Pedal control method and system

Abstract

The present application relates to piano foot control technology field, specifically relates to a foot control method and system, method is applied to foot control system, foot control system includes: external unit and additional unit, external unit includes external pedal module, additional unit includes treading drive module, treading drive module is used for corresponding piano pedal according to treading data treading;The external unit includes the first external unit;Correspondingly, the method comprises the following steps: collecting the first external data source through the first external unit;Using the first screening rule to generate the first simulation signal according to the first external data source;Wherein, it includes: judging whether the foot value is greater than the first treading threshold value of the preset;If yes, then the foot value is identified as the to-be-simulated data source;According to the to-be-simulated data source, the first simulation signal is generated;The first simulation signal is transmitted to the treading drive module, and the treading drive module drives the piano pedal in response to the first simulation signal.The present application can greatly improve the efficiency of user practice foot control technology.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of piano pedal control, in particular to a pedal control method and system. BACKGROUND

[0002] At present, the piano pedal control is usually directly stepped down by the performer through the foot, and the force and displacement of the foot are transmitted to the action unit by the lever principle, so as to change the tone or volume, realize the effect of sustain, soft sound, etc. Although the traditional method has simple structure and direct feedback, it has significant limitations: the fixed and non-adjustable pedal position cannot adapt to different heights, postures or wheelchair-riding performers, which seriously limits the diversity of user groups.

[0003] In order to overcome the above-mentioned defects, the prior art also attempts to propose some solutions to improve the flexibility and applicability of the pedal device.

[0004] For example, patent application CN115472141A proposes a multifunctional piano playing teaching auxiliary device, which comprises a simulator, an electronic pedal and a music stand, the electronic pedal is arranged at the lower part of the simulator, and the electronic pedal and the simulator are electrically connected through a connecting line, the music stand is spliced and installed at the middle part of one side of the simulator, the simulator comprises a keyboard frame, and a plurality of groups of black and white keys are arranged on the upper part of the keyboard frame, and an external speaker is fixedly installed at both ends of the keyboard frame, the music stand comprises a fixed frame and an angle adjuster, and the angle adjuster is spliced and installed on the outer surface of one end of the fixed frame; the simulator and the electronic pedal restore the key and pedal operation of the conventional piano, improve the piano simulation effect of the teaching auxiliary device, and solve the problem that the traditional book page type music sheet cannot automatically turn the page by setting the music stand, thereby improving the use effect.

[0005] For another example, patent application CN120510757A proposes a piano pedal action amplitude indicating device for music teaching, which comprises a placing plate and an indicating structure arranged on the placing plate, and a suction cup is installed at the bottom of the placing plate; the indicating structure comprises an indicating frame, a soft pedal display screen, a mute pedal display screen and a sustain pedal display screen are sequentially arranged on the front surface of the indicating frame from left to right, and a reminding member for reminding pedal switching is further arranged on the indicating frame, and a first indicating member for displaying the action of the soft pedal is arranged on the soft pedal display screen; by arranging the indicating structure, the action and amplitude of the piano pedal can be displayed, so as to realize accurate reminding of the action of the piano pedal, facilitate accurate control of the action amplitude of the piano pedal by the practice personnel, and further facilitate the teaching and display of the piano, improve the teaching effect of the piano, and facilitate the rapid learning of the piano.

[0006] However, how to provide a more refined and beneficial to enhance the piano teaching scene user practice efficiency of foot control method is still a problem to be solved. SUMMARY

[0007] The purpose of the present application is to provide a foot control method and system, partially solve or alleviate the above-mentioned deficiencies in the prior art, which can greatly improve the efficiency of user practice foot control technology.

[0008] In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions:

[0009] The first aspect of the present application is to provide a foot control method, which is applied to a foot control system, the foot control system comprising: an external unit and an additional unit, the additional unit is arranged on a piano, the external unit comprises an external pedal module, the additional unit comprises a pedal driving module, the pedal driving module is used to pedal the corresponding piano pedal according to the pedal data; the external unit comprises a first external unit;

[0010] Correspondingly, the method comprises the steps of:

[0011] S101, collecting a first external data source through the first external unit, the first external data source comprising: a pedal value of at least one pedal, and the pedal value is marked with a timestamp;

[0012] S102, generating a first simulation signal according to the first external data source by using a first filtering rule; wherein S102 comprises:

[0013] S1021, determining whether the pedal value is greater than a preset first pedal threshold;

[0014] S1022, if yes, marking the pedal value as a first type of pedal value, and identifying the first type of pedal value as a to-be-simulated data source;

[0015] S1023, generating a first simulation signal according to the to-be-simulated data source;

[0016] S103, transmitting the first simulation signal to the pedal driving module, and the pedal driving module drives the piano pedal in response to the first simulation signal.

[0017] In some embodiments, the external unit further comprises a second external unit, and further comprising the steps of:

[0018] S104, collecting a second external data source through the second external unit, the second external data source comprising: a pedal value of at least one pedal, and the pedal value is marked with a timestamp;

[0019] S105, generating a second simulation signal according to the second external data source by using the first screening rule;

[0020] S106, transmitting the second simulation signal to the pedal driving module.

[0021] In some embodiments, further comprising:

[0022] Generating a pedal score according to a plurality of the first external data sources and a third external data source; wherein the third external data source comprises: a standard pedal value of at least one note node, a time label of the standard pedal value; the third external data source is obtained by collecting a music score database;

[0023] Determining whether the pedal score is less than a first preset score, and if so, generating a guide track according to the third external data source;

[0024] And / or,

[0025] Generating a first guide track according to the corresponding third external data source;

[0026] Generating a marked track according to the corresponding first external data source;

[0027] Generating the guide track by fusing the marked track and the first guide track by using a track fusion method.

[0028] In some embodiments, further comprising:

[0029] S107, obtaining at least one segment of the first external data source of at least one of the first external units;

[0030] S108, generating at least one segment of a marked track according to the first external data source; wherein the marked track comprises: a first simulation track, a second simulation track; correspondingly, S102 comprises the steps of:

[0031] When the pedal value is greater than a first pedal threshold, generating a first simulation track according to the pedal value, and the first simulation track is displayed in a first marked form;

[0032] When the pedal value is greater than a second pedal threshold and less than or equal to the first pedal threshold, generating a second simulation track according to the pedal value, and the second simulation track is displayed in a second marked form;

[0033] S109, generating a merged track according to at least one segment of the marked track, and displaying the merged track on a music score.

[0034] In some embodiments, further comprising:

[0035] Correspondingly, S108 further comprises the steps of:

[0036] When the foot value is less than or equal to the second foot threshold, the foot value is identified as a virtual target;

[0037] An adjacent foot value adjacent to the virtual target is selected; wherein the difference between the timestamp of the adjacent foot value and the timestamp of the virtual target is less than a preset time difference value;

[0038] A virtual trajectory is generated according to the adjacent foot value and the virtual target, wherein the virtual trajectory is displayed in a third marked form.

[0039] In some embodiments, the step of generating a virtual trajectory according to the adjacent foot value and the virtual target comprises:

[0040] (1) An adjacent foot data set is obtained, and the adjacent foot data set comprises: first adjacent foot data and second adjacent foot data, the first adjacent foot data and the second adjacent foot data being respectively the adjacent foot value before and after the virtual target;

[0041] (2) At least two predicted trajectories are generated according to the adjacent foot data set using a virtual prediction method; wherein step (2) comprises:

[0042] A virtual point is generated using the adjacent foot data set, the virtual point being used to define the starting height of a predicted trajectory;

[0043] A change trajectory of the adjacent foot data set is calculated, and a virtual change trajectory is generated according to the change trajectory;

[0044] A predicted trajectory is generated according to the starting height and the virtual change trajectory;

[0045] (3) The virtual trajectory is generated according to the at least two predicted trajectories.

[0046] In some embodiments, further comprising:

[0047] The at least two predicted trajectories are fused using a trajectory fusion method to generate the virtual trajectory; the trajectory fusion method comprises one or more of the following: direct connection method, smooth transition method, trajectory alignment method based on optimization method.

[0048] In some embodiments, S102 further comprises:

[0049] S1024, determining whether the foot value is greater than a preset second foot threshold;

[0050] If the determination result of S1021 is no, and the determination result of S1024 is yes, then:

[0051] S1025, the foot value is marked as a second type of foot value;

[0052] S1026, whether the duration of the second type of foot value is less than the set duration;

[0053] S1027, if yes, the second type of foot value is updated to the to-be-simulated data source.

[0054] The second aspect of the application provides a foot control system, which comprises an external unit and an additional unit, the additional unit is arranged on a piano, the external unit comprises an external pedal module, the additional unit comprises a pedal driving module, the pedal driving module is used for driving the corresponding piano pedal according to the pedal data; the external unit comprises a first external unit;

[0055] Correspondingly, the system comprises:

[0056] A first external data source acquisition module is used for acquiring a first external data source through the first external unit, the first external data source comprises a foot value of at least one pedal, and the foot value is marked with a time stamp;

[0057] A first simulation signal generation module is used for generating a first simulation signal according to the first external data source by using a first screening rule; wherein the first simulation signal generation module is further used for:

[0058] determining whether the foot value is greater than a preset first pedal threshold;

[0059] If yes, the foot value is identified as a to-be-simulated data source;

[0060] A first simulation signal is generated according to the to-be-simulated data source;

[0061] A piano pedal driving module is used for transmitting the first simulation signal to the pedal driving module, and the pedal driving module drives the piano pedal in response to the first simulation signal;

[0062] The system is further used for:

[0063] At least one piece of the first external data source of at least one first external unit is acquired;

[0064] generating at least one marked trajectory according to the first external data source; wherein the marked trajectory comprises: a first simulation trajectory, a second simulation trajectory; correspondingly, when the foot pedal value is greater than a first foot pedal threshold, generating a first simulation trajectory according to the foot pedal value, and the first simulation trajectory is displayed in a first marked form; when the foot pedal value is greater than a second foot pedal threshold and less than or equal to the first foot pedal threshold, generating a second simulation trajectory according to the foot pedal value, and the second simulation trajectory is displayed in a second marked form;

[0065] generating a merged trajectory according to at least one of the marked trajectories, and displaying the merged trajectory on the score.

[0066] In some embodiments, the external unit further comprises: a second external unit, and the system is further configured to:

[0067] acquiring a second external data source through the second external unit, wherein the second external data source comprises: a foot pedal value of at least one pedal, and the foot pedal value is marked with a time stamp;

[0068] generating a second simulation signal according to the second external data source by using the first filtering rule;

[0069] transmitting the second simulation signal to the foot pedal driving module.

[0070] In some embodiments, the system is further configured to:

[0071] generating a foot pedal score according to a plurality of the first external data source and a third external data source; wherein the third external data source comprises: a standard foot pedal value of at least one note node, and a time label of the standard foot pedal value; the third external data source is acquired through a score database;

[0072] determining whether the foot pedal score is less than a first preset score, and if so, generating a guide trajectory according to the third external data source;

[0073] and / or,

[0074] generating a first guide trajectory according to a corresponding third external data source;

[0075] generating a marked trajectory according to a corresponding first external data source;

[0076] generating the guide trajectory by fusing the marked trajectory and the first guide trajectory according to a trajectory fusion method.

[0077] Beneficial technical effects:

[0078] 1. The non-direct contact piano pedal control method proposed in the present application refers to that the user can directly control the external unit to control the pedal without directly contacting the original pedal of the piano. Such a setting has at least the following advantages: 1) for children, performers with insufficient height or leg length, performers with special sitting posture, and even disabled people using wheelchairs, the fixed limitations of the original pedal of the piano can be broken without damaging the mechanical mechanism of the piano itself, ensuring that all users can apply the playing posture that they feel comfortable with; 2) when students practice, the teacher can correct the pedal data through the second external unit without interrupting the performance (for example, if the student's pedaling force is not enough, the pedal data can be supplemented through the second external unit), greatly improving the efficiency of the user's practice control of the pedal;

[0079] 2. With the restrictive pedal data recommendation scheme (such as preferentially transmitting a type of pedal value and a specific type of pedal value), the power consumption of the pedal motor during long-time operation can be reduced, thereby reducing the running risk of the pedal motor in a long-time running state to a certain extent. At the same time, through threshold and time dual-dimension data recommendation, it can also avoid excessive filtering of data, which would otherwise affect the continuity of the user's performance, such as avoiding the effect of some specific pedal techniques being weakened or eliminated.

[0080] 3. By visualizing the pedal data collected by the external unit (including the first external data source and the second external data source), the performer can be provided with visual feedback of the pedal control, which is convenient for them to clearly and intuitively understand from the visual display result how the intensity and speed of their pedal control are, so that they can make targeted adjustments subsequently. BRIEF DESCRIPTION OF DRAWINGS

[0081] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual proportion. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0082] Figure 1 A flowchart of a pedal control method provided by an embodiment of the present application;

[0083] Figure 2 A structural schematic diagram of a pedal control system provided by an embodiment of the present application;

[0084] Figure 3A structural schematic diagram of an exemplary piano foot pedal system applicable to the present application;

[0085] Figure 4 Another structural schematic diagram of an exemplary piano foot pedal system applicable to the present application;

[0086] Figure 5 Another structural schematic diagram of an exemplary piano foot pedal system applicable to the present application;

[0087] Figure 6 A schematic diagram of foot pedal data display in an exemplary embodiment of the present application.

[0088] Reference signs:

[0089] 111, mounting plate; 112, mounting block; 113, external left pedal; 114, external middle pedal; 115, external right pedal; 211, mounting frame; 212, stepping motor; 213, connecting rod; 221, bottom plate; 222, connecting rod mechanism; 223, shock absorbing spring; 2221, transmission connecting rod; 2222, hinged support; 2223, connecting bolt; 3, piano pedal. DETAILED DESCRIPTION

[0090] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0091] In this document, the suffixes such as "module", "part" or "unit" used for an element are merely intended for facilitating the description of the present application, and are not intended to have a specific meaning or function. Therefore, "module", "part" or "unit" can be mixedly used.

[0092] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely 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 cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0093] In this document, unless otherwise indicated and limited, the terms "mounting", "provided with", "connected" and the like, should be interpreted broadly, for example, "connected" can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can be direct connection, can also be indirect connection through intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0094] In this document, "and / or" includes any and all combinations of one or more listed associated items.

[0095] In this document, "a plurality of" means two or more, that is, it includes two, three, four, five, etc.

[0096] 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, even more typically + / - 0.5% of the stated value.

[0097] In this specification, certain embodiments can be disclosed in one format in terms of a range. It should be understood that such "in terms of a range" description is merely for the convenience and brevity, and should not be interpreted as a rigid limitation on the disclosed range. Therefore, the description of the range should be considered to have specifically disclosed all possible sub-ranges and individual numerical values within the range. For example, the description of the range 1-6 should be considered to have specifically disclosed sub-ranges 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 individual numbers within the range, such as 1, 2, 3, 4, 5 and 6. The above rule applies regardless of the breadth of the range.

[0098] Embodiment one:

[0099] See Figure 1 The present application provides a foot control method, the method is applied to a foot control system, the foot control system comprises an external unit and an additional unit, the additional unit is arranged on a piano, the external unit comprises an external pedal module, the additional unit comprises a pedal driving module, the pedal driving module is used for stepping on a corresponding piano pedal according to pedal data; the external unit comprises a first external unit;

[0100] Correspondingly, the method comprises the steps of:

[0101] S101, collecting a first external data source through the first external unit, the first external data source comprising a foot pedal value of at least one pedal, and the foot pedal value being marked with a time stamp;

[0102] S102, generating a first simulation signal according to the first external data source by using a first screening rule; wherein S102 comprises:

[0103] determining whether the foot pedal value is greater than a preset first pedal threshold value;

[0104] If yes, the foot pedal value is identified as a to-be-simulated data source;

[0105] generating a first simulation signal according to the to-be-simulated data source;

[0106] S103, transmitting the first simulation signal to the pedal driving module, and the pedal driving module drives the piano pedal in response to the first simulation signal.

[0107] For example, in some embodiments, the first pedal threshold value can be about 30% of the maximum pedal depth, and in the present embodiment, the foot pedal value greater than the first pedal threshold value is marked as an effective foot pedal, that is, when the foot pedal value is greater than the first pedal threshold value, the pedal can be relatively effectively used.

[0108] For example, a piano usually has three pedals, such as a sustain pedal (which can be used to prolong the sound time), a soft pedal, and a sostenuto pedal (which can be used to shorten the hammer stroke distance to make the sound lighter).

[0109] Each pedal can have a minimum physical effective stroke (equivalent to the first pedal threshold value in the present embodiment), that is, it needs to be pedaled to a certain depth before it can be used, and the first pedal threshold value can be set according to the piano or pedal specifications.

[0110] In the present embodiment, for such an external pedal system driven by a motor, a restrictive signal simulation method (such as preferably transmitting a type of foot pedal value) is provided, which can reduce the requirements on the performance of the piano motor to a certain extent.

[0111] In some embodiments, the pedal system includes an external unit and an added unit.

[0112] The external unit includes an external pedal module, which can be an adjustable input device independent of the original structure of the piano, and has a high-precision sensor that can accurately capture the details of the performer's foot movements (including the pedal force and the pedal speed), and convert the collected analog signals into digital signals in real time, and transmit them to the pedal driving module in the added unit through wired or wireless transmission, so as to adapt to various performers and playing scenes, and realize accurate control of the original piano pedals.

[0113] In some embodiments, wired transmission or wireless transmission can be switched according to the actual transmission situation. For example, when the network signal is poor, it can be switched from wireless to wired connection to ensure the continuity during the performance.

[0114] The installation unit comprises a pedal driving module, which can be a driving motor connected to the original pedal of the piano by wire or wirelessly. The pedal driving module can accurately press or release the original pedal of the piano by receiving and analyzing the analog signal from the external pedal and driving the electromechanical device, thereby reproducing the foot control action of the performer.

[0115] In some embodiments, the external unit can comprise external pedal modules of multiple users (such as teachers and students).

[0116] Preferably, the external unit controlled by the current user can be the first external unit.

[0117] In some embodiments, the first external data source can be collected according to the first external unit. The first external data source can be the foot pedal data collected by the sensor (such as an external position sensor) of the first external unit (such as a student pedal), which can include foot pedal values (such as pedal depth and pedal speed) and time stamps, and is the data source for generating analog signals.

[0118] Preferably, the first pedal threshold refers to the threshold for triggering the effect of soft, soft, and delayed sound, that is, the foot pedal value less than or equal to the preset first pedal threshold can be considered as an invalid foot pedal value that can be collected by the sensor (such as an external position sensor) but is not enough to trigger the effect of soft, soft, and delayed sound.

[0119] The present application sets the external unit as the input end of the foot pedal value, and the installation unit accurately drives the piano pedal according to the foot pedal value, which not only realizes non-contact piano foot pedal control, that is, the user can accurately control the piano foot pedal without contacting it, and further filters the invalid foot pedal value by the preset first pedal threshold, that is, selects the effective foot pedal value greater than the first pedal threshold from the collected foot pedal value, and drives the piano pedal according to the effective foot pedal value, thereby effectively filtering the interference of most light touch, external vibration and other noises.

[0120] It should be understood that the real piano pedal is provided with a certain mechanical damping, or initial resistance, and a very slight pedal force will not trigger the piano pedal effect. The first pedal threshold can simulate the minimum pressure required for the real piano pedal, and the user needs to apply a clear force that meets the threshold requirement to drive the pedal, so that the use of the external pedal conforms to the control habit of the real pedal, and there is no sense of discomfort when the external pedal is used from the original mechanical pedal of the piano.

[0121] In some embodiments, the first simulation signal can be generated according to the first external data source by using the first screening rule. Specifically, the foot pedal value less than or equal to the first pedal threshold in the collected first external data source can be filtered, and only the foot pedal value greater than the first pedal threshold is identified as the to-be-simulated data source. The to-be-simulated data source refers to the foot pedal data that can be collected by the sensor (for example, an external position sensor) and trigger the piano pedal effect.

[0122] In some embodiments, the first simulation signal can be generated according to the to-be-simulated data source, which can include determining the force size and speed (i.e., simulation pedal force and simulation pedal speed) that the pedal driving module should apply to the piano pedal at different times according to the to-be-simulated data source. By selectively selecting the foot pedal value greater than the first pedal threshold as the to-be-simulated data source and generating the first simulation signal according to the to-be-simulated data source, the piano pedal can be driven according to the real foot pedal data almost without loss.

[0123] In some embodiments, the first pedal threshold can include a pedal force threshold and a pedal speed threshold, and correspondingly, the foot pedal value can include a pedal force value and a pedal speed value. When comparing the foot pedal value with the first pedal threshold, the data of the corresponding type (for example, the pedal force value and the pedal force threshold) can be compared.

[0124] In some embodiments, the external unit further includes a second external unit, which includes the following steps:

[0125] S104, collecting a second external data source by using the second external unit, wherein the second external data source includes a foot pedal value of at least one pedal, and the foot pedal value is marked with a time stamp;

[0126] S105, generating a second simulation signal according to the second external data source according to the first screening rule;

[0127] S106, transmitting the second simulation signal to the pedal driving module.

[0128] In some embodiments, the second external unit is not different from the first external unit in physical structure and principle of action, except that the users of the two are different.

[0129] In some embodiments, generating the second simulation signal according to the second external data source by using the first screening rule can include filtering the foot pedal values in the second external data source that are less than or equal to the first foot pedal threshold, and screening out the foot pedal data greater than the first foot pedal threshold as the to-be-simulated data source. Further, the second simulation signal can be generated according to the to-be-simulated data source screened out from the second external data source, and the generation manner of the second simulation signal can refer to the first simulation signal, which will not be described here.

[0130] In some embodiments, the second external data source can be obtained according to the second external unit controlled by the teacher.

[0131] In some embodiments, the superimposed simulation signal can be generated according to the first simulation signal and the second simulation signal, that is, the foot pedal data corresponding to the first simulation signal and the second simulation signal are added to obtain the foot pedal data finally applied to the piano foot pedal. Taking the foot pedal force as an example, if the foot pedal force corresponding to the first simulation signal is a and the foot pedal force corresponding to the second simulation signal is b, then the foot pedal force finally applied to the piano foot pedal is a+b.

[0132] In some embodiments, the first simulation signal can also be directly switched to the second simulation signal, that is, the foot pedal data corresponding to the second simulation signal is taken as the foot pedal data finally applied to the piano foot pedal.

[0133] Specifically, whether to superimpose the first simulation signal and the second simulation signal or directly switch the first simulation signal to the second simulation signal can be set by the user according to the practice needs of the user, which is not limited here.

[0134] It should be understood that the non-direct contact piano foot pedal control method proposed in the present application means that the user can directly control the foot pedal by controlling the external unit without directly contacting the original piano pedal. Such a setting has at least the following advantages: 1) for children, performers with insufficient height or leg length, performers with special sitting posture, and even disabled people using wheelchairs, the fixed limitations of the original piano pedal can be broken without damaging any mechanical mechanism of the piano itself, ensuring that all types of users can apply the playing posture that they feel comfortable with; 2) when students practice, the teacher can correct the foot pedal data through the second external unit without interrupting the performance (for example, if the student's foot pedal force is not enough, the foot pedal data can be supplemented through the second external unit), greatly improving the efficiency of the user's practice control of the foot pedal; 3) filtering the foot pedal data by using the first foot pedal threshold can effectively reduce the direct wear and tear of the foot pedal caused by invalid foot pedal, greatly reducing the maintenance cost and failure rate.

[0135] The application also provides a method for visualizing the virtual-real combined pedal data, which can further improve the practice efficiency of the user. In the following, the virtual-real combined visualization method will be introduced:

[0136] In some embodiments, further comprising:

[0137] S107, acquiring at least one segment of the first external data source of at least one of the first external units;

[0138] S108, generating at least one segment of the marked trajectory according to the first external data source; wherein the marked trajectory comprises a first simulation trajectory and a second simulation trajectory; correspondingly, S102 comprises the following steps:

[0139] When the pedal value is greater than a first pedal threshold value, a first simulation trajectory is generated according to the pedal value, and the first simulation trajectory is displayed in a first marked form;

[0140] When the pedal value is greater than a second pedal threshold value and less than or equal to the first pedal threshold value, a second simulation trajectory is generated according to the pedal value, and the second simulation trajectory is displayed in a second marked form;

[0141] S109, generating a merged trajectory according to at least one segment of the marked trajectory, and displaying the merged trajectory on the score.

[0142] It should be understood that the pedal data mentioned in the application is not a simple pedal value, but a set of time series data with accurate time stamps.

[0143] In some embodiments, the pedal value can refer to the angle value or the corresponding force value of the pedal changed by the user's down-pedal action, which is acquired by the pedal sensor (for example, an external position sensor). The time stamp can be the accurate time of the moment when the pedal value is collected, or the elapsed time since the start of the performance. In some embodiments, the application preferably aligns the time stamps of the pedal data and the playing data, and greatly improves the performance effect through the coordinated display of the two, and strengthens the pedal's effect on the performance of the harmony, the melody, the rhythm or the style.

[0144] In some embodiments, the generation of the marked trajectory according to the pedal data comprises the following steps: converting the corresponding pedal value into coordinates in the pedal display diagram according to the time stamp; connecting the coordinates adjacent to each other into line segments; and generating a continuous marked trajectory according to the plurality of adjacent line segments.

[0145] Preferably, the present application can improve the readability of the pedal data visualization display by distinguishing the interval of the pedal value, and display the pedal data in different forms of annotation, so that the user can intuitively see whether the pedal data meets the requirements of the angle or force, thereby improving the performance effect. Figure 6 An exemplary display effect is shown.

[0146] In some embodiments, the first pedal threshold generally refers to an effective threshold that can trigger the weak, soft, and delay effects, that is, the pedal value greater than the first pedal threshold can be regarded as valid data, corresponding to the first simulation track, and displayed in the first annotation form.

[0147] In some embodiments, the second pedal threshold generally refers to an invalid threshold that can be collected by the sensor (for example, it can be an external position sensor), but is not enough to trigger the weak, soft, and delay effects, that is, the pedal value greater than the second pedal threshold and less than or equal to the first pedal threshold can be regarded as invalid data, corresponding to the second simulation track, and displayed in the second annotation form.

[0148] It should be understood that the present application preferably combines the second simulation track corresponding to the invalid data and the first simulation track corresponding to the valid data, which has at least the following effects in terms of visual display fluency: 1) the present application regards the user's pedal action as a group of continuous action curves linked to the score, rather than isolated action points, and continuous display helps to associate muscle memory and reduce understanding difficulty. 2) Further, by observing the invalid data, it can be determined whether the performer's control of the pedal is professional enough, for example, if the annotated track repeatedly jumps at the second pedal threshold, it indicates that the performer's foot strength control is unstable, or the pedal position is not appropriate, and needs to be adjusted. It can be seen that displaying the process of the pedal changing from invalid value to valid value helps the user understand the complete change path, acceleration and other pedal usage habits of the pedal data.

[0149] In some embodiments, generating a merged track according to at least one of the annotated tracks can include the step of connecting multiple annotated tracks into a continuous merged track in chronological order.

[0150] In some embodiments, the first annotation form and the second annotation form can adopt different visual effects. For example, in order to facilitate the user to distinguish, the color, transparency and other visual effects adopted by the first annotation form and the second annotation form can be different.

[0151] It should be noted that the annotation forms mentioned in the present application can be different display forms.

[0152] In some embodiments, the display form can be a static shape, a dynamic visual effect, or a combination of both, which can be color change (e.g. highlight, gradient color), flickering effect (e.g. periodic flickering, pulsing light effect, water ripple effect), arrow indication (e.g. direction guide, dynamic path), icon and symbol, text annotation (e.g. brief description, numerical label), shadow and outline (e.g. projection effect, halo design, bold outline), animation effect (e.g. explosion, floating bubble), line thickening or highlighting, etc., without limitation.

[0153] Preferably, the first annotation form is different from the display form of the second annotation form.

[0154] In some embodiments, further comprising:

[0155] Correspondingly, S108 further comprises the steps of:

[0156] When the foot value is less than or equal to the second foot threshold value, the foot value is identified as a virtual target;

[0157] An adjacent foot value adjacent to the virtual target is selected, wherein the difference between the timestamp of the adjacent foot value and the timestamp of the virtual target is less than a preset time difference value;

[0158] A virtual trajectory is generated according to the adjacent foot value and the virtual target, wherein the virtual trajectory is displayed in a third annotation form.

[0159] In some embodiments, when the foot value is less than or equal to the second foot threshold value (which can be due to various reasons, such as the user not stepping on the foot pedal or stepping on the foot pedal with very small force, and the timestamp corresponding to the foot value is blank), the foot value less than or equal to the second foot threshold value can be identified as a virtual target.

[0160] It should be understood that the present application further improves the continuity of the annotated trajectory as a whole by combining virtual and real, and the way of combining virtual and real will be further introduced below.

[0161] In some embodiments, an adjacent foot value adjacent to the virtual target can be selected, wherein the difference between the timestamp of the adjacent foot value and the timestamp of the virtual target is less than a preset time difference value.

[0162] Preferably, one or more foot values closest in time to the virtual target can be selected as the adjacent foot value in the range of foot values less than or equal to the second foot threshold value.

[0163] It should be understood that the present application determines the range of the selected adjacent pedal values within the range of the preset time difference, so as to ensure that the generated virtual trajectory conforms to the maximum possibility of the actual situation. For example, in a short pedal blank value (e.g., quickly lifting up between two down pedal actions), the virtual trajectory constructed by the adjacent pedal values can make the final labeled trajectory (i.e., which can include the first simulation trajectory, the second simulation trajectory and the virtual trajectory) look smooth and continuously transitioned, rather than harshly truncated and starting from zero.

[0164] In some embodiments, the step of generating the virtual trajectory according to the adjacent pedal values and the virtual target comprises:

[0165] (1) obtaining an adjacent pedal data set, and the adjacent pedal data set comprises: first adjacent pedal data and second adjacent pedal data, the first adjacent pedal data and the second adjacent pedal data being respectively the adjacent pedal values before and after the virtual target;

[0166] (2) generating at least two predicted trajectories according to the adjacent pedal data set by using a virtual prediction method; wherein, the step (2) comprises:

[0167] generating a virtual point by using the adjacent pedal data set, the virtual point being used to define the starting height of the predicted trajectory;

[0168] calculating the change trajectory of the adjacent pedal data set, and generating a virtual change trajectory according to the change trajectory;

[0169] generating a predicted trajectory according to the starting height and the virtual change trajectory;

[0170] (3) generating the virtual trajectory according to the at least two predicted trajectories.

[0171] Wherein, the virtual trajectory can be displayed in a third labeling form.

[0172] In some embodiments, the obtained adjacent pedal data set can comprise the first adjacent pedal data before the virtual target and the second adjacent pedal data after the virtual target.

[0173] In some embodiments, a virtual point can be determined according to the speed or acceleration of the adjacent pedal data (or can be referred to as the adjacent pedal value). It should be understood that the virtual point is very close to the pedal value of the adjacent pedal data, that is to say, the virtual point can be an approximate value or a predicted value of the adjacent pedal data.

[0174] Preferably, an adjacent pedal data can be directly used as a virtual point.

[0175] For example, in the pedal data less than or equal to the second pedal threshold, the maximum adjacent pedal data is taken as the virtual point.

[0176] In some embodiments, the virtual point is used to define the starting height of the predicted trajectory, i.e., to determine the starting point of the predicted trajectory.

[0177] In some embodiments, the change trajectory of the adjacent pedal data can be taken as the virtual change trajectory. Specifically, the direction of the change trajectory of the adjacent pedal data can be taken as the direction of the virtual change trajectory.

[0178] In some embodiments, taking the first adjacent pedal data as an example, calculating the change trajectory of the adjacent pedal data can include: 1) two first adjacent pedal data (time stamps T1, T2, corresponding pedal values V1, V2) can be selected from a plurality of first adjacent pedal data; 2) the change speed r (i.e., the slope of the change trajectory) is calculated based on the two first adjacent pedal data as V2-V1 / T2-T1.

[0179] In some embodiments, the adjacent pedal data can be determined according to the current collected real data, or can be determined according to the pre-stored historical data, or can be selected according to the current data and the historical data, as long as the adjacent pedal data meeting the requirements can be determined, which is not limited here.

[0180] It should be understood that the change speed r calculated based on the preceding method is the trend of the pedal value changing with time.

[0181] In some embodiments, the slope of the change trajectory can be determined according to the change speed r between the adjacent pedal data.

[0182] In some embodiments, if multiple first adjacent pedal data are selected, a linear regression or a moving average mathematical method can be used to calculate a change speed r that is more consistent with the actual situation.

[0183] In some embodiments, the virtual change trajectory can be generated according to the change trajectory, or the slope of the change trajectory can be taken as the slope of the virtual change trajectory.

[0184] It should be understood that the virtual change trajectory is a direction reference starting from the virtual point based on the change speed r of the adjacent pedal data. For example, if it is a linear prediction (i.e., the change speed r is constant), the virtual change trajectory is a straight line. If the change speed r itself is changing, a higher-order mathematical model can be used for prediction, which is not limited here.

[0185] In some embodiments, the predicted trajectory is generated according to the starting height (i.e., the virtual point) and the virtual change trajectory (direction reference).

[0186] Preferably, the present application can connect two pieces of predicted trajectories (the predicted trajectory before the virtual target is the first predicted trajectory; the predicted trajectory after the virtual target is the second predicted trajectory) to generate a virtual trajectory.

[0187] In some embodiments, the intersection of the two pieces of predicted trajectories can be identified as the virtual target.

[0188] In some embodiments, further comprising:

[0189] The trajectory fusion method is adopted to fuse at least two predicted trajectories to generate the virtual trajectory; in some embodiments, the trajectory fusion method that can be adopted includes one or more of the following: direct connection method, smooth transition method, trajectory alignment method based on optimization method.

[0190] In some embodiments, the predicted trajectories can also be fused by means of other existing technologies, as long as the effect of smoothing the virtual trajectory is achieved, which is not limited here.

[0191] In some embodiments, the second adjacent foot pedal data is obtained from a third external data source, the third external data source is collected through a music score database, and the third external data source records the standard foot pedal value of at least one note node and the time label of the standard foot pedal value.

[0192] Preferably, the third external data source can be the standard foot pedal data corresponding to each music score.

[0193] In some embodiments, when the signal connection of the first external data source and the second external data source is not good, the third external data source can be used for supplementation, that is, the foot pedal data of the third external data source is used to replace the foot pedal data in the signal disconnection period.

[0194] In some embodiments, the second adjacent foot pedal data after the virtual target can be determined according to the third external data source; further, the second predicted trajectory can be generated according to the second adjacent foot pedal data and the virtual target, and the specific generation method can refer to the first predicted trajectory.

[0195] In some embodiments, the present application preferably adopts high-precision sensor equipment, which can collect and transmit more accurate foot pedal data in real time, and at the same time, through the display mode of virtual and real combination, so that the visual display of foot pedal data not only conforms to the actual situation, but also has a more smooth visual effect.

[0196] In summary, through the virtual and real combination mode, that is, by means of the fusion mechanism of simulated foot pedal data and virtual foot pedal data, the virtual trajectory that conforms to the actual situation to the greatest extent can be generated, the sudden disconnection of the labeled trajectory caused by blank foot pedal data is effectively avoided, and the completeness and smoothness of the foot pedal in the foot pedal data visualization display process are ensured.

[0197] In some embodiments, the method further comprises the step of:

[0198] generating a first auxiliary track according to the first pedal threshold, the first auxiliary track being displayed in a fourth annotation form;

[0199] and / or generating a second auxiliary track according to the second pedal threshold, the second auxiliary track being displayed in a fifth annotation form.

[0200] Preferably, the fourth annotation form is different from the display form of the fifth annotation form. Different auxiliary tracks and corresponding annotation forms can be used to display different pedal thresholds, which can assist the user in intuitively observing the interval in which the pedal data is located, and help them to correct the foot force to the normal range in time without professional guidance.

[0201] In some embodiments, the method further comprises:

[0202] generating a pedal score according to the first external data source and a third external data source; wherein the third external data source comprises: a standard pedal value of at least one note node, a time label of the standard pedal value; the third external data source is obtained by collecting a music score database;

[0203] determining whether the pedal score is less than a first preset score, and if so, generating a guide track according to the third external data source.

[0204] In some embodiments, the step of generating a guide track according to the third external data source comprises:

[0205] generating a first guide track according to the corresponding third external data source;

[0206] generating an annotation track according to the corresponding first external data source;

[0207] generating the guide track by fusing the annotation track and the first guide track using a track fusion method.

[0208] Preferably, in some embodiments, when the pedal score is less than the first preset score and greater than a second preset score, a first guide track of a first length is generated; when the pedal score is less than or equal to the second preset score, a first guide track of a second length is generated, and the first length is less than the second length.

[0209] In this embodiment, different lengths of guide tracks are provided for different pedal states, which can provide guidance to the user in time when their pedal state is not good, and at the same time, through flexible adjustment of the length, the user can be guided while avoiding or reducing excessive external interference, so that they can more autonomously practice the pedal.

[0210] In some embodiments, a trajectory fusion method can be employed to generate a guide trajectory according to the labeled trajectory and the first guide trajectory.

[0211] It should be understood that the guide trajectory generated by fusing the real data and the standard data is a dynamic trajectory based on the current level of the user and gradually approaching the standard, rather than a static trajectory based entirely on the standard data, so as to play a guiding role and not be too difficult for the user to achieve.

[0212] In some embodiments, the guide trajectory can be displayed synchronously with the merged trajectory, facilitating the user to compare and guide the user.

[0213] In some embodiments, the trajectory fusion can be achieved by interpolation algorithm and other existing technical means.

[0214] It should be understood that by visualizing the foot pedal data collected by the external unit (including the first external data source and the second external data source), the performer can be provided with visual feedback results of foot pedal control, so that he can clearly and intuitively understand from the visual display results how his foot pedal control force and speed are, so as to subsequently make targeted adjustments. For example, a beginner user cannot accurately judge how the performance effect is by listening to the sound, so he can know that his foot pedal control is not good according to the abnormal fluctuation of the merged trajectory, so he can adjust the stepping force until the merged trajectory returns to normal.

[0215] In some embodiments, whether the user's foot pedal control is normal can be determined according to the gap between the merged trajectory and the guide trajectory.

[0216] In some embodiments, S102 further includes:

[0217] S1024, determining whether the foot pedal value is greater than a preset second stepping threshold value;

[0218] If the determination result of S1021 is no and the determination result of S1024 is yes, then:

[0219] S1025, marking the foot pedal value as a second type of foot pedal value;

[0220] S1026, determining whether the duration of the second type of foot pedal value is less than a set duration;

[0221] S1027, if yes, updating the second type of foot pedal value to the to-be-simulated data source.

[0222] In some embodiments, the second stepping threshold value is less than the first stepping threshold value.

[0223] For example, in some embodiments, when at least two second-type pedal values appear consecutively, such as the interval time between the two is less than a preset interval threshold, the two are considered to appear consecutively. Correspondingly, when there are multiple second-type pedal values appearing consecutively, the duration thereof is the time interval between the first second-type pedal value and the last second-type pedal value.

[0224] In some embodiments, if the pedal value is in a range less than or equal to the first pedal threshold and greater than the second pedal threshold, the pedal value is marked as a second-type pedal value.

[0225] Further, if the duration of the second-type pedal value is less than a set duration, it can be inferred that the user is playing a specific technique (e.g., a tremolo pedal, i.e., quickly and lightly shaking the pedal, making the pedal quickly step down and release in the shaking range, creating a tremolo effect, widely used in the fast and dense note chapters of the Baroque and Classical periods, and clean jazz accompaniment), at which time the second-type pedal value is not filtered.

[0226] It should be understood that the second-type pedal value with a duration less than the set duration is not filtered, but is updated to the to-be-simulated data source. By the dual thresholds (specifically, the first pedal threshold and the second pedal threshold) and the time dimension, the degree of filtering of invalid pedal values (i.e., pedal values less than the first pedal threshold) can be limited.

[0227] Thus, the restrictive pedal data recommendation scheme (such as preferentially transmitting first-type pedal values and specific second-type pedal values) provided in the embodiments can reduce the power consumption of the pedal motor during long-time operation, thereby reducing the running risk of the pedal motor in a long-time running state to a certain extent. At the same time, by the data recommendation in the threshold and time dual dimensions, over-filtering of data can be avoided, which in turn affects the continuity of the user's performance, such as avoiding the effect of some specific pedal techniques being weakened or eliminated.

[0228] In this regard, in some embodiments, the specific pedal threshold can be adaptively set according to different piano models or pedal specifications.

[0229] In summary, the present application differentiates the data in the two ports of the pedal data annotation display and the motor execution (for example, in displaying the pedal data, the invalid pedal data is also displayed to improve the display fluency; in transmitting the pedal data to the driving motor, part of the invalid pedal data is filtered to improve the working efficiency of the motor).

[0230] In other words, the application preferably displays invalid data through a second simulation track, displays blank pedal values through a virtual track, which can effectively ensure the smoothness of pedal data display; and when transmitting pedal data, filters part of the invalid pedal values (specifically, pedal values less than the second pedal threshold), at which time more emphasis is placed on the selection of transmitted data to avoid the loss caused by the frequent switching of the pedal driving motor between working states.

[0231] It can be understood that the simulated pedal of the application can be applied to the following different application scenarios:

[0232] 1) Household piano practice scenarios, such as when the piano player is a child, the child may not be able to step on the pedal due to height reasons. Especially when the piano player is in the need of skill improvement or examination, long-time training may be performed, and the operation management method in the application can improve the operation safety and stability of the pedal system to a certain extent under long-time operation.

[0233] 2) Piano room piano practice scenarios, such as in the piano education and training scenario, different piano players may be arranged to perform training in turn in a day, that is, the motor also needs to be kept in the starting state for a long time. For this, the operation management method in the application is also helpful to reduce the risk faced by the motor in the long-time operation process.

[0234] It should be understood that the first pedal threshold and the second pedal threshold in the application are different dimensions of the threshold. Specifically, the first pedal threshold and the second pedal threshold are thresholds for distinguishing whether to display and how to display pedal data; and the first pedal threshold and the second pedal threshold are thresholds for distinguishing whether to transmit pedal data.

[0235] Please refer to Figure 2 The application also provides a pedal control system, which comprises an external unit and an additional unit, the additional unit is arranged on a piano, the external unit comprises an external pedal module, the additional unit comprises a pedal driving module, the pedal driving module is used for stepping on a corresponding piano pedal according to pedal data; the external unit comprises a first external unit;

[0236] Correspondingly, the system comprises:

[0237] A first external data source acquisition module is used for acquiring a first external data source through the first external unit, the first external data source comprises pedal values of at least one pedal, and the pedal values are marked with a time stamp;

[0238] A first simulation signal generation module is used for generating a first simulation signal according to the first external data source by using a first filtering rule; wherein the first simulation signal generation module is also used for:

[0239] determining whether the foot value is greater than a preset first pedal threshold value;

[0240] If yes, the foot value is identified as a to-be-simulated data source;

[0241] generating a first simulation signal according to the to-be-simulated data source;

[0242] a piano pedal driving module for transmitting the first simulation signal to the pedal driving module, the pedal driving module driving the piano pedal in response to the first simulation signal;

[0243] The system can also be used for:

[0244] acquiring at least one segment of the first external data source of at least one of the first external units;

[0245] generating at least one segment of a marked track according to the first external data source; wherein the marked track includes a first simulation track and a second simulation track; correspondingly, when the foot value is greater than a first pedal threshold value, a first simulation track is generated according to the foot value, and the first simulation track is displayed in a first marked form; when the foot value is greater than a second pedal threshold value and less than or equal to the first pedal threshold value, a second simulation track is generated according to the foot value, and the second simulation track is displayed in a second marked form;

[0246] generating a merged track according to at least one segment of the marked track, and displaying the merged track on the musical score.

[0247] It should be understood that the system can be used to perform the method steps described in any embodiment of the present application.

[0248] Next, in order to more clearly introduce the application scenario of the present application, an exemplary piano foot pedal system (see Figure 3 、 Figure 4 、 Figure 5 ) that can be applied to the present application is introduced:

[0249] A piano foot pedal system includes an external unit, an additional unit, and a control unit. The external unit is independently arranged outside the piano, the additional unit is arranged on the piano, and the external unit and the additional unit are electrically connected with the control unit.

[0250] Specifically, the control unit adopts a microcontroller unit (MCU), which can be independently arranged or integrated in the external unit or the additional unit.

[0251] The external unit comprises an external pedal module and a data acquisition module. The external pedal module comprises at least one external pedal. The data acquisition module is configured to acquire pedal data of the external pedal. The control unit is configured to control the additional unit to step on the corresponding piano pedal according to the pedal data.

[0252] The external pedal module further comprises a mounting plate 111 and a mounting block 112 fixedly connected to the top of the mounting plate 111. The external pedal comprises an external left pedal 113, an external middle pedal 114 and an external right pedal 115 hingedly connected side by side on one side of the mounting block 112.

[0253] In some embodiments, a buffer spring is connected between the external left pedal 113, the external middle pedal 114 and the external right pedal 115 and the mounting plate 111. The buffer spring not only buffers the stepping force of the user on the external pedal, avoiding collision between the external pedal and the mounting plate 111, but also helps the external pedal to reset after the user releases the stepping force on the external pedal.

[0254] The data acquisition module comprises an external position sensor electrically connected to the control unit. The external position sensor is configured to acquire the stepping height data (also referred to as stepping value or foot value in other embodiments of the present application) of the external left pedal 113 and the external right pedal 115. The control unit controls the additional unit to step on the corresponding piano pedal 3 to a corresponding height according to the stepping height data.

[0255] Alternatively, in some embodiments, the data acquisition module comprises a force feedback sensor instead, which is configured to acquire the stepping force (i.e. stepping value or foot value) of the user.

[0256] Although the upright piano and the grand piano both comprise left, middle and right pedals, only the left pedal (soft pedal) and the right pedal (sostenuto pedal) of the piano need to be controlled in gray scale, and the middle pedal of the piano only needs to be controlled in on-off mode. Therefore, in the present embodiment, the additional unit comprises two stepping driving modules, which are respectively arranged corresponding to the left pedal and the right pedal of the piano, to step on the left pedal and the right pedal of the piano according to the stepping height data of the external left pedal 113 and the external right pedal 115.

[0257] The stepping driving module comprises a mounting bracket 211 and a stepping motor 212. The mounting bracket 211 is fixedly connected to the piano. The stepping motor 212 is vertically fixedly connected to the mounting bracket 211, and the stepping motor 212 is electrically connected to the control unit. The stepping motor 212 is a linear motor comprising a stator and a rotor. The stator is in the shape of a cylinder. The rotor is vertically slidingly inserted into the stator. The stator is fixedly connected to the mounting bracket 211. The bottom end of the rotor is in transmission connection with the corresponding piano pedal 3, to drive the corresponding piano pedal 3 to move downward, so as to realize stepping on the piano pedal 3.

[0258] The embodiment discards the traditional driving mode of rotary motor + gear set / lead screw mechanism, adopts a linear motor as the treading motor 212, and the stator and the mover of the linear motor directly generate thrust through magnetic field interaction, so that the mover slides in the stator in the vertical direction without any intermediate mechanical reversing or deceleration link. This change eliminates the periodic noise and transmission gap caused by gear meshing or lead screw friction. During the process of the treading driving module treading the corresponding piano pedal according to the treading height data, the mover can keep silent and respond sensitively when it performs high-frequency reciprocating motion in the stator, from the original tens of milliseconds to sub-milliseconds.

[0259] The top end of the mover is fixedly connected with a connecting rod 213, and the top end of the connecting rod 213 is fixedly connected with an added position sensor, which is electrically connected with the control unit. The added position sensor is used to detect the moving distance of the mover. If the detection result shows that the moving distance of the mover is the same as the treading height data, the control unit controls the treading motor 212 to be closed and stop treading the piano pedal 3.

[0260] In the embodiment, the external position sensor and the added position sensor can adopt proximity switches (such as inductive or capacitive non-contact switches) or swing head switches (also known as lever type limit switches or micro switches) to realize a position detection accuracy of ±0.1 mm: 1) The system can accurately restore the formation details of the user's treading action, and realize delicate control of the pedal effects such as sustain, soft, etc.; 2) The treading driving response of the added unit is synchronized with the user's operation height, which improves the real-time performance and authenticity of the performance. In addition, the added position sensor is directly fixedly connected to the top of the mover through the connecting rod 213, compared with the external or separated sensor, this integrated transmission + sensing structure not only shortens the signal transmission path and reduces the wiring complexity, but also avoids the response delay and data drift caused by component misalignment or secondary installation error, ensuring the detection efficiency and accuracy.

[0261] In some embodiments, the height sensor, the external position sensor and the added position sensor can also adopt a high-resolution linear encoder.

[0262] In some embodiments, the external position sensor and the added position sensor can be replaced by force feedback sensors, or both can be used together.

[0263] In some embodiments, the added unit further comprises two connecting rod transmission modules, the connecting rod transmission modules are one-to-one arranged with the treading driving modules, and the connecting rod transmission modules are connected between the output ends of the treading driving modules and the corresponding piano pedals 3.

[0264] Specifically, the connecting rod transmission module includes a bottom plate 221 and a connecting rod mechanism 222 arranged on the bottom plate 221. The connecting rod mechanism 222 includes a transmission connecting rod 2221, a hinge support 2222 and connecting bolts 2223. The hinge support 2222 is fixedly connected to the top of the bottom plate 221, and the non-end portion of the transmission connecting rod 2221 is hingedly connected to the hinge support 2222. One end of the transmission connecting rod 2221 is fixedly connected to the bottom end of the linear guide rod through the connecting bolts 2223, and the other end of the transmission connecting rod 2221 is fixedly connected to the corresponding piano pedal 3 through the connecting bolts 2223.

[0265] The pedal motor 212 is used to drive one end of the transmission connecting rod 2221 to move upward, so that the other end of the transmission connecting rod 2221 drives the corresponding piano pedal 3 to move downward, thereby realizing the pedaling of the piano pedal 3.

[0266] In some embodiments, the connecting rod transmission module further includes a damping spring 223 connected between the transmission connecting rod 2221 and the bottom plate 221, and the damping spring 223 is located between the hinge support 2222 and the piano pedal 3. The damping spring 223 not only can buffer the force applied by the transmission connecting rod 2221 to the piano pedal 3, so as to avoid the structure from being damaged due to the too strong force, but also can assist the transmission connecting rod 2221 to reset after the force applied by the transmission connecting rod 2221 to the piano pedal 3 is ended.

[0267] In some embodiments, the cross section of the transmission connecting rod 2221 is square, the bottom end of the linear guide rod is fixedly connected with a flange plate, the flange plate is provided with a square hole, the end of the transmission connecting rod 2221 away from the piano pedal 3 is inserted into the square hole, and the transmission connecting rod 2221 is fixedly connected with the flange plate by using bolts. The size of the square hole matches the cross section size of the transmission connecting rod 2221, that is, the inner wall of the square hole is in clearance fit with the outer wall of the transmission connecting rod 2221, so as to limit the transmission connecting rod 2221 from rotating in the use process, thereby ensuring the accuracy of force transmission.

[0268] It should be noted that, in this document, the terms "comprising", "containing", or any other similar term are intended to encompass non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0269] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, also can be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of contribution to the prior art can be embodied in the form of software product, the computer software product is stored in a storage medium (such as ROM / RAM, disk, optical disk), including a plurality of instructions to make a computer terminal (may be a mobile phone, computer, server, or network equipment, etc.) executes the method described in various embodiments of the present application.

[0270] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, the above-mentioned specific embodiments are only illustrative, but not limited, those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which all belong to the protection of the present application.

Claims

1. A foot control method, characterized by, The method is applied to a foot pedal system, the foot pedal system comprising: an external unit and an additional unit, the additional unit being arranged on a piano, the external unit comprising an external pedal module, the additional unit comprising a pedal driving module, the pedal driving module being used for driving a corresponding piano pedal according to pedal data; the external unit comprising a first external unit; Correspondingly, the method comprises the steps of: S101, collecting a first external data source through the first external unit, the first external data source comprising: a pedal value of at least one pedal, and the pedal value being marked with a timestamp; S102, generating a first simulation signal according to the first external data source by using a first screening rule; wherein S102 comprises: S1021, judging whether the pedal value is greater than a preset first pedal threshold value; S1022, if yes, marking the pedal value as a first type of pedal value, and identifying the first type of pedal value as a to-be-simulated data source; S1023, generating a first simulation signal according to the to-be-simulated data source; S103, transmitting the first simulation signal to the pedal driving module, the pedal driving module driving the piano pedal in response to the first simulation signal; S107, obtaining at least one segment of the first external data source of at least one first external unit; S108, generating at least one segment of a marked trajectory according to the first external data source; wherein the marked trajectory comprises: a first simulation trajectory and a second simulation trajectory; correspondingly, S102 comprises the steps of: when the pedal value is greater than a first pedal threshold value, generating a first simulation trajectory according to the pedal value, and the first simulation trajectory is displayed in a first marked form; wherein the first pedal threshold value refers to an effective threshold value capable of triggering a soft, soft and delayed effect; when the pedal value is greater than a second pedal threshold value and less than or equal to the first pedal threshold value, generating a second simulation trajectory according to the pedal value, and the second simulation trajectory is displayed in a second marked form; wherein the second pedal threshold value refers to an invalid threshold value that is not enough to trigger a soft, soft and delayed effect; S109, generating a merged trajectory according to at least one segment of the marked trajectory, and displaying the merged trajectory on a score.

2. The method of claim 1, wherein, The external unit further comprises a second external unit, and further comprises the steps of: S104, collecting a second external data source through the second external unit, the second external data source comprising: a pedal value of at least one pedal, and the pedal value being marked with a timestamp; S105, generating a second simulation signal according to the second external data source by using the first screening rule; S106, transmitting the second simulation signal to the pedal driving module.

3. The method of claim 1, wherein, Further comprising: generating a pedal score according to a plurality of segments of the first external data source and a third external data source; wherein the third external data source comprises: a standard pedal value of at least one note node, and a time label of the standard pedal value; the third external data source is collected through a score database; judging whether the pedal score is less than a first preset score, if yes, generating a guide trajectory according to the third external data source; and / or, generating a first guide track according to a corresponding third external data source; generating a labeled track according to a corresponding first external data source; generating the guide track by fusing the labeled track and the first guide track according to a track fusion method.

4. The method of claim 1, wherein, Further comprising: Correspondingly, S108 further comprises the following steps: When the foot value is less than or equal to the second foot threshold, the foot value is identified as a virtual target; selecting a neighboring foot value adjacent to the virtual target; wherein the difference between the timestamp of the neighboring foot value and the timestamp of the virtual target is less than a preset time difference value; generating a virtual track according to the neighboring foot value and the virtual target, wherein the virtual track is displayed in a third labeled form.

5. The method of claim 4, wherein, The step of generating a virtual track according to the neighboring foot value and the virtual target comprises: (1) obtaining a neighboring foot data set, wherein the neighboring foot data set comprises: first neighboring foot data and second neighboring foot data, and the first neighboring foot data and the second neighboring foot data are respectively the neighboring foot values located before and after the virtual target; (2) generating at least two predicted tracks according to the neighboring foot data set using a virtual prediction method; wherein step (2) comprises: generating a virtual point using the neighboring foot data set, wherein the virtual point is used to define the starting height of the predicted track; calculating the change track of the neighboring foot data set, and generating a virtual change track according to the change track; generating a predicted track according to the starting height and the virtual change track; (3) generating the virtual track according to at least two predicted tracks.

6. The method of claim 5, wherein, Further comprising: fusing at least two predicted tracks to generate the virtual track using a track fusion method; the track fusion method comprises one or more of the following: direct connection method, smooth transition method, and track alignment method based on optimization method.

7. The method of claim 1, wherein, S102 further comprises: S1024, determining whether the foot value is greater than a preset second foot threshold; If the determination result of S1021 is no and the determination result of S1024 is yes, then execute: S1025, marking the foot value as a second type foot value; S1026, determining whether the duration of the second type foot value is less than a set duration; S1027, if yes, updating the second type foot value to the to-be-simulated data source.

8. A foot control system characterized by, The system comprises: an external unit and an additional unit, the additional unit is arranged on the piano, the external unit comprises an external pedal module, the additional unit comprises a pedal driving module, the pedal driving module is used to pedal the corresponding piano pedal according to the pedal data; the external unit comprises a first external unit; Correspondingly, the system comprises: A first external data source acquisition module is used to acquire a first external data source through a first external unit, wherein the first external data source comprises: the foot value of at least one pedal, and the foot value is marked with a timestamp; A first simulation signal generation module is used to generate a first simulation signal according to the first external data source using a first screening rule; wherein the first simulation signal generation module is further used to: determining whether the foot pedal value is greater than a preset first pedal threshold value; if yes, identifying the foot pedal value as a to-be-simulated data source; generating a first simulation signal according to the to-be-simulated data source; a piano pedal driving module for transmitting the first simulation signal to the pedal driving module, and the pedal driving module drives the piano pedal in response to the first simulation signal; the system is also used for: acquiring at least one segment of the first external data source of at least one first external unit; generating at least one segment of a marked track according to the first external data source; wherein the marked track includes a first simulation track and a second simulation track; correspondingly, when the foot pedal value is greater than a first foot pedal threshold value, a first simulation track is generated according to the foot pedal value, and the first simulation track is displayed in a first marked form; wherein the first foot pedal threshold value refers to an effective threshold value that can trigger the effects of weak sound, soft sound and delayed sound; when the foot pedal value is greater than a second foot pedal threshold value and less than or equal to the first foot pedal threshold value, a second simulation track is generated according to the foot pedal value, and the second simulation track is displayed in a second marked form; wherein the second foot pedal threshold value refers to an invalid threshold value that is not enough to trigger the effects of weak sound, soft sound and delayed sound; generating a merged track according to at least one segment of the marked track, and displaying the merged track on the score.

9. The system of claim 8, wherein, The external unit further includes a second external unit, and the system is also used for: acquiring a second external data source through the second external unit, the second external data source including a foot pedal value of at least one pedal, and the foot pedal value being marked with a time stamp; generating a second simulation signal according to the second external data source by using the first screening rule; transmitting the second simulation signal to the pedal driving module.

10. The system of claim 8, wherein, The system is also used for: generating a foot pedal score according to a plurality of segments of the first external data source and a third external data source; wherein the third external data source includes a standard foot pedal value of at least one note node and a time label of the standard foot pedal value; the third external data source is acquired through a score database; determining whether the foot pedal score is less than a first preset score, and if yes, generating a guide track according to the third external data source; and / or, generating a first guide track according to the corresponding third external data source; generating a marked track according to the corresponding first external data source; generating the guide track by fusing the marked track and the first guide track according to a track fusion method.

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