CN103135487B - Intelligent piano playing system - Google Patents
Intelligent piano playing system Download PDFInfo
- Publication number
- CN103135487B CN103135487B CN201310053909.9A CN201310053909A CN103135487B CN 103135487 B CN103135487 B CN 103135487B CN 201310053909 A CN201310053909 A CN 201310053909A CN 103135487 B CN103135487 B CN 103135487B
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- finger
- steering wheel
- chassis
- music score
- playing system
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Abstract
The invention relates to an intelligent piano playing system. The intelligent piano playing system comprises an execution unit and a controlling unit, wherein the execution unit comprises a horizontal guide rail and two machine hands which can move left and right on the horizontal guide rail, the horizontal guide rail is provided with a base support, two parallel horizontal guide rods are arranged on the top face of the base support, racks parallel to the horizontal guide rods are arranged on the lower portion of the base support, each of the machine hands comprises a chassis, seven bionic fingers are connected with a finger support in a pivot mode on the front part of the chassis, a steering engine which controls the fingers to complete knocking motions is arranged on the back portion of the chassis, the steering engine is connected with the fingers through finger linkage rods, a box type unit sliding block which is connected with the guide rods in sliding fit is arranged on the lower portion of the chassis, a steeping motor which enables the machine hands to move left and right is arranged below the chassis, gears meshed with the racks are arranged on an output shaft of the stepping motor, the control unit comprises upper computers and lower computers, and the lower computers are arranged on the machine hands and connected with a general control platform through recommend standard (RS) 232 ports.
Description
Technical field
The present invention relates to a kind of intelligent piano playing system.
Background technology
Piano is as the king of musical instrument, because of liking of its range broadness, the graceful people of being subject to of tone color, setting a song to music, performance, music teaching etc. conveniently have very wide significance, existing intelligent piano comes out at present, it has the functions such as intelligence performance and Piano Teaching, but it is expensive, not directly perceived in the process of playing and imparting knowledge to students, cannot extensively be promoted.
Summary of the invention
The object of this invention is to provide a kind of low price, easy to operate, play intelligent piano playing system intuitively, can assist people to carry out musical performance and music teaching work, there is good practical value.
The technical solution adopted for the present invention to solve the technical problems is: intelligent piano playing system, comprise performance element and control module, and described performance element comprises horizontal guide rail and two mechanical arms that can move left and right on horizontal guide rail; Described horizontal guide rail has a base support, and base support end face is provided with two horizontal guide that are parallel to each other, and base support bottom is provided with the tooth bar parallel with guide rod; Described mechanical arm comprises chassis, and front portion, chassis is articulated with 7 bionic fingers by finger bracket, and rear portion, chassis is provided with controls the steering wheel of having pointed hammer action; Described steering wheel is connected with finger by pointing trace; Bottom, chassis is provided with the box unit slide block with guide rod sliding connection, and the stepper motor that can make the translation of mechanical arm left and right; The gear being connected with a joggle with tooth bar is installed on the output shaft of described stepper motor; Described control module comprises host computer and slave computer, and described host computer comprises master control platform, display unit, music score input block, music score recognition unit and RS232 serial communication interface; Described music score input block is connected with music score recognition unit; Display unit and music score recognition unit are all connected with master control platform; Described slave computer is installed on mechanical arm, comprises STM32 embedded control chip, RS232 serial communication interface and timer pulse output module; Timer pulse output module is connected with STM32 embedded control chip and mechanical arm respectively; STM32 embedded control chip is connected with master control platform by RS232 interface.
Described finger bracket is bolted the front side that is installed on chassis, finger is arc, finger front end is aimed at fingerboard downwards, the rear end lower correspondence of the top of finger bracket and finger is provided with through hole, a major axis is successively through seven fingers and finger bracket, and each root finger is rotatably connected with major axis by bearing; Finger rear portion extends upward, and top is provided with the bar hole that can penetrate finger trace, and the other end of finger trace is connected with steering wheel by connecting clamp, guarantees steering wheel arm and the tight interlock of finger trace; Finger trace adopts 2mm steel wire to make, also not yielding in the time of hard, the left-right rotation of steering wheel is converted to the rotation up and down of finger, controls dynamics and the speed of playing; A steering wheel is controlled a finger.
Described steering wheel is fixedly installed on steering wheel support, and a steering wheel support is installed a steering wheel, and steering wheel support is arranged on the lifting frame that is fixed on rear portion, chassis, to improve the setting height(from bottom) of steering wheel, makes steering wheel arm rotational plane and points top in same plane.
A slave computer is all installed on every mechanical arm, and described slave computer is connected with stepper motor and each steering wheel on this mechanical arm.
Described base support consists of 5mm steel plate, for location guide, for whole system provides support.
Described guide rod is bolted the front and back side that is installed on base support top, and tooth bar is positioned at the bottom of base support, and its two ends are fixedly connected with base support.
The aluminium sheet that described mechanical arm chassis is 200mm * 170mm * 5mm, has also alleviated deadweight when guaranteeing mechanical arm rigidity intensity.
Described stepper motor is the actuating unit of whole framework, and its powerful torsion can move mechanical arm rapidly on guide rail.
Slide block inside, described box unit is provided with ball, can on guide rod, carry out low friction rolling, simultaneously also for interlock guide rod, makes the tight interlock of wheel and rack of stepper motor.
Principle of work of the present invention is: the range variation range of common music surpasses 14 degree, can there is not large saltus step in its range of music score of general difficulty, adjacent two maximum saltus steps can not surpass 7 degree, the present invention has established two mechanical arms, on each mechanical arm, there are 7 fingers, meet the corresponding finger of each button in a range, finger is in the process of playing otherwise stop mobile, in order to meet performance and amount of movement, minimize demand, the present invention has adopted sliding window algorithm, 7 fingers are regarded as to a window, the capacity of this window is 7, first set a threshold value music score is divided into two parts, the setting of threshold value is that the minimum value of one section of music score adds 7, then for being less than that a part of music score of threshold value, add up, if maximum deviation is less than window of 7 distribution in one section of music score, equally for another window of distribution that is greater than threshold value maximum deviation and is less than 7, the process that distributes window namely mechanical arm moves and a process of distribution locations, then according to the deviation of music score value and this section of minimum value, distribute pressing or upspringing of finger, if run into deviation, be greater than the operation that 7 craspedodrome distributes window.
The invention has the beneficial effects as follows: a kind of intelligent piano playing system, low price, easy to operate, play intuitively, can assist people to carry out musical performance and music teaching work, there is good practical value.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Accompanying drawing 1 is a kind of example structure schematic diagram of intelligent piano playing system.
Accompanying drawing 2 is a kind of structural representation of performance element of intelligent piano playing system.
Accompanying drawing 3 is a kind of structured flowchart of control module of intelligent piano playing system.
Accompanying drawing 4 is a kind of workflow diagram of intelligent piano playing system.
In figure, 1. base support, 2. guide rod, 3. chassis, 4. lifting frame, 5. steering wheel support, 6. steering wheel, 7. finger trace, 8. finger, 9. slave computer, 10. tooth bar, 11. host computers, 12. pianos, 13. finger brackets, 14. connecting clamps, 15. stepper motors, 16. gears, 17. box unit slide blocks.
Embodiment
In the accompanying drawings, intelligent piano playing system, comprises performance element and control module, and described performance element comprises horizontal guide rail and two mechanical arms that can move left and right on horizontal guide rail; Described horizontal guide rail has a base support 1, and base support 1 end face is provided with two horizontal guide that are parallel to each other 2, and base support 1 bottom is provided with the tooth bar parallel with guide rod 2 10; Described mechanical arm comprises chassis 3, and 3 front portions, chassis are articulated with 7 bionic fingers 8 by finger bracket 13, and 3 rear portions, chassis are provided with controls the steering wheel 6 that finger 8 completes hammer action; Described steering wheel 6 is connected with finger 8 by finger trace 7; 3 bottoms, chassis are provided with the box unit slide block 17 with guide rod 2 sliding connections, and the stepper motor 15 that can make the translation of mechanical arm left and right; The gear 16 being connected with a joggle with tooth bar 10 is installed on the output shaft of described stepper motor 15; Described control module comprises host computer 11 and slave computer 9, and described host computer 11 comprises master control platform, display unit, music score input block, music score recognition unit and RS232 serial communication interface; Described music score input block is connected with music score recognition unit; Display unit and music score recognition unit are all connected with master control platform; Described slave computer 9 is installed on mechanical arm, comprises STM32 embedded control chip, RS232 serial communication interface and timer pulse output module; Timer pulse output module is connected with STM32 embedded control chip and mechanical arm respectively; STM32 embedded control chip is connected with master control platform by RS232 interface.
Described finger bracket 13 is bolted the front side that is installed on chassis 3, finger 8 is arc, point 8 front ends and aim at piano 12 keyboards downwards, the rear end lower correspondence of the top of finger bracket 13 and finger 8 is provided with through hole, a major axis is successively through seven fingers 8 and finger bracket 13, and each root finger 8 is rotatably connected with major axis by bearing; Point 8 rear portions and extend upward, top is provided with the bar hole that can penetrate finger trace 7, and the other end of finger trace 7 is connected with steering wheel 6 by connecting clamp 14, guarantees steering wheel arm and the tight interlock of finger trace 7; Finger trace 7 adopts 2mm steel wire to make, also not yielding in the time of hard, the left-right rotation of steering wheel 6 is converted to the rotation up and down of finger 8, controls dynamics and the speed of playing; A steering wheel 6 is controlled a finger 8.
Described steering wheel 6 is fixedly installed on steering wheel support 5, a steering wheel support 5 is installed a steering wheel 6, steering wheel support 5 is arranged on the lifting frame 4 that is fixed on 3 rear portions, chassis, to improve the setting height(from bottom) of steering wheel 6, makes steering wheel arm rotational plane and points 8 tops in same plane.
A slave computer 9 is all installed on every mechanical arm, and described slave computer 9 is connected with stepper motor 15 and each steering wheel 6 on this mechanical arm.
Described base support 1 consists of 5mm steel plate, for location guide 2, for whole system provides support.
Described guide rod 2 is bolted the front and back side that is installed on base support 1 top, and tooth bar 10 is positioned at the bottom of base support 1, and its two ends are fixedly connected with base support 1.
The aluminium sheet that described mechanical arm chassis 3 is 200mm * 170mm * 5mm, has also alleviated deadweight when guaranteeing mechanical arm rigidity intensity.
The actuating unit that described stepper motor 15 is whole framework, its powerful torsion can move mechanical arm rapidly on guide rail.
Slide block 17 inside, described box unit are provided with ball, can on guide rod 2, carry out low friction rolling, simultaneously also for interlock guide rod 2, make the gear 16 and the tight interlock of tooth bar 10 of stepper motor 15.
Principle of work of the present invention is: the range variation range of common music surpasses 14 degree, can there is not large saltus step in its range of music score of general difficulty, adjacent two maximum saltus steps can not surpass 7 degree, the present invention has established two mechanical arms, on each mechanical arm, there are 7 fingers 8, meet the corresponding finger 8 of each button in a range, finger 8 is in the process of playing otherwise stop mobile, in order to meet performance and amount of movement, minimize demand, the present invention has adopted sliding window algorithm, 7 fingers 8 are regarded as to a window, the capacity of this window is 7, first set a threshold value music score is divided into two parts, the setting of threshold value is that the minimum value of one section of music score adds 7, then for being less than that a part of music score of threshold value, add up, if maximum deviation is less than window of 7 distribution in one section of music score, equally for another window of distribution that is greater than threshold value maximum deviation and is less than 7, the process that distributes window namely mechanical arm moves and a process of distribution locations, then according to the deviation of music score value and this section of minimum value, distribute pressing or upspringing of finger 8, if run into deviation, be greater than the operation that 7 craspedodrome distributes window.
4 can find out by reference to the accompanying drawings, this system is when work, first by host computer 11, input music score and be converted to digital signal, by action maker generation moving parameter and steering wheel state, control parameter and pass to the control steering wheel control module of steering wheel 6 and the mobile control module of control step motor 15, thereby control mechanical arm and complete mobile and hammer action, in this process, sliding window algorithm participates in the mobile computing of stepper motor 15, control the accurate movement of mechanical arm, simultaneously, steering wheel control module and mobile control module feed back to action maker by the duty of steering wheel 6 and stepper motor 15, the maker that makes to move can be made next step instruction.
Control system of the present invention is based on Intel's atom processing platform, in conjunction with the linux kernel operating system structure of yocto.
This intelligence piano playing system also can be used for mellotron.
Claims (9)
1. an intelligent piano playing system, is characterized in that: comprise performance element and control module, described performance element comprises horizontal guide rail and two mechanical arms that can move left and right on horizontal guide rail; Described horizontal guide rail has a base support (1), and base support (1) end face is provided with two horizontal guide that are parallel to each other (2), and base support (1) bottom is provided with the tooth bar (10) parallel with guide rod (2); Described mechanical arm comprises chassis (3), and chassis (3) are anterior is articulated with 7 bionic fingers (8) by finger bracket (13), and rear portion, chassis (3) is provided with controls the steering wheel (6) that finger (8) completes hammer action; Described steering wheel (6) is connected with finger (8) by finger trace (7); Bottom, chassis (3) is provided with the box unit slide block (17) with guide rod (2) sliding connection, and the stepper motor (15) that can make the translation of mechanical arm left and right; The gear (16) being connected with a joggle with tooth bar (10) is installed on the output shaft of described stepper motor (15); Described control module comprises host computer (11) and slave computer (9), and described host computer (11) comprises master control platform, display unit, music score input block, music score recognition unit and RS232 serial communication interface; Described music score input block is connected with music score recognition unit; Display unit and music score recognition unit are all connected with master control platform; Described slave computer (9) is installed on mechanical arm, comprises STM32 embedded control chip, RS232 serial communication interface and timer pulse output module; Timer pulse output module is connected with STM32 embedded control chip and mechanical arm respectively; STM32 embedded control chip is connected with master control platform by RS232 interface.
2. a kind of intelligent piano playing system according to claim 1, it is characterized in that: described finger bracket (13) is bolted the front side that is installed on chassis (3), finger (8) is arc, finger (8) front end is aimed at piano (12) keyboard downwards, the rear end lower correspondence of the top of finger bracket (13) and finger (8) is provided with through hole, a major axis is successively through seven fingers (8) and finger bracket (13), and each root finger (8) is rotatably connected with major axis by bearing; Finger (8) rear portion extends upward, and top is provided with the bar hole that can penetrate finger trace (7), and the other end of finger trace (7) is connected with steering wheel (6) by connecting clamp (14), guarantees steering wheel arm and closely interlock of finger trace (7); A steering wheel (6) is controlled a finger (8).
3. a kind of intelligent piano playing system according to claim 2, is characterized in that: finger trace (7) adopts 2mm steel wire to make.
4. according to a kind of intelligent piano playing system described in claim 1 or 2, it is characterized in that: described steering wheel (6) is fixedly installed on steering wheel support (5), a steering wheel support (5) is installed a steering wheel (6), steering wheel support (5) is arranged on the lifting frame (4) that is fixed on rear portion, chassis (3), to improve the setting height(from bottom) of steering wheel (6), make steering wheel arm rotational plane and finger (8) top in same plane.
5. a kind of intelligent piano playing system according to claim 1, is characterized in that: a slave computer (9) is all installed on every mechanical arm, and described slave computer (9) is connected with stepper motor (15) and each steering wheel (6) on this mechanical arm.
6. a kind of intelligent piano playing system according to claim 1, is characterized in that: described base support (1) consists of 5mm steel plate.
7. a kind of intelligent piano playing system according to claim 1, is characterized in that: described mechanical arm chassis (3) is the aluminium sheet of 200mm * 170mm * 5mm.
8. a kind of intelligent piano playing system according to claim 1, is characterized in that: described box unit slide block (17) inside is provided with ball.
9. a kind of intelligent piano playing system according to claim 1, it is characterized in that: principle of work of the present invention is: the range variation range of common music surpasses 14 degree, can there is not large saltus step in its range of music score of general difficulty, adjacent two maximum saltus steps can not surpass 7 degree, the present invention has established two mechanical arms, on each mechanical arm, there are 7 fingers (8), meet the corresponding finger (8) of each button in a range, finger (8) is in the process of playing otherwise stop mobile, in order to meet performance and amount of movement, minimize demand, the present invention has adopted sliding window algorithm, 7 fingers (8) are regarded as to a window, the capacity of this window is 7, first set a threshold value music score is divided into two parts, the setting of threshold value is that the minimum value of one section of music score adds 7, then for being less than that a part of music score of threshold value, add up, if maximum deviation is less than window of 7 distribution in one section of music score, for being greater than that a part of music score of threshold value, add up equally, another window of distribution that in one section of music score, if maximum deviation is less than 7, the process that distributes window namely mechanical arm moves and a process of distribution locations, then according to the deviation of music score value and this section of minimum value, distribute pressing or upspringing of finger (8), if run into deviation, be greater than the operation that 7 craspedodrome distributes window.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310053909.9A CN103135487B (en) | 2013-02-20 | 2013-02-20 | Intelligent piano playing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310053909.9A CN103135487B (en) | 2013-02-20 | 2013-02-20 | Intelligent piano playing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103135487A CN103135487A (en) | 2013-06-05 |
| CN103135487B true CN103135487B (en) | 2014-10-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310053909.9A Expired - Fee Related CN103135487B (en) | 2013-02-20 | 2013-02-20 | Intelligent piano playing system |
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| Country | Link |
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| CN (1) | CN103135487B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104167122A (en) * | 2014-07-31 | 2014-11-26 | 喻应芝 | Intelligent instruction-assisting practicing device and method of piano |
| CN106097830B (en) * | 2016-08-17 | 2018-12-07 | 广州视睿电子科技有限公司 | A kind of music score recognition method and device |
| CN106781845B (en) * | 2016-12-28 | 2018-12-21 | 湖南城市学院 | A kind of piano supplemental training device |
| CN107767730B (en) * | 2017-11-17 | 2021-07-02 | 温州大学瓯江学院 | Multi-fingering-method Chinese zither playing device capable of playing smoothly |
| CN108735035B (en) * | 2018-05-29 | 2020-09-11 | 怀化学院 | Piano teaching auxiliary device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1218294C (en) * | 2001-09-18 | 2005-09-07 | 武汉科恒工控工程有限责任公司 | Automatic piano playing system |
| EP1575026A2 (en) * | 2004-03-12 | 2005-09-14 | Yamaha Corporation | Automatic player musical instrument, for exactly controlling the keys |
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2013
- 2013-02-20 CN CN201310053909.9A patent/CN103135487B/en not_active Expired - Fee Related
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| CN103135487A (en) | 2013-06-05 |
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