CN108705540B - Knocking and collision prevention method and equipment for double-arm dulcimer robot and storage equipment - Google Patents
Knocking and collision prevention method and equipment for double-arm dulcimer robot and storage equipment Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000002265 prevention Effects 0.000 title claims abstract description 14
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract description 67
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract description 67
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract description 67
- 239000011425 bamboo Substances 0.000 claims abstract description 65
- 241001330002 Bambuseae Species 0.000 claims abstract description 64
- 239000000872 buffer Substances 0.000 claims abstract description 26
- 238000010079 rubber tapping Methods 0.000 claims description 14
- 241000209128 Bambusa Species 0.000 claims description 3
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- 206010063385 Intellectualisation Diseases 0.000 description 1
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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
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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
- B25J11/003—Manipulators for entertainment
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- 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
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- 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
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- 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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Abstract
The invention provides a knocking and collision avoiding method, equipment and storage equipment for a double-arm dulcimer robot, and the knocking and collision avoiding method for the double-arm dulcimer robot is characterized in that a fitting plane equation of a piano face knocking point is established through a space coordinate of the piano face knocking point of the double-arm dulcimer robot, so that a fitting plane of an initial position of a piano bamboo is obtained, the heights of the piano bamboo in knocking are the same, the knocking force is conveniently controlled, and a mechanical arm collision is avoided in knocking through respectively establishing a piano bamboo tail end buffer zone of a left arm and a piano bamboo tail end buffer zone of a right arm according to the shortest distance; a knocking collision prevention device and a storage device of a double-arm dulcimer robot are used for achieving a knocking collision prevention method of the double-arm dulcimer robot. The invention has the beneficial effects that: according to the invention, through the plane equation of the initial position of the piano bamboo and the buffer area, the height and the force of the double-arm dulcimer robot during knocking can be controlled more easily, the condition that collision possibly occurs in the knocking process is effectively avoided, and the playing of the double-arm dulcimer robot is more coordinated and more humane.
Description
Technical Field
The invention relates to the field of robots, in particular to a knocking and collision prevention method, equipment and storage equipment for a double-arm dulcimer robot.
Background
In recent years, with the development of the physical life of people being greatly enriched, people are pursuing higher enjoyment in the spirit level, and learning musical instruments as an effective way for improving the spirit level of people faces the problems of the shortage of teaching personnel related to musical instruments, high cost, inflexible learning time and the like. With the development of science and technology, playing musical instruments by using robots has already provided a certain research foundation at home and abroad, and a great deal of manpower and material resources are also put into many countries to research related technologies.
The dulcimer is one of the classical Chinese musical instruments, and the research on the robot for playing the dulcimer is helpful for developing and developing the Chinese traditional culture on one hand, so that more people can enhance the sense of identity of the traditional culture; on the other hand, a research platform in the fields of robots, artificial intelligence and the like can be established by researching related intelligent algorithms, and the method has high scientific research value.
The dulcimer is used as a traditional Chinese musical instrument, the research on a robot for playing the dulcimer is relatively less, and the dulcimer robot is used as a humanoid robot with two arms and has strong scientific and technological value and economic significance on the research. The invention provides a method for avoiding collision and knocking based on a dulcimer robot, which can enable the tail end of a piano bamboo to stay at the same height above the surface of a dulcimer in the knocking process, is convenient to control the knocking force, and can effectively avoid the incongruous phenomenon of mechanical arm collision and knocking caused by large displacement of a single arm in the processes of mutual collision and knocking of the piano bamboo in the knocking process, thereby realizing the intellectualization and humanization of the knocking process.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method, a device and a storage device for avoiding a strike and a collision of a dual-arm dulcimer robot, the dual-arm dulcimer robot includes a left arm and a right arm, the left arm and the right arm are respectively provided with a bamboo for striking a strike point on a piano surface, and the method mainly includes the following steps:
s101: according to the space coordinates of the piano surface knocking points of the two-arm dulcimer robot, a fitting plane equation of the piano surface knocking points is established by adopting a least square method;
s102: determining a fitting plane of the piano face knocking points according to the fitting plane equation;
s103: according to the fitting plane of the piano face knocking points, establishing a fitting plane of the piano bamboo initial position to obtain a plane equation of the piano bamboo initial position;
s104: calculating the shortest distance between all adjacent piano face knocking points according to the space coordinates of the piano face knocking points of the double-arm dulcimer robot, and respectively establishing a piano bamboo tail end buffer zone of a left arm and a piano bamboo tail end buffer zone of a right arm according to the shortest distance;
s105: the double-arm dulcimer robot receives a knocking sequence of music;
s106: according to the knocking sequence, judging whether the piano bamboo tail end buffer zone of the left arm and the piano bamboo tail end buffer zone of the right arm are overlapped? If yes, go to step S107; if not, go to step S108;
s107: the tail end of the piano bamboo of the left arm and the tail end of the piano bamboo of the right arm of the dual-arm dulcimer robot respectively strike the striking points nearest to the tail ends of the piano bamboos, and then the step S111 is carried out;
s108: judging whether the distance between the current knocking point and the next knocking point of the left arm or the right arm of the dual-arm dulcimer robot is greater than j/2? If yes, go to step S109; if not, go to step S110; j is the width of the knocking main plane of the double-arm dulcimer robot;
s109: the next tapping point is tapped with the assistance of the other right arm or left arm, and then the step S111 is reached;
s110: the left arm or the right arm of the double-arm dulcimer robot knocks the next knocking point according to the knocking sequence;
s111: is the tapping sequence determined to have been performed? If yes, go to step S112; if not, go back to step S105;
s112: and the double-arm dulcimer robot finishes the collision and knocking prevention and finishes music playing.
Further, in step S101, for each tapping point (x) of the piano floori,yi,zi) Establishing a fitting plane equation z as a of the piano face knocking point0x+a1y+a2，a0,a1,a2The calculation method comprises the following steps:
wherein, a0、a1Coefficients of X-axis and Y-axis in a fitting plane equation respectively representing the piano face striking points, a2And the intercept on the Z axis in a fitting plane equation representing the piano face knocking point.
Further, in step S103, a fitting plane of the piano bamboo initial position is parallel to a fitting plane of the piano face tapping point, and a plane equation z of the piano bamboo initial position1Comprises the following steps:
z1-h＝a0x+a1y+a2(2)
and h is the height of the fitting plane of the initial position of the piano bamboo higher than the fitting plane of the piano face knocking point.
Further, in step S104, the shortest distance between all adjacent piano face striking points is B, and the piano bamboo end buffer zone of the left arm and the piano bamboo end buffer zone of the right arm are respectively established with the piano bamboo end a (c, d, e) of the left arm and the piano bamboo end B (f, g, h) of the right arm of the dual-arm dulcimer robot as the center and B/2 as the radius.
Further, in step S106, the conditions to be satisfied when the buffers overlap are:
a storage device stores instructions and data and is used for achieving a knocking collision prevention method of a double-arm dulcimer robot.
A collision avoidance device for the knocking of a dual-arm dulcimer robot, comprising: a processor and the storage device; the processor loads and executes the instructions and data in the storage device to realize a knocking collision prevention method for the double-arm dulcimer robot.
The technical scheme provided by the invention has the beneficial effects that: according to the invention, through the plane equation of the initial position of the piano bamboo and the buffer area, the height and the force of the double-arm dulcimer robot during knocking can be controlled more easily, the condition that collision possibly occurs in the knocking process is effectively avoided, and the playing of the double-arm dulcimer robot is more coordinated and more humane.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a flow chart of a knocking collision prevention method of a dual-arm dulcimer robot in an embodiment of the invention;
fig. 2 is a top view of a dulcimer striking plane of the dual-arm dulcimer robot in the embodiment of the present invention;
FIG. 3 is a schematic representation of a plane of fit of the piano face tapping point and a plane of fit of the piano bamboo initial position in an embodiment of the present invention;
fig. 4 is a schematic diagram of the operation of the hardware device in the embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides a knocking and collision prevention method and device for a double-arm dulcimer robot and storage equipment.
Referring to fig. 1, fig. 1 is a flowchart of a knocking collision avoidance method for a dual-arm dulcimer robot according to an embodiment of the present invention, where the dual-arm dulcimer robot includes a left arm and a right arm, and the left arm and the right arm are respectively provided with a bamboo for knocking a piano surface knocking point, and the method specifically includes the following steps:
s101: according to the space coordinates of the piano surface knocking points of the two-arm dulcimer robot, a fitting plane equation of the piano surface knocking points is established by adopting a least square method; coordinates (x) of each hitting point for the piano floori,yi,zi) Establishing a fitting plane equation z as a of the piano face knocking point0x+a1y+a2，a0,a1,a2The calculation method comprises the following steps:
wherein, a0、a1Coefficients of X-axis and Y-axis in a fitting plane equation respectively representing the piano face striking points, a2Representing the intercept on the Z axis in the fitting plane equation of the piano face knocking point;
s102: determining a fitting plane of the piano face knocking points according to the fitting plane equation;
s103: according to the fitting plane of the piano face knocking points, establishing a fitting plane of the piano bamboo initial position to obtain a plane equation of the piano bamboo initial position; the fitting plane of the piano bamboo initial position is parallel to the fitting plane of the piano face knocking point, and the plane equation z of the piano bamboo initial position1Comprises the following steps:
z1-h＝a0x+a1y+a2(2)
and h is the height of the fitting plane of the initial position of the piano bamboo higher than the fitting plane of the piano face knocking point.
In this embodiment, the fitting plane of the initial position of the piano bamboo is two centimeters higher than the fitting plane of the piano face striking point, and the plane equation z of the initial position of the piano bamboo1Comprises the following steps: z is a radical of1-0.02＝a0x+a1y+a2；
S104: calculating the shortest distance b between all adjacent piano face knocking points according to the space coordinates of the piano face knocking points of the double-arm dulcimer robot, and respectively establishing a piano bamboo tail end buffer zone of a left arm and a piano bamboo tail end buffer zone of a right arm according to the shortest distances; respectively taking the bamboo tail end A (c, d, e) of the left arm and the bamboo tail end B (f, g, h) of the right arm of the dual-arm dulcimer robot as centers, and taking B/2 as a radius, and establishing a bamboo tail end buffer zone of the left arm and a bamboo tail end buffer zone of the right arm;
s105: the double-arm dulcimer robot receives a knocking sequence of music;
s106: according to the knocking sequence, judging whether the piano bamboo tail end buffer zone of the left arm and the piano bamboo tail end buffer zone of the right arm are overlapped? If yes, go to step S107; if not, go to step S108; the conditions to be met when the buffer areas are overlapped are as follows:
s107: the tail end of the piano bamboo of the left arm and the tail end of the piano bamboo of the right arm of the dual-arm dulcimer robot respectively strike the striking points nearest to the tail ends of the piano bamboos, and then the step S111 is carried out;
s108: judging whether the distance between the current knocking point and the next knocking point of the left arm or the right arm of the dual-arm dulcimer robot is greater than j/2? If yes, go to step S109; if not, go to step S110; j is the width of a knocking main plane of the double-arm dulcimer robot, and in the knocking process of the double-arm dulcimer robot, the moving range of the tail end of the piano bamboo is in the range of six columns of dulcimer columns;
s109: the next tapping point is tapped with the assistance of the other right arm or left arm, and then the step S111 is reached;
s110: the left arm or the right arm of the double-arm dulcimer robot knocks the next knocking point according to the knocking sequence;
s111: is the tapping sequence determined to have been performed? If yes, go to step S112; if not, go back to step S105;
s112: and the double-arm dulcimer robot finishes the collision and knocking prevention and finishes music playing.
Referring to fig. 2, fig. 2 is a top view of a dulcimer striking plane of the dual-arm dulcimer robot in the embodiment of the present invention, wherein there are six columns in the total, the second column from left to right has two columns of struck keys, and the dulcimer striking principal plane refers to a range where the six columns are located, and the width of the plane is j.
Referring to fig. 3, fig. 3 is a schematic diagram of a fitting plane of a piano face tapping point and a fitting plane of an initial position of a piano bamboo in an embodiment of the invention, and the positions of the tapping points are drawn in a three-dimensional space according to the spatial coordinates of the piano face tapping points of the dual-arm dulcimer robot, and then a fitting plane equation of the piano face tapping points is established by adopting a least square method; and then, according to the fitting plane of the piano face knocking points, establishing a fitting plane of the piano bamboo initial position, and enabling the knocking points of the piano bamboo to be located above the fitting plane of the piano face knocking points so as to control the knocking force of the piano bamboo in the knocking process.
Referring to fig. 4, fig. 4 is a schematic diagram of a hardware device according to an embodiment of the present invention, where the hardware device specifically includes: a knocking collision avoidance device 401 of a two-arm dulcimer robot, a processor 402 and a storage device 403.
A knocking collision avoidance device 401 of a dual-arm dulcimer robot: the knocking collision avoidance device 401 of the dual-arm dulcimer robot realizes the knocking collision avoidance method of the dual-arm dulcimer robot.
The processor 402: the processor 402 loads and executes the instructions and data in the storage device 403 to implement the method for avoiding knocking and colliding of the dual-arm dulcimer robot.
The storage device 403: the storage device 403 stores instructions and data; the storage device 403 is used for implementing the knocking and collision prevention method for the dual-arm dulcimer robot.
The invention has the beneficial effects that: according to the invention, through the plane equation of the initial position of the piano bamboo and the buffer area, the height and the force of the double-arm dulcimer robot during knocking can be controlled more easily, the condition that collision possibly occurs in the knocking process is effectively avoided, and the playing of the double-arm dulcimer robot is more coordinated and more humane.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. The utility model provides a method of avoiding bumping is strikeed to two arms dulcimer robot, two arms dulcimer robot includes left arm and right arm, and left arm and right arm are equipped with the musical instrument bamboo that is used for strikeing the musical instrument face and strikes the point respectively, its characterized in that: the method comprises the following steps:
s101: according to the space coordinates of the piano surface knocking points of the two-arm dulcimer robot, a fitting plane equation of the piano surface knocking points is established by adopting a least square method; for each strike point (x) of the piano facei,yi,zi) Establishing a fitting plane equation z as a of the piano face knocking point0x+a1y+a2，a0,a1,a2The calculation method comprises the following steps:
wherein, a0、a1Coefficients of X-axis and Y-axis in a fitting plane equation respectively representing the piano face striking points, a2Representing the intercept on the Z axis in the fitting plane equation of the piano face knocking point;
s102: determining a fitting plane of the piano face knocking points according to the fitting plane equation;
s103: according to the fitting plane of the piano face knocking points, establishing a fitting plane of the piano bamboo initial position to obtain a plane equation of the piano bamboo initial position;
s104: calculating the shortest distance between all adjacent piano face knocking points according to the space coordinates of the piano face knocking points of the double-arm dulcimer robot, and respectively establishing a piano bamboo tail end buffer zone of a left arm and a piano bamboo tail end buffer zone of a right arm according to the shortest distance;
s105: the double-arm dulcimer robot receives a knocking sequence of music;
s106: according to the knocking sequence, judging whether the piano bamboo tail end buffer zone of the left arm and the piano bamboo tail end buffer zone of the right arm are overlapped? If yes, go to step S107; if not, go to step S108;
s107: the tail end of the piano bamboo of the left arm and the tail end of the piano bamboo of the right arm of the dual-arm dulcimer robot respectively strike the striking points nearest to the tail ends of the piano bamboos, and then the step S111 is carried out;
s108: judging whether the distance between the current knocking point and the next knocking point of the left arm or the right arm of the dual-arm dulcimer robot is greater than j/2? If yes, go to step S109; if not, go to step S110; j is the width of the knocking main plane of the double-arm dulcimer robot;
s109: the next tapping point is tapped with the assistance of the other right arm or left arm, and then the step S111 is reached;
s110: the left arm or the right arm of the double-arm dulcimer robot knocks the next knocking point according to the knocking sequence;
s111: is the tapping sequence determined to have been performed? If yes, go to step S112; if not, go back to step S105;
s112: and the double-arm dulcimer robot finishes the collision and knocking prevention and finishes music playing.
2. The knocking collision avoidance method for the dual-arm dulcimer robot as claimed in claim 1, wherein: in step S103, a fitting plane of the piano bamboo initial position is parallel to a fitting plane of the piano face tapping point, and a plane equation z of the piano bamboo initial position1Comprises the following steps:
z1-h＝a0x+a1y+a2(2)
and h is the height of the fitting plane of the initial position of the piano bamboo higher than the fitting plane of the piano face knocking point.
3. The knocking collision avoidance method for the dual-arm dulcimer robot as claimed in claim 1, wherein: in step S104, the shortest distance between all adjacent piano face striking points is B, and a piano bamboo end buffer zone of the left arm and a piano bamboo end buffer zone of the right arm are respectively established with the piano bamboo end a (c, d, e) of the left arm and the piano bamboo end B (f, g, h) of the right arm of the duel-dulcimer robot as the center and B/2 as the radius.
4. The knocking collision avoidance method for the dual-arm dulcimer robot as claimed in claim 3, wherein: in step S106, the conditions to be satisfied when the buffers overlap are:
5. a storage device, characterized by: the storage device stores instructions and data for realizing the knocking collision avoidance method of the dual-arm dulcimer robot as claimed in any one of claims 1 to 4.
6. The utility model provides a collision equipment is kept away in knocking of both arms dulcimer robot which characterized in that: the method comprises the following steps: a processor and a storage device; the processor loads and executes instructions and data in the storage device to realize the knocking and collision prevention method of the double-arm dulcimer robot as claimed in any one of claims 1 to 4.
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| CN110216677B (en) * | 2019-06-21 | 2022-04-01 | 浙江大学 | Method for generating and optimizing mechanical dexterous hand playing piano action sequence |
| CN110815218B (en) * | 2019-10-31 | 2020-11-27 | 中国地质大学（武汉） | Mechanical arm anthropomorphic track planning method based on motion capture system |
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| US8386080B2 (en) * | 2009-09-15 | 2013-02-26 | Harris Corporation | Robotic apparatus implementing collision avoidance scheme and associated methods |
| TWI405650B (en) * | 2010-12-24 | 2013-08-21 | Univ Nat Taiwan Science Tech | Robot system and method for playing a chord by using the same |
| CN102615648B (en) * | 2011-01-28 | 2014-06-04 | 范钦雄 | Robot system and chord playing method for robot system |
| CN102773853B (en) * | 2012-07-10 | 2014-12-24 | 北京航空航天大学 | Accessory position manipulating and automatic collision prevention monitoring method orientating to dual-arm engineering machinery |
| WO2016128066A1 (en) * | 2015-02-13 | 2016-08-18 | Abb Technology Ltd | A method for avoiding collisions between two robots |
| CN106584479B (en) * | 2016-12-30 | 2019-02-01 | 中国地质大学（武汉） | Dulcimer Robot Dual-Arm based on real time information stream cooperates with anti-intersection playing method |
| CN107610685A (en) * | 2017-09-21 | 2018-01-19 | 张洪涛 | A kind of robot electronic drum plays control method |
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