JP4537982B2 - Motor body control system, motor body and program thereof - Google Patents

Description

  The present invention relates to a moving body control system, a moving body, and a program thereof, and particularly uses MIDI (Musical Instrument Digital Interface) data that is widely used as drive data for driving a moving body such as a doll, thereby controlling the moving body. The present invention relates to a moving body control system, a moving body, and a program thereof.

In recent years, the wave of digitization has spread to the world of music, and musical instruments are played using digital performance data. A representative example of this technology is MIDI (acronym for Musical Instrument Digital Interface). MIDI means an interface for connecting musical instruments and transmitting music information by digital signals.
A standard hardware and software format for transmitting performance status to other musical instruments.

  Further, MIDI data used in MIDI is not musical sound data but musical instrument performance information, unlike an audio signal obtained by converting actual sound into a digital signal. For example, in the case of a keyboard, it encodes actions such as pressing and releasing the keyboard, pressing and releasing the pedal, and changing the tone.

MIDI data consists of channel messages for independent control of multiple parts,
It can be broadly divided into system messages for controlling the entire MIDI system.

Since the channel message controls up to 16 parts, the concept of MIDI channel is used.
Furthermore, the channel message is classified into a voice message such as note information and a mode message for setting the reception state of the voice message.

  Voice messages include note on / off (sound on / off), program change (tone switching), pitch bend, and the like.

  Among the performance information, the most basic operations such as “press the key (note on)” and “release the key (note off)” are performed by a note on message and a note off message.

  The note-on message is composed of two data bytes following the status byte. The status byte usually indicates that the first 9 indicates that this message is a note-on message, and then an arbitrary channel number is entered.

  The first byte of the data bytes composed of 2 bytes is a note number representing a musical scale. This note number is a numerical representation of the scale, with C (do) in the center of the piano being number 60, and increasing and decreasing one by one for each semitone, with the lowest note being 0 and the highest note being 127. Become. The second byte is a velocity indicating the strength of the sound. The velocity of the second data byte is a parameter that represents the value of the speed at which the keyboard is pressed (the speed at which the instrument is played) is regarded as the strength of the sound.

  The note-off message normally indicates that the first 8 of the status byte is a note-off message, and then an arbitrary channel number is entered.

  Thus, MIDI data is obtained by encoding musical note information such as MIDI channel information, tone color information, scale information, tone length information, and tone strength information based on a standard.

  On the other hand, conventionally, a toy composed of a plurality of dolls and performing a predetermined performance is known. These performance dolls are driven by the dolls based on performance information stored in advance in the dolls.

  However, in the conventional performance doll, it is difficult to synchronize the melody to be played and the movement, and the movement is unnatural. This is because data for driving a doll and melody data are created separately.

  In addition, in the conventional performance doll, the music to be played is determined, and the data to be driven and the data of the melody are created in a unique format based on the score of this song, so the cost of creation is high, It was not easy to add new performances.

  On the other hand, the MIDI data is a typical standard as described above, and many songs created by the MIDI data are provided and can be easily created.

  Therefore, the present invention was created in view of the above problems, and its purpose is to synchronize with the melody by using performance data obtained from MIDI data as drive data for driving a performance doll. It is an object of the present invention to provide a moving body control system, a moving body, and a program thereof that perform drive control of the moving body that can perform a natural motion.

According to a first aspect of the present invention for solving the above-mentioned problems, a moving body having a plurality of driving means for driving a driving portion and a melody / drive control unit based on performance data including at least sound length information obtained from MIDI data. Is a control program for controlling the melody / drive control unit to control the drive of the drive means for a drive time that is set to a time shorter than the sound length based on the sound length information of the supplied performance data. The melody / drive control unit is caused to execute processing for generating a drive control signal.

A second invention that solves the above-described problem is characterized in that it is set for each sound length information of performance data to which the driving time is supplied.

According to a third aspect of the present invention for solving the above-described problems, a moving body having a plurality of driving means and a melody / driving control unit for driving a driving portion based on performance data including at least tone intensity information obtained from MIDI data. Is a control program for controlling the melody / drive control unit, and is set for each sound intensity information, and the drive time is determined to be longer in proportion to the sound intensity based on the sound intensity information. And the melody / drive control unit is configured to execute a process of generating a drive control signal for controlling the drive time and the drive of the drive means corresponding to the tone intensity information of the supplied performance data. To do.

A fourth invention for solving the above-described problems has a plurality of drive means and a melody / drive control unit for driving a drive location based on performance data including at least tone length information and tone strength information obtained from MIDI data. A control program for causing the melody / drive control unit to control the driving of a moving body, wherein the driving time is set to a time shorter than the length of the sound according to the sound length information of the supplied performance data. Of these, a process for generating a drive control signal for controlling the driving of the driving means driven by the sound length information and the sound intensity information are set and become longer in proportion to the sound intensity by the sound intensity information. based as the determined driving time, the driving time corresponding to the sound strength information supplied performance data, controls the drive of the drive means driven by said sound strong information of said drive means That the process of generating a drive control signal, said tone length drive control signal generated in response to information of the performance data, and the process for supplying the driving means driven by said tone duration information, the sound of the performance data The melody / drive control unit executes a process of supplying a drive control signal generated corresponding to the strong information to the driving means driven by the strong sound information .

According to a fifth aspect of the present invention for solving the above-mentioned problem, a driving time set to a time shorter than a sound length according to the sound length information of the supplied performance data is set for each sound length information of the performance data supplied. It is characterized by being.

A sixth invention for solving the above-mentioned problems is characterized in that, in the second or fifth invention, the driving time predetermined for each sound length information is 10 ms or more.

A seventh invention for solving the above-mentioned problems is characterized in that, in the third or fourth invention, the driving time predetermined for each sound intensity information is 5 ms or more.

  In the present invention, since the drive control signal for driving the performance doll is generated based on the information obtained from the MIDI data, it is possible to make the movement of the performance doll realistic with the melody.

  In addition, since the present invention is configured such that new performance dolls and performance data can be added, there is an effect that variations in performance and operation increase.

  The present invention is characterized in that the performance of each performance doll is controlled using performance data obtained from the above-described MIDI data. Embodiments of the present invention will be described below.

  A first embodiment of the present invention will be described.

  FIG. 1 is a block diagram of the performance doll system main body A of the present invention.

  In FIG. 1, 1 is a storage unit for storing performance data, 2 is a control unit for supplying performance data to each performance doll, 3 is a performance doll for performing an alto saxophone, 4 is a performance doll for playing an acoustic piano, Reference numeral 5 denotes a performance doll that performs a bass performance.

  The storage unit 1 includes MIDI channel information, tone color information, scale (pitch) information, tone length (sound length) information, and tone strength (sound strength) information obtained from original MIDI data. Performance data is stored. This performance data is note information comprising original MIDI data, MIDI channel information, tone color information, scale (pitch) information, tone length (sound length) information, and tone strength (sound strength) information. And the microcomputer or the like constituting the control unit 2 and the control units of the performance dolls 3 to 5 can perform data processing by changing the format and the like of the extracted data. This is because a CPU or the like that can process data in the MIDI data format itself is not appropriate in terms of cost. However, the converted performance data reflects the information of the MIDI data, and is not substantially different from the note information indicated by the MIDI data.

  If the control unit 2 and the control units of the performance dolls 3 to 5 are capable of processing MIDI data, MIDI channel information, timbre information, tone scale (sound scale of the MIDI data format extracted from the original MIDI data) The height information, the sound length (sound length) information, and the sound strength (sound strength) information may be stored in the storage unit 1 as they are.

  Here, an example of performance data will be described with reference to FIG.

  The performance data shown in FIG. 2 is indicated by the score shown in FIG.

  As described above, the performance data items are MIDI channel information, tone color information, scale (pitch) information, tone length (sound length) information, and tone strength (sound strength) information. In the performance data shown in FIG. 2, the MIDI channel information is “1”, and the timbre information is “Alto Saxophone”.

  Also, the first note of the score shown in FIG. 3 is a “quarter note”, the corresponding scale (pitch) information is “C4”, and the sound length (sound length) information. Is “0.5 seconds”. Regarding the sound length (sound length) information, since the overall speed is 120, the quarter note is set to 60/120 = 0.5 seconds. In addition, sound strength (sound strength) information is not expressed in the score, but MIDI data includes sound strength (sound strength) information. Here, sound strength (sound strength) information is included. Was set to “5”.

  Similarly, the second note of the score shown in FIG. 3 is “eighth note”, and the corresponding scale (pitch) information is “E4”, and the tone length (sound length). The information is “0.25 seconds”. The sound intensity (sound intensity) information is “3”.

  Similarly, the third note of the score shown in FIG. 3 is “eighth note”, the corresponding scale (pitch) information is “G4”, and the tone length (sound length). The information is “0.25 seconds”. The sound intensity (sound intensity) information is “3”.

  Similarly, the fourth note of the score shown in FIG. 3 is a “half note”, the corresponding scale (pitch) information is “C5”, and the tone length (sound length) information. Is “1 second”. The sound intensity (sound intensity) information is “8”.

  Furthermore, FIG. 4 shows an example of performance data of other channels. The performance data shown in FIG. 4 is also indicated by the score shown in FIG.

  As described above, the performance data items are MIDI channel information, tone color information, scale (pitch) information, tone length (sound length) information, and tone strength (sound strength) information. In the performance data shown in FIG. 4, the MIDI channel information is “2”, and the timbre information is “acoustic piano”.

  Also, the first note of the score shown in FIG. 3 is a “quarter note”, the corresponding scale (pitch) information is “C4”, and the sound length (sound length) information. Is “0.5 seconds”. Regarding the sound length (sound length) information, since the overall speed is 120, the quarter note is set to 60/120 = 0.5 seconds. In addition, sound strength (sound strength) information is not expressed in the score, but MIDI data includes sound strength (sound strength) information. Here, sound strength (sound strength) information is included. Was set to “5”.

  Similarly, the second note of the score shown in FIG. 4 is “eighth note”, and the corresponding scale (pitch) information is “E4”, and the tone length (sound length). The information is “0.25 seconds”. The sound intensity (sound intensity) information is “3”.

  Similarly, the third note of the score shown in FIG. 4 is “eighth note”, the corresponding scale (pitch) information is “G4”, and the tone length (sound length). The information is “0.25 seconds”. The sound intensity (sound intensity) information is “3”.

  Similarly, the fourth sound of the score shown in FIG. 4 is a “half note”, the corresponding scale (pitch) information is “C5”, and the sound length (sound length) information. Is “1 second”. The sound intensity (sound intensity) information is “8”.

  The performance data as described above is stored in the storage unit 1.

  The control unit 2 stores a performance doll corresponding to the MIDI channel information, reads performance data from the storage unit 1, and supplies the performance data to the performance doll corresponding to the MIDI channel information of the performance data.

  For example, the performance doll 3 is stored as a performance doll corresponding to the MIDI channel information “1”, and the performance doll 4 is stored as a performance doll corresponding to the MIDI channel information “2”. Then, the performance data is read from the storage unit 1. If the MIDI channel information of the performance data is “1”, the performance data is supplied to the performance doll 3, and if the MIDI channel information is “2”, The performance data is supplied to the performance doll 4.

  Next, performance dolls 3 to 5 will be described.

  Each performance doll includes a plurality of drive units 10 that operate (drive) the performance doll, a speaker 11 that outputs a melody, and a melody / drive control unit 12 that controls the drive unit 10 and the speaker 11.

  The drive unit 11 drives the body and arms of the performance doll. The drive unit 11 has different power for each performance doll. For example, the performance doll 3 performing an alto saxophone has a solenoid 111 that drives both hands and a motor 112 that drives the trunk. The performance doll 4 that plays an acoustic piano includes a solenoid 150 that drives the left hand, a solenoid 151 that drives the right hand, and a solenoid 152 that drives the right foot and head. These drive controls are performed by drive control signals from the melody / drive controller 12.

  Here, the details of the drive unit 10 will be described using the performance doll 3 performing an alto saxophone as an example.

  FIG. 5 is a view for explaining the gear portion 113 in which the motor 112 for driving the trunk of the performance doll 3 is stored.

  The motor 112 rotates for an output time of a drive control signal described later. The rotational force is transmitted to the gear, and the clamp 114 connected to the gear is configured to rotate. A support column 115 is disposed on the clamp 114, and the support column 115 is moved up and down by the rotation of the clamp 114.

  Further, as shown in FIG. 6, the doll torso main body 116 is provided at a cylindrical portion 117 into which the support column 115 is inserted, an arm column portion 118 provided on each side of the cylindrical portion 117, and an upper end of the cylindrical portion 117. Are connected to a rotary support column 119 in which a solenoid 111 is housed and an alto saxophone 120 provided outside the doll torso body 116, and can be rotated in the horizontal direction. A rotating part 121 that can be rotated in a counterclockwise direction when viewed from the coil spring 122, and a coil spring 122 that can urge the rotating part 121 in a direction opposite to the rotating direction of the solenoid 111 by its elasticity.

  The arm column 118 is rotatably attached to the doll body 123, and the doll body 123 tilts in the front-rear direction when the column 115 inserted in the hollow portion 117 of the doll torso body moves up and down.

  On the other hand, the rotating part 121 is provided with a magnet, and rotates against the elasticity of the coil spring 122 in the counterclockwise direction as viewed from the coil spring 122 by the attractive force generated in the solenoid 111 by supplying the drive control signal. Is configured to do. Further, as shown in FIG. 7, the rotating part 121 is fixed in front of the alto saxophone 120 and the doll body 123, and the alto saxophone 120 is configured to swing left and right by the rotation of the rotating part 121. Yes.

  Further, the alto saxophone 120 is fixed to the left and right arm portions 124 of the doll, and a shaft 126 that is provided at the lower portion of the left and right arm portions 124 and extends vertically downward is connected to the arm receiving portion 125 of the doll main body 123. The left and right arm portions 124 are pivotably attached, and are rotatable in the horizontal direction about the shaft 126. The left and right arm portions 124 swing left and right as shown in FIG. 7 in conjunction with the left and right swing of the alto saxophone 120.

  The melody / drive control unit 12 generates a drive control signal and a melody signal for driving the drive unit 10 and the speaker 11 based on the performance data supplied from the control unit 2.

  Here, generation of a drive control signal for controlling the drive unit 10 will be described.

  The melody / drive control unit 12 is supplied with performance data from the control unit 2. As described above, this performance data includes MIDI channel information, tone color information, scale (sound pitch) information, tone length (sound length) information, and tone strength (sound strength) information. Generation of the drive control signal based on each piece of performance data is determined in advance for each performance doll.

  For example, for a performance doll 3 performing an alto saxophone, the MIDI channel information is used to recognize that the subsequent information is information for the performance doll. Further, the timbre information and the scale (pitch) information are used to specify the driving location. The sound length (sound length) information and sound intensity (sound intensity) information are used to determine the output time of the drive control signal.

  FIG. 8 shows an example of generation of drive control signals for the performance doll 3 performing the alto saxophone. The drive control signal shown in FIG. 8 is generated based on the performance data shown in FIG. 3 described above.

  The performance doll 3 is driven at two locations: a hand (solenoid 111) and a torso (motor 112). Therefore, two driving locations of the hand (solenoid 111) and the trunk (motor 112) are specified based on the timbre information. Note that the performance doll 3 does not use musical scale (pitch) information.

  Next, the driving time (output time of the drive control signal) of each driving location is used. For the driving location of the hand (solenoid 111), sound intensity (sound intensity) information is used. Since the sound intensity is 8 steps, the sound intensity “1” and “2” indicate the output time of the drive control signal “5 mS”, and the sound intensity “3” and “4” indicate the drive control signal. The output time is “10 mS”, the sound intensity “5” and “6” is the drive control signal output time “20 mS”, and the sound intensity “7” and “8” is the drive control signal output time “ 30 mS "is set in advance.

  In the first sound, the sound intensity (sound intensity) information is “5”, so the output time of the drive control signal to the drive location of the hand (solenoid 111) is “20 mS”. In the second sound, since the sound intensity (sound intensity) information is “3”, the output time of the drive control signal to the drive location of the hand (solenoid 111) is “10 mS”. In the third sound, since the sound intensity (sound intensity) information is “3”, the output time of the drive control signal to the drive location of the hand (solenoid 111) is “10 mS”. In the fourth sound, since the sound intensity (sound intensity) information is “8”, the output time of the drive control signal to the drive location of the hand (solenoid 111) is “30 mS”.

  Subsequently, sound length (sound length) information is used for the driving portion of the body (motor 112). The output time of the drive control signal to the drive location of the body (motor 112) is determined in advance so as to be set to be the same as the time of the sound length (sound length) information. In the first sound, since the sound length (sound length) information is “0.5 seconds”, the output time of the drive control signal to the drive portion of the body (motor 112) is “0.5 seconds”. . In the second sound, since the sound length (sound length) information is “0.25 seconds”, the output time of the drive control signal to the drive part of the body (motor 112) is “0.25 seconds”. It becomes. In the third sound, since the sound length (sound length) information is “0.25 seconds”, the output time of the drive control signal to the drive part of the body (motor) is “0.25 seconds”. Become. In the fourth sound, since the sound length (sound length) information is “1.0 second”, the output time of the drive control signal to the drive part of the body (motor 112) is “1.0 second”. It becomes.

  As described above, since the drive control signal of the performance doll 3 performing the alto saxophone is generated based on the information obtained from the MIDI data, the drive location of the hand (solenoid 111) and the trunk (motor 112) are generated. ), The movement of the performance doll 3 by driving the driving location matches the melody of the MIDI data.

  For example, if the performance doll 3 is configured as shown in FIGS. 5 and 6, the operation of the performance doll 3 caused by driving of the hand (solenoid 111), that is, the excitation of the solenoid 111 is not excited. In the state, the alto sax on the left side when viewed from the front of the doll main body 123 (the state in which the rotating portion 121 is not rotated) is moved to the right when viewed from the front of the doll main body 123 for the output time of the drive control signal ( The rotation of the rotating portion 121 is counterclockwise against the elasticity of the coil spring 122 due to the adsorption of the solenoid 111, and is caused by the driving of the driving part of the body (motor), that is, the driving of the motor 112. The movement of the performance doll 3 tilts the doll main body 123 back and forth in a cycle of 1 reciprocation for 2 seconds (one up and down cycle of the support column 115). The thing to work. The tilting operation is performed with a constant amplitude and is performed for one reciprocation for 2 seconds.

  Now, it is assumed that the doll body 123 is tilted most backward in the forward / backward tilting operation.

  At this time, the driving part of the hand (solenoid) is driven for 20 ms in accordance with the generation of the first sound, so that the rotating part 121 is attracted to the solenoid 111 and rotates counterclockwise. The alto saxophone 120 moves to the right when viewed from the front of the doll main body 123 for the first 20 ms of 0.5 seconds in length, and after 20 ms elapses, returns to the left side when viewed from the front of the doll main body 123 again. . In addition, the hand (solenoid) drive point is driven for 10 ms in coincidence with the generation of the second sound, so that only the first 10 ms of the sound length of 0.25 seconds as in the case of the first sound. The alto saxophone 120 is moved to the right when viewed from the front of the doll main body 123, and after 10 ms has passed, returns to the left when viewed from the front of the doll main body 123 again. In addition, when the hand (solenoid) is driven for 10 ms in coincidence with the generation of the third sound, the first 10 ms of the sound length of 0.5 seconds is applied as in the case of the first sound. Only the alto saxophone 120 is moved to the right side when viewed from the front of the doll main body 123, and after 10 ms, returns to the left side when viewed from the front of the doll main body 123 again. In addition, when the hand (solenoid) is driven for 30 ms in coincidence with the generation of the fourth sound, the first 30 ms of the sound length of 0.5 seconds is the same as in the case of the first sound. The alto saxophone 120 is moved to the right side as viewed from the front of the doll main body 123 for a period of time, and after 30 ms, returns to the left side when viewed from the front of the doll main body 123.

  As a result, the generation of sound coincides with the movement of the alto saxophone 120 from the left side to the right side and back to the left side, and the hand (solenoid) is driven according to the sound intensity (sound intensity) information. Since the output time of the control signal is determined, the time during which the alto saxophone 120 is moved to the right side also changes according to the sound intensity. Therefore, the generation of sound and the strength of the sound coincide with the movement of the arm portion 124 and the alto saxophone 120 of the doll main body 123.

  At the same time, the driving part of the body (motor) starts to drive in coincidence with the generation of the first sound, and the drive control signal output time 0.5 seconds (this matches the sound length (sound length) information) The doll body 123 tilts forward. Also, the body (motor) drive part begins to drive in accordance with the second sound generation, and the drive control signal output time 0.25 seconds (this matches the sound length (sound length) information) The doll body 123 tilts forward. Also, the body (motor) drive part begins to drive in accordance with the third sound generation, and the drive control signal output time 0.25 seconds (this matches the sound length (sound length) information) The doll body 123 tilts forward. Also, the driving position of the body (motor) starts to drive in coincidence with the generation of the fourth sound, and at this time, the doll body 123 is most tilted forward, so the output time of the drive control signal is 1.0 second. Tilt backwards (which is consistent with the sound length (sound length) information). As a result, the length of the sound coincides with the movement of the doll body 123 tilting, and the movement of the actual alto saxophone player shaking the body according to the length of the sound can be expressed.

  In the above example, since the sound length is equal to the output time of the drive control signal, the tilting operations corresponding to the first to fourth sounds are connected to form a series of uninterrupted movements. The tilting operation may be stopped immediately before the end of each sound by adjusting the output time of the drive control signal with respect to the sound length (for example, output time = sound length−10 ms). As a result, the change of the sound and the stop of the tilting operation coincide with each other, and the operation of the performance doll 3 becomes more consistent with the melody, which is realistic.

  Further, one cycle of tilting motion may be assigned to one note. For example, the driving part of the body (motor) starts to drive in accordance with the generation of the first sound, and the output time of the drive control signal is 0.5 seconds (this corresponds to the sound length (sound length) information) The upper part of the performance doll 3 is tilted most forward with respect to the lower part in 0.25 seconds, that is, 0.25 seconds thereafter, and the original most tilted state in the subsequent 0.25 seconds. You may control as follows. By doing so, it becomes clear that the operation of the performance doll corresponds to each note, and it becomes realistic.

  Next, generation of a drive control signal for the performance doll 4 playing an acoustic piano will be described. FIG. 9 shows an example of generation of a drive control signal for the performance doll 4 playing an acoustic piano. The drive control signal shown in FIG. 9 is generated based on the performance data shown in FIG. 4 described above.

  The performance doll 4 is driven at three locations: a left hand (solenoid), a right hand (solenoid), a right foot and a head (solenoid). Therefore, the right foot and the head (solenoid) are specified as the driving points based on the timbre information. Subsequently, it is determined which one of the left hand (solenoid) and the right hand (solenoid) is to be used as the driving location based on the scale (pitch) information. In the present embodiment, when the scale (pitch) information is “C5” or higher (sound higher than C5), the right hand (solenoid) is used as the driving position, and when the sound is lower than “C5”, the left hand (solenoid) is used. Is determined in advance so as to be a driving location.

  According to these, since the scale (pitch) information is “C4” in the first sound, the left hand (solenoid) is used as the driving location. In the second sound, the scale (pitch) information is “E4”, so the left hand (solenoid) is used as the drive location. In the third sound, the scale (pitch) information is “G4”, so the left hand (solenoid) is used as the drive location. In the fourth sound, since the scale (pitch) information is “C5”, the right hand (solenoid) is used as the driving location.

  Next, the drive time (output time of the drive control signal) of each drive location is used. For the drive location of the left hand (solenoid) or the right hand (solenoid), sound intensity (sound intensity) information is used. Since the sound intensity is 8 levels, the sound intensity “1” and “2” indicate the output time of the drive control signal “10 mS”, and the sound intensity “3” and “4” indicate the drive control signal. The output time is “15 mS”, the sound intensity “5” and “6” is the drive control signal output time “25 mS”, the sound intensity “7” and “8” is the drive control signal output time “ 35 mS "is set in advance.

  Since the sound intensity (sound intensity) information of the first sound is “5”, the output time of the drive control signal to the drive position of the left hand (solenoid) is “25 mS”. In the second sound, since the sound intensity (sound intensity) information is “3”, the output time of the drive control signal to the drive position of the left hand (solenoid) is “15 mS”. In the third sound, since the sound intensity (sound intensity) information is “3”, the output time of the drive control signal to the drive position of the left hand (solenoid) is “15 mS”. In the fourth sound, since the sound intensity (sound intensity) information is “8”, the output time of the drive control signal to the drive position of the right hand (solenoid) is “35 mS”.

  Subsequently, the driving positions of the right foot and the head (solenoid) are set in advance so that the driving time is a constant “20 mS” regardless of the information. In other words, the output time of the drive control signal at the drive point of the right foot and the head (solenoid) is “20 mS” per note and is driven simultaneously with the generation of the sound. As a result, the generation of sound coincides with the driving of the right foot and head.

  As described above, since the drive control signal of the performance doll 4 that plays the acoustic piano is generated based on the information obtained from the MIDI data, the drive positions of the left hand (solenoid) and the right hand (solenoid) are The movement of the performance doll 4 driven by the driving part of the trunk (motor) coincides with the melody of the MIDI data.

  Specifically, for example, the operation by the drive control of the left hand (solenoid) or right hand (solenoid) driving position of the performance doll 4 is performed when the left hand or the right hand of the performance doll 4 is an acoustic piano when the solenoid is not excited. In this state, the keyboard of the acoustic piano is pressed (note-on) for the output time of the drive control signal by excitation of the solenoid.

  In addition, regarding the driving of the right foot and head (solenoid) of the performance doll 4, that is, the movement of the right foot and head due to excitation of the solenoid, the control signal drive time is constant “20 mS regardless of the information as described above. ". Therefore, the right foot is moved up and down by one reciprocation at “20 mS”, and the head is tilted forward by one reciprocation at “20 mS”.

  Now, it is assumed that the left hand and the right hand of the performance doll 4 are separated from the acoustic piano keyboard (note-off), the right foot is grounded, and the head is facing the front.

  At this time, the left hand (solenoid) is driven for 25 ms in coincidence with the generation of the first sound, so that the left hand of the performance doll 4 is moved for the first 25 ms of the sound length of 0.5 seconds. The keyboard is pressed (note-on), and after 25 ms, it returns to the steady state, that is, the performance doll 4 left hand is separated from the keyboard (note-off). Also, the left hand (solenoid) drive point is driven for 15 ms in coincidence with the second sound generation, so that the left hand of the performance doll 4 plays the keyboard for the first 15 ms of the sound length of 0.25 seconds. It is in the pressed (note-on) state, and after 15 ms, it returns to the steady state, that is, the state where the left hand of the performance doll 4 is away from the keyboard (note-off). Also, the left hand (solenoid) is driven for 15 ms in coincidence with the generation of the third sound, so that the left hand of the performance doll 4 is moved for the first 15 ms of the sound length of 0.25 seconds. The keyboard is pressed (note-on), and after 15 ms, it returns to the steady state, that is, the left hand of the performance doll 4 is separated from the keyboard (note-off). In addition, the right hand (solenoid) is driven for 35 ms in coincidence with the generation of the fourth sound, so that the right hand of the playing doll 4 plays the keyboard only for the first 35 ms of the sound length of 1 second. The state is pressed (note-on), and after 35 ms has elapsed, the state returns to the steady state, that is, the right hand of the performance doll 4 is separated from the keyboard (note-off).

  As a result, the sound generation coincides with the key press-and-release operation (note-on / off operation), and represents the keyboard-release operation (note-on / off operation) of an actual acoustic piano player. Can do. Furthermore, because the left hand and right hand are distinguished from each other depending on the height of the scale, the actual acoustic piano player distinguishes the left hand from the right hand according to the scale and performs the keyboard pressing action (note-on / off action). You can produce a state of being.

  At the same time, the right foot and head (solenoid) drive location starts to drive in coincidence with the first sound generation, and the right foot and head (solenoid) drive location drives for 20 ms in coincidence with the first sound generation. As a result, the right foot is changed from the grounded state to the grounded state and again in the grounded state for the first 20 ms of the sound length of 0.5 seconds, and the head is tilted forward with respect to the lower body part and is again in the original upright state It becomes a state. Also, the right foot and head (solenoid) are driven for 20 ms in coincidence with the occurrence of the second sound, so that the right foot is released from the ground during the first 20 ms of the sound length of 0.25 seconds. The ground state and the grounding state are established again, and the head tilts forward with respect to the lower body part to return to the original upright state again. The right foot and the head (solenoid) are driven for 20 ms in coincidence with the generation of the third sound, so that the right foot is released from the grounded state for the first 20 ms of the sound length of 0.25 seconds. The ground state and the grounding state are established again, and the head tilts forward with respect to the lower body part to return to the original upright state again. In addition, the right foot and head (solenoid) are driven for 20 ms in coincidence with the generation of the fourth sound, so that the right foot is in the ground-off state during the first 20 ms of the sound length of 1 second. Then, the grounding state is established again, and the head is tilted forward with respect to the lower body part and again becomes the original upright state.

  In addition, due to this, the generation of sound and the right foot and head drive of the acoustic piano player doll 4 coincide with each other, and when an actual acoustic piano player presses the keyboard, the foot is stepped and the head is shaken. Can do.

  In the above description, an example of generation of drive control signals for the alto saxophone performance doll 3 and the acoustic piano player doll 4 has been described, but the performance doll 5 performing the bass performance is also driven in the same manner. A control signal is generated.

  On the other hand, the melody / drive control unit 12 creates a melody control signal based on the scale (sound pitch) information, tone length (sound length) information, and tone strength (sound strength) information of the performance data. And output to the speaker 11. Since the creation of the melody is a well-known technique, the details are omitted.

  Next, the operation in the above configuration will be described.

  FIG. 10 is an operation flowchart of the present embodiment.

  When the start of performance is instructed (Step 100), the control unit 2 reads performance data from the recording unit 1 (Step 101). The supply destination (performance doll) of each performance data is determined from the MIDI channel information of the read performance data (Step 102), and the performance data is supplied to the corresponding performance doll (Step 103).

  On each performance doll side, the melody / drive control unit 12 determines the drive location of the performance doll from the tone color information and the scale (pitch) information of the performance data (Step 104). Further, the output time of the drive control signal is determined from the sound length (sound length) information and sound intensity (sound intensity) information of the performance data (Step 105). Then, the determined output time and drive control signal are output to the corresponding drive location (Step 106).

  On the other hand, a melody signal is generated from the scale (sound pitch) information of the performance data, the sound length (sound length) information and the sound strength (sound strength) information of the performance data, and output to the speaker 11 ( Step 107).

  Then, the above steps are repeated to perform a performance operation (Step 108).

  As described above, in the present invention, since the drive control signal for driving the performance doll is generated based on the information obtained from the MIDI data, it is possible to make the movement of the performance doll realistic with the melody. it can.

  Note that the control unit 2 and the melody / drive control unit 12 may be configured by a CPU, an IC chip, or the like and operated by a program.

  A second embodiment will be described.

  FIG. 11 is a block diagram of the second embodiment.

  In the second embodiment, in addition to the configuration of the first embodiment, a connection portion 21 for connecting another performance doll 20 to the system main body A is provided, and other performance dolls are played together with the performance doll of the system main body A. It is characterized by being able to do.

  Hereinafter, a configuration different from that of the first embodiment will be described.

  First, performance data for the performance doll 20 newly connected (added) other than the performance dolls 3 to 5 is added and stored in the storage unit 1. This performance data is the same as the performance data described above, but a new channel is added to the MIDI channel information in order to identify the newly added performance doll 20. For example, if the MIDI channel information for identifying the performance dolls 3 to 5 is “1 to 3”, the MIDI channel information for identifying the newly added performance doll 20 is “4”.

  The control unit 2 is configured to supply the performance data to the performance doll 20 if the MIDI channel information of the performance data is that of the performance doll 20.

  The configuration of the performance doll 20 is the same as that of the performance dolls 3 to 5 described above, except that the connection portion 22 for connecting to the connection portion 21 is provided.

  As described above, if the configuration is such that a new performance doll can be added, variations in performance and operation increase.

  A third embodiment will be described.

  FIG. 12 is a block diagram of the third embodiment.

  In the third embodiment, in addition to the configuration of the first embodiment, in order to add new performance data, a storage medium 30 in which performance data different from the performance data stored in the storage unit 1 is stored. The connection part 31 for connecting is provided.

  The storage medium 30 may be of any type as long as performance data can be stored, such as a non-volatile flash memory or a ROM cartridge.

  In the control unit 2, when the recording medium 30 is connected to the connection unit 31, performance data is read from the recording medium 30 instead of the recording unit 1. The processing after reading is the same as in the above-described embodiment.

  With such a configuration, new performance data can be added, and performance variations increase.

  A fourth embodiment will be described.

  FIG. 13 is a block diagram of the fourth embodiment.

  In the fourth embodiment, in addition to the configuration of the first embodiment, performance data generation unit 40 that extracts performance data necessary for driving a performance doll from original MIDI data and generates performance data. Is provided.

  Currently, various music based on MIDI data is provided and can be easily obtained. It is more effective if the performance doll is operated using the provided MIDI data.

  However, the original MIDI data includes various information as described in the prior art, and information necessary for driving the performance doll is MIDI channel information and note information.

  Therefore, a performance data generation unit 40 for extracting only necessary information from the original MIDI data and generating performance data is provided.

  In the present embodiment, the performance data generation unit 40 extracts MIDI channel information, tone color information, scale information, tone length information, and tone strength information from original MIDI data. And the microcomputer etc. which comprise the control part 2 and the control part of each performance doll 3-5 are comprised so that the extracted information may be converted so that data processing can be performed. The generated performance data is stored and used in the recording medium 30 of the third embodiment described above.

  This is the end of the description of the embodiment of the present invention.

  Note that the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment described above may be used in combination in a timely manner.

FIG. 1 is a block diagram of the performance doll system main body A of the present invention. FIG. 2 is a diagram showing an example of performance data. FIG. 3 is a diagram showing the score that is the basis of the performance data. FIG. 4 is a diagram showing an example of performance data. FIG. 5 is a diagram for explaining the configuration of the drive unit 10. FIG. 6 is a diagram for explaining the configuration of the drive unit 10. FIG. 7 is a diagram for explaining the configuration of the driving unit 10. FIG. 8 is a diagram showing an example of generation of drive control signals for the performance doll 3. FIG. 9 is a diagram showing an example of generation of drive control signals for the performance doll 4. FIG. 10 is an operation flowchart of the first embodiment. FIG. 11 is a block diagram of the second embodiment. FIG. 12 is a block diagram of the third embodiment. FIG. 13 is a block diagram of the fourth embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Memory | storage part 2 Control part 3, 4, 5 Performance doll 10 Drive part 11 Speaker 12 Melody and drive control part

Claims (7)

Based on the performance data including at least tone length information obtained from the MIDI data, the driver of the moving body having a plurality of drive means and the melody and drive control unit for driving the driving portion in order to control the melody drive controller a control program,
Causing the melody / drive control unit to execute a process of generating a drive control signal for controlling the drive of the drive means for a drive time that is set to a time shorter than the length of the sound according to the sound length information of the supplied performance data A control program for a moving body.   The said drive time is set for every sound length information of the performance data supplied, The control program of the moving body of Claim 1 characterized by the above-mentioned. In order to cause the melody / drive control unit to control driving of a moving body having a plurality of drive means for driving a drive location and a melody / drive control unit based on performance data including at least tone intensity information obtained from MIDI data a control program,
The driving corresponding to the tone strength information of the supplied performance data is set for each tone strength information and based on a driving time that is set to be longer in proportion to the strength of the sound based on the tone strength information. A control program for a moving body that causes the melody / drive control unit to execute a process of generating a drive control signal for controlling the drive of the drive means for a time. Based on performance data including at least the tone length information and tone strength information obtained from the MIDI data, the melody / drive control unit drives the moving body having a plurality of drive means for driving the drive location and the melody / drive control unit. a control program for causing the control to,
A drive control signal for controlling the drive of the drive means driven by the sound length information among the drive means is generated for a drive time that is set to a time shorter than the sound length by the sound length information of the supplied performance data. Processing,
The driving corresponding to the tone strength information of the supplied performance data is set for each tone strength information and based on a driving time that is set to be longer in proportion to the strength of the sound based on the tone strength information. Time, a process of generating a drive control signal for controlling driving of the driving means driven by the sound intensity information among the driving means ;
A process of supplying a drive control signal generated corresponding to the sound length information of the performance data to a driving means driven by the sound length information ;
The melody / drive control unit executes a process of supplying a drive control signal generated corresponding to the sound intensity information of the performance data to a drive means driven by the sound intensity information. Body control program. 5. The driving time set to a time shorter than the length of sound according to the sound length information of the supplied performance data is set for each sound length information of the supplied performance data. The control program of the described moving body. Predetermined operating time, the moving body control program according to claim 2 or claim 5, characterized in that at least 10ms for each of the tone length information.   5. The moving body control program according to claim 3, wherein a predetermined driving time for each sound intensity information is 5 ms or more.

Images