CN110070846A - A kind of the play music identification of spectrogram of robot of vibraphone is played music method - Google Patents
A kind of the play music identification of spectrogram of robot of vibraphone is played music method Download PDFInfo
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- CN110070846A CN110070846A CN201910192829.9A CN201910192829A CN110070846A CN 110070846 A CN110070846 A CN 110070846A CN 201910192829 A CN201910192829 A CN 201910192829A CN 110070846 A CN110070846 A CN 110070846A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 239000000284 extract Substances 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000010365 information processing Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 229910002056 binary alloy Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/004—Playing a music instrument
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H1/00—Details of electrophonic musical instruments
- G10H1/0008—Associated control or indicating means
Abstract
The invention discloses a kind of the play music identifications of spectrogram of robot of vibraphone to play music method, the following steps are included: (1) acquisition of information, (2) information parsing conversion and (3) decoding identification, wherein, the note information of external transmission include musical score image information input with note, the information input of the melody of audio format, acoustic mode audio period information input.The music score that outside obtains can be formed the identifiable music score of robot and be converted further into the executable information of robot by the present invention, solves the single mode of playing music of existing robot of playing music, the mode of playing music for enriching robot in all directions is conducive to further deeply developing for robot.
Description
Technical field
The invention belongs to robotic technology field, in particular to the play music identification of spectrogram of robot of a kind of vibraphone is played music method.
Background technique
Intelligent robot is the premium products of scientific technological advance, and it is many high-intensitive, high accurancy and precision to substitute people's completion
Task.With the depth development of intelligent robot, instrument playing robot also gradually climbs up intelligent stage.Vibraphone is played music machine
The stamp that people can be controlled by intelligent control module on robot arm taps vibraphone to play the music score of Chinese operas, but existing
Vibraphone robot development degree of playing music it is shallower, the song of some fixed music score can only be played, vibraphone robot of playing music wants
Want to obtain depth development, needs to receive at any time the external music score of Chinese operas and form internal song library and played out.
Summary of the invention
The present invention the above-mentioned prior art there are aiming at the problem that, a kind of the play music identification of spectrogram of robot of vibraphone is provided and is played music
Method.
The present invention is realized by following technological means solves above-mentioned technical problem:
A kind of the play music identification of spectrogram of robot of vibraphone is played music method, comprising the following steps:
(1) acquisition of information: robot is obtained by the note information of outside transmission；
(2) information processing point information parsing conversion: is carried out to the note information obtained by outside by inter-process system
Analysis, is encoded into the identifiable digital information of robot；
(3) decoding identification: the executing agency of robot receives the digital information after encoding and decoding, to decoded number
Information carries out match cognization, forms executable command lanuage；
Wherein, the note information of external transmission includes:
A, the musical score image information input with note；
B, the information input of the melody of audio format；
C, the information input of the audio period of acoustic mode；
As a further improvement of the present invention, step (2) information parsing conversion the following steps are included:
(2-1) by outside obtain note information separated from vector background information it is independent, formed by happy Fu Zucheng
Happy symbol string；
(2-2) is identified independent happy symbol string is separated with note Model Matching, is converted further into numbered musical notation；
The numbered musical notation information coding of generation is generated binary digital information by (2-3), in binary digital information
Include duration, note and pitch information；
As a further improvement of the present invention, binary digital information includes at least seven in the step (2-3),
In, front three is note information, and three are pitch information after note information, after pitch information for when value information.
As a further improvement of the present invention, described (3) decoding identification is specially after playing music executing agency's acquisition coding
Digital information and execution information match cognization, finally output are the melody that robot is knocked out, wherein execution information is trill
The key coordinate information of qin.
As a further improvement of the present invention, the execution information is the numeric string of a string of six digits, each key pair
A specific numeric string is answered, and the numeric string and note model form fixed match pattern.
As a further improvement of the present invention, outside is obtained for the musical score image information with note in step (2-1)
The note information taken separates independent method from vector background information are as follows: scanning music score forms bianry image, by music score
Bianry image and the bianry image of blank staff do subtraction, leave the happy symbol information of music score.
As a further improvement of the present invention, outside is obtained for the information of the melody of audio format in step (2-1)
Note information independent method is separated from vector background information are as follows: from audio-frequency information extract information of acoustic wave do ripple
Analysis, extracts note information according to the vibration frequency feature of different notes from sound wave.
As a further improvement of the present invention, it is directed to the audio-frequency information of acoustic mode in step (2-1), outside is obtained
Note information separates independent method from vector background information are as follows: the sound wave ripple for acquiring acoustic mode does ripple point
Analysis, extracts note information according to the vibration frequency feature of different notes from sound wave.
The invention has the benefit that it is identifiable to form robot by using the music score that this method can obtain outside
Music score is simultaneously converted further into the executable information of robot, solves the single mode of playing music of existing robot of playing music, Quan Fang
The mode of playing music for enriching to face robot is conducive to further deeply developing for robot.
Detailed description of the invention
Fig. 1 is that identification of spectrogram of the embodiment of the present invention is played music the flow diagram of method.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Embodiment
As shown in Figure 1, a kind of vibraphone is played music, the identification of spectrogram of robot is played music method, comprising the following steps:
(1) acquisition of information: robot is obtained by the note information of outside transmission；
(2) information processing point information parsing conversion: is carried out to the note information obtained by outside by inter-process system
Analysis, is encoded into the identifiable digital information of robot；
(3) decoding identification: the executing agency of robot receives the digital information after encoding and decoding, to decoded number
Information carries out match cognization, forms executable command lanuage；
Wherein, the note information of external transmission includes:
A, the musical score image information input with note；
B, the information input of the melody of audio format；
C, the information input of the audio period of acoustic mode；
Further, step (2) information parsing conversion the following steps are included:
(2-1) by outside obtain note information separated from vector background information it is independent, formed by happy Fu Zucheng
Happy symbol string；
(2-2) is identified independent happy symbol string is separated with note Model Matching, is converted further into numbered musical notation；
The numbered musical notation information coding of generation is generated binary digital information by (2-3), in binary digital information
Include duration, note and pitch information；
Further, binary digital information includes at least seven in the step (2-3), wherein front three is sound
Information is accorded with, three are pitch information, value information when being after pitch information after note information.
Each section of note segment all has its specific numbered musical notation symbol, and numbered musical notation symbol includes specific numbered musical notation number, pitch
And duration, front three numerical value conversion are corresponding numbered musical notation symbol at decimal value, the 4th and five-digit number, which combine, indicates high
Bass, " 10 " combination indicate high pitch, and " 01 " combination indicates bass, and " 00 " combination indicates middle pitch, and the 6th bit value is high pitch or low
Sound level number, level-one high pitch or bass are represented in binary as " 0 " with 1, second level high pitch or bass, also known as ultrahigh frequency or subwoofer,
" 1 " is represented in binary as with 2, it is generally the case that the grade of high pitch or bass counts to second level, if series is higher, can adopt
With the binary number representation of two even more digits.For example, crotchetThat indicate is high pitch xi, uses binary digit
String list is shown as 111100100, wherein front three " 111 " is the binary representation of numbered musical notation symbol 7, three " 100 " tables closely followed
The high pitch shown, " 10 " of the front indicate high pitch, and the binary representation mode of subsequent " 0 " 1 indicates a high note, finally
Three " 100 " be 4 binary representation method, i.e., expression crotchet.
Further, described (3) decoding identification is specially the digital information and execution after playing music executing agency's acquisition coding
Information matches identification, finally output are the melody that robot is knocked out, wherein execution information is that the key coordinate of vibraphone is believed
Breath.
Robot taps vibraphone as position output, and the key of each of which vibraphone has fixed coordinate value, these seats
Scale value all has previously been stored in the database of robot, in addition, each key generates specific note after tapping, this note
Corresponding to note model, there is its specific pitch, note and duration, therefore the coordinate value of each key can generate one
Corresponding binary numeral string changes the coding mode of binary numeral string and the binary number coding mould in step (2-3)
Formula is identical, so, what data system needed to do is exactly the matching of binary numeral string.For example, passing through generation in step (2-3)
Binary numeral string be 100000100, the subsequent data system typing binary numeral string and with the binary system in data system
Numerical value String matching, find and its just as binary numeral string, such robot will beat the binary numeral string and correspond to qin
Key, continuously getting up can playing music.
Further, the execution information is the numeric string of a string of six digits, corresponding one specific number of each key
Word string, and the numeric string and note model form fixed match pattern.
The numerical string is different from the binary numeral string of note, and what is indicated is the coordinate position of key, at key
In in same plane, it is 0 in system default that z coordinate, which is identical, the coordinate of the front three expression x-axis of six digits, rear three
Position indicates the coordinate of y-axis, and the numerical string of six digit can use binary numeral string, but be not limited to binary numeral string, also
It can be indicated using octal system, decimal system etc..
It is as follows to three kinds in step (2-1) the external note information processing modes transmitted in the present embodiment:
For the musical score image information for having note, the note information that outside obtains is separated solely from vector background information
The vertical method come out are as follows: scanning music score forms bianry image, and the bianry image of music score and the bianry image of blank staff are done
Subtraction leaves the happy symbol information of music score；
For the information of the melody of audio format, the note information that outside obtains is separated from vector background information independent
Method out are as follows: from audio-frequency information extract information of acoustic wave do wave analysis, according to the vibration frequency feature of different notes from
Note information is extracted in sound wave；
For the audio-frequency information of acoustic mode, the note information that outside obtains is separated independently to go out from vector background information
The method come are as follows: the sound wave ripple for acquiring acoustic mode does wave analysis, according to the vibration frequency feature of different notes from sound wave
In extract note information；
The music score that outside obtains can be formed by the identifiable music score of robot by using this method and be converted further into
The executable information of robot, solves the single mode of playing music of existing robot of playing music, enriches robot in all directions
It plays music mode, is conducive to further deeply developing for robot.
It should be noted that, in this document, such as first and second or the like relational terms are used merely to one if it exists
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of vibraphone is played music, the identification of spectrogram of robot is played music method, which comprises the following steps:
(1) acquisition of information: robot is obtained by the note information of outside transmission；
(2) information parsing conversion: information process analysis is carried out to the note information obtained by outside by inter-process system, is compiled
Code is at the identifiable digital information of robot；
(3) decoding identification: the executing agency of robot receives the digital information after encoding and decoding, to decoded digital information
Match cognization is carried out, executable command lanuage is formed；
Wherein, the note information of external transmission includes:
A, the musical score image information input with note；
B, the information input of the melody of audio format；
C, the information input of the audio period of acoustic mode.
2. a kind of vibraphone according to claim 1 is played music, the identification of spectrogram of robot is played music method, which is characterized in that the step
Suddenly (2) information parsing conversion the following steps are included:
The note information that outside obtains is separated the pleasure independent, formation is made of happy symbol by (2-1) from vector background information
Symbol string；
(2-2) is identified independent happy symbol string is separated with note Model Matching, is converted further into numbered musical notation；
The numbered musical notation information coding of generation is generated binary digital information, includes in binary digital information by (2-3)
Duration, note and pitch information.
3. a kind of vibraphone according to claim 2 is played music, the identification of spectrogram of robot is played music method, which is characterized in that the step
Suddenly binary digital information includes at least seven in (2-3), wherein front three is note information, and three are after note information
Pitch information, after pitch information for when value information.
4. a kind of vibraphone according to claim 3 is played music, the identification of spectrogram of robot is played music method, which is characterized in that described
(3) decoding identification is specially the digital information and execution information match cognization after playing music executing agency's acquisition coding, is finally exported
The melody being knocked out for robot, wherein execution information is the key coordinate information of vibraphone.
5. a kind of vibraphone according to claim 4 is played music, the identification of spectrogram of robot is played music method, which is characterized in that described to hold
Row information is the numeric string of a string of six digits, the corresponding specific numeric string of each key, and the numeric string and note mould
Type forms fixed match pattern.
6. any vibraphone described according to claim 1~5 is played music, the identification of spectrogram of robot is played music method, and feature exists
In for the musical score image information with note in step (2-1), the note information that outside is obtained is from vector background information
Separate independent method are as follows: scanning music score forms bianry image, by the two-value of the bianry image of music score and blank staff
Image does subtraction, leaves the happy symbol information of music score.
7. any vibraphone described according to claim 1~5 is played music, the identification of spectrogram of robot is played music method, and feature exists
In for the information of the melody of audio format in step (2-1), the note information that outside is obtained divides from vector background information
From independent method are as follows: extract information of acoustic wave from audio-frequency information and do wave analysis, according to the vibration frequency of different notes
Feature extracts note information from sound wave.
8. any vibraphone described according to claim 1~5 is played music, the identification of spectrogram of robot is played music method, and feature exists
In, in step (2-1) be directed to acoustic mode audio-frequency information, by outside obtain note information separated from vector background information
Independent method are as follows: the sound wave ripple for acquiring acoustic mode does wave analysis, according to the vibration frequency feature of different notes
Note information is extracted from sound wave.
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Cited By (2)
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| CN111639649A (en) * | 2020-05-26 | 2020-09-08 | 中国地质大学（武汉） | Method and system for identifying and encoding numbered musical notation image based on real-time image stream |
| CN114023285A (en) * | 2021-09-29 | 2022-02-08 | 合肥磐石智能科技股份有限公司 | Quick-return type knocking method based on chime robot |
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| CN111639649A (en) * | 2020-05-26 | 2020-09-08 | 中国地质大学（武汉） | Method and system for identifying and encoding numbered musical notation image based on real-time image stream |
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