WO2021233426A1 - 乐器模拟系统 - Google Patents

乐器模拟系统 Download PDF

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Publication number
WO2021233426A1
WO2021233426A1 PCT/CN2021/095186 CN2021095186W WO2021233426A1 WO 2021233426 A1 WO2021233426 A1 WO 2021233426A1 CN 2021095186 W CN2021095186 W CN 2021095186W WO 2021233426 A1 WO2021233426 A1 WO 2021233426A1
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WO
WIPO (PCT)
Prior art keywords
subsystem
drumstick
sensor
pedaling
simulated
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PCT/CN2021/095186
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English (en)
French (fr)
Inventor
洪文博
牛亚锋
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北京戴乐科技有限公司
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Publication of WO2021233426A1 publication Critical patent/WO2021233426A1/zh

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    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10D—STRINGED MUSICAL INSTRUMENTS; WIND MUSICAL INSTRUMENTS; ACCORDIONS OR CONCERTINAS; PERCUSSION MUSICAL INSTRUMENTS; AEOLIAN HARPS; SINGING-FLAME MUSICAL INSTRUMENTS; MUSICAL INSTRUMENTS NOT OTHERWISE PROVIDED FOR
    • G10D13/00—Percussion musical instruments; Details or accessories therefor
    • G10D13/01—General design of percussion musical instruments
    • G10D13/02—Drums; Tambourines with drumheads
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
    • G10H7/00—Instruments in which the tones are synthesised from a data store, e.g. computer organs
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
    • G10H2230/00—General physical, ergonomic or hardware implementation of electrophonic musical tools or instruments, e.g. shape or architecture
    • G10H2230/025—Computing or signal processing architecture features
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
    • G10H2230/00—General physical, ergonomic or hardware implementation of electrophonic musical tools or instruments, e.g. shape or architecture
    • G10H2230/045—Special instrument [spint], i.e. mimicking the ergonomy, shape, sound or other characteristic of a specific acoustic musical instrument category
    • G10H2230/251—Spint percussion, i.e. mimicking percussion instruments; Electrophonic musical instruments with percussion instrument features; Electrophonic aspects of acoustic percussion instruments, MIDI-like control therefor
    • G10H2230/275—Spint drum

Definitions

  • This application relates to the technical field of musical instrument simulation, for example, to a musical instrument simulation system.
  • Drum kit is a very important percussion instrument in band performance. It usually consists of a bass drum (also known as "kick drum"), a snare drum, and two or more tom drums ( It consists of Tom-Tom Drum, one or two Crash Cymbals, a Ride Cymbal, and a Hi-Hat with a pedal, as shown in Figure 1.
  • Drum sets are expensive and bulky and inconvenient to place and carry, which brings great troubles to drum lovers and performers.
  • piano performance also has the above-mentioned problems.
  • the existing musical instrument simulation system has many problems, and the user experience is poor.
  • the embodiment of the present application provides a musical instrument simulation system, which can realize drum performance through somatosensory technology.
  • the embodiment of the present application provides a musical instrument simulation system, including: at least one drumstick subsystem and at least one analog sound production subsystem;
  • a first sensor is provided on the at least one drumstick subsystem, the first sensor is configured to collect posture data of the at least one drumstick subsystem, and the first sensor includes a gyroscope sensor, an acceleration sensor and a geomagnetic sensor;
  • the at least one simulated sounding subsystem is configured to determine the target sounding device tapped by the user according to the posture data to generate simulated sounding information of the target sounding device, and send the simulated sounding information to the speaker device.
  • the gyroscope sensor, acceleration sensor and geomagnetic sensor are provided on the drumstick subsystem, compared with the common six-axis sensor, the user's operation can be calculated more accurately. Because the heading angle of the traditional six-axis sensor is obtained by integrating the data of the gyroscope, and in the integration process, it is bound to produce cumulative errors. To reduce the error, continuous angle correction is required, and multiple corrections will seriously affect user experience.
  • the geomagnetic sensor added in the above embodiment can obtain geomagnetic field information, so that the drumstick subsystem can determine the true heading angle of the drumstick based on the geomagnetic field information, thereby accurately determining the target sound device hit by the user, and avoiding misjudgment.
  • the vocal information of the wrong drum is generated, and there is no need to continuously correct to obtain an accurate heading angle, which improves the user experience.
  • An embodiment of the present application provides a musical instrument simulation system, including the aforementioned musical instrument simulation system, and at least one of a speaker device and a display device;
  • the loudspeaker device is configured to perform sound playback according to the simulated sounding information sent by the simulated sounding subsystem;
  • the display device is set to display the status of the drumsticks.
  • Figure 1 is a schematic diagram of a drum kit provided by an embodiment of the application.
  • FIG. 2 is a schematic structural diagram of a musical instrument simulation system provided by an embodiment of the application.
  • FIG. 3 is a schematic diagram of pitch angle and yaw angle provided by an embodiment of the application.
  • FIG. 4 is a schematic structural diagram of an analog sound production subsystem provided by an embodiment of the application.
  • Fig. 5 is a schematic structural diagram of another musical instrument simulation system provided by an embodiment of the application.
  • an embodiment of the present application provides a musical instrument simulation system, so that users can simulate musical instrument performance with simple equipment.
  • FIG. 2 is a schematic structural diagram of a musical instrument simulation system provided by an embodiment of the application.
  • the musical instrument simulation system may include: at least one drumstick subsystem 201 and at least one analog sound production subsystem 202.
  • a sensor is provided on the drumstick subsystem 201, which is configured to collect posture data of the drumstick subsystem.
  • the set of sensors include a gyroscope sensor, an acceleration sensor and a geomagnetic sensor.
  • the simulated sounding subsystem 202 determines the target sounding device hit by the user according to the posture data of each drumstick subsystem 201, generates simulated sounding information of the corresponding target sounding device, and sends the simulated sounding information to the speaker device.
  • the sounding device is the device that the user needs to tap when playing. Different sounding devices emit different sounds, that is, the corresponding simulated sounding information is different.
  • the above-mentioned sound-producing equipment may include kick drums, snare drums, tom drums, cymbals, etc.; in a simulated playing scene of a piano, the above-mentioned sound-producing equipment may include multiple keys (white keys and black keys). At least one of the keys).
  • the target sounding device is the sounding device currently tapped by the user determined according to the posture data.
  • Common six-axis sensors only include gyroscope sensors and acceleration sensors, but this application uses nine-axis sensors, that is, on the basis of six-axis sensors, a geomagnetic sensor is added, and a geomagnetic sensor is added, which can make the simulation system more accurate. Determine the user's actions.
  • the heading angle of the traditional six-axis sensor is obtained by integrating the data of the gyroscope. During the integration process, cumulative errors are bound to occur. To reduce the errors, continuous angle correction is required, and multiple corrections will seriously affect the user Experience.
  • the geomagnetic sensor added in the above embodiment can obtain geomagnetic field information, so that the drumstick subsystem 201 can determine the true heading angle of the drumstick based on the geomagnetic field information, thereby accurately determining the drum that the user strikes, and avoiding misjudgment. Wrong drum vocal information, and avoid cumulative errors, without continuous correction to achieve accurate heading angle, and improve user experience.
  • the rotation detected by the gyroscope sensor can be used to calculate the The geomagnetic sensor is calibrated to ensure the accuracy of the data.
  • algorithms can be used to shield magnetic field interference to ensure the accuracy of the data.
  • the device shape of the above-mentioned at least one drumstick subsystem 201 may be in the shape of a drumstick, that is, the user holds the drumstick for percussive action, so that when the user uses the simulation system provided by the embodiment of the present application, it is consistent with the actual performance. The feeling is closer.
  • the drumsticks did not actually hit the drum head or cymbal
  • the user's posture data collected by the sensor can determine which drum or cymbal the user has hit, and then simulate the drum or cymbal hit by the user. Sound, so as to realize the simulation performance of drums such as drums or African drums.
  • the device of the drumstick subsystem 201 can also be a device that is put on or clamped on the user's finger. For example, when a piano is played in a simulation, it can easily detect the posture data of the user's finger, so as to determine the button that the user hits. .
  • the above-mentioned at least one drumstick subsystem 201 may include a first drumstick subsystem and a second drumstick subsystem.
  • the above-mentioned at least one analog sound generation subsystem 202 may only include one analog sound generation subsystem, the first drumstick subsystem and the second drumstick subsystem are respectively connected to the analog sound generation subsystem, and the analog sound generation subsystem may be set in the first
  • the drumstick subsystem can also be arranged on the second drumstick subsystem, or on the terminal device.
  • the at least one analog sound generation subsystem 202 may also include a first analog sound generation subsystem and a second analog sound generation subsystem, and the first drumstick subsystem is connected to the first analog sound generation subsystem, and the second drumstick subsystem is connected to the second analog sound generation subsystem. Simulate the connection of the sounding subsystem.
  • the first drumstick subsystem and the first simulated sounding subsystem may be arranged in the first drumstick, and the second drumstick subsystem and the second simulated sounding subsystem may be arranged in the second drumstick.
  • the aforementioned musical instrument simulation system may also include at least one pedaling subsystem, so that the user can perform performances with his feet. Or the hit of a hi-hat.
  • the aforementioned at least one pedal subsystem is also provided with a sensor, and the sensor is configured to collect motion data of the pedal subsystem; the sensor provided on the pedal subsystem may be the same as or different from the sensor provided on the drumstick subsystem, For example, in drum performance, the user can use drumsticks to beat multiple drums, and the heading angle of the drumsticks needs to be considered.
  • the position of the drum or cymbal beaten with the foot is relatively fixed, and the sensor can only detect whether the user is present The action of pedaling without having to consider the issue of heading angle.
  • the analog sounding subsystem determines the target sounding device that the user pedals on according to the posture data sent by the pedaling subsystem, generates simulated sounding information corresponding to the target sounding device, and sends the simulated sounding information to the speaker device.
  • the above-mentioned at least one pedaling subsystem may also include a first pedaling subsystem and a second pedaling subsystem.
  • a first pedaling subsystem For example, in the performance of a drum kit, the user can hit the kick drum with one foot and pass If the other foot hits the hi-hat, two pedal subsystems can also be set up in the simulation system for drum and cymbal performance, which is closer to the user's real playing scene.
  • the analog sound production subsystem 202 determines whether the user passes after receiving the motion data sent by the first pedaling subsystem The first pedaling subsystem performs a pedaling action, and if it is determined that the pedaling action is performed by the first pedaling subsystem, the simulated sounding information of the kick drum is generated. After receiving the motion data sent by the second pedaling subsystem, the analog sound production subsystem determines whether the user is pedaling through the second pedaling subsystem. If it is determined that the pedaling motion is performed through the second pedaling subsystem, the cymbal is generated Simulate vocal information.
  • the hi-hat includes two upper and lower cymbals.
  • the upper and lower cymbals are closed.
  • the upper and lower cymbals are opened.
  • the sound of closing the cymbal will sound, and if the hi-hat is opened by striking the hi-hat with drumsticks, the sound of opening the cymbal will sound. Therefore, the analog vocalization subsystem 202 can determine that the user’s foot is lifted up and the drumstick hits the hi-hat based on the movement data sent by the second pedaling subsystem and the posture data sent by the drumstick subsystem 201. Simulate sound information, when it is judged that the user's foot is stepped down and the drumstick hits the hi-hat, the simulated sound information of the closed cymbal is generated.
  • the device shape of the above-mentioned footrest subsystem may be a shape similar to a clip, so as to clamp the footrest subsystem on the left and right feet of the user; or, the shape of the footrest subsystem may also be a ring-like shape,
  • the foot pedal system is set on the left and right feet of the user.
  • the embodiment of the present application does not limit the shape of the footrest subsystem, and it is only necessary that the footrest subsystem can be fixed on the user's foot.
  • the simulated sounding subsystem 202 determines the pitch of the drumsticks (at least one of the first drumstick and the second drumstick) according to the posture data. Angle and yaw angle (also known as Euler angle), and then determine the target sounding device hit by the user with the drumstick based on the determined pitch and yaw angle of the drumstick.
  • the pitch angle represents the angle between the X axis of the body coordinate system and the horizontal plane, that is, the angle between the drumstick and the horizontal plane, as shown in Figure 3.
  • the flight angle is positive, that is, the right yaw is positive, otherwise it is negative.
  • the heights of the drums and cymbals in the drum kit are not exactly the same.
  • the pitch angles of the drumsticks are different. Therefore, different pitch angles correspond to drums (or cymbals) of different heights.
  • Determining the target sounding device tapped by the user based on Euler angles is only a specific embodiment of the present application. In addition to determining based on Euler angles, it can also be determined based on quaternions, rotation matrices, and the like.
  • the aforementioned analog sound production subsystem 202 may include a processor and a wireless communication module, as shown in FIG. 4.
  • the wireless communication module can be set to receive the attitude data sent by each subsystem.
  • the wireless communication module can be a Bluetooth communication module or a radio frequency (RF) communication module.
  • the processor is configured to determine the target sounding device tapped by the user according to the received posture data, and other processing functions.
  • an inertial navigation solution module in addition to the sensor, an inertial navigation solution module may be provided, and the module is configured to process the data collected by the sensor.
  • the above-mentioned analog sound production subsystem 202 may also receive a user's setting instruction, which is set to indicate the type of sound production device simulated by the drum simulation system, the number of sound production devices, and the like.
  • a user's setting instruction which is set to indicate the type of sound production device simulated by the drum simulation system, the number of sound production devices, and the like.
  • the user can choose to use the instrument simulation system provided by the embodiment of the present application to perform drum set performance, or perform African drum performance, or perform piano performance waiting through instructions.
  • the drum simulation system provided by the embodiment of the present application can also be preset with multiple combinations. In order to facilitate users to choose different matching methods according to their needs.
  • the simulated sounding subsystem 202 determines the drums and cymbals to be simulated according to the matching mode selected by the user, and when receiving the user posture data sent by each subsystem, determines the drum or cymbal that the user strikes according to the matching mode selected by the user. Cymbals for sound simulation.
  • the analog sound production subsystem 202 may also be connected to a display device via wireless or wired connection.
  • the analog sound production subsystem 202 sends the location information of the target sound device to the display device, and the display device displays the target Sound equipment.
  • the position of the drum or cymbal can be displayed through the display device, so that the user can see the drum or cymbal without imagining the position of the drum and cymbal out of thin air.
  • the analog sound production subsystem 202 can also send the status information of the drumstick subsystem 201 to the display device, so that the display device displays the status of the drumsticks.
  • the status of the drumsticks may include the pitch angle and the heading angle of the drumsticks.
  • the analog sound production subsystem 202 can be set in the same physical device as at least one of the display device and the speaker device.
  • an application for realizing the functions of the analog sound production subsystem 202 can be installed on terminal devices such as mobile phones and tablet computers.
  • the analog sound production subsystem 202 can also be installed separately or together with the drumstick subsystem 201, and then connected to at least one of the speaker device and the display device through a wired or wireless connection.
  • the simulation system may also be provided with multiple performance modes, such as practice mode, performance mode, game mode, and so on.
  • the practice mode is convenient for users to learn how to use the simulation system or practice new scores. For example, in the practice mode, you can get the drum or cymbal percussion sequence based on the preset scores, and prompt the user in turn according to the sequence. The drum or cymbal that needs to be hit can be reminded to the user by flashing or changing the color.
  • the performance mode only the position of the drum or cymbal can be displayed, and the user can freely select the drum or cymbal to be struck for a personalized performance.
  • the embodiment of the present application also provides a musical instrument simulation system, so that the user can simulate the performance of a musical instrument through a simple device.
  • the musical instrument simulation system includes: a first drumstick subsystem 2011, a second drumstick subsystem 2012, and an analog sound production subsystem 202.
  • the first drumstick subsystem 2011 and the second drumstick subsystem 2012 are respectively connected to the analog sound production subsystem 202; the first drumstick subsystem 2011 and the second drumstick subsystem 2012 are both provided with sensors, and they are respectively set to collect The posture data of the first drumstick subsystem 2011 and the second drumstick subsystem 2012.
  • the simulated sounding subsystem 202 determines the target sounding device hit by the user according to the posture data of the first drumstick subsystem 2011 and the second drumstick subsystem 2012 to generate simulated sounding information of the target sounding device, and send the simulated sounding information To speaker equipment.
  • each drumstick subsystem is connected to the analog sound generating subsystem, that is, each drumstick subsystem can directly send the data of each drumstick to the analog sound generating subsystem, and only one drumstick subsystem is connected to the analog sound generating subsystem.
  • the analog vocal subsystem can obtain the data of each sub-drumstick more quickly to generate simulated vocalization Information, more quickly simulate the sound of the user’s tapping, making the sound more coherent and improving the user experience.
  • the foregoing simulation system further includes: at least one pedal subsystem; a sensor is provided on the pedal subsystem, and is configured to collect motion data of the pedal subsystem; and the analog sound generating subsystem is also configured as According to the action data sent by the pedal subsystem, the target sounding device that the user steps on is determined to generate simulated sounding information of the target sounding device, and the simulated sounding information is sent to the speaker device.
  • the aforementioned at least one pedal subsystem includes a first pedal subsystem and a second pedal subsystem; Whether the user performs a pedaling action through the first pedaling subsystem, if yes, generate simulated sounding information of the kick drum; determine whether the user performs a pedaling action through the second pedaling subsystem according to the motion data sent by the second pedaling subsystem , If yes, generate the simulated sounding information of the cymbal.
  • the simulated sounding subsystem is configured to generate if it is determined that the user's foot is lifted up according to the motion data sent by the second pedaling subsystem, and the cymbal is hit according to the posture data sent by at least one drumstick subsystem.
  • the analog sound generating subsystem is connected to the display device wirelessly or by wire; the analog sound generating subsystem is also set to: determine the status information of the drumsticks according to the posture data sent by the drumstick subsystem, and send the status information to display screen.
  • the display device is set to display the status of the drumsticks according to the status information.
  • An embodiment of the present application also provides a musical instrument simulation system, including: the analog sound production subsystem, the drumstick subsystem (one or more) as in any of the foregoing embodiments, and the speaker device and display device. at least one.
  • the loudspeaker device is set to perform sound playback according to the simulated sounding information sent by the simulated sounding subsystem; the display device is set to display the status of drumsticks and so on.
  • the speaker device and the analog sound generating subsystem can be set on the same terminal; or, the display device and the analog sound generating subsystem can be set on the same terminal, or the speaker device and the display device And the analog sound production subsystem are all set on the same terminal. Or, the speaker device and the display device are set on the same terminal.

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  • Acoustics & Sound (AREA)
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  • Electrophonic Musical Instruments (AREA)

Abstract

一种乐器模拟系统，包括至少一个鼓槌子系统(201)和至少一个模拟发声子系统(202)；至少一个鼓槌子系统(201)上设置有第一传感器，设置为采集至少一个鼓槌子系统(201)的姿态数据，第一传感器包括陀螺仪传感器(101)，加速度传感器(102)和地磁传感器(103)；至少一个模拟发声子系统(202)设置为根据姿态数据确定用户敲击的目标发声设备，以生成目标发声设备的模拟发声信息，并将模拟发声信息发送至扬声设备。

Description

乐器模拟系统
本申请要求申请日为2020年5月22日、申请号为202010439942.5的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及乐器模拟技术领域，例如涉及一种乐器模拟系统。
背景技术
乐器演奏常常会受限于乐器昂贵的价格、乐器体积较大不便携带不便摆放等问题。例如，架子鼓是乐队演奏中十分重要的一种打击乐器，它通常由一个脚踏的低音大鼓(Bass Drum，又称“底鼓”)、一个军鼓、二个或以上的嗵嗵鼓(Tom-Tom Drum)、一个或两个吊镲(Crash Cymbal)、一个节奏镲(Ride Cymbal)和一个带踏板的踩镲(Hi-Hat)等部分组成，如图1所示。架子鼓价格昂贵，体积大不便于摆放、携带，给架子鼓的喜好者、表演者带来了较大困扰。又例如，钢琴演奏也存在上述问题。而现有的乐器模拟系统存在诸多问题，用户体验较差。
发明内容
本申请实施例提供一种乐器模拟系统，能够通过体感技术实现鼓的演奏。
本申请实施例提供了一种乐器模拟系统，包括：至少一个鼓槌子系统和至少一个模拟发声子系统；
所述至少一个鼓槌子系统上设置有第一传感器，所述第一传感器设置为采集所述至少一个鼓槌子系统的姿态数据，所述第一传感器包括陀螺仪传感器，加速度传感器和地磁传感器；
所述至少一个模拟发声子系统设置为根据所述姿态数据确定用户敲击的目标发声设备，以生成所述目标发声设备的模拟发声信息，并将所述模拟发声信息发送至扬声设备。
在本申请上述实施例中，由于在鼓槌子系统上设置有陀螺仪传感器、加速度传感器和地磁传感器，相较于常见的六轴传感器，能够对用户的操作进行更加精准的计算。由于传统六轴传感器的航向角是通过陀螺仪的数据进行积分得 到的，而在积分过程中，势必产生累计误差，若要减小误差则需要不断的进行角度校正，而多次校正将严重影响用户体验。而上述实施例中增加的地磁传感器，可以获取到地磁场信息，从而使得鼓槌子系统能够根据地磁场信息确定鼓槌真实的航向角，从而精准判断用户所敲击的目标发声设备，避免判断错误而产生错误的鼓的发声信息，且无需不断校正来实现获取准确的航向角，提高了用户体验。
本申请实施例提供一种乐器模拟系统，包括上述的乐器模拟系统，以及扬声设备和显示设备中的至少一种；
所述扬声设备设置为根据所述模拟发声子系统发送的模拟发声信息进行声音播放；
所述显示设备设置为显示所述鼓槌的状态。
附图说明
图1为本申请实施例提供的架子鼓实体示意图；
图2为本申请实施例提供的一种乐器模拟系统结构示意图；
图3为本申请实施例提供的俯仰角、偏航角示意图；
图4为本申请实施例提供的模拟发声子系统的结构示意图；
图5为本申请实施例提供的另一种乐器模拟系统结构示意图。
具体实施方式
为了解决如架子鼓等乐器携带不便、不便于演奏的问题，本申请实施例提供了一种乐器模拟系统，以实现用户能够通过简易设备即可模拟乐器演奏。
图2为本申请实施例提供的乐器模拟系统的结构示意图，如图2所示，乐器模拟系统可以包括：至少一个鼓槌子系统201和至少一个模拟发声子系统202。
在一实施例中，鼓槌子系统201上设置有传感器，设置为采集鼓槌子系统的姿态数据。其中，设置的传感器包括陀螺仪传感器，加速度传感器和地磁传感器。
模拟发声子系统202根据每个鼓槌子系统201的姿态数据确定用户敲击的目标发声设备，生成相应目标发声设备的模拟发声信息，并将该模拟发声信息发送至扬声设备。
发声设备即用户在演奏时需要敲击的设备，不同的发声设备所发出声音不同，即对应的模拟发声信息不同。例如，在架子鼓的模拟演奏场景中，上述发声设备可以包括底鼓、军鼓、嗵嗵鼓、镲等；在钢琴的模拟演奏场景中，上述发声设备可以包括多个按键(白键和黑键中的至少一种)。目标发声设备即为根据姿态数据确定的用户当前敲击的发声设备。
常见的六轴传感器仅包括陀螺仪传感器和加速度传感器，而本申请采用了九轴传感器，即，在六轴传感器的基础上增加了地磁传感器，而增加了地磁传感器，能够使得模拟系统更加精确的确定用户的操作。传统六轴传感器的航向角是通过陀螺仪的数据进行积分得到的，而在积分过程中，势必产生累计误差，若要减小误差则需要不断的进行角度校正，而多次校正将严重影响用户体验。而上述实施例中增加的地磁传感器，可以获取到地磁场信息，从而使得鼓槌子系统201能够根据地磁场信息确定鼓槌真实的航向角，从而精准判断用户所敲击的鼓，避免判断错误而产生错误的鼓的发声信息，且避免了累计误差，无需不断校正来实现获取准确的航向角，提高了用户体验。
另一方面，由于和载体相连的地磁传感器所测得的磁场存在零偏和线型误差等误差，因此，在本申请上述实施例中，可以根据陀螺仪传感器检测到的旋转，通过相应算法对地磁传感器进行校正，从而保证数据的准确性。此外，还可以通过算法屏蔽磁场干扰，保证数据的准确。
可选的，上述至少一个鼓槌子系统201的设备外形可以为鼓槌形状，即，用户手持鼓槌进行敲击动作，以使得用户在使用本申请实施例提供的模拟系统时，与真实演奏时的感受更为接近。虽然该鼓槌并没有真实敲击到鼓面或镲，但通过传感器采集到的用户姿态数据即可确定用户敲击了哪个鼓或者敲击了哪个镲，进而模拟用户敲击的鼓或镲的声音，从而实现如架子鼓或非洲鼓等鼓类模拟演奏。又或者，鼓槌子系统201的设备也可以为套在用户手指上或夹在用户手指上的设备，例如在钢琴模拟演奏时，能够方便检测用户的手指的姿态数据，从而确定用户敲击的按键。
在一实施例中，上述至少一个鼓槌子系统201可以包括第一鼓槌子系统和第二鼓槌子系统，例如在架子鼓的演奏中，通常是使用两个鼓槌进行演奏。此时，上述至少一个模拟发声子系统202可以仅包括一个模拟发声子系统，第一鼓槌子系统和第二鼓槌子系统分别与该模拟发声子系统连接，该模拟发声子系 统可以设置在第一鼓槌子系统上，也可以设置在第二鼓槌子系统上，还可以设置在终端设备上。
或者，上述至少一个模拟发声子系统202也可以包括第一模拟发声子系统和第二模拟发声子系统，则第一鼓槌子系统与第一模拟发声子系统连接，第二鼓槌子系统与第二模拟发声子系统连接。在一个实施例中，可以将第一鼓槌子系统和第一模拟发声子系统设置在第一鼓槌中，将第二鼓槌子系统和第二模拟发声子系统设置在第二鼓槌中。
在一种可能的实现方式中，上述乐器模拟系统还可以包括至少一个脚踏子系统，以实现用户可以通过脚进行演奏，例如在架子鼓的演奏中，可以通过脚踏子系统实现对底鼓或踩镲的敲击。相应的，上述至少一个脚踏子系统上也设置有传感器，该传感器设置为采集脚踏子系统的动作数据；脚踏子系统上设置的传感器可以与鼓槌子系统上设置的传感器相同或不同，例如在架子鼓演奏中，用户可以使用鼓槌对多个鼓进行敲击，需要考虑鼓槌的航向角等，而使用脚敲击的鼓或镲的位置相对固定，传感器可以仅检测用户是否存在脚踏的动作，而不必考虑航向角的问题。
相应的，模拟发声子系统则根据脚踏子系统发送的姿态数据确定用户脚踏的目标发声设备，生成对应目标发声设备的模拟发声信息，并将模拟发声信息发送至扬声设备。
在一实施例中，上述至少一个脚踏子系统也可以包括第一脚踏子系统和第二脚踏子系统，例如在架子鼓的演奏中，用户可以通过一只脚敲击底鼓，通过另一只脚敲击踩镲，则在模拟系统中也可以设置两个脚踏子系统分别用于鼓和镲的演奏，更加接近用户真实演奏的场景。以第一脚踏子系统设置为踩踏底鼓、第二脚踏子系统设置为踩镲为例，模拟发声子系统202在接收到第一脚踏子系统发送的动作数据后，判断用户是否通过第一脚踏子系统进行踩踏动作，若确定通过第一脚踏子系统进行踩踏动作，则生成底鼓的模拟发声信息。模拟发声子系统在接收到第二脚踏子系统发送的动作数据后，判断用户是否通过第二脚踏子系统进行踩踏动作，若确定通过第二脚踏子系统进行踩踏动作，则生成镲的模拟发声信息。
示例性地，踩镲包括上下两片镲，用户的脚向下在踩时，上下两片镲闭合，脚向上抬后，上下两片镲打开，若踩镲闭合时用鼓槌敲击踩镲，则发出闭合镲的声音，若踩镲打开是用鼓槌敲击踩镲，则发出开镲的声音。因此，模拟发声 子系统202可以根据第二脚踏子系统发送的动作数据和鼓槌子系统201发送的姿态数据，判断用户的脚是向上抬且鼓槌敲击了踩镲时，生成开镲的模拟发声信息，判断用户的脚向下踩且鼓槌敲击了踩镲时，生成闭合镲的模拟发声信息。
可选的，上述脚踏子系统的设备外形可以是类似夹子的形状，从而将脚踏子系统夹在用户的左右脚上；或者，脚踏子系统的外形也可以是类似环状的形状，从而将脚踏子系统套在用户的左右脚上。本申请实施例对脚踏子系统的形状不做限定，能够实现将脚踏子系统固定在用户脚上即可。
在一种可能的实现方式中，模拟发声子系统202在接收到鼓槌子系统201发送的姿态数据后，根据姿态数据确定鼓槌(第一鼓槌和第二鼓槌中的至少一个)的俯仰角和偏航角(又称欧拉角)，然后根据确定出的鼓槌的俯仰角和偏航角确定用户使用鼓槌所敲击的目标发声设备。
俯仰角表示机体坐标系X轴与水平面的夹角，即，鼓槌与水平面之间的夹角，如图3所示。机体坐标系x b轴在水平面上投影与地面坐标系x g轴(在水平面上，指向目标为正)之间的夹角，由x g轴逆时针转至x b轴的投影线时，偏航角为正，即右偏航为正，反之为负。
如图1所示，架子鼓中鼓、镲的高低不完全一致，用户在敲击不同高度的鼓(或镲)时，鼓槌的俯仰角有所不同。因此，不同的俯仰角对应不同高度的鼓(或镲)。
而在高度基本相同(或者高度相差不大)的鼓中，其由于鼓的摆放位置不同，因此，鼓槌敲击不同鼓时，俯仰角虽然差别不大，但偏航角会有较为明显的差别。例如，图1中间位置有两个并列设置、高度相近的嗵鼓，由于演奏者所处位置通常为中间位置，因此，鼓槌敲击这两个嗵鼓时，鼓槌的偏航角为一正一负。即使用户没有站在中间位置，可能导致敲击这两个鼓时的偏航角均为正或均为负，但其偏航角的度数也必然存在角度差别。
根据欧拉角确定用户敲击的目标发声设备仅为本申请的一个具体实施例，除了根据欧拉角确定，还可以根据四元数、旋转矩阵等进行确定。
可选的，上述模拟发声子系统202可以包括处理器和无线通信模块，如图4所示。无线通信模块可设置为接收每个子系统发送的姿态数据，相应的，无线通信模块可以为蓝牙通信模块或射频(Radio Frequency，RF)通信模块等。处理器设置为根据接收到姿态数据确定用户敲击的目标发声设备，以及其他处理功能。
可选的，鼓槌子系统和脚踏子系统中的至少一个子系统中，除了传感器，还可以设置有惯性导航解算模块，该模块设置为对传感器采集的数据进行处理。
在一种可能的实现方式中，上述模拟发声子系统202还可以接收用户的设置指令，该设置指令设置为指示鼓的模拟系统所模拟的发声设备类型、发声设备数量等。例如，用户可以通过指令选择采用本申请实施例提供的乐器模拟系统进行架子鼓的演奏，或者进行非洲鼓的演奏，或者进行钢琴演奏等待。以架子鼓为例，由于鼓的配置存在多样性，鼓的数量、类型以及镲的数量、类型均可以调整，因此，本申请实施例提供的架子鼓模拟系统还可以预先设置多种搭配组合，以方便用户根据需要选择不同的搭配方式。模拟发声子系统202根据用户选择的搭配方式，确定所需模拟的鼓和镲，并在接收到每个子系统发送的用户姿态数据时，根据用户所选择的搭配方式，确定用户敲击的鼓或镲，从而进行声音模拟。
在一些实施例中，模拟发声子系统202还可以与显示设备通过无线或有线连接，在用户进行演奏时，模拟发声子系统202将目标发声设备的位置信息发送给显示设备，由显示设备显示目标发声设备。例如，在架子鼓模拟演奏中，可以通过显示设备显示鼓或镲的位置，以使用户能够看到鼓或镲，而无需凭空想象鼓和镲的位置。又或者，模拟发声子系统202还可以将鼓槌子系统201的状态信息发送给显示设备，以使显示设备显示鼓槌的状态。其中，鼓槌的状态可以包括鼓槌的俯仰角、航向角等。
模拟发声子系统202可以与显示设备和扬声设备中的至少一个设置在同一物理设备中，例如，可以通过在手机、平板电脑等终端设备上安装用于实现模拟发声子系统202的功能的应用程序，以使终端的处理器调用该应用程序实现上述实施例中模拟发声子系统202的功能，并通过终端自带的扬声器、显示屏幕进行发声或显示。或者，模拟发声子系统202也可以单独设置或与鼓槌子系统201设置在一起，然后通过有线或无线的连接方式与扬声设备和显示设备中的至少一个进行连接。
在一实施例中，该模拟系统还可以设置有多个演奏模式，例如练习模式、表演模式、游戏模式等。练习模式，可以方便用户学习如何使用该模拟系统，或者练习新的乐谱，例如，在练习模式下，可以根据预设的乐谱获取鼓或镲的敲击顺序，并按照该顺序依次提示用户当前所需敲击的鼓或镲，可以通过闪烁 或变化颜色等方式提示用户。在表演模式下，可以仅显示鼓或镲的位置，用户可以自由选择要敲击的鼓或镲，进行个性化表演。
为了提升用户体验，还可以在鼓槌上安装LED灯，以配合热烈的演奏氛围。
本申请实施例还提供了一种乐器模拟系统，以实现用户能够通过简易设备即可模拟乐器演奏。图5所示，该乐器模拟系统包括：第一鼓槌子系统2011、第二鼓槌子系统2012和模拟发声子系统202。
其中，第一鼓槌子系统2011和第二鼓槌子系统2012分别与所述模拟发声子系统202连接；第一鼓槌子系统2011和第二鼓槌子系统2012上均设置有传感器，且分别设置为采集第一鼓槌子系统2011、第二鼓槌子系统2012的姿态数据。
模拟发声子系统202根据第一鼓槌子系统2011的姿态数据和第二鼓槌子系统2012的姿态数据确定用户敲击的目标发声设备，以生成目标发声设备的模拟发声信息，并将模拟发声信息发送至扬声设备。
在上述实施例中，每个鼓槌子系统分别与模拟发声子系统连接，即，每个鼓槌子系统可以将每个鼓槌的数据直接发送给模拟发声子系统，与仅一个鼓槌子系统与模拟发声子系统连接、其他鼓槌子系统需经过数据转发发送给模拟发声子系统相比，数据传输延时更低，模拟发声子系统能够更加快速地获取到每个子鼓槌的数据，从而生成模拟发声信息，更加快速的模拟出用户敲击的声音，使得发声更加连贯，提高了用户体验。
在一种可能的实现方式中，上述模拟系统还包括：至少一个脚踏子系统；脚踏子系统上设置有传感器，且设置为采集脚踏子系统的动作数据；模拟发声子系统还设置为根据脚踏子系统发送的动作数据确定用户脚踏的目标发声设备，以生成目标发声设备的模拟发声信息，并将模拟发声信息发送至扬声设备。
在一种可能的实现方式中，上述至少一个脚踏子系统包括第一脚踏子系统和第二脚踏子系统；模拟发声子系统设置为：根据第一脚踏子系统发送的动作数据确定用户是否通过该第一脚踏子系统进行踩踏动作，若是，则生成底鼓的模拟发声信息；根据第二脚踏子系统发送的动作数据确定用户是否通过该第二脚踏子系统进行踩踏动作，若是，则生成镲的模拟发声信息。
在一实施例中，模拟发声子系统设置为：若根据第二脚踏子系统发送的动作数据确定用户的脚向上抬，且根据至少一个鼓槌子系统发送的姿态数据确定敲击了镲则生成开镲的模拟发声信息；若根据第二脚踏子系统发送的姿态数据 确定用户的脚向下踩，且根据至少一个鼓槌子系统发送的姿态数据确定敲击了镲，则生成闭合镲的模拟发声信息。
在一种可能的实现方式中，模拟发声子系统与显示设备无线或有线相连；模拟发声子系统还设置为：根据鼓槌子系统发送的姿态数据确定鼓槌的状态信息，并将状态信息发送给显示设备。显示设备设置为根据所述状态信息显示鼓槌状态。
本申请实施例还提供了一种乐器模拟系统，包括：如前述实施例中任一实现方式中的模拟发声子系统、鼓槌子系统(一个或多个)，以及扬声设备和显示设备中的至少一个。
其中，扬声设备设置为根据模拟发声子系统发送的模拟发声信息进行声音播放；显示设备设置为显示鼓槌状态等。
在一种可能的实现方式中，扬声设备，与模拟发声子系统可以设置在同一终端上；或者，显示设备可以和该模拟发声子系统设置在同一终端上，或者，扬声设备、显示设备以及模拟发声子系统均设置在同一终端上。或者，扬声设备与显示设备设置在同一终端上。
需要理解的是，在本申请的描述中，“第一”、“第二”等词汇，仅用于区分描述的目的，而不能理解为指示或暗示相对重要性，也不能理解为指示或暗示顺序。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的可选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。

Claims (10)

  1. 一种乐器模拟系统，包括：至少一个鼓槌子系统(201)和至少一个模拟发声子系统(202)；
    所述至少一个鼓槌子系统(201)上设置有第一传感器，所述第一传感器设置为采集所述至少一个鼓槌子系统(201)的姿态数据，所述第一传感器包括陀螺仪传感器(101)，加速度传感器(102)和地磁传感器(103)；
    所述至少一个模拟发声子系统(202)设置为根据所述姿态数据确定用户敲击的目标发声设备，以生成所述目标发声设备的模拟发声信息，并将所述模拟发声信息发送至扬声设备。
  2. 根据权利要求1所述的系统，其中，所述至少一个鼓槌子系统(201)包括第一鼓槌子系统(2011)和第二鼓槌子系统(2012)；
    所述至少一个模拟发声子系统(202)包括一个模拟发声子系统(202)，所述第一鼓槌子系统(2011)和第二鼓槌子系统(2012)分别与所述模拟发声子系统(202)连接；或者所述至少一个模拟发声子系统(202)包括第一模拟发声子系统和第二模拟发声子系统，所述第一鼓槌子系统(2011)与所述第一模拟发声子系统连接，所述第二鼓槌子系统(2012)与所述第二模拟发声子系统连接。
  3. 根据权利要求1所述的系统，还包括：至少一个脚踏子系统；
    所述至少一个脚踏子系统上设置有第二传感器，所述第二传感器设置为采集所述至少一个脚踏子系统的动作数据；
    所述至少一个模拟发声子系统(202)还设置为根据所述第二传感器采集的动作数据确定用户脚踏的目标发声设备，以生成所述目标发声设备的模拟发声信息，并将所述模拟发声信息发送至扬声设备。
  4. 根据权利要求3所述的系统，其中，所述至少一个脚踏子系统包括第一脚踏子系统和第二脚踏子系统；
    所述至少一个模拟发声子系统(202)设置为：
    根据所述第二传感器采集的动作数据确定用户通过所述第一脚踏子系统进行踩踏动作时，生成底鼓的模拟发声信息；及
    根据所述第二传感器采集的动作数据确定用户通过所述第二脚踏子系统进行踩踏动作时，生成镲的模拟发声信息。
  5. 根据权利要求4所述的系统，其中，所述至少一个模拟发声子系统(202)设置为：
    在根据所述第二脚踏子系统发送的动作数据确定用户的脚向上抬，且根据所述至少一个鼓槌子系统(201)发送的姿态数据确定敲击了所述镲的情况下，生成开镲的模拟发声信息；及
    在根据所述第二脚踏子系统发送的姿态数据确定用户的脚向下踩，且根据所述至少一个鼓槌子系统(201)发送的姿态数据确定敲击了所述镲的情况下，生成闭合镲的模拟发声信息。
  6. 根据权利要求1所述的系统，其中，所述至少一个模拟发声子系统(202)与显示设备无线或有线相连；
    所述至少一个模拟发声子系统(202)还设置为：根据所述至少一个鼓槌子系统(201)发送的姿态数据确定鼓槌的状态信息，并将所述状态信息发送给所述显示设备。
  7. 根据权利要求1所述的系统，其中，所述至少一个鼓槌子系统(201)包括：第一鼓槌子系统(2011)、第二鼓槌子系统(2012)；所述至少一个模拟发声子系统(202)包括一个模拟发声子系统(202)；
    所述第一鼓槌子系统(2011)和所述第二鼓槌子系统(2012)分别与所述一个模拟发声子系统(202)连接；
    所述第一鼓槌子系统(2011)和第二鼓槌子系统(2012)上分别设置有所述第一传感器，所述第一鼓槌子系统(2011)上的所述第一传感器设置为采集所述第一鼓槌子系统(2011)的姿态数据，所述第二鼓槌子系统(2012)上的所述第一传感器设置为采集所述第二鼓槌子系统(2012)的姿态数据；
    所述一个模拟发声子系统(202)设置为根据所述第一鼓槌子系统(2011)的姿态数据和所述第二鼓槌子系统(2012)的姿态数据确定用户敲击的目标发声设备，以生成所述目标发声设备的模拟发声信息，并将所述模拟发声信息发送至扬声设备。
  8. 根据权利要求7所述的系统，还包括：至少一个脚踏子系统；
    所述至少一个脚踏子系统上设置有第二传感器，所述第二传感器设置为采集所述至少一个脚踏子系统的动作数据；
    所述一个模拟发声子系统(202)还设置为根据所述第二传感器采集的动作数据确定用户脚踏的目标发声设备，以生成所述目标发声设备的模拟发声信息，并将所述模拟发声信息发送至扬声设备。
  9. 根据权利要求8所述的系统，其中，所述至少一个脚踏子系统包括第一脚踏子系统和第二脚踏子系统；
    所述一个模拟发声子系统(202)设置为：
    根据所述第二传感器采集的动作数据确定用户通过所述第一脚踏子系统进行踩踏动作时，生成底鼓的模拟发声信息；及
    根据所述第二传感器采集的动作数据确定用户通过所述第二脚踏子系统进行踩踏动作时，生成镲的模拟发声信息。
  10. 一种乐器模拟系统，包括如权利要求1-9任一项所述的系统，以及扬声设备和显示设备中的至少之一；
    所述扬声设备设置为根据所述模拟发声子系统(202)发送的模拟发声信息进行声音播放；
    所述显示设备设置为显示所述鼓槌的状态。
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