CN108010504A - A kind of piano performance system and method controlled by robot - Google Patents
A kind of piano performance system and method controlled by robot Download PDFInfo
- Publication number
- CN108010504A CN108010504A CN201711429334.0A CN201711429334A CN108010504A CN 108010504 A CN108010504 A CN 108010504A CN 201711429334 A CN201711429334 A CN 201711429334A CN 108010504 A CN108010504 A CN 108010504A
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- robot
- finger
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- facial
- piano
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000001815 facial effect Effects 0.000 claims abstract description 24
- 210000003128 head Anatomy 0.000 claims abstract description 24
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 17
- 210000004709 eyebrow Anatomy 0.000 claims abstract description 17
- 210000000744 eyelid Anatomy 0.000 claims abstract description 17
- 238000011022 operating instruction Methods 0.000 claims abstract description 5
- 230000008921 facial expression Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H7/00—Instruments in which the tones are synthesised from a data store, e.g. computer organs
- G10H7/002—Instruments in which the tones are synthesised from a data store, e.g. computer organs using a common processing for different operations or calculations, and a set of microinstructions (programme) to control the sequence thereof
-
- 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
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10F—AUTOMATIC MUSICAL INSTRUMENTS
- G10F1/00—Automatic musical instruments
- G10F1/02—Pianofortes with keyboard
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10F—AUTOMATIC MUSICAL INSTRUMENTS
- G10F5/00—Details or accessories
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H1/00—Details of electrophonic musical instruments
- G10H1/0008—Associated control or indicating means
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H1/00—Details of electrophonic musical instruments
- G10H1/32—Constructional details
- G10H1/34—Switch arrangements, e.g. keyboards or mechanical switches specially adapted for electrophonic musical instruments
- G10H1/344—Structural association with individual keys
- G10H1/346—Keys with an arrangement for simulating the feeling of a piano key, e.g. using counterweights, springs, cams
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H2220/00—Input/output interfacing specifically adapted for electrophonic musical tools or instruments
- G10H2220/091—Graphical user interface [GUI] specifically adapted for electrophonic musical instruments, e.g. interactive musical displays, musical instrument icons or menus; Details of user interactions therewith
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H2230/00—General physical, ergonomic or hardware implementation of electrophonic musical tools or instruments, e.g. shape or architecture
- G10H2230/045—Special instrument [spint], i.e. mimicking the ergonomy, shape, sound or other characteristic of a specific acoustic musical instrument category
- G10H2230/361—Spint mechautomatic, i.e. electrophonic musical instruments with features of traditional mechanical automatic acoustic instruments, e.g. electrophonic emulation of historic mechanical pianoroll pianos, electrophonic aspects of partly mechanical automatic acoustic instruments covered by G10F, e.g. hybrid pianos, MIDI-like control therefor
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of piano performance system and method controlled by robot, which includes：Humanoid robot, robot head parts including the robot component for piano and for imitating human face expression, the robot component includes several fingers, finger actuation Component driver finger pressure key is played, the robot head parts include head shell, the face of the head shell can actively be provided with eyebrow, eyeball, eyelid and face, and the expression for coordinating and playing song melody is made in facial drive component driving eyebrow, eyeball, eyelid and face action；Operation panel, enters the operating instructions for operator；Control system, receives the operational order of operation panel, and sends control signal to finger actuation component and facial drive component according to operational order.Not only playing music is wide for the above-mentioned piano performance system by robot control；And playing effect is good, it is recreational to improve.
Description
Technical field
The invention belongs to robotic technology field, more particularly, to a kind of piano performance system by robot control and side
Method.
Background technology
With the development of science and technology, robot technology plays more and more important effect in industry and life.When
Preceding robot uses in the industrial production, and the action of fixed sequencing is realized for substituting people.Piano is known as " musical instrument
King ", its expressive force to music is unique, and will have outstanding playing ability then usually require to practice assiduously it is some
Year.How a kind of robot that can be used for carry out highly difficult piano performance is developed so that it can not only simulate each of people
Kind action, truly taps piano key, completes pieces of perfect piano music, can also be applied to educational institution, science and technology
A variety of occasions such as science popularization venue, public place of entertainment, luxury stores, can also mould the sentiment of the public while showing high-tech technology,
The atmosphere of Creating Art, this just becomes the hot spot direction studied in the industry.
At present, although also designing the various piano performance systems controlled by robot in the prior art,
The shortcomings that generally existing playing effect is poor, single and recreational difference of playing curved surface.
The content of the invention
It is an object of the invention to provide it is a kind of by robot control piano performance system, with solve in the prior art by
There are the problem of playing effect is poor, performance curved surface is single and recreational poor for the piano performance system of robot control.
Another object of the present invention is to provide a kind of piano performance method controlled by robot, to solve the prior art
In by robot control piano performance method there are playing effect it is poor and recreational poor the problem of.
For this purpose, the present invention uses following technical scheme：
A kind of piano performance system controlled by robot, it includes：
Humanoid robot, including robot trunk, the robot for piano is provided with the robot trunk
Hand component and the robot head parts for imitating human face expression, the robot component include several fingers, finger
Drive component driving finger pressure key is played, and the robot head parts include head shell, the head shell
Face can actively be provided with eyebrow, eyeball, eyelid and face, facial drive component driving eyebrow, eyeball, eyelid and face
The expression for coordinating and playing song melody is made in action；
Operation panel, enters the operating instructions for operator；
Control system, receives the operational order of operation panel, and sends control signal to finger actuation according to operational order
Component and facial drive component.
Especially, the head shell is arranged in robot trunk in which can swing up and down, and is pacified in the robot trunk
Equipped with rotary electric machine, the head shell is connected by transmission component in the shaft of the rotary electric machine.
Especially, several described fingers are installed on finger fixed frame side by side, and each finger is correspondingly arranged on independent
Finger actuation mechanism, the finger fixed frame are connected with traversing driving device, and the traversing driving device drives finger fixed frame
Moved along fingerboard width.
Especially, the eyebrow, eyeball, eyelid and face are both provided with independent facial driving mechanism.
Especially, the finger actuation mechanism includes finger actuation cylinder and finger linkage, the finger actuation gas
The drive end of cylinder connects one end of finger linkage by axis pin, and the other end of finger linkage is hingedly corresponded to by axis pin
Finger.
Especially, the facial driving mechanism includes face driving cylinder and facial linkage, the face driving gas
The drive end of cylinder connects one end of facial linkage by axis pin, and the other end of facial linkage is hingedly corresponded to by axis pin
Eyebrow, eyeball, eyelid and face.
Especially, the control system includes main control computer, PLC devices and several control gas circuits, the control gas
Road access is corresponding to be driven cylinder and is provided with solenoid valve, and the main control computer is communicated to connect with operation panel, described
Main control computer controls the solenoid valve of several control cylinders by PLC devices.
A kind of piano performance method controlled by robot, it comprises the following steps：
1) operator is entered the operating instructions by operation panel；
2) control system receives the operational order of operation panel, and sends control signal to finger actuation according to operational order
Component and facial drive component；
3) finger actuation component receives control signal rear-guard and starts to refer to the corresponding key of pressing, and facial drive component receives
Eyebrow, eyeball, eyelid and face action is driven to make the expression for coordinating and playing song melody after to control signal.
Especially, the operational order is a certain song performance under performance pattern.
Especially, the operational order is one or several qins on virtual piano keyboard on operator's push panel
Key.
Beneficial effects of the present invention are, compared with prior art the piano performance system and method controlled by robot
Robot can also make cooperation according to the melody to perform a composition and play song while can realize robot playing piano
The expression of melody；Not only playing music is wide；And playing effect is good, it is recreational to improve.
Brief description of the drawings
Fig. 1 is the front view for the piano performance system by robot control that the specific embodiment of the invention provides；
Fig. 2 is the side view for the piano performance system by robot control that the specific embodiment of the invention provides；
Fig. 3 is the knot of the head shell for the piano performance system by robot control that the specific embodiment of the invention provides
Structure schematic diagram；
Fig. 4 is the finger actuation mechanism for the piano performance system by robot control that the specific embodiment of the invention provides
Structure diagram；
Fig. 5 is the facial driving mechanism for the piano performance system by robot control that the specific embodiment of the invention provides
Structure diagram.
Embodiment
Further illustrate technical scheme below with reference to the accompanying drawings and specific embodiments.
Please refer to Fig.1 to shown in Fig. 5, in the present embodiment, a kind of piano performance system by robot control includes class people
Robot 1, piano 2, robot seat 3, operation panel 4, main control computer 5 and PLC devices 6, the robot seat 3 are located at
The side of piano 2, the humanoid robot 1 are arranged on robot seat 3, and the operation panel 4 is used for operator and inputs behaviour
Instruct, the main control computer 5 is used to receive and send operational order to PLC devices 6 with the communication connection of operation panel 4.
The humanoid robot 1 includes robot trunk 7, is provided with the robot trunk 7 for piano
Robot component and the robot head parts for imitating human face expression, the robot component include being installed on side by side
Several fingers 9 on finger fixed frame 8, each finger 9 are correspondingly arranged on independent finger actuation mechanism, the finger fixed frame
8 are connected with traversing driving device, and the traversing driving device driving finger fixed frame 8 is moved along fingerboard width, with
Finger 9 is set to press all piano keys.The finger actuation mechanism includes finger actuation cylinder 10 and finger connecting rod machine
Structure 11, the drive end of the finger actuation cylinder 10 connect one end of finger linkage 11, finger linkage by axis pin
11 other end hingedly corresponds to finger 9 by axis pin.The finger actuation cylinder 10 drives finger 9 to depress key and is played,
The robot head parts include head shell 12, and rotary electric machine 13, the head shell are provided with the robot trunk 7
Body 12 is connected by transmission component in the shaft of the rotary electric machine 13, the 13 drive head housing of rotary electric machine 12 it is overall around
Robot trunk 7 is swung up and down, and the face of the head shell 12 can actively be provided with eyebrow 14, eyeball 15, eyelid 16
With face 17, the eyebrow 14, eyeball 15, eyelid 16 and face 17 are each equipped with independent facial driving mechanism, the face
Driving mechanism includes face driving cylinder 18 and facial linkage 19, and the drive end of the face driving cylinder 18 passes through axis pin
One end of the facial linkage 19 of connection, the other end of facial linkage 19 are hinged corresponding eyebrow 14, eyeball by axis pin
15th, eyelid 16 and face 17.Face driving cylinder 18 drives eyebrow 14, eyeball 15, eyelid 16 and the action of face 17 to make cooperation
Play the expression of song melody.
The finger actuation cylinder 10 and face driving cylinder 18 are respectively connected with control gas circuit, control and are provided with electricity in gas circuit
Magnet valve, the PLC devices 6 control the electromagnetism valve events in each gas circuit.
The specific method of the above-mentioned piano performance system by robot control, comprises the following steps：
1) operator selects performance pattern-song performance or the dummy keyboard of piano performance system by operation panel 4, main
After control computer 5 receives instruction, PLC devices 6 are signaled to, PLC devices 6 control each road associated solenoid valve；
2) after solenoid valve is connected to instruction, corresponding gas circuit is turned on and off, cylinder is impacted be subject to compressed air, is made and being stretched
The action for going out or shrinking；
3) expanding-contracting action of cylinder, complete the rotation of eyebrow 14, eyeball 15 up and down, the opening and close of eyelid 16, mouth
Bars 17 folding, the swinging up and down of neck, the action pressed with unclamping of finger；
4) action on head, coordinates the melody of song, makes happy or sad expression, the actuation of keys of finger, passes through
The control of program, pop-up speed, the music effect of tone height；
5) after a song, each joint playback such as the piano performance of music, head, hand is completed.
Above example is to elaborate the basic principle and characteristic of the present invention, and the present invention limits from above-mentioned example,
Without departing from the spirit and scope, the present invention also has various changes, these changes and modifications are both fallen within
In scope of the claimed invention.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (10)
1. a kind of piano performance system controlled by robot, it is characterised in that it includes：
Humanoid robot, including robot trunk, the robot group for piano is provided with the robot trunk
Part and the robot head parts for imitating human face expression, the robot component include several fingers, finger actuation
Component driver finger pressure key is played, and the robot head parts include head shell, the face of the head shell
Portion can actively be provided with eyebrow, eyeball, eyelid and face, facial drive component driving eyebrow, eyeball, eyelid and face action
Make the expression for coordinating and playing song melody；
Operation panel, enters the operating instructions for operator；
Control system, receives the operational order of operation panel, and sends control signal according to operational order and give finger actuation component
With facial drive component.
2. the piano performance system according to claim 1 controlled by robot, it is characterised in that the head shell energy
It is rotatably arranged in robot trunk, rotary electric machine is installed in the robot trunk, the head shell passes through transmission
Component is connected in the shaft of the rotary electric machine.
3. the piano performance system according to claim 1 controlled by robot, it is characterised in that several described fingers
It is installed on side by side on finger fixed frame, each finger is correspondingly arranged on independent finger actuation mechanism, and the finger fixed frame connects
Traversing driving device is connected to, the traversing driving device driving finger fixed frame is moved along fingerboard width.
4. it is according to claim 1 by robot control piano performance system, it is characterised in that the eyebrow, eyeball,
Eyelid and face are both provided with independent facial driving mechanism.
5. the piano performance system according to claim 3 controlled by robot, it is characterised in that the finger actuation machine
Structure includes finger actuation cylinder and finger linkage, and the drive end of the finger actuation cylinder connects finger connecting rod by axis pin
One end of mechanism, the other end of finger linkage hingedly correspond to finger by axis pin.
6. the piano performance system according to claim 4 controlled by robot, it is characterised in that the face driving machine
Structure includes face driving cylinder and facial linkage, and the drive end of the face driving cylinder connects facial connecting rod by axis pin
One end of mechanism, the other end of facial linkage are hinged corresponding eyebrow, eyeball, eyelid and face by axis pin.
7. the piano performance system controlled by robot according to claim 5 or 6, it is characterised in that the control system
System includes main control computer, PLC devices and several control gas circuits, and the control gas circuit access is corresponding to drive cylinder and thereon
Solenoid valve is provided with, the main control computer is communicated to connect with operation panel, if the main control computer is controlled by PLC devices
The solenoid valve of dry control cylinder.
8. it is a kind of by robot control piano performance method, it is characterised in that its use as any one of claim 1-7 by
The piano performance system of robot control is played, and is comprised the following steps：
1) operator is entered the operating instructions by operation panel；
2) control system receives the operational order of operation panel, and sends control signal according to operational order and give finger actuation component
With facial drive component；
3) finger actuation component receives control signal rear-guard and starts to refer to the corresponding key of pressing, and facial drive component receives control
Eyebrow, eyeball, eyelid and face action is driven to make the expression for coordinating and playing song melody after signal processed.
9. the piano performance method according to claim 8 controlled by robot, it is characterised in that the operational order is
A certain song performance under performance pattern.
10. the piano performance method according to claim 8 controlled by robot, it is characterised in that the operational order
For one or several keys on virtual piano keyboard on operator's push panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711429334.0A CN108010504A (en) | 2017-12-26 | 2017-12-26 | A kind of piano performance system and method controlled by robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711429334.0A CN108010504A (en) | 2017-12-26 | 2017-12-26 | A kind of piano performance system and method controlled by robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108010504A true CN108010504A (en) | 2018-05-08 |
Family
ID=62061296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711429334.0A Pending CN108010504A (en) | 2017-12-26 | 2017-12-26 | A kind of piano performance system and method controlled by robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108010504A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109961767A (en) * | 2019-04-04 | 2019-07-02 | 陇东学院 | A kind of one-handed person's musical instrument auxiliary playing method |
| CN110660311A (en) * | 2019-08-23 | 2020-01-07 | 北京农业信息技术研究中心 | Intelligent exhibit demonstration robot system |
| CN110977994A (en) * | 2019-11-07 | 2020-04-10 | 山东大未来人工智能研究院有限公司 | Intelligent robot with facial expression communication function |
| CN113183166A (en) * | 2021-05-31 | 2021-07-30 | 李天富 | Robot for playing electronic organ |
| CN114347070A (en) * | 2022-03-18 | 2022-04-15 | 之江实验室 | Method, system and device for controlling piano playing action based on humanoid arm claw robot |
| CN116394277A (en) * | 2023-06-08 | 2023-07-07 | 之江实验室 | Robot is played to imitative people piano |
| CN117207204A (en) * | 2023-11-09 | 2023-12-12 | 之江实验室 | Control method and control device of playing robot |
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| KR20130076394A (en) * | 2011-12-28 | 2013-07-08 | 한국기술교육대학교 산학협력단 | Method for controlling piano robot and apparatus for thereof |
| CN204505268U (en) * | 2015-03-17 | 2015-07-29 | 合肥探奥自动化有限公司 | A kind of robot for performance of playing the musical instrument |
| CN106393127A (en) * | 2016-08-29 | 2017-02-15 | 昆山塔米机器人有限公司 | Robot capable of simulating human facial expressions |
| CN207637484U (en) * | 2017-12-26 | 2018-07-20 | 昆山塔米机器人有限公司 | A kind of piano performance system controlled by robot |
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| KR20130076394A (en) * | 2011-12-28 | 2013-07-08 | 한국기술교육대학교 산학협력단 | Method for controlling piano robot and apparatus for thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109961767A (en) * | 2019-04-04 | 2019-07-02 | 陇东学院 | A kind of one-handed person's musical instrument auxiliary playing method |
| CN110660311A (en) * | 2019-08-23 | 2020-01-07 | 北京农业信息技术研究中心 | Intelligent exhibit demonstration robot system |
| CN110977994A (en) * | 2019-11-07 | 2020-04-10 | 山东大未来人工智能研究院有限公司 | Intelligent robot with facial expression communication function |
| CN113183166A (en) * | 2021-05-31 | 2021-07-30 | 李天富 | Robot for playing electronic organ |
| CN114347070A (en) * | 2022-03-18 | 2022-04-15 | 之江实验室 | Method, system and device for controlling piano playing action based on humanoid arm claw robot |
| CN114347070B (en) * | 2022-03-18 | 2022-07-12 | 之江实验室 | Method, system and device for controlling piano playing action based on humanoid arm claw robot |
| CN116394277A (en) * | 2023-06-08 | 2023-07-07 | 之江实验室 | Robot is played to imitative people piano |
| CN116394277B (en) * | 2023-06-08 | 2023-08-25 | 之江实验室 | Robot is played to imitative people piano |
| WO2024008217A1 (en) * | 2023-06-08 | 2024-01-11 | 之江实验室 | Humanoid piano playing robot |
| CN117207204A (en) * | 2023-11-09 | 2023-12-12 | 之江实验室 | Control method and control device of playing robot |
| CN117207204B (en) * | 2023-11-09 | 2024-01-30 | 之江实验室 | Control method and control device of playing robot |
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Address after: 215300 5th floor, building 1, No. 619, Xintang Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Applicant after: Suzhou Tami robot Co.,Ltd. Address before: 215324 12th floor, complex building, No. 1699, Weicheng South Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Applicant before: KUNSHAN TAMI ROBOT Co.,Ltd. |