output digital signal is as #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller;
Three, continue preset minimum value of output and begin to play, this minimum value is generally the original minimum value (D that prestores Min), the numerical value (D of the digital signal of obtaining by sensor n) with master controller in the smallest interval range values (D of preset contrast number Min []) compare;
Numerical value (the D of the digital signal of obtaining when sensor n) greater than the smallest interval range values, then the key dynamics of playing reduces an increment (Dt), the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values (D Min []) in;
Numerical value (the D of the digital signal of obtaining when sensor n) less than the smallest interval range values, then the key dynamics of playing increases an increment (Dt), the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values (D Min []) in;
Four, with current output digital signal (D n) pairing driving voltage value or current value are as #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller, thereby accomplish the calibration of this #n key;
Five, the calibration of the next key of beginning is until finishing calibration;
Six, with the maximal value (U of the magnitude of voltage of driving execution mechanism operation Max) and minimum value (U Min) between or the maximal value (I of current value Max) and minimum value (I Min) between the scope classification;
Magnitude of voltage (U at different levels n) or current value (I n) add the output voltage (U after off-set value conduct and the corresponding calibration of the digital signal of input n) or electric current (I n);
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
10. calibration steps that is used for each described automatic playing piano of claim 3-4 is characterized in that may further comprise the steps:
One, will preset the maximum drive voltage (U of output Max) or electric current (I Max) play the maximal value of key as topworks, and be stored in the master controller, perhaps in the solenoid controller;
Two, begin to play the numerical value of the digital signal of obtaining by sensor and the numerical value (D in the master controller with the #n key Min) compare;
If the numerical value of the digital signal of obtaining is greater than the numerical value (D in the master controller Min), the digital signal of then key being played by the driving execution mechanism of output deducts an increment, and driving voltage correspondingly deducts an increment (Dt);
Three, begin once more to play, the numerical value of the digital signal that is obtained by sensor compares once more, is less than or equal to contrast number (D until the numerical value of the digital signal that is obtained by sensor Min), then previous pairing driving voltage value of effective output digital signal or current value store as #n key minimum value;
Four, computing #n+1, whether the #n after the contrast computing surpasses maximal value, then begins the calibration of next key if not, then finishes calibration if yes;
Five, with the maximal value (U of the magnitude of voltage of driving execution mechanism operation Max) and minimum value (U Min) between or the maximal value (I of current value Max) and minimum value (I Min) between the scope classification;
Magnitude of voltage (U at different levels n) or current value (I n) add off-set value e nAs with the input the corresponding calibration of digital signal after output voltage values (U n) or current value (I n);
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
11. method according to claim 10 is characterized in that: output voltage values (U n) or current value (I n) computing formula be:
U n=(U Max-U Min)/(N-1) * n+e nOr U n=(U Max-U Min)/(N-1) * n * e n
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; N is the progression of classification; N is current progression; e nBe the off-set value of current progression, comprise constant or number percent;
I n=(I Max-I Min)/(N-1) * n+e nOr I n=(I Max-I Min)/(N-1) * n * e n
I wherein MaxMaximal value for the current corresponding value; I MinMinimum value for the current corresponding value; N is the progression of classification; N is current progression; e nBe the off-set value of current progression, comprise constant or number percent.
12. method according to claim 10 is characterized in that: the computing formula of increment is:
Dt=(U Max-U Min)/(N-1) or Dt=(I Max-I Min)/(N-1)
U wherein MaxMaximal value for corresponding voltage value; U MinMinimum value for corresponding voltage value; I MaxMaximal value for the current corresponding value; I MinMinimum value for the current corresponding value; N is the progression of classification.
13. a calibration steps that is used for each described automatic playing piano of claim 3-4 is characterized in that may further comprise the steps:
One, with original prestore play the maximal value of key the time sensor digital signal (D that obtains Max) be worth a preset driving voltage or electric current are played key as topworks maximal value as a comparison;
Two, begin to play the digital signal (D that obtains by sensor with the #n key n) numerical value and the original digital signal (D that prestores in the master controller Max) compare, if the digital signal (D that newly obtains n) less than the original digital signal (D that prestores Max), the digital signal of then key being played by the driving execution mechanism of output increases an increment, and driving voltage correspondingly increases an increment (Dt);
Three, begin to play the numerical value (D of the digital signal that obtains until sensor once more n) more than or equal to the original digital signal (D that prestores Max), the then current pairing maximal value of output digital signal is as #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller;
Four, continue preset minimum value of output and begin to play, this minimum value is generally the original minimum value (D that prestores Min), the numerical value (D of the digital signal of obtaining by sensor n) with master controller in the smallest interval range values (D of preset contrast number Min []) compare;
Numerical value (the D of the digital signal of obtaining when sensor n) greater than the smallest interval range values, then the key dynamics of playing reduces an increment (Dt), the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values (D Min []) in;
Numerical value (the D of the digital signal of obtaining when sensor n) less than the smallest interval range values, then the key dynamics of playing increases an increment (Dt), the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values (D Min []) in;
Five, with current output digital signal (D n) pairing driving voltage value or current value are as #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller, thereby accomplish the calibration of this #n key;
Six, the calibration of the next key of beginning is until finishing calibration;
Seven, with the maximal value (U of the magnitude of voltage of driving execution mechanism operation Max) and minimum value (U Min) between or the maximal value (I of current value Max) and minimum value (I Min) between the scope classification;
Magnitude of voltage (U at different levels n) or current value (I n) add the output voltage (U after off-set value conduct and the corresponding calibration of the digital signal of input n) or electric current (I n);
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
14. a calibration steps that is used for each described automatic playing piano of claim 3-4 is characterized in that may further comprise the steps:
One, with original prestore play the maximal value of key the time sensor digital signal (D that obtains Max []) range values as a comparison, this correlative value is an interval range numerical value;
Two, begin to play the maximal value that a preset driving voltage or electric current are played key as topworks, the numerical value (D of the digital signal of obtaining by sensor with the #n key n) with master controller in the original contrasting region numerical value (D that prestores Max []) compare;
Numerical value (the D of the digital signal of obtaining when sensor n) greater than this interval range numerical value (D Max []), the digital signal of then key being played by the driving execution mechanism of output reduces by an increment, and driving voltage correspondingly reduces an increment (Dt), and key is played dynamics and is reduced by an increment, continues to play the numerical value (D of the digital signal of obtaining until sensor n) drop into this interval range numerical value (D Max []) in;
Numerical value (the D of the digital signal of obtaining when sensor n) less than this interval range numerical value (D Max []), then the key dynamics of playing increases an increment, continues to play the numerical value (D of the digital signal of obtaining until sensor n) drop into this interval range numerical value (D Max []) in; The current pairing maximal value of output digital signal is as #n key maximal value and be stored in the master controller, perhaps in the solenoid controller of master controller;
Three, continue preset minimum value of output and begin to play, this minimum value is generally the original minimum value (D that prestores Min), the numerical value (D of the digital signal of obtaining by sensor n) with master controller in the smallest interval range values (D of preset contrast number Min []) compare;
Numerical value (the D of the digital signal of obtaining when sensor n) greater than the smallest interval range values, then the key dynamics of playing reduces an increment (Dt), the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values (D Min []) in;
Numerical value (the D of the digital signal of obtaining when sensor n) less than the smallest interval range values, then the key dynamics of playing increases an increment (Dt), the numerical value that continues to play the digital signal of obtaining until sensor drops into smallest interval range values (D Min []) in;
Four, with current output digital signal (D n) pairing driving voltage value or current value are as #n key minimum value and be stored in the master controller, perhaps in the solenoid controller of master controller, thereby accomplish the calibration of this #n key;
Five, the calibration of the next key of beginning is until finishing calibration;
Six, with the maximal value (U of the magnitude of voltage of driving execution mechanism operation Max) and minimum value (U Min) between or the maximal value (I of current value Max) and minimum value (I Min) between the scope classification;
Magnitude of voltage (U at different levels n) or current value (I n) add the output voltage (U after off-set value conduct and the corresponding calibration of the digital signal of input n) or electric current (I n);
Automatically calibrate through above-mentioned steps realization calibrating installation or automatic playing piano.
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CN110491357B (en) * 2019-09-06 2022-07-15 湖南卡罗德钢琴有限公司 System and method for calibrating piano acquisition strength
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CN117207204B (en) * 2023-11-09 2024-01-30 之江实验室 Control method and control device of playing robot

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