CN109202935A - Play the hand method for controlling stepping motor and device of robot - Google Patents
Play the hand method for controlling stepping motor and device of robot Download PDFInfo
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- CN109202935A CN109202935A CN201811277117.9A CN201811277117A CN109202935A CN 109202935 A CN109202935 A CN 109202935A CN 201811277117 A CN201811277117 A CN 201811277117A CN 109202935 A CN109202935 A CN 109202935A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
This application discloses a kind of hand method for controlling stepping motor and device for playing robot.This method comprises: obtaining numeric music notation by typing music-book information；The numeric music notation is formatted, numeric music notation is obtained and plays signal；Signal, which is played, according to the numeric music notation generates corresponding step motor control signal；The hand stepper motor movement of robot is played according to step motor control signal control；By the way of numeric music notation to be formatted to obtain numeric music notation and plays signal, corresponding step motor control signal is generated by playing signal according to numeric music notation, achieve the purpose that control the hand stepper motor movement for playing robot according to step motor control signal, to realize the technical effect that robot hand when playing is capable of opposite piano movement, and then solves in the related technology the problem of robot entirety hand will not be moved with respect to piano, the caused shortage sense of reality.
Description
Technical field
This application involves robot fields, in particular to a kind of hand step motor control side for playing robot
Method and device.
Background technique
With the development of science and technology, society has stepped into the AI intelligent epoch, all kinds of robot products emerge one after another.Face
It is increasingly becoming an important branch in robotics to public service humanoid robot, musical performance robot is as amusement
Important member in service robot comes across the Japan of the 1980s earliest.At present Japan, Europe had it is some at
Ripe product, famous piano robot TEO is carrying out the tour in the whole world, and races on the same stage with pianos great masters such as the sound of reading alouds.
The purpose for playing robot finger's control method is to apply intelligent control technology in musical performance robot, is completed
It plays robot and independently judges, plans and play control for performance.Musical performance robot can realize the base of musical performance
Outside this function, the popularization and use for machine service in people and robot future are of great significance.
By taking presently best known piano robot TEO as an example, robot TEO is by being fixed on piano surface, by bond number
Amount plays function with consistent large-scale " palm " realization of key quantity, that is to say, that entirely plays all fingers of process and just there was only one
A pressing action, according to the note to be played, corresponding finger is pushed, and completes to play.Inventors have found that the relevant technologies
In robot entirety hand be it is fixed, will not be mobile relative to piano, in performance, lack the similar bionical mankind and independently play
The sense of reality and technology sense.
Therefore, it is badly in need of a kind of hand method for controlling stepping motor and device for playing robot, to solve in the related technology
The problem of robot entirety hand will not be moved with respect to piano, the caused shortage sense of reality.
Summary of the invention
The main purpose of the application is to provide a kind of hand method for controlling stepping motor for playing robot, to solve phase
The problem of robot entirety hand will not be moved with respect to piano in the technology of pass, the caused shortage sense of reality.
To achieve the goals above, according to the one aspect of the application, a kind of hand stepping for playing robot is provided
Motor control method.
It include: to be obtained by typing music-book information according to the hand method for controlling stepping motor for playing robot of the application
Numeric music notation；The numeric music notation is formatted, numeric music notation is obtained and plays signal；It is played according to the numeric music notation
Signal generates corresponding step motor control signal；The hand of robot is played according to step motor control signal control
The movement of portion's stepper motor.
Further, the typing music-book information obtains numeric music notation and includes: music-book information described in sequence typing and save,
Wherein, the music-book information includes: numbered musical notation information and staff information；According to default format transformation to the music score after typing
Information formats, and obtains numeric music notation.
Further, described to format numeric music notation, it obtains numeric music notation and plays signal to include: that creation is played
Storehouse；Storehouse will be played described in numeric music notation indentation；From the target sound played and sequentially extracted in storehouse for playing
Symbol, obtains numeric music notation and plays signal.
It is further, described that play signal to generate corresponding step motor control signal according to numeric music notation include: basis
The numeric music notation plays signal and carries out pulse signal configuration, obtains the step motor control letter for controlling the stepper motor
Number, wherein the pulse signal configuration includes: output frequency configuration, the configuration of signal duration and pulsewidth configuration.
Further, the hand stepper motor movement that robot is played according to the control of step motor control signal
It include: the revolving speed that the stepper motor is controlled according to the output frequency of the step motor control signal received；According to connecing
The signal duration of the step motor control signal received controls the corner of the stepper motor.
To achieve the goals above, according to the another aspect of the application, a kind of hand stepping for playing robot is provided
Motor control assembly.
Include: to play signal acquiring unit according to the hand stepping motor control apparatus for playing robot of the application, uses
It is formatted in by the numeric music notation, obtains numeric music notation and play signal；Signal acquiring unit is controlled, for according to institute
It states to play the numeric music notation that signal acquiring unit obtains and play signal and generates corresponding step motor control signal；Control unit,
The hand step of robot is played described in step motor control signal control for obtaining according to the control signal acquiring unit
Into motor movement.
Further, further includes: music score recording module for music-book information described in sequence typing and saves, wherein described
Music-book information includes: numbered musical notation information and staff information；Numeric music notation obtains module, presets format transformation to typing for basis
The music-book information afterwards formats, and obtains numeric music notation.
Further, the signal acquiring unit of playing includes: to play storehouse creation module, plays storehouse for creating；
Pop down module, for storehouse will to be played described in numeric music notation indentation；It pops module, for playing sequence in storehouse from described
The target note for playing is extracted, numeric music notation is obtained and plays signal.
Further, the control signal acquiring unit includes: pulse signal configuration module, for happy according to the number
Spectrum plays signal and carries out pulse signal configuration, obtains the step motor control signal for controlling the stepper motor, wherein institute
Stating pulse signal configuration includes: output frequency configuration, the configuration of signal duration and pulsewidth configuration.
Further, described control unit includes: rotational speed control module, for according to the stepper motor control received
The output frequency of signal processed controls the revolving speed of the stepper motor；Corner control module, for according to the stepping received
The signal duration of motor control signal controls the corner of the stepper motor.
In the embodiment of the present application, format to obtain the side that numeric music notation plays signal using by numeric music notation
Formula generates corresponding step motor control signal by playing signal according to numeric music notation, has reached according to step motor control
The purpose of the hand stepper motor movement of robot is played in signal control, to realize robot, when playing, hand being capable of phase
It to the technical effect of piano movement, and then solves in the related technology that robot entirety hand will not be moved with respect to piano, causes
The shortage sense of reality the problem of.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the method for controlling stepping motor schematic diagram according to the application first embodiment；
Fig. 2 is the method for controlling stepping motor schematic diagram according to the application second embodiment；
Fig. 3 is the method for controlling stepping motor schematic diagram according to the application 3rd embodiment；
Fig. 4 is the method for controlling stepping motor schematic diagram according to the application fourth embodiment；
Fig. 5 is the method for controlling stepping motor schematic diagram according to the application first embodiment；
Fig. 6 is the method for controlling stepping motor schematic diagram according to the application second embodiment；
Fig. 7 is the method for controlling stepping motor schematic diagram according to the application 3rd embodiment；And
Fig. 8 is the method for controlling stepping motor schematic diagram according to the application fourth embodiment.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, a kind of hand method for controlling stepping motor for playing robot, is counted by typing music-book information
Word music score, which is characterized in that this method includes the following steps, namely S101 to step S103:
Preferably, in order to facilitate the realization of the numbered musical notation of host computer and staff automatic input function, the input of music score is used
Simplest sequence typing format, it is contemplated that presumable and rotation playing way, therefore a note uses following format:
[note ..., note, beat] [note, note, beat] [note, beat], wherein note is at least one, up to five
It is a.
Preferably, the storage of music score is stored using 1*8 single byte array, and first is happy symbol quantity, and second is extremely
6th is corresponding happy symbol, and the 7th is palm location information, and the 8th is the specific format of beat are as follows: [happy symbol quantity, happy symbol 1,
Happy symbol 2, happy symbol 3, happy symbol 4, happy symbol 5, palm position, beat].
Step S101 formats the numeric music notation, obtains numeric music notation and plays signal；
Preferably, storehouse is played in creation, by numeric music notation pop down, in order to and allow Program pre-reading to take the happy symbol of a part,
Palm shift position is planned before performance.
Specifically, first creating stack functions: for creating an empty storehouse, maximum length 16, minimum storage 16
Note, that is, 16 semiquavers are at least generally the note of four trifles.
Then, it discharges stack functions: for discharging storehouse, reducing the occupancy of memory, after performance, carry out release heap
The operation of stack.
Then judge whether storehouse has expired: for judging whether storehouse has expired, popping in program for detecting whether reaching
Condition, that is to say, that when storehouse has been expired and then starts to be played.
Subsequently it is pressed into storehouse: for pre- musical notes to be pressed into storehouse；
Query stacking: for being used to judge whether storehouse has expired, for detecting whether reaching the condition of popping, also in program
It is to say when storehouse has expired and then started to be played.
It finally deletes and returns to stack top item: stack top element being popped, for playing.
Step S102 plays signal according to the numeric music notation and generates corresponding step motor control signal；
Preferably, core is detected and controlled as intelligent robot using STM32f103 single-chip microcontroller, what it is using MCU is
Clock of uniting realizes timing control, realizes the functions such as PWM output, pulse-width controlled, frequency control using the TIMx peripheral hardware of MCU, uses
The GPIO peripheral hardware of MCU realizes the output function of control signal.Specific control aspect, using controllable frequency controllable signal duration
Pwm pulse drives stepper motor, realizes and moves left and right function to play robot hand.
Step S103 plays the hand stepper motor fortune of robot according to step motor control signal control
It is dynamic.
Preferably, the PWM that stepper motor driving needs to export assigned frequency, the fixed duty cycle of specified duration is 50% believes
Number, stepper motor revolving speed is controlled by control output frequency, accurately controls stepper motor corner by controlling signal duration.
Specifically, main TIMx peripheral hardware is responsible for the pwm signal for generating assigned frequency, fixing 50% duty ratio, by being multiplexed MCU
GPIO peripheral hardware export to stepper motor；It is associated with from TIMx peripheral hardware by the inside TIM of MCU, to the PWM of main TIMx peripheral hardware output
Signal pulse number is counted, and is generated and is interrupted when reaching specified quantity, enables to close the pwm signal output of main TIMx peripheral hardware, most
The signal control of specified duration is realized eventually.
It can be seen from the above description that the present invention realizes following technical effect:
In the embodiment of the present application, format to obtain the side that numeric music notation plays signal using by numeric music notation
Formula generates corresponding step motor control signal by playing signal according to numeric music notation, has reached according to step motor control
The purpose of the hand stepper motor movement of robot is played in signal control, to realize robot, when playing, hand being capable of phase
It to the technical effect of piano movement, and then solves in the related technology that robot entirety hand will not be moved with respect to piano, causes
The shortage sense of reality the problem of.
According to embodiments of the present invention, as preferred in the present embodiment, as shown in Fig. 2, the typing music-book information obtains
Numeric music notation includes the following steps, namely S201 to step S202:
Step S201, music-book information described in sequence typing simultaneously save, wherein the music-book information include: numbered musical notation information and
Staff information；
Preferably, in order to facilitate the realization of the numbered musical notation of host computer and staff automatic input function, the input of music score is used
Simplest sequence typing format, it is contemplated that presumable and rotation playing way, therefore a note uses following format:
[note ..., note, beat] [note, note, beat] [note, beat], wherein note is at least one, up to five
A, in the other embodiments of the application, the music-book information is also possible to the music score of other forms.
Step S202 formats the music-book information after typing according to default format transformation, obtains number
Music score.
Preferably, the storage of music score is stored using 1*8 single byte array, and first is happy symbol quantity, and second is extremely
6th is corresponding happy symbol, and the 7th is palm location information, and the 8th is the specific format of beat are as follows: [happy symbol quantity, happy symbol 1,
Happy symbol 2, happy symbol 3, happy symbol 4, happy symbol 5, palm position, beat].
According to embodiments of the present invention, as preferred in the present embodiment, as shown in figure 3, described carry out lattice for numeric music notation
Formula conversion, obtains numeric music notation and plays signal including the following steps, namely S301 to step S303:
Storehouse is played in step S301, creation；
Preferably, stack functions are first created: for creating an empty storehouse, maximum length 16, minimum storage 16
Note, that is, 16 semiquavers are at least generally the note of four trifles.
Step S302 will play storehouse described in numeric music notation indentation；
Preferably, pre- musical notes are pressed into storehouse.
Step S303 obtains numeric music notation and plays from the target note played and sequentially extracted in storehouse for playing
Signal.
Preferably, stack top element is popped, obtains the target note for playing, and generate numeric music notation and play signal.
According to embodiments of the present invention, described signal is played according to numeric music notation to generate pair as preferred in the present embodiment
The step motor control signal answered includes: to play signal according to the numeric music notation to carry out pulse signal configuration, is obtained for controlling
Make the step motor control signal of the stepper motor.
Preferably, the pulse signal configuration includes: that output frequency configuration, the configuration of signal duration and pulsewidth configure, specifically
, output frequency is set as 50Hz, and pulsewidth is set as 600ms-2500ms, in the other embodiments of the application, the pulse
Signal configuration can also be that other are directed to the modulation system of signal.
According to embodiments of the present invention, as preferred in the present embodiment, as shown in figure 4, described according to step motor control
The hand stepper motor movement that robot is played described in signal control includes the following steps, namely S401 to step S402:
Step S401 controls the stepper motor according to the output frequency of the step motor control signal received
Revolving speed；
Preferably, the PWM that stepper motor driving needs to export assigned frequency, the fixed duty cycle of specified duration is 50% believes
Number, stepper motor revolving speed is controlled by control output frequency.
Step S402 controls the stepper motor according to the signal duration of the step motor control signal received
Corner.
Preferably, the PWM that stepper motor driving needs to export assigned frequency, the fixed duty cycle of specified duration is 50% believes
Number, stepper motor corner is accurately controlled by controlling signal duration.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to embodiments of the present invention, additionally provide it is a kind of for implementing the device of above-mentioned hand method for controlling stepping motor,
As shown in figure 5, the device includes: to play signal acquiring unit 10, for formatting the numeric music notation, counted
Word music score plays signal；Control signal acquiring unit 20, the numeric music notation obtained for playing signal acquiring unit according to
It plays signal and generates corresponding step motor control signal；Control unit 30, for being obtained according to the control signal acquiring unit
To step motor control signal control described in play robot hand stepper motor movement.
Signal acquiring unit 10 is played according to the embodiment of the present application to turn for the numeric music notation to be carried out format
It changes, obtains numeric music notation and play signal, it is preferred that storehouse is played in creation, by numeric music notation pop down, in order to make program pre-
The happy symbol of a part is read, palm shift position is planned before performance.
The control signal acquiring unit 20 according to the embodiment of the present application according to for playing signal acquiring unit
Obtained numeric music notation plays signal and generates corresponding step motor control signal, it is preferred that is made using STM32f103 single-chip microcontroller
Core is detected and controlled for intelligent robot, timing control is realized using the system clock of MCU, using the TIMx peripheral hardware of MCU
It realizes the functions such as PWM output, pulse-width controlled, frequency control, the output function of control signal is realized using the GPIO peripheral hardware of MCU.
Specific control aspect drives stepper motor using the pwm pulse of controllable frequency controllable signal duration, realizes to playing robot
Hand moves left and right function.
The control unit 30 according to the embodiment of the present application is used for the step obtained according to the control signal acquiring unit
Into the hand stepper motor movement for playing robot described in motor control signal control, it is preferred that stepper motor driving needs defeated
Out assigned frequency, specified duration fixed duty cycle be 50% pwm signal, pass through control output frequency and control stepper motor and turn
Speed accurately controls stepper motor corner by controlling signal duration.
According to embodiments of the present invention, as preferred in the present embodiment, as shown in Figure 6, further includes: music score recording module
01, it for music-book information described in sequence typing and saves, wherein the music-book information includes: numbered musical notation information and staff information；
Numeric music notation obtains module 02, for being formatted according to default format transformation to the music-book information after typing, obtains
To numeric music notation.
The music score recording module 01 according to the embodiment of the present application, for music-book information described in sequence typing and saves,
Wherein, the music-book information includes: numbered musical notation information and staff information, it is preferred that in order to facilitate the numbered musical notation and five lines of host computer
The realization of automatic input function is composed, the input of music score uses simplest sequence typing format, it is contemplated that presumable and rotation bullet
Play mode, therefore a note uses following format: [note ..., note, beat] [note, note, beat] [note, section
Clap], wherein note is at least one, and up to five, in the other embodiments of the application, the music-book information can also be with
It is the music score of other forms.
The numeric music notation according to the embodiment of the present application obtains module 02, after according to format transformation is preset to typing
The music-book information format, obtain numeric music notation, it is preferred that the storage of music score using 1*8 single byte array into
Row storage, first is happy symbol quantity, second to the 6th be corresponding happy symbol, the 7th is palm location information, the 8th
For the specific format of beat are as follows: [happy symbol quantity, happy symbol 1, happy symbol 2, happy symbol 3, happy symbol 4, happy symbol 5, palm position, beat].
According to embodiments of the present invention, as preferred in the present embodiment, as shown in fig. 7, described play signal acquiring unit
10 include: to play storehouse creation module 11, plays storehouse for creating；Pop down module 12, for the numeric music notation to be pressed into
It is described to play storehouse；Module of popping 13 is counted for playing the target note sequentially extracted in storehouse for playing from described
Word music score plays signal.
Played according to the embodiment of the present application storehouse creation module 11 for create play storehouse, it is preferred that first create
Build stack functions: for creating an empty storehouse, maximum length 16, minimum stores 16 notes, that is, 16 ten
Six dieresis are at least generally the note of four trifles.
The pop down module 12 according to the embodiment of the present application is used to that storehouse will to be played described in numeric music notation indentation, excellent
Choosing, pre- musical notes are pressed into storehouse.
Module of popping according to the embodiment of the present application 13 is used to sequentially extract for playing from described play in storehouse
Target note, obtain numeric music notation and play signal, it is preferred that stack top element is popped, the target note for playing is obtained,
And it generates numeric music notation and plays signal.
According to embodiments of the present invention, as preferred in the present embodiment, the control signal acquiring unit 20 includes: pulse
Signal configuration module 21 carries out pulse signal configuration for playing signal according to the numeric music notation, obtains described for controlling
The step motor control signal of stepper motor, wherein the pulse signal configuration includes: that output frequency configures, signal duration is matched
It sets and is configured with pulsewidth.
The pulse signal configuration module 21 according to the embodiment of the present application is used to play signal according to the numeric music notation
Pulse signal configuration is carried out, the step motor control signal for controlling the stepper motor is obtained, it is preferred that the pulse letter
Number configuration include: output frequency configuration, signal duration configuration and pulsewidth configuration, in the other embodiments of the application, the arteries and veins
Rushing signal configuration can also be that other are directed to the modulation system of signal.
According to embodiments of the present invention, as preferred in the present embodiment, as shown in figure 8, described control unit 30 includes: to turn
Fast control module 31, for controlling the stepper motor according to the output frequency of the step motor control signal received
Revolving speed；Corner control module 32, for controlling the step according to the signal duration of the step motor control signal received
Into the corner of motor.
The rotational speed control module 31 according to the embodiment of the present application is used for according to the step motor control received
The output frequency of signal controls the revolving speed of the stepper motor, it is preferred that stepper motor driving needs to export assigned frequency, specifies
The pwm signal that the fixed duty cycle of duration is 50% controls stepper motor revolving speed by control output frequency.
The corner control module 32 according to the embodiment of the present application is used for according to the step motor control received
The signal duration of signal controls the corner of the stepper motor, it is preferred that stepper motor driving needs to export assigned frequency, specifies
The pwm signal that the fixed duty cycle of duration is 50% accurately controls stepper motor corner by controlling signal duration.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of hand method for controlling stepping motor for playing robot, obtains numeric music notation by typing music-book information, special
Sign is, which comprises
The numeric music notation is formatted, numeric music notation is obtained and plays signal；
Signal, which is played, according to the numeric music notation generates corresponding step motor control signal；
The hand stepper motor movement of robot is played according to step motor control signal control.
2. method for controlling stepping motor according to claim 1, which is characterized in that the typing music-book information obtains number
Music score includes:
Music-book information described in sequence typing simultaneously saves, wherein the music-book information includes: numbered musical notation information and staff information；
The music-book information after typing is formatted according to default format transformation, obtains numeric music notation.
3. method for controlling stepping motor according to claim 1, which is characterized in that described that numeric music notation is carried out format turn
Change, obtain numeric music notation and play signal include:
Storehouse is played in creation；
Storehouse will be played described in numeric music notation indentation；
From the target note played and sequentially extracted in storehouse for playing, obtains numeric music notation and play signal.
4. method for controlling stepping motor according to claim 1, which is characterized in that described to play signal according to numeric music notation
Generating corresponding step motor control signal includes:
Signal is played according to the numeric music notation and carries out pulse signal configuration, obtains the stepping electricity for controlling the stepper motor
Machine control signal, wherein the pulse signal configuration includes: output frequency configuration, the configuration of signal duration and pulsewidth configuration.
5. method for controlling stepping motor according to claim 4, which is characterized in that described according to step motor control signal
The hand stepper motor that robot is played described in control, which moves, includes:
The revolving speed of the stepper motor is controlled according to the output frequency of the step motor control signal received；
The corner of the stepper motor is controlled according to the signal duration of the step motor control signal received.
6. a kind of hand stepping motor control apparatus for playing robot, obtains numeric music notation by typing music-book information, special
Sign is, comprising:
Signal acquiring unit is played, for formatting the numeric music notation, numeric music notation is obtained and plays signal；
Signal acquiring unit is controlled, plays signal generation pair for playing the numeric music notation that signal acquiring unit obtains according to
The step motor control signal answered；
Control unit, for playing machine described in the step motor control signal control that signal acquiring unit obtains according to described control
The hand stepper motor of device people moves.
7. stepping motor control apparatus according to claim 6, which is characterized in that further include:
Music score recording module for music-book information described in sequence typing and saves, wherein the music-book information includes: numbered musical notation letter
Breath and staff information；
Numeric music notation obtains module, for being formatted according to default format transformation to the music-book information after typing,
Obtain numeric music notation.
8. stepping motor control apparatus according to claim 6, which is characterized in that described to play signal acquiring unit packet
It includes:
Storehouse creation module is played, plays storehouse for creating；
Pop down module, for storehouse will to be played described in numeric music notation indentation；
Module of popping obtains numeric music notation and plays for playing the target note sequentially extracted in storehouse for playing from described
Signal.
9. stepping motor control apparatus according to claim 6, which is characterized in that the control signal acquiring unit packet
It includes:
Pulse signal configuration module carries out pulse signal configuration for playing signal according to the numeric music notation, obtains for controlling
Make the step motor control signal of the stepper motor, wherein the pulse signal configuration includes: output frequency configuration, signal
Duration configuration and pulsewidth configuration.
10. stepping motor control apparatus according to claim 9, which is characterized in that described control unit includes:
Rotational speed control module controls the stepping electricity for the output frequency according to the step motor control signal received
The revolving speed of machine；
Corner control module controls the stepping electricity for the signal duration according to the step motor control signal received
The corner of machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110216677A (en) * | 2019-06-21 | 2019-09-10 | 浙江大学 | It is a kind of machinery Dextrous Hand play the musical instrument action sequence generation and its optimization method |
| CN112382255A (en) * | 2020-10-26 | 2021-02-19 | 清能德创电气技术（北京）有限公司 | Music playing method based on alternating current servo system |
| CN114038276A (en) * | 2021-11-12 | 2022-02-11 | 江苏大学 | Blind touch learning system and method thereof |
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