CN108705540A - Percussion collision prevention method, equipment and the storage device of a kind of both arms dulcimer robot - Google Patents

Percussion collision prevention method, equipment and the storage device of a kind of both arms dulcimer robot Download PDF

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CN108705540A
CN108705540A CN201810393756.5A CN201810393756A CN108705540A CN 108705540 A CN108705540 A CN 108705540A CN 201810393756 A CN201810393756 A CN 201810393756A CN 108705540 A CN108705540 A CN 108705540A
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percussion
qin
arms
dulcimer robot
bamboo
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CN108705540B (en
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陈鑫
周莉
周洋
费婷
蒋晨旭
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China University of Geosciences
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/003Manipulators for entertainment
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明提供了一种双臂扬琴机器人的敲击避碰方法、设备及存储设备,一种双臂扬琴机器人的敲击避碰方法,通过双臂扬琴机器人的琴面敲击点的空间坐标,建立琴面敲击点的拟合平面方程,从而得到琴竹初始位置的拟合平面,使敲击时的高度相同,方便控制敲击力度,通过根据所述最短距离分别建立左臂的琴竹末端缓冲区和右臂的琴竹末端缓冲区,避免敲击时机械臂碰撞;一种双臂扬琴机器人的敲击避碰设备及存储设备,用于实现双臂扬琴机器人的敲击避碰方法。本发明的有益效果是:本发明通过琴竹初始位置的平面方程和缓冲区,更容易控制双臂扬琴机器人敲击时的高度和力度,有效避免敲击过程中可能发生碰撞的情况,使双臂扬琴机器人的演奏更协调、更类人化。

The invention provides a double-armed dulcimer robot knocking collision avoidance method, equipment and storage device, a double-armed dulcimer robot knocking collision avoidance method, through the space coordinates of the piano surface knocking point of the double-armed dulcimer robot, Establish the fitting plane equation of the percussion point on the surface of the piano, so as to obtain the fitting plane of the initial position of the piano bamboo, so that the height of the percussion is the same, and it is convenient to control the percussion force. The end buffer zone and the piano bamboo end buffer zone of the right arm avoid the mechanical arm collision during percussion; a percussion collision avoidance device and storage device for a double-armed dulcimer robot, which is used to realize the percussion collision avoidance method of a double-armed dulcimer robot . The beneficial effects of the present invention are: the present invention can more easily control the height and strength of the double-armed dulcimer robot when striking through the plane equation and the buffer zone of the initial position of the bamboo, effectively avoiding possible collisions during the striking process, and making the double-armed dulcimer robot The playing of the arm dulcimer robot is more coordinated and more human-like.

Description

一种双臂扬琴机器人的敲击避碰方法、设备及存储设备A knocking and collision avoidance method, device and storage device for a dulcimer robot with two arms

技术领域technical field

本发明涉及机器人领域,尤其涉及一种双臂扬琴机器人的敲击避碰方法、设备及存储设备。The invention relates to the field of robots, in particular to a knocking and collision avoidance method, device and storage device for a dulcimer robot with two arms.

背景技术Background technique

近年来,随着人们物质生活发展的极大丰富,人们开始追求在精神层面的更高的享受,学习乐器作为提升人们精神水平一种有效途径却面临着从事乐器相关教学人员的不足以及费用昂贵与学习时间不灵活等方面的问题。而随着科技的发展,利用机器人来演奏乐器在国内外已经有了一定的研究基础,许多国家也投入了大量人力物力去研究相关技术。In recent years, with the great enrichment of people's material life, people began to pursue higher spiritual enjoyment. Learning musical instruments is an effective way to improve people's spiritual level, but it faces the shortage of teaching personnel engaged in musical instruments and the high cost. Problems with inflexible study time and so on. With the development of science and technology, the use of robots to play musical instruments has a certain research foundation at home and abroad, and many countries have also invested a lot of manpower and material resources to study related technologies.

扬琴作为中国古典乐器之一,在对其演奏的机器人方面的研究一方面有助于发展与弘扬中国传统文化,让更多的人增强对传统文化的认同感;在另一方面可以研究相关智能算法搭建对机器人与人工智能等领域的研究平台,具有很强的科研价值。Yangqin is one of the classical musical instruments in China. On the one hand, the research on the robot playing it helps to develop and promote the traditional Chinese culture, so that more people can enhance their sense of identity with traditional culture; on the other hand, it can study related intelligence. The algorithm builds a research platform for the fields of robotics and artificial intelligence, which has strong scientific research value.

扬琴作为中国传统乐器,对其演奏的机器人的研究还相对较少,扬琴机器人作为具有双臂的类人化的机器人,对其研究具有很强的科技价值与经济意义。本发明提出一种基于扬琴机器人的避碰敲击的方法,能够在敲击过程中使得琴竹末端最终停留在扬琴琴面的上方相同的高度,方便控制敲击的力度,同时能够有效避免在敲击的过程中琴竹的相互碰撞与敲击的过程中,单一手臂发生大的位移导致机械臂碰撞与敲击的不协调现象,实现了敲击过程的智能化与类人化。Yangqin is a traditional Chinese musical instrument, and there are relatively few studies on the robots that play it. As a humanoid robot with two arms, the research on Yangqin robot has strong scientific and technological value and economic significance. The present invention proposes a method based on a dulcimer robot for avoiding collisions, which can make the end of the bamboo end stay at the same height above the surface of the dulcimer during the tapping process, which is convenient for controlling the strength of the tapping, and can effectively avoid the During the knocking process, the mutual collision of the bamboo and the knocking process, the large displacement of a single arm leads to the incoordination between the collision and the knocking of the mechanical arm, which realizes the intelligence and humanization of the knocking process.

发明内容Contents of the invention

为了解决上述问题,本发明提供了一种双臂扬琴机器人的敲击避碰方法、设备及存储设备,一种双臂扬琴机器人的敲击避碰方法,所述双臂扬琴机器人包括左臂和右臂,左臂和右臂分别设有用于敲击琴面敲击点的琴竹,所述方法主要包括以下步骤:In order to solve the above problems, the present invention provides a double-armed dulcimer robot knocking collision avoidance method, equipment and storage device, a double-armed dulcimer robot knocking collision avoidance method, the double-armed dulcimer robot includes a left arm and The right arm, the left arm and the right arm are respectively provided with piano bamboos for striking the percussion points on the surface of the piano. The method mainly includes the following steps:

S101:根据双臂扬琴机器人的琴面敲击点的空间坐标,采用最小二乘法建立琴面敲击点的拟合平面方程;S101: According to the spatial coordinates of the surface percussion points of the dual-arm dulcimer robot, a fitting plane equation of the surface percussion points is established by the least square method;

S102:根据所述拟合平面方程,确定琴面敲击点的拟合平面;S102: Determine the fitting plane of the percussion point on the piano surface according to the fitting plane equation;

S103:根据所述琴面敲击点的拟合平面,建立琴竹初始位置的拟合平面,得到琴竹初始位置的平面方程;S103: According to the fitting plane of the percussion points on the piano surface, establish the fitting plane of the initial position of the bamboo, and obtain the plane equation of the initial position of the bamboo;

S104:根据所述双臂扬琴机器人的琴面敲击点的空间坐标,计算出所有相邻的琴面敲击点之间的最短距离,根据所述最短距离分别建立左臂的琴竹末端缓冲区和右臂的琴竹末端缓冲区;S104: Calculate the shortest distance between all adjacent piano surface percussion points according to the spatial coordinates of the piano surface percussion points of the double-armed dulcimer robot, and respectively establish the left-arm piano bamboo end buffer according to the shortest distance Bamboo end buffer zone and right arm;

S105:所述双臂扬琴机器人接收乐曲的敲击序列;S105: The dulcimer robot with two arms receives the percussion sequence of the music;

S106:根据所述敲击序列,判断左臂的琴竹末端缓冲区与右臂的琴竹末端缓冲区是否发生重叠?若是,则到步骤S107;若否,则到步骤S108;S106: According to the tapping sequence, determine whether the buffer zone at the end of the piano bamboo on the left arm overlaps with the buffer zone at the end of the piano bamboo on the right arm? If so, go to step S107; if not, go to step S108;

S107:所述双臂扬琴机器人左臂的琴竹末端和右臂琴竹末端分别敲击离所述琴竹末端最近的敲击点,然后到步骤S111;S107: The bamboo end of the left arm of the double-armed dulcimer robot and the bamboo end of the right arm respectively strike the striking point closest to the end of the bamboo, and then go to step S111;

S108:判断所述双臂扬琴机器人的机械臂的当前敲击点与下一敲击点的距离是否大于j/2?若是,则到步骤S109;若否,则到步骤S110;j为所述双臂扬琴机器人的敲击主平面的宽度;S108: Determine whether the distance between the current tapping point and the next tapping point of the mechanical arm of the dual-arm dulcimer robot is greater than j/2? If so, go to step S109; if not, go to step S110; j is the width of the striking main plane of the double-armed dulcimer robot;

S109:由另外一只手臂协助敲击下一个敲击点,然后到步骤S111;S109: tap the next tapping point with the assistance of another arm, and then go to step S111;

S110:所述双臂扬琴机器人的机械臂按照所述敲击序列敲击下一个敲击点;S110: The mechanical arm of the double-armed dulcimer robot taps the next tapping point according to the tapping sequence;

S111:判断所述敲击序列是否执行完毕?若是,则到步骤S112;若否,则回到步骤S105;S111: Determine whether the execution of the tapping sequence is completed? If so, go to step S112; if not, go back to step S105;

S112:所述双臂扬琴机器人结束避碰敲击,完成乐曲演奏。S112: The dulcimer robot with two arms ends the collision-avoidance percussion, and completes the music performance.

进一步地,在步骤S101中,对于琴面的每个敲击点(xi,yi,zi),建立琴面敲击点的拟合平面方程z=a0x+a1y+a2,a0,a1,a2的计算方法为:Further, in step S101, for each percussion point (x i , y i , zi ) of the piano surface, the fitting plane equation z=a 0 x+a 1 y+a of the percussion point of the piano surface is established 2 , the calculation method of a 0 , a 1 , a 2 is:

其中,a0、a1分别代表所述琴面敲击点的拟合平面方程中X轴与Y轴的系数,a2代表所述琴面敲击点的拟合平面方程中Z轴上的截距。Among them, a 0 and a 1 respectively represent the coefficients of the X-axis and the Y-axis in the fitting plane equation of the percussion point on the piano surface, and a 2 represents the coefficient on the Z-axis in the fitting plane equation of the percussion point on the piano surface. intercept.

进一步地,在步骤S103中,所述琴竹初始位置的平拟合面与所述琴面敲击点的拟合平面平行,所述琴竹初始位置的平面方程z1为:Further, in step S103, the flat fitting surface of the initial position of the qin bamboo is parallel to the fitting plane of the percussion point of the qin surface, and the plane equation z1 of the initial position of the qin bamboo is:

z1-h=a0x+a1y+a2 (2)z 1 -h=a 0 x+a 1 y+a 2 (2)

其中,a0、a1分别代表所述琴竹初始位置的平面方程中X轴与Y轴的系数,a2代表所述琴竹初始位置的平面方程中Z轴上的截距,h为所述琴竹初始位置的拟合平面比所述琴面敲击点的拟合平面高出的高度。Among them, a 0 and a 1 respectively represent the coefficients of the X-axis and Y-axis in the plane equation of the initial position of the bamboo bamboo, a 2 represents the intercept on the Z-axis in the plane equation of the initial position of the bamboo bamboo, and h is the The fitting plane of the initial position of the qin bamboo is higher than the fitting plane of the percussion point of the piano surface.

进一步地,在步骤S104中,所有相邻的琴面敲击点之间的最短距离为b,分别以所述双臂扬琴机器人左臂的琴竹末端A(c,d,e)和右臂的琴竹末端B(f,g,h)为中心,以b/2为半径,建立左臂的琴竹末端缓冲区和右臂的琴竹末端缓冲区。Further, in step S104, the shortest distance between all adjacent piano face knocking points is b, and the bamboo ends A (c, d, e) of the left arm of the double-armed dulcimer robot and the right arm The end of the bamboo at B(f,g,h) is the center, and the radius of b/2 is used to establish the buffer at the end of the left arm and the buffer at the end of the right arm.

进一步地,在步骤S106中,缓冲区发生重叠需满足的条件为:Further, in step S106, the conditions to be met for buffer overlap to occur are:

一种存储设备,所述存储设备存储指令及数据用于实现一种双臂扬琴机器人的敲击避碰方法。A storage device, the storage device stores instructions and data for realizing a double-arm dulcimer robot knocking avoidance method.

一种双臂扬琴机器人的敲击避碰设备,包括:处理器及所述存储设备;所述处理器加载并执行所述存储设备中的指令及数据用于实现一种双臂扬琴机器人的敲击避碰方法。A knocking and collision avoidance device for a double-armed dulcimer robot, comprising: a processor and the storage device; the processor loads and executes instructions and data in the storage device to realize knocking of a double-armed dulcimer robot collision avoidance method.

本发明提供的技术方案带来的有益效果是:本发明通过琴竹初始位置的平面方程和缓冲区,可以更容易的控制双臂扬琴机器人敲击时的高度和力度,有效避免敲击过程中可能发生碰撞的情况,使双臂扬琴机器人的演奏更协调、更类人化。The beneficial effect brought by the technical solution provided by the present invention is: the present invention can more easily control the height and strength of the double-armed dulcimer robot when striking through the plane equation of the initial position of the bamboo and the buffer zone, effectively avoiding the The possibility of collision makes the performance of the double-armed dulcimer robot more coordinated and more human-like.

附图说明Description of drawings

下面将结合附图及实施例对本发明作进一步说明,附图中:The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

图1是本发明实施例中一种双臂扬琴机器人的敲击避碰方法的流程图;Fig. 1 is the flowchart of the percussion collision avoidance method of a kind of double-arm dulcimer robot in the embodiment of the present invention;

图2是本发明实施例中双臂扬琴机器人扬琴敲击平面的俯视图;Fig. 2 is the top view of the double-armed dulcimer robot dulcimer percussion plane in the embodiment of the present invention;

图3是本发明实施例中琴面敲击点的拟合平面和琴竹初始位置的拟合平面的示意图;Fig. 3 is the schematic diagram of the fitting plane of the percussion point of the piano surface and the fitting plane of the initial position of the qin bamboo in the embodiment of the present invention;

图4是本发明实施例中硬件设备工作的示意图。Fig. 4 is a schematic diagram of the operation of the hardware device in the embodiment of the present invention.

具体实施方式Detailed ways

为了对本发明的技术特征、目的和效果有更加清楚的理解,现对照附图详细说明本发明的具体实施方式。In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

本发明的实施例提供了一种双臂扬琴机器人的敲击避碰方法、设备及存储设备。Embodiments of the present invention provide a knocking collision avoidance method, device and storage device for a dulcimer robot with two arms.

请参考图1,图1是本发明实施例中一种双臂扬琴机器人的敲击避碰方法的流程图,所述双臂扬琴机器人包括左臂和右臂,左臂和右臂分别设有用于敲击琴面敲击点的琴竹,所述方法具体包括以下步骤:Please refer to Fig. 1. Fig. 1 is a flow chart of a double-armed dulcimer robot knocking and collision avoidance method in an embodiment of the present invention. For the qin bamboo that strikes the percussion point on the qin surface, the method specifically includes the following steps:

S101:根据双臂扬琴机器人的琴面敲击点的空间坐标,采用最小二乘法建立琴面敲击点的拟合平面方程;对于琴面的每个敲击点的坐标(xi,yi,zi),建立琴面敲击点的拟合平面方程z=a0x+a1y+a2,a0,a1,a2的计算方法为:S101: According to the spatial coordinates of the double-armed dulcimer robot's surface percussion points, the least square method is used to establish the fitting plane equation of the surface percussion points; for the coordinates of each percussion point on the surface (x i , y i , z i ), establish the fitting plane equation z=a 0 x+a 1 y+a 2 of the percussion point on the piano surface, the calculation method of a 0 , a 1 , a 2 is:

其中,a0、a1分别代表所述琴面敲击点的拟合平面方程中X轴与Y轴的系数,a2代表所述琴面敲击点的拟合平面方程中Z轴上的截距;Among them, a 0 and a 1 respectively represent the coefficients of the X-axis and the Y-axis in the fitting plane equation of the percussion point on the piano surface, and a 2 represents the coefficient on the Z-axis in the fitting plane equation of the percussion point on the piano surface. intercept;

S102:根据所述拟合平面方程,确定琴面敲击点的拟合平面;S102: Determine the fitting plane of the percussion point on the piano surface according to the fitting plane equation;

S103:根据所述琴面敲击点的拟合平面,建立琴竹初始位置的拟合平面,得到琴竹初始位置的平面方程;所述琴竹初始位置的平拟合面与所述琴面敲击点的拟合平面平行,所述琴竹初始位置的平面方程z1为:S103: According to the fitting plane of the percussion point of the piano surface, establish the fitting plane of the initial position of the bamboo bamboo, and obtain the plane equation of the initial position of the bamboo bamboo; The fitting planes of the knocking points are parallel, and the plane equation z1 of the initial position of the bamboo bamboo is:

z1-h=a0x+a1y+a2 (2)z 1 -h=a 0 x+a 1 y+a 2 (2)

其中,a0、a1分别代表所述琴竹初始位置的平面方程中X轴与Y轴的系数,a2代表所述琴竹初始位置的平面方程中Z轴上的截距,h为所述琴竹初始位置的拟合平面比所述琴面敲击点的拟合平面高出的高度。Among them, a 0 and a 1 respectively represent the coefficients of the X-axis and Y-axis in the plane equation of the initial position of the bamboo bamboo, a 2 represents the intercept on the Z-axis in the plane equation of the initial position of the bamboo bamboo, and h is the The fitting plane of the initial position of the qin bamboo is higher than the fitting plane of the percussion point of the piano surface.

在本实施例中,所述琴竹初始位置的拟合平面比所述琴面敲击点的拟合平面高两厘米,所述琴竹初始位置的平面方程z1为:z1-0.02=a0x+a1y+a2,a0、a1分别代表所述琴竹初始位置的平面方程中X轴与Y轴的系数,a2代表所述琴竹初始位置的平面方程中Z轴上的截距;In this embodiment, the fitting plane of the initial position of the bamboo is two centimeters higher than the fitting plane of the percussion point of the piano surface, and the plane equation z 1 of the initial position of the bamboo is: z 1 −0.02= a 0 x+a 1 y+a 2 , a 0 and a 1 respectively represent the coefficients of the X-axis and Y-axis in the plane equation of the initial position of the qin bamboo, and a 2 represents Z in the plane equation of the initial position of the qin bamboo the intercept on the axis;

S104:根据所述双臂扬琴机器人的琴面敲击点的空间坐标,计算出所有相邻的琴面敲击点之间的最短距离b,根据所述最短距离分别建立左臂的琴竹末端缓冲区和右臂的琴竹末端缓冲区;分别以所述双臂扬琴机器人左臂的琴竹末端A(c,d,e)和右臂的琴竹末端B(f,g,h)为中心,以b/2为半径,建立左臂的琴竹末端缓冲区和右臂的琴竹末端缓冲区;S104: Calculate the shortest distance b between all adjacent piano surface percussion points according to the spatial coordinates of the surface percussion points of the double-armed dulcimer robot, and respectively establish the bamboo ends of the left arm according to the shortest distances The buffer zone and the bamboo end buffer of the right arm; the bamboo end A (c, d, e) of the left arm of the dulcimer robot and the end B (f, g, h) of the right arm of the dulcimer robot are respectively In the center, with b/2 as the radius, build the buffer at the end of the left arm and the buffer at the end of the right arm;

S105:所述双臂扬琴机器人接收乐曲的敲击序列;S105: The dulcimer robot with two arms receives the percussion sequence of the music;

S106:根据所述敲击序列,判断左臂的琴竹末端缓冲区与右臂的琴竹末端缓冲区是否发生重叠?若是,则到步骤S107;若否,则到步骤S108;缓冲区发生重叠需满足的条件为: S106: According to the tapping sequence, determine whether the buffer zone at the end of the piano bamboo on the left arm overlaps with the buffer zone at the end of the piano bamboo on the right arm? If so, then go to step S107; if not, then go to step S108; the conditions to be satisfied when the buffer zone overlaps are:

S107:所述双臂扬琴机器人左臂的琴竹末端和右臂琴竹末端分别敲击离所述琴竹末端最近的敲击点,然后到步骤S111;S107: The bamboo end of the left arm of the double-armed dulcimer robot and the bamboo end of the right arm respectively strike the striking point closest to the end of the bamboo, and then go to step S111;

S108:判断所述双臂扬琴机器人的机械臂的当前敲击点与下一敲击点的距离是否大于j/2?若是,则到步骤S109;若否,则到步骤S110;j为所述双臂扬琴机器人的敲击主平面的宽度,所述双臂扬琴机器人在敲击的过程中,所述琴竹末端移动的范围在扬琴六列琴柱所在的范围内;S108: Determine whether the distance between the current tapping point and the next tapping point of the mechanical arm of the dual-arm dulcimer robot is greater than j/2? If yes, then go to step S109; if not, then go to step S110; j is the width of the striking main plane of the double-armed dulcimer robot, during the tapping process of the double-armed dulcimer robot, the end of the bamboo bamboo moves The range is within the range where the six columns of the dulcimer are located;

S109:由另外一只手臂协助敲击下一个敲击点,然后到步骤S111;S109: tap the next tapping point with the assistance of another arm, and then go to step S111;

S110:所述双臂扬琴机器人按照所述敲击序列敲击下一个敲击点;S110: The double-armed dulcimer robot strikes the next percussion point according to the percussion sequence;

S111:判断所述敲击序列是否执行完毕?若是,则到步骤S112;若否,则回到步骤S105;S111: Determine whether the execution of the tapping sequence is completed? If so, go to step S112; if not, go back to step S105;

S112:所述双臂扬琴机器人结束避碰敲击,完成乐曲演奏。S112: The dulcimer robot with two arms ends the collision-avoidance percussion, and completes the music performance.

请参考图2,图2是本发明实施例中双臂扬琴机器人扬琴敲击平面的俯视图,图中一共有六列琴柱,其中从左到右第二列琴柱有两列敲击的琴码,扬琴敲击主平面指的是六列琴柱所在的范围,其宽度为j。Please refer to Fig. 2, Fig. 2 is the top view of the double-armed dulcimer robot dulcimer percussion plane in the embodiment of the present invention, there are six rows of qin columns in the figure, wherein the second row of qin columns from left to right has two columns of piano codes for knocking, The main plane of dulcimer percussion refers to the range where the six rows of qin columns are located, and its width is j.

请参考图3,图3是本发明实施例中琴面敲击点的拟合平面和琴竹初始位置的拟合平面的示意图,首先根据双臂扬琴机器人的琴面敲击点的空间坐标在三维空间中描绘出敲击点的位置,然后采用最小二乘法建立琴面敲击点的拟合平面方程;然后根据琴面敲击点的拟合平面,建立琴竹初始位置的拟合平面,让琴竹的敲击点处于所述琴面敲击点的拟合平面上方,以便在敲击过程中控制琴竹的敲击力道。Please refer to Fig. 3, Fig. 3 is the schematic diagram of the fitting plane of the face percussion point in the embodiment of the present invention and the fitting plane of the bamboo initial position, at first according to the spatial coordinates of the face percussion point of the double-armed dulcimer robot in The position of the percussion point is described in the three-dimensional space, and then the fitting plane equation of the percussion point on the piano surface is established by the least square method; then, the fitting plane of the initial position of the bamboo is established according to the fitting plane of the percussion point on the piano surface, Let the percussion point of the qin bamboo be above the fitting plane of the percussion point of the qin surface, so as to control the percussion force of the qin bamboo during the percussion process.

请参见图4,图4是本发明实施例的硬件设备工作示意图,所述硬件设备具体包括:一种双臂扬琴机器人的敲击避碰设备401、处理器402及存储设备403。Please refer to FIG. 4 . FIG. 4 is a working diagram of the hardware device according to the embodiment of the present invention. The hardware device specifically includes: a knocking and collision avoidance device 401 for a dulcimer robot with two arms, a processor 402 and a storage device 403 .

一种双臂扬琴机器人的敲击避碰设备401:所述一种双臂扬琴机器人的敲击避碰设备401实现所述一种双臂扬琴机器人的敲击避碰方法。A percussion collision avoidance device 401 for a dual-arm dulcimer robot: the percussion collision avoidance device 401 for a dual-arm dulcimer robot implements the percussion collision avoidance method for a dual-arm dulcimer robot.

处理器402:所述处理器402加载并执行所述存储设备403中的指令及数据用于实现所述一种双臂扬琴机器人的敲击避碰方法。Processor 402: the processor 402 loads and executes the instructions and data in the storage device 403 to implement the tapping and collision avoidance method of the dual-arm dulcimer robot.

存储设备403:所述存储设备403存储指令及数据;所述存储设备403用于实现所述一种双臂扬琴机器人的敲击避碰方法。Storage device 403: the storage device 403 stores instructions and data; the storage device 403 is used to implement the tapping and collision avoidance method of a dual-arm dulcimer robot.

本发明的有益效果是:本发明通过琴竹初始位置的平面方程和缓冲区,可以更容易的控制双臂扬琴机器人敲击时的高度和力度,有效避免敲击过程中可能发生碰撞的情况,使双臂扬琴机器人的演奏更协调、更类人化。The beneficial effects of the present invention are: the present invention can more easily control the height and strength of the double-armed dulcimer robot when striking through the plane equation of the initial position of the bamboo and the buffer zone, and effectively avoid possible collisions during the striking process. Make the double-armed dulcimer robot play more coordinated and more human-like.

以上所述仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (7)

1. a kind of percussion collision prevention method of both arms dulcimer robot, both arms dulcimer robot include left arm and right arm, left arm The qin bamboo for tapping qin face beating point is respectively provided with right arm, it is characterised in that:It the described method comprises the following steps:
S101:According to the space coordinate of the qin face beating point of both arms dulcimer robot, qin face is established using least square method and is tapped The fit Plane equation of point;
S102:According to the fit Plane equation, the fit Plane of qin face beating point is determined;
S103:According to the fit Plane of qin face beating point, the fit Plane of qin bamboo initial position is established, it is initial to obtain qin bamboo The plane equation of position;
S104:According to the space coordinate of the qin face beating point of both arms dulcimer robot, calculates all adjacent qin faces and strike The shortest distance between hitting a little establishes the qin bamboo end of the qin bamboo end buffering area and right arm of left arm according to the shortest distance respectively Hold buffering area;
S105:Both arms dulcimer robot receives the percussion sequence of melody;
S106:According to the percussion sequence, judge left arm qin bamboo end buffering area and right arm qin bamboo end buffering area whether It overlapsIf so, arriving step S107;If it is not, then arriving step S108;
S107:The qin bamboo end and right arm qin bamboo end of both arms dulcimer robot left arm are tapped respectively from qin bamboo end Then nearest beating point arrives step S111;
S108:Judge whether the current beating point of the mechanical arm of both arms dulcimer robot is more than at a distance from next beating point j/2If so, arriving step S109;If it is not, then arriving step S110;J is the width of the percussion principal plane of both arms dulcimer robot Degree;
S109:It is assisted to tap next beating point by an other arm, then arrives step S111;
S110:The mechanical arm of both arms dulcimer robot taps next beating point according to the percussion sequence;
S111:Judge whether the percussion sequence is finishedIf so, arriving step S112;If it is not, then returning to step S105;
S112:Both arms dulcimer robot terminates collision prevention percussion, completes music playing.
2. a kind of percussion collision prevention method of both arms dulcimer robot as described in claim 1, it is characterised in that:In step S101 In, for each beating point (x in qin facei,yi,zi), establish the fit Plane equation z=a of qin face beating point0x+a1y+a2, a0, a1,a2Computational methods be:
Wherein, a0、a1Respectively represent the coefficient of X-axis and Y-axis in the fit Plane equation of qin face beating point, a2Described in representative Intercept in the fit Plane equation of qin face beating point on Z axis.
3. a kind of percussion collision prevention method of both arms dulcimer robot as claimed in claim 2, it is characterised in that:In step S103 In, the flat fitting face of the qin bamboo initial position is parallel with the fit Plane of qin face beating point, the qin bamboo initial position Plane equation z1For:
z1- h=a0x+a1y+a2 (2)
Wherein, a0、a1The coefficient of X-axis and Y-axis, a in the plane equation of the difference qin bamboo initial position2At the beginning of representing the qin bamboo Intercept in the plane equation of beginning position on Z axis, h are the fit Plane of the qin bamboo initial position than qin face beating point The height that fit Plane is higher by.
4. a kind of percussion collision prevention method of both arms dulcimer robot as described in claim 1, it is characterised in that:In step S104 In, the shortest distance between all adjacent qin face beating points is b, respectively with the qin bamboo end of both arms dulcimer robot left arm Centered on the qin bamboo end B (f, g, h) for holding A (c, d, e) and right arm, using b/2 as radius, the qin bamboo end buffering area of left arm is established With the qin bamboo end buffering area of right arm.
5. a kind of percussion collision prevention method of both arms dulcimer robot as claimed in claim 4, it is characterised in that:In step S106 In, the buffering area condition that need to meet that overlaps is:
6. a kind of storage device, it is characterised in that:The storage device store instruction and data are for realizing Claims 1 to 5 The percussion collision prevention method of any one both arms dulcimer robot.
7. a kind of percussion collision avoidance aids of both arms dulcimer robot, it is characterised in that:Including:Processor and the storage device; The processor loads and executes the instruction in the storage device and data for realizing arbitrary described in Claims 1 to 5 A kind of percussion collision prevention method of both arms dulcimer robot.
CN201810393756.5A 2018-04-27 2018-04-27 Knocking and collision prevention method and equipment for double-arm dulcimer robot and storage equipment Expired - Fee Related CN108705540B (en)

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