KR20130071706A - Robot motion controller synchronized with sound and dance by joystick - Google Patents

Abstract

PURPOSE: A device for controlling the motion of a robot is provided to arouse the interest of a user by directing various kinds of the performance through controlling the motion of the robot synchronized to a performing signal of the specific frequency generated by the control of a joystick. CONSTITUTION: A device for controlling the motion of a robot comprise a joystick terminal (10), a memory unit, a control unit, and a robot (40). The joystick terminal includes a plurality of joystick units and a plurality of buttons. The memory stores a performing signal of the specific frequency matched in the movement of the joystick unit. The control unit traces the performing signal of the specific frequency which matches to the movement of the joystick unit from the memory unit and outputs a motion control signal or the performing signal of the specific frequency. The robot performs the motion in which the dance is synchronized according to the motion control signal or the performing signal of the specific frequency output from the control unit. [Reference numerals] (AA) Do'; (BB) Do; (CC) Re; (DD) Mi; (EE) Fa; (FF) Sol; (GG) La; (HH) Ti

Description

Robot motion controller synchronized with sound and dance by joystick

The present invention relates to a motion control technology of a robot using a joystick, and more particularly, the motion of the robot is controlled by a dance motion synchronized to a specific frequency (eg, an audio signal of a sound or a sound source) generated by the operation of a joy signal. It relates to a joystick-based synchronized dance and song robot motion controller.

In general, a robot that dances when a specific sound such as a clap is heard has been released to induce interest of the user. Such a robot has a disadvantage in that it only responds to a specific sound and takes only a certain simple motion.

In other words, the robot that dances to the conventional music detects the sound and analyzes the sound to express the proper movement. This takes a lot of time to detect and analyze the sound, and when the analysis is completed and the robot's movement is executed, the timing is appropriate. There was a downside to the robot not dancing.

Accordingly, in order to make up for the above drawbacks, the robot is initially operated without the sound being sensed, but in this case, the robot and the music are synchronized only with the user's feeling, which is also a huge time and cost. This is inevitably necessary, and in particular, the user's subjective feeling of the synchronization must be judged, so the motions of the robot's dance movements can give the feeling that synchronization is not suitable for another user.

In addition, even if the dance movement of the robot is synchronized to one song as described above, this is limited to one song only, and when the user selects another song, it is inconvenient to reset the synchronization process again. there was.

Therefore, the present invention is to improve the conventional problems as described above, by configuring the motion of the robot to be controlled by the motion of the robot synchronized to the performance signal (sound or sound source) of a specific frequency generated by the operation of the joystick, The purpose of the present invention is to provide a joystick-based synchronized dance and song robot motion control device that can induce a user's interest by allowing various performances to be produced according to the dance movements.

The robot motion control apparatus of the present invention joystick-based synchronized dance and song for achieving the above object, Joystick terminal comprising a plurality of joysticks and a plurality of buttons; A memory unit for storing a performance signal of a specific frequency matched with the movement of the plurality of joystick units; A controller for searching for a play signal of a specific frequency matched with the plurality of joystick units when the movement occurs, and outputting a play signal and / or a motion control signal of the specific frequency; A robot performing a motion operation in which a dance motion is synchronized with a performance signal and / or a motion control signal of a specific frequency output from the controller; .

The plurality of buttons may include first and second buttons for selecting joystick selection and vibration options, third to seventh buttons interlocked with the first joystick unit, and eighth interlocking with the second joystick unit. It comprises a to 12th button.

In addition, the first joystick part is moved in a clockwise direction, and when the movement occurs in the 0 degree direction [degree], when the movement occurs in the 45 degree direction [le], when the movement occurs in the 90 degree direction [US] , [Wave] when movement occurs in the direction of 135 degrees, [sol] when movement occurs in the direction of 180 degrees, [d] when movement occurs in the direction of 225 degrees, and [h], when movement occurs in the direction of 270 degrees. When the movement occurs in the direction of Fig. [Fig. '], It is configured to output a play signal (tone scale or sound source) of a specific frequency corresponding to, and according to each scale play signal, the arm of the robot is matched 1: 1 Synchronization is made so that the movement control of the dance movement is controlled in eight steps from bottom to top, respectively.

In addition, the second joystick unit is configured to generate a movement signal (sound scale or sound source) of a specific frequency corresponding to 0 degrees, 90 degrees, 180 degrees, 270 degrees by the movement in the clockwise direction, and the respective scale or According to the sound source playing signal, the robot is configured to perform a movement control of a dance movement controlled to move forward, right rotation, back movement and left rotation while matching 1: 1.

In addition, the sound source performance signal is an instrument sound output sound source that matches the beat, such as guitar, piano, drums, and a special effect sound output sound source including a gunshot sound and a bird sound.

In addition, in the third to seventh buttons that are interlocked with the first joystick unit, the third button is made to perform or selectively perform the performance signal output mode of the specific frequency and the motion control mode of the robot at the same time according to the number of presses The fourth button is set to lower the performance signal output level (octave) of a specific frequency, and the fifth button is to set the performance signal output level (octave) of a specific frequency to a default value. The sixth button is set to increase the play signal output level (octave) of the specific frequency, and the seventh button is set to change the play signal target of the specific frequency.

In addition, in the eighth to twelfth buttons interlocked with the second joystick unit, the eighth button may simultaneously or selectively perform a performance signal output mode of a specific frequency and a motion control mode of the robot according to the number of presses. The ninth button is set to lower the performance signal output level (octave) of a specific frequency, and the tenth button is to set the performance signal output level (octave) of a specific frequency to a default value. The eleventh button is set to increase the play signal output level (octave) of the specific frequency, and the twelfth button is set to change the play signal target of the specific frequency.

As described above, the present invention is configured to control the motion of the robot by a dance motion synchronized with a play signal (sound or sound source) of a specific frequency generated by the operation of the joystick, thereby varying the performance according to the dance motion of the robot. By making it possible to produce the user's interest can be expected.

1 is a schematic configuration diagram of a robot motion control apparatus of a joystick-based synchronized dance and song according to an embodiment of the present invention.
Figure 2 is a block diagram for a robot motion control apparatus of a joystick-based synchronized dance and song in an embodiment of the present invention.
3 is a plan view showing the structure of a joystick terminal according to an embodiment of the present invention.
Figure 4 is a rear view showing the structure of a joystick terminal in an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a schematic configuration diagram of a robot motion control apparatus of a joystick-based synchronized dance and song as an embodiment of the present invention, and FIG. 2 is a robot motion of a joystick-based synchronized dance and song as an embodiment of the present invention. Figure 3 is a block diagram of a control device, Figure 3 is a plan view showing the structure of a joystick terminal in an embodiment of the present invention, Figure 4 is a rear view showing the structure of a joystick terminal in an embodiment of the present invention.

1 to 4, a robot motion control apparatus for synchronized dance and song based on a joystick according to an embodiment of the present invention includes a joystick 10, a memory unit 20, a controller 30, and a robot. And 40.

The joystick terminal 10 includes a plurality of first and second joystick parts 11 and 12 and a plurality of buttons b1 to b12, wherein the plurality of buttons are selected to select joystick and vibration options, respectively. First and second buttons b1 and b2, third to seventh buttons b3-b7 interlocked with the first joystick part 11, and eighth to interlocked parts with the second joystick part 12. It is comprised including the 12th button (b8-b12).

At this time, the first joystick unit 11 generates a movement in a clockwise direction. When the movement occurs in the 0 degree direction, [degrees], when the movement occurs in the 45 degree direction, [le], the movement occurs in the 90 degree direction. [Me] when the movement occurs in the direction of [270], [wave] when the movement occurs in the direction of 135 degrees, [sol] when the movement occurs in the direction of 180 degrees, [d] when the movement occurs in the direction of 225 degrees, and [d] when the movement occurs in the direction of 270 degrees. When a movement occurs in the direction of 315 degrees, the performance signal (scale) of a specific frequency corresponding to [degree], is output, and the output performance signal (scale) is stored in the memory unit 20. It is.

That is, after the controller 30 recognizes the movement angle of the first joystick unit 11, the memory unit 20 searches for a performance signal corresponding to the movement angle, and the robot performs the searched performance signal. By transmitting to 40, the robot 40 is to allow the motion of the dance motion synchronized with the playing signal of the specific frequency.

In other words, the arm of the robot 40 is synchronized with the respective musical scale playing signal in a 1: 1 match, so that the movement control of the dance operation is controlled in eight stages from the bottom to the top, respectively. It is.

The second joystick unit 11 is configured to output a performance signal (tone scale or sound source) of a specific frequency corresponding to 0 degrees, 90 degrees, 180 degrees, and 270 degrees due to the movement in the clockwise direction. 40 is the movement control of the dance movement is controlled to move forward, right rotation, back movement, left rotation while the synchronization is 1: 1 matched to each scale or sound source playing signal.

Here, the sound source playing signal may be an instrument sound output sound source that beats the beat, such as a guitar, piano, drum, and a special effect sound output sound source including a gunshot sound and a bird sound, but are not necessarily limited thereto. It can be changed in various ways according to conditions.

In this case, the first joystick unit 11 and the third to seventh buttons b3-b7 are interlocked, and the third button b3 is a play signal output mode and a robot 40 having a specific frequency according to the number of presses. The motion control mode of) is set to be performed simultaneously or selectively. The fourth button (b4) is set to lower the performance signal output level (octave) of a specific frequency, and the fifth button (b5). ) Is to set the performance signal output level (octave) of a specific frequency to the default value, and the sixth button (b6) is set to increase the performance signal output level (octave) of a specific frequency, and the seventh button (b7) ) Is to change the sound signal source that matches the beat of a specific frequency, that is, guitar, piano, drums, or special effect sound output sources including guns and birds. .

In addition, the second joystick unit 12 and the eighth to twelfth buttons b8-b12 are linked to each other, and the eighth button b8 has a play signal output mode and a robot 40 having a specific frequency according to the number of presses. The motion control mode of) is set to be performed simultaneously or selectively. The ninth button (b9) is set to lower the performance signal output level (octave) of a specific frequency, and the tenth button (b10). ) Sets the performance signal output level (octave) of a specific frequency to a default value, and the eleventh button b11 is set to increase the performance signal output level (octave) of a specific frequency, and the twelfth button (b12). ) Is used to change the sound signal source that matches the beat of a specific frequency, that is, guitar, piano, drum, or special sound effect sound source including gun and bird sound. will be.

Here, the memory unit 20 stores a musical scale and a sound source which are performance signals of a specific frequency matched with the movement of the plurality of first and second joystick units 11 and 12, and the controller 30 When the movement of the plurality of first and second joystick parts 11 and 12 occurs, the play signal of a specific frequency matched thereto is searched from the memory unit 20, the play signal and / or motion of the specific frequency. It is configured to output a control signal to the robot 40.

In the robot 40, the movement of the arm is controlled by the first joystick part 11, as well as the front, rear, left, and right directions as well as the rotation of the arm by the second joystick part 12. According to the performance signal and / or the motion control signal of a specific frequency output from the configuration is configured to perform the motion operation is synchronized with the dance motion.

1 to 4, in detail, first, the user moves the first joystick 11 to 0 degrees (up), 45 degrees, 90 degrees (right), 135 degrees, 180 degrees (down), When moving at 225 degrees, 270 degrees (left) and 315 degrees, the motion signal of the first joystick unit 11 is input to the controller 30.

Then, the controller 30 searches for a performance signal according to the movement direction of the first joystick unit 11 from the memory unit 20, and according to the search results, respectively, [degrees], [les], [ Me, [wave], [sol], [ra], [hour], [degree], while generating the play signal, the height of the arm 40 of the robot 40 to match the play signal 1: 8 Control as a step.

Then, the arm of the robot 40 demonstrates the dance motion while being synchronized with the playing signal of pressing the key by the movement angle of the first joystick part 11.

At this time, when the user is configured in the joystick terminal 10 and presses the seventh button (b7) interlocked with the first joystick unit 11, the instrument sound to beat the target of the performance signal of a specific frequency, such as guitar, piano, drum When changing to an output sound source or a special sound effect output sound source including a gunshot and a bird sound, the push signal of the seventh button (b7) is transmitted to the controller 30, the arm movement of the robot 40 While the set height is controlled differently by the controller 30 while being synchronized with the changed performance signal object, the dance motion can be performed.

Here, the output level (octave) for the performance signal of the specific frequency generated according to the movement angle of the first joystick unit 11 is the third to sixth button (b3) linked to the first joystick unit 11 (b4) (b5) (b6) to control the high and low, which means that the user presses the third to sixth buttons (b3) (b4) (b5) (b6) at the same time or changes the pressing order While the output level (octave) of the performance signal can be freely changed, according to the pressing conditions of the third to sixth buttons (b3), (b4), (b5) and (b6), various performance signals are output. By interlocking with the arm setting height of the robot 40 is also high and low is to be able to perform the dance motion motion.

On the other hand, as described above, according to the movement angle of the first joystick unit 11, the motion control of the dance movement is freely changed according to the output level (octave) of the output signal (octave) of the output signal is output In the state, when the user operates another second joystick part 12 in the directions of 0 degrees (up), 90 degrees (right), 180 degrees (down), and 270 degrees (left), the operation signal is controlled by the control unit ( 30).

Then, the control unit 30 outputs a signal for controlling the movement of the robot 40, that is, a motion control signal 1: matched to the forward movement, the right rotation, the backward movement, and the left rotation, and accordingly, the robot 40 ) Is a motion matched with the play signal, that is, the motion control reminiscent of the dance motion can be made.

That is, according to the present invention, when simultaneously controlling the movement angles of the first and second joystick parts 11 and 12, the present invention may be performed according to a specific frequency generated according to the movement angles of the first and second joystick parts 11 and 12. The play signal is generated and matched to the play signal of a specific frequency generated in this way, the robot 40 performs the motion of the dance motion, as well as the motion of the dance motion in which the arm setting height of the robot 40 is changed. Will be done.

Here, the third to sixth buttons b3, b4, b5 and b6 interlocked with the first joystick part 11 as well as the eighth to eleventh buttons b8 interlocked with the second joystick part 12. Since b9, b10 and b11 can be pressed at the same time, a plurality of output levels (octaves) of a performance signal can be combined.

Although the technical idea of the joystick-based synchronized dance and song robot motion control apparatus of the present invention has been described above with reference to the accompanying drawings, this is illustrative of the best embodiment of the present invention. no.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined by the appended claims. It is to be understood that such changes and modifications are within the scope of the claims.

10; Joystick terminals 11,12; 1,2 Joystick
20; A memory unit 30; The control unit
40; robot

Claims (7)

A joystick terminal including a plurality of joystick parts and a plurality of buttons;
A memory unit for storing a performance signal of a specific frequency matched with the movement of the plurality of joystick units;
A controller for searching for a play signal of a specific frequency matched with the plurality of joystick units when the movement occurs, and outputting a play signal and / or a motion control signal of the specific frequency; And
A robot performing a motion operation in which a dance motion is synchronized with a performance signal and / or a motion control signal of a specific frequency output from the controller; Robot motion control of the joystick-based synchronized dance and song, characterized in that comprising a configuration. The method of claim 1,
The plurality of buttons may include first and second buttons for selecting joystick and vibration options, third to seventh buttons interlocked with the first joystick unit, and eighth to twelfth interlocked with the second joystick unit. Robot motion control device of the joystick-based synchronized dance and song, characterized in that it comprises a button. 3. The method of claim 2,
The first joystick unit is moved in the clockwise direction,
[De] when movement occurs in the 0 degree direction, [Le] when movement occurs in the 45 degree direction, [me] when movement occurs in the 90 degree direction, [wave], 180 degree when movement occurs in the 135 degree direction Direction [Sol] when movement occurs in the direction, [D] when movement occurs in the direction of 225 degrees, [hour] when movement occurs in the direction of 270 degrees, and [degrees] when movement occurs in the direction of 315 degrees. It is configured to output the playing signal (sound scale or sound source) of a specific frequency,
According to each of the scale playing signal, the robot's arm is configured to be controlled to match the movement of the dance motion controlled by the set height in eight steps from the bottom to the top while being synchronized to match 1: 1 Joystick-based synchronized motion and song robot motion control. 3. The method of claim 2,
The second joystick part is moved in the clockwise direction,
It is configured to output a performance signal (sound scale or sound source) of a specific frequency corresponding to 0 degrees, 90 degrees, 180 degrees, 270 degrees,
The robot is configured to perform movement control of the forward movement, the right rotation, the backward movement, and the left rotation control while the robot is 1: 1 matched according to each scale or sound playing signal. Joystick-based synchronized motion and song robot motion control. The method of claim 3, wherein the sound source performance signal is a joystick-based sound source including an instrument sound output sound source that matches the time signature of a guitar, a piano, a drum, and a special effect sound output sound including a gun sound and a bird sound. Robotic motion control for synchronized dance and song. The method of claim 3, wherein
In the third to seventh button that is interlocked with the first joystick unit,
The third button is to set the play signal output mode of a specific frequency and the motion control mode of the robot simultaneously or selectively according to the number of presses, and the fourth button is a play signal output level (octave) of a specific frequency. The fifth button is to set the performance signal output level (octave) of a specific frequency to the default value, and the sixth button is set to increase the performance signal output level (octave) of a specific frequency. The seventh button is a robot motion control apparatus of the joystick-based synchronized dance and song, characterized in that the setting to change the target of the playing signal of a specific frequency. The method of claim 4, wherein
In the eighth to twelfth button to be interlocked with the second joystick unit,
The eighth button is to set the play signal output mode of a specific frequency and the motion control mode of the robot simultaneously or selectively according to the number of presses, and the ninth button sets the play signal output level (octave) of a specific frequency. ) Is set to lower, the tenth button is to set the performance signal output level (octave) of a specific frequency to the default value, and the eleventh button is set to increase the performance signal output level (octave) of a specific frequency The twelfth button is a robot motion control apparatus of the joystick-based synchronized dance and song, characterized in that the setting to change the target of the playing signal of a specific frequency.

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