Piano automatic playing driving method and system

Abstract

The invention relates to the technical field of intelligent pianos, in particular to a piano automatic playing driving method and system, and the method comprises the steps: obtaining first external data which is used for describing the position change of keys at first playing time; converting the first external data into discrete data, wherein the discrete data is associated with a time sequence label; the discrete data is sent to a main control module, and the main control module forwards the discrete data to a control unit of the exercise device; monitoring second external data of the key at the first moment, and searching a corresponding discrete position through time sequence label association according to the first moment; and calculating a difference value between the second external data and the discrete position, and outputting an adjusting current value through the difference value by adopting a closed-loop control algorithm. The invention provides a lossless built-in driving technology and a driving method, and based on the driving method, a low-cost and miniaturized exerciser can be adopted, so that automatic playing of the piano keys is realized under the condition that the original framework of the piano is not influenced.

Description

[0001] Priority application This application claims priority to Chinese invention patent application [2025101251819] "[A moving magnetic linear motion device and automatic piano playing device]" filed on January 26, 2025, which is incorporated by reference in its entirety. Technical Field

[0002] The present invention relates to the technical field of piano playing devices, and in particular to a driving method and system for automatic piano playing. Background Art

[0003] Smart pianos usually use motors to drive the movement of keys, thereby automatically playing music.

[0004] For example, publication number CN 211319709 U discloses an automatic playing drive device, including a fixing frame, an electromagnetic assembly, a top cap assembly and an adjusting assembly. The adjusting assembly includes a compression spring, a control rod and a control disk. The upper end of the control rod is provided with a first threaded end, which passes through the lower base plate and extends into the movable iron core and is threadedly connected to the movable iron core. The control disk is sleeved on the surface of the control rod, and the two ends of the compression spring are respectively against the lower base plate and the control disk.

[0005] For another example, patent application CN216772790U discloses an external automatic piano player, comprising a skeleton, at least one row of key fingers for striking the keys, and at least one electromagnetic drive board, wherein at least one row of the key fingers are fixed on the skeleton, and the electromagnetic drive board is electrically connected to one or more of the key fingers, and the key fingers include a cylinder, a coil and a playing needle, and the coil is sleeved on the outer wall of the cylinder, and the coil is electrically connected to the electromagnetic drive board.

[0006] However, traditional automatic playing technology is difficult to replicate people's real finger playing skills, that is, the playing effect lacks emotion and is relatively mechanical. Summary of the Invention

[0007] The object of the present invention is to provide a control method for automatic piano playing, which partially solves or alleviates the above-mentioned deficiencies in the prior art.

[0008] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: A first aspect of the present invention is to provide a method for controlling an automatic piano performance, wherein the piano includes a plurality of keys, and a mover is provided below the keys, the mover is connected to a control unit, and an output end of the mover moves the keys under the control of the control unit. The piano includes a main control module, and one main control module is connected to a plurality of control units. Accordingly, the method includes: S101, obtaining first external data corresponding to at least one piano key during a first performance time, wherein the first external data is used to describe a position change of the piano key during the first performance time; S102, converting the first external data into discrete data, where the discrete data includes: a plurality of discrete positions, and the discrete positions are associated with time series labels; S103, sending at least one discrete data to the main control module, and the main control module forwarding the discrete data to the control unit; S104, monitoring second external data of the piano key at a first moment, and finding a corresponding discrete position according to the first moment by associating the time sequence tag; the second external data is the position of the piano key; S105, calculating the difference between the second external data and the corresponding discrete position, and using a closed-loop control algorithm to output a regulated current value for the next time period based on the difference; S106 , the control unit drives the movement device in response to the adjusted current value.

[0009] In some embodiments, further comprising: S107, determining whether the second external data is greater than or equal to a preset target position; S108, if the result of S107 is yes, identifying the recording time corresponding to the second external data as the detection time; S109, determining whether the time from the detection moment to the current moment exceeds a preset threshold; S110: If the result of S109 is yes, identify the first current at the current moment, and use a preset current limiting rule to generate a second current based on the first current, and the magnitude of the second current is smaller than the first current, and input the second current into the control unit as a new adjustment current value.

[0010] In some embodiments, the method further comprises: monitoring whether a difference between the second external data and third external data collected in a next time period exceeds a preset position threshold; If so, the current limiting rule is updated.

[0011] In some embodiments, the current limiting rule is: the second current=the first current×a set ratio; correspondingly, the step of updating the current limiting rule includes: increasing or decreasing the set ratio.

[0012] In some embodiments, the steps further include: When the difference between the set ratio before the update and the set ratio after the update is greater than a preset first ratio threshold, a first prompt signal is generated; When the number of first prompt signals generated within the first time period is greater than the preset first signal number, a recommended update plan is generated, and the recommended update plan is forwarded to at least one of the control units through the main control module. The recommended update plan includes: a recommended adjustment value of the set ratio.

[0013] In some embodiments, the steps further include: When the difference between the set ratio before the update and the set ratio after the update is greater than a preset second ratio threshold, a second prompt signal is generated; When the number of the second prompt signals generated within the first time period is less than the preset second signal number, a motion device detection signal is generated to prompt the user to detect the corresponding motion device.

[0014] In some embodiments, the piano includes at least two parallel master control modules.

[0015] The present invention also provides a control system for an automatic piano performance, wherein the piano includes a plurality of keys, and a movement device is provided below the keys, the movement device is connected to a control unit, and the output end of the movement device moves the keys under the control of the control unit. The piano includes a main control module, and one main control module is connected to a plurality of control units. Correspondingly, the system includes: A data storage module is used to obtain first external data corresponding to at least one piano key during a first playing time, wherein the first external data is used to describe a position change of the piano key during the first playing time; A data processing module, configured to convert the first external data into discrete data, wherein the discrete data includes: a plurality of discrete positions, wherein the discrete positions are associated with time series labels; a sending module, configured to send at least one discrete data to the main control module, and the main control module forwards the discrete data to the control unit of the exerciser; a monitoring module, configured to monitor second external data of the piano key at a first moment, and find a corresponding discrete position according to the first moment by associating the time sequence labels; the second external data being the position of the piano key; a closed-loop control module, configured to calculate a difference between the second external data and the corresponding discrete position, and output a regulated current value for a next time period based on the difference using a closed-loop control algorithm; A driving module is configured for the control unit to drive the movement device in response to the adjusted current value.

[0016] In some embodiments, further comprising: A first judging module, configured to judge whether the second external data is greater than or equal to a preset target position; a detection module, configured to identify a recording time corresponding to the second external data as a detection time if a result of the judgment module is yes; A second judgment module is used to judge whether the time from the detection moment to the current moment exceeds a preset threshold; The limiting module identifies the first current at the current moment if the result of the second judgment module is yes, and uses a preset current limiting rule to generate a second current based on the first current, and the magnitude of the second current is smaller than the first current, and inputs the second current into the control unit as a new adjusted current value.

[0017] In some embodiments, the method further comprises: The rule updating module is used to monitor whether the difference between the second external data and the third external data collected in the next time period exceeds a preset position threshold; if so, update the current limiting rule.

[0018] Beneficial technical effects: On one hand, the present invention provides a distributed drive system designed to meet the needs of automatic piano performance. The drive system's functional layout is spatially arranged, with the mover and position monitor modules independently located within the piano (or, in other words, a distributed design). External data collected by the position monitor serves as input guidance for the mover. This simplifies the mover's structural design and reduces production costs. Furthermore, this independent layout avoids the risk of localized overheating during prolonged automatic piano performance.

[0019] Specifically, the present invention employs a three-segment mover assembly design with a single permanent magnet connected to upper and lower metal segments, combined with a reverse winding scheme (i.e., coils wound in opposite directions). This limited interleaving significantly improves the linearity of the mover assembly's motion without excessively increasing the structural complexity of the mover. This improved linearity further facilitates the mover's ability to replicate finger motions, thereby enhancing the sound quality during automatic performance.

[0020] For the distributed drive system described above, the present invention also provides a discrete closed-loop control scheme based on external data. This discrete closed-loop control scheme can simulate the actual finger playing state to a large extent while also reducing its reliance on the reliability of external data communication (such as communication speed or reliability).

[0021] From another perspective, this discrete closed-loop adjustment route can fit the physiological characteristics of fingers (i.e., relatively limited speed) to improve the performance quality of automatic performance under simple closed-loop control without excessively increasing costs or operational risks.

[0022] For discrete closed-loop control, the present invention focuses on limiting the current of the movement device at the maximum position (i.e., within the deepest range of key pressing). On the one hand, it limits the high-power operation time of the movement device. On the other hand, by limiting the current in this special interval of the maximum position, it can also reduce interference with the movement device's dominant goal of simulating finger movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the various elements or parts are not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without inventive work.

[0024] Figure 1 A first overall structural schematic diagram of a dynamic magnetic linear motion device according to one embodiment of the present invention; Figure 2 is a first cross-sectional view of a moving magnetic linear motion device according to one embodiment of the present invention; Figure 3 is a second cross-sectional view of a moving magnetic linear motion device according to one embodiment of the present invention; Figure 4 A second overall structural diagram of a dynamic magnetic linear motion device according to one embodiment of the present invention Figure 5 A first structural schematic diagram of a dynamic magnetic linear motion device according to one embodiment of the present invention; Figure 6 A second structural schematic diagram of a dynamic magnetic linear motion device according to one embodiment of the present invention; Figure 7 A simulated magnetic flux distribution diagram of a permanent magnet in a first position in one embodiment of the present invention; Figure 8A simulated magnetic flux distribution diagram of a permanent magnet in a second position in one embodiment of the present invention; Figure 9 A simulated magnetic flux distribution diagram of a permanent magnet in a third position in one embodiment of the present invention; Figure 10 A schematic structural diagram of an automatic piano playing device according to one embodiment of the present invention; Figure 11 Schematic diagram of an installation scheme of a movement device inside a piano in an exemplary embodiment of the present invention; Figure 12 is a schematic diagram of a housing of an exerciser in an exemplary embodiment of the present invention; Figure 13 is a schematic cross-sectional structural diagram of an exerciser in an exemplary embodiment of the present invention; Figure 14 FIG. 4 is a flow chart of a driving method in an exemplary embodiment of the present invention.

[0025] Summary of reference numerals: 1. Permanent magnet; 10. Connecting rod; 11. Iron column; 11a. First metal segment; 11b. Second metal segment; 2. Conduit; 30. First set of coils; 31. Second set of coils; 4. Sleeve; 5. First buffer; 6. Second buffer; 01. Key; 02. Top rod; 03. Linkage; 04. Hammer; 05. Mover; 051. Output end. DETAILED DESCRIPTION

[0026] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] Herein, suffixes such as "module," "component," or "unit" used to represent elements are only used to facilitate description of the present invention and have no specific meaning. Therefore, "module," "component," or "unit" may be used interchangeably.

[0028] As used herein, terms such as "upper," "lower," "inner," "outer," "front," "back," "one end," and "the other end" indicate positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate and simplify the description of the present invention and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] As used herein, unless otherwise expressly specified or limited, the terms "installed," "provided with," and "connected" should be understood broadly. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection, a direct connection, an indirect connection via an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention on a case-by-case basis.

[0030] As used herein, "and / or" includes any and all combinations of one or more of the associated listed items.

[0031] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0032] As used in this specification, the term "about" typically means + / - 5% of the stated value, more typically + / - 4% of the stated value, more typically + / - 3% of the stated value, more typically + / - 2% of the stated value, even more typically + / - 1% of the stated value, and even more typically + / - 0.5% of the stated value.

[0033] In this specification, certain embodiments may be disclosed in a format that is within a range. It should be understood that this description of "being within a range" is merely for convenience and brevity and should not be construed as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered to have specifically disclosed all possible subranges and independent numerical values within this range. For example, the description of a range of 1 to 6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as independent numbers within this range, such as 1, 2, 3, 4, 5, and 6. Regardless of the breadth of the range, the above rules apply.

[0034] Length: Unless otherwise specified, the “length” used herein refers to the length along the axial direction of the permanent magnet.

[0035] In order to facilitate the understanding of the motion device (or driver or drive motor) used in the present invention, Figure 12 、 Figure 13 The workflow is shown below. Figure 11 The following is a brief description of the piano's pronunciation process: The piano consists of a key 01 with a push rod 02 at its rear end. When the front end of a key 01 is pressed, its rear end tilts upward, pushing a linkage 03 through the push rod 02. This linkage 03 then drives a hammer 04 (a wooden mallet covered in felt) to rapidly strike the strings (not shown). As you can see, the depth and force of the key directly influence the speed and strength of the hammer's impact, thereby controlling the volume and timbre of the sound. When the key is released, the damper falls back to press against the strings, silencing the sound.

[0036] In an exemplary embodiment provided herein, the mover 05 can be disposed on the lower side of the rear end of the key 01, so that when the output end 051 of the mover 05 moves upward, the rear end of the key 01 can be caused to tilt up (i.e., the key can be pushed), thereby simulating the effect of a finger pressing the key.

[0037] Example 1 See also Figure 11 As shown, a driving system for an automatic piano player adopts a lossless built-in driving module, wherein the piano comprises: a sound module, the sound module comprising: a linkage 03, and a hammer 04 connected to the linkage 03; a key 01, and a push rod 02 is provided at the rear end of the key 01; The driving module includes: a movement device 05, which is arranged at the rear end of the key 01 and has an output end arranged opposite to the rear end of the key 01; wherein the movement device includes: Mover assembly, see Figure 1 As shown, the mover assembly includes: a permanent magnet 1, wherein a first metal segment 11a and a second metal segment 11b are respectively provided at the first end and the second end of the permanent magnet 1; A stator assembly, comprising: a conduit 2 disposed around the periphery of the permanent magnet 1, with at least two groups of coils wound in opposite directions on the conduit 2. Preferably, the at least two groups of coils include a first group of coils 30 and a second group of coils 31. The first group of coils 30 is wound around the conduit in a first winding direction, and the second group of coils 31 is wound around the conduit in a second winding direction. The input end of the first group of coils is connected to a first pole of a power supply, the output end of the second group of coils is connected to a second pole of the power supply, the output end of the first group of coils is connected to the input end of the second group of coils, and the first winding direction is opposite to the second winding direction. Furthermore, the axial length of the movable component is smaller than the axial length of the at least two groups of coils.

[0038] In some embodiments, the mover further includes: a control unit, configured to control an input current of the coil to control the movement of the mover assembly.

[0039] In some embodiments, the drive system further includes: at least two primary main control modules, one of which is connected to a plurality of control units; and a secondary main control module, which is connected to the primary main control module.

[0040] Specifically, a piano typically has 88 keys, each of which is assigned a single actuator, meaning a total of 88 actuators are spaced apart beneath the keys. This embodiment preferably employs four primary master control modules (e.g., embedded single-chip microcomputers), each connected to 22 actuators (specifically, connected to their respective control units), thereby achieving four groups of parallel control. Furthermore, the four primary master control modules can be communicatively connected to a single secondary master control module for centralized control.

[0041] Among them, the secondary main control module can be a computer, mobile phone, tablet and other devices, or the secondary main control module can also be a control module set on the piano, which can communicate with computers, mobile phones, tablets and other devices.

[0042] In some embodiments, the primary main control module further includes or is connected to a data storage module, the data storage module being configured to store historical motion data (or first external data) of at least one piano key. The historical motion data refers to the position of the piano key at each moment recorded directly or indirectly by a sensor when the user presses the key.

[0043] It is worth noting that, unlike the traditional integrated motor concept (i.e., an encoder is installed on the motor output shaft and the encoder data is used for internal feedback adjustment of the motor to help achieve closed-loop control of the motor speed), this invention focuses on the needs of piano key simulation by disassembling and redesigning the motor's functions: Specifically, the mover is connected to a control unit, which adjusts the motion parameters (such as the motion position) of the mover assembly by adjusting the current of the input coil; correspondingly, the present invention selects an external position monitor and enables the position monitor to communicate directly or indirectly with the mover assembly. The position monitor can monitor or reflect the motion data of the piano keys (such as the position at each moment).

[0044] It is worth noting that the present invention is adapted to the needs of automatic piano performance and spatially arranges the functions of the drive system, that is, two modules, a mover and a position monitor, are independently arranged in the piano (or a distributed design is provided), and the external data collected by the position monitor is used as input guidance for the mover. On the one hand, this can simplify the structural design of the mover and reduce production costs. On the other hand, this independent layout scheme can avoid the risk of local overheating of the piano during long-term automatic performance.

[0045] It should be noted that the core components of the piano, such as the keys, are made of wood, which is flammable. This distributed design can reduce safety risks while improving the functional diversity of the smart piano.

[0046] For example, functional diversity means that the external position monitor can simultaneously collect the user's real performance data (that is, historical movement data) and the automatic performance data of the movement instrument.

[0047] For example, in some embodiments, the position monitor is at least one sensor provided under the key, and the sensor is configured to detect the displacement, velocity or acceleration of the key, and the position of the key at one moment can be calculated directly or indirectly based on the displacement, velocity or acceleration; the sensor is used to connect to the control unit of the movement device.

[0048] In some embodiments, the sensor may be a velocity sensor, a displacement sensor, or an acceleration sensor.

[0049] Furthermore, in some embodiments, the speed sensor includes but is not limited to one or more of the following: a magnetoelectric speed sensor, a Hall-type speed sensor, a photoelectric speed sensor, and a magnetoelectric speed sensor.

[0050] Furthermore, in some embodiments, the displacement sensor includes but is not limited to one or more of the following: potentiometer displacement sensor, inductive displacement sensor, capacitive displacement sensor, magnetostrictive displacement sensor, optical sensor, ultrasonic sensor, Hall effect displacement sensor, oscillator displacement sensor, photoelectric encoder, contact sensor, non-contact sensor, such as eddy current displacement sensor, laser displacement sensor, ultrasonic displacement sensor, etc., which does not directly contact the object being measured.

[0051] For another example, in some embodiments, the position monitor may be a grating velocimeter. For example, the grating velocimeter may be placed on the side of the hammer to measure the speed of the hammer. Furthermore, by measuring the speed of the hammer, the displacement of the key at each moment can be indirectly calculated.

[0052] In some embodiments, the thickness of the first metal segment 11 a is greater than the thickness of the second metal segment 11 b .

[0053] In some embodiments, the first metal segment or the second metal segment is iron.

[0054] In some embodiments, the axial length of the mover assembly is greater than the axial length of the first group of coils or the second group of coils, so that two ends of the mover assembly are located in different coil areas.

[0055] The present invention preferably employs a three-segment mover assembly design, with a single permanent magnet and upper and lower metal segments connected, combined with a reverse winding scheme (i.e., coils wound in opposite directions). This limited interleaving design significantly improves the linearity of the mover assembly's motion without excessively increasing the structural complexity of the mover. This improved linearity further facilitates the mover's ability to replicate finger motions, thereby enhancing the sound quality during automatic performance.

[0056] In other words, the present invention utilizes an innovative three-segment mover assembly design, with a core consisting of a single permanent magnet connected to upper and lower metal segments, and an integrated reverse winding scheme (i.e., coils wound in opposite directions). This design, through a limited staggered layout, achieves a balance between structural simplicity and functional efficiency—effectively optimizing magnetic field distribution and energy transfer paths without significantly increasing the mechanical complexity of the mover.

[0057] The reverse winding scheme significantly improves the linearity of the rotor assembly's motion by coupling the opposing magnetic fields generated by the reversely wound coils. This creates a complementary effect with the permanent magnets, significantly improving the linearity of the rotor assembly's motion. This linear optimization, derived from the balanced distribution of magnetic field forces, reduces nonlinear deviations (such as inertial interference) during motion, enabling more accurate simulation of continuous motion trajectories. Consequently, this invention achieves efficiency improvements through a sophisticated staggered layout design rather than through brute-force expansion (such as increasing the number of coil groups).

[0058] Furthermore, the improvement in linearity directly enhances the dynamic reproduction capability of the movement device of finger motion trajectories. Especially in automatic playing systems, it can restore the subtle movements of human performance (such as force gradients and rhythm changes) with high fidelity.

[0059] In order to more clearly illustrate the drive system provided by the present invention, the structure of the drive system will be described in detail below with reference to the accompanying drawings: See also Figures 1-10 , the present application provides a moving magnetic linear motion device and an automatic piano playing device.

[0060] The present invention provides a dynamic magnetic linear motion device, such as Figure 1As shown, the mover includes at least one set of mover components, and a set of stator components disposed outside the mover components. The mover components include at least one permanent magnet 1, and the stator components include a coil module and a sleeve 4. The coil module includes a conduit 2 and a coil group wound around the conduit. For example, it can be at least two sets of coils arranged along the axial direction of the permanent magnet. The permanent magnet 1 is disposed inside the conduit 2, and the sleeve 4 is disposed outside the conduit 2. The at least two sets of coils are connected to a power supply for supplying power thereto. The at least two sets of coils include a first set of coils 30 and a second set of coils 31. The first set of coils 30 is wound around the conduit in a first winding direction, and the second set of coils 31 is wound around the conduit in a second winding direction. Among them, the output end of the first set of coils is connected to the input end of the second set of coils, and the first winding direction is opposite to the second winding direction. Preferably, the total length of the at least two sets of coils is L1, the length of each set of coils in the at least two sets of coils is L2, and the length of the permanent magnet is L3, where L2 < L3 < L1, such that the two end magnetic poles of the permanent magnet are respectively in different sets of coil groups. When the at least two sets of coils are energized, the generated electromagnetic field can make the first end magnetic pole of the permanent magnet receive a first thrust exerted by the first set of coils, and the second end magnetic pole of the permanent magnet receive a second thrust exerted by the second set of coils. The directions of the first thrust and the second thrust are the same to drive the permanent magnet to perform linear motion.

[0061] In this article, the total length L1 of the at least two sets of coils or the length L2 of each set of coils both refer to the length of the winding area formed after the wire is wound around the conduit in the axial direction of the permanent magnet.

[0062] In some embodiments, the output end of the first set of coils is connected to the input end of the second set of coils, which means that the end of the first set of coils extends along the axial direction of the permanent magnet 1 and is connected to the start end of the second set of coils.

[0063] In some embodiments, the first winding direction is opposite to the second winding direction, so that the current directions (or current winding directions) in the first set of coils and the second set of coils are opposite after being energized. Specifically, in some other embodiments, if the current winding direction in the winding area of the first set of coils is clockwise, then the current winding direction in the winding area of the second set of coils is counterclockwise.

[0064] In some embodiments, the permanent magnet is cylindrical and the magnetization direction is up and down, that is, the upper end of the permanent magnet is the N pole and the lower end is the S pole.

[0065] In some embodiments, the surface of the permanent magnet is plated with a smooth and wear-resistant coating.

[0066] Furthermore, in some embodiments, the diameter of the cylindrical permanent magnet is slightly smaller than the diameter of the inner wall of the catheter. In combination with the catheter, the permanent magnet can freely move up and down in the catheter and its left and right swing amplitude is within an acceptable range.

[0067] In some embodiments, the conduit is made of plastic or other non-magnetic materials, the inner wall of the conduit is smooth, and the diameter of the conduit is slightly larger than the diameter of the permanent magnet.

[0068] In some embodiments, the at least two sets of coils can be obtained by winding a single wire on a catheter in opposite directions.

[0069] In other embodiments, the at least two sets of coils can be obtained by first winding two wires on a catheter in opposite directions, and then connecting the end of one wire (i.e., the output end) and the beginning of the other wire (i.e., the input end) with a connecting wire.

[0070] In other embodiments, the combination of the conduit and the coil is also called a solenoid, and the solenoid and the cylindrical permanent magnet constitute the body of the moving magnetic linear motion device, with the solenoid being the stator and the cylindrical permanent magnet being the mover.

[0071] In some embodiments, the sleeve is a cylindrical iron frame that wraps the solenoid and is used to form a magnetic conductive path outside the solenoid, thereby enhancing the strength of the magnetic field generated by the solenoid.

[0072] In some embodiments, the number of coil groups can be increased in even numbers. This solution shows two coil groups, but to increase thrust, it can also be 4, 6, 8, or so coil groups. The currents in adjacent coils flow in opposite directions (that is, the winding directions of adjacent coils are opposite). Accordingly, the number of permanent magnets needs to be half the number of coil groups, so that each magnetic pole is within a coil group.

[0073] In some embodiments, the mover assembly further includes a buffer module, which is connected to the mover assembly via a connecting rod 10 and is disposed corresponding to a piano key for pushing the key. Furthermore, the buffer module includes a first buffer member 5 and a second buffer member 6, wherein the first buffer member 5 is connected to the permanent magnet via the connecting rod 10, and the second buffer member 6 is connected to the first buffer member 5.

[0074] In some embodiments, the connecting rod is made of a material with sufficient strength, such as metal.

[0075] In some embodiments, the mover assembly further includes a first metal segment 11a and a second metal segment 11b disposed at both ends of the permanent magnet. In particular, the first metal segment and the second metal segment are iron columns 11 (such as Figure 3 As shown), the total length of the iron column and the permanent magnet is L4 (as shown Figure 2 As shown, L2 < L4 < L1.

[0076] In some embodiments, the length L of the permanent magnet needs to match the height H of the mover. Here, the length L is the total length of the permanent magnet and the iron columns that may be installed at both ends of the permanent magnet, and the height H also refers to the total length L1 of the at least two sets of coils. The permanent magnet does not exceed the range of the at least two sets of coils, so all L is less than H (i.e., L < L1); H minus L is the moving area of the permanent magnet, within which the permanent magnet is in a controllable state. L cannot be less than the length L2 of each set of coils, which is half of H, to prevent the N pole and S pole of the permanent magnet from being within the range of the same set of coils (i.e., to prevent the permanent magnet from staying in place and being uncontrollable).

[0077] Put another way, the length of the mover assembly is preferably greater than the length of one set of coils and less than the total length of two sets of coils, so that at least most of the time, both ends of the mover assembly can be located in two different coil regions respectively. On the basis of improving the operating efficiency of the mover assembly, the problem of the mover assembly getting stuck is avoided.

[0078] In the existing electromagnet drive scheme based on an iron core, the falling position of the keys cannot be effectively controlled, resulting in a single or discontinuous sound for each key. Eventually, it is impossible to play a musical passage with a special timbre effect and cannot meet the performance requirements, and the automatic playing skills are relatively single.

[0079] Based on the combined design of the reverse winding method of a shared power supply and a permanent magnet, the present invention provides a moving magnetic linear mover with precise position control. By winding the first set of coils and the second set of coils in opposite directions and connecting their output terminals and input terminals, the current directions in the winding areas of the two sets of coils are opposite (i.e., the current direction of the first set of coils is clockwise and the current direction of the second set of coils is counterclockwise). By adjusting the lengths of the permanent magnet and the coils, the force directions on the permanent magnet are made consistent, and a greater thrust under a fixed current is obtained. By changing the magnitude of the current, the magnitude of the thrust on the permanent magnet can be changed, so as to quickly and precisely adjust the rise and fall of the permanent magnet. Based on the moving magnetic linear mover, the present invention also provides a piano automatic playing device. By changing the magnitude of the overall thrust on the permanent magnet driven by the current, precise control of the time relationship of the falling position of the keys is achieved, and the process of lifting the fingers when playing the piano by hand can be more precisely simulated, making the piano sound have different intensities, and it can automatically play piano music with cadence and twists and turns, improving the sound quality of piano automatic playing.

[0080] In some embodiments, the number of coil turns can be varied based on the desired force and supply voltage. At the same voltage and current, more turns result in greater force. However, generally, for a fixed supply voltage, more turns increase resistance and reduce current, requiring a balance based on actual heating conditions.

[0081] Preferably, in some embodiments, the number of turns of each coil in the at least two coil groups is the same and is N, 100≤N≤5000.

[0082] In some embodiments, the coil typically utilizes copper enameled wire, with commercially available specifications available for selection based on specific needs. A larger coil wire diameter results in a lower resistivity. For a given length (the length of wire between the coil's head and tail), the lower the resistance, the greater the current, and the greater the thrust exerted by the permanent magnet.

[0083] Preferably, in some embodiments, the bare wire diameters of the at least two groups of coils are 0.008 mm - 2 mm, and the DC resistance of the at least two groups of coils is 3-200 Ω.

[0084] In some embodiments, a thermosetting filling material is further provided between the catheter 2 and the sleeve 4 .

[0085] In some embodiments, the thermosetting filling material is required to be insulating and non-magnetic, and resistant to high temperatures (above 120° C.). Specifically, in some embodiments, the thermosetting filling material is a glue-like substance, such as silica gel.

[0086] In some embodiments, different DC voltages can be used depending on the actual scenario. For a given number of coil turns, higher voltages and currents result in greater thrust from the permanent magnets. However, excessive voltages increase the insulation requirements for the coils, and excessive voltages and currents also increase heat generation, putting the exerciser at risk of overheating and burnout.

[0087] Preferably, in some embodiments, the voltage U provided by the power supply is in the range of 3V≤U≤110V, and the current I is in the range of 0A≤I≤20A.

[0088] In some embodiments, the at least one permanent magnet is connected by non-ferromagnetic material.

[0089] In some embodiments, the at least one permanent magnet is covered with a shell.

[0090] In other embodiments, the housing is made of a non-ferromagnetic material. Specifically, in applications where the permanent magnet may be subjected to intense acceleration and deceleration, the permanent magnet may not be strong enough. Therefore, the permanent magnet may be encased in a housing made of a material with low magnetic permeability, such as copper or stainless steel, to increase the strength of the mover.

[0091] In some embodiments, the first buffer member and the second buffer member are made of flexible materials.

[0092] In some embodiments, the first buffer member may be made of soft materials such as wool felt, foam, and silicone.

[0093] In other embodiments, the second buffer member may also be made of soft materials such as silicone, rubber, and foam.

[0094] In some embodiments, when the permanent magnet is in different positions, the magnitude of the force it receives is different. For details, see Figure 7-Figure 9 As shown in the figure, it can be seen from the simulated magnetic flux line distribution diagram that the lower the permanent magnet is located, the greater the upward component of the magnetic flux line is, and the greater the upward thrust of the coil on the permanent magnet is.

[0095] In general, when the at least two sets of coils are energized, the cylindrical permanent magnet experiences a reaction force. According to the Ampere force formula, the north pole portion (i.e., the first end magnetic pole) of the permanent magnet experiences an upward thrust (i.e., away from the stator assembly) from the upper coil (i.e., the first set of coils), while the south pole portion (i.e., the second end magnetic pole) experiences an upward thrust (i.e., away from the stator assembly) from the lower coil (i.e., the second set of coils). The magnitude of these thrusts is positively correlated with the current magnitude I, the magnetic field strength B, and the overlap area between the permanent magnet and the coils. By changing the duty cycle of the power switch or the power supply voltage, the current in the at least two sets of coils can be varied, thereby varying the magnitude of the thrust experienced by the permanent magnet. Because the thrust is also positively correlated with the overlap area between the permanent magnet and the coil, varying the current can change the overlap area, thereby enabling current-controlled position control of the permanent magnet.

[0096] The dynamic magnetic linear motion device of the present invention can achieve the desired movement of the permanent magnet by rationally designing parameters such as the power supply voltage, coil wire diameter (or wire diameter), number of coil turns (or number of wire turns), diameter and length of the guide tube and permanent magnet, permanent magnet structure, permanent magnet material and magnetization amount, permanent magnet weight, iron frame shape and thickness, load weight, and adding or removing springs.

[0097] This motion device can achieve linear motion within a certain distance with controllable position at a relatively low cost, and can provide greater thrust with the same device volume. It can meet the application requirements of many scenarios and save a lot of costs.

[0098] Compared with voice coil motors, moving magnet linear motion actuators use permanent magnets as movers, avoiding the wear problem of coil connecting wires; the guide rails are eliminated and plastic tubes and magnet columns are used to achieve guidance, which greatly reduces costs. For vertical assembly application scenarios, since there is no lateral pressure, the friction is very low and there is basically no wear problem.

[0099] The two sets of coils of the dynamic magnetic linear motion device of the present invention are connected in parallel, and only the change of a voltage value needs to be controlled, which simplifies the driving complexity; and the two sets of coils are interconnected end to end so that the current directions are opposite, which can generate thrust on the north and south poles of a cylindrical permanent magnet respectively, thereby doubling the thrust.

[0100] The present application also provides an automatic piano playing device, such as Figure 10 As shown, it shows two ways of installing the exerciser: Specifically, the device includes the above-mentioned mover, the piano includes keys, the mover can be placed at the end of the key, and the mover is connected to the end of the key through the second buffer 6; or, the mover can be placed at the hand-pressing end of the key, and the mover is connected to the hand-pressing end of the key through the second buffer 6.

[0101] In some embodiments, the movement device and the key may be in separate contact or directly connected.

[0102] In some embodiments, the actuator may also be used to drive the foot pedals of a piano.

[0103] In some embodiments, the outer diameter of the mover, that is, the diameter of the sleeve, can be freely defined according to the installation space limitation. The larger the outer diameter is, the larger the space available for winding and the larger the diameter of the permanent magnet can be.

[0104] In some embodiments, for an automatic piano modified from a traditional piano, the thrust required to be provided to the keys is between 3-30 N. The diameter D of the mover used to drive the keys is limited by the installation space, and it is recommended that 10 mm ≤ D ≤ 40 mm.

[0105] In other embodiments, the piano pedal requires a larger thrust, within the range of 30-150 N, and the diameter D of the actuator for driving the pedal may be within the range of 40 mm ≤ D ≤ 80 mm.

[0106] In some embodiments, the height of the mover is theoretically limited only by the installation space. In order to increase the thrust, the height of the mover can be increased accordingly.

[0107] In some embodiments, the permanent magnets used in the present invention can be common materials on the market, such as aluminum nickel cobalt, ferrite, samarium cobalt, neodymium iron boron, etc., and can be comprehensively selected based on parameters such as magnetic force, strength, and cost.

[0108] Specifically, in some embodiments, the mode of action of the present application is: Ascending process: A first current (or rising current) is applied to the at least two sets of coils to generate an electromagnetic field, so that the first end magnetic pole of the permanent magnet is subjected to a first driving force applied by the first set of coils, and the second end magnetic pole of the permanent magnet is subjected to a second driving force applied by the second set of coils, and the first driving force and the second driving force are in the same direction, so as to drive the permanent magnet from an initial position (such as Figure 7 The position of the permanent magnet shown in FIG) gradually rises and stops at the first position (as shown in FIG). Figure 9 the position of the permanent magnet shown in ); That is, in this embodiment, the upward thrust during the upward process (the sum of the first and second driving forces) can drive the permanent magnet to gradually drive the connecting rod to rise, and finally stop at the first position. At this time, the connecting rod applies the first pressure to the piano key, and the piano starts to automatically play and emits the first sound. Falling back process: A second current (or fallback current) is reapplied to the at least two sets of coils. The second current is smaller than the first current. At this time, the electromagnetic field generated causes the first end magnetic pole of the permanent magnet to be subjected to a first fallback force applied by the first set of coils, and the second end magnetic pole of the permanent magnet to be subjected to a second fallback force applied by the second set of coils. The first fallback force and the second fallback force are in the same direction, so as to drive the permanent magnet to slowly fall from the first position and stop at the second position (such as Figure 8 the position of the permanent magnet shown in ); That is to say, in this embodiment, the downward thrust of the fall back process (i.e., the sum of the first and second fall back forces) is smaller than the upward thrust of the rise process. Reducing the current can cause the permanent magnet to drive the connecting rod to slowly fall from the first position and eventually stop at the second position, without causing the permanent magnet to immediately return to the initial position. The connecting rod applies a second pressure to the key, and the second pressure is smaller than the first pressure. The fall back of the key is effectively controlled, rather than an uncontrollable complete fall back. At this time, the piano will not stop making sound immediately, but will produce a second sound with continuity or a special timbre.

[0109] In other words, the solution of the present application enables the permanent magnet to generate a greater thrust under the same device volume by simply applying a fixed current to the coil. This thrust can cause the permanent magnet to move in a straight line. Furthermore, during the automatic piano playing process, the overall thrust acting on the permanent magnet can be changed by changing the current, thereby controlling the falling process of the permanent magnet and achieving effective control of the falling of the piano keys.

[0110] The present invention is based on the reverse winding method of sharing power supply and the design of permanent magnets. It is mainly to solve the problem that the nonlinearity of the force applied to ordinary electromagnets during movement is very serious, the curve of force and position changes too dramatically, and there is no way to effectively control the fallback. The design of this solution can make the force change little during the movement, and can effectively control the fallback of the permanent magnet.

[0111] Furthermore, the reverse winding method of the present application and the coordinated design of the permanent magnet can effectively control the fall of the keys during piano playing, ensuring that the same key can produce different sounds, which can meet the requirements of automatic playing of complex music scores, and make the quality of automatically played piano music higher.

[0112] In some embodiments, the first buffer member is a gasket, which is used to eliminate impact noise during the falling process of the permanent magnet.

[0113] In some embodiments, the second buffer member is a pad cap, which is used to eliminate the impact noise between the permanent magnet and the piano key during the rising process of the permanent magnet.

[0114] The solution of the present invention achieves a qualitative improvement in the performance of automatic piano playing at a relatively low cost. Compared to existing electromagnet-based automatic piano key drive solutions, which suffer from the essentially uncontrollable key return, this solution precisely controls the time relationship between the key return position by varying the current, thereby more accurately simulating the finger lift process of human playing and achieving a perfect reproduction of the performance.

[0115] Compared with the existing automatic piano key driving solutions based on traditional linear motors, which have the disadvantages of high cost, large size, small thrust-to-volume ratio and complex driving, the dynamic magnetic linear motion device of this solution has the advantages of low cost, simple production process, small size, large thrust-to-volume ratio and simple driving.

[0116] Furthermore, compared to traditional electromagnets, this solution offers a faster drive response speed. This is because the core of a traditional electromagnet undergoes a magnetization process after power is applied, generating attraction only after magnetization. This solution, however, uses permanent magnets, which do not require magnetization and generate attraction force much faster after power is applied. For automatic piano playing applications, this faster response speed allows for more accurate reproduction of the user's hand movements, reduces system latency, and produces superior performance.

[0117] To address heat generation and reliability issues, this solution involves pouring a thermosetting adhesive between the conduit and the iron frame. This adhesive must be insulating, non-magnetic, and able to withstand high temperatures. This fills the gap between the coil and the iron frame, improving the overall stability of the movement. It also transfers heat generated by the coil to the iron frame more quickly, dissipating heat more quickly. This improves performance compared to traditional piano electromagnets and allows for operation at higher power levels.

[0118] It is understandable that the linear motion device according to the present invention and the device capable of providing linear motion based on the same principle and its variants, including but not limited to changing the shape of the permanent magnet and the conduit, splicing multiple iron columns at both ends of the permanent magnet, increasing the number of coil groups, increasing the number of permanent magnet pole pairs, changing the shape and thickness of the iron frame, changing the force direction of the permanent magnet, etc., are all within the scope of protection of the present invention.

[0119] Example 2 Furthermore, for the distributed drive system described above, the present invention also provides a discrete closed-loop control scheme based on external data. This discrete closed-loop control scheme can largely simulate the actual finger playing state while also reducing reliance on the reliability of external data communication (such as communication speed or reliability).

[0120] From another perspective, this discrete closed-loop adjustment route can fit the physiological characteristics of fingers (i.e., relatively limited speed) to improve the performance quality of automatic performance under simple closed-loop control without excessively increasing costs or operational risks.

[0121] Specifically, the present invention also provides a driving method for an automatic piano player, wherein the piano includes a plurality of keys, and a movement device is provided below the keys, the movement device is connected to a control unit, and the output end of the movement device pushes the keys under the control of the control unit, the piano includes a main control module (such as a primary main control module), and one main control module is connected to a plurality of control units. Correspondingly, see Figure 14 As shown, the driving method includes: S101, obtaining first external data (or historical motion data) corresponding to at least one piano key during a first playing time, wherein the first external data is used to describe a position change of the piano key during the first playing time; For example, the first external data may be the positions of piano keys at various moments collected by the sensor when the user plays the keys.

[0122] S102, converting the first external data into discrete data, where the discrete data includes: a plurality of discrete positions, and the discrete positions are associated with time series labels; For example, in some embodiments, a relationship curve between the position of a piano key and time can be obtained according to a position monitor, and the relationship curve can be divided into multiple discrete data points, that is, discrete positions of multiple points.

[0123] S103, sending at least one discrete data to the main control module, and the main control module forwarding the discrete data to the control unit; S104, monitoring second external data of the piano key at a first moment, and finding a corresponding discrete position according to the first moment by associating the time series tag, where the second external data is a measured position of the piano key; S105, calculating the difference between the second external data and the corresponding discrete position, and using a closed-loop control algorithm to output a compensation current value (or an adjustment current value) for the next time period based on the difference; S106: The control unit drives the actuator in response to the compensation current value. Preferably, the control unit calculates the difference and completes closed-loop control.

[0124] In some embodiments, both the first external data and the second external data may be acquired by a position monitor. In some embodiments, before converting the first external data into discrete data, the first external data may be smoothed, such as by filtering the first external data.

[0125] In some embodiments, further comprising: S107, determining whether the second external position (i.e., the measured position of the key) is greater than or equal to a preset target position; S108, if the result of S107 is yes, identifying the generation or recording time corresponding to the second external position as the detection time; S109, determining whether the time from the detection moment to the current moment exceeds a preset threshold; S110: If the result of S109 is yes, identify the first current at the current moment, and use a preset current limiting rule to generate a second current based on the first current, wherein the second current is smaller than the first current, and use the second current as a new adjusted current value.

[0126] For example, in some embodiments, the second current may be 10%, 20%, etc. of the first current to ensure that the force applied by the second current can support the movement device to maintain the current output state, that is, to keep the keys in a non-falling state as much as possible.

[0127] For example, in some embodiments, when it is monitored that the movement device stays at a large position (peak) for more than 0.1 seconds, the power is actively reduced (ie, the current is reduced) to prevent overheating.

[0128] This low-power sustain state helps improve playing safety during performances that focus on sustain techniques.

[0129] For another example, in some embodiments, if the result of S109 is yes, the second current preset by the user is selected as the new adjustment current value.

[0130] For example, in some embodiments, the target position may be preset by the user, such as the maximum drop position of a key.

[0131] Preferably, for discrete closed-loop control, this embodiment focuses on limiting the current of the mover at the maximum position (i.e., within the deepest range of key pressing). On the one hand, it limits the high-power operating time of the mover. On the other hand, by limiting the current in this special interval of the maximum position, it can also reduce interference with the dominant goal of the mover in simulating finger movement.

[0132] In other words, the discrete closed-loop control in the present invention can simulate the key movement characteristics of the fingers to a large extent (such as performing a sustain effect), while avoiding the risks of long-term precise simulation (i.e., long-term high-power operation).

[0133] In some embodiments, the control unit uses the second current to control the movement device. Correspondingly, the method further includes: Monitor whether the difference between the second external position and the third external position collected in the next time period (ie before the scheduled drop time of the key) exceeds a preset position threshold; that is, whether there is a large deviation between the two.

[0134] If so, the current limiting rule is updated.

[0135] That is to say, by comparing the key position 1 before current limitation (i.e., the second external position, which can be the depth of the key being pressed) and the key position 2 after limitation (i.e., the third external position), if the key position deviates significantly before the falling time, such as the key pressing depth decreases to a certain extent, it is recommended to modify the current limitation rule during the next repetition to increase the magnitude of the second current.

[0136] In some embodiments, the current limiting rule is: second current = first current × set ratio; correspondingly, the step of updating the current limiting rule includes increasing or decreasing the set ratio. For example, if the key quickly drops back after switching to the second current, the set ratio can be increased, i.e., the magnitude of the second current can be increased.

[0137] In some embodiments, the steps further include: When the difference between the set ratio before the update and the set ratio after the update is greater than a preset first ratio threshold (i.e., the second current ratio of the exerciser is fine-tuned), a first prompt signal is generated; When the number of first prompt signals generated within the first time period exceeds a preset number of first signals, a recommended update plan is generated and forwarded to at least one of the control units via the main control module. The recommended update plan includes a recommended adjustment value for the set ratio. For example, if the set ratio is increased for each of the multiple motion devices, the updated set ratio used by each of the multiple motion devices is used as the recommended adjustment value.

[0138] In this embodiment, if multiple actuators are fine-tuning the second current, it is recommended to update or check the set ratio of the piano's actuators globally. This global warning based on fine-tuning scenarios for multiple actuators can prevent pianos from deforming in dry or humid environments, resulting in inaccurate performance, such as the inability to reproduce the sustain effect.

[0139] For example, if a piano is exposed to moisture for an extended period, the keys or hammers may become deformed and heavier. At this point, the motors may struggle to maintain the proper depression depth at the originally set second current, resulting in a loss of sustain. Localized performance effects (i.e., fine-tuning of some motors) can provide early warning to the piano's global drive system, allowing it to adapt to changes in different environments or time periods (e.g., seasonal variations).

[0140] In some embodiments, the steps further include: When the difference between the set ratio before the update and the set ratio after the update is greater than a preset second ratio threshold, a second prompt signal is generated; When the number of second prompt signals generated within the first time period is less than the preset second signal number, a motion detector detection signal is generated to prompt the user to detect the corresponding motion detector, which is equivalent to sending a local warning signal to the user to prompt the user to pay attention to the motion detector with a large deviation.

[0141] Different from the fine-tuning of the second current ratio by multiple motion devices, in this embodiment, when a local motion device produces a large deviation in the sustain effect, the user is prompted to focus on the motion device with the larger error to perform local adjustments on the piano.

[0142] In the present invention, global warnings and local warning prompts are respectively issued for situations where fine-tuning of multiple movers occurs and large errors occur in a small number of movers, so as to help users preliminarily determine the source of the errors (such as environmental and climatic factors, or process defects of the movers), and assist users in achieving efficient maintenance of smart piano equipment.

[0143] In this regard, the driving method of the present invention is beneficial for optimizing or maintaining the reproduction effect of the piano during long-term automatic performance.

[0144] In summary, the present invention can distinguish between global fine-tuning and local deviations, and the system can assist users in quickly locating the root cause of the problem. For example, environmental factors (such as humidity changes) can be addressed through global adjustments and the setting parameters of the motion device; hardware problems (such as motion device process defects) can be repaired or replaced in a targeted manner.

[0145] Furthermore, the present invention solves the stability problem of intelligent pianos under complex working conditions through a hierarchical early warning mechanism (global / local) and environmental adaptive control, providing a reliable intelligent decision-making system for the precise maintenance of automated performance equipment.

[0146] Furthermore, the present invention also provides a regulation mechanism for adaptively regulating the discreteness of discrete data, so as to alleviate or reduce the operating risk under multi-motor drive.

[0147] For example, in some embodiments, the present invention includes the steps of: (1) Selecting a degree of discreteness based on numerical features of at least one segment of first external data, wherein the degree of discreteness is used to describe the time interval between discrete positions; wherein the smaller the degree of discreteness, the higher the degree of music restoration produced by the motor drive, that is, the more refined the restoration process.

[0148] For example, in some embodiments, the numerical feature can be characterized by the degree of position fluctuation. When the degree of position fluctuation is smaller, the selected discrete degree is relatively larger. Conversely, when the degree of position fluctuation is larger, the selected discrete degree is relatively smaller.

[0149] In some embodiments, different recommended discreteness sizes may be preset for different sizes of position fluctuations.

[0150] For example, the position fluctuation degree may be a position change rate, for example, the position change rate may be obtained by derivatizing a position-time curve.

[0151] Alternatively, the position fluctuation degree is calculated as follows: multiple difference values of multiple groups of adjacent positions are calculated, and an average value of the multiple difference values is calculated, and the average value is used as the position fluctuation degree.

[0152] Alternatively, in some embodiments, the numerical feature can be characterized by the number of force nodes. Specifically, the external data collected by a piano key can be classified as a node. When a node reflects that the user's pressing force is greater than a preset force level, it can be identified as a force node. The more force nodes there are, the smaller the corresponding discreteness can be. For example, when the position change speed under a node is greater than a set value, it is considered to be a force node.

[0153] (2) Converting the corresponding at least one segment of first external data according to the discrete degree to obtain corresponding discrete data; wherein the discrete data includes a plurality of discrete positions.

[0154] For example, in some embodiments, all first external data of the performance may be segmented, that is, different discrete degrees may be specifically set according to the numerical characteristics of different segments.

[0155] In this embodiment, different reproduction rules can be set for different types of piano music, or even different music sections of the same piano music, or in other words, different restoration degrees can be set. The smaller the discrete degree, the higher the reproduction degree.

[0156] Furthermore, the proposed mechanism for regulating the recurrence rules by type and segment not only ensures a high degree of restoration but also significantly reduces motor power consumption during the restoration process. This control of motor power consumption not only facilitates the long-term stable operation of the multi-motor drive system (88 keys corresponding to 88 motors) (for example, by avoiding the risk of overheating and burnout), but also reduces the pressure on closed-loop control.

[0157] Alternatively, in some embodiments, the degree of discreteness may be preset by a user. For example, in some embodiments, the time interval between each discrete position is approximately 0.2 ms-1.0 ms.

[0158] Preferably, in some embodiments, the time interval between each discrete position is preferably 0.2 ms.

[0159] In some embodiments, the piano includes at least two parallel master control modules, such as at least two primary master control modules.

[0160] Another aspect of the present invention provides a control system for an automatic piano player. The piano includes a plurality of keys, and a mover is provided below the keys. The mover is connected to a control unit, and the output end of the mover moves the keys under the control of the control unit. The piano includes a main control module, and one main control module is connected to multiple control units. Correspondingly, the system includes: An acquisition module, configured to acquire first external data corresponding to at least one piano key during a first performance time, wherein the first external data is used to describe a position change of the piano key during the first performance time; a discrete module, configured to convert the first external data into discrete data, wherein the discrete data includes: a plurality of discrete positions, wherein the discrete positions are associated with time series labels; a sending module, configured to send at least one discrete data to the main control module, and the main control module forwards the discrete data to the control unit of the exerciser; a monitoring module, configured to monitor second external data of the piano key at a first moment, and find a corresponding discrete position according to the first moment by associating the time sequence labels; the second external data being the position of the piano key; a closed-loop control module, configured to calculate a difference between the second external data and the corresponding discrete position, and output a regulated current value for a next time period based on the difference using a closed-loop control algorithm; A driving module is configured for the control unit to drive the movement device in response to the adjusted current value.

[0161] In some embodiments, further comprising: A first judging module, configured to judge whether the second external data is greater than or equal to a preset target position; a detection module, configured to identify a recording time corresponding to the second external data as a detection time if a result of the judgment module is yes; A second judgment module is used to judge whether the time from the detection moment to the current moment exceeds a preset threshold; The limiting module identifies the first current at the current moment if the result of the second judgment module is yes, and uses a preset current limiting rule to generate a second current based on the first current, and the magnitude of the second current is smaller than the first current, and inputs the second current into the control unit as a new adjusted current value.

[0162] In some embodiments, the method further comprises: The rule updating module is used to monitor whether the difference between the second external data and the third external data collected in the next time period exceeds a preset position threshold; if so, update the current limiting rule.

[0163] Correspondingly, the drive system in the present invention can execute the method or steps in any of the above embodiments: As described, the primary main control module is connected to the data storage module, the data storage module, and the monitoring module; Correspondingly, the data storage module is used to obtain first external data corresponding to at least one piano key during the first performance time, wherein the first external data is used to describe the position change of the piano key during the first performance time; A data processing module, configured to convert the first external data into discrete data, wherein the discrete data includes: a plurality of discrete positions, wherein the discrete positions are associated with time series labels; a sending module, configured to send at least one discrete data to the main control module, and the main control module forwards the discrete data to the control unit of the exerciser; a monitoring module, configured to monitor second external data of the piano key at a first moment, and find a corresponding discrete position according to the first moment by associating the time sequence labels; the second external data being the position of the piano key; a closed-loop control module, configured to calculate a difference between the second external data and the corresponding discrete position, and output a regulated current value for a next time period based on the difference using a closed-loop control algorithm; A driving module is configured for the control unit to drive the movement device in response to the adjusted current value.

[0164] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0165] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A method for controlling automatic piano playing, characterized in that: The piano includes a plurality of keys, and a mover is provided below the keys. The mover is connected to a control unit, and an output end of the mover moves the keys under the control of the control unit. The piano includes a main control module, and one main control module is connected to a plurality of control units. Correspondingly, the method includes: S101, obtaining first external data corresponding to at least one piano key during a first performance time, wherein the first external data is used to describe a position change of the piano key during the first performance time; S102, converting the first external data into discrete data, where the discrete data includes: a plurality of discrete positions, and the discrete positions are associated with time series labels; S103, sending at least one discrete data to the main control module, and the main control module forwarding the discrete data to the control unit; S104, monitoring second external data of the piano key at a first moment, and finding a corresponding discrete position according to the first moment by associating the time sequence tag; the second external data is the position of the piano key; S105, calculating the difference between the second external data and the corresponding discrete position, and using a closed-loop control algorithm to output a regulated current value for the next time period based on the difference; S106 , the control unit drives the movement device in response to the adjusted current value.

2. The method according to claim 1, characterized in that Also includes: S107, determining whether the second external data is greater than or equal to a preset target position; S108, if the result of S107 is yes, identifying the recording time corresponding to the second external data as the detection time; S109, determining whether the time from the detection moment to the current moment exceeds a preset threshold; S110: If the result of S109 is yes, identify the first current at the current moment, and use a preset current limiting rule to generate a second current based on the first current, and the magnitude of the second current is smaller than the first current, and input the second current into the control unit as a new adjustment current value.

3. The method according to claim 2, characterized in that The method further comprises: monitoring whether a difference between the second external data and third external data collected in a next time period exceeds a preset position threshold; If so, the current limiting rule is updated.

4. The method according to claim 3, characterized in that The current limiting rule is: the second current=the first current×a set ratio; correspondingly, the step of updating the current limiting rule includes: increasing or decreasing the set ratio.

5. The method according to claim 4, characterized in that Also includes the steps: When the difference between the set ratio before the update and the set ratio after the update is greater than a preset first ratio threshold, a first prompt signal is generated; When the number of first prompt signals generated within the first time period is greater than the preset first signal number, a recommended update plan is generated, and the recommended update plan is forwarded to at least one of the control units through the main control module. The recommended update plan includes: a recommended adjustment value of the set ratio.

6. The method according to claim 4 or 5, characterized in that Also includes the steps: When the difference between the set ratio before the update and the set ratio after the update is greater than a preset second ratio threshold, a second prompt signal is generated; When the number of the second prompt signals generated within the first time period is less than the preset second signal number, a motion device detection signal is generated to prompt the user to detect the corresponding motion device.

7. The method according to claim 1, characterized in that The piano includes at least two parallel main control modules.

8. A control system for automatic piano playing, characterized in that: The piano includes a plurality of keys, and a mover is provided below the keys. The mover is connected to a control unit, and an output end of the mover moves the keys under the control of the control unit. The piano includes a main control module, and one main control module is connected to a plurality of control units. Correspondingly, the system includes: A data storage module is used to obtain first external data corresponding to at least one piano key during a first playing time, wherein the first external data is used to describe a position change of the piano key during the first playing time; A data processing module, configured to convert the first external data into discrete data, wherein the discrete data includes: a plurality of discrete positions, wherein the discrete positions are associated with time series labels; a sending module, configured to send at least one discrete data to the main control module, and the main control module forwards the discrete data to the control unit of the exerciser; a monitoring module, configured to monitor second external data of the piano key at a first moment, and find a corresponding discrete position according to the first moment by associating the time sequence labels; the second external data being the position of the piano key; a closed-loop control module, configured to calculate a difference between the second external data and the corresponding discrete position, and output a regulated current value for a next time period based on the difference using a closed-loop control algorithm; A driving module is configured for the control unit to drive the movement device in response to the adjusted current value.

9. The system according to claim 8, characterized in that Also includes: A first judging module, configured to judge whether the second external data is greater than or equal to a preset target position; a detection module, configured to identify a recording time corresponding to the second external data as a detection time if a result of the judgment module is yes; A second judgment module is used to judge whether the time from the detection moment to the current moment exceeds a preset threshold; The limiting module identifies the first current at the current moment if the result of the second judgment module is yes, and uses a preset current limiting rule to generate a second current based on the first current, and the magnitude of the second current is smaller than the first current, and inputs the second current into the control unit as a new adjusted current value.

10. The system according to claim 9, characterized in that The method further comprises: The rule updating module is used to monitor whether the difference between the second external data and the third external data collected in the next time period exceeds a preset position threshold; if so, update the current limiting rule.

Images