CN114023290A - Automatic bamboo dance shooting machine and control system thereof - Google Patents
Automatic bamboo dance shooting machine and control system thereof Download PDFInfo
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Abstract
The invention discloses an automatic bamboo dance shooting machine and a control system thereof, wherein the shooting machine consists of a servo motor, a single chip microcomputer controller, a distance detection alarm device, a network wireless communication device, a bamboo pole transmission mechanism, a movable sliding guide rail and a control system thereof; when the frequency signal is transmitted to the singlechip controller through the wireless terminal, the singlechip drives the servo motor to convert the torque into the motion in the horizontal direction to drive the movable guide rod to work; and according to the change of the input signal, the opening and closing speed of the bamboo poles can be automatically adjusted, and the purpose of automatic beating is achieved. The invention can automatically extract the music rhythm to realize the function of automatic shooting according to the source music file, thereby improving the accuracy of the bamboo dance shooting machine.
Description
Technical Field
The invention relates to the technical field of fitness and entertainment equipment, in particular to an automatic bamboo dance shooting machine and a control system thereof.
Background
The bamboo dance is a characteristic activity of national minority nationalities, and usually a group of people continuously swing the bamboo poles according to different rhythms and frequencies, so that the bamboo poles are continuously opened and closed according to different rhythms and frequencies, and another group of people also jump in the neutral position of the continuously opened and closed bamboo poles according to the rhythms and the frequencies. Therefore, when the bamboo is danced, the actions of the bamboo need to be coordinated by a plurality of people, and the labor intensity of operators is high.
At present, Chinese patent CN207871443U discloses a bamboo dance dancing machine driven by a cylinder, the dancing rod of the machine can horizontally move along a guide rail, the dancing rod is connected with a slide block push rod, the slide block push rod is hinged with an executing mechanism of the cylinder, and the cylinder provides pressure air for the cylinder by an air pipe to generate power; the compressed air from the air storage tank is connected to an air inlet of the air cylinder through a reversing valve after the pressure of the compressed air is regulated through a pressure stabilizing valve; the action of the directional valve is controlled by the controller, and the air inlet direction is changed by changing the action of the reversing valve, so that the reciprocating motion of the cylinder drives the dancing pole to horizontally reciprocate along the guide rail. The cylinder drives the machine to operate, so that the machine is dangerous, and in practical application, the pneumatic transmission has certain limitation and danger, so that the machine is difficult to popularize and use widely.
Chinese patent CN108837458A discloses an automatic pole device of beating of bamboo pole dance, including the platform, and the left crossbeam, the right crossbeam that the symmetry set up on the platform, still include a plurality of bamboo pole groups, and set up first drive mechanism and a plurality of first slide mechanism on the left crossbeam, through first step motor and the motion of second step motor drive first belt and second belt, thereby drive bamboo pole a and bamboo pole b in opposite directions or relative motion, and then realize the action of beating the pole. In practical application, because the equipment is controlled by the PLC, the number of data bits processed by the PLC is limited, and although the movement of the mechanism can be accurately controlled, the equipment does not have intelligent capability, and the equipment needs to be operated in a preset program mode, so that the equipment is complicated to use. The machine adopts step motor to debug, and the debugging is less smooth, and user experience feels relatively poor.
Chinese patent CN107773962A discloses a totally enclosed automatic bamboo dance device, which comprises a box, a driving mechanism, a bamboo moving device, and a resetting device. Wherein, the box body is provided with a gap; the driving mechanism, the bamboo pole moving device and the reset device are arranged in the box body. The driving mechanism comprises a motor, a driving disc, a first fixed pulley, a second fixed pulley, a spring and a steel wire rope. The first fixed pulley is fixed on the inner wall of the box body, one end of the steel wire rope winds the driving disc and is connected with one end of the spring by winding the second fixed pulley, the end of the spring is welded on the second sliding sleeve, and the other end of the spring is connected on the first sliding sleeve. The first sliding sleeve and the second sliding sleeve are fixed on the sliding rails, the sliding rails are fixed between the sliding rail stand columns, and the sliding rail stand columns are fixed at the lower end of the box body. In practical application, the device uses compression spring, and compression spring loss rate is great, can appear elastic modulus decline after the live time is longer, and compression deformation is difficult to the ground problem of recovering, needs to replace more often, and the machine does not have intellectuality, can't beat according to the music is automatic, and the limitation of use is great.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an automatic bamboo dance shooting machine and a control system thereof, so that the automatic shooting function can be realized by automatically extracting music rhythm according to a source music file, and the accuracy of the bamboo dance shooting machine can be improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to an automatic bamboo dance beating machine which is characterized in that main body frames are symmetrically arranged, the top of the inner side of each main body frame is provided with an alternating current servo motor, each alternating current servo motor is connected with a torque transmission disc through a flat key, and the end face of each torque transmission disc is connected with a torque transmission connecting rod through threads; the torque transmission connecting rod is connected with one end of a rocker linkage through a bearing, and the rocker linkage is arranged on the vertical sliding groove in a sliding manner; photoelectric sensors are respectively arranged on two sides of the vertical sliding groove; the other two ends of the rocker linkage are respectively provided with a sliding key in the grooves of the first left transmission rocker and the first right transmission rocker; the top ends of the first left transmission rocker and the first right transmission rocker are respectively connected with a second left fixed winding drum and a second right fixed winding drum which are fixed on the main body frame through bearings; a groove in the middle of the first left transmission rocker and the first right transmission rocker is connected with a second left transmission rocker and a second right transmission rocker through a sliding chute; the top ends of the second left transmission rocker and the second right transmission rocker are respectively connected with a first left fixed winding drum and a first right fixed winding drum which are fixed on the main body frame through bearings; a left moving guide rod and a right moving guide rod are respectively arranged in grooves at the lower parts of the second left transmission rocker and the second right transmission rocker; one ends of the left moving guide rod and the right moving guide rod are respectively arranged on a fixed guide rail of the main body frame through a left moving slide block and a right moving slide block, and the other ends of the left moving guide rod and the right moving guide rod are arranged on a fixed guide rail of the main body frame through another left moving slide block and another right moving slide block;
the alternating current servo motor drives the torque transmission disc and drives the torque transmission connecting rod fixed shaft to rotate, so that the rocker linkage drives the sliding key to slide in the grooves of the first left transmission rocker and the first right transmission rocker, so as to drive the first left transmission rocker and the first right transmission rocker to rotate around the second left fixed winding drum and the second right fixed winding drum respectively, meanwhile, the sliding keys on the second left transmission rocker and the second right transmission rocker slide in the grooves of the first left transmission rocker and the first right transmission rocker respectively and drive the second left transmission rocker and the second right transmission rocker to rotate around the first left fixed winding drum and the first right fixed winding drum respectively, and further drive the left moving guide rod and the right moving guide rod in the grooves of the second left transmission rocker and the second right transmission rocker to drive the moving sliding blocks at two ends to slide on the fixed guide rails, thereby converting the output torque of the alternating current servo motor into reciprocating motion of opening and closing the movable guide rod.
The invention relates to a control system of an automatic bamboo dance beating machine, which is characterized by comprising the following components: the device comprises a data preprocessing module, a data processing module, a database module, a motor rotating speed control module and a detection alarm module:
the data preprocessing module performs wavelet transformation on the input audio to obtain an approximate coefficient and a detail coefficient, and stores the approximate coefficient and the detail coefficient as beat data in the database module;
the data processing module inputs beat data into a deep learning network, and the beat data is stored in the database module after the motor rotating speed is obtained;
the motor rotating speed control module is internally provided with motor rotating speeds corresponding to different beats, and controls the alternating current servo motor to output corresponding torque according to the motor rotating speeds, so that the movable guide rod performs closed reciprocating motion at different speeds according to the beats corresponding to the audio frequencies;
the detection alarm module respectively acquires the distance between the human foot and the left moving guide rod and the distance between the human foot and the right moving guide rod by using the photoelectric sensors on the two sides, and sends an alarm signal when the distances are smaller than a set threshold value; when the distance is smaller than the minimum value of the distance between the left moving guide rod and the right moving guide rod, sending an interrupt signal;
and the motor rotating speed control module reduces the torque output by the alternating current servo motor according to the alarm signal or controls the alternating current servo motor to stop according to the interrupt signal.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, manual operation is not required to be carried out by carrying workers, so that the labor cost and the use intensity are greatly reduced, the machine can realize high-degree automation, more convenient use experience is provided for users, and human-computer interaction is realized through corresponding additional modules.
2. The device has simple structure, low cost, safety and reliability, and can perform corresponding systematic protection on a user through the photoelectric sensor. The multifunctional fitness equipment is convenient and quick to operate, can be independently controlled by one person, and can be independent of a special field to fulfill the fitness aim of a user.
3. The invention overcomes the defects of the traditional PLC control, uses an STM-32 processor with lower power consumption and stronger computing capability, and can automatically transmit the calculated related analysis waveform to the singlechip control terminal only by inputting corresponding music at the PC end. The bamboo pole swing device has the advantages of no need of specially-assigned people to swing the bamboo pole, reasonable structure, small volume, simple operation, high automation degree and no limitation of places.
4. The invention analyzes the working principle of the music signal frequency and the beat of the bamboo dance beat machine, analyzes the relation between the input music beat and the output beat machine frequency, establishes a model by using a deep learning frame Pythrch and analyzes the relation between the beat and the dance beat, and further develops a novel automatic beat machine for bamboo dance, so that the automatic beat according to the music beat can be completed without manpower and a music program is built in advance, and the use of a user is convenient.
Drawings
FIG. 1 is a schematic front view of the apparatus of the present invention;
FIG. 2 is a schematic view of the overall layout of the apparatus of the present invention;
FIG. 3 is a schematic view of the multi-unit linkage of the apparatus of the present invention;
FIG. 4 is a schematic view of the apparatus of the present invention with the bamboo poles fully opened and closed;
FIG. 5 is a schematic view of the complete closure of the bamboo culm of the apparatus of the present invention;
FIG. 6 is a schematic view of a control system according to the present invention;
FIG. 7 is a block diagram of the data processing system components of the system of the present invention;
reference numbers in the figures: the system comprises an STM-32 single chip microcomputer control terminal module, a 2 alternating current servo motor, a 3 torque transmission disc, a 4 torque transmission connecting rod, a 5 rocker linkage device, a 6a first left fixed winding drum, a 6b first right fixed winding drum, a 7a second left fixed winding drum, a 7b second right fixed winding drum, a 8a first left transmission rocker, a 8b first right transmission rocker, a 9a second left transmission rocker, a 9b second right transmission rocker, a 10 vertical chute, a 11 photoelectric sensor, a 12a left moving sliding block, a 12b right moving sliding block, a 13a left moving guide rod, a 13b right moving guide rod, a 14 fixed guide rail and a 15 linkage serial controller.
Detailed Description
In the embodiment, as shown in fig. 1 and 2, main body frames are symmetrically arranged, an alternating current servo motor 2 is arranged at the top of the inner side of each main body frame, the alternating current servo motors 2 are connected with a torque transmission disc 3 through flat keys, and the end face of the torque transmission disc 3 is connected with a torque transmission connecting rod 4 through threads; the torque transmission connecting rod 4 is connected with one end of a rocker linkage 5 through a bearing, and the rocker linkage 5 is arranged on a vertical sliding chute 11 in a sliding manner; photoelectric sensors are respectively arranged on two sides of the vertical sliding chute 11; the other two ends of the rocker linkage 5 are respectively arranged in the grooves of the first left transmission rocker 8a and the first right transmission rocker 8b in a sliding way; the top ends of the first left transmission rocker 8a and the first right transmission rocker 8b are respectively connected with a second left fixed winding drum 7a and a second right fixed winding drum 7b which are fixed on the main body frame through bearings; a second left transmission rocker 9a and a second right transmission rocker 9b are connected in the grooves in the middle positions of the first left transmission rocker 8a and the first right transmission rocker 8b through sliding chutes; the top ends of the second left transmission rocker 9a and the second right transmission rocker 9b are respectively connected with the first left fixed winding drum 6a and the first right fixed winding drum 6b which are fixed on the main body frame through bearings; a left moving guide rod 13a and a right moving guide rod 13b are respectively arranged in the lower grooves of the second left transmission rocker 9a and the second right transmission rocker 9 b; one ends of the left moving guide rod 13a and the right moving guide rod 13b are respectively arranged on a fixed guide rail 14 of the main body frame of the mobile robot through a left moving slide block 12a and a right moving slide block 12b, and the other ends of the left moving guide rod 13a and the right moving guide rod 13b are arranged on a fixed guide rail of the main body frame which is symmetrical through another left moving slide block and a right moving slide block;
the alternating current servo motor 2 drives the torque transmission disc 3 and drives the torque transmission connecting rod 4 to rotate in a fixed axis manner, so that the rocker linkage 5 drives the sliding key to slide in the grooves of the first left transmission rocker 8a and the first right transmission rocker 8b, thereby driving the first left transmission rocker 8a and the first right transmission rocker 8b to rotate around the second left fixed winding drum 7a and the second right fixed winding drum 7b respectively, meanwhile, the sliding keys on the second left transmission rocker 9a and the second right transmission rocker 9b to slide in the grooves of the first left transmission rocker 8a and the first right transmission rocker 8b respectively, and driving the second left transmission rocker 9a and the second right transmission rocker 9b to rotate around the first left fixed winding drum 6a and the first right fixed winding drum 6b respectively, further driving the left moving guide rod 13a and the moving slide block driven by the two ends of the right moving guide rod 13b in the grooves of the second left transmission rocker 9a and the second right transmission rocker 9b to slide on the fixed guide rail, thereby converting the output torque of the ac servomotor 2 into the reciprocating motion of opening and closing the movement guide.
In this embodiment, as shown in fig. 3, when a plurality of automatic bamboo dance racket devices work simultaneously, in order to enable a plurality of devices to be used interactively at the same time, a linkage serial controller 15 is introduced to control the plurality of devices at the same time, thereby reducing the time of system cache. As shown in fig. 4 and 5, when the torque transmission disc 3 is rotated to the lowermost position, the movement guide 13 reaches the position of maximum opening and closing. When the torque transmission disc 3 is turned uppermost, the movement guide reaches the position of maximum closure, within which the movement guide 13 moves. The torque-transmitting discs 3 have good force-transmitting characteristics. The output torque can provide a transverse driving force for the horizontal guide rail through the rocker linkage, the moving guide rod 13 can move back and forth under the driving of the transverse driving force, the size and the speed of the transverse driving force are controlled by the output rotating speed and the output torque of the alternating current servo motor, and the final rated output can be provided for the moving guide rod 13 through the control of the torque displacement conversion system. The torque disc 3 is a steel disc with large inertia, so that the influence of a dead point on a transmission system can be effectively overcome by using the inertia, and the transmission stability of the system is enhanced.
In this embodiment, as shown in fig. 6, a control system based on an automatic bamboo dance shooting machine includes: the device comprises a data preprocessing module, a data processing module, a database module, a motor rotating speed control module and a detection alarm module: the rotating speed and the output torque of the alternating current servo motor can be automatically adjusted through the control system, and the beat of music playing can be dynamically adapted, so that the function of automatic beat is realized.
The data preprocessing module performs wavelet transformation on the input audio to obtain an approximate coefficient and a detail coefficient, and stores the approximate coefficient and the detail coefficient in the database module as beat data; in a specific implementation, preprocessed music is input at the personal computer end, encoded into MP3 format, the sampling frequency is 44000Hz, and the duration of each music beat is saved in ASCII file. Wavelet transform is performed on signals in the data set, and each transform generates an approximation coefficient and a detail coefficient. The approximation coefficients are low frequency components in the signal and the detail coefficients are high frequency components in the signal, and new approximation coefficients and detail coefficients are obtained by repeatedly performing wavelet decomposition on the continued approximation coefficients. The result of this coefficient decomposition will be the feature vector input to the deep learning model. After extracting the feature information, the computation of the overall beat needs to be calculated next. Tempo refers to the beat of music, usually measured in bpm. For example, 60bpm means 60 beats in one minute, and the period of each beat is 1 s. The varying beat detection is detected using the idea of segmentation processing. By finding the period of the cycle over time, a specific beat can be detected. The autocorrelation function of o (T) under different delay times can be calculated by using the method of the autocorrelation function shown in the formula (1), and the delay time corresponding to the highest value is the length of a beat. A weighting factor P is introduced to bias the periodic results towards some empirical value.
P(τ)＝W(τ)T∑o(T)o(T-τ) (1)
In the formula (1), τ represents delay time, W (τ) represents a gaussian weight coefficient, P (τ) represents a weight coefficient, T represents a time variable, and o (·) represents a correlation coefficient corresponding to the delay time T;
a gaussian weight coefficient W (τ) is calculated using equation (2):
W(τ)＝e(-0.5(στlog2τ/τ0)2) (2)
in the formula (2), σ represents the calculation cycle size;
the 5-layer wavelet approximation coefficients and the specific coefficients generated by calculation can be used as the input content of the training sets obtained by the feature vector, and the output label of each specific training set is obtained by the beat time labeling of the professional of the existing audio data set and the specific beat obtained by calculation;
as shown in fig. 7, the data processing module is a computer with an NVIDIA graphics processing chip, and a deep learning model trained by using a large amount of data is installed in the data processing module, and the model firstly performs normalization processing on the feature vectors, inputs corresponding beat data through data of an existing test set, can correspondingly extract corresponding motor beat and rotation speed data from the database module, and outputs the corresponding motor beat and rotation speed data to the database module and the motor rotation speed control module.
The database module stores audio data, beat data and currently generated real-time data for training the deep learning model, wherein the currently generated real-time data comprises the audio data generated by currently input music, the beat data of corresponding parameters of the input music and encapsulated motor rotating speed control data.
The motor rotating speed control module is internally provided with motor rotating speeds corresponding to different beats, and controls the alternating current servo motor to output corresponding torque according to the motor rotating speeds, so that the movable guide rod performs closed reciprocating motion at different speeds according to the beats corresponding to the audio frequencies;
specifically, the traditional bamboo dance music is generally cheerful, and the commonly used rhythm is four beats or two beats, four beats or three beats and four beats or four beats.
12/4 the rhythm emphasis is: the first beat is strong, and the second beat is weak. This is basically true for music with a light tempo.
23/4 the rhythm emphasis is: strong, weak. The tempo is very clear.
34/4 the rhythm emphasis is: strong, weak, second strong, weak. The general melody is soft and slow.
Different rotating speeds are preset in the bamboo rod transmission mechanism, different beats correspond to different rotating speed characteristics, and different speeds of opening and closing the bamboo rods under different beats are realized through speed control of the servo motor, so that continuous operation based on beats is realized.
The detection alarm module respectively acquires the distance between the human foot and the left moving guide rod 13a and the distance between the human foot and the right moving guide rod 13b by using the photoelectric sensors on the two sides, and sends an alarm signal when the distances are smaller than a set threshold value; when the distance is smaller than the minimum value of the distance between the left moving guide rod 13a and the right moving guide rod 13b, an interrupt signal is sent;
and the motor rotating speed control module reduces the torque output by the alternating current servo motor according to the alarm signal or controls the alternating current servo motor to stop according to the interrupt signal.
In this embodiment, a bamboo pole dance intelligence machine of clapping based on degree of depth study's working process as follows:
the method comprises the following steps: firstly, the information of the bamboo dance music is input through a personal computer terminal, the deep learning model extracts and classifies the music characteristics, and the collected and processed data is transmitted to the data processing module through the data transmission module.
Step two: after the data processing module receives the music beats of the corresponding tracks, the obtained music beat information is identified through the trained deep learning model, sampling transformation is carried out on beat signals of different types, continuous time domain signals corresponding to the music beats are converted into frequency domain signals, and specific frequency domain beats can be obtained at every moment.
Step three: the transmission module establishes a rotating speed relation between the source file and the corresponding beat by using a deep learning model through an established deep learning system, and enables different beats to correspond to different rotating speeds of the servo motor through a preset system, namely, continuous music signals are converted into different rotating speeds of a transmission system of the beat machine.
Step four: and after the data processing module inputs the result data of the deep learning annotation, the annotated data is transmitted into the database module for storage, and the deep learning model is further trained and is applied to the research of a shooting machine.
Claims (2)
1. An automatic bamboo dance beating machine is characterized in that main body frames are symmetrically arranged, the top of the inner side of each main body frame is provided with an alternating current servo motor (2), each alternating current servo motor (2) is connected with a torque transmission disc (3) through a flat key, and the end face of each torque transmission disc (3) is connected with a torque transmission connecting rod (4) through threads; the torque transmission connecting rod (4) is connected with one end of a rocker linkage (5) through a bearing, and the rocker linkage (5) is arranged on a vertical sliding chute (11) in a sliding manner; photoelectric sensors are respectively arranged on two sides of the vertical sliding chute (11); the other two ends of the rocker linkage (5) are respectively provided with a sliding key in the grooves of the first left transmission rocker (8a) and the first right transmission rocker (8 b); the top ends of the first left transmission rocker (8a) and the first right transmission rocker (8b) are respectively connected with a second left fixed winding drum (7a) and a second right fixed winding drum (7b) which are fixed on the main body frame through bearings; a second left transmission rocker (9a) and a second right transmission rocker (9b) are connected in the grooves in the middle positions of the first left transmission rocker (8a) and the first right transmission rocker (8b) through sliding chutes; the top ends of the second left transmission rocker (9a) and the second right transmission rocker (9b) are respectively connected with a first left fixed winding drum (6a) and a first right fixed winding drum (6b) which are fixed on the main body frame through bearings; a left moving guide rod (13a) and a right moving guide rod (13b) are respectively arranged in grooves at the lower parts of the second left transmission rocker (9a) and the second right transmission rocker (9 b); one end of the left moving guide rod (13a) and one end of the right moving guide rod (13b) are respectively arranged on a fixed guide rail (14) of the main body frame of the mobile robot through a left moving slide block (12a) and a right moving slide block (12b), and the other ends of the left moving guide rod (13a) and the right moving guide rod (13b) are arranged on the fixed guide rails of the symmetrical main body frame through the other left moving slide block and the other right moving slide block;
the alternating current servo motor (2) drives the torque transmission disc (3) and drives the torque transmission connecting rod (4) to rotate in a fixed shaft mode, so that the rocker linkage (5) drives the sliding keys to slide in grooves of a first left transmission rocker (8a) and a first right transmission rocker (8b), the first left transmission rocker (8a) and the first right transmission rocker (8b) are driven to rotate around a second left fixed winding drum (7a) and a second right fixed winding drum (7b) respectively, meanwhile, the sliding keys on the second left transmission rocker (9a) and the second right transmission rocker (9b) slide in grooves of the first left transmission rocker (8a) and the first right transmission rocker (8b) respectively, and the second left transmission rocker (9a) and the second right transmission rocker (9b) are driven to slide around a first left fixed winding drum (6a) and a) respectively, The first right fixed winding drum (6b) rotates to further drive the left moving guide rod (13a) and the right moving guide rod (13b) which are positioned in the grooves of the second left transmission rocker (9a) and the second right transmission rocker (9b) to drive the moving slide blocks at the two ends to slide on the fixed guide rail, so that the output torque of the alternating current servo motor (2) is converted into the reciprocating motion of opening and closing of the moving guide rods.
2. A control system of an automatic bamboo dance beating machine based on the claim 1, comprising: the device comprises a data preprocessing module, a data processing module, a database module, a motor rotating speed control module and a detection alarm module:
the data preprocessing module performs wavelet transformation on the input audio to obtain an approximate coefficient and a detail coefficient, and stores the approximate coefficient and the detail coefficient as beat data in the database module;
the data processing module inputs beat data into a deep learning network, and the beat data is stored in the database module after the motor rotating speed is obtained;
the motor rotating speed control module is internally provided with motor rotating speeds corresponding to different beats, and controls the alternating current servo motor to output corresponding torque according to the motor rotating speeds, so that the movable guide rod performs closed reciprocating motion at different speeds according to the beats corresponding to the audio frequencies;
the detection alarm module respectively acquires the distance between the human foot and the left moving guide rod (13a) and the distance between the human foot and the right moving guide rod (13b) by using photoelectric sensors on two sides, and sends an alarm signal when the distances are smaller than a set threshold value; when the distance is smaller than the minimum value of the distance between the left moving guide rod (13a) and the right moving guide rod (13b), an interrupt signal is sent out;
and the motor rotating speed control module reduces the torque output by the alternating current servo motor according to the alarm signal or controls the alternating current servo motor to stop according to the interrupt signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111370991.9A CN114023290B (en) | 2021-11-18 | 2021-11-18 | Automatic bamboo pole dance beating machine and control system thereof |
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| CN202111370991.9A CN114023290B (en) | 2021-11-18 | 2021-11-18 | Automatic bamboo pole dance beating machine and control system thereof |
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| CN114023290A true CN114023290A (en) | 2022-02-08 |
| CN114023290B CN114023290B (en) | 2024-04-05 |
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| US20050164837A1 (en) * | 2001-04-16 | 2005-07-28 | Anderson Timothy T. | Stride adjustment mechanism |
| CN201283196Y (en) * | 2008-09-18 | 2009-08-05 | 姚克 | Dancing machine for bamboo pole dance |
| CN207871443U (en) * | 2018-01-15 | 2018-09-18 | 中国民航大学 | A kind of dancing machine for bamboo pole dance of cylinder driving |
| CN209056276U (en) * | 2018-11-12 | 2019-07-02 | 上海酷品电子科技有限公司 | A kind of portable metronome |
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2021
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| US20050164837A1 (en) * | 2001-04-16 | 2005-07-28 | Anderson Timothy T. | Stride adjustment mechanism |
| CN201283196Y (en) * | 2008-09-18 | 2009-08-05 | 姚克 | Dancing machine for bamboo pole dance |
| CN207871443U (en) * | 2018-01-15 | 2018-09-18 | 中国民航大学 | A kind of dancing machine for bamboo pole dance of cylinder driving |
| CN209056276U (en) * | 2018-11-12 | 2019-07-02 | 上海酷品电子科技有限公司 | A kind of portable metronome |
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| LIYE ZOU ET AL.: "The effect of bamboo dance on motor fitness in Chinese college students", 《INTERNATIONAL JOURNAL OF PHYSICAL EDUCATION》, 31 December 2016 (2016-12-31), pages 193 - 199 * |
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