CN116135487A

CN116135487A - Musical instrument playing robot control method and musical instrument playing robot

Info

Publication number: CN116135487A
Application number: CN202111364935.4A
Authority: CN
Inventors: 陈应亚
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2023-05-19

Abstract

The application discloses a control method of musical instrument playing robot and musical instrument playing robot, musical instrument playing robot includes: the body, at least one performance part, the drive unit who is used for driving performance part still is provided with audio sensor at musical instrument sound production department, and control method includes: acquiring actual audio parameters acquired by an audio sensor, wherein the actual audio parameters are at least one of pitch parameters, frequency parameters and beat parameters of music played by a musical instrument playing robot based on a music file; generating adjustment parameters for adjusting the driving part based on the actual audio parameters; the driving section is adjusted based on the adjustment parameter to adjust the performance action sequence of the musical instrument playing robot. After the actual audio parameters are obtained, the driving parameters of the driving part are readjusted based on the actual delay state of the actual audio parameters, so that the delay phenomenon between the actual played audio and the music played in the music player is reduced, and the playing effect is improved.

Description

Musical instrument playing robot control method and musical instrument playing robot

Technical Field

The present application relates to the field of robots, and in particular, to a method for controlling a musical instrument playing robot and a musical instrument playing robot.

Background

With the development of technology, especially the application field of robots has been widened for the last decade, the robots have been moved from industrial manufacturing fields to various fields of social life such as medical treatment, smart home, smart travel, and wicresoft entertainment. The performance robot aspect has a western musical instrument playing robot band, a national wind folk music robot band and a performance robot.

When a conventional performance robot performs a performance, the conventional performance robot performs the performance based on digital music files, for example, analyzes midi format music files to obtain a track motion sequence of musical instruments such as an electronic organ, a drum set, a guitar, a bass, and the like; respectively generating driving data files of all robots in the band according to the sound track action sequences; and each robot in the band plays music according to the driving data file. However, in the conventional performance robot, it is often difficult to play the performance of the input music file.

Therefore, how to improve the performance of the performance robot is a technical problem to be solved.

Disclosure of Invention

The application provides a control method of a musical instrument playing robot and the musical instrument playing robot, which are used for at least solving the technical problems in the related art.

The present application also provides a control method of a musical instrument playing robot, the musical instrument playing robot including: the body, at least one performance part, the drive unit that is used for driving performance part, still be provided with audio sensor at musical instrument sound production department, the control method includes: acquiring actual audio parameters acquired by the audio sensor, wherein the actual audio parameters are at least one of pitch parameters, frequency parameters and beat parameters of music played by the musical instrument playing robot based on a music file; generating adjustment parameters for adjusting the driving part based on the actual audio parameters; and adjusting the driving part based on the adjustment parameters to adjust the playing action sequence of the musical instrument playing robot.

Optionally, the generating adjustment parameters for adjusting the driving part based on the audio parameters includes: comparing the actual audio parameters with audio parameters obtained based on the analysis of the music file to obtain delay data of the driving part; the drive component adjustment parameters are determined based on the delay data.

Optionally, before acquiring the actual audio parameters acquired by the audio sensor, the method includes: acquiring a music file to be played; analyzing the music file to obtain audio parameters of the music to be played; generating driving parameters of the driving part based on the audio parameters; the driving section is controlled to drive the performance section to perform performance based on the driving parameters.

Optionally, the performance part is further provided with a moment sensor for acquiring actual performance force of the performance part during performance, and the control method further includes: acquiring the actual playing force; comparing the actual playing force with a preset playing force to obtain a playing force adjustment parameter; and adjusting the performance dynamics driving parameters of the driving part based on the performance dynamics adjusting parameters.

According to a second aspect, an embodiment of the present application provides a musical instrument playing robot including: the device comprises a body, at least one playing part, a driving part for driving the playing part, and an audio sensor arranged at the sounding part of the musical instrument; a controller, respectively connected to the driving part and the audio sensor, for executing the control method of the musical instrument playing robot according to any one of the first aspect.

Optionally, the musical instrument is installed on the musical instrument mount pad on fixed mounting have the sensor support, the one end of sensor support with mount pad fixed connection, the other end is installed audio sensor and distance is predetermine to musical instrument sounding site.

Optionally, the playing part is of a sectional structure, and an extension spring is screwed between each two sections.

Optionally, the performance part includes a fixed end and a free end, and the fixed end of the performance part is connected with a moment sensor.

Optionally, at least one mechanical arm is further installed on the body, and the performance part is installed at the tail end of the mechanical arm; at least one driving part is arranged on the mechanical arm to serve as a movable joint, the movable joint is connected with the fixed end of the moment sensor, and the detection end of the moment sensor is connected with the fixed end of the playing part.

Optionally, the movable joint comprises at least one of a shoulder joint, an elbow joint and a wrist joint, wherein the shoulder joint comprises a servo motor and a planetary reducer which are matched with each other; the elbow joint comprises a direct drive motor; the wrist joint comprises an integrated servo motor. .

According to the control method of the musical instrument playing robot, the audio sensor is further arranged at the sounding part of the musical instrument, the actual audio parameters acquired by the audio sensor are acquired, and the actual audio parameters are at least one of pitch parameters, frequency parameters and beat parameters of music played by the musical instrument playing robot based on the music file; generating adjustment parameters for adjusting the driving part based on the actual audio parameters; and adjusting the driving part based on the adjustment parameters to adjust the playing action sequence of the musical instrument playing robot. After the actual audio parameters are obtained, the driving parameters of the driving part are readjusted based on the actual delay state of the actual audio parameters, so that the delay phenomenon between the actual played audio and the music played in the music player is reduced, and the playing effect is improved.

The musical instrument playing robot comprises a body, at least one playing part and a driving part for driving the playing part, wherein an audio sensor is further arranged at a sounding part of the musical instrument. The audio sensor is arranged at the sounding part of the musical instrument to collect actual audio parameters played by the playing robot in real time and upload the actual audio parameters to the controller, and after the controller obtains the actual audio parameters, the driving parameters of the driving part are readjusted based on the actual delay state of the actual audio parameters, so that the delay phenomenon between the actual played audio and the music played by the music player is reduced, and the playing effect is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 is a schematic view of a prior art musical instrument playing robot;

fig. 2 is a flowchart of a control method of the musical instrument playing robot provided in the present application;

FIG. 3 is a flow chart of another method for controlling the musical instrument playing robot provided in the present application;

FIG. 4 is a schematic view of the structure of the musical instrument provided in the present application;

fig. 5 is a schematic structural diagram of a mechanical arm provided in the present application;

fig. 6 is a schematic structural view of a performance member provided in the present application.

Detailed Description

In order to more clearly illustrate the general concepts of the present application, a detailed description is provided below by way of example in connection with the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as described herein, and thus the scope of the present application is not limited by the specific embodiments disclosed below.

In addition, in the description of the present application, it should be understood that the terms "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," etc. indicate an orientation or positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, rather than to indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present invention.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the related art, when a playing robot is controlled to play, a control system decodes, compiles and maps an input midi music file into an executable action flow set of each execution motor of a drum beating robot, and the execution motors distributed at each part of the playing robot act to implement a playing action according to driving instruction data sent by the control system. However, parameters such as frequency and pitch of the played music are inconsistent with audio parameters such as actual frequency and pitch of the music file, and even obvious abnormalities such as clamping and shooting occur. In addition, when a plurality of musical instruments are used for ensemble, there is a possibility that a problem of disarrangement of performance tempo, and inconsistency between an actual performance effect and a theoretical performance effect is also difficult to solve after more accurate replacement of driving parts such as a motor and a decelerator. The inventor finds that, because the playing robot generates a driving signal by analyzing and compiling a music file, the driving signal drives the motor to act, in the whole process, a control program, an electronic component response and data are required to be communicated between different modules, and the program, the electronic component, the communication and the like have delay characteristics, so that the music actually played by the whole robot band in the playing process has different delay phenomena with the music played by the music player, and the actual playing effect is inconsistent with the theoretical playing effect.

In view of the above findings, the present embodiment provides a control method of a performance robot, which may include: the body 101, at least one performance part 102, a driving part 103 for driving the performance part, and an audio sensor 105 is also provided at the sounding part of the musical instrument 104. Referring to fig. 2, the method may include the steps of:

s201, acquiring actual audio parameters acquired by the audio sensor, wherein the actual audio parameters are at least one of pitch parameters, frequency parameters and beat parameters of music played by the musical instrument playing robot based on a music file. As an exemplary embodiment, the musical instrument may include a musical instrument such as a musical instrument, a drum, a guitar, and the like, and in this embodiment, a drum is exemplified. For example, the audio sensor may be mounted near the sound emitting drumhead with a gap to the drumhead so as not to affect the sound quality of the drum. When the playing robot plays based on the music file, the audio sensor can collect the audio parameters actually played in real time, for example, can collect the audio parameters such as the actual frequency and pitch of the drum and the like, and transmit the audio parameters to the control system.

S202, generating adjustment parameters for adjusting the driving component based on the actual audio parameters. As an exemplary embodiment, in the process of analyzing and compiling a music file, and the like, a driving signal is generated, and the driving signal drives a motor to act, all the required program response, electronic component response, communication and the like have delay characteristics, so that delay phenomena exist between actually played audio and music played in the music player.

And S203, adjusting the driving part based on the adjustment parameters so as to adjust the playing action sequence of the musical instrument playing robot. As an exemplary embodiment, the adjustment parameter may be a variation amount of the driving data to supplement or adjust the driving data, and, for example, a rotation angle of the motor may be increased or decreased to adjust a force of beating the drum, and a time difference of beating between the plurality of performance parts may be adjusted to adjust a performance rhythm or frequency. The original drive data may be replaced with the regenerated drive data. For example, new drive data for replacing the original drive data may be generated based on the actual audio data.

As an exemplary embodiment, after the actual audio data is acquired, the actual audio parameters may be compared with the audio parameters obtained based on the music file parsing to obtain delay data of the driving part; the drive component adjustment parameters are determined based on the delay data. For example, the actual audio data may be parsed, and the dimensions such as frequency, pitch, rhythm, etc. may be parsed, and the parsed dimensional data may be compared with the audio parameters in the original music file, to determine the parameters having delay, respectively. After obtaining the parameters with delay, determining specific delay data, and generating correction data based on the delay data so as to reduce the delay phenomenon of each parameter.

As an exemplary embodiment, after a music file to be played is acquired, a playing action may be performed based on the music file, and specifically, see fig. 3:

s301, obtaining a music file to be played, wherein the music file can be a midi format music file, and the music file comprises a plurality of music files for indicating playing notes, control parameters and the likeInstructions forInformation for instructing the performance robot to perform the performance action with the corresponding parameters.

S302, analyzing the music file to obtain audio parameters of the music to be played.

S303, generating driving parameters of the driving component based on the audio parameters.

S304, controlling the driving part to drive the playing part to execute playing based on the driving parameters.

As an exemplary embodiment, the music file is parsed to obtain audio parameters such as a pitch parameter, a frequency parameter, a beat parameter, and the like, the audio parameters may be mapped into driving parameters of the driving component based on a correspondence between the audio parameters and a preset driving instruction, the driving parameters may include a motor driving angle parameter, a motor driving speed parameter, and a motor delay duration parameter, and the electrodes are sequentially driven according to the delay duration to execute a playing sequence corresponding to the audio based on the generated driving parameters. In this embodiment, because of execution instruction delay caused by program response, electronic component response, communication delay and the like, actual music played may have problems such as beat confusion, pitch inaccuracy, frequency misalignment and the like, so in this embodiment, driving parameters generated based on a music file are adjusted by using actual audio parameters acquired in real time, so as to reduce the problem of poor playing effect caused by delay, and more accurate playing effect corresponding to the music file is played.

The present application also provides a musical instrument playing robot, as shown in fig. 1, comprising a body 101, at least one playing part 02, a driving part 103 for driving the playing part 02, and an audio sensor 105 provided at the sounding of the musical instrument 104. A controller (not shown) connected to the driving part 103 and the audio sensor 105, respectively, for executing the control method of the musical instrument 104 playing the robot according to any one of the above embodiments. In the present embodiment, an audio sensor 105 is provided at the sounding of the musical instrument 104 to acquire actual audio parameters of an actual performance in real time. After the actual audio parameters are acquired, the actual audio parameters are input to the controller, and the controller generates adjustment parameters for adjusting the driving part 103 based on the actual audio parameters, and adjusts the driving part 103 based on the adjustment parameters to rearrange the performance action sequence of the driving part 103.

The audio sensor 105 is arranged at the sounding part of the musical instrument 104 to collect the actual audio parameters played by the playing robot in real time and upload the actual audio parameters to the controller, and after the controller obtains the actual audio parameters, the driving parameters of the driving part 103 are readjusted based on the actual delay state of the actual audio parameters, so that the delay phenomenon between the actual played audio and the music played by the music player is reduced, and the playing effect is improved.

As an exemplary embodiment, the musical instrument is mounted on a musical instrument mounting base, a sensor bracket is fixedly mounted on the mounting base, one end of the sensor bracket is fixedly connected with the mounting base, and the other end of the sensor bracket is provided with the audio sensor and is a preset distance away from a sounding part of the musical instrument. The musical instrument may include a plurality of musical instruments, each having a corresponding instrument mount. As shown in fig. 4, the instrument can be illustrated as a drum, each drum 401 being mounted on a corresponding mount. The mounting base may include a base 402 and a bracket 403, wherein the bracket 403 is used for erecting the drum 401, and the base 402 is provided with universal brake casters 404, so that the stability of movement and residence of the drum can be improved. The pedestal 402 and bracket 403 are slidably engaged through the shaft holes to adjust the height of the drum. The sensor bracket 405 is fixedly arranged on the bracket, one end of the sensor bracket 405 is connected with the bracket 403, the other end of the sensor bracket is suspended and used for installing the audio sensor 105, the installation position of the audio sensor 105 is close to the drumhead for sounding so as to receive the audio and the pitch generated by the drumhead vibration and feed back the audio and the pitch to the controller. In this embodiment, the audio sensor 105 is mounted near the sound-producing drum surface through the sensor support, so that real-time audio parameters can be accurately collected in real time, and the influence on the sound quality of the drum can be reduced as much as possible.

As an exemplary embodiment, as shown in fig. 5, the body is further mounted with at least one robot arm, and the performance part 102 is mounted at the end of the robot arm; wherein, at least one driving part 103 is installed on the mechanical arm as a movable joint, the movable joint is connected with the fixed end of the moment sensor 509, and the detection end of the moment sensor 509 is connected with the fixed end of the performance part 102. As an exemplary embodiment, the movable joint includes at least one of a shoulder joint, an elbow joint, and a wrist joint, wherein the shoulder joint includes a servo motor and a planetary reducer that are matched with each other; the elbow joint comprises a direct driving motor, and a built-in high-performance servo driver, a high-precision encoder and a speed reducer are also arranged in the elbow joint; in order to achieve the motion speed similar to that of the pneumatic executive component, the wrist joint comprises an integrated servo motor, and a built-in high-performance servo driver, a high-precision encoder and a speed reducer are further arranged in the wrist joint.

As shown in fig. 6, the performance part may include a fixed end 601 and a free end 602, the wrist joint is connected with the fixed end 601 of the performance part, and a moment sensor 509 is disposed at the connection of the performance part and the wrist joint, so that the actual performance force can be collected and uploaded to a controller, and the actual performance force is compared with a preset performance force in the controller to obtain performance force adjustment parameters; and adjusting the performance dynamics driving parameters of the driving part based on the performance dynamics adjusting parameters. The control system adjusts the motor parameters of the shoulder, elbow and wrist of the arm according to the dynamics value of the performance of the near-real person to calibrate the dynamics value when the drum is struck, and performs highly anthropomorphic adjustment from the pitch angle so as to realize the expression of emotion when the drum is struck by the near-real person, thereby providing near-perfect visual and audio experience of the performance of the near-real person for audience.

In order to reduce the long-term overload of the servo motor due to the reaction force of the drumstick after the drumstick and to shorten the life, in the present embodiment, as shown in fig. 6, the performance member has a sectional structure, and the tension shell 604 is screwed between each section, and in the present embodiment, the explanation is given by taking the first performance part 605 and the second performance part 606 as examples, so that the drumsticks for the drumstick are designed into a two-section separation structure, and the tension springs are screwed between the two sections of drumsticks to counteract the impact of the drumstick reaction force on the wrist servo motor.

As an exemplary embodiment, the overall structure of the performance robot will be described taking the drum beating robot as an example: the drum beating robot may include a body, a robotic arm assembly, a head assembly. A drum and a drum mounting seat matched with the drum beating robot.

The leg parts of the trunk part are uniformly distributed on the trunk part, wherein the leg parts can comprise thigh parts, shank parts and feet, the thigh parts, the shank parts and the feet are hinged through pin shafts, and the baffle plates at the two ends of each pin shaft are connected with the thigh parts and the shank parts through screws, so that the leg parts can flexibly move. The root of the thigh is connected with the trunk part through a pin shaft. The foot and the aluminum profile chassis are in sliding connection through the screw, the aluminum profile chassis can be a sliding rail, the foot can slide on the aluminum profile chassis, and the foot can be adjusted to different positions along the radial direction of the aluminum profile chassis, so that the posture of legs in different sitting postures can be simulated. The bottom of the tail end of the aluminum profile chassis is connected with a Fuma wheel through a screw, and the standing and movement of the whole equipment can be realized by adjusting the height of Fu Ma Lun feet.

In this embodiment, the trunk portion may include the waist, the waist has the waist disc, there is the trunk skeleton through the screw connection in the top of waist disc, there are shoulder fixed disk in the top of trunk skeleton through the screw connection, there are a plurality of grooves at shoulder fixed disk upper surface, place a plurality of gangs of bearings in the inslot, place shoulder movable disk in shoulder fixed disk top, shoulder movable disk passes through the bearing and realizes terminal surface rolling contact transmission with shoulder fixed disk, be provided with the gear box below shoulder fixed disk, there is a pair of involute drive gear train in the gear box, the up end of gear wheel passes shoulder fixed disk and shoulder movable disk through the screw connection, the pinion passes through the screw and links to each other with the steering wheel output shaft of installing at the gear box back, there is the terminal surface apron in the top of movable disk, the mounting hole of many arm components is evenly arranged in shoulder movable disk downside outward flange is used for assembling the arm component.

As an exemplary embodiment, as shown in fig. 5, the robot arm assembly may include a shoulder joint 501, a large arm lever 504, an elbow joint, a small arm lever 506, a wrist joint and the performance part 102 connected in this order, wherein the shoulder joint, the elbow joint and the wrist joint have corresponding shoulder motors 503, elbow motors 505 and wrist motors 508.

The shoulder motor mounting seat is connected with the shoulder movable disc through a screw, a planetary reducer 502 is arranged in a side mounting hole of the shoulder motor mounting seat, the input end of the planetary reducer is connected with a shoulder motor 503, the output shaft end of the planetary reducer is connected with a first big arm rod 504-1 through a screw, a transfer stud is arranged between the first big arm rod 504-1 and a second big arm rod 504-2, the first big arm rod 504-1 and the second big arm rod 504-2 are connected through a screw, the tail end of the big arm rod 504 is connected with an elbow motor 505 (direct driving motor), the inner side of the second big arm rod 504-2 is connected with the outer edge opening of a stator of the elbow motor 505, the outer side of the second big arm rod 504-2 is connected with the inner side of the stator of the elbow motor 505 through a screw, the small arm rod 506 is connected with the output shaft of the elbow motor 505 through a screw, the outer side of the small arm rod 506 is connected with a motor mounting seat 507 through a screw, the side mounting screw is fixed through a screw, the output end of the motor 508 is connected with a fixed end of a wrist (integral servo motor) of a stator seat side, the wrist is connected with a tension sensor 509 through a tension sensor 509, and a tension sensor is connected with a wrist 102 through a tension sensor 102.

In order to make the performance robot perform more nearly to a real person, the facial part of the head assembly is matched with the shape of the five sense organs of the approximate person by a plurality of arc-shaped structural members with different shapes, the structures are mutually connected with a support frame extending from the trunk part through screws on the back, the support frame is connected with a head mounting seat, mounting holes are respectively connected with a shoulder movable disc and the upper end face of a large gear shaft through screws on the head mounting seat, a rack mounting seat is arranged in the middle part of the head mounting seat, the head decoration part is slidably mounted in the rack mounting seat, a head lifting steering engine mounting seat is mounted on the outer side part of the rack mounting seat, a steering engine for head lifting is connected with the mounting seat through screws, the output shaft end of the head lifting steering engine is connected with a gear matched with a lifting gear through screws, a movable mounting plate is connected on the back side of the rack through screws, a movable crown is respectively arranged at the left and right at the uppermost part of the movable mounting plate and is rotationally connected with the movable mounting plate through pins, an output disc of a driving steering engine is connected below the movable crown through a connecting rod, and the driving steering engine is mounted at the middle position of the movable mounting plate through the driving steering engine, and the driving steering engine can realize the lifting and rotating actions of the crown decoration crown.

The non-mentioned places in the application can be realized by adopting or referring to the prior art.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A control method of a musical instrument playing robot, characterized in that the musical instrument playing robot comprises: the body, at least one performance part, the drive unit that is used for driving performance part, still be provided with audio sensor at musical instrument sound production department, the control method includes:

acquiring actual audio parameters acquired by the audio sensor, wherein the actual audio parameters are at least one of pitch parameters, frequency parameters and beat parameters of music played by the musical instrument playing robot based on a music file;

generating adjustment parameters for adjusting the driving part based on the actual audio parameters;

and adjusting the driving part based on the adjustment parameters to adjust the playing action sequence of the musical instrument playing robot.

2. The control method of a musical instrument playing robot according to claim 1, wherein the generating adjustment parameters for adjusting the driving section based on the audio parameters includes:

comparing the actual audio parameters with audio parameters obtained based on the analysis of the music file to obtain delay data of the driving part;

the drive component adjustment parameters are determined based on the delay data.

3. The control method of a musical instrument playing robot according to claim 1, characterized by comprising, before acquiring actual audio parameters acquired by the audio sensor:

acquiring a music file to be played;

analyzing the music file to obtain audio parameters of the music to be played;

generating driving parameters of the driving part based on the audio parameters;

the driving section is controlled to drive the performance section to perform performance based on the driving parameters.

4. A control method of a musical instrument playing robot according to claim 1, wherein the playing part is further provided with a moment sensor for collecting actual playing force of the playing part at the time of playing, the control method further comprising:

acquiring the actual playing force;

comparing the actual playing force with a preset playing force to obtain a playing force adjustment parameter;

and adjusting the performance dynamics driving parameters of the driving part based on the performance dynamics adjusting parameters.

5. A musical instrument playing robot, comprising: the device comprises a body, at least one playing part, a driving part for driving the playing part, and an audio sensor arranged at the sounding part of the musical instrument;

a controller, respectively connected to the driving part and the audio sensor, for executing the control method of the musical instrument playing robot according to any one of claims 1 to 4.

6. The musical instrument playing robot of claim 5 wherein the musical instrument is mounted on an instrument mounting base, a sensor bracket is fixedly mounted on the mounting base, one end of the sensor bracket is fixedly connected with the mounting base, and the other end is provided with the audio sensor and is a preset distance away from the sounding part of the musical instrument.

7. A musical instrument playing robot as claimed in claim 5, characterized in that the playing piece is of a segmented construction with tension springs screwed between each segment.

8. A musical instrument playing robot as claimed in claim 5, characterized in that the playing member includes a fixed end and a free end, and a moment sensor is connected to the fixed end of the playing member.

9. The musical instrument playing robot of claim 8, wherein at least one mechanical arm is further mounted on the body, and the playing member is mounted on a distal end of the mechanical arm; at least one driving part is arranged on the mechanical arm to serve as a movable joint, the movable joint is connected with the fixed end of the moment sensor, and the detection end of the moment sensor is connected with the fixed end of the playing part.

10. The musical instrument playing robot of claim 9, wherein the movable joint includes at least one of a shoulder joint, an elbow joint and a wrist joint, wherein the shoulder joint includes a servo motor and a planetary reducer that cooperate with each other; the elbow joint comprises a direct drive motor; the wrist joint comprises an integrated servo motor.