JP2017196675A - Operation controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation controller for controlling operation of a robot, with which followability of operation is maintained with respect to music even when tempo of the music changes.SOLUTION: An operation controller 10 includes: a data acquisition part 102 for acquiring MIDI information of music played; an operation calculation part 103 for executing calculation processing that calculates currently played measures and beats on the basis of ticks, time bases, and time signatures contained in the acquired MIDI information, and for executing determination processing that determines whether the currently played measures and beats are the timing for making the robot perform a specific operation; and an operation output part 104 for outputting an operation instruction on the basis of a determination processing result of the operation calculation part 103.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an operation control apparatus that controls the operation of a robot.

  As robots, there are known robots whose main purpose is to replace work that has been performed by humans and those whose main purpose is to perform work that is too heavy for humans to perform. On the other hand, Patent Document 1 below proposes an operation variation based on music. The acoustic reproduction robot described in Patent Document 1 below includes a drive mechanism, a buffer processing unit, an acoustic analysis unit, and a drive mechanism control unit. The buffer processing unit is a part that sequentially stores the acoustic data string. The acoustic analysis unit is a part that extracts a feature amount related to sound from the acoustic data sequence stored in the buffer processing unit. The drive mechanism control unit is a part that controls the drive mechanism based on the feature amount extracted by the acoustic analysis unit.

JP 2008-200843 A

  In the conventional technique described above, it is necessary to perform sampling for sequentially accumulating the acoustic data strings, and in addition, it is necessary to extract a feature amount from the sampled acoustic data strings. In such a configuration, for example, when it is desired to change the movement of the robot in synchronization with the change in the music tempo, it is considered that the process cannot follow.

  The present invention has been made in view of the above problems, and an object of the present invention is an operation control device that controls the operation of a robot, and maintains tracking of the operation of music even when the tempo of the music changes. An object of the present invention is to provide an operation control device capable of

  In order to solve the above-mentioned problem, the motion control device according to the present invention is a motion control device that controls the motion of the robot, and the data acquisition unit (102) that acquires the MIDI information of the flowing music Based on the tick, time base, and time signature included in the MIDI information, a calculation process is performed to calculate a currently flowing measure and beat, and the currently flowing measure and beat are specified to the robot. An operation calculation unit (103) for executing a determination process for determining whether or not it is a timing to perform an operation; and an operation output unit (104) for outputting an operation instruction based on the determination process result of the operation calculation unit. Prepare.

  According to the present invention, the robot is based on the tick included in the MIDI information, the time base that is also included in the MIDI information or set separately, and the time signature that is also included in the MIDI information or set separately. Since the timing for performing a specific action is determined, it is possible to cause the robot to perform an action according to the music without analyzing the music that is flowing. When the tempo of the MIDI information changes, the bar and beat timing also changes, and the robot operation can be controlled by following the changes.

  Reference numerals in parentheses described in “Means for Solving the Problems” and “Claims” indicate a correspondence relationship with “Mode for Carrying Out the Invention” described later, It does not indicate that the invention described in “Means for Solving the Problems” and “Claims” is limited to “Mode for Carrying Out the Invention” described later.

  ADVANTAGE OF THE INVENTION According to this invention, it is an operation control apparatus which controls operation | movement of a robot, Comprising: Even when the tempo of music changes, the operation control apparatus which can maintain the tracking of the operation | movement with respect to music can be provided.

FIG. 1 is a block diagram showing a functional configuration of an operation control apparatus according to an embodiment of the present invention. FIG. 2 is a flowchart for explaining the processing of the operation control apparatus shown in FIG. FIG. 3 is a flowchart for explaining processing of the operation control apparatus shown in FIG. FIG. 4 is a flowchart for explaining the processing of the operation control apparatus shown in FIG. FIG. 5 is a diagram for explaining an example of a robot to be controlled. FIG. 6 is a diagram for explaining an example of information defining the operation of the robot shown in FIG. FIG. 7 is a flowchart for explaining processing of the operation control apparatus shown in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In order to facilitate the understanding of the description, the same constituent elements in the drawings will be denoted by the same reference numerals as much as possible, and redundant description will be omitted.

  The motion control device according to the present embodiment controls the motion of the robot. As hardware, an arithmetic device such as a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory) are used. A computer system including a storage device, an input / output interface, a communication device, and the like.

  The operation control apparatus 10 shown in FIG. 1 includes, as functional components, a setting reception unit 101, a data acquisition unit 102, an operation calculation unit 103, an operation output unit 104, and an operation information storage unit 105. I have.

  The setting receiving unit 101 is a part that receives setting information including a time signature. The time signature is a symbol that specifies the number of notes that enter one measure. The time signature consists of a denominator and a numerator. The denominator of the time signature indicates the type of note that becomes one beat. The numerator of the time signature indicates the number of notes that enter one measure. For example, in the case of a time signature indicating a quarter of a time signature, it is indicated that a note that is one beat is a quarter note, and a measure is four quarter notes long. The setting receiving unit 101 outputs setting information including a time signature to the operation calculating unit 103.

  The data acquisition unit 102 is a part that acquires MIDI information as acoustic data. The data acquisition unit 102 acquires MIDI information of the music being played. The data acquisition unit 102 outputs the acquired MIDI information to the operation calculation unit 103. MIDI is an abbreviation for Musical Instrument Digital Interface. MIDI information is music data that conforms to the MIDI standard. In the MIDI standard, each piece of data is called an “event”. The “event” includes information such as “note on”, “note off”, “pitch bend”, “control change”, and “program change”.

  The minimum unit of time in MIDI information is called “tick”. How long a tick is is specified by “time base” and “tempo”. The time base is also referred to as “resolution”. The time base is information for setting how many ticks the quarter note is. For example, if the time base is 120, the quarter note is 120 ticks, so the eighth note is 60 ticks and the whole note is 480 ticks.

  The tempo is indicated by the number of beats per minute. Therefore, the time (second) of one tick can be calculated by 60 (seconds) / tempo / time base. For example, if the tempo is 120 and the time base is 480, one tick is 1/960 seconds.

  The motion calculation unit 103 executes a calculation process for calculating a currently flowing measure and beat based on the tick, time base, and time signature included in the acquired MIDI information, and the currently flowing measure and This is a part for executing a determination process for determining whether or not the beat is a timing for causing the robot to perform a specific action. The MIDI information is output from the data acquisition unit 102. The tick and time base are included in the MIDI information, and their meanings are as described above. Since the time signature is also included in the MIDI information, the setting reception unit 101 does not necessarily receive the time signature.

If the current measure is Measurement, the current tick is Current_tick, the time base is Resolution, the time signature denominator is Phonetic_value, the time signature numerator is Beats, and the current beat is Beat. And the beat is obtained by the following two formulas.

  The motion calculation unit 103 thus calculates the current measure and beat. Further, based on the information stored in the motion information storage unit 105, the motion calculation unit 103 determines whether the current measure and beat are the timing for causing the robot to perform a specific motion. The motion calculation unit 103 outputs the result of the determination process to the motion output unit 104. The motion information storage unit 105 stores correspondence information between measures and beats and robot postures.

  The operation output unit 104 is a part that outputs an operation instruction based on the determination processing result of the operation calculation unit 103. The operation output unit 104 outputs an operation instruction to a robot as a control target. When the motion control device 10 is provided integrally with a robot to be controlled, an operation instruction is output to the motion mechanism unit of the robot.

  Next, processing of the operation control device 10 will be described with reference to FIG. In step S101, the setting reception unit 101 sets a time signature. When using the time signature included in the MIDI information, the data acquisition unit 102 or the operation calculation unit 103 sets the time signature.

  In step S102 following step S101, the data acquisition unit 102 starts reading MIDI information. In step S103 following step S102, the operation calculation unit 103 sets a time base.

  In step S104 following step S103, the motion calculation unit 103 calculates the current measure and beat from the current tick. The calculation method is as described above. In step S <b> 105 following step S <b> 104, the motion calculation unit 103 compares and refers to the calculated bar and beat and the map stored in the motion information storage unit 105.

  In step S106 following step S105, the motion calculation unit 103 determines whether or not the current measure and beat are the measure and beat that change the robot posture. Specifically, in the map stored in the motion information storage unit 105, it is determined whether or not the bar and beat specified as the timing of the robot movement match the current bar and beat. If the current measure and beat are those that change the robot posture, the process proceeds to step S107, and if the current measure and beat is not the measure and beat that changes the robot posture, the process returns to step S104.

  In step S107, the operation output unit 104 outputs an operation instruction to the robot. In step S107 following step S107, the motion calculation unit 103 determines whether or not the MIDI information has been completed. Specifically, the determination is made based on whether or not the MIDI information output from the data acquisition unit 102 is stopped. If the MIDI information has ended, the process ends. If the MIDI information does not end, the process returns to step S104.

  In the example described with reference to FIG. 2, the process starts when MIDI information is input, and the process ends when the MIDI information ends. Since the MIDI standard defines a format that includes various information, it is possible to control the start / end of the operation of the robot using this format. This example will be described with reference to FIG.

  Steps S201, S202, and S203 are the same processes as steps S101, S102, and S103, and thus description thereof is omitted.

  In step S204 following step S203, the motion calculation unit 103 determines whether or not a robot motion start signal is included in the MIDI information. The robot operation start signal can be assigned to an empty system of, for example, control change in MIDI information. For example, it can be assigned to any of No. 64 to No. 95 assigned as a control change switch system. For example, when the value is 1, the robot operation is started, and when the value is 2, the robot operation is stopped. If the robot information start signal is included in the MIDI information, the process proceeds to step S205. If the robot information start signal is not included in the MIDI information, the process in step S204 is repeated.

  In step S205, the motion calculation unit 103 calculates the current measure and beat from the current tick. The calculation method is as described above. In step S206 following step S205, the motion calculation unit 103 compares and compares the calculated bar and beat with the map stored in the motion information storage unit 105.

  In step S207 following step S206, the motion calculation unit 103 determines whether or not the current measure and beat are measures and beats that change the robot posture. Specifically, in the map stored in the motion information storage unit 105, it is determined whether or not the bar and beat specified as the timing of the robot movement match the current bar and beat. If the current measure and beat are the measure and beat that change the robot posture, the process proceeds to step S208. If the current measure and beat is not the measure and beat that changes the robot posture, the process returns to step S205.

  In step S208, the operation output unit 104 outputs an operation instruction to the robot. In step S209 following step S208, the motion calculation unit 103 determines whether or not a robot motion end signal is included in the MIDI information. If the robot operation end signal is included in the MIDI information, the process ends. If the robot information end signal is not included in the MIDI information, the process returns to step S205.

  Next, an example where the control target is a six-axis robot will be described with reference to FIG. Steps S301, S302, S303, S304, and S305 are the same processes as steps S201, S202, S203, S204, and S205, and thus description thereof is omitted.

  In step S <b> 306 following step S <b> 305, the motion calculation unit 103 compares and compares the calculated bar and beat with the map stored in the motion information storage unit 105. In this example, a 6-axis robot as shown in FIG. The six-axis robot is configured to move around six axes of J1, J2, J3, J4, J5, and J6.

  An example of the map stored in the operation information storage unit 105 is shown in FIG. In the example shown in FIG. 6, the joint angle of the 6-axis robot with respect to the bars and beats of four quarters is shown. One beat shown in FIG. 6 is a quarter note timing, and 0.5 beat is an eighth note timing. Therefore, although the measure needs to be an integer, the beat may be set to a decimal point.

  In step S307 following step S306, the motion calculation unit 103 determines whether or not the current measure and beat are measures and beats that change the robot posture. Specifically, in the map stored in the motion information storage unit 105, it is determined whether or not the bar and beat specified as the timing of the robot movement match the current bar and beat. For example, in the example shown in FIG. 6, the joint angles from J1 to J6 are moved to 20 degrees at the 3.5th beat of the first bar, respectively. If the current measure and beat are those that change the robot posture, the process proceeds to step S308. If the current measure and beat is not the measure and beat that changes the robot posture, the process returns to step S305.

  In step S308, the operation output unit 104 outputs an operation instruction to the robot. In step S309 following step S308, the motion calculation unit 103 determines whether or not a robot motion end signal is included in the MIDI information. If the robot operation end signal is included in the MIDI information, the process ends. If the robot information end signal is not included in the MIDI information, the process returns to step S305.

  Next, an example in which the robot is operated smoothly in consideration of the speed of movement when the robot is moved will be described with reference to FIG. Steps S401 to S407 are the same processes as steps S301 to S307, and thus description thereof is omitted.

このようにＭＩＤＩ情報に含まれるテンポを用いてロボットの移動時間を求めることで、テンポの変化に追従した動きを実現することができる。 In step S408, the motion calculation unit 103 calculates the time for moving the joint angle from the current tempo. Specifically, the movement time of the robot is Motion_time, the measure where the next joint angle changes is Next_measure, the current measure is Current_measure, Beats is the numerator of the time signature, and the beat where the next joint angle changes is Next_beat. If the current beat is Current_beat, the tempo is Tempo, and the note value that is the denominator of the time signature is Phonetic_value, the movement time of the robot can be obtained by the following equation.

As described above, by determining the moving time of the robot using the tempo included in the MIDI information, it is possible to realize a movement following the change of the tempo.

  In step S409 following step S408, the operation output unit 104 outputs an operation instruction to the robot in consideration of the movement time. In step S410 following step S409, the motion calculation unit 103 determines whether or not a robot motion end signal is included in the MIDI information. If the robot operation end signal is included in the MIDI information, the process ends. If the robot information end signal is not included in the MIDI information, the process returns to step S405.

  As described above, the motion control apparatus 10 according to the present embodiment includes the data acquisition unit 102 that acquires MIDI information of flowing music, the ticks included in the acquired MIDI information, the time base, and the time signature. Based on the above, a calculation process for calculating the current measure and beat is executed, and a determination process for determining whether the current measure and beat are the timing for causing the robot to perform a specific action is executed. A calculation unit 103 and an operation output unit 104 that outputs an operation instruction based on the determination processing result of the operation calculation unit 103 are provided.

  According to the present embodiment, the robot is based on the tick included in the MIDI information, the time base that is also included in the MIDI information or set separately, and the time signature that is also included in the MIDI information or set separately. Therefore, it is possible to cause the robot to perform an operation in accordance with the music without analyzing the flowing music. When the tempo of the MIDI information changes, the bar and beat timing also changes, and the robot operation can be controlled by following the changes. If performance data, which is MIDI information, is stopped halfway, ticks will not be sent, and the robot operation can be stopped. When the tempo of performance data, which is MIDI information, is changed, the speed of the ticks to be sent changes, so the timing of measures and beats also change, and the movement of the robot can be changed in accordance with the change in tempo. Since the posture of the robot is determined by the bars and beats, it is easy to take the timing and make it easy to move with the music.

  Further, in the present embodiment, the MIDI information includes operation start information indicating that the robot starts an operation, and the operation calculation unit 103 can execute the determination process after confirming the operation start information. . In the present embodiment, the MIDI information includes operation end information indicating that the robot ends the operation, and the operation calculation unit 103 can stop the determination process after confirming the operation end information. . Since it is possible to control the start / stop of the robot movement without depending on the start / stop of the music, more diverse movements can be realized.

In addition, the present embodiment further includes an operation information storage unit 105 that stores operation information in which measures and beats are associated with the operation of the robot. The motion calculation unit 103 can execute the determination process based on the motion information. In the present embodiment, the motion information includes the rotation angle of the axis constituting the robot as the motion of the robot, and the motion output unit 104 can output a motion instruction including the rotation angle.
In the present embodiment, the motion calculation unit 103 can calculate the speed of the motion performed by the robot based on the tempo included in the MIDI information, and can determine the timing of the motion based on the calculated speed.

  Note that the posture of the robot corresponding to the bars and beats is not limited to the above. For example, in the case of a mobile robot, the output and moving direction of moving means such as a motor may be mapped. Moreover, you may switch the attitude | position which the robot determined autonomously instead of a map at the timing of a beat.

  The embodiments of the present invention have been described above with reference to specific examples. However, the present invention is not limited to these specific examples. Those in which those skilled in the art appropriately modify the design of these specific examples are also included in the scope of the present invention as long as they have the features of the present invention. Each element included in each of the specific examples described above and their arrangement, conditions, shape, and the like are not limited to those illustrated, and can be changed as appropriate. Each element included in each of the specific examples described above can be appropriately combined as long as no technical contradiction occurs.

10: Operation control device 102: Data acquisition unit 103: Operation calculation unit 104: Operation output unit 105: Operation information storage unit

Claims (6)

An operation control device for controlling the operation of a robot,
A data acquisition unit (102) for acquiring MIDI information of the flowing music;
Based on the tick, time base, and time signature included in the acquired MIDI information, a calculation process for calculating a currently flowing measure and beat is executed, and the currently flowing measure and beat are transmitted to the robot. An operation calculation unit (103) for executing a determination process for determining whether it is a timing for performing a specific operation;
An operation control unit comprising: an operation output unit (104) that outputs an operation instruction based on a determination processing result of the operation calculating unit. The operation control apparatus according to claim 1,
The MIDI information includes operation start information indicating that the robot starts an operation,
The operation controller is configured to execute the determination process after confirming the operation start information. The operation control device according to claim 2,
The MIDI information includes operation end information indicating that the robot ends the operation,
The operation control unit is configured to stop the determination process after confirming the operation end information. The operation control device according to any one of claims 1 to 3,
And a motion information storage unit (105) for storing motion information in which measures and beats are associated with motions of the robot.
The operation calculation unit is an operation control device that executes the determination process based on the operation information. The operation control device according to claim 4,
The movement information includes a rotation angle of a shaft constituting the robot as the movement of the robot,
The operation output unit outputs an operation instruction including the rotation angle. The operation control device according to claim 4,
The motion control device, wherein the motion calculation unit calculates a speed of a motion performed by the robot based on a tempo included in the MIDI information, and determines a motion timing based on the calculated speed.

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