Design And Research Of Intelligent Notation Recognizing Guitar Playing Robot

In recent years,with the rapid development of software and hardware and the gradual improvement of people’s quality of life,robotics technology has gradually penetrated from a single industrial field to services,education and other fields.Among them,music robots,as an emerging development direction,are of great significance in the field of music education and performance,and help to promote the development of music.Its research and development have attracted much attention.Music robot is a kind of robot that can automatically play musical instruments.Among them,because the guitar is one of the most played musical instruments in the world,it has a wealth of performance methods.Guitar playing robots have been researched at home and abroad.However,existing guitar playing robots have problems such as low performance,complex mechanical structure,and insufficient intelligence.In response to the above problems,this paper designs and develops an intelligent musical score-recognizing guitar playing robot,which can read guitar tablature and perform automatic performances based on guitar scores.The main research contents of this paper are as follows:(1)By analyzing the characteristics of the guitar structure,a high-performance compact string plucking mechanism and a streamlined string pressing mechanism are designed.First,by establishing a three-dimensional digital model,the string pressing mechanism and plucking mechanism of the guitar playing robot are designed.Then complete feasibility verification through calculation and analysis.Finally,according to the mechanical structure of the robot,the control system is designed,mainly for hardware selection and the communication and control between the design hardware.(2)By analyzing the motion requirements of the guitar playing robot,the control algorithms of the robot’s string plucking mechanism and the string pressing mechanism are studied respectively.The state of the plucking arm is coded,and the plucking muting coordinated control of the plucking mechanism is completed through the conversion between the states.Aiming at the motion planning of the string-pressing module,a depth-first searchbased search method for the movement path of the string-pressing module is proposed,and the search process is optimized by methods such as pruning.(3)Research and realization of guitar tablature recognition.First,the structure and production of guitar scores are researched,and a method for making guitar score data sets is proposed.Then,by analyzing the existing target detection methods and the structure of guitar tablature,a traditional projection-based guitar tablature note location method and two deep learning-based guitar tablature note recognition methods are proposed.Finally,a comparative experiment verifies that the method in this paper can identify guitars quickly and accurately.(4)The experimental prototype and comprehensive performance test of the guitar playing robot were carried out.The prototype of the guitar playing robot according to the design is trial-produced.Then test the various actions and sound of the playing robot to test the basic performance of the robot.Finally,a comprehensive test was carried out by letting the robot read scores and play songs.From the test results,it can be seen that the robot’s score recognition and motion planning are correct,the performance is accurate,and it has a good performance effect.