CN108705540A - Percussion collision prevention method, equipment and the storage device of a kind of both arms dulcimer robot - Google Patents
Percussion collision prevention method, equipment and the storage device of a kind of both arms dulcimer robot Download PDFInfo
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- CN108705540A CN108705540A CN201810393756.5A CN201810393756A CN108705540A CN 108705540 A CN108705540 A CN 108705540A CN 201810393756 A CN201810393756 A CN 201810393756A CN 108705540 A CN108705540 A CN 108705540A
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- qin
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- dulcimer
- dulcimer robot
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- 238000009527 percussion Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000002265 prevention Effects 0.000 title claims abstract description 28
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract description 75
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract description 75
- 241001330002 Bambuseae Species 0.000 claims abstract description 75
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract description 75
- 239000011425 bamboo Substances 0.000 claims abstract description 75
- 238000010009 beating Methods 0.000 claims abstract description 64
- 230000003139 buffering effect Effects 0.000 claims abstract description 26
- 238000010079 rubber tapping Methods 0.000 claims abstract description 9
- 238000000205 computational method Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides percussion collision prevention method, equipment and the storage devices of a kind of both arms dulcimer robot, a kind of percussion collision prevention method of both arms dulcimer robot, pass through the space coordinate of the qin face beating point of both arms dulcimer robot, establish the fit Plane equation of qin face beating point, to obtain the fit Plane of qin bamboo initial position, keep height when percussion identical, facilitate control percussion dynamics, by establishing the qin bamboo end buffering area of left arm and the qin bamboo end buffering area of right arm respectively according to the shortest distance, mechanical arm collides when avoiding tapping；The percussion collision avoidance aids and storage device of a kind of both arms dulcimer robot, for realizing the percussion collision prevention method of both arms dulcimer robot.The beneficial effects of the invention are as follows：The plane equation and buffering area that the present invention passes through qin bamboo initial position, it is easier to control the height and dynamics when both arms dulcimer robot taps, the case where effectively avoiding to collide during tapping, so that the performance of both arms dulcimer robot is more coordinated, more class peopleization.
Description
Technical field
The present invention relates to the percussion collision prevention method of robot field more particularly to a kind of both arms dulcimer robot, equipment and
Storage device.
Background technology
In recent years, with the extreme enrichment that people's material life develops, people start to pursue in the higher of spirit level
It enjoys, learning instrument is but faced with as a kind of effective way of promotion people's spirit level and is engaged in musical instrument correlation faculty not
It is enough and the problem of somewhat expensive and learning time are dumb etc..And with the development of science and technology, being played using robot
Musical instrument has at home and abroad had certain Research foundation, many countries also to put into a large amount of manpower and materials and gone to study related skill
Art.
As one of Chinese classical musical instrument, on the one hand the research in terms of the robot played it helps to develop dulcimer
With carry forward traditional Chinese culture, allow more people enhancing to the acceptance of traditional culture；Related intelligence can be studied on the other hand
Energy algorithm builds the research platform to the fields such as robot and artificial intelligence, has very strong scientific research value.
For dulcimer as Chinese Traditional Instruments, the research for the robot played it is also relatively fewer, the conduct of dulcimer robot
The robot of class peopleization with both arms, studies it with very strong Value of Science & Technology and economic implications.The present invention proposes a kind of
The method that collision prevention based on dulcimer robot taps, can be during tapping so that qin bamboo end eventually settles at dulcimer qin face
The identical height in top, the dynamics for facilitating control to tap, while can effectively avoid the mutual of during percussion qin bamboo
During collision and percussion, the uncoordinated phenomenon that big displacement leads to mechanical arm collision and taps, realization occur for single arm
Intelligence and the class peopleization of the process of percussion.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of percussion collision prevention method of both arms dulcimer robot, equipment and
Storage device, a kind of percussion collision prevention method of both arms dulcimer robot, both arms dulcimer robot include left arm and right arm, a left side
Arm and right arm are respectively provided with the qin bamboo for tapping qin face beating point, and the method mainly includes the following steps that：
S101：According to the space coordinate of the qin face beating point of both arms dulcimer robot, qin face is established using least square method
The fit Plane equation of beating point；
S102：According to the fit Plane equation, the fit Plane of qin face beating point is determined；
S103：According to the fit Plane of qin face beating point, the fit Plane of qin bamboo initial position is established, obtains qin bamboo
The plane equation of initial position；
S104：According to the space coordinate of the qin face beating point of both arms dulcimer robot, all adjacent qins are calculated
The shortest distance between the beating point of face establishes the qin of qin bamboo the end buffering area and right arm of left arm according to the shortest distance respectively
Bamboo end buffering area；
S105：Both arms dulcimer robot receives the percussion sequence of melody；
S106：According to the percussion sequence, the qin bamboo end buffering area of left arm and the qin bamboo end buffering area of right arm are judged
Whether overlapIf so, arriving step S107；If it is not, then arriving step S108；
S107：The qin bamboo end and right arm qin bamboo end of both arms dulcimer robot left arm are tapped respectively from the qin bamboo
The nearest beating point in end, then arrives step S111；
S108：Judge the current beating point of the mechanical arm of both arms dulcimer robot at a distance from next beating point whether
More than j/2If so, arriving step S109；If it is not, then arriving step S110；J is the percussion principal plane of both arms dulcimer robot
Width；
S109：It is assisted to tap next beating point by an other arm, then arrives step S111；
S110：The mechanical arm of both arms dulcimer robot taps next beating point according to the percussion sequence；
S111：Judge whether the percussion sequence is finishedIf so, arriving step S112；If it is not, then returning to step
S105；
S112：Both arms dulcimer robot terminates collision prevention percussion, completes music playing.
Further, in step S101, for each beating point (x in qin facei,yi,zi), establish qin face beating point
Fit Plane equation z=a0x+a1y+a2, a0,a1,a2Computational methods be：
Wherein, a0、a1Respectively represent the coefficient of X-axis and Y-axis in the fit Plane equation of qin face beating point, a2It represents
Intercept in the fit Plane equation of qin face beating point on Z axis.
Further, in step s 103, the flat fitting face of the qin bamboo initial position and qin face beating point is quasi-
It is parallel to close plane, the plane equation z of the qin bamboo initial position1For：
z1- h=a0x+a1y+a2 (2)
Wherein, a0、a1Respectively represent the coefficient of X-axis and Y-axis in the plane equation of the qin bamboo initial position, a2Represent institute
The intercept on Z axis in the plane equation of qin bamboo initial position is stated, h is the fit Plane of the qin bamboo initial position than the qin face
The height that the fit Plane of beating point is higher by.
Further, in step S104, the shortest distance between all adjacent qin face beating points is b, respectively with institute
Centered on stating the qin bamboo end A (c, d, e) of the both arms dulcimer robot left arm and qin bamboo end B (f, g, h) of right arm, it is with b/2
Radius establishes the qin bamboo end buffering area of left arm and the qin bamboo end buffering area of right arm.
Further, in step s 106, the buffering area condition that need to meet that overlaps is：
A kind of storage device, the storage device store instruction and data striking for realizing a kind of both arms dulcimer robot
Hit collision prevention method.
A kind of percussion collision avoidance aids of both arms dulcimer robot, including：Processor and the storage device；The processor
The percussion collision prevention method for loading and executing the instruction in the storage device and data for realizing a kind of both arms dulcimer robot.
The advantageous effect that technical solution provided by the invention is brought is：The plane equation that the present invention passes through qin bamboo initial position
And buffering area, can height and dynamics of the easier control both arms dulcimer robot when tapping, during effectively avoiding percussion
The case where may colliding, makes the performance of both arms dulcimer robot more coordinate, more class peopleization.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is a kind of flow chart of the percussion collision prevention method of both arms dulcimer robot in the embodiment of the present invention；
Fig. 2 is the vertical view that both arms dulcimer robot dulcimer taps plane in the embodiment of the present invention；
Fig. 3 is the signal of the fit Plane of qin face beating point and the fit Plane of qin bamboo initial position in the embodiment of the present invention
Figure；
Fig. 4 is the schematic diagram that hardware device works in the embodiment of the present invention.
Specific implementation mode
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
The specific implementation mode of the present invention.
The embodiment provides percussion collision prevention method, equipment and the storage devices of a kind of both arms dulcimer robot.
Referring to FIG. 1, Fig. 1 is a kind of flow of the percussion collision prevention method of both arms dulcimer robot in the embodiment of the present invention
Figure, both arms dulcimer robot include left arm and right arm, and left arm and right arm are respectively provided with the qin for tapping qin face beating point
Bamboo, the method specifically include following steps：
S101：According to the space coordinate of the qin face beating point of both arms dulcimer robot, qin face is established using least square method
The fit Plane equation of beating point；For the coordinate (x of each beating point in qin facei,yi,zi), establish the fitting of qin face beating point
Plane equation z=a0x+a1y+a2, a0,a1,a2Computational methods be：
Wherein, a0、a1Respectively represent the coefficient of X-axis and Y-axis in the fit Plane equation of qin face beating point, a2It represents
Intercept in the fit Plane equation of qin face beating point on Z axis；
S102：According to the fit Plane equation, the fit Plane of qin face beating point is determined；
S103：According to the fit Plane of qin face beating point, the fit Plane of qin bamboo initial position is established, obtains qin bamboo
The plane equation of initial position；The flat fitting face of the qin bamboo initial position is parallel with the fit Plane of qin face beating point,
The plane equation z of the qin bamboo initial position1For：
z1- h=a0x+a1y+a2 (2)
Wherein, a0、a1Respectively represent the coefficient of X-axis and Y-axis in the plane equation of the qin bamboo initial position, a2Represent institute
The intercept on Z axis in the plane equation of qin bamboo initial position is stated, h is the fit Plane of the qin bamboo initial position than the qin face
The height that the fit Plane of beating point is higher by.
In the present embodiment, the fit Plane of the qin bamboo initial position is higher by two than the fit Plane of qin face beating point
Centimetre, the plane equation z of the qin bamboo initial position1For：z1- 0.02=a0x+a1y+a2, a0、a1At the beginning of respectively representing the qin bamboo
The coefficient of X-axis and Y-axis, a in the plane equation of beginning position2Represent cutting on Z axis in the plane equation of the qin bamboo initial position
Away from；
S104：According to the space coordinate of the qin face beating point of both arms dulcimer robot, all adjacent qins are calculated
Shortest distance b between the beating point of face establishes the qin bamboo end buffering area and right arm of left arm according to the shortest distance respectively
Qin bamboo end buffering area；Respectively with the qin bamboo end of the qin bamboo end A (c, d, e) of both arms dulcimer robot left arm and right arm
Centered on B (f, g, h), using b/2 as radius, the qin bamboo end buffering area of left arm and the qin bamboo end buffering area of right arm are established；
S105：Both arms dulcimer robot receives the percussion sequence of melody；
S106：According to the percussion sequence, the qin bamboo end buffering area of left arm and the qin bamboo end buffering area of right arm are judged
Whether overlapIf so, arriving step S107；If it is not, then arriving step S108；Buffering area overlaps the condition that need to meet
For：
S107：The qin bamboo end and right arm qin bamboo end of both arms dulcimer robot left arm are tapped respectively from the qin bamboo
The nearest beating point in end, then arrives step S111；
S108：Judge the current beating point of the mechanical arm of both arms dulcimer robot at a distance from next beating point whether
More than j/2If so, arriving step S109；If it is not, then arriving step S110；J is the percussion principal plane of both arms dulcimer robot
Width, the both arms dulcimer robot during percussion, the qin bamboo end movement range in six row qin column of dulcimer
In the range of place；
S109：It is assisted to tap next beating point by an other arm, then arrives step S111；
S110：Both arms dulcimer robot taps next beating point according to the percussion sequence；
S111：Judge whether the percussion sequence is finishedIf so, arriving step S112；If it is not, then returning to step
S105；
S112：Both arms dulcimer robot terminates collision prevention percussion, completes music playing.
Referring to FIG. 2, Fig. 2 is the vertical view that both arms dulcimer robot dulcimer taps plane in the embodiment of the present invention, in figure
One shares six row qin columns, wherein from left to right secondary series qin column has the bridge that two row tap, dulcimer to tap principal plane and refer to six
Range where row qin column, width j.
Referring to FIG. 3, Fig. 3 is the fitting of the fit Plane of qin face beating point and qin bamboo initial position in the embodiment of the present invention
The schematic diagram of plane is depicted according to the space coordinate of the qin face beating point of both arms dulcimer robot strike first in three dimensions
Position a little is hit, least square method is then used to establish the fit Plane equation of qin face beating point；Then according to qin face beating point
Fit Plane, establish the fit Plane of qin bamboo initial position, the beating point of qin bamboo allowed to be in the fitting of qin face beating point
Above plane, to control the percussion power of qin bamboo during tapping.
Fig. 4 is referred to, Fig. 4 is the hardware device operating diagram of the embodiment of the present invention, and the hardware device specifically includes：
Percussion collision avoidance aids 401, processor 402 and the storage device 403 of a kind of both arms dulcimer robot.
A kind of percussion collision avoidance aids 401 of both arms dulcimer robot：A kind of percussion collision prevention of the both arms dulcimer robot
Equipment 401 realizes a kind of percussion collision prevention method of both arms dulcimer robot.
Processor 402：The processor 402 loads and executes the instruction in the storage device 403 and data for real
A kind of percussion collision prevention method of existing both arms dulcimer robot.
Storage device 403：403 store instruction of the storage device and data；The storage device 403 is for realizing described
A kind of percussion collision prevention method of both arms dulcimer robot.
The beneficial effects of the invention are as follows：The present invention can more be held by the plane equation and buffering area of qin bamboo initial position
Height and dynamics when easy control both arms dulcimer robot taps, effectively avoid the feelings that may be collided during tapping
Condition makes the performance of both arms dulcimer robot more coordinate, more class peopleization.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of percussion collision prevention method of both arms dulcimer robot, both arms dulcimer robot include left arm and right arm, left arm
The qin bamboo for tapping qin face beating point is respectively provided with right arm, it is characterised in that：It the described method comprises the following steps：
S101：According to the space coordinate of the qin face beating point of both arms dulcimer robot, qin face is established using least square method and is tapped
The fit Plane equation of point；
S102：According to the fit Plane equation, the fit Plane of qin face beating point is determined；
S103：According to the fit Plane of qin face beating point, the fit Plane of qin bamboo initial position is established, it is initial to obtain qin bamboo
The plane equation of position；
S104：According to the space coordinate of the qin face beating point of both arms dulcimer robot, calculates all adjacent qin faces and strike
The shortest distance between hitting a little establishes the qin bamboo end of the qin bamboo end buffering area and right arm of left arm according to the shortest distance respectively
Hold buffering area；
S105：Both arms dulcimer robot receives the percussion sequence of melody；
S106：According to the percussion sequence, judge left arm qin bamboo end buffering area and right arm qin bamboo end buffering area whether
It overlapsIf so, arriving step S107；If it is not, then arriving step S108；
S107：The qin bamboo end and right arm qin bamboo end of both arms dulcimer robot left arm are tapped respectively from qin bamboo end
Then nearest beating point arrives step S111；
S108：Judge whether the current beating point of the mechanical arm of both arms dulcimer robot is more than at a distance from next beating point
j/2If so, arriving step S109；If it is not, then arriving step S110；J is the width of the percussion principal plane of both arms dulcimer robot
Degree；
S109：It is assisted to tap next beating point by an other arm, then arrives step S111；
S110：The mechanical arm of both arms dulcimer robot taps next beating point according to the percussion sequence；
S111：Judge whether the percussion sequence is finishedIf so, arriving step S112；If it is not, then returning to step S105；
S112：Both arms dulcimer robot terminates collision prevention percussion, completes music playing.
2. a kind of percussion collision prevention method of both arms dulcimer robot as described in claim 1, it is characterised in that：In step S101
In, for each beating point (x in qin facei,yi,zi), establish the fit Plane equation z=a of qin face beating point0x+a1y+a2, a0,
a1,a2Computational methods be：
Wherein, a0、a1Respectively represent the coefficient of X-axis and Y-axis in the fit Plane equation of qin face beating point, a2Described in representative
Intercept in the fit Plane equation of qin face beating point on Z axis.
3. a kind of percussion collision prevention method of both arms dulcimer robot as claimed in claim 2, it is characterised in that：In step S103
In, the flat fitting face of the qin bamboo initial position is parallel with the fit Plane of qin face beating point, the qin bamboo initial position
Plane equation z1For：
z1- h=a0x+a1y+a2 (2)
Wherein, a0、a1The coefficient of X-axis and Y-axis, a in the plane equation of the difference qin bamboo initial position2At the beginning of representing the qin bamboo
Intercept in the plane equation of beginning position on Z axis, h are the fit Plane of the qin bamboo initial position than qin face beating point
The height that fit Plane is higher by.
4. a kind of percussion collision prevention method of both arms dulcimer robot as described in claim 1, it is characterised in that：In step S104
In, the shortest distance between all adjacent qin face beating points is b, respectively with the qin bamboo end of both arms dulcimer robot left arm
Centered on the qin bamboo end B (f, g, h) for holding A (c, d, e) and right arm, using b/2 as radius, the qin bamboo end buffering area of left arm is established
With the qin bamboo end buffering area of right arm.
5. a kind of percussion collision prevention method of both arms dulcimer robot as claimed in claim 4, it is characterised in that：In step S106
In, the buffering area condition that need to meet that overlaps is：
6. a kind of storage device, it is characterised in that：The storage device store instruction and data are for realizing Claims 1 to 5
The percussion collision prevention method of any one both arms dulcimer robot.
7. a kind of percussion collision avoidance aids of both arms dulcimer robot, it is characterised in that：Including：Processor and the storage device；
The processor loads and executes the instruction in the storage device and data for realizing arbitrary described in Claims 1 to 5
A kind of percussion collision prevention method of both arms dulcimer robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810393756.5A CN108705540B (en) | 2018-04-27 | 2018-04-27 | Knocking and collision prevention method and equipment for double-arm dulcimer robot and storage equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810393756.5A CN108705540B (en) | 2018-04-27 | 2018-04-27 | Knocking and collision prevention method and equipment for double-arm dulcimer robot and storage equipment |
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| Publication Number | Publication Date |
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| CN108705540A true CN108705540A (en) | 2018-10-26 |
| CN108705540B CN108705540B (en) | 2020-10-30 |
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| CN110216677A (en) * | 2019-06-21 | 2019-09-10 | 浙江大学 | It is a kind of machinery Dextrous Hand play the musical instrument action sequence generation and its optimization method |
| CN110216677B (en) * | 2019-06-21 | 2022-04-01 | 浙江大学 | Method for generating and optimizing mechanical dexterous hand playing piano action sequence |
| CN110815218A (en) * | 2019-10-31 | 2020-02-21 | 中国地质大学（武汉） | Mechanical arm anthropomorphic track planning method based on motion capture system |
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