JPH06182683A - Midi robot control device and method - Google Patents

Abstract

PURPOSE:To allow an MIDI robot control apparatus to receive and analyze the command (for music) sent from an MIDI apparatus, convert it into the command (for motion) controlling the motion of a robot, and control the robot with the command. CONSTITUTION:An MIDI apparatus 1 and an MIDI robot control apparatus 2 are connected by an MIDI cable 3 to generate the interface in which MIDI commands (all digitized command with identification numbers) can be mutually used, and the MIDI apparatus 1 is a synthesizer, a rhythm box, a sequencer, or a computer according to the MIDI standard. The MIDI robot control apparatus 2 is constituted of a computer receiving and analyzing the command (for music) sent from the MIDI apparatus 1 and converting it into the command (for motion) controlling the motion of a robot and a servo motor or another motion apparatus controlled by the converted command (for motion) to move the robot for the target motion.

Description

Detailed Description of the Invention

[0001]

[Industrial application] MIDI equipment and MIDI robot control equipment are connected to each other by MIDI cable
It is an interface that can use commands (all digitalized commands with identification numbers).
The DI device is a synthesizer, rhythm box, sequencer, computer, etc. conforming to the MIDI standard.
The IDI robot control device receives a command (for music) transmitted from the MIDI device, analyzes the command, and converts it into a command (for motion) that controls the motion of the robot, and a converted command (for motion). The present invention relates to a robot control device using MIDI, which includes a servomotor or other exercise equipment that is controlled to cause a robot to perform a target motion, and a robot control method using the device.

[0002]

2. Description of the Related Art Conventionally, the control of various robots and mechanical devices by a computer depends on the type thereof, but when real-time control is required, a sufficient number of wires corresponding to the number of target control motion types. (Hardware) and software are required, and in the case of controlling multiple (kind) units with one computer, the number of operations is large and speed, timing, etc. are required.
It requires a considerable amount of work, and complicated and smooth operations cannot be performed by one computer and one operator.

In order to move the robot in the same manner as a human, for example, the movement of each part of the head, neck, right arm, right hand, left arm, left hand, waist, etc. is programmed with a numerical value for one. As a result of the enormous amount of programming work, it is possible to finally complete the robot control software, which requires enormous manpower, time and cost.

In particular, as in the case of the control software of a music playing robot which can be produced very easily in the present invention as described later, the robot control synchronized with the music must be performed with the time axis as the center. Numerical programming could not be realized because many kinds of motions were complicatedly overlapped.

Therefore, with the software that can be easily produced and the simple device, it is possible to freely control a robot having an extremely complicated movement, and further, to develop a robot that can control a large number of robots (species) at one time. It has been long-awaited.

[0006]

SUMMARY OF THE INVENTION However, according to the present invention, the complicated motion control that synchronizes with the above-mentioned music is captured by a musical MIDI device and all the motions are captured musically. Information to be used, and the MIDI robot control device provided corresponding to the MIDI device converts the information into exercise information, and exercises motion control of the robot using the information, so that it can be performed extremely easily. It was done.

[0007]

[About MIDI] (Musical Instru
ment Digital Interface) The MIDI standard is an international standard for interconnecting synthesizers, rhythm boxes, sequencers, computers, etc., and communication is asynchronous serial (31, 25K baud).
This means that at least 16 types (16 channels) of musical instruments can be individually controlled by simply connecting a daisy chain (from parent to child, from child to grandchild). MI
The cables that connect DI devices are two cables (one is a power cable), the data flowing on the MIDI cable is serial, and the speed is 1
It is 31250 bits per second (bit / 1 bit is the minimum unit in a digital circuit).

Generally, as MIDI data, 2 to 3
Since it is a unit of 1 byte (1 byte = 8 bits), 31250 ÷ 8 ÷ 3 ≠ 13 as one meaningful data.
The number is 02, and more than 1300 pieces of information (command = command) can be sent in about 1 second. An identification number is attached to each instruction.

The information (command) includes program change (channel number = instrument number change), note-on (sounding), note-off (stop), pitch bender (continuously changing scale), There are control changes (various other controls) and various other things. Especially, the control change command area is an undefined command area, and each MIDI musical instrument manufacturer uses its own method (sound image). The position, volume, and echo are adjusted), and there are areas that the user can freely use.

As described above, all information that a human can play by playing a musical instrument is represented by MIDI data (digital
Data), in other words, MIDI (MIDI data) is different from sending a sound signal to a speaker and outputting it like a general stereo, for playing a musical instrument. Information (command) is flowing.

Here, specifically, the MID of a synthesizer or the like
Simulating (simulating) the operation of an I device (host computer) with music software or live performance until a MIDI musical instrument is played, one MIDI device (MIDI1
System), MIDI instrument is a piano (channel 1),
Guitar (channel 2), cello (channel 3) 3
As a stand (without expanding the system in the current MIDI standard, one system has a maximum of 16 channels, and therefore 16
You can control even the instrument of the stand. ) MIDI device-> channel number 1 (piano) MIDI device-> channel number 2 (guitar) MIDI device-> channel number 3 (cello) MIDI device-> channel number 1 + scale number (do) +
Pronunciation number + tone intensity number (output 55) MIDI device → channel number 2 + scale number (mi) +
Pronunciation number + sound intensity number (output 40) MIDI device → channel number 3 + scale number (so) +
Sound number + sound intensity number (output 60) The operation up to this point is about 1/100 second, then the computer waits until the next timing (about 3/100 second here), MIDI device → channel number 2 + stop Sound number (mi) MIDI device → channel number 3 + stop number (so) Then wait until the next timing MIDI device → channel number 1 + stop number (do) MIDI device → channel number 1 + scale number (ra) +
Pronunciation number + sound intensity number (output 65) MIDI device → channel number 2 + scale number (re) +
Pronunciation number + tone intensity number (output 75) MIDI device → channel number 3 + scale number (Fa) + pronunciation number + tone intensity number (output 45) After that, wait until the next timing, as above MID
Information (command) is repeatedly transmitted from the I-device until the end of the song, and in the above case, three types of MIDI musical instruments of piano, guitar and cello (using 3 channels) are performed.

Of course, if the commands are sent continuously, the waiting time becomes shorter. Channels 1 to 3, MIDI instrument 1 (piano), MIDI instrument 2 (guitar), MIDI
The musical instrument 3 (cello) is connected by one MIDI cable, and recognizes and executes only one's own command from a large number of commands flowing in the cable.

The software for controlling MIDI equipment is
General-purpose music sequencers and personal
Computer music software and the like, and the music software having a real-time input function by a MIDI device has great flexibility and potential.

[0014]

The present invention aims to solve the conventional problems by developing a robot controller using the above MIDI equipment. That is, the present invention is to produce an interface that can use MIDI commands (commands with all digitized identification numbers) mutually by connecting MIDI devices and MIDI robot control devices with a MIDI cable. Is a synthesizer, a rhythm box, a sequencer, a computer, etc. conforming to the MIDI standard, and a MIDI robot control device receives a command (for music) transmitted from the MIDI device and analyzes it to control the robot motion ( (For exercise), and a servo motor or other exercise equipment that is controlled by the converted command (for exercise) to cause the robot to perform a target movement,

Conversion from command (for music) to command (for exercise),
That is, the channel number (music number) (currently MIDI standard is 16 channels) is converted into a robot (or a specific portion of the robot) identification number (16 types), and then, for each robot identification number corresponding to each channel number. , Pronunciation number (1 piece) → Exercise start number (1 piece), Stop number (1 piece) → Exercise stop number (1 piece), Scale number (many pieces) → Up / down, left / right, front / back etc. of hands, arms, etc. Position number (many pieces), sound length adjustment number (many pieces) → large / small number of movements of hands, arms, etc. (many pieces), sound intensity adjustment number (many pieces) → movements of hands, arms, etc. Slow speed number (many), number that changes the scale continuously (many) → number of continuous and smooth movement (many), undefined number (many) → parts other than the above, such as waist ,
Each command (for music) such as a motion number (a large number) such as opening and closing of the neck and eyes is assigned to an appropriate command (for motion) and converted, and the converted command (for motion)
The problem is solved by a robot controller using MIDI, which controls the servomotor and other exercise equipment to cause the robot to perform a target motion.

In the robot controller including the MIDI device 1, the MIDI robot controller 2 and the MIDI cable 3, the computer 4 of the MIDI robot controller 2 converts the channel number into the robot identification number,
Pronunciation → motion start and stop of sound → motion stop conversion, and the momentum or width corresponding to scale, range, sound intensity, long sound, short sound, continuous sound, etc. (that is, maximum rotation angle of servo motor → (Minimum range, etc.) and conversion to other motion modes are written and stored in a medium such as a ROM or FD in advance.

Real-time input from the MIDI device 1 to the MIDI robot control device 2 is performed by operating the keyboard, keyboard, joystick, etc. 5 of the MIDI device 1 in the same manner as playing music.

Robot R of MIDI robot controller 2
Are various robots provided to perform movements similar to those of humans, animals, etc., such as the music playing robot shown in the figure, various industrial robots, and various automatic control devices that can be controlled by MIDI robot control software. , For each type of exercise corresponding to a command from the computer 4, for example, for up / down movement of the right hand, left / right movement of the right hand, up / down movement of the left hand, left / right movement of the left hand, back / back movement of the waist, opening / closing of the eyelid
Each kind of exercise equipment such as a servo motor is provided so that each exercise equipment is controlled by a command.

The above-mentioned exercise equipment controlled by a computer of the MIDI robot control equipment is a servo motor, a solenoid, various switches such as a rotary switch and a slide switch, various valves, and the like. To do.

[0020]

[Robot control software] Next, using the MIDI robot controller described above to execute robot control, the robot controller software for MIDI (stored in a medium such as FD) is (1) from a MIDI device. MIDI information of MIDI music software to be transmitted
Software (music playing robot, etc.) created by converting into a motion control program with a robot control device and writing and storing it in memory.
(2) Software created by additionally writing and storing a motion control program in real time using the undefined identification number in the software of (1) above (music playing robot + singer robot or flashing lights, etc.), (3) It is software (various industrial robots, etc.) in which information transmitted by real-time input of a MIDI device is converted into a motion control program by a MIDI robot control device and written and stored.

In each of the above software, first, the channel number ( ₁ to 16) is assigned to the robot identification number (robot R ₁ to
R ₁₆ ), program and enter, then
For example, for channel number 1 (robot R ₁ ), first program the right hand movement assigned to the scale number, write and store from the beginning to the end, and then program the left hand movement assigned to the note length adjustment number. Corresponding to each channel number, such as writing memory from the beginning to the end, then programming the hip movement assigned to an undefined number for channel number 2 (robot R ₂ ) and writing the memory from the beginning to the end For each identification number robot, programming for one type of motion and writing and writing are repeatedly performed for the number of target motion control.

[0022]

[Robot control method] Robot control by the MIDI robot control device can be performed only by (1) software created from MIDI music software, (2) software created by the software + real-time input, or (3) real-time input only. The software such as the created software is applied to the MIDI device 1.

In addition, the MIDI robot control device 2 can be played in real time by live performance and live operation of the MIDI device 1.
It is also possible to control the robot and thus control the robot in real time.

The control of the robot is MI according to the current standard.
Since one system of DI has 16 channels, one robot (or its specific part) per channel, that is, 16 types (units) of robots (or its specific parts) R _{1 to} R ₁₆ can be controlled at a time by a daisy chain. Can
Moreover, an infinite number of robots (or specific parts thereof) that perform exactly the same operation can be controlled synchronously in a daisy chain of the same channel (eg, R _1-1 , R _1-2 , ──R _1-n ).

Further, the system can be expanded to two or more, the number of channels can be increased to 32, 48, 64, ..., And the robot (or a specific portion thereof) of the number of channels can be controlled. Is.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a case of controlling a music playing robot according to the present invention will be described, and a case of forming a small orchestra of a large number of music playing robots will be described. First violin ... 2nd violin ... 2, cello ... 1, contrabass ... 1, flute ... 1, oboe ... 1, clarinet ... 2, ......... Piano ... 1, singer ... 1, conductor ... 1 total 14-16 people As

For example, 16 of 1 system of MIDI equipment
Assign channels as follows:

First, taking the first violin robot as an example, the robot is, for example, as shown in FIG. 2, the left and right movements of the upper right arm, the up and down movements of the upper right arm, the left and right movements of the lower right arm, and the up and down movements of the upper left arm. Eight types of motion control are required: forward / backward movement, left / right movement of the waist, up / down movement of the neck, and opening / closing of the eyelid, and therefore, eight sets of movement control devices (eg, servo motors) are provided.

Next, the respective identification numbers transmitted from the MIDI device are, for example, scale number → upper right arm up / down movement, left / right movement number, tone length adjustment number → upper right arm movement size ...
… Undefined numbers → hips back and forth, left and right numbers, undefined numbers → eyelid opening and closing numbers, etc. are allotted, for example, by converting the movement of the upper right arm from the beginning to the end of the song Write memory, then convert the movement of the right lower arm from the beginning to the end of the song and write memory, Sequentially, the opening and closing of the eyelids to which undefined numbers are assigned is converted from the beginning to the end of the piece of music and the writing memory is executed, and the programming of the robot is completed on the first violin.

Although there are four first violin robots, since these may perform the same operation in synchronization,
All you have to do is connect the four in a daisy chain.

Thereafter, if programming is performed in order from channel 2 to channel 16 and writing and writing are all performed in the same software (medium such as FD), the robot software is completed for the orchestra performance.

Therefore, if the above software is applied to a MIDI device and executed, 16 playing robots start to move in unison in accordance with the performance of the MIDI instrument by the MIDI device, and are fast, slow, strong, weak, curved, and continuous. In this way, individual robots perform movements like humans that are alive.

The above is a performance robot created by converting music software into exercise software, and relates to a robot that moves in a complicated and smooth manner like a human being in synchronization with music, but even in the case of an industrial robot, In other words, the movement of the work robot need only be interpreted musically, and there is no difference from the case of the playing robot.

[0034]

[Effect] As described above, the present invention provides a MIDI device and a MIDI device.
The robot control device is connected with a MIDI cable to create an interface that can use MIDI information (commands) with each other. Therefore, data other than music or music data itself is not related to music by using the MIDI device. Various devices such as equipments (robots) can be easily controlled.

The control software can be easily input by using a commercially available music sequencer or music software of a personal computer, and the music software can be input in real time by a musical instrument (tape,
Since it is equipped with an input method such as recording on a recorder), advanced movements full of humanity can be realized easily (easily) without the need for numerical values in robot control programs. The above programming does not have to be a program and can be realized by a simple task like playing an instrument and recording it (when inputting in real time).
If you need more detailed nuances, you can enter and program the scales one by one. In other words, there is a feature that you can program with a human feeling rather than the feeling of controlling a machine.

In order to control a plurality of robots, each robot is given an identification number, which conforms to the MIDI standard (16 channels in one system described above). Since it becomes an operation, it is possible to infinitely increase the number of robots that perform the same operation and control (for example, if all 16 channels are used and each type has 10 robots, 16 × 10 robots can be controlled).

If more than 16 systems are expanded and the system is expanded, 16 or more robots having different operations can be simultaneously controlled (16, 32, 48, ...) As a result, for example, several tens of robots can be controlled. There is a feature that an orchestra consisting of robots can be realized in perfect synchronization.

For each robot, ON / OFF control can be set to 127 contacts or more, and linear (analog) output can be set to 10 outputs or more, and complicated control is possible. Since the computer on the controlling side and the computer on the controlling side are connected with two cables, there is an advantage that it does not take up space unlike a conventional robot which requires an enormous amount of wiring.

Since it is possible to easily create a robot that moves very humanly and naturally, for example, a CM image such as a doll animation for which one person is moving and a person moves to make a CM image can be easily read. With the invention, it can be done quite simply and cheaply.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a schematic configuration of a robot controller according to the present invention MIDI.

2 is an explanatory diagram of an embodiment in which the No. 1 robot of channel 1 in FIG. 1 is a music playing robot (violin).

[Explanation of symbols]

1 MIDI device 2 MIDI robot control device 3 MIDI cable 4 Computer R _{1 to} R ₁₆ Channel 1 to 16 robots R _{1-1 to} R _1-n Channel 1 Nos. 1 to 16 Music playing robots (violin to conductor) Person)

Claims (9)

[Claims] 1. A MIDI device and a MIDI robot control device are connected by a MIDI cable to produce an interface that can mutually use MIDI commands (commands with identification numbers that are all digitized). A MIDI synthesizer, a rhythm box, a sequencer, a computer, etc. conforming to the MIDI standard, and a MIDI robot control device receives a command (for music) transmitted from the MIDI device and analyzes it to control the robot motion (motion). Computer), and a servo motor or other exercise equipment controlled by the converted command (for exercise) to cause the robot to perform the target motion. Command (for music) → command (for motion) ), That is, channel number (instrument number) (current MIDI standard is 16 channels) → Robot Door (or a specific part of the robot)
Identification number (16 types), and for each robot identification number corresponding to each channel number, pronunciation number (1) → exercise start number (1), sound stop number (1) → exercise Stop number (1 piece), scale number (many pieces) → number of positions of hands, arms, etc. up and down, left and right, front and back (many pieces), sound length adjustment number (many pieces) → movement of hands, arms, etc. No. of large and small numbers (many), sound intensity adjustment number (many) → slower number of motion of hands, arms, etc. (many), number that continuously changes the scale (many) → continuous and Smooth motion number (many), undefined number → Other commands such as waist, neck, eye opening / closing motion number (many), etc. Assigned to (for exercise) and converted, and the converted command (for exercise)
A robot controller using MIDI that controls the servo motor and other exercise equipment to drive the robot to perform the target movement. 2. A computer of a MIDI robot control device converts a channel number → robot identification number conversion, pronunciation → motion start, and sound stop → motion stop conversion, and scale, range, sound intensity, long sound, short sound, continuous. Momentum or width corresponding to sound, etc. (that is, maximum rotation angle of servo motor →
(Minimum range, etc.), conversion to other motion modes
It is written and stored in a medium such as OM and FD.
The robot controller according to claim 1 according to MIDI. 3. The MIDI device according to claim 1, wherein real-time input to the MIDI robot control device by the MIDI device is performed by operating a keyboard, a keyboard, a joystick, etc. of the MIDI device in the same manner as playing music. Robot controller. 4. The robot of the MIDI robot control device comprises:
Various robots, such as music playing robots, that are designed to perform similar movements to humans, animals, and others, various industrial robots, and various automatic control devices that can be controlled by MIDI robot control software. For each type of exercise corresponding to the command, for example, for up / down movement of the right hand, left / right movement of the right hand, up / down movement of the left hand, left / right movement of the left hand, back / back movement of the waist, and opening / closing movement of the eyelid (above 6 movements) Each exercise equipment such as a servo motor is provided, and each exercise equipment is controlled by a command.
The robot controller according to claim 1 according to MIDI. 5. A motion control device controlled by a computer command of a MIDI robot control device is a servo motor, a solenoid, various switches such as a rotary switch and a slide switch, various valves, and the like. The robot controller according to claim 1, wherein the robot controller is provided. 6. The robot controller software by MIDI (stored in a medium such as FD) converts (1) the information of the MIDI music software transmitted from the MIDI device as it is into a motion control program by the MIDI robot controller. Software (music playing robot etc.) created by writing and writing memory, (2) Software created by additionally writing and writing a motion control program in real time using the undefined identification number to the software of (1) above ( Music playing robot + singer robot or flashing lights), (3) M
Robot control software based on MIDI, which is software (various industrial robots, etc.) in which information transmitted by real-time input of an IDI device is converted into a motion control program by a MIDI robot control device and written and stored in memory. 7. The robot control software produced by MIDI is produced by repeatedly performing programming and writing memory for one type of motion for each identification number robot set corresponding to each channel number. 6 MIDI robot control software. 8. The robot control by the MIDI-based robot control is performed by using MIDI software such as software created from software for MIDI music, software created by the software + real-time input, or software created only by real-time input. In addition to the above, the MIDI robot control method that controls the MIDI robot control device in real time by live performance and live operation of the MIDI device, and thus controls the robot in real time. 9. One system of MIDI (currently 16 channels), one robot per channel (or a specific portion thereof), that is, 16 types (units) of robots (or a specific portion thereof) are controlled at a time by a daisy chain. Then, control an infinite number of robots (or specific parts of them) that have exactly the same operation in the same daisy chain, expand the system to 2 or more, and increase the number of channels to 32 or 4
9. The robot control method by MIDI according to claim 8, wherein the number of channels is increased to control the robot (or a specific portion thereof) of the number of channels.