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

Abstract

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

A knocking and collision avoidance method, device and storage device for a dulcimer robot with two arms

technical field

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.

Background technique

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.

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.

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.

Contents of the invention

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: 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: Determine the fitting plane of the percussion point on the piano surface according to the fitting plane equation;

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: 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: The dulcimer robot with two arms receives the percussion sequence of the music;

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: 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: 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: tap the next tapping point with the assistance of another arm, and then go to step S111;

S110: The mechanical arm of the double-armed dulcimer robot taps the next tapping point according to the tapping sequence;

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: The dulcimer robot with two arms ends the collision-avoidance percussion, and completes the music performance.

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:

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.

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:

z ₁ -h＝a ₀ x+a ₁ y+a ₂ (2)

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.

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.

Further, in step S106, the conditions to be met for buffer overlap to occur are:

A storage device, the storage device stores instructions and data for realizing a double-arm dulcimer robot knocking avoidance method.

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.

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.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

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;

Fig. 2 is the top view of the double-armed dulcimer robot dulcimer percussion plane in the embodiment of the present invention;

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;

Fig. 4 is a schematic diagram of the operation of the hardware device in the embodiment of the present invention.

Detailed ways

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.

Embodiments of the present invention provide a knocking collision avoidance method, device and storage device for a dulcimer robot with two arms.

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: 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:

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: Determine the fitting plane of the percussion point on the piano surface according to the fitting plane equation;

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:

z ₁ -h＝a ₀ x+a ₁ y+a ₂ (2)

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.

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: 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: The dulcimer robot with two arms receives the percussion sequence of the music;

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: 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: 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: tap the next tapping point with the assistance of another arm, and then go to step S111;

S110: The double-armed dulcimer robot strikes the next percussion point according to the percussion sequence;

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: The dulcimer robot with two arms ends the collision-avoidance percussion, and completes the music performance.

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.

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.

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 .

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.

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.

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.

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.

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 face_i,y_i,z_i), 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.