CN101885181A - Robot for playing cucurbit flute and control method thereof - Google Patents
Robot for playing cucurbit flute and control method thereof Download PDFInfo
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- CN101885181A CN101885181A CN 201010181487 CN201010181487A CN101885181A CN 101885181 A CN101885181 A CN 101885181A CN 201010181487 CN201010181487 CN 201010181487 CN 201010181487 A CN201010181487 A CN 201010181487A CN 101885181 A CN101885181 A CN 101885181A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000009471 action Effects 0.000 claims abstract description 41
- 230000005057 finger movement Effects 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 6
- 230000036541 health Effects 0.000 claims description 6
- 238000002360 preparation method Methods 0.000 claims description 6
- 230000007958 sleep Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 230000005059 dormancy Effects 0.000 claims description 3
- 230000003387 muscular Effects 0.000 claims description 3
- 238000006386 neutralization reaction Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 230000008921 facial expression Effects 0.000 abstract 2
- 239000011295 pitch Substances 0.000 abstract 1
- 210000000088 lip Anatomy 0.000 description 4
- 238000007664 blowing Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
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Abstract
The invention discloses a robot for playing cucurbit flute and a control method thereof. The robot is connected with a control computer of an upper band to be controlled by the band and comprises a robot body, a main control embedded computer device, a finger control servo system, a body action control servo system, a facial expression control servo system, an air source and an air pressure control system, wherein the robot body comprises a finger part, a body operating joint part, a face part and the cucurbit flute; and the finger control servo system, the body action control servo system and the facial expression control servo system are connected with the main control embedded computer device respectively. The control method comprises a self-checking step, namely, performing system self-checking after the startup of the system; a resetting step, namely, resetting the action of the robot; and a command executing step, namely, receiving a PC control command output by the control computer of an upper system and performing corresponding operation according to the command. The robot has high biofidelity. In the robot for playing cucurbit flute, tone setting is realized by pressing holes and adjusting pitches for the first time at home and abroad.
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 cucurbit flute.
Background technology
In recent years, in International exhibition with significant impact or robot exhibition, the band that the performance of robot and robot form is quite attracting project.
National musical instruments cucurbit silk for China, the robot that does not also have this respect at present both at home and abroad, particularly by coming the blowing instrument robot of accordatura then not have especially by hole and adjustment hole distance, applicant of the present invention is devoted to develop a kind of high emulation that has, and can realize coming by hole and adjustment hole distance the robot of the playing cucurbit flute of accordatura.
Summary of the invention
The object of the present invention is to provide a kind of robot and control method of playing cucurbit flute, it has high emulation, has at home and abroad realized first by come the robot of the playing cucurbit flute of accordatura by hole and adjustment hole distance.
The technical scheme that realizes above-mentioned purpose is:
The robot of a kind of playing cucurbit flute 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 finger section, health operation joint portion, face, cucurbit silk, wherein, finger control servo-drive system, body action control servo-drive system, countenance control servo-drive system and source of the gas and pneumatic control system that it comprises a main control inserted computer device and links to each other with this main control inserted computer device respectively, wherein:
Described main control inserted computer device is realized the data processing and the order of playing cucurbit flute 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 finger control servo-drive system is accepted the various performance orders of main control inserted computer device, moves by stepper motor driven machine human body's finger section;
Described body action control servo-drive system is accepted the motion command of main control inserted computer device, move in health operation joint by the driven by servomotor robot body, realizes nodding, comes back, bends over, turns round, both hands hold the cucurbit silk and put into mouthful action that neutralization is taken off;
Described countenance control servo-drive system is accepted the expression order of main control inserted computer device, and the face by a plurality of micro machines and little air cylinder driven and combination driven machine human body realizes the polylith muscular movement of dummy robot face;
Described source of the gas and pneumatic control system are accepted the order of playing wind instruments of main control inserted computer device, control the compressed air that this total air pump produces by controlling a total air pump, adopt a servo pressure regulating device to regulate the size and the flow velocity of stream pressure, realize the accurate control of the lip air-flow in the input robot body, reach size and fine setting tone that musical instrument is sounded.
The robot of above-mentioned playing cucurbit flute, 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.
The robot of above-mentioned playing cucurbit flute, wherein, also comprise a teaching module that links to each other with described main control inserted computer device, this teaching module is accepted the signal of playing wind instruments of outside input, outputs signal to described main control inserted computer device to realize the instant simulated playing of simulation true man.
The ROBOT CONTROL method of a kind of playing cucurbit flute 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 is accepted the PC control command of the control computer output of upper system, operates accordingly according to command execution.
The ROBOT CONTROL method of above-mentioned playing cucurbit flute, wherein, in the described fill order step, 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, 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 action of announcing the items on a programme of control robot;
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 controlling robot motion;
Described teaching order is for simulating the instant simulated playing of true man by main control inserted computer device control teaching module.
The ROBOT CONTROL method of above-mentioned playing cucurbit flute, 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 playing cucurbit flute 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 data to random access memory according to song if legal if illegal;
Read information, reading data flow note, time, pressure information from random access memory;
Output finger movement and air pressure, according to the information that reads, output finger movement and pressure information;
Wait for, wait for the finger tenth skill;
Detect; whether the robot that at first detects playing cucurbit flute is protected; if be protected; the robot that is playing cucurbit flute can not move again; then send end data packet, if be not protected, promptly the robot of playing cucurbit flute is in the unprotect state; whether then further detection is received and is 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 read in the next frame data;
Pre-preparation, read in the next frame data after, the action of the finger of the robot of playing cucurbit flute enters the pre-preparation state;
Detect playing state, promptly detect performance and whether finish,
Finish if play, then send end data packet;
Do not finish if play, then return output finger movement and air pressure step.
The invention has the beneficial effects as follows: robot of the present invention can realize the playing cucurbit flute musical instrument, and countenance and action that can the anthropomorphic dummy; By regulating the size and the flow velocity of stream pressure, the accurate control of the lip air-flow of machine philtrum is imported in realization, reaches size and fine setting tone that musical instrument is sounded, has realized the independent performance and the He Zou remarkably true to life of the common cucurbit silk of non-keyboard national musical instruments; Realized blowing instrument from the mouth of robot put into and, take out, it is more true to nature to make robot play; Can simulate true man's realization simulated playing immediately.By the attracting performance of robot, introduced outstanding Chinese Musical Instruments one cucurbit silk to the world, make people further understand long Chinese civilization.
Description of drawings
Fig. 1 is the robot construction schematic diagram of one of the present invention's playing cucurbit flute.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
See also Fig. 1, there is shown the robot of a kind of playing cucurbit flute of one of the present invention, this robot links to each other with the control computer 8 of upper band to receive the control of band, it comprises a robot body (not shown), this robot body comprises the finger section (not shown), health operation joint portion (not shown), face's (not shown), cucurbit silk (not shown), the finger control servo-drive system 2 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, body action control servo-drive system 3, countenance control servo-drive system 4, source of the gas and pneumatic control system 5, teaching module 6, data acquisition and fault display device 7, wherein:
Main control inserted computer device 1 is realized the data processing and the order of playing cucurbit flute robot are sent, the control computer 8 of it and upper band communicates, accept the information of playing music of the control computer 8 of upper band, send to the data of the control computer 8 various states of upper band;
Finger control servo-drive system 2 is accepted the various performance orders of main control inserted computer device 1, finger section by stepper motor (not shown) driven machine human body is moved, have precision height, outstanding start-stop and reverse response, reliability than characteristics such as height, in the cucurbit silk, be used on the finger actuation, its effect is to can be good at control fast to play, and reaches good performing effect;
Body action control servo-drive system 3 is accepted the motion command of main control inserted computer device 1, move in health operation joint by servo (not shown) motor-driven robot body, realizes nodding, comes back, bends over, turns round, both hands hold the cucurbit silk and put into a mouthful neutralization and multiple action such as take off;
Countenance control servo-drive system 4 is accepted the expression order of main control inserted computer device 1, face by a plurality of micro machine (not shown)s and little air cylinder driven (not shown) and combination driven machine human body, realize the polylith muscular movement of dummy robot face, realize the nictation, blink of the robot of high emulation, in an instant, complicated expression action such as smile, lift up one's voice;
Source of the gas and pneumatic control system 5 are accepted the order of playing wind instruments of main control inserted computer device 1, control the compressed air that this total air pump produces by controlling a total air pump (not shown), adopt a servo pressure regulating device (not shown) to regulate the size and the flow velocity of stream pressure, realize the accurate control of the lip air-flow in the input robot body, reach size and fine setting tone that musical instrument is sounded.
Teaching module 6 is accepted the signal of playing wind instruments of outside input, outputs signal to main control inserted computer device 1 to realize the instant simulated playing of simulation true man.
Data acquisition and fault display device 7 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.
The ROBOT CONTROL method of a kind of playing cucurbit flute 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 action of announcing the items on a programme of control robot; Play order for playing action for corresponding system by main control inserted computer device output control signal; Cease and desist order and stop for controlling robot motion; The teaching order is for simulating the instant simulated playing of true man by main control inserted computer device control teaching module.
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 data to random access memory according to song if legal if illegal;
Read information, reading data flow note, time, pressure information from random access memory;
Output finger movement and air pressure, according to the information that reads, output finger movement and pressure information;
Wait for, wait for the finger tenth skill;
Detect; whether the robot that at first detects playing cucurbit flute is protected; if be protected; the robot that is playing cucurbit flute can not move again; then send end data packet, if be not protected, promptly the robot of playing cucurbit flute is in the unprotect state; whether then further detection is received and is 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 read in the next frame data;
Pre-preparation, read in the next frame data after, the action of the finger of the robot of playing cucurbit flute enters the pre-preparation state;
Detect playing state, promptly detect performance and whether finish,
Finish if play, then send end data packet;
Do not finish if play, then return output finger movement and air pressure 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 (7)
1. the robot of a playing cucurbit flute, 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 finger section, health operation joint portion, face, cucurbit silk, it is characterized in that, finger control servo-drive system, body action control servo-drive system, countenance control servo-drive system and source of the gas and pneumatic control system that it comprises a main control inserted computer device and links to each other with this main control inserted computer device respectively, wherein:
Described main control inserted computer device is realized the data processing and the order of playing cucurbit flute 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 finger control servo-drive system is accepted the various performance orders of main control inserted computer device, moves by stepper motor driven machine human body's finger section;
Described body action control servo-drive system is accepted the motion command of main control inserted computer device, move in health operation joint by the driven by servomotor robot body, realizes nodding, comes back, bends over, turns round, both hands hold the cucurbit silk and put into mouthful action that neutralization is taken off;
Described countenance control servo-drive system is accepted the expression order of main control inserted computer device, and the face by a plurality of micro machines and little air cylinder driven and combination driven machine human body realizes the polylith muscular movement of dummy robot face;
Described source of the gas and pneumatic control system are accepted the order of playing wind instruments of main control inserted computer device, control the compressed air that this total air pump produces by controlling a total air pump, adopt a servo pressure regulating device to regulate the size and the flow velocity of stream pressure, realize the accurate control of the lip air-flow in the input robot body, reach size and fine setting tone that musical instrument is sounded.
2. the robot of playing cucurbit flute 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. the robot of playing cucurbit flute according to claim 1 and 2, it is characterized in that, also comprise a teaching module that links to each other with described main control inserted computer device, this teaching module is accepted the signal of playing wind instruments of outside input, outputs signal to described main control inserted computer device to realize the instant simulated playing of simulation true man.
4. the ROBOT CONTROL method of a playing cucurbit flute, 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 is accepted the PC control command of the control computer output of upper system, operates accordingly according to command execution.
5. the ROBOT CONTROL method of playing cucurbit flute according to claim 4, it is characterized in that, in the described fill order step, 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, 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 action of announcing the items on a programme of control robot;
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 controlling robot motion;
Described teaching order is for simulating the instant simulated playing of true man by main control inserted computer device control teaching module.
6. according to the ROBOT CONTROL method of claim 4 or 5 described playing cucurbit flutes, it 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.
7. the ROBOT CONTROL method of playing cucurbit flute according to claim 5 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 data to random access memory according to song if legal if illegal;
Read information, reading data flow note, time, pressure information from random access memory;
Output finger movement and air pressure, according to the information that reads, output finger movement and pressure information;
Wait for, wait for the finger tenth skill;
Detect; whether the robot that at first detects playing cucurbit flute is protected; if be protected; the robot that is playing cucurbit flute can not move again; then send end data packet, if be not protected, promptly the robot of playing cucurbit flute is in the unprotect state; whether then further detection is received and is 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 read in the next frame data;
Pre-preparation, read in the next frame data after, the action of the finger of the robot of playing cucurbit flute enters the pre-preparation state;
Detect playing state, promptly detect performance and whether finish,
Finish if play, then send end data packet;
Do not finish if play, then return output finger movement and air pressure step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010181487XA CN101885181B (en) | 2010-05-24 | 2010-05-24 | Robot for playing cucurbit flute and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010181487XA CN101885181B (en) | 2010-05-24 | 2010-05-24 | Robot for playing cucurbit flute and control method thereof |
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| CN101885181A true CN101885181A (en) | 2010-11-17 |
| CN101885181B CN101885181B (en) | 2011-08-10 |
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| CN201010181487XA Expired - Fee Related CN101885181B (en) | 2010-05-24 | 2010-05-24 | Robot for playing cucurbit flute and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103581306A (en) * | 2012-07-31 | 2014-02-12 | 芬德乐器公司 | System and method for connecting and controlling music-related instruments over communication network |
| CN105818150A (en) * | 2016-05-05 | 2016-08-03 | 安徽击尔智能科技有限公司 | Bamboo flute robot |
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| Publication number | Publication date |
|---|---|
| CN101885181B (en) | 2011-08-10 |
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Effective date of registration: 20161116 Address after: 643000, No. two, No.1 longitudinal Industrial Park, Zigong hi tech Zone, Sichuan, China Patentee after: ZIGONG ZHICHENG TECHNOLOGY CO.,LTD. Address before: 200336 Shanghai City, Changning District Xingyi Road 8, 30 floor Wandu Center Patentee before: Shanghai Electric Group Co.,Ltd. Patentee before: ZIGONG ZHIYOU SCIENCE AND TECHNOLOGY Co.,Ltd. |
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Address after: No. 1 Longitudinal Second Road, Bancang Industrial Park, Zigong High-tech Zone, Sichuan Province Patentee after: Zigong Sincere Automation Equipment Co.,Ltd. Address before: No. 1 Longitudinal Second Road, Bancang Industrial Park, Zigong High-tech Zone, Sichuan Province Patentee before: ZIGONG ZHICHENG TECHNOLOGY CO.,LTD. |
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Granted publication date: 20110810 |
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