KR20140071588A

KR20140071588A - A method that dance a robot by matching music and motion of robot

Info

Publication number: KR20140071588A
Application number: KR1020120139306A
Authority: KR
Inventors: 장준영; 윤수정
Original assignee: 장준영; 윤수정
Priority date: 2012-12-04
Filing date: 2012-12-04
Publication date: 2014-06-12

Abstract

The present invention relates to a method of dancing a robot by matching a motion of a robot with a motion of a robot. More particularly, the present invention relates to a method of dancing a robot 20 by matching motions of a sound source 10 and a robot 20, (B) separating motions of the robot (20) by a predetermined time to form a database; (c) selecting a sound source (10) (D) confirming that the motion of the sound source 10 in step (c) and the motion of the robot 20 are matched with each other, and (e) And inputting a program in which the motion of the sound source 10 and the motion of the robot 20 are matched to each other.

Description

[0001] The present invention relates to a method of dancing a robot by matching a motion of a robot with a sound source,

The present invention relates to a method for matching a motion of a robot with a sound source and dancing the robot.

In recent years, with the development of technology, attention has been focused on robots, and various kinds of robots are being developed. There have been various developments as advancing to intelligent robots. For example, dog robots, humanoid walking robots and dancing robots are being developed.

However, the conventional dancing robot simply senses external stimuli (e.g., sound, touch, etc.) and dances in a preset dance motion. That is, the dance movement is set in advance and the dance is performed in a preset motion irrespective of the sound source.

For example, a dance music source is stored in a memory, a dance music source is shed according to a built-in sound source, and a robot toy is danced will be. However, such a robot toy has a problem that the user easily feels empirical because it is a simple repetition of movement such as rocking or opening or closing the hands or feet.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems and it is an object of the present invention to provide a method of dancing various robots by matching motions of robots with various sound sources,

In order to achieve the above object, the present invention provides a method for dancing a robot 20 by matching motion of a sound source 10 and a robot 20, the method comprising the steps of: (a) selecting a sound source 10 and separating (B) dividing the motion of the robot (20) by a predetermined time to form a database; (c) combining the motion of the robot (20) with the sound source (10) (D) confirming that the motion of the sound source 10 in step (c) is matched with the motion of the robot 20, and (e) And inputting a program in which the motion of the robot is matched with the motion of the robot.

The present invention having the above-described configuration has the following effects.

First, since the present invention matches a motion of a robot with various sound sources and programs it, the robot dances and the user does not feel the emotion easily.

Second, since the present invention can preview the program matching the sound source with the motion of the robot, it is easy to see whether the robot is dancing wrongly. In other words, it is easy to compensate for the wrong dance movement.

1 is a block diagram showing the contents of the present invention.
2 is a flow chart of the present invention.
3 is a diagram showing a robot dancing in the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description will be made of a method of dancing a robot by matching a sound source with an operation of the robot according to the present invention with reference to the accompanying drawings.

Fig. 1 is a block diagram showing the contents of the present invention, and Fig. 2 is a flowchart of the present invention. 3 is a diagram showing a robot dancing in the present invention.

The present invention is for matching the motion of the sound source 10 with the motion of the robot 20 so that the robot 20 can dance variously. The conventional invention is a method of storing a song of a sound source 10 in a memory and causing the robot 20 to dance by combining a song with a dance sound source 10 according to a built-in sound source 10 There is a problem that the user easily feels an emotion. However, the present invention overcomes such a simplification is not merely for memorizing music but is invented for various robots 20 to dance by memorizing sound source 10 and corresponding motion.

In the step (a), the sound source 10 is selected and separated into a predetermined time period and converted into a database. A sound source 10 is selected for each genre of music, separated by a predetermined time, and then arranged as a database. The time in step (a) may be limited to 1 second to 60 seconds, but it may be arranged in several time periods according to circumstances.

In the step (b), the motion of the robot 20 is separated by a predetermined time and converted into a database. The motion of the robot 20 is variously selected and separated in a certain time, and then the robot 20 is organized as a database. The time in step (b) may be limited to 1 second to 60 seconds, but it may be arranged in several time periods according to circumstances.

(c) is a step of matching the motion of the robot 20 with the sound source 10 which coincides with time. The step (c) is a step of combining the motion of the robot 20 with the sound source 10 which coincides with each other in the database stored in steps (a) and (b). That is, in order for the robot 20 to dance, the motions of the sound source 10 and the robot 20 must be matched for a predetermined period of time. In step (c), the motion of the robot 20 is matched with the sound source 10 desired by the user.

(d) is a step of confirming that the motion of the sound source 10 and the motion of the robot 20 in step (c) are matched. (d) is a step of checking whether the motion of the sound source 10 and the robot 20 desired by the user is well selected. That is, various steps can be used to confirm whether the sound source 10 and the robot 20 are well matched. However, the motion of the sound source 10 and the robot 20 is output as a moving picture and confirmed in advance.

(e) is a step of inputting a program in which the motion of the sound source 10 and the motion of the robot 20 are matched to the robot 20 after the step (d). the user inputs the motion of the desired sound source 10 and the motion of the robot 20 to the robot 20 after the motion matches the motion of the sound source 10 and the motion of the robot 20 . it is possible to input the program matching the sound source 10 and the motion of the robot 20 to the robot 20 by various methods in the step (e), but it is preferable to match the motion of the sound source 10 with the motion of the robot 20 And inputs it to the robot 20 through the communication interface of the computer. Here, the communication interface uses a conventional interface used for communication.

The dancing robot according to the present invention is configured to constitute a humanoid robot platform with a multi-joint robot and to perform an articulated operation by operating means (for example, step motor) for operating each joint of the robot platform. So as to control each operation means. A mechanical limit value of the operation means and an operation limit value in accordance with the humanoid are set so as to operate with the operation limit.

The dance motion generating means includes a conventional signal processing processor (DSP) or a microcomputer and a memory as hardware, and is configured in software for each function. The dance motion generating means according to the present invention performs a dance motion by data coming from the outside of the robot platform. A dance motion library storing a plurality of dance motion control information for each genre of music so as to be able to perform an operation; and a control unit for controlling the corresponding dance motion of the genre in the dance motion library by the parameters analyzed by the music analysis unit The music analyzer analyzes the music analyzed by the music analyzer and compensates the analyzed music according to characteristics such as the beat and sound size of the music and generates dance motion information synchronized with the music and provides the motion controller with the operation control information And a dance motion generating unit for causing the robot to dance according to the music.

The dancing robot according to the present invention is configured as a humanoid type in order to realize a dancing motion of the robot. The dancing robot constructed as described above is constructed of a humanoid type robot such as a wrist, an elbow, a shoulder, a waist, a neck, a leg, a knee, And a robot configured to be able to perform a movement operation by an operation means such as a step motor in a multi-joint configuration according to the configuration of the platform. In addition, the robot controller controls the operation means to create and store a dance operation library for realizing the dance operation. The dancing motion library is configured to reproduce the motion of a person dancing as it is most preferable, and the limit values can be set and controlled in consideration of the configuration of the robot and the control characteristics of the motion means. First, the music is divided into genres, and a plurality of dance movements are stored as a library for each genre.

The above-mentioned dance operation library does not constitute an entire music piece of an arbitrary music as a dance operation library, but constructs and stores a dance motion library for at least one measure of the song, For the dance movements of the measure, save it as another library. That is, the dance motion library for an arbitrary genre is constructed by a plurality of libraries in the A type, the B type, the C type, and so on, and each type of library has a plurality of dance motion information And the library is constructed such that the plurality of dance movements are randomly merged so as to operate as continuous dances following each other, so that the dance movement can be continued.

The music analysis unit analyzes the frequency spectrum and analyzes the music by the digital signal processing to analyze the genre of the music by the beat, the rhythm, etc., and continuously measures the size of the rhythm and the sound And so on. For example, by analyzing the amplitude by frequency spectrum analysis and judging whether music is perceived by repeated bands, music is analyzed. In order to grasp the genre, the analysis sets feature information for each genre, analyzes the music, and extracts feature information for each genre to distinguish the genre. Also, the rhythm of rhythm and size of sound, male, female, etc. can be given as analysis items according to need. When music analysis is performed as described above, the most appropriate dance movement information among the dance movement libraries of the genre corresponding to the dance movement library is found using the analysis information, and the dance movement information is retrieved. The collision-operation creating unit includes a synchronous signal together with compensating the dance motion information continuously according to the feature information of the music analyzed by the music analysis unit, and transmits the information to the robot controller. Accordingly, the robot controller receives the dance operation information and adjusts the synchronization timing according to the music synchronization signal, thereby controlling the operation means so that the robot controller can dance to the music.

3 is a network configuration diagram of a dancing robot showing an embodiment of the present invention. The robot platform comprises a robot platform and a terminal (for example, a PC) to which the robot platform and wired / wireless communication are connected. The robot platform includes a dance motion generating means, a robot controller, an operating means, Wherein the terminal communicates with the communication unit of the robot platform to search the dance operation information in the dance operation library based on the music information, generate dance operation information according to the music analysis information, and transmit the dance operation information to the robot platform And an operation control unit. The control unit is configured to control the communication of the communication unit and to control the dance motion generating means according to the music analysis. The terminal may be a router connected to a PC or a network server, and the present invention will be described as an example of a PC.

A communication unit for communicating with the robot platform; a dance operation library storing a plurality of pieces of dance operation information in advance for each music genre; and a control unit for controlling the operation of the dance operation library based on the music analysis information of the robot platform received via the communication unit A dance motion generating unit for reading the corresponding dance motion information of the genre and generating dance motion information corresponding to the music analysis information; and a control unit for precisely analyzing the music analysis information received along with the communication control of the communication unit, And a music analysis and control unit for controlling the dance motion generating unit by extracting parameters for searching the motion library and parameters for generating the dance motion.

According to the present invention configured as described above, in the robot platform, only the characteristic information of music is briefly analyzed and transmitted to the terminal, and the terminal analyzes it with software. The music analysis and control unit analyzes the music in the terminal. The dance operation library is constructed, the dance operation information of the genre is found according to the music analysis information, and the found dance operation information is stored in the music analysis information And the dance motion generating section generates a dance motion. The dance motion information generated by the dance motion generating unit is transmitted through the communication unit, received by the communication unit of the robot platform, and passed to the dance motion compensation control unit. The dance motion compensation control unit compensates for the size and the application of the received dance motion according to the simple information such as the size and speed of the sound among the information analyzed briefly by the music analysis unit and provides a synchronization signal in synchronization with the music, Lt; / RTI > Thus, the robot controller is controlled by the dance motion.

The communication method is based on wireless communication, but wired communication is possible. However, it can restrict movement and movement according to the dance motion of the robot platform, but wired connection is also possible depending on the model.

Although the preferred embodiment of the method of dancing the robot by matching the operation of the robot and the sound source according to the present invention has been described above, it is explained as at least one embodiment, and the technical idea, The scope of the technical idea of the present invention is not limited to or limited by the description with reference to drawings or drawings. It will also be appreciated by those skilled in the art that the concepts and embodiments of the invention set forth herein may be used as a basis for modifying or designing other structures for carrying out the same purposes of the present invention It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims and their equivalents. And various changes, substitutions, and alterations can be made without departing from the scope of the invention.

10: Sound source 20: Robot

Claims

A method for dancing a robot (20) by matching motions of a sound source (10) and a robot (20)
(a) selecting a sound source 10 and separating it by a predetermined time to form a database;
(b) separating the motions of the robot 20 by a predetermined time interval to form a database;
(c) combining the motion of the robot (20) with the sound source (10) that coincides with time;
(d) confirming that the motion of the sound source 10 in step (c) and the motion of the robot 20 are matched; And
(e) inputting a program matched with the motion of the robot (20) to the robot (20) after the step (d), and matching the motions of the robot with the motions of the robot How to.

The method according to claim 1,
wherein the time in the step (a) is 1 second to 60 seconds, and the robot matches the operation of the robot with the sound source.

The method according to claim 1,
and the time in step (b) is 1 second to 60 seconds, wherein the robot matches the sound source with the operation of the robot.

The method according to claim 1,
and matching the motion of the sound source (10) with the motion of the robot in the step (d) is confirmed through a moving picture, wherein the robot matches the motion of the robot with the sound source.