A tuning device, a control method and a musical instrument

Abstract

The present application discloses a tuning device, a control method and a musical instrument. The tuning device includes a clamping mechanism for clamping a musical instrument; two actuators are relatively located above and below the surfaces of both sides of the musical instrument, including a driving component and a tuning component, the driving component drives the tuning component to move, and each tuning component can tune the musical instrument respectively; a measuring mechanism can be movably arranged adjacent to the tuning component, including a testing component and a detection component, the detection component is used to obtain information about the area to be processed of the musical instrument, and the testing component can make the musical instrument sound; the control device can control the testing component to reach a preset position and make the musical instrument sound according to the information of the detection component, and control the driving component and the corresponding tuning component to achieve tuning according to the frequency and spatial position information of the sound of the musical instrument. The area to be tuned of the musical instrument and the sound frequency of the musical instrument are determined by the measuring mechanism, and the tuning is performed by the actuator machine, so as to realize the automation of the musical instrument tuning process and improve the production efficiency of the musical instrument.

Description

Technical Field

[0001] The present application relates to the technical field of musical instrument tuning, and in particular to a tuning device, a control method and a musical instrument. Background Art

[0002] Musical instruments play an important role in different types of music performances and creations, but the production process of instruments such as handpans, hollow drums and gongs is complicated, and tuning is a very important part of the production process. The efficiency and effect of tuning greatly affect the output and quality of musical instruments. At present, the tuning of musical instruments is all done manually, which is inefficient. Therefore, there is an urgent need for a device to achieve automatic tuning, free up manpower and improve the efficiency of tuning. At present, there is no better technical solution or equipment to complete the automatic tuning of musical instruments. Summary of the invention

[0003] The purpose of the present application is to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a tuning device that can realize automatic tuning of musical instruments, free up manpower, and improve the efficiency of tuning metal musical instruments.

[0004] The present application also proposes a control method for the above tuning device.

[0005] The application also proposes a musical instrument comprising the above tuning device.

[0006] A tuning device according to an embodiment of the first aspect of the present application includes:

[0007] A clamping mechanism for clamping a metal musical instrument;

[0008] Two actuators are relatively located above and below the two side surfaces of the metal musical instrument, and the actuators include a driving component and a tuning component. The driving component is used to drive the tuning component to move, and each of the tuning components can be pressed to tune the metal musical instrument.

[0009] a measuring mechanism, movably disposed adjacent to the tuning component, the measuring mechanism comprising a testing component and a detection component, the detection component being used to obtain spatial position information of a region of the metal musical instrument to be processed, the testing component being capable of causing the metal musical instrument to sound by striking;

[0010] The control device is configured to control the test component to reach a preset position and make the metal instrument sound according to the information of the detection component, and control the action of at least one of the driving components and the corresponding tuning component to achieve tuning according to the frequency and spatial position information of the sound of the metal instrument.

[0011] The tuning device according to the first aspect of the present application has at least the following beneficial effects: the area to be tuned and the sound frequency of the metal musical instrument are determined by a measuring mechanism, and tuning is performed by an actuator machine, thereby automating the instrument tuning process, freeing up manpower, and improving the production efficiency of metal musical instruments.

[0012] According to the tuning device described in the embodiment of the first aspect of the present application, the tuning component includes a servo motor push rod and a pressing portion connected to the servo motor push rod, and the servo motor push rod is used to drive the pressing portion to move in a vertical direction;

[0013] The test component includes a DC motor push rod, a push-pull electromagnet assembly and a knocking part, wherein the push-pull electromagnet assembly is connected to the DC motor push rod, and the knocking part is arranged on the push-pull electromagnet assembly, wherein the DC motor push rod is used to drive the push-pull electromagnet assembly to move to a preset position in a vertical direction, and the push-pull electromagnet assembly is used to drive the knocking part to knock at a certain frequency;

[0014] The driving component comprises a horizontally arranged cross module, and the tuning component and the measuring mechanism are both arranged on the cross module and spaced from each other.

[0015] According to the tuning device described in the embodiment of the first aspect of the present application, the measuring mechanism further includes a limiting component, and the limiting component is used to limit the movement space in which the driving component drives the tuning component to move.

[0016] According to the tuning device described in the embodiment of the first aspect of the present application, the detection component includes an infrared distance measuring sensor, and the infrared distance measuring sensor is arranged on the side of the servo motor push rod;

[0017] The limit assembly includes a photoelectric switch, which is arranged on the driving component and is used to limit the movement space of the servo motor push rod in the horizontal direction.

[0018] According to the tuning device described in the embodiment of the first aspect of the present application, the clamping mechanism includes a clamp mounting plate and a pressure ring, the clamp mounting plate is provided with a mounting position for accommodating a metal musical instrument, and the pressure ring is detachably arranged on the clamp mounting plate and can enclose an installation space for clamping the metal musical instrument with the clamp mounting plate.

[0019] According to the second aspect of the present application, the control method of the musical instrument comprises the following steps:

[0020] Acquiring spatial position information of a metal musical instrument processing area through the detection component;

[0021] Driving the test component to a position to be processed according to the spatial position information;

[0022] The testing component strikes the metal instrument and records the frequency of the sound produced by the metal instrument;

[0023] The next action is determined according to the frequency of the sound of the metal instrument. The action is divided into the following two cases:

[0024] S1, the tuning of the processing area of ​​the metal instrument is completed, and the tuning process of the next area is started according to the preset program;

[0025] S2, the tuning of the processing area of ​​the metal instrument is not completed, at least one of the driving components drives the tuning component to move to the processing position, based on the spatial position information obtained by the detection component, the tuning component performs the action of pressing the metal instrument and deforming the metal instrument, and then drives the test component to a suitable position and strikes the metal instrument through the test component, records the frequency of the sound of the metal instrument at this time, and determines whether to perform the next action S1 or S2 according to the frequency;

[0026] The above steps are performed continuously until all the areas to be processed of the metal instrument are tuned.

[0027] According to the control method of the tuning device described in the second aspect of the present application, the method of determining the spatial position of each sounding area of ​​the metal musical instrument by the detection component includes:

[0028] For the top sound area, the detection component performs a cross scan, processes the obtained data, finds the feature points of the top sound area, and finds the midpoints of the two groups of feature points, that is, the midpoints in the X and Y directions respectively;

[0029] For the side sound zones, we first need to obtain the angle information of the center point of each sound zone relative to the metal musical instrument. The detection component performs a circular scan so that the scanning trajectory passes through each surrounding sound zone, and then processes the scan data. Then, the position of the center point of each surrounding sound zone along the radial direction of the metal musical instrument is determined, and the data is scanned, read and processed along the radial direction. The midpoint of the two feature points can be used to know the radial distance of the center point of the sound zone. The angle and radial position of the center point of the surrounding sound zone are determined, that is, the spatial position of the sound zone is determined.

[0030] According to the control method of the tuning device described in the embodiment of the second aspect of the present application, the method for determining the distance at which the test component strikes includes: setting the initial relative positions of the detection component and the test component in the X, Y, and Z directions, using the detection component to scan to obtain the relative position relationship between the detection component and the pronunciation area of ​​the metal musical instrument, combining the initial relative position calculation to obtain the relative position of the test component and the pronunciation area, and according to the relative position, sending the test component to an appropriate position where it can strike the metal musical instrument, and extending the test component to an appropriate distance for testing.

[0031] According to the control method of the tuning device described in the embodiment of the second aspect of the present application, the tuning method of the tuning components includes: setting a target frequency, moving each tuning component to the upper and lower sides of the same position of the sound zone, tuning by pressing from top to bottom to lower the frequency of the sound zone, and by pressing from bottom to top to increase the frequency of the sound zone, after each pressing operation, the sound zone is knocked by a test component, the sound frequency is received and compared with the target frequency, so as to determine the direction of the next pressing, until the frequency meets the target frequency.

[0032] The musical instrument according to the embodiment of the third aspect of the present application includes: the tuning device as described in the embodiment of the first aspect of the present application.

[0033] It is not difficult to understand that the control method of the musical instrument described in the embodiment of the second aspect of the present application and the musical instrument described in the embodiment of the third aspect of the present application both have the technical effects of the tuning device in the embodiment of the first aspect, and therefore will not be elaborated upon.

[0034] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present application is further described below with reference to the accompanying drawings and embodiments;

[0036] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0037] Figure 2 It is a front view of an embodiment of the present application;

[0038] Figure 3 This is a partial schematic diagram of the clamping mechanism in the embodiment of the present application;

[0039] Figure 4 This is a schematic diagram of the scanning principle of the top sound zone in the embodiment of the present application;

[0040] Figure 5 for Figure 4 The corresponding data graph in ;

[0041] Figure 6 This is a schematic diagram of the scanning principle of the side sound zone in the embodiment of the present application;

[0042] Figure 7 for Figure 6 The corresponding data graph in ;

[0043] Figure 8 This is a schematic diagram of the scanning principle of the surrounding sound area in the embodiment of the present application;

[0044] Fig. 9 for Figure 8 The corresponding data graph in .

[0045] Reference numerals:

[0046] 100, clamping mechanism; 110, fixture mounting plate; 120, pressure ring;

[0047] 200, actuator; 210, driving component; 220, tuning component; 221, servo motor push rod; 222, pressing part;

[0048] 300, measuring mechanism; 310, testing component; 311, DC motor push rod; 312, push-pull electromagnet assembly; 313, striking part; 320, detection assembly; 330, limit assembly. DETAILED DESCRIPTION

[0049] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0050] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] In the description of this application, "several" means one or more, "more" means at least two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0052] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application after combining the specific content of the technical solution.

[0053] Reference Figures 1 to 9 The tuning device of the first aspect of the present application is applied to tuning metal musical instruments. The tuning device includes a clamping mechanism 100, two actuators 200, a measuring mechanism 300 and a control device.

[0054] The clamping mechanism 100 is used to clamp the metal musical instrument; the two actuators 200 are relatively located above and below the two side surfaces of the metal musical instrument, the actuators 200 include a driving component 210 and a tuning component 220, the driving component 210 is used to drive the tuning component 220 to move, and each tuning component 220 can tune the metal musical instrument by pressing respectively; the measuring mechanism 300 can be movably arranged adjacent to the tuning component 220, the measuring mechanism 300 includes a testing component 310 and a detection component 320, the detection component 320 is used to obtain the spatial position information of the area to be processed of the metal musical instrument, and the testing component 310 can make the metal musical instrument sound by knocking; the control device is configured to control the testing component 310 to reach a preset position and make the metal musical instrument sound according to the information of the detection component 320, and control at least one driving component 210 and the corresponding tuning component 220 to move according to the frequency and spatial position information of the sound of the metal musical instrument to achieve tuning.

[0055] It can be understood that the clamping mechanism 100 is used for clamping and installing metal musical instruments, and the actuator 200 is used to complete the execution of actions for the purpose of tuning metal musical instruments; the tuning device also includes a control system, and the control system is composed of a host computer and a slave control device. In some embodiments, the control device is a PLC, wherein the computer sends instructions to the PLC through the serial port to indirectly control the operation of the actuator 200 and the measuring mechanism 300, and the PLC is electrically connected to the actuator 200 and the measuring mechanism 300. Through the design and construction of mechanical hardware, and the coordination and cooperation of various mechanisms controlled by the control system, the automation of the instrument tuning process is realized for the first time, which liberates manpower and improves the production efficiency of metal musical instruments.

[0056] In some embodiments, the tuning device further includes an external frame for supporting the entire device and installing other mechanisms, the clamping mechanism 100 is installed in the middle of the external frame, and the two actuators 200 are arranged on the external frame and are respectively located on the upper and lower sides of the clamping mechanism 100. In some embodiments, the external frame is assembled from aluminum profiles or structural members of other materials.

[0057] In some embodiments, the metal musical instrument mentioned in the present application is a handpan, and a suitable tuning device is formed by configuring the corresponding tuning component 220 and test component 310 of the handpan. In other embodiments, the present application can also be used to tune other types of metal musical instruments, and the tuning components 220 and test components 310 acting on the metal musical instruments are specifically designed according to different metal musical instruments, thereby improving the degree of automation of the tuning process. The specific design of the tuning components 220 and the test components 310 can refer to the components used in traditional manual tuning and be adaptively adjusted to form a suitable tuning device, which will not be further described here.

[0058] In some embodiments, the present application can also be used for tuning the hollow drum. It is understandable that the body of the hollow drum is oblate, and there are lotus or square tongue shapes around the drum surface. The hollow drum is a musical instrument that drives the resonance of the entire cavity by the sound of the tongue, so whether it is by hand or hammer, the purpose is to make the tongue (equivalent to the sound range of the handpan) vibrate, and you can beat beautiful music by mastering the basic rhythm. When tuning, similar to the handpan, you can tap the tongue to measure the sound frequency, and choose to press the tongue up or down according to this frequency to achieve tuning, which is common with the tuning of the handpan.

[0059] In some embodiments, the present application can also be used for tuning a gong. It is understood that the gong body is a circular arc surface, which is fixed by the frame of the gong body. The performer uses a wooden hammer to hit the central part of the front of the gong body (equivalent to the sound area of ​​the handpan) to produce vibration and sound. When tuning, similar to the handpan, a tool is used to hit the gong surface to measure the sound, so as to determine whether to press the gong surface upward or downward to achieve the tuning effect.

[0060] In other embodiments, the tuning device of the present application can also be used for tuning other musical instruments, as long as the specific tuning method is similar to that of the handpan. Specifically, by configuring the corresponding tuning component 220 and the test component 310, a suitable tuning device is formed to achieve automatic tuning.

[0061] Reference Figures 1 to 9 The tuning device of the first aspect of the present application determines the tuning area of ​​the metal musical instrument and the sound frequency of the metal musical instrument through the measuring mechanism 300, and performs tuning through the actuator 200, thereby realizing the automation of the instrument tuning process, liberating manpower, and improving the production efficiency of metal musical instruments.

[0062] In some embodiments of the present application, the tuning component 220 includes a servo motor push rod 221 and a pressing portion 222 connected to the servo motor push rod 221, and the servo motor push rod 221 is used to drive the pressing portion 222 to move in the vertical direction. It can be understood that the cross modules are respectively installed on the external frame, and the cross modules can drive the servo motor push rod 221 to move horizontally along the x and y directions. The servo motor push rod 221 is installed on the cross module through an adapter plate, and is used to press the metal instrument to deform it, thereby achieving the purpose of tuning. Generally speaking, pressing from top to bottom will cause the frequency of the sound zone to decrease, and pressing from bottom to top will cause the frequency to increase. Therefore, when the servo motor push rod 221 is tuned, the upper push rod presses from top to bottom, and the lower push rod presses from bottom to top, and the sound frequency adjustment is achieved by acting on both sides of the metal instrument respectively.

[0063] It should be noted that the position and amount of downward pressure can be controlled by an algorithm. If the pressure from top to bottom is too great, causing the frequency to be lower than the target frequency, then pressing the lower push rod from bottom to top at the same position in the sound range will increase the frequency.

[0064] In some embodiments, the actuator 200 includes two sets of cross modules and two servo motor push rods 221 , and the models, installation methods, functions, etc. of the two sets of cross modules and the servo motor push rods 221 are the same.

[0065] In some embodiments of the present application, the test component 310 includes a DC motor push rod 311, a push-pull electromagnet assembly 312 and a knocking part 313, the push-pull electromagnet assembly 312 is connected to the DC motor push rod 311, the knocking part 313 is arranged on the push-pull electromagnet assembly 312, the DC motor push rod 311 is used to drive the push-pull electromagnet assembly 312 to move in the vertical direction to a preset position, and the push-pull electromagnet assembly 312 is used to drive the knocking part 313 to knock at a certain frequency.

[0066] It can be understood that the knocking module is used to knock on the metal musical instrument to make it make sound, including a DC motor push rod 311 and a push-pull electromagnet; the DC motor push rod 311 is installed on the upper cross module through a mounting plate, and is used to move the electromagnet to a suitable knocking position; the electromagnet is installed on the DC motor push rod 311 through a mounting plate, and is used to knock on the surface of the metal musical instrument to make it make sound.

[0067] It should be noted that the DC motor push rod 311 drives the push-pull electromagnet assembly 312 and the knocking part 313 to move along the Z-axis direction through the telescopic end. After reaching the preset position, the electromagnet can knock on the sound area at a certain frequency, so that the target frequency can be compared more accurately, and the direction of the next pressure can be reliably determined until the frequency meets the target frequency.

[0068] In some embodiments, the push-pull electromagnet assembly 312 can be configured as an electric push rod gate push-pull lifting and retracting rod linear mechanism driven by a motor for impact inching reciprocating motion.

[0069] In some embodiments of the present application, the driving component 210 includes a horizontally arranged cross module, and the tuning component 220 and the measuring mechanism 300 are both arranged on the cross module and spaced apart from each other. The tuning component 220 and the measuring mechanism 300 are simultaneously driven by the same driving component 210 to reduce costs while optimizing the structural design and layout.

[0070] In some other embodiments, the driving component 210 includes an X-axis driving assembly and a Y-axis driving assembly that are arranged in sequence, so as to achieve the effect of driving the servo motor push rod 221 to move along the x and y directions on a horizontal plane.

[0071] In other embodiments, the tuning component 220 and the measuring mechanism 300 may be respectively arranged on different cross modules or different driving components 210 so as to move independently. However, in this case, they need to be designed according to the spatial distribution and the corresponding activity paths to avoid interference between the activity paths of the two.

[0072] In some embodiments of the present application, the measuring mechanism 300 further includes a limit assembly 330, which is used to limit the movement space of the driving component 210 to drive the tuning component 220. It can be understood that the limit device is used to limit the movement space of the actuator 200. In some embodiments, the detection component 320 includes an infrared distance sensor, which is arranged on the side of the servo motor push rod 221.

[0073] It can be understood that the detection component 320 is used to obtain the spatial position information of the area to be processed of the metal musical instrument. The detection component 320 includes two infrared ranging sensors, and the two infrared ranging sensors are respectively installed on the sides of the upper and lower servo motor push rods 221 through mounting plates.

[0074] In some embodiments, the models, installation methods, functions, etc. of the two infrared distance measuring sensors are the same, and the infrared distance measuring sensors are used to obtain the spatial position information of the area to be processed of the metal musical instrument.

[0075] In some embodiments of the present application, the limit assembly 330 includes a photoelectric switch, which is arranged on the driving component 210 and is used to limit the horizontal movement space of the servo motor push rod 221. In some embodiments, the limit assembly 330 includes eight photoelectric switches, which are installed on the cross module to limit the horizontal movement space of the servo motor push rod 221.

[0076] In some embodiments of the present application, the clamping mechanism 100 includes a clamp mounting plate 110 and a pressure ring 120. The clamp mounting plate 110 is provided with a mounting position for accommodating a metal musical instrument. The pressure ring 120 is detachably arranged on the clamp mounting plate 110 and can enclose an installation space for clamping the metal musical instrument with the clamp mounting plate 110. It can be understood that the metal musical instrument can be reliably clamped and installed by the clamp mounting plate 110 and the pressure ring 120, and the position accuracy is guaranteed to make the system control accuracy higher.

[0077] Reference Figures 1 to 9 The control method of the musical instrument in the second aspect of the present application may be the control method of the tuning device in the first aspect of the present application, and the control method of the musical instrument comprises the following steps:

[0078] Acquiring spatial position information of the metal musical instrument processing area through the detection component 320;

[0079] Drive the test component 310 to a position to be processed according to the spatial position information;

[0080] The testing component 310 strikes the metal instrument and records the frequency of the sound produced by the metal instrument;

[0081] The next action is determined according to the frequency of the sound of the metal instrument. The action is divided into the following two cases:

[0082] S1, the tuning of the processing area of ​​the metal instrument is completed, and the tuning process of the next area is started according to the preset program;

[0083] S2, the tuning of the processing area of ​​the metal instrument is not completed, at least one driving component 210 drives the tuning component 220 to move to the processing position, based on the spatial position information obtained by the detection component 320, the tuning component 220 performs the action of pressing the metal instrument and deforming the metal instrument, and then drives the test component 310 to a suitable position and strikes the metal instrument through the test component 310, records the frequency of the sound of the metal instrument at this time, and determines the next step S1 or S2 according to this frequency;

[0084] The above steps are performed continuously until all the areas to be processed of the metal instrument are tuned.

[0085] It can be understood that the working process of the musical instrument of the second aspect of the present application is as follows:

[0086] First, the metal musical instrument is mounted on the clamping mechanism 100 composed of the clamp mounting plate 110 and the pressure ring 120. The spatial position information of the metal musical instrument processing area is obtained through the cooperation of the upper cross module and the infrared distance sensor. According to this information, the cross module moves horizontally to the processing area, the DC motor push rod 311 extends, and the electromagnet is adjusted to a position suitable for striking the metal musical instrument. The electromagnet is started to strike, and the frequency of the sound of the metal musical instrument at this time is recorded by the computer. According to this frequency and the preset program on the computer, the next action is determined. This action is divided into the following two cases:

[0087] S1, the tuning of the processing area of ​​the metal instrument is completed, and the tuning process of the next area begins according to the preset program;

[0088] S2. The tuning of this processing area of ​​the metal instrument is not completed. The cross module moves one of the two servo motor push rods 221 horizontally to this processing area. This selection is determined according to the program preset on the computer. Then the infrared ranging sensor measures the distance. The servo motor push rod 221 performs the action of pressing the metal instrument according to the distance. At this time, the metal instrument is deformed. Then the DC motor push rod 311 extends, and the electromagnet is adjusted to a position suitable for striking the metal instrument. The electromagnet is started for striking. The computer records the frequency of the sound of the metal instrument at this time. According to this frequency and the program preset on the computer, the next action S1 or S2 is determined.

[0089] The above steps are performed continuously until all the areas to be processed of the metal instrument are tuned.

[0090] In some embodiments of the present application, the method for determining the spatial position of each sounding area of ​​the metal musical instrument by the detection component 320 includes:

[0091] For the top sound area, the detection component 320 performs a cross scan, processes the obtained data, finds the feature points of the top sound area, and finds the midpoints of the two groups of feature points, that is, the midpoints in the X and Y directions respectively. For details, please refer to Figure 4 and Figure 5 ;

[0092] For the side sound area, firstly, the angle information of the center point of each sound area with respect to the metal instrument is obtained, and the detection component 320 performs a circular scan so that the scanning trajectory passes through each surrounding sound area, and then processes the scanning data. For details, please refer to Figure 6 and Figure 7 , you can see that the eight green line minimum values ​​in the data graph correspond to the angular positions of the eight surrounding sound zone center points. Then, you need to determine the position of each surrounding sound zone center point along the radial direction of the metal instrument, scan and read and process the data along the radial direction. For details, please refer to Figure 8 and Fig. 9 In the data graph, X1 and X2 are two feature points. By finding the midpoint of the two feature points, we can know the radial distance of the center point of the sound zone. The angle and radial position of the center point of the surrounding sound zone (equivalent to θ and ρ in the polar coordinate system, respectively) are determined, that is, the spatial position of the sound zone is determined.

[0093] The same applies to other surrounding sound areas.

[0094] It is understandable that each sound zone is a standard ellipse. It is only necessary to find the center point of the ellipse. At the same time, each sound zone has corresponding size information, so the spatial position of each sound zone can be known. In some embodiments, the method of processing the obtained data includes but is not limited to filtering, derivatives and other mathematical methods, which are not described in detail here. In some embodiments, the scanning methods such as cross scanning, circular scanning and scanning along the radial direction are realized by controlling the XY axis.

[0095] In some embodiments of the present application, the method for determining the distance at which the test component 310 strikes includes: setting the initial relative position of the detection component 320 and the test component 310 in the X, Y, and Z directions, using the detection component 320 to scan to obtain the relative position relationship between the detection component 320 and the metal instrument's pronunciation area, combining the initial relative position calculation to obtain the relative position of the test component 310 and the pronunciation area, sending the test component 310 to the appropriate position to strike the metal instrument according to the relative position, and making the test component 310 extend an appropriate distance for testing. It can be understood that the relative positions of the external sensor, the DC push rod, and the electromagnet in the XYZ direction are initially fixed, and the relative value can be measured. The infrared range sensor is used to scan in the front, and the XYZ relative position relationship between the infrared range sensor and the metal instrument's pronunciation area has been obtained. After a simple calculation, it is equivalent to obtaining the relative position of the electromagnet and the pronunciation area. Therefore, the electromagnet is sent to the appropriate position to strike the metal instrument, and the distance extended by the DC motor push rod 311 has been tested in advance.

[0096] In some embodiments of the present application, the tuning method of the tuning component 220 includes: setting a target frequency, moving each tuning component 220 to the upper and lower sides of the same position of the sound zone, tuning by pressing from top to bottom to reduce the frequency of the sound zone, and by pressing from bottom to top to increase the frequency of the sound zone, and after each pressing operation, the test component 310 is used to knock on the sound zone, receive the sound frequency and compare it with the target frequency to determine the direction of the next pressing until the frequency meets the target frequency.

[0097] It is understandable that the present application controls the downward pressure position and the downward pressure amount through an algorithm. Generally speaking, pressing from top to bottom will cause the frequency of the sound zone to decrease, and pressing from bottom to top will cause the frequency to increase. First, set a target frequency. If the pressure from top to bottom is too large, causing the frequency to be lower than the target frequency, then using the lower push rod to press from bottom to top at the same position in the sound zone will increase the frequency. The above method can control the force of the top pressure during tuning to avoid over-adjustment caused by excessive force.

[0098] Reference Figures 1 to 9 The musical instrument of the third aspect embodiment of the present application can be used in conjunction with a tuning device. The musical instrument includes the tuning device of the first aspect embodiment of the present application, which can realize automatic tuning of the musical instrument, liberate manpower, and improve the efficiency of tuning metal instruments.

[0099] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A tuning device, characterized in that: include: A clamping mechanism for clamping a metal musical instrument; Two actuators are relatively located above and below the two side surfaces of the metal musical instrument, and the actuators include a driving component and a tuning component. The driving component is used to drive the tuning component to move, and each of the tuning components can be pressed to tune the metal musical instrument. a measuring mechanism, movably disposed adjacent to the tuning component, the measuring mechanism comprising a testing component and a detection component, the detection component comprising an infrared distance measuring sensor, the detection component being used to obtain spatial position information of a region to be processed of the metal musical instrument, the testing component being capable of causing the metal musical instrument to sound by striking; A control device, which is a PLC and is configured to control the test component to reach a preset position and make the metal musical instrument sound according to the information of the detection component, and control at least one of the driving components and the corresponding tuning component to achieve tuning according to the frequency and spatial position information of the sound of the metal musical instrument; Wherein, the tuning component comprises a servo motor push rod and a pressing portion connected to the servo motor push rod, and the servo motor push rod is used to drive the pressing portion to move in a vertical direction; The test component includes a DC motor push rod, a push-pull electromagnet assembly and a knocking part, wherein the push-pull electromagnet assembly is connected to the DC motor push rod, and the knocking part is arranged on the push-pull electromagnet assembly, wherein the DC motor push rod is used to drive the push-pull electromagnet assembly to move to a preset position in a vertical direction, and the push-pull electromagnet assembly is used to drive the knocking part to knock at a certain frequency; The driving component comprises a horizontally arranged cross module, and the tuning component and the measuring mechanism are both arranged on the cross module and spaced from each other.

2. The tuning device according to claim 1, characterized in that: The measuring mechanism further comprises a limit assembly, and the limit assembly is used to limit a movement space in which the driving component drives the tuning component to move.

3. The tuning device according to claim 2, characterized in that: The infrared distance measuring sensor is arranged on the side of the servo motor push rod; The limit assembly includes a photoelectric switch, which is arranged on the driving component and is used to limit the movement space of the servo motor push rod in the horizontal direction.

4. The tuning device according to claim 1, characterized in that: The clamping mechanism includes a clamp mounting plate and a pressure ring. The clamp mounting plate is provided with a mounting position for accommodating a metal musical instrument. The pressure ring is detachably arranged on the clamp mounting plate and can enclose an installation space for clamping the metal musical instrument with the clamp mounting plate.

5. A control method for a tuning device according to any one of claims 1 to 4, characterized in that: The following steps are involved: Acquiring spatial position information of a metal musical instrument processing area through the detection component; Driving the test component to a position to be processed according to the spatial position information; The testing component strikes the metal instrument and records the frequency of the sound produced by the metal instrument; The next action is determined according to the frequency of the sound of the metal instrument. The action is divided into the following two cases: S1, the tuning of the processing area of ​​the metal instrument is completed, and the tuning process of the next area is started according to the preset program; S2, the tuning of the processing area of ​​the metal instrument is not completed, at least one of the driving components drives the tuning component to move to the processing position, based on the spatial position information obtained by the detection component, the tuning component performs the action of pressing the metal instrument and deforming the metal instrument, and then drives the test component to a suitable position and strikes the metal instrument through the test component, records the frequency of the sound of the metal instrument at this time, and determines whether to perform the next action S1 or S2 according to the frequency; The above steps are performed continuously until all the areas to be processed of the metal instrument are tuned.

6. The control method of the tuning device according to claim 5, characterized in that: The method for determining the spatial position of each sounding area of ​​a metal musical instrument by using the detection component comprises: For the top sound area, the detection component performs a cross scan, processes the obtained data, finds the feature points of the top sound area, and finds the midpoints of the two groups of feature points, that is, the midpoints in the X and Y directions respectively; For the side sound zones, we first need to obtain the angle information of the center point of each sound zone relative to the metal musical instrument. The detection component performs a circular scan so that the scanning trajectory passes through each surrounding sound zone, and then processes the scan data. Then, the position of the center point of each surrounding sound zone along the radial direction of the metal musical instrument is determined, and the data is scanned, read and processed along the radial direction. The midpoint of the two feature points can be used to know the radial distance of the center point of the sound zone. The angle and radial position of the center point of the surrounding sound zone are determined, that is, the spatial position of the sound zone is determined.

7. The control method of the tuning device according to claim 5, characterized in that: The method of determining the distance at which the test component is struck comprises: The initial relative positions of the detection component and the test part in the X, Y, and Z directions are set, and the detection component is used to scan to obtain the relative position relationship between the detection component and the pronunciation area of ​​the metal instrument. The relative position of the test part and the pronunciation area is obtained in combination with the initial relative position calculation. According to the relative position, the test part is sent to an appropriate position where it can strike the metal instrument, and the test part is extended an appropriate distance for testing.

8. The control method of the tuning device according to claim 5, characterized in that: The tuning method of the tuning component comprises: Set a target frequency, move the tuning components to the upper and lower sides of the same position of the tone zone, and tune by pressing from top to bottom to lower the tone zone frequency, and by pressing from bottom to top to increase the tone zone frequency. After each pressing operation, tap the tone zone with a test component, receive the sound frequency and compare it with the target frequency to determine the direction of the next pressing until the frequency meets the target frequency.

9. A musical instrument, characterized in that include: A tuning device as claimed in any one of claims 1 to 4.

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