JP2009198551A - Musical instrument playing robot and automatic musical instrument playing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To automatically correct pitch shift caused by difference of surrounding temperature and individual difference of a musical instrument or the like. <P>SOLUTION: The musical instrument playing robot, which plays the musical instrument by performance motion, includes: a sound information input section 31 for inputting performance sound of the musical instrument which is played by the performance motion; a determination section for determining the pitch shift by comparing a pitch of performance sound which is input to the sound information input section 31 with a reference sound; and a correction section for correcting the performance motion based on the pitch shift determined by the determination section. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a musical instrument playing robot for playing musical instruments, and an automatic musical instrument playing method for automatically playing musical instruments.

  2. Description of the Related Art Conventionally, robots that play musical instruments by mechanically moving limbs and the like are known (see, for example, Patent Document 1). The musical instrument playing robot described in Patent Document 1 stores time-series data (scale data) of musical scales, and robot operation command values (actuator control amount, arm position, etc.) for generating sounds of each scale. Musical instruments can be played at the same time. About tempo and volume, it is possible to use scale data or change according to the movement of the conductor.

  In such a conventional musical instrument playing robot, even if it operates according to the robot operation command value for generating each sound of the scale due to the difference in ambient temperature and instrumental difference, the pitch of the sound to be generated is aimed. May deviate from the pitch of. Conventional musical instrument playing robots do not take into account the function of easily correcting the pitch deviation on the spot.

For example, in a woodwind instrument, sound is produced by resonating air in the instrument, and the sound is changed by changing the frequency. The frequency f (Hz) is determined by the sound velocity V (m / s) and the wavelength λ (m), and the sound velocity V is expressed by the following equation (1) as a function of the temperature t.
V = 331.5 + 0.6t (1)

  At this time, if the frequency f of the sound used for tuning is calculated at t = 20 ° C. and 21 ° C., respectively, a shift of about 1.36 Hz occurs. This is a level at which a pitch shift can be discriminated even by hearing with human ears depending on the sound.

  If the ambient temperature during the operation of the musical instrument playing robot is the same as the ambient temperature when the robot operation command value is created, the pitch does not shift, but they do not necessarily match. For this reason, when the ambient temperature at the time of operation and the ambient temperature at the time of creating the robot operation command value do not match, it may be necessary to correct pitch deviation. In addition, it takes an enormous amount of time to manually correct this pitch deviation.

  Conventionally, it has been necessary to create scale data in advance and store it in the musical instrument playing robot. For this reason, only the music of the stored scale data can be played, and improvisational performance cannot be performed. Further, MIDI format data is used as conventional scale data. Creating this MIDI data requires manual processing such as music recording, WAVE file conversion, WAVE file to MIDI file data conversion, and the robot itself does not have such a function. .

JP 2004-354613 A

  As described above, the conventional musical instrument playing robot has a problem that the ambient temperature during operation does not match the ambient temperature when the robot operation command value is created, and the pitch shifts. In addition, conventional musical instrument performance robots can only perform songs of stored scale data, and cannot perform improvisational performances.

  The present invention has been made against the background of the above circumstances, and an object of the present invention is to play a musical instrument that can correct pitch deviation caused by differences in ambient temperature, instrumental instrumental differences, and the like. It is to provide a robot and musical instrument automatic performance method. It is another object of the present invention to provide a musical instrument performance robot and an automatic musical instrument performance method capable of performing improvisation.

  A musical instrument performance robot according to a first aspect of the present invention is a musical instrument performance robot that performs a performance operation and performs a musical instrument, and a sound information input unit for inputting a performance sound of the musical instrument performed by the performance operation And a discriminating unit that discriminates pitch deviations by comparing the pitches of performance sounds input to the sound information input unit with reference pitches, and based on pitch deviations discriminated by the discriminating units. And a correction unit for correcting the performance operation. As a result, it is possible to automatically correct pitch deviations caused by differences in ambient temperature, instrumental instrumental differences, and the like.

  A musical instrument performance robot according to a second aspect of the present invention includes a sound information input unit, a scale data generation unit that analyzes sound input from the outside to the sound information input unit and generates scale data, and the scale An operation command value generation unit that generates a robot operation command value for performing a performance operation based on the data is provided. As a result, the music playing robot can listen to music and perform improvisation.

  The musical instrument performance robot according to a third aspect of the present invention is the musical instrument performance robot according to the above, wherein the sound information input unit inputs a performance sound of the musical instrument performed by the performance operation, and the sound information input unit The pitch of the performance sound input to the reference pitch is compared with a reference pitch, and the performance operation is corrected based on the discriminator for discriminating the pitch difference and the pitch deviation discriminated by the discriminator. And a correction unit. Thereby, an improvisation performance can be performed, and further, a pitch shift can be automatically corrected.

  The musical instrument performance robot according to a fourth aspect of the present invention is the instrument performance robot described above, further comprising a storage unit that stores a reference pitch of the sound of each scale of the instrument, and for each sound of each scale, It is characterized by correcting performance performance. This makes it possible to adjust the pitch of the sound of each scale.

  An automatic musical instrument performance method according to a fifth aspect of the present invention is a musical instrument automatic performance method for a musical instrument performance robot that performs a musical performance and performs a musical instrument, and inputs a performance sound of the musical instrument performed by the performance performance. The pitch of the performance sound is compared with a reference pitch to determine a pitch shift, and the performance operation is corrected based on the pitch shift. As a result, it is possible to automatically correct pitch deviations caused by differences in ambient temperature, instrumental instrumental differences, and the like.

  According to a sixth aspect of the present invention, there is provided an automatic musical instrument performance method for analyzing a sound input from the outside to a sound information input unit, generating scale data, and performing a performance operation based on the scale data. Generates robot operation command value. As a result, the music playing robot can listen to music and perform improvisation.

  A musical instrument automatic performance method according to a seventh aspect of the present invention is the musical instrument automatic performance method described above, wherein a performance sound of the musical instrument performed by the performance operation is input and input to the sound information input unit. The pitch of the played sound is compared with a reference pitch, a pitch shift is determined, and the performance operation is corrected based on the pitch shift. Thereby, an improvisation performance can be performed, and further, a pitch shift can be automatically corrected.

  An instrument automatic performance method according to an eighth aspect of the present invention is the instrument automatic performance method described above, wherein a reference pitch of a sound of each scale of the instrument is stored, and for each sound of each scale, Correct performance. This makes it possible to adjust the pitch of the sound of each scale.

  ADVANTAGE OF THE INVENTION According to this invention, the musical instrument performance robot and musical instrument automatic performance method which can correct the shift | offset | difference of the pitch which generate | occur | produces by the difference of ambient temperature, the instrumental instrument difference, etc. can be provided. In addition, it is possible to provide a musical instrument playing robot and an automatic musical instrument playing method capable of performing improvisation.

  A musical instrument playing robot according to an embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram showing a configuration of a musical instrument playing robot 10 according to the present embodiment. FIG. 2 is a view for explaining the configuration of a wind instrument playing actuator (hereinafter referred to as a performance actuator) 13 mounted on the instrument playing robot 10 shown in FIG. FIG. 3 is a block diagram showing the configuration of the control unit of the musical instrument playing robot 10 according to the present embodiment. FIG. 4 is a block diagram showing a configuration in the CPU.

  The musical instrument performance robot 10 according to the present invention can correct subtle deviations in pitches caused by differences in ambient temperature, instrumental instrumental differences, and the like. In addition, it is possible to perform improvisation by listening to songs. Here, an example in which a saxophone that is a wind instrument is used as an instrument played by the instrument playing robot 10 will be described.

  As shown in FIG. 1, a musical instrument playing robot 10 according to the present invention is a humanoid robot (humanoid robot). FIG. 1 schematically shows how the musical instrument playing robot 10 plays the saxophone 20. The musical instrument playing robot 10 includes a large number of joints in the legs, arms, hands, fingers, and the like in order to perform substantially the same movement as a human. The musical instrument playing robot 10 includes a right hand 11 and a left hand 12 for holding the saxophone 20. Furthermore, it has the control part 30 (refer FIG. 3) for commanding operation | movement of these joint parts.

  A performance actuator 13 to be described later is mounted on the mouth of the musical instrument performance robot 10 via a mouthpiece 21. Outside the musical instrument playing robot 10, an air supply unit (not shown) that supplies pressurized air for performance, and air from the air supply unit to the performance actuator 13 mounted inside the musical instrument performance robot 10. Is connected to the air supply pipe 14. In this way, the musical instrument playing robot 10 operates the joints of the fingers of the right hand 11 and the left hand 12 that hold the saxophone 20, and is supplied with air at a predetermined flow rate to the performance actuator 13, whereby the saxophone 20 Can be played.

  The saxophone 20 has an air flow path (not shown) therein, and a mouthpiece 21 is connected to the upstream end of the air flow path. The mouthpiece 21 is connected to the mouth of the musical instrument performance robot 10 via the performance actuator 13. Further, the saxophone 20 has a piston group composed of a plurality of pistons (not shown), and each piston of these piston groups is operated by the operation of the finger part of the musical instrument playing robot 10 to change the generated sound. It becomes possible to do. As a mechanism for driving the finger portion of the musical instrument playing robot 10, an electric motor, an artificial muscle actuator that contracts when a voltage is applied, or the like can be used.

  Next, a detailed configuration of the performance actuator 13 shown in FIG. 1 will be described with reference to FIG. FIG. 2 schematically shows the internal structure of the mouthpiece 21 connected to the performance actuator 13 incorporated in the musical instrument performance robot 10. As shown in FIG. 2, the mouthpiece 21 has a mouthpiece body 21a having an air inlet 22 and one end fixed to the mouthpiece body 21a, and the other end can be freely bent in the vicinity of the air inlet 22. The lead 21b extending in the air inflow direction is provided. The performance actuator 13 is provided with an elastic member 23 that presses the lead 21b. The elastic member 23 is electrically connected to a control unit 30 provided inside the musical instrument performance robot 10. The pitch of the sound generated from the saxophone 20 can be adjusted by changing the position of contact with the lead 21b, the pressing force, and the like according to a command from the control unit 30.

  In addition, the performance actuator 13 includes a case 24 that is supplied with pressurized air from an air supply unit (not shown) provided outside the musical instrument performance robot 10 via an air supply pipe 14. Yes. A regulator 25 and a flow rate adjusting unit 26 are connected between the case 24 and the air supply pipe 14. The pressure of the pressurized air supplied by the regulator 25 is adjusted. The conditioned air flows into the flow rate adjusting unit 26 through the piping. The flow rate adjusting unit 26 is electrically connected to a control unit 30 provided inside the musical instrument playing robot 10, and adjusts the flow rate of air supplied to the inside of the case 24 according to a command from the control unit 30. Thus, the volume can be controlled by appropriately controlling the flow rate of the inflow air necessary for the performance in accordance with the music to be performed.

  In the case 24, there are provided a tongued portion 27 fixed in the vicinity of the air inlet 22 of the mouthpiece body 21a and a position displacement portion 28 for displacing the position of the elastic member 23 contacting the lead 21b. ing. The tongue unit 27 and the position displacement unit 28 are electrically connected to the control unit 30, and their operations are controlled by commands from the control unit 30. The tongue unit 27 switches between a state in which the elastic member is in contact with the vicinity of the air inlet 22 of the mouthpiece body 21a and a state in which the elastic member is not in contact. The position displacement unit 28 changes the contact position with the lead 21b, the pressing force, and the like. Note that an artificial muscle actuator including an artificial muscle may be used as a mechanism for driving the elastic member, and a known controllable drive mechanism such as a known motor may be used.

  Here, the control unit 30 will be described in detail with reference to FIG. As shown in FIG. 3, the control unit 30 includes a sound information input unit 31, a memory 32, and a CPU 33. The sound information input unit 31 analyzes the scale and volume of an externally input sound and takes in the pitch, volume, and sound length (time) as measurement data.

  The memory 32 stores a reference scale-robot operation command value 34a, reference pitch data 34b, a pitch adjustment algorithm 34c, and a performance scale-robot operation command value 34d. The reference scale-robot operation command value 34a is used to instruct the operation of the robot with respect to the sound of each scale of the reference scale. That is, the reference scale-robot operation command value 34a corresponds to the sound of each scale, and the air flow rate, the contact position between the elastic member 23 and the lead 21b, the pressing force, and the saxophone 20 are gripped with a predetermined piston. A performance action such as an arm position or a finger position for pressing is determined.

  The reference pitch data 34b is a value serving as a reference for the pitch corresponding to the sound of each scale of the reference scale. The pitch adjustment algorithm 34c is for correcting a deviation between the pitch of the performance sound emitted from the saxophone 20 by performing a performance operation and the reference pitch stored in the reference pitch pitch data 34b. is there. The musical performance scale-robot operation command value 34d is data for actually causing the musical instrument performance robot 10 to perform. That is, the musical scale-robot action command value 34a for performance determines the performance action of each part corrected based on the pitch deviation. That is, the air flow rate, the contact position between the elastic member 23 and the lead 21b, the pressing force, and the like can be rewritten according to the pitch deviation.

  Next, the configuration of the CPU 33 will be described. As shown in FIG. 4, the CPU 33 includes a pitch deviation determination unit 33a, a robot operation command value correction unit 33b, an operation instruction unit 33c, and a scale data creation unit 33d. The pitch shift discriminating unit 33a compares the pitch measurement data of the performance sound generated by the performance operation input from the sound information input unit 31 with the reference pitch pitch data 34b corresponding to the sound. The robot operation command value correction unit 33b corrects the robot operation command value by the pitch adjustment algorithm 34c according to the difference between the pitch of the measurement data and the reference pitch. In response to this, the performance scale-robot operation command value 34d is rewritten.

  The operation instruction unit 33c supplies a control signal for driving the elastic member 23, the arm unit, and the finger unit to each of the actuators 35a, 35b,... According to the corrected musical scale for performance-robot operation command value 34d. . Thus, since the performance operation can be corrected according to the difference between the pitch of the performance sound of the musical instrument played by the performance operation and the reference pitch of the reference pitch data 34b, the difference in ambient temperature, It is possible to automatically correct a subtle shift in pitch that occurs due to the influence of instrumental instrument differences. In addition, it is preferable to correct the performance operation for each sound of each scale. This makes it possible to adjust the pitch of the sound of each scale.

  The scale data creation unit 33d can create scale data based on the measurement data of the sound information input unit 31, and can generate a performance action of the musical instrument performance robot 10. Therefore, it is possible to cause the musical instrument playing robot 10 to play the same song as the music that the instrument playing robot 10 has improvised by simply listening to the music.

  Here, the instrument automatic performance method according to the present invention will be described with reference to FIG. FIG. 5 is a flowchart for explaining the automatic musical instrument performance method according to the present embodiment. As described above, the musical instrument performance robot 10 according to the present invention can perform (1) improvisation by listening to music, and (2) correct subtle deviations in pitch. Can do. Therefore, first, a method for performing an improvisational performance shown in FIG.

  As shown in FIG. 5A, first, the musical instrument playing robot 10 is made to listen to music (step S1). The sound information input unit 31 performs sound analysis of music input from the outside (step S2). Specifically, the sound information input unit 31 takes in the pitch, volume, and length (time) of each sound in the music heard by the musical instrument playing robot 10 as measurement data.

  Then, based on the measurement data analyzed by the sound information input unit 31, the scale data creation unit 33d creates scale data (step S3). The scale data is data including pitch, volume, and sound length. Thereafter, a robot operation command value is generated using the reference scale-robot operation command value 34a according to the scale data (step S4). The generated robot operation command value is stored in the memory 32 as a musical performance scale-robot operation command value 34d. The musical instrument performance robot 10 can perform a performance by reading out the performance scale-robot operation command value 34d from the memory 32.

  When the musical performance robot 10 is made to hear the musical performance and the musical scale-robot operation command value 34d is generated, the difference in pitch of each musical scale due to the surrounding environment, instrumental differences, etc. is not taken into consideration. For this reason, it may be necessary to correct pitch deviation. When correcting the pitch shift, the pitch shift can be corrected in steps as shown in FIG. First, the musical performance robot 10 performs a performance operation based on the performance scale-robot operation command value 34d generated in FIG. 5A and confirms the operation (step S5). At the same time, the sound information input unit 31 records the performance sound of the saxophone 20 performed by the performance operation.

  Then, the measurement data of the pitch of the performance sound recorded by the sound information input unit 31 is compared with the reference pitch pitch data 34b, and it is determined whether or not the pitch deviation is within an allowable range (step S6). . When it is determined that the pitch deviation is outside the allowable range (step S6 NO), the robot operation command value is corrected using the pitch adjustment algorithm 34c (step S7). For example, the robot operation command value is corrected so that the contact position between the lead 21b and the elastic member 23 is changed. This makes it possible to automatically correct the pitch deviation.

  Then, the corrected robot operation command value is stored in the memory 32 as a new performance scale-robot operation command value 34d, and the musical instrument performance robot 10 is again used using the corrected performance scale-robot operation command value 34d. The performance is confirmed by performing a performance operation (return to step S5). The measurement data recorded by the sound information input unit 31 is compared with the reference pitch data 34b, and steps S5, S6, and S7 are repeated until the pitch is within the allowable range. If it is determined in step S6 that the pitch deviation is within the allowable range (YES in step S6), the performance operation of the musical instrument performance robot 10 is determined with the robot operation command value (step S8).

  As described above, according to the present invention, the performance operation can be corrected according to the difference between the pitch of the performance sound of the musical instrument played by the performance operation and the reference pitch of the reference pitch data 34b. It is possible to automatically correct subtle deviations in pitch that occur due to differences in ambient temperature, instrumental instrumental differences, and the like.

  Note that the musical scale-robot operation command value 34d may be corrected so as to eliminate pitch deviation before the musical instrument playing robot 10 listens to music. That is, first, according to the reference scale-robot operation command value 34 a, the musical instrument playing robot 10 scale is played all at once and recorded by the sound information input unit 31. Then, the reference pitch pitch data 34b is compared with the measurement data, and if the pitch deviation is found to be outside the allowable range, the robot operation is corrected according to the pitch adjustment algorithm 34c, and a new performance scale-robot operation is performed. The command value 34d is stored in the memory 32. After the correction, the operation of the musical instrument playing robot 10 is confirmed, the deviation from the reference pitch is confirmed again, and thereafter, the correction is performed until the deviation from the measurement data from the reference pitch data is within an allowable range. The musical performance robot 10 can be played in accordance with the scale data using the corrected musical scale-robot operation command value 34d.

  In the present embodiment, a saxophone that is a wind instrument has been described as an example of a musical instrument. However, the present invention is not limited to this. For example, the present invention can be applied to stringed instruments such as violins, percussion instruments such as xylophone, and other various instruments. It is possible to change the pitch by changing the pressed position (finger position) of a string in the case of a stringed instrument, and changing the hit position (arm position) in the case of a percussion instrument.

It is a figure which shows the structure of the musical instrument performance robot which concerns on embodiment. It is a figure which shows the structure of the manipulator for wind instrument performance mounted in the musical instrument performance robot shown in FIG. It is a block diagram which shows the structure of the control part mounted in the musical instrument performance robot shown in FIG. FIG. 3 is a block diagram illustrating a configuration of a CPU illustrated in FIG. 2. It is a flowchart for demonstrating the musical instrument automatic performance method which concerns on embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Musical instrument performance robot 11 Right hand 12 Left hand 13 Performance actuator 14 Air supply pipe 20 Saxophone 21 Mouthpiece 21a Mouthpiece body 21b Lead 22 Air inflow port 23 Elastic member 24 Case 30 Control unit 31 Sound information input unit 32 Memory 33 CPU
33a Pitch deviation discriminating unit 33b Robot operation command value correcting unit 33c Operation instruction unit 33d Scale data creating unit 34a Reference scale-robot operation command value 34b Reference pitch pitch data 34c Pitch adjustment algorithm 34d Performance scale-Robot operation command value 35a, 35b, ... Actuator

Claims (8)

An instrument playing robot that performs musical performances and performs musical instruments,
A sound information input unit for inputting a performance sound of the musical instrument performed by the performance operation;
A discrimination unit that compares the pitch of the performance sound input to the sound information input unit with a reference pitch and discriminates the deviation of the pitch;
A musical instrument performance robot, comprising: a correction unit that corrects the performance action based on a pitch shift determined by the determination unit. A sound information input section;
Analyzing the sound input to the sound information input unit from the outside, and generating a scale data generating unit,
Based on the scale data, an operation command value generating unit that generates a robot operation command value for performing a performance operation,
Musical instrument playing robot with The sound information input unit inputs a performance sound of the musical instrument performed by the performance operation,
A determination unit that compares the pitch of the performance sound input to the sound information input unit with a reference pitch, and determines a pitch deviation;
The musical instrument performance robot according to claim 1, further comprising: a correction unit that corrects the performance action based on a pitch shift determined by the determination unit. A storage unit for storing a reference pitch of a sound of each scale of the musical instrument;
The musical instrument performance robot according to claim 1 or 3, wherein the performance operation is corrected for each sound of each scale. A musical instrument automatic performance method for a musical instrument performance robot that performs musical performances and performs musical instruments,
Input the performance sound of the instrument performed by the performance operation,
Compare the pitch of the performance sound with a reference pitch, determine the deviation of the pitch,
An automatic musical instrument performance method for correcting the performance operation based on the pitch deviation. Analyzing the sound input to the sound information input unit from outside, generating scale data,
A musical instrument automatic performance method for generating a robot operation command value for performing a performance based on the scale data. Input the performance sound of the instrument performed by the performance operation,
Compare the pitch of the performance sound input to the sound information input unit with a reference pitch, determine the deviation of the pitch,
6. The automatic musical instrument performance method according to claim 5, wherein the performance operation is corrected based on the pitch deviation. Memorize the reference pitch of the sound of each musical instrument scale;
The musical instrument automatic performance method according to claim 5 or 7, wherein the performance operation is corrected for each sound of each scale.

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