CN211669961U

CN211669961U - Robot playing system

Info

Publication number: CN211669961U
Application number: CN201922385037.1U
Authority: CN
Inventors: 罗文军; 梁正乐; 刘忠; 王灿
Original assignee: Guilin University of Aerospace Technology
Current assignee: Guilin University of Aerospace Technology
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-10-13
Anticipated expiration: 2029-12-26

Abstract

The utility model discloses a robot performance system, robot performance system includes the key bed, the key, first electro-magnet, first magnet, the connecting piece, place platform and fixed subassembly, the key bed has the recess, cavity and through-hole, a plurality of through-holes intercommunication recess and cavity, a plurality of keys cover the recess, reciprocate in the recess, and each key, each through-hole, each first electro-magnet and each first magnet set up relatively, each connecting piece and each key fixed connection, and run through corresponding through-hole, extend to in the cavity with first electro-magnet fixed connection, programmable logic controller is connected with first electro-magnet electricity, place platform and key bed integrated into one piece, and have the inclined plane, the inclined plane is towards one side of key, music book is placed on the inclined plane, fixed subassembly centre gripping music book. The realization is according to the first electro-magnet circular telegram or the outage of programmable logic controller control with different key connections, carries out the song and plays, and intelligent degree is high.

Description

Robot playing system

Technical Field

The utility model relates to the technical field of robot, especially, relate to a performance system of robot.

Background

Service robots based on information technologies such as sensors, artificial intelligence, computer science and the like are gradually entering the lives of people and become a new growing point in robot industrialization. The entertainment robot is a novel service robot, and the entertainment robot has a humanized appearance through the design of hardware. The scientific and technological development of the day after the day injects a plurality of fresh elements into the music field, and gradually changes the way of writing, performing, making and even enjoying music.

However, the existing electronic organ can only be played alone manually, cannot be played automatically by a machine, and is low in intelligence.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot performance system aims at solving present electronic organ and can only artifically play alone, can not play automatically by the machine, the problem that intelligent low.

In order to achieve the above object, in a first aspect, the present invention provides a robotic performance system, comprising a keybed, keys, first electromagnets, first magnets, connecting members, a programmable logic controller, a placement platform, and a fixing member, wherein the keybed has a plurality of recesses, cavities, and through holes, the number of the through holes, the keys, the first electromagnets, the first magnets, and the connecting members are all plural, the recesses are located above the cavities, the plurality of through holes communicate with the recesses and the cavities, the plurality of keys are arranged on the keybed, cover the recesses, move up and down in the recesses, each of the keys is arranged opposite to each of the through holes, the plurality of first electromagnets are located in the cavities, the plurality of first magnets are fixedly connected to the keybed and located in the cavities, and each of the first magnets is arranged opposite to each of the through holes and each of the first electromagnets, each the connecting piece with each key fixed connection to run through the correspondence the through-hole extends to in the cavity with first electro-magnet fixed connection, programmable logic controller with first electro-magnet electricity is connected, place the platform with key bed integrated into one piece, and be located and keep away from one side of cavity, and have the inclined plane, the inclined plane orientation one side of key, music book place in on the inclined plane, fixed subassembly centre gripping music book.

The fixed assembly comprises a second magnet and a second electromagnet, the number of the second magnet and the number of the second electromagnet are at least two, the second magnet is connected with the placing table in a sliding mode and located on the inclined plane, each second electromagnet is arranged opposite to each second magnet, is electrically connected with the programmable logic controller and supports a music book on the inclined plane.

Wherein, the robot performance system is still including the subassembly that turns, the subassembly that turns includes third electro-magnet, first elastic component, rotates piece and fourth electro-magnet, the quantity of third electro-magnet and first elastic component is a plurality ofly, each one page of first elastic component centre gripping music book, per two the third electro-magnet with first elastic component fixed connection, and with programmable logic controller electricity is connected, and is located the both sides of music book, the quantity of rotating piece and fourth electro-magnet is two, two rotate the piece with place the platform and rotate and connect to be located the both sides of music book, each the fourth electro-magnet and each rotate piece fixed connection, and with programmable logic controller electricity is connected, and with the third electro-magnet sets up relatively.

The robot playing system further comprises a plurality of supporting assemblies, each supporting assembly is located on one side of each first electromagnet and located in the cavity, each supporting assembly comprises a fixing piece and a sliding piece, the fixing pieces are fixedly connected with the keybed and located on one side of each first electromagnet, and the sliding pieces are fixedly connected with the first electromagnets, slidably connected with the fixing pieces and located between the first electromagnets and the fixing pieces.

The support assembly further comprises a second elastic piece, wherein the second elastic piece is fixedly connected with the sliding piece, is positioned in the fixed piece and is positioned on one side close to the first magnet.

Wherein, the supporting component further comprises a rubber strip, and the rubber strip is positioned in the second elastic piece.

The robot playing system further comprises a spice rod and a storage box, the spice rod is fixedly connected with the rubber strip and located on one side of the rubber strip, the storage box is located in the fixing piece, perfume is filled in the storage box, the storage box is provided with a rice-shaped opening, and the rice-shaped opening is located on the orthographic projection of the spice rod.

The utility model discloses a robot performance system is through a plurality of the through-hole intercommunication the recess with the cavity, it is a plurality of the key range in on the key bed, cover the recess reciprocate in the recess, and each key, each through-hole, each first electro-magnet and each first magnet sets up relatively, each the connecting piece and each key fixed connection to run through and correspond the through-hole extends to in the cavity with first electro-magnet fixed connection, programmable logic controller with first electro-magnet electricity is connected, place the platform with key bed integrated into one piece, and lie in and keep away from one side of cavity, and have the inclined plane, the inclined plane orientation one side of key, music book place in on the inclined plane, fixed subassembly centre gripping music book. The first electromagnets connected with the keys are controlled to be powered on or powered off according to a programmable logic controller, so that songs are played, and the intelligent degree is high.

In a second aspect, the present invention provides a robot playing method, including:

converting the pitch and the beat of each note in the music score corresponding to the selected song into corresponding first note parameters and first beat parameters based on the length and the scale information of the playing time of the notes in the staff, forming a data table and storing the data table to a programmable logic controller;

based on the received song signal, entering a corresponding performance state, including:

when the song signal is a song solo signal, outputting a corresponding power-on signal or power-off signal to first electromagnets connected with different keys based on the first note parameter and the first beat parameter, and entering a playing state until a song stop signal is received;

and when the song signal is a first song ensemble signal, stopping outputting a corresponding power-on signal or power-off signal to the first electromagnet connected with different keys, entering a playing waiting state, and continuing outputting a corresponding power-on signal or power-off signal to the first electromagnet connected with different keys until a second song ensemble signal is detected.

In an embodiment, entering a corresponding performance state based on the received song signal specifically further includes:

and when the song signal is a song practice signal, entering a playing practice state, acquiring a corresponding first key position parameter, a first key frequency parameter and a first key interval time parameter, generating a first target note parameter and a first target beat parameter, and storing the first target note parameter and the first target beat parameter in a programmable logic controller.

In one embodiment, after entering the performance exercise state, the method further comprises:

and acquiring the first target note parameter and the first target beat parameter, comparing the first target note parameter and the first target beat parameter with the first note parameter and the first beat parameter of the corresponding song, judging whether the first target note parameter and the first target beat parameter exceed a preset range, and if so, outputting a first prompt signal.

In one embodiment, after outputting the first cue signal, the method further comprises:

and acquiring the times of exceeding the preset range, judging whether the times of exceeding the preset range reach the preset times, if so, acquiring corresponding songs stored in the programmable logic controller, outputting corresponding power-on signals or power-off signals to first electromagnets connected with different keys, and entering a playing state.

In an embodiment, after obtaining the number of times of exceeding the preset range and determining whether the number of times of exceeding the preset range reaches the preset number of times, the method further includes:

and acquiring performance data corresponding to the preset times when the first number of times reaches, and generating visual music score data for display.

and when the song signal is a song recording signal, entering a song recording state, acquiring a corresponding second key position parameter, a second key frequency parameter and a second key interval time parameter, and storing the second key position parameter, the second key frequency parameter and the second key interval time parameter to the programmable logic controller.

and when the song signal is a repeated playing signal and enters a repeated playing state, acquiring a corresponding second key position parameter, a second key frequency parameter and a second key interval time parameter, and outputting a corresponding power-on signal or power-off signal to the first electromagnet connected with different keys.

In an embodiment, the method further comprises:

and acquiring the storage space of the programmable logic controller, judging whether the storage space is larger than the preset capacity, and outputting a second prompt signal if the storage space is larger than the preset capacity.

In a third aspect, the present invention provides a robot performance apparatus including a module for executing the robot performance method according to the second aspect.

In a fourth aspect, the present invention provides a server, comprising a processor, a communication interface and a memory, wherein the processor, the communication interface and the memory are connected to each other, wherein the memory is used for storing a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the robot playing method according to the second aspect.

In a fifth aspect, the present invention provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, the computer program comprising program instructions that, when executed by a processor, cause the processor to execute the robot performance method according to the second aspect.

The utility model discloses a robot playing method, through converting the pitch and the beat of each note in the music score corresponding to the selected song into corresponding first note parameter and first beat parameter; when the song signal is a song solo signal, outputting a corresponding power-on signal or power-off signal to first electromagnets connected with different keys based on the first note parameter and the first beat parameter, and entering a playing state until a song stop signal is received; and when the song signal is a first song ensemble signal, stopping outputting a corresponding power-on signal or power-off signal to the first electromagnet connected with different keys, entering a playing waiting state, and continuing outputting a corresponding power-on signal or power-off signal to the first electromagnet connected with different keys until a second song ensemble signal is detected. The electronic organ robot can perform alone according to song signals and also can participate in ensemble interaction manually, and the intelligent degree is high.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a robotic performance system of the present invention;

fig. 2 is a left side view of the robotic performance system of the present invention;

fig. 3 is a plan view of the robotic performance system of the present invention;

FIG. 4 is a partial enlarged view A of FIG. 1;

FIG. 5 is a partial enlarged view B of FIG. 2;

fig. 6 is a schematic structural view of the support assembly and the first electromagnet of the present invention;

fig. 7 is a schematic flow chart of a robot playing method according to a first embodiment of the present invention;

fig. 8 is a schematic flow chart of a robot playing method according to a second embodiment of the present invention;

fig. 9 is a schematic flow chart of a robot playing method according to a third embodiment of the present invention;

fig. 10 is a schematic structural diagram of a robot performance apparatus according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a server according to an embodiment of the present invention;

in the figure: 100-robot playing system, 1-keybed, 2-keys, 3-first electromagnet, 4-first magnet, 5-connecting piece, 6-placing table, 7-fixing component, 8-turning component, 9-supporting component, 10-programmable logic controller, 11-groove, 12-cavity, 13-through hole, 61-inclined plane, 71-second magnet, 72-second electromagnet, 81-third electromagnet, 82-first elastic component, 83-rotating component, 84-fourth electromagnet, 91-fixing component, 92-sliding component, 93-second elastic component, 94-rubber strip, 95-spice rod, 96-storage box, 961-meter opening, 400-robot playing device, 401-conversion module, 402-receiving module, 405-output module, 403-acquisition module, 404-judgment module, 500-server, 501-processor, 502-memory, 503-communication interface, 505-bus.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In a first aspect, referring to fig. 1 to 6, the present invention provides a robotic playing system 100, including a keybed 1, keys 2, first electromagnets 3, first magnets 4, connecting members 5, a programmable logic controller 10, a placement platform 6 and a fixing assembly 7, wherein the keybed 1 has a plurality of grooves 11, cavities 12 and through holes 13, the number of the through holes 13, the keys 2, the first electromagnets 3, the first magnets 4 and the connecting members 5 is plural, the grooves 11 are located above the cavities 12, the plurality of through holes 13 communicate the grooves 11 and the cavities 12, the plurality of keys 2 are arranged on the keybed 1, cover the grooves 11, move up and down in the grooves 11, and each of the keys 2 is disposed opposite to each of the through holes 13, the plurality of first electromagnets 3 are located in the cavities 12, a plurality of first magnet 4 with keybed 1 fixed connection, and be located in the cavity 12, and each first magnet 4 with each through-hole 13 and each first electro-magnet 3 sets up relatively, each connecting piece 5 and each 2 fixed connection of key, and run through and correspond through-hole 13, extend to in the cavity 12 with first electro-magnet 3 fixed connection, programmable logic controller 10 with first electro-magnet 3 electricity is connected, place platform 6 with keybed 1 integrated into one piece, and be located keep away from one side of cavity 12, and have inclined plane 61, inclined plane 61 orientation one side of key 2, music book place in on inclined plane 61, fixed subassembly 7 centre gripping music book.

In the present embodiment, the first electromagnet 3 is a device that generates electromagnetism by being energized. The core is wound with an electrically conductive winding adapted to its power, and the coil, which is energized with electric current, is magnetic like a magnet. After being electrified, the first electromagnet 3 has opposite magnetism with the first magnet 4, and opposite attraction is realized. The programmable logic controller 10 uses a type of programmable memory for internal memory programs to execute user-oriented instructions such as logic operations, continuous operations, timing, counting and arithmetic operations, and to control various types of machinery via digital or analog input/output. The model may be FR-FX1N, FR-FX1S, FR-FX2N, FR-FX3U, FR-FX2NC or R-AFR-Q. The connecting piece 5 is a rope, is light in weight and does not occupy space. When the programmable logic controller 10 does not control the first electromagnet 3 to work, people can play by themselves. When the programmable logic controller 10 controls the first electromagnet 3 to work, according to a pre-programmed song program, the first electromagnet 3 connected to the corresponding key 2 is energized, has opposite magnetism of the corresponding first magnet 4, and opposite attraction, and the first electromagnet 3 moves to the corresponding first magnet 4, so as to drive the connecting piece 5 to pull the key 2 downward to play the corresponding tone. The inclined plane 61 of the placing table 6 is used for placing music book, and the fixing component 7 is used for fixing the music book, so that the music book is convenient for a song learner or an appreciator to watch. The automatic playing has high intelligent degree.

The utility model discloses a robot performance system 100, through a plurality of through-hole 13 communicate recess 11 with cavity 12, a plurality of key 2 arrange in on the keybed 1, cover recess 11, reciprocate in the recess 11, and each key 2, each through-hole 13, each first electro-magnet 3 and each first magnet 4 sets up relatively, each connecting piece 5 and each key 2 fixed connection, and run through corresponding through-hole 13, extend to in the cavity 12 with first electro-magnet 3 fixed connection, programmable logic controller 10 with first electro-magnet 3 electricity is connected, place the platform 6 with the keybed 1 integrated into one piece, and be located keep away from one side of cavity 12, and have inclined plane 61, inclined plane 61 is towards one side of key 2, music book place in on inclined plane 61, the fixing assembly 7 holds a music book. The first electromagnets 3 connected with different keys 2 are controlled to be powered on or powered off according to the programmable logic controller 10, so that songs are played, and the intelligent degree is high.

Further, the fixing component 7 includes a second magnet 71 and a second electromagnet 72, the number of the second magnet 71 and the number of the second electromagnet 72 are at least two, the second magnet 71 is slidably connected to the placing table 6 and is located on the inclined plane 61, and each of the second electromagnets 72 is disposed opposite to each of the second magnets 71 and is electrically connected to the programmable logic controller 10, and supports the music book on the inclined plane 61.

In the present embodiment, the music book is turned to one page of the initial playing, and the second magnet 71 can slide to a proper position according to the size of the music book, thereby facilitating the clamping. Second magnet 71 slides to the left and right sides of music book, second electro-magnet 72 is placed respectively on the music book, and sets up relatively with second magnet 71, programmable logic controller 10 control second electro-magnet 72 circular telegram, with second magnet 71 has opposite magnetism, and opposite poles attract, and the centre gripping music book of being convenient for does not need artifical fixed, and high-efficient intelligence prevents to drop.

Further, the robot playing system 100 further comprises a flipping component 8, the flipping component 8 comprises a third electromagnet 81, a first elastic member 82, a rotating member 83 and a fourth electromagnet 84, the number of the third electromagnets 81 and the number of the first elastic pieces 82 are multiple, each first elastic piece 82 clamps one page of the music book, every two third electromagnets 81 are fixedly connected with the first elastic pieces 82 and electrically connected with the programmable logic controller 10, and are located at both sides of the music book, the number of the rotating pieces 83 and the fourth electromagnets 84 is two, the two rotating pieces 83 are rotatably connected with the placing table 6, and are positioned at both sides of the music book, each of the fourth electromagnets 84 is fixedly connected with each of the rotating members 83, and is electrically connected to the programmable logic controller 10 and is disposed opposite to the third electromagnet 81.

In this embodiment, the first elastic members 82 are rubber bands, two rubber bands are provided, and are located on two sides of a sheet of music score to clamp the sheet of music score, the third electromagnet 81 is of a "U" shape, and at least partially clamps two sides of the sheet of music score, and the third electromagnet 81 has a weight capable of pressing the music score to turn the sheet at will. When a page needs to be turned, the programmable logic controller 10 controls the third electromagnet 81 and the fourth electromagnet 84 to be powered on, and has magnetism, and has opposite magnetism, and opposite attraction, the rotating member 83 is electrically connected with the output end of the motor, the motor is electrically connected with the programmable logic controller 10, the motor controls the rotating member 83 to rotate in the forward direction and rotate to be close to the first page of the music score, the fourth electromagnet 84 and the third electromagnet 81 are powered on to drive the first elastic member 82 to move, so as to drive a page of music score clamped by the first elastic member 82 to rotate to the first page of the music score, and the third electromagnet 81 and the second electromagnet 72 have opposite polarities, and opposite attraction is used for fixing the turned page of music score and the first page of the music score, then the programmable logic controller 10 controls the fourth electromagnet 84 to be powered off, and the fourth electromagnet 84 has no magnetism, the rotating piece 83 rotates back to the original position in a reverse direction without being attracted and separated with the third electromagnet 81, so that the page turning is repeated until the song playing is finished, the song playing performance can be appreciated at a distance without manual page turning, and the intelligent degree is high.

Further, the robot playing system 100 further includes a plurality of supporting components 9, the number of the supporting components 9 is a plurality of, each supporting component 9 is located on one side of each first electromagnet 3, and is located in the cavity 12, the supporting components 9 include a fixing member 91 and a sliding member 92, the fixing member 91 is fixedly connected to the keybed 1 and is located on one side of the first electromagnet 3, the sliding member 92 is fixedly connected to the first electromagnet 3, and is slidably connected to the fixing member 91 and is located between the first electromagnet 3 and the fixing member 91.

In the present embodiment, the fixed member 91 and the sliding member 92 are configured to support the first electromagnet 3, preventing the key 2 from being pulled by the first electromagnet 3 being excessively heavy. When the first electromagnet 3 connected to the key 2 is energized to move downward, the slider 92 slides on the stationary member 91; when the first electromagnet 3 connected to the key 2 is de-energized, the slider 92 and the anchor 91 support the key 2.

Further, the supporting assembly 9 further includes a second elastic member 93, and the second elastic member 93 is fixedly connected to the sliding member 92, located in the fixing member 91, and located at a side close to the first magnet 4.

In this embodiment, the second elastic member 93 is a spring, which can support and compress under the pressure of the sliding member 92, so as to generate sound when the key 2 moves up and down.

Further, the supporting component 9 further comprises a rubber strip 94, and the rubber strip 94 is located in the second elastic member 93; the robot playing system 100 further comprises a spice stick 95 and a storage box 96, the spice stick 95 is fixedly connected with the rubber strip 94 and located on one side of the rubber strip 94, the storage box 96 is located in the fixing piece 91, perfume is filled in the storage box 96, the storage box 96 is provided with a rice-shaped opening 961, and the rice-shaped opening 961 is located on the orthographic projection of the spice stick 95.

In the present embodiment, the rubber strip 94 is made of rubber, and the rubber is a high-elasticity polymer material with reversible deformation, and can generate large deformation under the action of a small external force, and can recover to the original shape after the external force is removed. The rubber strip 94 is located in the second elastic member 93, and has a guiding function, and the rubber strip 94 has elasticity and does not affect the movement of the sliding member 92. First electro-magnet 3 circular telegram, drive and be connected with it the key 2 moves down to the drive slider 92 moves down, rubber strip 94 moves down, and then makes it be connected the spices stick 95 is followed rice style of calligraphy opening 961 stretches into in the storage box 96, be infected with perfume liquid first electro-magnet 3 outage back, key 2 moves up, drives the spices stick 95 is followed spill over in the storage box 96, during perfume liquid fills the air, promotes environmental comfort, reinforcing music appreciation and the atmosphere of study. Meanwhile, due to the design of the opening 961 shaped like a Chinese character 'mi', the perfume stick 95 can still protect the perfume in the storage box 96 after being moved out of the storage box 96, so that foreign matter pollution is prevented, the perfume is prevented from being continuously diffused, and the service life is long.

In a second aspect, please refer to fig. 7, fig. 7 is a schematic flowchart of a robot playing method according to a first embodiment of the present invention. Specifically, as shown in fig. 7, the robot playing method may include the steps of:

s101, converting the pitch and the beat of each note in the music score corresponding to the selected song into corresponding first note parameters and first beat parameters based on the length and the scale information of the note playing time in the staff, forming a data table, and storing the data table to the programmable logic controller.

The embodiment of the utility model provides an in-process that electronic organ performance ware played at first according to the song that needs were played and is programmed, it is specific, according to specific music book, program code of the electro-magnet switching that the different tones of writing control correspond, for example one of them section of music book is 1234567, the procedure of writing so is for setting up the time-recorder at first in Programmable Logic Controller (PLC), then according to the first note parameter and the first beat parameter that the music book was played, write respectively and start duo, rui, mi, fa, suo, la, xi correspond the instruction that the electro-magnet opened on the output.

And S102, entering a corresponding performance state based on the received song signals.

In the embodiment of the utility model provides an in, the automatic robot hardware part that plays of electronic organ includes host computer, memory chip, transistor, PLC power and executive component's power. In particular formed by an array of micro-solenoid switches secured to the support plate and having the same number of switches as the number of keys to be controlled. The electromagnetic valve comprises an electromagnet, and the electromagnet is a device for generating electromagnetism by electrifying. The core is wound with an electrically conductive winding adapted to its power, and the coil, which is energized with electric current, is magnetic like a magnet. PLC controls the switching of different first electro-magnets, thereby the performance of song is realized in the rope pulling key.

When the song signal is a song solo signal, outputting a corresponding power-on signal or power-off signal to first electromagnets connected with different keys based on the first note parameter and the first beat parameter, and entering a playing state until a song stop signal is received; the first electromagnet for receiving the power-on signal pulls the key to produce sound, and the first electromagnet for receiving the power-off signal does not displace, so that the electronic organ robot can perform independent playing according to songs, and the manual labor intensity during long-time music playing is reduced.

And when the song signal is a first song ensemble signal, stopping outputting a corresponding power-on signal or power-off signal to the first electromagnet connected with different keys, entering a playing waiting state, and continuing outputting a corresponding power-on signal or power-off signal to the first electromagnet connected with different keys until a second song ensemble signal is detected. The robot stops controlling the electronic organ when the person needs to play a certain part of the song and receives a first song ensemble signal, the person can play the song by himself, and when the person finishes playing a certain part, the person receives a second song ensemble signal, and continues to play the part immediately after the person plays the song by outputting a power-on signal or a power-off signal until the song stop signal is received, namely the song playing is finished; when the person needs to play all the songs and receives the first song ensemble signal, the robot stops controlling the electronic organ, and the person plays the whole song until the song is played. In addition, the storage space of the programmable logic controller is obtained, whether the storage space is larger than the preset capacity is judged, if yes, a second prompt signal is output, namely when the storage space of the editable logic controller is not enough, the LED lamp is lightened to prompt an operator that the storage is full, and further storage or transfer is carried out. The function is various, can adjust according to the condition and realize solo or ensemble, strengthens interactive, and is interesting, changes the music mode of communication, and intelligent degree is high.

Referring to fig. 8, fig. 8 is a flowchart illustrating a robot playing method according to a second embodiment of the present invention. Specifically, as shown in fig. 8, the robot playing method may include the steps of:

s201, converting the pitch and the beat of each note in the music score corresponding to the selected song into corresponding first note parameters and first beat parameters based on the length and the scale information of the note playing time in the staff, forming a data table, and storing the data table to the programmable logic controller.

In the embodiment of the present invention, the content of this step is consistent with the content of S101 in the first embodiment, and is not repeated here.

And S202, entering a corresponding performance state based on the received song signals.

In the embodiment of the utility model, when the song signal is a solo song signal, the player enters a playing state; when the song signal is a first song ensemble signal, entering a playing waiting state; and acquiring a storage space of the programmable logic controller, judging whether the storage space is larger than a preset capacity, and if so, outputting the content of the second prompt signal to be consistent with the content in the first embodiment, which is not described herein again. And when the song signal is a song practice signal, entering a playing practice state, acquiring a corresponding first key position parameter, a first key frequency parameter and a first key interval time parameter, generating a first target note parameter and a first target beat parameter, and storing the first target note parameter and the first target beat parameter in a programmable logic controller. When people need the electronic organ robot as exercise equipment, the power-on signal or the power-off signal corresponding to the output of the first electromagnet connected with different keys is stopped, the electronic organ is not controlled, people can practice playing as a common electronic organ, and when people practice, the first key position parameter, the first key frequency parameter and the first key interval time parameter of keys of people are recorded, and the first target note parameter and the first target beat parameter are generated and stored. And acquiring the first target note parameter and the first target beat parameter, comparing the first target note parameter and the first target beat parameter with the first note parameter and the first beat parameter of the corresponding song, judging whether the first target note parameter and the first target beat parameter exceed a preset range, and if so, outputting a first prompt signal. The playing effect is not good, the LED lamps with the corresponding colors are lightened to prompt the practicer to pay attention, and the LED lamps interact with the robot to guide the practicer to learn and change. And acquiring the times of exceeding the preset range, judging whether the times of exceeding the preset range reach the preset times, if so, acquiring corresponding songs stored in the programmable logic controller, outputting corresponding power-on signals or power-off signals to first electromagnets connected with different keys, and entering a playing state. The electronic organ plays the corresponding song automatically after exercising the poor effect for many times, so that the trainee can watch, listen, study and correct the song conveniently. And acquiring performance data corresponding to the preset times when the first number of times reaches, and generating visual music score data for display. Namely, the performance data with poor performance effect for multiple times is acquired for processing, and the generated visual music score data is displayed on the display screen to guide a practicer to correct learning. People and robot interactive learning correct, and intelligent degree is high.

Referring to fig. 9, fig. 9 is a schematic flowchart of a robot playing method according to a third embodiment of the present invention. Specifically, as shown in fig. 9, the robot playing method may include the steps of:

s301, converting the pitch and the beat of each note in the music score corresponding to the selected song into corresponding first note parameters and first beat parameters based on the length and the scale information of the note playing time in the staff, forming a data table, and storing the data table to the programmable logic controller.

In the embodiment of the present invention, the content of this step is consistent with the content of S101 in the first embodiment, and is not described herein again.

And S302, entering a corresponding performance state based on the received song signals.

In the embodiment of the utility model, when the song signal is a solo song signal, the player enters a playing state; when the song signal is a first song ensemble signal, entering a playing waiting state; and acquiring a storage space of the programmable logic controller, judging whether the storage space is larger than a preset capacity, and if so, outputting the content of the second prompt signal to be consistent with the content in the first embodiment, which is not described herein again.

And when the song signal is a song recording signal, entering a song recording state, acquiring a corresponding second key position parameter, a second key frequency parameter and a second key interval time parameter, and storing the second key position parameter, the second key frequency parameter and the second key interval time parameter to the programmable logic controller. Namely, the music player can record and play songs for storage, thereby facilitating the practice of learners.

And when the song signal is a repeated playing signal and enters a repeated playing state, acquiring a corresponding second key position parameter, a second key frequency parameter and a second key interval time parameter, and outputting a corresponding power-on signal or power-off signal to the first electromagnet connected with different keys. I.e. the music player can play the recorded new song repeatedly, listen to the experience or appreciate the modification.

In a third aspect, please refer to fig. 10, which is a schematic structural diagram of a robot playing device 400 according to an embodiment of the present invention. The robot playing apparatus 400 according to the embodiment of the present invention includes a module for executing the robot playing method. Specifically, the robot playing device 400 according to the embodiment of the present invention may include: a conversion module 401, a receiving module 402, an output module 405, an obtaining module 403 and a judging module 404. Wherein:

the conversion module 401 is configured to convert the pitch and the tempo of each note in the music score corresponding to the selected song into a corresponding first note parameter and first tempo parameter based on the length and the musical scale information of the note playing time in the staff, form a data table, and store the data table to the programmable logic controller;

the receiving module 402 is configured to receive a song signal and enter a corresponding playing state;

the output module 405 is configured to output a corresponding power-on signal or power-off signal to the first electromagnets connected to different keys based on the first note parameter and the first tempo parameter when the song signal is a song solo signal, and enter a playing state until a song stop signal is received;

the output module 405 is configured to, when the song signal is a first song ensemble signal, stop outputting a corresponding power-on signal or power-off signal to the first electromagnet connected to the different key, enter a playing waiting state, and continue outputting the corresponding power-on signal or power-off signal to the first electromagnet connected to the different key until a second song ensemble signal is detected.

In an embodiment, the obtaining module 403 is configured to enter a playing practice state when the song signal is a song practice signal, obtain a corresponding first key position parameter, a corresponding first key frequency parameter, and a corresponding first key interval time parameter, generate a first target note parameter and a first target tempo parameter, and store the first target note parameter and the first target tempo parameter in the programmable logic controller.

In an embodiment, the obtaining module 403 is configured to obtain the first target note parameter and the first target tempo parameter, and compare the first target note parameter and the first target tempo parameter with the first note parameter and the first tempo parameter of the corresponding song, and the determining module 404 is configured to determine whether the first target note parameter and the first tempo parameter exceed a preset range, and if yes, the output module 405 is configured to output a first prompt signal.

In an embodiment, the obtaining module 403 is configured to obtain the number of times exceeding a preset range, and the determining module 404 is configured to determine whether the number of times exceeding the preset range reaches a preset number of times, and if so, obtain a corresponding song stored in the programmable logic controller, output a corresponding power-on signal or power-off signal to the first electromagnet connected to a different key, and enter a playing state.

In an embodiment, the obtaining module 403 is configured to obtain performance data corresponding to a first number of times reaching a preset number of times, and generate a visual music score data display.

In an embodiment, the obtaining module 403 is configured to enter a song recording state when the song signal is a song recording signal, obtain a corresponding second key position parameter, a second key frequency parameter, and a second key interval time parameter, and store the second key position parameter, the second key frequency parameter, and the second key interval time parameter in the programmable logic controller.

In an embodiment, the obtaining module 403 is configured to, when the song signal is a repeated playing signal, enter a repeated playing state, obtain a corresponding second key position parameter, a second key frequency parameter, and a second key interval time parameter, and output a corresponding power-on signal or power-off signal to the first electromagnet connected to a different key.

In one embodiment, a storage space of the programmable logic controller is obtained, whether the storage space is larger than a preset capacity is judged, and if yes, a second prompt signal is output.

Referring to fig. 11, fig. 11 is a schematic structural diagram of a server 500 according to an embodiment of the present invention. The server 500 is adapted to perform the method of the second aspect described above. As shown in fig. 11, the server 500 in the present embodiment may include: one or more processors 501 and memory 502. Optionally, the server 500 may also include one or more communication interfaces 503. The processor 501, communication interface 503, and memory 502 may be connected by a bus 504, illustrated in fig. 5 as bus 504, or may be connected in other ways.

The processor 501 may be a Central Processing Unit (CPU), and the processor 501 may also be other general-purpose processors 501, a Digital signal processor 501 (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. The general purpose processor 501 may be a microprocessor 501 or the processor 501 may be any conventional processor 501 or the like.

The communication interface 503 may be used for interaction of transceiving information or signaling, and reception and transfer of signals, and the communication interface 503 may include a receiver and a transmitter for communication with other devices. The memory 502 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating device and a storage program required by at least one function (such as a text storage function, a location storage function, etc.); the storage data area may store data (such as image data, text data) created according to the use of the server 500, and the like, and may include an application storage program, and the like. Further, the memory 502 may include high speed random access memory 502, and may also include non-volatile memory 502, such as at least one piece of disk memory 502, flash memory devices, or other volatile solid state memory 502.

The memory 502 is also used to store program instructions. The processor 501 may call the program instructions stored in the memory 502 to implement the robot playing method according to the embodiment of the present invention.

Wherein, the processor 501 can be used to call the program instruction to execute the following steps: converting the pitch and the beat of each note in the music score corresponding to the selected song into corresponding first note parameters and first beat parameters based on the length and the scale information of the playing time of the notes in the staff, forming a data table and storing the data table to a programmable logic controller;

In one embodiment, when the song signal is a song practice signal, the performance practice state is entered, and the processor 501 is configured to call the program instructions to perform the following steps: and acquiring a corresponding first key position parameter, a first key frequency parameter and a first key interval time parameter, generating a first target note parameter and a first target beat parameter, and storing the first target note parameter and the first target beat parameter in the programmable logic controller.

In one embodiment, after entering the performance exercise state, the processor 501 is configured to call the program instructions to perform the following steps: and acquiring the first target note parameter and the first target beat parameter, comparing the first target note parameter and the first target beat parameter with the first note parameter and the first beat parameter of the corresponding song, judging whether the first target note parameter and the first target beat parameter exceed a preset range, and if so, outputting a first prompt signal.

In one embodiment, after outputting the first prompt signal, the processor 501 may be configured to call the program instruction to perform the following steps: and acquiring the times of exceeding the preset range, judging whether the times of exceeding the preset range reach the preset times, if so, acquiring corresponding songs stored in the programmable logic controller, outputting corresponding power-on signals or power-off signals to first electromagnets connected with different keys, and entering a playing state.

In an embodiment, after obtaining the number of times exceeding the preset range and determining whether the number of times exceeding the preset range reaches the preset number of times, the processor 501 may be configured to call the program instruction to perform the following steps: and acquiring performance data corresponding to the preset times when the first number of times reaches, and generating visual music score data for display.

In one embodiment, when the song signal is a song recording signal, a song recording state is entered, and the processor 501 is configured to call the program instructions to perform the following steps: and acquiring a corresponding second key position parameter, a second key frequency parameter and a second key interval time parameter, and storing the parameters to the programmable logic controller.

In one embodiment, when the song signal is a replay signal, a replay state is entered, and the processor 501 is configured to call the program instructions to perform the following steps: and acquiring corresponding second key position parameters, second key frequency parameters and second key interval time parameters, and outputting corresponding power-on signals or power-off signals to first electromagnets connected with different keys.

In one embodiment, the processor 501 may be configured to call the program instructions to perform the following steps: and acquiring the storage space of the programmable logic controller, judging whether the storage space is larger than the preset capacity, and outputting a second prompt signal if the storage space is larger than the preset capacity.

In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by the processor 501, part or all of the steps in the robot playing method described in the embodiment corresponding to fig. 1, fig. 2, or fig. 3 may be implemented, and the functions of the robot playing device 400 according to the embodiment shown in fig. 4 of the present invention may also be implemented, and the functions of the server 500 according to the embodiment shown in fig. 5 of the present invention may also be implemented, which are not described herein again.

The computer readable storage medium may be an internal storage unit of the robot playing device 400 or the server 500 described in the foregoing embodiments, for example, a hard disk or a memory of the robot playing device 400 or the server 500. The computer-readable storage medium may also be an external storage device of the robot playing apparatus 400 or the server 500, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the robot playing apparatus 400 or the server 500.

Embodiments of the present invention also provide a computer program product containing instructions which, when run on a computer, cause the computer to perform some or all of the steps of the above-described method.

In this application, the term "and/or" is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of the processes should be determined by their functions and inherent logic, and should not constitute any limitation to the implementation processes of the embodiments of the present invention.

The above description is only a part of the embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention.

Claims

1. A robot performance system, characterized in that,

the key bed is provided with a groove, a cavity and through holes, the keys, the first electromagnets, the first magnets and the connecting pieces are multiple in number, the groove is located above the cavity, the through holes are communicated with the groove and the cavity, the keys are arranged on the key bed and cover the groove and move up and down in the groove, each key is arranged opposite to each through hole, the first electromagnets are located in the cavity, the first magnets are fixedly connected with the key bed and located in the cavity, each first magnet is arranged opposite to each through hole and each first electromagnet, and each connecting piece is fixedly connected with each key, and run through and correspond the through-hole extends to in the cavity with first electro-magnet fixed connection, programmable logic controller with first electro-magnet electricity is connected, place the platform with key bed integrated into one piece to be located and keep away from one side of cavity, and have the inclined plane, the inclined plane orientation one side of key, music book place in on the inclined plane, fixed subassembly centre gripping music book.

2. The robotic performance system as set forth in claim 1 wherein,

the fixed subassembly includes second magnet and second electro-magnet, the second magnet with the quantity of second electro-magnet all is two at least, the second magnet with place a sliding connection, and be located on the inclined plane, each the second electro-magnet with each the second magnet sets up relatively, and with programmable logic controller electricity is connected to support music book in on the inclined plane.

3. The robotic performance system as set forth in claim 1 wherein,

the robot performance system is still including the subassembly that turns, the subassembly that turns includes third electro-magnet, first elastic component, rotates piece and fourth electro-magnet, the quantity of third electro-magnet and first elastic component is a plurality ofly, each one page of first elastic component centre gripping music book, per two the third electro-magnet with first elastic component fixed connection, and with programmable logic controller electricity is connected, and is located the both sides of music book, the quantity of rotating piece and fourth electro-magnet is two, two rotate the piece with place the platform and rotate and connect to be located the both sides of music book, each the fourth electro-magnet and each rotate piece fixed connection, and with programmable logic controller electricity is connected, and with the third electro-magnet sets up relatively.

4. The robotic performance system as set forth in claim 1 wherein,

the robot performance system still includes supporting component, supporting component's quantity is a plurality of, each supporting component is located each one side of first electro-magnet, and is located in the cavity, supporting component includes mounting and slider, the mounting with keybed fixed connection, and be located one side of first electro-magnet, the slider with first electro-magnet fixed connection, and with mounting sliding connection, and be located first electro-magnet with between the mounting.

5. A robotic performance system as claimed in claim 4, wherein,

the support assembly further comprises a second elastic piece, and the second elastic piece is fixedly connected with the sliding piece, is positioned in the fixed piece and is positioned at one side close to the first magnet.

6. A robotic performance system as claimed in claim 5, wherein,

the support assembly further comprises a rubber strip, and the rubber strip is located in the second elastic piece.

7. A robotic performance system as claimed in claim 6,

the robot performance system still includes spices stick and storage box, the spices stick with rubber strip fixed connection to be located one side of rubber strip, the storage box is located in the mounting, the storage box intussuseption is filled with perfume, the storage box has rice style of calligraphy opening, rice style of calligraphy opening is located on the orthographic projection of spices stick.