CN106584479A - Dulcimer robot double-arm-coordination and crossing-prevention playing method based on real-time information flow - Google Patents
Dulcimer robot double-arm-coordination and crossing-prevention playing method based on real-time information flow Download PDFInfo
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- CN106584479A CN106584479A CN201611259505.5A CN201611259505A CN106584479A CN 106584479 A CN106584479 A CN 106584479A CN 201611259505 A CN201611259505 A CN 201611259505A CN 106584479 A CN106584479 A CN 106584479A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/004—Playing a music instrument
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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Abstract
The invention discloses a dulcimer robot double-arm-coordination and crossing-prevention playing method based on real-time information flow. The method comprises the following steps that (1) the vertical view of the dulcimer surface of a dulcimer is drawn, and an x-y plane coordinate system is established and partitioned according to dulcimer pitches; (2) the information flow related to music playing is received, music macro information is recorded, and tasks are allocated for a double-arm robot by analyzing note values in event information; and (3) corresponding note values, time intervals and strength allocated for the left arm and the right arm of the robot are integrated according to a not value allocation result and event information unit information obtained in the step (2), and the corresponding information flow including coordinate positions, time intervals and the speed is output. According to the dulcimer robot double-arm-coordination and crossing-prevention playing method based on the real-time information flow, during music playing of the dulcimer robot, the tasks can be allocated for the double arms of the dulcimer robot while the music information flow is received in real time, and the humanization characteristics that the double arms of the robot are less likely crossed and the double arms play the dulcimer intermittently and alternately are achieved.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly to a kind of dulcimer robot based on real time information stream pair
Arm cooperates with anti-intersection playing method.
Background technology
In the last few years, with the progress of science and technology, roboticses are also all-round developing therewith.Service humanoid robot conduct
One kind of robot, its application background is very wide, is mainly engaged in the work of the aspects such as maintenance, security, rescue, amusement, teaching.China
It is the same with countries in the world, also increasingly pay attention to servicing humanoid robot development, point out according to China's " robot development plan "
The service humanoid robot annual sales revenue of the year two thousand twenty China is expected to more than 30,000,000,000 RMB.
Used as one kind of service humanoid robot, it is studied can build to robot and artificial intelligence etc. for dulcimer robot
The research platform in field.Meanwhile, study dulcimer is but faced with related faculty as a kind of approach that modern cultivates one's taste
The problems such as not enough and somewhat expensive, and the appearance of dulcimer robot then solves to a certain extent this problem.
Shi Leirenhua robots of dulcimer robot, it has the both arms of hommization, therefore plays the process for tapping performing
The middle both arms needed to playing carry out task distribution.There are not any organisations and institutions to carry out deeply task distribution aspect yet at present
Research.A kind of method for allocating tasks based on dulcimer robot proposed by the present invention, can in real time to the musical composition information stream of reception
Carry out real-time processing distribution and tow-armed robot can be prevented effectively to play the phenomenon and sound that both arms excessively intersect in implementation procedure
There is one-armed frequent performance the in a certain region and taps uncoordinated phenomenon in identifier value altofrequency.
The content of the invention
The technical problem to be solved in the present invention is for defect of the prior art, there is provided one kind is based on real time information stream
Dulcimer Robot Dual-Arm cooperate with anti-intersection playing method.
The technical solution adopted for the present invention to solve the technical problems is：A kind of dulcimer robot based on real time information stream
Both arms cooperate with anti-intersection playing method, comprise the following steps：
1) dulcimer qin face top view is drawn, the origin with dulcimer qin face top view lower-left angular vertex as coordinate system sets up x-y
Plane coordinate system；Following subregion is carried out to coordinate system according to dulcimer pitch：Alt A areas, middle bass B areas；The dulcimer qin face
Demarcation on top view has bridge and hits string position；
2) playing music related information flow, the grand information of record melody, by the note value pair in analysis event information are received
Tow-armed robot carries out task distribution；
The playing music related information flow includes the grand information unit of melody and event information element；The grand information unit
Including：Tone color, channel number, rhythm tempo, ticks numbers, intensity and scale information；The event information element includes：Between the time
Every, control instruction, note value and dynamics；
Concrete distribution method is as follows：The position of note value correspondence dulcimer string is determined by melody scale, if note value pair
Answer string to belong to A areas and left arm continuous dispensing number of times accumulative not up to 3 times, then will hit against task and distribute to robot left hand
Arm；If note correspondence string to belong to B areas and right arm continuous dispensing number of times accumulative not up to 3 times, the task of will hit against distribute to
Robot right arm；If the arm continuous dispensing number of times has reached 3 times, no matter note correspondence string is in A areas or B areas,
All the note value is assigned to into another arm, and the arm continuous dispensing number of times is set to 0；
3) according to step 2) note allocation result and event information element information, integrate for distributing to left arm and the right side
The corresponding note value of arm, time interval, dynamics, export corresponding control information stream { coordinate position, time interval, speed
Degree }.
By such scheme, the step 1) in partition method be：By bridge and hit from left to right in top view coordinate system
String position is designated as 1 to 5 row, wherein 1 to 2 is classified as alt area and is set to A areas, 3 to 5 are classified as alt area is set to B areas.
By such scheme, the step 2) in, robot left arm often performs a subtask, then by left arm continuous dispensing time
Number Jia 1, and right arm continuous dispensing number of times is set to 0；Robot right arm often performs a subtask, then by right arm continuous dispensing number of times
Plus 1, left arm continuous dispensing number of times is set to into 0.
By such scheme, the step 3) in the time interval of control information stream be to strike for same arm after task distribution
The time interval of adjacent string event is hit, different from the time interval of adjacent note value in event information element.
By such scheme, the step 3) in control information stream velocity information be dulcimer qin bamboo tap string speed,
Velocity information is converted by the dynamics of event information element.
The beneficial effect comprise that：The present invention is realized during dulcimer robot playing music, in real-time reception
Task distribution can be carried out to dulcimer Robot Dual-Arm, realize the less intersection of both arms and both arms interval while musical composition information stream
Property the characteristics of alternately play class peopleization.
Description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the dulcimer top view coordinate system region division schematic diagram of the embodiment of the present invention；
Fig. 2 is the method flow diagram of the embodiment of the present invention；
Fig. 3 is the grand Information Element format schematic diagram of the embodiment of the present invention；
Fig. 4 is the event information element form schematic diagram of the embodiment of the present invention；
Fig. 5 is the control information stream format schematic diagram of the embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to limit only to explain the present invention
The fixed present invention.
A kind of dulcimer Robot Dual-Arm based on real time information stream cooperates with the anti-intersection playing method, the method to be：
Step 1, sets up dulcimer qin face top view coordinate system and demarcates bridge and hit string position simplification figure, according to dulcimer pitch
Subregion is carried out to coordinate system：Alt A areas, middle bass B areas；The concrete partition method of dulcimer coordinate system is：In top view coordinate system
In by bridge and hit string position and be designated as 1-5 row from left to right, wherein 1-2 is classified as alt area and is set to A areas, and 3-5 is classified as alt
Area is set to B areas.
Step 2, receives playing music related information flow, the grand information of record melody, by the note in analysis event information
Value carries out task distribution to tow-armed robot：On the whole when note value correspondence string belongs to A areas, distribute to robot left arm,
When note value correspondence string belongs to B areas, distribute to robot right arm, if a certain arm continuous dispensing number of times has reached 3 times,
No matter then the note value is all assigned to another arm, and continuous dispensing time by note value correspondence string in a-quadrant or B regions
Number sets to 0；
Step 3, according to the note value allocation result of step 2, integrates the note value for distributing to left arm and right arm
Time interval and percussion dynamics, export corresponding control information stream.
In step 1, it is described
In step 2, melody related information flow is made up of the grand information unit of melody and some event information elements, wherein
Grand information unit and event information element form are as shown in Figure 3 and Figure 4；
In step 3, there is specificity in the note value in described melody related information flow：In view of melody has seven kinds of sounds
Rank, the position of the same note value correspondence dulcimer string of different scales is not necessarily identical, i.e., the region meeting of same note value distribution
There is difference.
In step 2, the implicit situation of described task distribution is：If a certain arm continuous dispensing number of times does not have reached
3 times and note value is under the jurisdiction of another region, then continuous dispensing number of times is set to 0, note value is distributed to another arm in addition, it is another
Arm continuous dispensing number of times puts 1.
In step 3, the form of the control information stream exported after described task distribution is as shown in Figure 5；
Coordinate position in the control information stream of described last output is work coordinate system coordinate position, and speed is dulcimer
Qin bamboo tap string speed, its by event information element dynamics phase transformation.Time interval is struck for single arm
The time interval for performing adjacent events is hit, is the cumulative of all event-spaced times in event information stream unit.
Such as Fig. 1, it is first determined the origin of dulcimer qin face top view coordinate system：The dulcimer lower left corner.And x-y is set up with this origin
Plane coordinate system.Wherein transverse axis is x directions, and vertical pivot is y directions.Bridge of dulcimer is labeled as from left to right 1-5 row, by 1-2
Treble is designated as A areas, and bass area in 3-5 is set to into B areas.
Fig. 2 is that task distributes control flow chart, and its key step is as follows：
Step 1：Module initialization；
Step 2：The time interval of the continuous number of taps of left and right arms and left and right arm is set to 0；
Step 3：Melody Global Information stream is received, the first note value of melody is extracted；
Step 4：Judge that note value, whether in A areas, if be false, skips to step 8；
Step 5：Judge whether the continuous number of taps of left arm is more than or equal to 3 times, step 9 is skipped to if being false；
Step 6：Note is distributed to into right arm, the time interval of right arm current note and a note on right arm is calculated；
Step 7：The continuous number of taps of right arm adds 1, and the continuous number of taps of left arm sets to 0, and skips to step 11；
Step 8:Judge whether the continuous number of taps of right arm is more than or equal to 3 times, if be false, skip to step 6；
Step 9：Note is distributed to into left arm, the time interval of left arm current note and a note on left arm is calculated；
Step 10：The continuous number of taps of left arm adds 1, and the continuous number of taps of right arm sets to 0；
Step 11：Judge whether the melody Global Information stream for receiving is fully assigned, if setting up step 13 is skipped to；
Step 12：Next note value is extracted, step 4 is skipped to；
Step 13：Terminate overall task distribution.
The present invention by the overall musical composition information stream of real-time reception, the percussion of dulcimer robot double mechanical arms is carried out task and
Time distributes, and for the detailed information that provides of motion-control module of next step robot, makes overall dulcimer robot performance more
The characteristics of with concert rationality, class peopleization.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or be converted,
And all these modifications and variations should all belong to the protection domain of claims of the present invention.
Claims (5)
1. a kind of dulcimer Robot Dual-Arm based on real time information stream cooperates with anti-intersection playing method, it is characterised in that include with
Lower step：
1) dulcimer qin face top view is drawn, the origin with dulcimer qin face top view lower-left angular vertex as coordinate system sets up x-y plane
Coordinate system；Following subregion is carried out to coordinate system according to dulcimer pitch：Alt A areas, middle bass B areas；The dulcimer qin face is overlooked
Demarcation on figure has bridge and hits string position；
2) playing music related information flow, the grand information of record melody, by the note value in analysis event information to both arms are received
Robot carries out task distribution；
The playing music related information flow includes the grand information unit of melody and event information element；The Hong Xinxidanyuanbao
Include：Tone color, channel number, rhythm tempo, ticks numbers, intensity and scale information；The event information element includes：Time interval,
Control instruction, note value and dynamics；
Concrete distribution method is as follows：The position of note value correspondence dulcimer string is determined by melody scale, if note value is corresponding
String belongs to A areas and left arm continuous dispensing number of times is accumulative not up to 3 times, then will hit against task and distribute to robot left arm；
If note correspondence string belongs to B areas and right arm continuous dispensing number of times is accumulative not up to 3 times, the task of will hit against is distributed to machine
People's right arm；If the arm continuous dispensing number of times has reached 3 times, no matter note correspondence string all will in A areas or B areas
The note value is assigned to another arm, and the arm continuous dispensing number of times is set to 0；
3) according to step 2) note value allocation result and event information element information, integrate for distributing to left arm and the right hand
The corresponding note value of arm, time interval, dynamics, export corresponding control information stream { coordinate position, time interval, speed }.
2. the dulcimer Robot Dual-Arm based on real time information stream according to claim 1 cooperates with anti-intersection playing method, its
Be characterised by, the step 1) in partition method be：By bridge and hit string position and be designated as 1 from left to right in top view coordinate system
To 5 row, wherein 1 to 2 is classified as alt area and is set to A areas, 3 to 5 are classified as alt area is set to B areas.
3. the dulcimer Robot Dual-Arm based on real time information stream according to claim 1 cooperates with anti-intersection playing method, its
It is characterised by, the step 2) in, robot left arm often performs a subtask, then add 1 by left arm continuous dispensing number of times, the right hand
Arm continuous dispensing number of times is set to 0；Robot right arm often performs a subtask, then add 1 by right arm continuous dispensing number of times, by left hand
Arm continuous dispensing number of times is set to 0.
4. the dulcimer Robot Dual-Arm based on real time information stream according to claim 1 cooperates with anti-intersection playing method, its
Be characterised by, the step 3) in the time interval of control information stream be to tap adjacent string for same arm after task distribution
The time interval of event, different from the time interval of adjacent note value in event information element.
5. the dulcimer Robot Dual-Arm based on real time information stream according to claim 1 cooperates with anti-intersection playing method, its
Be characterised by, the step 3) in control information stream velocity information be dulcimer qin bamboo tap string speed, velocity information by
The dynamics of event information element is converted.
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| CN201611259505.5A CN106584479B (en) | 2016-12-30 | 2016-12-30 | Dulcimer Robot Dual-Arm based on real time information stream cooperates with anti-intersection playing method |
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| CN201611259505.5A CN106584479B (en) | 2016-12-30 | 2016-12-30 | Dulcimer Robot Dual-Arm based on real time information stream cooperates with anti-intersection playing method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705540A (en) * | 2018-04-27 | 2018-10-26 | 中国地质大学（武汉） | Percussion collision prevention method, equipment and the storage device of a kind of both arms dulcimer robot |
| CN109961767A (en) * | 2019-04-04 | 2019-07-02 | 陇东学院 | A kind of one-handed person's musical instrument auxiliary playing method |
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| CN104078035A (en) * | 2013-07-02 | 2014-10-01 | 深圳市腾讯计算机系统有限公司 | Music playing method and device |
| CN105729489A (en) * | 2016-05-09 | 2016-07-06 | 中国地质大学（武汉） | Dulcimer playing robot |
| CN105773634A (en) * | 2016-04-15 | 2016-07-20 | 中国地质大学（武汉） | Wrist knocking control method for dulcimer robot and knocking device |
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2016
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Patent Citations (5)
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| KR20110078544A (en) * | 2009-12-31 | 2011-07-07 | 한국기술교육대학교 산학협력단 | Motion implementing method of vision system grafted legged mobile robot |
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| CN104078035A (en) * | 2013-07-02 | 2014-10-01 | 深圳市腾讯计算机系统有限公司 | Music playing method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705540A (en) * | 2018-04-27 | 2018-10-26 | 中国地质大学（武汉） | Percussion collision prevention method, equipment and the storage device of a kind of both arms dulcimer robot |
| CN109961767A (en) * | 2019-04-04 | 2019-07-02 | 陇东学院 | A kind of one-handed person's musical instrument auxiliary playing method |
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Granted publication date: 20190201 Termination date: 20191230 |