CN101825896A - Robot playing the dulcimer and control method - Google Patents
Robot playing the dulcimer and control method Download PDFInfo
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- CN101825896A CN101825896A CN201010181107A CN201010181107A CN101825896A CN 101825896 A CN101825896 A CN 101825896A CN 201010181107 A CN201010181107 A CN 201010181107A CN 201010181107 A CN201010181107 A CN 201010181107A CN 101825896 A CN101825896 A CN 101825896A
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Abstract
The invention discloses a robot playing the dulcimer and a control method. The robot is connected with a control computer of an upper band, the robot playing the dulcimer comprises a robot body, the robot body comprises hands and wrists, body running joints, a face and a dulcimer, and the robot comprises a main control embedded computer device and a wrist percussion control servo system connected with the main control embedded computer device, a body movement control servo system, a facial expression control servo system and an air supply and air pressure control system; the method comprises: a self-test step, wherein the system perform the self-test; a reset step, wherein the action of the robot can be reset; and a command implementation step, wherein a PC control command outputted by the control computer of the upper system can be received and the corresponding command can be implemented. The invention can realize the dulcimer playing, the anthropomorphic shape with high bio-fidelity and anthropomorphic facial expression and action, the robot playing precisely positioned in two dimensions, and the fast and continuous percussion playing of the dulcimer. Moreover, the playing is vivid.
Description
Technical field
The present invention relates to a kind of robot, relate in particular to a kind of robot and control method of playing dulcimer.
Background technology
In recent years, in international fair with significant impact or robot exhibition, the band that the performance of robot and robot form is quite attracting project.
National musical instruments dulcimer for China, the robot that does not also have this respect at present both at home and abroad, particularly then do not have especially by the pinpoint dulcimer of two dimension robot, applicant of the present invention is devoted to develop a kind of high emulation that has, and can realize the robot of the national percussion instrument dulcimer of two-dimentional pinpoint performance.
Summary of the invention
The object of the present invention is to provide a kind of robot and control method of playing dulcimer, it has high emulation, has realized first that at home and abroad the robot of two-dimentional pinpoint national percussion instrument dulcimer is played.
The technical scheme that realizes above-mentioned purpose is:
A kind of robot of playing dulcimer of one of the present invention, this robot links to each other with the control computer of upper band to receive the control of band, it comprises a robot body, this robot body comprises wrist portion, health operation joint portion, face, dulcimer, wherein, it comprises that a main control inserted computer device and the wrist that links to each other with this main control inserted computer device respectively impact Control Servo System, body action Control Servo System, countenance Control Servo System and source of the gas and pneumatic control system, wherein:
Described main control inserted computer device is realized the data processing and the order of playing the dulcimer robot are sent, the control computer of it and upper band communicates, accept the information of playing music of the control computer of upper band, send to the data of the various states of control computer of upper band;
Described wrist impacts the various performance stroke commands that Control Servo System is accepted main control inserted computer device, moves by two wrist portion of minitype cylinder drive machines human body to impact fast realizing;
Described body action Control Servo System is accepted the motion command of main control inserted computer device, moves by the health operation joint of driven by servomotor robot body, realizes the action of nodding, come back, bend over, turning round;
Described countenance Control Servo System is accepted the expression order of main control inserted computer device, face by a plurality of micromotors and little air cylinder driven and combination drive machines human body, realize the polylith muscular movement of dummy robot face, by starting the little cylinder that drives lip, realize the unlatching and the closure of lip;
The melody that described source of the gas and pneumatic control system are accepted main control inserted computer device hits order, control the pressurized air that this total air pump produces by controlling a total air pump, and carry out the switching value control that electricity changes gas, realize that body action, countenance, wrist impact the cylinders all in the part and the action of other starting elements.
The robot of above-mentioned performance dulcimer, wherein, also comprise a data acquisition and a fault display device that links to each other with described main control inserted computer device, it collects the data of each system by main control inserted computer device, and judge whether operate as normal or trouble location, and this state is shown.
A kind of ROBOT CONTROL method of playing dulcimer of two of the present invention, this robot accepts the PC control command of the control computer output of upper system, wherein, may further comprise the steps:
The self check step, after beginning, system carries out self check;
Reset process resets to the action of robot;
The fill order step, accept the PC control command of the control computer output of upper system, operate accordingly according to command execution, the PC control command comprises emergent order, sleep command, status inquiry command, the order of announcing the items on a programme, warning order, performance order, ceases and desist order, wherein:
Described warning order is that robot carries out warming-up exercise;
Described status inquiry command is the inquiry current state, and is undertaken by main control inserted computer device;
Described emergent order is for playing emergent song;
Described sleep command is performance dormancy action;
The described order of announcing the items on a programme is the control robot action of announcing the items on a programme;
Described performance order is for playing action for corresponding system by main control inserted computer device output control signal;
Described ceasing and desisting order stops for control robot action.
The ROBOT CONTROL method of above-mentioned performance dulcimer, wherein, described fill order step may further comprise the steps:
Read in step, read in current operating position data;
Decomposition step is decomposed right-hand man's action of robot;
Calculation procedure is calculated the robot movement velocity and the target location that need realization;
Execution in step, promptly the right-hand man carries out corresponding combination action according to movement velocity that calculates and target location;
Judged whether to cease and desist order,
If cease and desist order, then stop action, withdraw from then;
If do not cease and desist order, judge whether further that then whole actions finish,
If everything is all finished, then withdraw from;
If everything is not all finished, then return and read in step.
The ROBOT CONTROL method of above-mentioned performance dulcimer wherein, when carrying out the performance order, may further comprise the steps:
Check the song legitimacy, check whether song is legal,, then directly send end data packet,, then read song length and start address position if legal if illegal;
Read information, right-hand man's note, time, dynamics information in the reading data flow;
The output beat is also carried out and is knocked, and according to the information that reads, the beat of output list action is also carried out and knocked;
Wait for, wait for and knock end;
Detect, detect successively the robot of playing dulcimer whether be protected, whether receive cease and desist order, whether air pressure be protected,
If be protected, the robot of promptly playing dulcimer can not move again, then sends end data packet, if be not protected, the robot of promptly playing dulcimer is in the unprotect state, and whether then further detection is received and ceased and desisted order;
If receive and cease and desist order, then send end data packet, if be not subjected to the finish command, then whether detected air pressure is protected;
If detecting air pressure is protected, then send end data packet, if not detecting air pressure is protected, promptly air pressure normally can normally move, and then searches for left hand note and displacement calculating time downwards, and then searches for downwards right hand note and displacement calculating time;
Interpolation is calculated, and interpolation calculating robot's the health and the displacement of waist send then and carry out packet;
Wait for and knocking in advance,, wait for and knocking in advance according to carrying out packet;
Detect playing state, promptly detect performance and whether finish,
Finish if play, then send end data packet;
Do not finish if play, then to return the output beat and carry out and knock step.
The invention has the beneficial effects as follows: robot of the present invention can realize playing dulcimer, the anthropomorphic profile of high emulation and anthropomorphic countenance and action; The robot that has realized two-dimentional pinpoint national percussion instrument dulcimer is at home and abroad first played; By the little cylinder of wrist control dulcimer, that can realize dulcimer knocks performance fast continuously, realizes " strike string and swing string " that dulcimer is played, and it is more true to nature to make the robot percussion instrument play; Can realize independent the performance and He Zou remarkably true to life; The Chinese national idiophonic robot performance of non-keyboard mode and the fast moving and the location of hit position thereof have been realized, attracting performance by robot, introduced outstanding Chinese Musical Instruments---dulcimer to the world, made people further understand long Chinese civilization.
Description of drawings
Fig. 1 is the robot construction synoptic diagram of one of the present invention's performance dulcimer.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
See also Fig. 1, there is shown a kind of robot of playing dulcimer of one of the present invention, this robot links to each other with the control computer 7 of upper band to receive the control of band, it comprises a robot body (not shown), this robot body comprises the wrist portion (not shown), health operation joint portion (not shown), face's (not shown), the dulcimer (not shown), the wrist that the present invention includes a main control inserted computer device 1 and link to each other with this main control inserted computer device 1 respectively impacts Control Servo System 2, body action Control Servo System 3, countenance Control Servo System 4, source of the gas and pneumatic control system 5, data acquisition and fault display device 6, wherein:
Main control inserted computer device 1 is realized the data processing and the order of playing the dulcimer robot are sent, the control computer 7 of it and upper band communicates, accept the information of playing music of the control computer 7 of upper band, send to the data of the control computer 7 various states of upper band, main control inserted computer device 1 is the control center of playing deal with data in the robot of dulcimer and giving an order, adopted the most a single-chip microcomputer of high configuration of the AVR series monolithic of atmel corp, can the various data of processing effectively at a high speed guarantee stability, it is that the key component of entire machine robot system is the important step of order transmission and data processing, adopted the CAN technology in the transmission of system information, it has outstanding reliability, real-time and dirigibility.Guaranteed the reliable and steady of operation;
Wrist impacts the various performance stroke commands that Control Servo System 2 is accepted main control inserted computer device 1, move by two wrist portion of minitype cylinder (not shown) drive machines human body and to impact fast realizing, little cylinder pneumatic control has the advantages that anti-overload ability is strong, volume is little, speed is fast, possess the loaded self-adaptive ability.The striking part of controlling the wrist in the dulcimer key position with it can perfectly must reach, scale well-bedded requirement synchronous, soft with the music score of Chinese operas;
Body action Control Servo System 3 is accepted the motion command of main control inserted computer device 1, move in health operation joint by servomotor (not shown) drive machines human body, realization is nodded, come back, bend over, multiple action such as turn round, body action Control Servo System 3 is piths that the main support (not shown) drives on the dulcimer, the servo-drive system that adopts need satisfy the wide and high requirement of precision of frequency span, make the moment of drive unit output, speed and position control very flexible, can be good at coordinating robot's action, when playing, body action Control Servo System 3 can respond the motion command that the impact position that calculated according to the instant note of various playing musics by main control inserted computer device 1 is sent, make on the both hands the hammerhead (not shown) fast and accurately move to the position of setting.
Countenance Control Servo System 4 is accepted the expression order of main control inserted computer device 1, face by a plurality of micromotor (not shown)s and little air cylinder driven (not shown) and combination drive machines human body, realize the polylith muscular movement of dummy robot face, realize the nictation of the robot of high emulation, blink, in an instant, smile, the expression action of lifting up one's voice etc. complicated, wherein, the nictation of robot, blink, control by micromotor in an instant, smile, lift up one's voice and control by little cylinder, by starting the little cylinder that drives lip, realize the unlatching and the closure of lip, the lift up one's voice peculiar technology of the robot that is this performance dulcimer, can reach the expression of speaking remarkably true to life by the commander of software sequential control;
The melody that source of the gas and pneumatic control system 5 are accepted main control inserted computer device 1 hits order, control the pressurized air that this total air pump produces by controlling a total air pump (not shown), and carry out the switching value control that electricity changes gas, realize that body action, countenance, wrist impact the cylinders all in the part and the action of other starting elements;
Data acquisition and fault display device 6 are collected the data of each system by main control inserted computer device 1, and judge whether operate as normal or trouble location, and this state shown, it is to reset for the detection of observing each parts intuitively that fault shows, carry out corresponding operating and prompting by the duty and the information via logical process that detect each parts, prevent the further expansion of fault, feasible requirement to the system maintenance personnel reduces.
A kind of ROBOT CONTROL method of playing dulcimer of two of the present invention, this robot accepts the PC control command of the control computer output of upper system, may further comprise the steps:
The self check step, after beginning, system carries out self check;
Reset process resets to the action of robot;
The fill order step, accept the PC control command of the control computer output of upper system, operate accordingly according to command execution, the PC control command comprises emergent order, sleep command, status inquiry command, the order of announcing the items on a programme, warning order, performance order, ceases and desist order, the teaching order, and wherein: warning order is that robot carries out warming-up exercise; Status inquiry command is the inquiry current state, and is undertaken by main control inserted computer device; Emergent order is for playing emergent song; Sleep command is performance dormancy action; The order of announcing the items on a programme is the control robot action of announcing the items on a programme; Play order for playing action for corresponding system by main control inserted computer device output control signal; Cease and desist order and stop for control robot action.
When fill order, specifically may further comprise the steps:
Read in step, read in current operating position data;
Decomposition step is decomposed right-hand man's action of robot;
Calculation procedure is calculated the robot movement velocity and the target location that need realization;
Execution in step, promptly the right-hand man carries out corresponding combination action according to movement velocity that calculates and target location;
Judged whether to cease and desist order,
If cease and desist order, then stop action, withdraw from then;
If do not cease and desist order, judge whether further that then whole actions finish,
If everything is all finished, then withdraw from;
If everything is not all finished, then return and read in step.
When carrying out the performance order, may further comprise the steps:
Check the song legitimacy, check whether song is legal,, then directly send end data packet,, then read song length and start address position if legal if illegal;
Read information, right-hand man's note, time, dynamics information in the reading data flow;
The output beat is also carried out and is knocked, and according to the information that reads, the beat of output list action is also carried out and knocked;
Wait for, wait for and knock end;
Detect, detect successively the robot of playing dulcimer whether be protected, whether receive cease and desist order, whether air pressure be protected,
If be protected, the robot of promptly playing dulcimer can not move again, then sends end data packet, if be not protected, the robot of promptly playing dulcimer is in the unprotect state, and whether then further detection is received and ceased and desisted order;
If receive and cease and desist order, then send end data packet, if be not subjected to the finish command, then whether detected air pressure is protected;
If detecting air pressure is protected, then send end data packet, if not detecting air pressure is protected, promptly air pressure normally can normally move, and then searches for left hand note and displacement calculating time downwards, and then searches for downwards right hand note and displacement calculating time;
Interpolation is calculated, and interpolation calculating robot's the health and the displacement of waist send then and carry out packet;
Wait for and knocking in advance,, wait for and knocking in advance according to carrying out packet;
Detect playing state, promptly detect performance and whether finish,
Finish if play, then send end data packet;
Do not finish if play, then to return the output beat and carry out and knock step.
Above embodiment is only for the usefulness that the present invention is described, but not limitation of the present invention, person skilled in the relevant technique, under the situation that does not break away from the spirit and scope of the present invention, can also make various conversion or modification, therefore all technical schemes that are equal to also should belong to category of the present invention, should be limited by each claim.
Claims (5)
1. robot of playing dulcimer, this robot links to each other with the control computer of upper band to receive the control of band, it comprises a robot body, this robot body comprises wrist portion, health operation joint portion, face, dulcimer, it is characterized in that, it comprises that a main control inserted computer device and the wrist that links to each other with this main control inserted computer device respectively impact Control Servo System, body action Control Servo System, countenance Control Servo System and source of the gas and pneumatic control system, wherein:
Described main control inserted computer device is realized the data processing and the order of playing the dulcimer robot are sent, the control computer of it and upper band communicates, accept the information of playing music of the control computer of upper band, send to the data of the various states of control computer of upper band;
Described wrist impacts the various performance stroke commands that Control Servo System is accepted main control inserted computer device, moves by two wrist portion of minitype cylinder drive machines human body to impact fast realizing;
Described body action Control Servo System is accepted the motion command of main control inserted computer device, moves by the health operation joint of driven by servomotor robot body, realizes the action of nodding, come back, bend over, turning round;
Described countenance Control Servo System is accepted the expression order of main control inserted computer device, face by a plurality of micromotors and little air cylinder driven and combination drive machines human body, realize the polylith muscular movement of dummy robot face, by starting the little cylinder that drives lip, realize the unlatching and the closure of lip;
The melody that described source of the gas and pneumatic control system are accepted main control inserted computer device hits order, control the pressurized air that this total air pump produces by controlling a total air pump, and carry out the switching value control that electricity changes gas, realize that body action, countenance, wrist impact the cylinders all in the part and the action of other starting elements.
2. the robot of performance dulcimer according to claim 1, it is characterized in that, also comprise a data acquisition and a fault display device that links to each other with described main control inserted computer device, it collects the data of each system by main control inserted computer device, and judge whether operate as normal or trouble location, and this state is shown.
3. ROBOT CONTROL method of playing dulcimer, this robot accepts the PC control command of the control computer output of upper system, it is characterized in that, may further comprise the steps:
The self check step, after beginning, system carries out self check;
Reset process resets to the action of robot;
The fill order step, accept the PC control command of the control computer output of upper system, operate accordingly according to command execution, the PC control command comprises emergent order, sleep command, status inquiry command, the order of announcing the items on a programme, warning order, performance order, ceases and desist order, wherein:
Described warning order is that robot carries out warming-up exercise;
Described status inquiry command is the inquiry current state, and is undertaken by main control inserted computer device;
Described emergent order is for playing emergent song;
Described sleep command is performance dormancy action;
The described order of announcing the items on a programme is the control robot action of announcing the items on a programme;
Described performance order is for playing action for corresponding system by main control inserted computer device output control signal;
Described ceasing and desisting order stops for control robot action.
4. the ROBOT CONTROL method of performance dulcimer according to claim 3 is characterized in that, described fill order step may further comprise the steps:
Read in step, read in current operating position data;
Decomposition step is decomposed right-hand man's action of robot;
Calculation procedure is calculated the robot movement velocity and the target location that need realization;
Execution in step, promptly the right-hand man carries out corresponding combination action according to movement velocity that calculates and target location;
Judged whether to cease and desist order,
If cease and desist order, then stop action, withdraw from then;
If do not cease and desist order, judge whether further that then whole actions finish,
If everything is all finished, then withdraw from;
If everything is not all finished, then return and read in step.
5. the ROBOT CONTROL method of performance dulcimer according to claim 3 is characterized in that, when carrying out the performance order, may further comprise the steps:
Check the song legitimacy, check whether song is legal,, then directly send end data packet,, then read song length and start address position if legal if illegal;
Read information, right-hand man's note, time, dynamics information in the reading data flow;
The output beat is also carried out and is knocked, and according to the information that reads, the beat of output list action is also carried out and knocked;
Wait for, wait for and knock end;
Detect, detect successively the robot of playing dulcimer whether be protected, whether receive cease and desist order, whether air pressure be protected,
If be protected, the robot of promptly playing dulcimer can not move again, then sends end data packet, if be not protected, the robot of promptly playing dulcimer is in the unprotect state, and whether then further detection is received and ceased and desisted order;
If receive and cease and desist order, then send end data packet, if be not subjected to the finish command, then whether detected air pressure is protected;
If detecting air pressure is protected, then send end data packet, if not detecting air pressure is protected, promptly air pressure normally can normally move, and then searches for left hand note and displacement calculating time downwards, and then searches for downwards right hand note and displacement calculating time;
Interpolation is calculated, and interpolation calculating robot's the health and the displacement of waist send then and carry out packet;
Wait for and knocking in advance,, wait for and knocking in advance according to carrying out packet;
Detect playing state, promptly detect performance and whether finish,
Finish if play, then send end data packet;
Do not finish if play, then to return the output beat and carry out and knock step.
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| CN2010101811072A CN101825896B (en) | 2010-05-24 | 2010-05-24 | Robot playing the dulcimer and control method |
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| CN2010101811072A CN101825896B (en) | 2010-05-24 | 2010-05-24 | Robot playing the dulcimer and control method |
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| CN101825896B CN101825896B (en) | 2012-04-04 |
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| CN102306017A (en) * | 2011-05-30 | 2012-01-04 | 王晨升 | Xylophone playing robot with humanoid structure |
| CN103217977A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Control method of automatic working equipment |
| CN103217912A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Automatic working equipment |
| CN106584479A (en) * | 2016-12-30 | 2017-04-26 | 中国地质大学（武汉） | Dulcimer robot double-arm-coordination and crossing-prevention playing method based on real-time information flow |
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| CN106584479B (en) * | 2016-12-30 | 2019-02-01 | 中国地质大学（武汉） | Dulcimer Robot Dual-Arm based on real time information stream cooperates with anti-intersection playing method |
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| CN101825896B (en) | 2012-04-04 |
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