CN103616951A - System and method for implementing force feedback - Google Patents
System and method for implementing force feedback Download PDFInfo
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- CN103616951A CN103616951A CN201310634901.1A CN201310634901A CN103616951A CN 103616951 A CN103616951 A CN 103616951A CN 201310634901 A CN201310634901 A CN 201310634901A CN 103616951 A CN103616951 A CN 103616951A
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Abstract
The embodiment of the invention provides a system and method for implementing force feedback. The system for implementing force feedback comprises a force feedback recording device and a force feedback execution device, wherein the force feedback recording device is used for recording original vibration data of a sensor in a sensitive area of a target object and a motion track of the target object, and obtaining force feedback data according to the original vibration data and the motion track, and the force feedback execution device is used for processing the force feedback data and generating force feedback vibration corresponding to the original vibration data. According to the system and method for implementing force feedback, the force feedback data in a real scene can be obtained, and the final force feedback vibration effect can be achieved.
Description
Technical field
The present invention relates to force feedback technique field, refer to especially a kind of system and method for realizing of force feedback.
Background technology
Force feedback technique is a kind of interaction technique of utilizing mechanical stress to give people's sense of reality in sense of touch.At present in most of low-end applications, employing be the force feedback that eccentric motor is realized, vibrate singlely, even some amplitude all can not be adjusted.In some high-end applications, adopt gear drive or wirerope transmission to carry out fine and smooth force feedback effect as force feedback device.
Realizing real force feedback touch feeling effect, is not that the common machinery of simple dependence shakes to produce, but one section of directive continuous mechanical stress process.
As people, study for many years the principle of sound, can carry out various processing to sound, be but still difficult to utilize computing machine directly to produce the mankind's voice, finally generally take the mode of recording and post-processed.In like manner continuous force feedback is as the information in a kind of human perception external world, and people are difficult to fabricate out such information.
At present in force feedback field, how less relating to obtains force feedback data true to nature, and the recording arrangement just as having senior stereo set and but not have, cannot obtain perfect user's experience all the time.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of system and method for realizing of force feedback, can obtain force feedback data and final force feedback vibrating effect in real scene.
For solving the problems of the technologies described above, on the one hand, embodiments of the invention provide a kind of system that realizes of force feedback, comprising:
Force feedback pen recorder, for the original vibration data of the sensor of the sensitizing range of record object object and the movement locus of described destination object, and obtains force feedback data according to described original vibration data and movement locus;
Force feedback actuating unit, for described force feedback data are processed, produces the force feedback vibrations corresponding with described original vibration data.
Wherein, described force feedback pen recorder comprises:
Sensor assembly, is arranged at the sensitizing range of destination object, for obtaining original vibration data;
Motion tracking module, for carrying out recording processing to the movement locus of destination object;
Data acquisition module, for described original vibration data and described movement locus are carried out to pre-service, obtains pre-service result;
Force feedback processing module, for described pre-service result is processed, obtains force feedback data file.
Wherein, described sensitizing range is a plurality of, and described sensor assembly comprises: at least one sensor arranging in each sensitizing range, wherein, described sensor is multi-spindle machining strain gauge.
Wherein, described multi-spindle machining strain gauge is specially: electromagnetic mechanical strain gauge, piezoelectric type mechanical stress sensor or accelerometer.
Wherein, described multi-spindle machining strain gauge is specially: when electromagnetic mechanical strain gauge or piezoelectric type mechanical stress sensor, described data acquisition module specifically comprises:
Signal conditioning circuit, for amplifying processing to described original vibration data, the signal after being amplified;
Analog to digital converter, carries out analog to digital conversion for the signal to after described amplification, obtains digital signal;
The first data communication interface, for giving described force feedback processing module by described digital data transmission.
Wherein, when described multi-spindle machining strain gauge is specially accelerometer, described data acquisition module specifically comprises:
Expedited data processor, for the data of described accelerometer are carried out to conversion process, obtains acceleration information;
The second data communication interface, for giving described force feedback processing module by described digital data transmission.
Wherein, described motion tracking module comprises: movement locus logging modle, for the movement locus of described destination object is carried out to record, obtains movement locus record data.
Wherein, described motion tracking module also comprises: buffer module, and for the small scale vibration data of movement locus record data described in filtering.
Wherein, described force feedback actuating unit comprises:
Application module is carried out in force feedback, for according to the situation of practical application scene, described force feedback data is selected, and obtains the force feedback data of selecting;
Control module is carried out in force feedback, for the force feedback data of described selection being converted to the required signal of multiaxis force feedback execution module, and drives described multiaxis force feedback execution module;
Multiaxis force feedback execution module, for generation of the force feedback vibrations corresponding with described original vibration data.
Wherein, described multiaxis force feedback execution module comprises: with the sensor of the sensitizing range of described destination object force feedback actuator one to one, described force feedback actuator comprises: the coupling lever that is placed in the permanent magnet in a coil and is connected with described permanent magnet, and the balancing weight that connects described coupling lever, described each force feedback actuator at least comprises three coupling levers, described three coupling levers with x, y, z axle in 3-D walls and floor towards form be arranged on the pedestal of described destination object equipment.
On the other hand, embodiments of the invention also provide a kind of implementation method of force feedback, comprising:
The original vibration data of the sensor of the sensitizing range of record object object and the movement locus of described destination object, and obtain force feedback data according to described original vibration data and movement locus;
Described force feedback data are processed, produced the force feedback vibrations corresponding with described original vibration data.
Wherein, the original vibration data of the sensor of the sensitizing range of described record object object and the movement locus of described destination object, and comprise according to the step that described original vibration data and movement locus obtain force feedback data:
Sensor assembly by sensitizing range obtains original vibration data;
The movement locus of destination object is carried out to recording processing;
Described original vibration data and described movement locus are carried out to pre-service, obtain pre-service result;
Described pre-service result is processed, obtained force feedback data file.
Wherein, described described force feedback data are processed, the step that produces the force feedback vibrations corresponding with described original vibration data comprises:
According to the situation of practical application scene, described force feedback data are selected, obtain the force feedback data of selecting;
According to the force feedback data of described selection, produce the force feedback vibrations corresponding with described original vibration data.
The above embodiment of the present invention has following beneficial effect:
The original vibration data of the sensor of the sensitizing range of such scheme of the present invention by record object object and the movement locus of described destination object, and obtain force feedback data according to described original vibration data and movement locus; Described force feedback data are processed, produced the force feedback vibrations corresponding with described original vibration data.Can obtain force feedback data and final force feedback vibrating effect in real scene, thereby the structural design person who helps force feedback equipment provides design and means of testing fast, for the deviser of force feedback application program provides force feedback data and the final force feedback effect of obtaining in real scene.
Accompanying drawing explanation
Fig. 1 is the one-piece construction block diagram of the system that realizes of force feedback of the present invention;
Fig. 2 is the structured flowchart of the force feedback pen recorder in the system shown in Fig. 1;
Fig. 3 is the first example structure block diagram of the data acquisition module in the force feedback actuating unit shown in Fig. 2;
Fig. 4 is the second example structure block diagram of the data acquisition module in the force feedback actuating unit shown in Fig. 2;
Fig. 5 is the structured flowchart of the force feedback actuating unit in the system shown in Fig. 1;
Fig. 6 is a specific implementation example schematic of the force feedback pen recorder shown in Fig. 2;
Fig. 7 is a specific implementation example schematic of the force feedback actuating unit shown in Fig. 5;
Fig. 8 is a specific implementation process schematic diagram of the implementation method of force feedback of the present invention;
Fig. 9 is the schematic diagram of an objectives object (take G36 rifle as example) realizable force feedback;
Figure 10 is the schematic diagram of another objectives object (take car steering device as example) realizable force feedback.
Embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
The object of the present invention is to provide a kind of system that realizes of force feedback of general use, help the structural design person of force feedback equipment that design and means of testing are fast provided, for the deviser of force feedback application program provides force feedback data and the final force feedback effect of obtaining in real scene.
Core concept of the present invention is: adopt a kind of distributed acquisition mode, several are easy to the shock sensor of installation and removal, be installed on the crucial sensitive position of human body contact target object, the loyal vibration data that records the position that these human bodies contact, when needs force feedback, the data that with force feedback actuating unit, these recorded on same sensitive position " broadcasting " out, experience really by reduction human body.
As shown in Figure 1, embodiments of the invention provide a kind of system that realizes of force feedback, comprising:
Force feedback pen recorder 11, for the original vibration data of the sensor of the sensitizing range of record object object and the movement locus of described destination object, and obtains force feedback data according to described original vibration data and movement locus;
Force feedback actuating unit 12, for described force feedback data are processed, produces the force feedback vibrations corresponding with described original vibration data.
The original vibration data of the sensor of the sensitizing range of this embodiment by record object object and the movement locus of described destination object, and obtain force feedback data according to described original vibration data and movement locus; Described force feedback data are processed, produced the force feedback vibrations corresponding with described original vibration data.Can obtain force feedback data and final force feedback vibrating effect in real scene, thereby the structural design person who helps force feedback equipment provides design and means of testing fast, for the deviser of force feedback application program provides force feedback data and the final force feedback effect of obtaining in real scene.
In a specific embodiment of the present invention, as shown in Figure 2, described force feedback pen recorder 11 comprises:
Sensor assembly 21, is arranged at the sensitizing range of destination object, for obtaining original vibration data;
Motion tracking module 25, for carrying out recording processing to the movement locus of destination object;
Data acquisition module 22, for described original vibration data and described movement locus are carried out to pre-service, obtains pre-service result;
Force feedback processing module 23, for described pre-service result is processed, obtains force feedback data file 24.The process that described pre-service result is processed comprises: the binding relationship of definition and statement sensor-force feedback actuating unit; The passage binding relationship of definition and statement each axis data of sensor and force feedback actuating unit; Raw data is carried out to noise reduction and filtering, remove the impact of large displacement data on vibrations authenticity, obtain true vibration data; Noise reduction and filtered data are carried out to compressed encoding; Force feedback effect is carried out to the processing such as later stage human-edited.By above-mentioned processing, obtain force feedback data file 24.
Wherein, described sensitizing range is a plurality of, and described sensor assembly 21 comprises: at least one sensor arranging in each sensitizing range, wherein, described sensor is multi-spindle machining strain gauge.
Multi-spindle machining strain gauge: for detection of the vibrations on x, y, z axle.There is relation in the mechanism of its quantity and device for force feedback (being geometry), is arranged on the responsive key position that on the device that need to gather force feedback data, human body can touch.The device that installs sensor is placed in application scenarios, turn-on data collection, in the processes such as the displacement that this timer experiences in application scenarios, vibrations and collision, the sense of touch raw data of the sensitizing range that human body skin touches will be by its institute's perception.
Again as shown in Figure 2, multi-spindle machining stress sensing implement body can comprise: multi-spindle machining strain gauge 1,2,3......N; The quantity of this sensor can change to some extent according to actual application scenarios.
Wherein, described multi-spindle machining strain gauge is specifically as follows: electromagnetic mechanical strain gauge, piezoelectric type mechanical stress sensor or accelerometer.
Electromagnetic mechanical strain gauge: form core (i.e. a single-axis sensors) by the balancing weight and the coil that have connected permanent magnet.Balancing weight and permanent magnet can only axially-movables, and when there is vibration, balancing weight is moved by vibration influence in the axial direction, drive permanent magnet to move in coil, and coil cutting magnetic induction line produces electric signal.The size of balancing weight and quality have determined its mechanical resonance frequency, and the single balancing weight that a plurality of frequency bands can be installed on axially can improve the frequency range of recording.By the x, y, z axle with in 3-D walls and floor towards form three cores are arranged on a pedestal, that is to say, three cores are arranged on respectively on the same pedestal of destination object, and arrange respectively in three orthogonal directions, form a multi-spindle machining strain gauge.This class sensor be applicable to gather the force feedback equipment of large-scale vibrating, firearms for example, frame tool.
Piezoelectric type mechanical stress sensor: form core (i.e. a single-axis sensors) by balancing weight and piezoelectric membrane.Balancing weight can only axially-movable, and when there is vibration, balancing weight is moved by vibration influence in the axial direction, and piezoelectric membrane is produced to mechanical stress, and piezoelectric membrane can produce electric signal.The size of balancing weight and quality have determined its mechanical resonance frequency, and the single balancing weight that a plurality of frequency bands can be installed on axially can improve the frequency range of recording.By the x, y, z axle with in 3-D walls and floor towards form three cores are arranged on a pedestal, that is to say, three cores are arranged on respectively on the same pedestal of destination object, and arrange respectively in three orthogonal directions, form a multi-spindle machining strain gauge.This class sensor be applicable to gather comparatively accurate force feedback by a small margin, sham operated for example, the hook stick of stereo display etc.
Accelerometer: the acceleration information of digital accelerometer on obtaining axially.Due to stressed on indirectly equaling axially of accelerometer, can utilize acceleration to measure vibrations.The accelerometer of the embodiment of the present invention adopts the accelerometer with x, y, z three axles in 3-D walls and floor as multi-spindle machining strain gauge.This class sensor is applicable to not having the precision force feedback by a small margin of a large amount of displacements.
In a specific embodiment of the present invention, described data acquisition module 22 also carries out pre-service specifically for the original vibration data that gathers multi-spindle machining strain gauge and produce, and the force feedback processing module 23 that is simultaneously transferred to computing machine by communication interface is processed.As shown in Figure 3, when described multi-spindle machining strain gauge is specially electromagnetic mechanical strain gauge or piezoelectric type mechanical stress sensor, described data acquisition module 22 comprises:
Modulus (A/D) converter 32, carries out analog to digital conversion for the signal to after described amplification, obtains digital signal;
The first data communication interface 33, for giving described force feedback processing module 33 by described digital data transmission.
For the mechanical stress sensor of electromagnetic type and piezoelectric type, generally with the circuit shown in Fig. 3, process.Because the frequency range of major part vibrations is all in people's audibility range, its acquisition principle is similar microphone also, therefore the circuit in Fig. 3 can utilize amplifier conventional in sound technique and modulate circuit to realize.
In a specific embodiment of the present invention, as shown in Figure 4, when described multi-spindle machining strain gauge is specially accelerometer, described data acquisition module 22 specifically comprises:
The second data communication interface 42, for giving described force feedback processing module by described digital data transmission.
For accelerometer, as the circuit of Fig. 4 is processed.Expedited data processor uses digital interface such as I2C and SPI etc. are from accelerometer reading out data.
In above-described embodiment, force feedback processing module 23, specifically for a patterned interface is provided, is carried out concrete force feedback design for user.Its specific responsibility is as follows: 1, provide that an interface allows user carries out that sensitizing range setting, sensor type are selected, sensitizing range with sensor binding, sensitizing range with settings such as force feedback actuating unit bindings.2, the data that sensor is collected are after excessive displacement data (the large larger part of vibration displacement in other words of the displacement containing in movement locus) filtering, after adding passage and sensor type label, change into the required data of force feedback application program, and save as force feedback data file 24.The force feedback data file of force feedback data file 24 for using to force feedback actuating unit 12.
In the above embodiment of the present invention, described motion tracking module 25 can comprise: movement locus logging modle, described movement locus logging modle, for the movement locus of described destination object is carried out to record, obtain movement locus record data, movement locus logging modle specifically can comprise: gyroscope and accelerometer.The equipment of concrete employing gyroscope and accelerometer carries out the tracing of the movement of destination object, the acceleration in each moment of accelerometer energy accurate recording, gyroscope is for revising the displacement accumulated error of long period, by accelerometer and gyroscope, jointly determines each movement locus constantly.
Wherein, described motion tracking module also comprises: buffer module (as 103 in Fig. 6), and for the small scale vibration data of movement locus record data described in filtering.Can obtain better more real force feedback data like this.
The data that sensor obtains comprise unwanted destination object global displacement data and required vibration data, this be use balancing weight sensor itself characteristic extremely.Sensor for certain particular design, can jointly carry out mass data collection by Union Movement tracking module, obtain the mapping relations of the displacement data that destination object global displacement data that sensor comprises and motion tracking device obtain, utilize unwanted destination object global displacement data filtering in the data that this relation obtains sensor, obtain needed vibration data.
In a specific embodiment of the present invention, as shown in Figure 5, described force feedback actuating unit 12 comprises:
Multiaxis force feedback execution module 53, for generation of the force feedback vibrations (i.e. synthetic force feedback vector) corresponding with described original vibration data.
Wherein, described multiaxis force feedback execution module 53 comprises: with the sensor of the sensitizing range of described destination object force feedback actuator one to one, as shown in Figure 5, multiaxis force feedback actuator 1,2......N, the quantity of this multiaxis force feedback actuator is identical with the quantity of sensor, and corresponding one by one;
Described force feedback actuator comprises: permanent magnet and the coupling lever being connected with described permanent magnet, and the balancing weight that connects described coupling lever, described permanent magnet is placed in a coil, and when described coil is powered on, described coupling lever can shake because permanent magnet is subject to the driving of coil.Wherein, described each force feedback actuator at least comprises three coupling levers, described three coupling levers with x, y, z axle in 3-D walls and floor towards form be arranged on the pedestal of described destination object; Be understandable that: in embodiments of the invention, force feedback actuator is not limited to the form that above-mentioned permanent magnet is connected with coupling lever, any structure that can produce vibrations all can.
The detailed implementation procedure of the system that realizes of above-mentioned force feedback is described in conjunction with concrete example below again:
As shown in Figure 6, the physical construction of supposing the destination object 101 of this situation has 3 sensitizing ranges.The data based concrete application scenarios of in fact required sensor is determined.
Its sensitizing range lays respectively at the first sensitizing range 111, the second sensitizing range 121, the 3rd sensitizing range 131.
Now, the sensitizing range under the first multi-spindle machining strain gauge 110, the second multi-spindle machining strain gauge 120, the 3rd multi-spindle machining strain gauge 130 being arranged on respectively separately.
Wherein, this motion tracking module 102 is identical with above-mentioned motion tracking module 35 for motion tracking module 102() can the displacement of inspected object in large scale, for eliminating the interference of this large scale displacement to multi-spindle machining strain gauge itself.Buffer module 103 is for helping the real useful small scale vibration data of motion tracking module 102 filterings.Motion tracking module 102 and buffer module 103 are located at the geometric center position of destination object 101 bodies, can more preferably eliminate so this large scale displacement to the interference of multi-spindle machining strain gauge itself and the real useful small scale vibration data of filtering, obtain more real force feedback data.Preferably, in a variant embodiment, motion tracking module 102 and buffer module 103 are located at the geometric center position that all sensitizing ranges on destination object 101 bodies form, and can obtain better more real force feedback data.
When recording at first, the physical construction of destination object 101 is placed on to scene and experiences various displacements in whole recording process, vibrations and collision.The sensor of each sensitizing range will collect three axle vibration data of this sensitizing range, and these vibration data are by the data collecting module collected being connected with sensor.This data acquisition module becomes according to the output signal type of sensor.Motion tracking module 102 collects the displacement of destination object 101 physical constructions in whole recording (or record) process.
Due to the characteristic of sensor itself, the data that collect can comprise the impact of displacement.The data of the sensor of each sensitizing range three axles are synthesized to vector, rather than a simple vibration amplitude.Owing to there being the displacement data of the physical construction of destination object 101, can, the displacement data filtering comprising on vibrations vector, obtain the upper real vibrations vector of each point.
Force feedback processing module 23 also can add the information such as sensor number and sensitizing range numbering in data stream as data label, so that force feedback execution application module 51 calls.Data save as and can carry out the data file that application module 51 is used for force feedback the most at last.
As shown in Figure 7, the mechanical mechanism of destination object 201 must be with to record the structure that (or record) device adopts consistent.
The first multiaxis force feedback actuator 210, the second multiaxis force feedback actuator 220 and the 3rd multiaxis force feedback actuator 230 etc. must position and attitude when recording be installed.
When device is started working, the vibrations of above-mentioned the first multiaxis force feedback actuator 210, the second multiaxis force feedback actuator 220 and the 3rd multiaxis force feedback actuator 230 are carried out application module 51 by force feedback and are controlled.When needs are play one section of force feedback action, force feedback is carried out application module 51 and is extracted desired data from the force feedback data file that records and sort out, and sends force feedback to and carries out control module 52.Force feedback is carried out control module 52 force feedback data is processed into the required control signal of multiaxis force feedback actuator, produces corresponding force feedback vibrations.
Because the distance of the installation of 3 force feedback actuators is very near, so the synthetic vibrations vector of vibrations that they produce is approximately equal to the vibrations in raw data.The position of installing due to whole multi-axial sensor and attitude are consistent with collection time, therefore can reduce truly the true force feedback of experiencing while recording.
The present invention also provides the implementation method of the system that realizes of the above-mentioned force feedback of a kind of correspondence, the concrete realization flow of the method as shown in Figure 8, the sensor of each sensitizing range obtains original vibration data, motion tracking module obtains the movement locus of destination object, the data of each sensor send data acquisition module to by a data channel respectively, data acquisition module carries out after pre-service the data of sensor and movement locus, send to force feedback processing module, after being processed by force feedback processing module, obtain force feedback data file;
Force feedback data file is imported into force feedback execution application module, and by force feedback, carry out application module and select after processing, after sending to force feedback execution control module to process, waveform after being processed, thereby with channel form, send the waveform after processing to each multiaxis force feedback actuator 210,220,230 more respectively, thereby restore the feedback vibrations identical with each sensitizing range of recording before.
The practical application example of the system that realizes of above-mentioned force feedback is described below in conjunction with Fig. 9 and Figure 10:
Practical application example 1: as shown in Figure 9, the shaking force feedback of simulation small arms firing
In military training or the meeting used of first person shooting game, adopt gun model to carry out simulated training or promote game actual experience degree.Reproduction gun that will be true to nature are in the impression of transmitting ammunition, and except recoil and shot, the sense of touch of the body of a gun that people's limbs can touch vibrations are also very important.
As shown in Figure 9, take G36 rifle model is example.Wherein, the position main positions that the place of drawing a circle contacts for human body comprises: hand steered guide rail 1, handle 2 and gun stock 3, these positions are using the sensitizing range gathering as force feedback.At the position 4 mounted movable tracking means of drawing a circle, this device is used for the movement locus of recording user, the impact of vibration data sensor being collected with these motions of filtering.
Pretreatment process:
Step 1 provides the preview graph of recorded object in force feedback processing module, sets sensitizing range 1,2,3 and also in preview graph, carries out vision mark, is convenient to user and intuitively processes;
Step 2, in sensitive position 1,2 corresponding to real G36 rifle and 3 sensor installation groups and to each sensor number 1,2,3;
Step 3, by the sensitizing range in these sensors and step 11,2,3 bind.
Record flow process:
Step 5, is used real G36 rifle to carry out " single-shot ", the ball firing of " closely-spaced fixed fire " and " automatically opening fire ".Sensor will collect such as " single-shot ", user's movement locus in the data of each sensitizing range and this process under the needed actions of various users such as " closely-spaced fixed fire " and " automatically opening fire ";
Step 6, save data, by corresponding data called after " single-shot ", " closely-spaced fixed fire " and " automatically opening fire ";
Modelling process:
Step 7, installs corresponding force feedback actuator in the sensitizing range 1,2,3 of the G36 of 1:1 rifle model with same attitude, with position and the attitude strict conformance in when test;
Step 8, the force feedback actuator numbering 1,2,3 of giving corresponding 1,2,3 positions.
Flow chart of data processing:
Step 9, good " single-shot " of application module reading and saving, the original force feedback data file of " closely-spaced fixed fire " and " automatically opening fire " are carried out in force feedback;
Step 10, the sensitizing range arranging in preview graph, binding force feedback actuator 1,2,3;
Step 13, saves as force feedback and carries out the data file that application module can directly be used.
The flow process of force feedback application:
Step 14, is being used G36 rifle model in virtual training, to carry out correspondence " single-shot " when user being detected, and the operation of " closely-spaced fixed fire " and " automatically opening fire ", triggers force feedback and carry out application module;
Step 15, according to the action type identifying in step 1, reads corresponding data file.
Step 16, application module resolution data file is carried out in force feedback, sends the data after resolving to force feedback and carries out control module;
Step 17, force feedback is carried out control module data is converted into the required control signal of force feedback actuator;
Step 18, force feedback actuator implementation capacity feedback, completes the broadcasting of force feedback.
Practical application example 2: as shown in figure 10, sport car/aircraft etc. are driven the force feedback of tool drive simulating:
Various simulation device the insides of driving tool all can add force feedback in order to pursue the sense of reality.Especially the driving on tool of sport car one class high-power, because the engine technique of turbocharging one class exists, engine roar and drive the vibrations of vehicle body when suddenly stepping on the gas, is the pleasant sensation source that a lot of people chase when playing car.
Simulation bearing circle as shown in figure 10 and throttle model.The bearing circle that same people from position physical efficiency is experienced on true car is shaken hands, gas pedal, and clutch pedal and brake pedal are set to sensor installation on ， sensitizing range, sensitizing range.
After starting to record, with true car, experience various acceleration, the process of travelling under brake and various road surface, preserves the data under different situations.
The system that realizes of the force feedback that the above embodiment of the present invention adopts provides the collection of data and the comprehensive solution of broadcasting of continuous force feedback, and this comprehensive solution can be applied in three-dimensional mutual field.Utilize native system, for the mechanical development person of force feedback product, can carry out the test of force feedback fast to a new structure; For the software developer of force feedback product, can as recording the light data of obtaining force feedback.
On the other hand, embodiments of the invention also provide a kind of implementation method of force feedback, comprising:
Wherein, step 11 comprises:
Step 111, the sensor assembly by sensitizing range obtains original vibration data;
Step 112, carries out recording processing to the movement locus of destination object;
Step 113, carries out pre-service to described original vibration data and described movement locus, obtains pre-service result;
Step 114, processes described pre-service result, obtains force feedback data file.
Wherein, step 12 comprises:
Step 122, according to the force feedback data of described selection, obtains the force feedback vibrations corresponding with described original vibration data; Concrete, the force feedback data of described selection are converted to the required signal of multiaxis force feedback execution module, and drive described multiaxis force feedback execution module; By multiaxis force feedback execution module, producing the force feedback corresponding with described original vibration data shakes.
All implementations in said system are all applicable to the method embodiment, and the method embodiment also can reach the technique effect identical with said system.
Be understandable that, the various processing that each step of above-mentioned method all can be carried out by various computing machines or processor, and no matter whether clearly shown in the drawings this type of computing machine or processor.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (13)
1. the system that realizes of force feedback, is characterized in that, comprising:
Force feedback pen recorder, for the original vibration data of the sensor of the sensitizing range of record object object and the movement locus of described destination object, and obtains force feedback data according to described original vibration data and movement locus;
Force feedback actuating unit, for described force feedback data are processed, produces the force feedback vibrations corresponding with described original vibration data.
2. the system that realizes of force feedback according to claim 1, is characterized in that, described force feedback pen recorder comprises:
Sensor assembly, is arranged at the sensitizing range of destination object, for obtaining original vibration data;
Motion tracking module, for carrying out recording processing to the movement locus of destination object;
Data acquisition module, for described original vibration data and described movement locus are carried out to pre-service, obtains pre-service result;
Force feedback processing module, for described pre-service result is processed, obtains force feedback data file.
3. the system that realizes of force feedback according to claim 2, is characterized in that, described sensitizing range is a plurality of, and described sensor assembly comprises: at least one sensor is set in each sensitizing range, and wherein, described sensor is multi-spindle machining strain gauge.
4. the system that realizes of force feedback according to claim 3, is characterized in that, described multi-spindle machining strain gauge is specially: electromagnetic mechanical strain gauge, piezoelectric type mechanical stress sensor or accelerometer.
5. the system that realizes of force feedback according to claim 4, is characterized in that, described multi-spindle machining strain gauge is specially: when electromagnetic mechanical strain gauge or piezoelectric type mechanical stress sensor, described data acquisition module specifically comprises:
Signal conditioning circuit, for amplifying processing to described original vibration data, the signal after being amplified;
Analog to digital converter, carries out analog to digital conversion for the signal to after described amplification, obtains digital signal;
The first data communication interface, for giving described force feedback processing module by described digital data transmission.
6. the system that realizes of force feedback according to claim 4, is characterized in that, when described multi-spindle machining strain gauge is specially accelerometer, described data acquisition module specifically comprises:
Expedited data processor, for the data of described accelerometer are carried out to conversion process, obtains acceleration information;
The second data communication interface, for giving described force feedback processing module by described digital data transmission.
7. the system that realizes of force feedback according to claim 2, is characterized in that, described motion tracking module comprises: movement locus logging modle, for the movement locus of described destination object is carried out to record, obtains movement locus record data.
8. the system that realizes of force feedback according to claim 7, is characterized in that, described motion tracking module also comprises: buffer module, and for the small scale vibration data of movement locus record data described in filtering.
9. the system that realizes of force feedback according to claim 1, is characterized in that, described force feedback actuating unit comprises:
Application module is carried out in force feedback, for according to the situation of practical application scene, described force feedback data is selected, and obtains the force feedback data of selecting;
Control module is carried out in force feedback, for the force feedback data of described selection being converted to the required signal of multiaxis force feedback execution module, and drives described multiaxis force feedback execution module;
Multiaxis force feedback execution module, for generation of the force feedback vibrations corresponding with described original vibration data.
10. the system that realizes of force feedback according to claim 9, it is characterized in that, described multiaxis force feedback execution module comprises: with the sensor of the sensitizing range of described destination object force feedback actuator one to one, described force feedback actuator comprises: be placed in the permanent magnet in a coil, the coupling lever being connected with described permanent magnet, and the balancing weight that connects described coupling lever, described each force feedback actuator at least comprises three coupling levers, described three coupling levers with x, y, z axle in 3-D walls and floor towards form be arranged on the pedestal of described destination object.
The implementation method of 11. 1 kinds of force feedbacks, is characterized in that, comprising:
The original vibration data of the sensor of the sensitizing range of record object object and the movement locus of described destination object, and obtain force feedback data according to described original vibration data and movement locus;
Described force feedback data are processed, produced the force feedback vibrations corresponding with described original vibration data.
The implementation method of 12. force feedbacks according to claim 11; it is characterized in that; the original vibration data of the sensor of the sensitizing range of described record object object and the movement locus of described destination object, and comprise according to the step that described original vibration data and movement locus obtain force feedback data:
Sensor assembly by sensitizing range obtains original vibration data;
The movement locus of destination object is carried out to recording processing;
Described original vibration data and described movement locus are carried out to pre-service, obtain pre-service result;
Described pre-service result is processed, obtained force feedback data file.
The implementation method of 13. force feedbacks according to claim 11, is characterized in that, described described force feedback data is processed, and the step that produces the force feedback vibrations corresponding with described original vibration data comprises:
According to the situation of practical application scene, described force feedback data are selected, obtain the force feedback data of selecting;
According to the force feedback data of described selection, produce the force feedback vibrations corresponding with described original vibration data.
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