CN108780642A - 触觉系统中的校准和检测技术 - Google Patents
触觉系统中的校准和检测技术 Download PDFInfo
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Abstract
描述了一种用于从多个超声换能器阵列产生声场的系统,每个超声换能器阵列都具有已知的相对位置和取向。声场包括载波和经调制的波。载波具有多个经调制的焦点区域。使用相对于多个超声换能器阵列中的至少一个具有已知的空间关系的多个控制点。通过使用多个超声换能器阵列中的每个的相对位置来校准多个超声换能器阵列。
Description
相关申请
本申请要求以下两个美国临时专利申请的权益,其全部内容通过引用整体合并于此:
1.于2016年1月5日提交的序列号62/275,195;以及
2.于2016年12月23日提交的序列号62/438,587;以及
3.于2017年1月3日提交的序列号15/396,851。
技术领域
本公开一般地涉及基于触觉的系统中的改进的校准和检测技术。
背景技术
针对包括触觉反馈的一系列应用,已知的是使用声能的连续分布,其在本文中将被称为“声场”。
已知通过在其中可以指定声场的空间中定义一个或多个控制点来控制声场。每个控制点被分配了与在该控制点处的声场的期望幅度相等的幅度值。随后,控制换能器创建展现了控制点的每个处的期望幅度的声场。当人类皮肤与声场相互作用时,皮肤的振动被机械刺激感受器解释为受到刺激并经由神经系统向大脑发送信号。
当在半空中使用时,触觉技术通过将处于超声载波频率的声音聚焦到换能器上方的空间中的一个或多个点来工作。随后通过包括低频内容的波形对其进行调制,产生触觉。
超声声学的行为是一种充分理解的测距和定位方法。因此,由于超声触觉反馈的硬件要求与超声定位系统的硬件要求显著重叠的事实,在触觉系统中构建具有定位能力的阵列的能力是有利的。
附图说明
附图与下面的详细描述一起被结合到本说明书中并形成其一部分,并且用于进一步示出包括要求的发明的构思的实施例以及说明那些实施例的各种原理和优点,其中各个视图始终以相同的附图标记指代相同或功能上相似的元件。
图1示出了对以单色超声载波频率发射输出的一组超声换能器的第一模拟。
图2示出了对以调频超声载波频率发射输出的一组超声换能器的第二模拟。
本领域普通技术人员将会理解,图中元件是为了简单和清楚而示出,不一定按比例绘制。例如,图中的一些元件的尺寸可能相对于其他元件进行了夸大以帮助提高对本发明的实施例的理解。
在附图中通过传统符号在适当地方对设备和方法部件进行了表示,仅示出了与理解本发明的实施例有关的那些特定细节,以便对于从本文描述中受益的本领域普通技术人员显而易见的细节不会模糊了本公开。
具体实施方式
I.背景
使用具有已知的相对位置和取向的换能器阵列产生声场的方法可以包括:
-定义多个控制点,每个控制点相对于换能器阵列具有已知的空间关系;
-向每个控制点分配幅度;
-计算包含元素的矩阵,所述矩阵表示对于每个控制点,产生具有在控制点处具有特定相位的分配的幅度的建模的声场对其他控制点处的建模的声场的随之发生的幅度和相位的影响;
-确定矩阵的特征向量,每个特征向量表示控制点处的所建模的声场的相位和相对幅度的集合;
-选择集合中的一个并操作换能器阵列以使换能器中的一个或多个输出每个都具有初始幅度和相位的声波,使得在控制点处所得到的声场的相位和幅度对应于所选择的集合的相位和相对幅度。
控制点是特定位置处的标记。相邻控制点之间的距离应足以使声场的声波能够从控制点中的一个相移,以匹配下一个控制点。在一些实施例中,分隔距离可以等于声场的声波的波长。
因此,该系统的一个方面包括制定一个可以解决的特征问题,以在控制点处找到有效的相位。与已知方法相比,在本发明的实施例中使用特征问题导致更快且更可预测的解决时间,这转而意味着可以支持更多数目的控制点,并且可以启用控制点的实时更新。特征问题本身并不会改变解决时间,但通过修改控制点之间的相位关系来帮助解决方案。更快和更可预测的解决时间也意味着与已知方法相比,可以控制更大体积(volume)的声场。
在本发明的实施例中,换能器阵列包括处于任何适合的配置的一个或多个换能器;例如,平行布置的一个或多个二维阵列。
在控制点处具有所分配的幅度和特定相位的建模的声场可以被建模为由直接在控制点下方的虚拟换能器产生。在一些实施例中,虚拟换能器可以位于真实换能器阵列的平面内。然而,本领域技术人员将会理解,可以将声场建模为由虚拟换能器的其他布置产生,即可以被直接定位在控制点下方或者可以与控制点具有不同的空间关系的一个或多个虚拟换能器可以被用于产生建模的声场。使用虚拟换能器使得能够预先计算查询表。优选地,虚拟换能器匹配换能器阵列的换能器。
该方法可以包括计算矩阵的特征值的步骤。特征值表示比例因子,其中一些将关于彼此相对高,并且其中一些将关于彼此相对低。该方法可以包括选择具有相对高的对应的特征值的相位和相对幅度的集合作为所选择的集合。优选地,该方法可以包括选择具有最高的对应的特征值的相位和相对幅度的集合作为所选择的集合。
特征值定义了对应的特征向量在被矩阵变换时如何缩放。也就是说,特征值表示一旦考虑到由在其他控制点处产生分配的幅度引起的对每个控制点处的幅度的间接贡献,控制点处的声场的相对幅度将放大多少。因此,找到大的特征值指示相对幅度和相位的对应的集合,其利用了大量的相长干涉(constructive interference)。考虑到矩阵的所有特征值的相对值,选择具有相对高的对应的特征值的相对幅度和相位的集合,因此优于选择相对低的特征值,因为其更有效地利用由换能器输出的功率。
该方法可以包括使用查询函数来计算在控制点中的一个处产生分配的幅度对在其他控制点中的每一个处的幅度和相位的影响,所述查询函数定义了声波的幅度和相位由于衰减和传播如何在空间上变化。查询函数可以考虑两个幅度和相位变化源中的一个或两个。首先,随着与换能器的距离增加的由换能器输出的声波的幅度衰减,并且其次,随着声波在空间中传播而发生的相位变化。
如果使用这样的查询函数,则对于特定换能器阵列,由于衰减和传播引起的声波的相位的空间变化仅需被计算一次,这减少了对声场进行建模所需的时间以及计算换能器的初始幅度和相位所需的时间,所述换能器将产生所得到的声场的相位和幅度。
可以选择控制点的位置以定义占据声场中的体积的虚拟三维形状的部分。例如,控制点可以位于形状的边缘上或者邻近形状的边缘或者在形状的体积内。控制点可以定义整个形状,或者更优选定义形状的一部分。例如,控制点可以将用户感觉到的形状定义为触觉反馈系统的一部分,其中仅可能需要定义与用户交互的形状的部分,或者该形状可以是具有兴趣点(point of interest)的产品的形状,其上可以聚焦声辐射力以用于诸如干燥胶水的制造应用。
提供声场具有相对高的幅度的一组控制点和声场具有相对低的幅度的一组控制点,以提供虚拟形状的边缘处的声场的幅度梯度提供了在触觉反馈应用中的优势,因为其在声场的幅度上产生更多可检测的差异,使得虚拟形状的边缘更容易被用户检测到。此外,在触觉反馈的情况下,相对低的幅度控制点可以确保用户手部的不与形状接触的部分不会感觉到形状周围的残留超声波。在没有低幅度控制点的情况下,这些点处的超声波不受控制,并且因此可能存在手可以感受到的一些相长区域(constructive area)。
控制点中的至少一些可以被定位在对象与虚拟形状相交的点处。控制点中的至少一些可以被定位在相交点附近。
将控制点定位在对象(例如用户的手)与虚拟形状相交的区域中的点处提供了的优点在于,仅需要在与对象交互的虚拟形状上的点处控制声场,其使得能够在那些控制点处产生更高的幅度。对象与虚拟形状相交的点可以由对象跟踪器实时监测,并且可以响应于对象位置,将控制点定位在声场中的不同点处。
II.多个阵列配置
在单个设置中使用多个阵列的情况下,存在可以使用定位功能有效地自动执行的许多所需的校准步骤。由于制造不精确或系统时钟差异,阵列通常会在时间或空间上错误地偏移。通过使用到达时间差(TDOA)算法将用作源的超声换能器阵列(其已经被提供作为传感器的输入并且鉴于输出信号已知)的输出互相关联,可以确定时间和空间上的滞后。TDOA是一种被用于测向和导航的电子技术,其中计算出具有精确同步时间参考的物理上分离的接收站处的特定信号的到达时间。这也可以被用于提供补偿时间偏移的替代方法,所述时间偏移例如可能由时钟漂移引起。
确定时间和空间上的差异可以被用于以动态方式初始化新连接的设备,允许其添加至可以共享的空间中的现有体积(volumetric)声场中。可替选地,如果设备可以自由运动或者可以例如在被铰链(hinge)约束时运动,则可以在运动发生时自动检测和补偿该运动(假如即使当多个阵列相对于彼此运动时也不会丢失反馈)。这也可以被用于将阵列同步至公共空间,其包括输入传感器,使得其可以充当单个交互式体积。
III.使用聚焦点啁啾
超声触觉反馈技术仅仅对来自每个换能器的相位和幅度的单色行为起作用。传统的声纳以及动物使用的回声定位通常包含调频内容,以从场景中遇到的对象中挑选出单独的反射。声学触觉反馈的产生依赖于恒定的频率输出。对于给定的聚焦点,经幅度调制的波的每个部分都可以被延迟,使得波同时到达聚焦点。为了保持触觉反馈,波一般应该是单色的,但是这个要求可能会被放宽。波只需要在其相互作用产生聚焦点的时间点和空间点处是单色的。这表明,波的载波频率可以在时间上进行调频,只要在其到达聚焦点时,载波频率是相同的。因此,如果以与经幅度调制的内容相同的方式调制和延迟载波频率,则可以在连续修改载波频率的同时实现聚焦。此时,可以将载波频率修改为啁啾(chirp)或者一系列频率,其可以在给定一组麦克风的情况下被用于定位声场中的对象而不改变换能器阵列的触觉效果。(啁啾是其中频率随时间增加(上啁啾)或下降(下啁啾)的信号。)
图1中示出了一组超声换能器13的第一模拟10,其以单色超声载波频率12发射已经被聚焦到点11的输出。由于频率调制在时间上偏移使得聚焦保持运行,图2中示出了超声换能器23的第二模拟20,该超声换能器23发射保持聚焦在相同点21处的调频超声载波信号22。
IV.虚拟声点源
当产生触觉效果时,空间中的聚焦控制点以低频振动(通常由从0Hz到500Hz次序范围的一个或多个频率组成)进行调制,以便在幅度调制点的情况下提供触觉反馈。对于其他触觉技术,这可能不是必需的,并且被某种形式的时空调制所取代。此外,具有从100Hz到20kHz范围的分量的经处理的音频信号可以在点的顶部进行幅度调制以提供等同的参数音频。
可以实现将近超声和超声跟踪信号调制到每个控制点,以在半空中、在与控制点相同的位置创建另外的虚拟声源。这些源将从该场中的对象反射,允许现有的声纳、测距和声学成像技术通过对接收到的信号施加滤波器以使得只回收跟踪信号而起作用。这些跟踪信号可以在实践中被实施为通过幅度、相位、频率或正交进行的调制,只要这实现了基本上适合于人类听力范围之上的声频带内的所得调制。可替选地,跟踪信号可以是可听见的,但是被设计为在可听见的频率中不显眼,这可以通过将其设计为具有与随机噪声函数类似的特性来实现。与每个控制点相关联的跟踪波形在频率分量和/或由适当正交函数组成的信号中应该是不同的,使得其可以从在控制点处表达的频率混合中被选出。在每个控制点的顶部使用另外的频率允许即使在设备活动期间跟踪也能继续运行。
第二主动扫描模式也是可能的,其在触觉没有被启用时也可以使用,其使用仅以跟踪信号调制的低功率控制点。通过这种方式,该设备可以继续探索空间,收集成像和测距数据,以检测和查明潜在的相互作用。该主动扫描模式还可以与触觉一起使用,以分离地但与触觉控制点一起创建跟踪控制点。
使用虚源产生通过控制点的跟踪信号的另一个优点是系统变得稳健以模糊障碍。在来自选择物理源换能器的输出被阻断的情况下,剩余的换能器将保持对控制点起作用,并且因此对虚源起作用。控制点也可以经历运动,以允许避免障碍。
该设备还可以被配置为确保在跟踪信号中产生的频率的相位在控制点处被正确复制以再现具有足够的保真度的虚源。还需要确定飞行时间以监测从发射到聚焦时刻的增量时间(delta time),以便正确地找到跟踪信号何时从控制点中的虚源“发射”。飞行时间(TOF)描述了测量对象、粒子或声、电磁波或其他波在介质中传播一段距离所需的时间的多种方法。该测量可以被用于时间标准(诸如原子喷泉(atomic fountain)),作为测量通过给定介质的速度或路径长度的方式,或者作为了解颗粒或介质的方式(诸如组分或流量)。可以直接地(例如,质谱法中的离子检测器)或间接地(例如,激光多普勒测速仪中从对象散射的光)检测行进的对象。根据这一点,虚源位置、定时和发射波是已知的,并且因此用于确定从单个虚源到一个或多个接收器的飞行时间的传统技术可以被用于对反射进行三角测量并对空间进行成像。
V.结论
前述实施例的各个特征可以被选择并组合以产生改进的触觉系统的许多变化。
在前述说明书中,已经描述了特定实施例。然而,本领域普通技术人员理解,可以做出许多修改和变化而不脱离本所附权利要求阐述的本发明范围。因此,说明书和附图应当被看作例示性的而非限制性意义,并且所有这些修改旨在被包括在当前教导的范围之内。
益处、优点、对问题的解决方案、以及可以使得任何益处、优点或解决方案出现或变得更明显的任何(多个)要素不应被解释为任何或所有权利要求的至关重要的、所需要的、或必要的特征或要素。本发明仅由所附权利要求定义,包括在本申请未决期间做出的任何修改以及所公布的那些权利要求的所有等同物。
此外,在本文献中,诸如第一和第二、顶部和底部之类的关系术语可以仅用于区分一个实体或动作与其他实体或动作,而不一定需要或暗示这样的实体或动作之间的任何实际的这种关系或次序。术语“包括”、“包括……的”、“具有”、“具有……的”、“包含”、“包含……的”、“含有”、“含有……的”或其任何其他变体旨在涵盖非排他性的包括,比如,包括、具有、包含、含有一列要素的处理、方法、物品或设备不是仅包括这些要素,而是可以包括其他没有明确列出的或者对于这种处理、方法、物品或设备而言固有的其他要素。跟随有“包括……一种”、“具有……一种”、“包含……一种”、“含有……一种”的要素在没有更多限制的情况下不排除在包括、具有、包含、含有该要素的处理、方法、物品或设备中存在附加的相同的要素。术语“一种”和“一个”被定义为一个或多个,除非本文中另有明确规定。术语“基本上”、“本质上”、“近似”、“大约”或其任何其他版本被定义为如本领域普通技术人员所理解的接近。本文中使用的术语“耦合”被定义为连接,尽管不一定直接地且不一定机械地连接。以某种方式被“配置”的设备或结构至少以该方式被配置,但还可以以未列出的方式配置。
本公开的摘要被提供以允许读者快速弄清本技术公开的性质。要理解的是其被提出并不用于解释或限制权利要求的范围或含义。另外,在前述详细描述中,可以看出在各个实施例中将各个特征分组到一起是出于使本公开流畅的目的。所公开的方法不应被解释为反映了要求权利的实施例需要比每个权利要求明确记载的特征更多的特征的发明。相反,如所附权利要求所反映的那样,发明主题在于小于单个公开的实施例的所有特征。因此所附权利要求由此结合到详细说明中,其中每个权利要求各自独立地作为单独要求权利的主题。
Claims (20)
1.一种方法,包括:
i)从具有已知的相对位置和取向的超声换能器阵列产生声场,其中所述声场包括载波和具有多个波部分的经调制的波,并且其中所述载波具有多个经调制的焦点区域;
ii)定义多个控制点,其中所述多个控制点中的每个控制点具有已知的相对于所述超声换能器阵列的空间关系;
iii)延迟所述多个波部分,使得所述多个波部分几乎同时到达所述控制点中的一个控制点。
2.根据权利要求1所述的方法,其中,所述经调制的波使用幅度调制。
3.根据权利要求1所述的方法,其中,所述经调制的波使用频率调制。
4.根据权利要求1所述的方法,还包括修改所述载波,使得其啁啾到一系列频率。
5.根据权利要求4所述的方法,其中,所述载波被用于定位所述声场内的对象。
6.一种方法,包括:
i)从多个超声换能器阵列产生声场,所述多个超声换能器阵列中的每个超声换能器阵列都具有已知的相对位置和取向,其中所述声场包括载波和经调制的波,并且其中所述载波具有多个经调制的焦点区域;
ii)定义多个控制点,其中所述多个控制点中的每个控制点相对于所述多个超声换能器阵列中的至少一个超声换能器阵列具有已知的空间关系;
iii)通过使用所述多个超声换能器阵列中的每个超声换能器阵列的相对位置来校准所述多个超声换能器阵列。
7.根据权利要求6所述的方法,其中,校准所述多个超声换能器阵列的步骤还使用所述多个超声换能器阵列中的一个超声换能器阵列作为来自所述多个超声换能器中的另一个超声换能器的信号的接收器。
8.根据权利要求7所述的方法,其中,校准所述多个超声换能器阵列的步骤还使用到达时间差算法。
9.根据权利要求8所述的方法,其中,校准所述多个超声换能器阵列的步骤补偿时钟漂移。
10.根据权利要求7所述的方法,其中,所述多个超声换能器阵列中的一个超声换能器阵列通过铰链连接至所述多个超声换能器中的另一个超声换能器。
11.一种方法,包括:
i)从多个超声换能器阵列产生声场,所述多个超声换能器阵列中的每个超声换能器阵列具有已知的相对位置和取向,其中所述声场包括载波和经调制的波,并且其中所述载波具有多个经调制的焦点区域;
ii)定义多个控制点,其中所述多个控制点中的每个控制点相对于所述多个超声换能器阵列中的至少一个超声换能器阵列具有已知的空间关系;
iii)使用经幅度调制的波创建从所述多个控制点中的至少一个控制点发出的音频效果。
12.根据权利要求11所述的方法,其中,所述经调制的波使用幅度调制。
13.根据权利要求11所述的方法,其中,所述经调制的波使用时空调制。
14.根据权利要求11所述的方法,其中,所述经调制的波使用幅度调制在所述多个控制点中的至少一个控制点处产生人类可听见的频率的参数音频。
15.根据权利要求11所述的方法,其中,所述载波被用于定位所述声场内的对象。
16.根据权利要求15所述的方法,其中,所述对象具有对象属性,并且所述载波被用于测量所述对象属性。
17.根据权利要求16所述的方法,其中,所述经调制的波以人类不可听见的频率使用幅度调制。
18.根据权利要求16所述的方法,其中,所述经调制的波以人类可听见的频率使用幅度调制。
19.根据权利要求16所述的方法,其中,对所述对象属性的测量使用所述载波的频率的相位。
20.根据权利要求19所述的方法,其中,对所述对象属性的测量还使用飞行时间确定。
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JP2019506057A (ja) | 2019-02-28 |
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