CN110673731B - Multi-channel ultrasonic focusing delay control method based on variable-length shift register - Google Patents
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Abstract
The invention relates to a multi-channel ultrasonic focusing delay control method based on a variable-length shift register, belonging to an aerial ultrasonic focusing method. The method comprises the following steps: the computing unit receives the focusing point coordinates sent by the upper computer and computes the delay time of the driving signals of each channel of the ultrasonic sensor array; the calculation unit quantifies the delay time into the number of cycles under the delay control clock and sends the number of cycles to the delay control unit; the delay control unit generates an ultrasonic sensor driving signal and a system focusing enabling signal; the delay control unit uses the shift register to delay the data and delay the control clock according to the driving signal to realize the delay control of the driving signal. The method can realize tactile feedback in the air, can generate user experience close to reality by controlling the focus point when no physical contact or physical conditions exist, and can be used in the fields of human-computer interaction, virtual reality, augmented reality and the like.
Description
Technical Field
The invention relates to an air ultrasonic focusing method, in particular to a multichannel ultrasonic focusing delay control method based on a variable-length shift register, which can realize delay control of driving signals of each channel of an ultrasonic sensor array and can be applied to the technical fields of human-computer interaction, virtual reality and the like.
Background
With the development of human-computer interaction technology, various human-centered efficient natural human-computer interaction modes appear, and meanwhile, various perception feedback in the human-computer interaction process is also developed.
In the process of human-computer interaction, users often need various kinds of perception feedback to conduct operation guidance or enhance user experience, such as: when the software is used for the first time, the software is guided by adopting characters or voice; when playing a game, vibrations and sound are used to enhance the immersion. With the development of science and technology, human-computer interaction gradually transits from plane interaction to three-dimensional space interaction. In three-dimensional human-computer interaction, as visual and auditory feedback technologies mature, people began to study tactile feedback to further enhance the convenience and immersion of three-dimensional human-computer interaction. In the research of three-dimensional haptic feedback, since a contact haptic feedback method (attaching additional devices such as gloves, a robot arm, etc. to a human body) easily obstructs free movement of the human body and generates discomfort during use, people are gradually focusing on a non-contact haptic feedback method. Several non-contact haptic feedback methods currently exist, such as air haptic feedback (AIREAL), laser haptic feedback, and ultrasonic haptic feedback. Since the air type tactile feedback has low precision and cannot be precisely controlled, and the laser type tactile feedback is easily shielded by a human body or an obstacle, the ultrasonic type tactile feedback gradually becomes a main mode of non-contact type tactile feedback.
There are several patents on the ultrasonic focusing method.
Chinese patent "an intravascular ultrasound focusing method, a focusing diagnostic apparatus and a focusing transducer" (application No. 201510559177.X) discloses an intravascular ultrasound focusing method, which uses a delay circuit to realize delay control of a driving signal after calculating time delay. The additional delay circuit means the load of the whole system is increased, the power consumption of the system is inevitably increased, and the cost is high. Chinese patent "digital data delay method for agile signal control" (application No. 201210282839.X) discloses a method for implementing data delay using an internal shift register of an FPGA, which implements data delay by setting the length of the shift register and shifting the phase of a reference clock using a phase-locked loop. The method can only realize delay output among single-channel data, once the length of the shift register is determined to only influence the minimum delay unit, the length does not change in the delay process, and all data delay is realized by using the phase-locked loop to shift the phase of the reference clock on the basis of the output time of the first data. If the method is applied to multi-channel signal delay, data delay benchmarks among all channels are difficult to synchronize, delay precision is reduced, realization is difficult, each channel uses a phase-locked loop to carry out phase shift on a reference clock, if delay time is changed, the phase shift of the phase-locked loop also needs to be recalculated, and calculation and control of the phase shift occupy a large amount of system resources and are not paid for.
Chinese patent application No. 201210165584.9 discloses a signal delay method, apparatus and digital circuit system for digital circuit, which uses a counter to implement delay control of signal. Chinese patent "delay method based on hardware timer" (application No. 200710037065.3) discloses a delay method based on hardware timer, which combines the hardware timer and the program stored in the computer to realize the delay. When the method is applied to multi-channel signal delay, a plurality of counters are required to be used simultaneously, the implementation is complex, the synchronism among multiple channels is poor, meanwhile, the driving signals can be stored by an additional memory to ensure that the phases of signals output in a delay mode are the same, the program is long, the changeability is poor, and if a hardware timer is added for timing each channel, the system power consumption is increased, and the cost is increased.
Chinese patent "a tactile feedback system and method based on ultrasonic focusing" (application No. 201510833840.0) discloses a three-dimensional multi-point tactile feedback system, which has the functions of hand position detection, non-contact tactile feedback, multi-point tactile feedback, etc., and the core of the system is three-dimensional ultrasonic array positioning and high-precision ultrasonic focusing technology. The method describes the whole structure of the system, and controls the delay time of the calculated driving signal through a focusing circuit to generate tactile feedback. This method describes the calculation of the delay time of the driving signal, but no specific control method of the delay is mentioned, and this method uses the focusing circuit to realize the delay control, increases the system load, increases the power consumption and the cost, and is not favorable for the miniaturization of the system.
Disclosure of Invention
The invention provides a multi-channel ultrasonic focusing delay control method based on a variable-length shift register, which utilizes the shift register to carry out delay control on driving signals of all channels of an ultrasonic sensor array, generates focus points which can be perceived by a human body in a three-dimensional space and realizes non-contact tactile feedback in the three-dimensional space.
The multi-channel ultrasonic focusing system consists of an upper computer, a computing unit, a delay control unit, a driving unit and an ultrasonic sensor array. The upper computer is generally a PC, and the computing unit consists of a microprocessor 1 and a memory; the delay control unit is composed of a microprocessor 2 and a memory; the driving unit consists of MN same driving circuits; the ultrasonic sensor array is of an M multiplied by N type and corresponds to MN ultrasonic channels.
The technical scheme adopted by the invention is that the method comprises the following steps:
(1) the calculation unit calculates the delay time tau of the driving signal of each channel of the ultrasonic sensor array according to the received focal point coordinate sent by the upper computermn；
(2) The computing unit delays the driving signal by a time taumnQuantized to the number of cycles of the DELAY control clock CLK _ DELAY, rounded up to get Datamn；
(3) The delay control unit generates an ultrasonic sensor drive signal x by clock divisionDrive(i)；
(4) The delay control unit sets the length L of each channel shift register according to the size of the received delay datamnAnd initializing a shift register;
(5) delay control unit for generating shift register input signal xIn(i) The shift registers of each channel are shifted once per clock by using the clock CLK _ DELAY as a shift clock at the L-thmnAfter the clock, the length of the register is reached, and the delayed signal is output to realize the delay control of the multichannel signal.
Further, the step (1) is to delay the driving signal of each channel of the ultrasonic sensor array by a time τmnThe calculation method is as follows:
1) calculate the sensor S on the ultrasonic sensor arraymn(xm,yn0) transmittedTime t required for the ultrasonic wave to reach the focal point P (x, y, z)mn：
Wherein P (x, y, z) is the focal point coordinate, Smn(xm,yn0) represents the coordinates of the m-th row and n-th column of sensors in the ultrasonic sensor array, xm＝(m-1)*d，ynM is more than or equal to 1 and less than or equal to M, N is more than or equal to 1 and less than or equal to N, d is the distance between the centers of adjacent ultrasonic sensors, and c is the propagation speed of the ultrasonic waves in the air;
2) taking the arrival time t of ultrasonic wavemnMaximum value t ofmax：
3) Calculating the delay time tau of each channel driving signal of the ultrasonic sensor arraymn：
τmn＝tmax-tmn
Further, the step (2) drives the signal delay time τmnThe quantization method is as follows:
wherein f isDelayTo DELAY the frequency of the control clock CLK DELAY,
indicating rounding up.
DELAY control clock CLK _ DELAY as the drive signal DELAY time taumnThe quantization clock of (2) is simultaneously used as a shift clock of the shift register, and the delay unit δ is the reciprocal of the clock frequency and is expressed as:
further, the step (3) of driving the sensor with the signal xDrive(i) The generation method comprises the following steps:
1) the delay control unit generates a modulation signal x by clock frequency division0(i) And sensor resonant frequency signal xc(i)；
2) And calculating the two signals to obtain a sensor driving signal xDrive(i)：
xDrive(i)＝x0(i)&xc(i)
Further, the method for setting the length of the shift register in step (4) is as follows:
1) the delay control unit receives the delay DatamnSetting mn channel shift register Length Lmn：
Lmn＝Datamn
2) Initializing an mn channel shift register, and accommodating 0 in the shift register.
Further, the method for implementing delay control by the shift register in step (5) is as follows:
1) after the delay control unit sets the shift registers of all channels, the focus enable signal x is pulled upEn(i) Driving the sensor with a signal xDrive(i) And focus enable signal xEn(i) Performing AND operation to obtain input signal x of shift registerIn(i)：
xIn(i)＝xDrive(i)&xEn(i)
Focusing time t of the systemfocuCan be controlled by controlling the focus enable signal xEn(i) Adjusting the number of pulled clock cycles, and calculating the focusing time:
wherein a is an enable signal xEn(i) Number of clock cycles pulled up, fDelayControlling the clock frequency for the delay;
2) by a clockCLK _ DELAY as the shift clock, signal xIn(i) After entering each channel shift register, delay control is started. Signal xIn(i) Enabled after setting up each channel shift register, and the shift registers of all channels use the same signal xIn(i) Delay control of all channels can be started synchronously;
3) the DELAY control of the mn channel takes a clock CLK _ DELAY as a shift clock;
4) when the rising edge of the clock comes, the shift register collects and stores the 1 st data;
5) when the next rising edge of the clock comes, the shift register shifts the 1 st data to the right, and simultaneously collects and stores the 2 nd data;
6) and so on until the shift register stores LmnA piece of data;
7) when the next rising edge of the clock comes, the first stored data of the shift register is shifted out of the register, and the Lth data is collected and storedmn+1 data;
8) repeating the steps 4) -7), and finishing the delay output of the channel signal;
9) each channel shift register uses the same clock CLK _ DELAY as the shift clock to transmit the same signal xIn(i) According to steps 4) to 8), shifting the corresponding clock period, i.e. LmnAnd outputting the signals in one clock period to realize delay control of the multichannel signals.
The invention has the advantages that: the length of the shift register is set according to the delay time of each channel to realize the delay control of the multichannel signal, compared with a method using a timer and a delay circuit, the method has the advantages of simple structure, flexible control, easy control of the synchronization among the channels and convenient realization of the multichannel control.
Drawings
FIG. 1 is a block diagram of the multi-channel ultrasound focusing system of the present invention;
FIG. 2 is a functional block diagram of the multi-channel ultrasound focusing system of the present invention;
FIG. 3 is a flow chart of a delay control method implementation of the present invention;
FIG. 4 is a flow chart of delay calculation and quantization of signals for each channel of an ultrasonic sensor array according to the present invention;
FIG. 5 is a schematic view of the focusing principle of the ultrasonic sensor array of the present invention;
FIG. 6 is a schematic diagram of ultrasonic sensor drive signal generation in accordance with the present invention;
FIG. 7 is a schematic diagram of the length setting of the shift registers of each channel according to the present invention;
FIG. 8 is a diagram illustrating mn channel delay control according to the present invention;
FIG. 9 is a multi-channel delay control schematic of the present invention.
Detailed Description
The multi-channel ultrasonic focusing system comprises an upper computer [100], a computing unit [101], a delay control unit [102], a driving unit [103] and an ultrasonic sensor array [104], wherein the system composition block diagram is shown in figure 1, and the composition of each part of the system is shown in figure 2.
(1) The upper computer [100] is a computer which can directly send an operation command, is generally a PC and is responsible for sending the coordinates of the focusing point to the computing unit [101] to realize the flexible control of the ultrasonic focusing system;
(2) the computing unit [101] mainly comprises a microprocessor 1[201] and a memory 1[202], wherein the microprocessor 1[201] can be a DSP, a single chip microcomputer or an FPGA and other devices, and is used for receiving the focusing point coordinates sent by the upper computer [100], calculating and quantifying the delay time of each sensor driving signal on the ultrasonic sensor array [104], and sending the delay time to the delay control unit [102 ];
(3) the delay control unit [102] mainly comprises a microprocessor 2[203] and a memory 2[204], the microprocessor 2[203] is a programmable logic device, such as a CPLD, an FPGA and the like, and is responsible for receiving the delay data of the driving signal sent by the computing unit [101] to generate a sensor driving signal and a focusing enabling signal, and then the delay control of the driving signal of each channel is completed according to the delay data;
(4) the driving unit [103] consists of MN same driving circuits [205], amplifies driving signals output by the delay control unit [102] and provides sufficient energy for the ultrasonic sensor, so that tactile feedback in a three-dimensional space is realized;
(5) the ultrasonic sensor array [104] is an M × N array, corresponds to MN ultrasonic channels, and can superpose the phases of the ultrasonic waves transmitted by the channels at a certain position in a three-dimensional space by controlling the ultrasonic transmission time (drive signal delay time) of each channel, so that tactile feedback which can be sensed by a human body is generated, and the position is a focus.
A multi-channel ultrasonic focusing delay control method based on a variable length shift register is disclosed, as shown in FIG. 3, and comprises the following steps:
(1) the computing unit computes the ultrasonic sensor array [104] according to the received focal point coordinate P (x, y, z) sent by the upper computer]Delay time tau of driving signal of each channelmnThe flow chart is shown in fig. 4, and the ultrasonic focusing principle is shown in fig. 5; the specific method comprises the following steps:
1) calculate the ultrasonic sensor array [104]Upper sensor Smn(xm,yn0) time t required for the transmitted ultrasonic wave to reach the focal pointmn：
Wherein S ismn(xm,yn0) represents an ultrasonic sensor array [104]]The coordinates of the m-th row and the n-th column of the ultrasonic sensors, d is the distance between the centers of the adjacent ultrasonic sensors, and xm＝(m-1)*d，ynM is more than or equal to 1 and less than or equal to M, N is more than or equal to 1 and less than or equal to N, and c is the propagation speed of the ultrasonic wave in the air;
2) taking the arrival time t of ultrasonic wavemnMaximum value t ofmax：
3) Computing ultrasonic transducer array [104]Delay time tau of each channel driving signalmn：
τmn＝tmax-tmn
(2) The computing unit delays the driving signal by a time taumnQuantized to the number of cycles of the DELAY control clock CLK _ DELAY, rounded up to get Datamn：
Wherein f isDelayTo DELAY the frequency of the control clock CLK DELAY,
represents rounding up;
DELAY control clock CLK _ DELAY as the drive signal DELAY time taumnThe quantization clock of (2) is simultaneously used as a shift clock of the shift register, and the delay unit δ is the reciprocal of the clock frequency and is expressed as:
(3) the delay control unit generates an ultrasonic sensor driving signal x by clock frequency divisionDrive(i) The following is specifically described with reference to fig. 6:
the resonant frequency of the ultrasonic sensor is fc(please refer to the relevant data manual specifically), the human skin can sense the tactile frequency range of 1 Hz-1000 Hz, and the proper modulation frequency f needs to be selected from 1 Hz-1000 Hz0For sensor resonant frequency signal xc(i)[601]Modulating to produce a tactile feedback that the human body can perceive;
1) the delay control unit generates a modulation signal x by clock frequency division0(i)[602]And sensor resonant frequency signal xc(i)[601]；
2) And the two obtained signals to obtain a driving signal xDrive(i)：
xDrive(i)＝x0(i)&xc(i)
(4) The delay control unit sets the length L of each channel shift register according to the size of the received delay datamnAnd initializing a shift register; below isWith reference to fig. 7, the following is specifically described:
1) the delay control unit receives the delay DatamnSetting an mn-channel Shift register [701 ]]Length L ofmnThe shift register has L in commonmnBits, bit0 through bit (L)mn-1)，LmnExpressed as:
Lmn＝Datamn
2) initializing an mn channel shift register, and accommodating 0 in the shift register.
(5) Delay control unit for generating shift register input signal xIn(i) The shift registers of each channel are shifted once per clock by using the clock CLK _ DELAY as a shift clock at the L-thmnAfter the clock, the length of the register is reached, and a delayed signal is output to realize delay control of the multichannel signal;
the method for realizing delay control by the shift register comprises the following steps:
1) after the delay control unit sets the shift registers of all channels, the focus enable signal x is pulled upEn(i) Driving the sensor with a signal xDrive(i) And focus enable signal xEn(i)[603]Performing AND operation to obtain input signal x of shift registerIn(i)：
xIn(i)＝xDrive(i)&xEn(i)
Focusing time t of the systemfocuCan be controlled by controlling the focus enable signal xEn(i)[603]Adjusting the number of pulled clock cycles, and calculating the focusing time:
wherein a is an enable signal xEn(i) Number of clock cycles pulled up, fDelayControlling the clock frequency for the delay;
2) with the clock CLK _ DELAY as the shift clock, signal xIn(i) After entering each channel shift register, delay control is started. Signal xIn(i) Enabled after setting up each channel shift register, andand the shift registers of all channels use the same signal xIn(i) Delay control of all channels can be started synchronously;
3) the mn-channel shift register structure is shown in FIG. 8 and consists of LmnEach trigger consisting of D0-D (L)mn-1), the clock CLK _ DELAY is a shift clock;
4) when the rising edge of the clock CLK _ DELAY arrives, the flip-flop D0 collects and stores the signal xIn(i) The 1 st data of (1);
5) when the next rising edge of the clock CLK _ DELAY arrives, the data in flip-flop D0 moves to flip-flop D1, and flip-flop D0 captures and stores the signal xIn(i) The 2 nd data of (1);
when the next rising edge of the clock CLK _ DELAY arrives, the data in the flip-flop D1 moves to the flip-flop D2, the data in the flip-flop D0 moves to the flip-flop D1, and the flip-flop D0 acquires and stores the signal xIn(i) The 3 rd data of (1);
6) and so on until the trigger D (L)mn-2) data move to flip-flop D (L)mn-1), trigger D0 acquires and stores signal xIn(i) L tomnA piece of data;
7) the next rising edge of the clock CLK _ DELAY comes, the flip-flop D (L)mn-1) due to the shift register length LmnFrom which the data is shifted, i.e. signal xIn(i) Trigger D0 collects and stores signal xIn(i) L tomn+1 data;
8) repeating the steps 4) -7), and finishing the delay output of the channel signal;
9) the rest channel shift registers use the same clock CLK _ DELAY as the shift clock to convert the signal xIn(i) According to steps 4) to 8), shifting the corresponding clock period, i.e. LmnAnd outputting the signals in each clock cycle to realize delay control of each channel signal, wherein the multi-channel delay control principle is shown in figure 9.
Claims (6)
1. A multi-channel ultrasonic focusing delay control method based on a variable length shift register is characterized by comprising the following steps:
(1) the calculation unit calculates the delay time tau of the driving signal of each channel of the ultrasonic sensor array according to the received focal point coordinate sent by the upper computermnM represents the mth row in the ultrasonic sensor array, and n represents the nth column in the ultrasonic sensor array;
(2) the computing unit delays the driving signal by a time taumnQuantized to the number of cycles of the DELAY control clock CLK _ DELAY, rounded up to get Datamn；
(3) The delay control unit generates an ultrasonic sensor drive signal x by clock divisionDrive(i) Wherein i is any integer;
(4) the delay control unit sets the length L of each channel shift register according to the size of the received delay datamnAnd initializing a shift register;
(5) delay control unit for generating shift register input signal xIn(i) The shift registers of each channel are shifted once per clock by using the clock CLK _ DELAY as a shift clock at the L-thmnAfter the clock, the length of the register is reached, and the delayed signal is output to realize the delay control of the multichannel signal.
2. The multi-channel ultrasonic focusing delay control method based on the variable length shift register according to claim 1, characterized in that: the delay time tau of the driving signal of each channel of the ultrasonic sensor array in the step (1)mnThe calculation method is as follows:
1) calculate the sensor S on the ultrasonic sensor arraymn(xm,yn0) time t required for the emitted ultrasonic wave to reach the focal point P (x, y, z)mn：
Wherein P (x, y, z) is the focal point coordinate, Smn(xm,yn0) represents the coordinates of the m-th row and n-th column of sensors in the ultrasonic sensor array, xm＝(m-1)*d，yn＝(n-1)*d,1≤m≤M,1≤n≤N, d is the distance between the centers of the adjacent ultrasonic sensors, c is the propagation speed of the ultrasonic waves in the air, M is the row number of the ultrasonic sensor array, and N is the column number of the ultrasonic sensor array;
2) taking the arrival time t of ultrasonic wavemnMaximum value t ofmax：
3) Calculating the delay time tau of each channel driving signal of the ultrasonic sensor arraymn：
τmn＝tmax-tmn。
3. The multi-channel ultrasonic focusing delay control method based on the variable length shift register according to claim 1, characterized in that: the step (2) drives the signal delay time taumnThe quantization method is as follows:
wherein f isDelayTo DELAY the frequency of the control clock CLK DELAY,
represents rounding up;
DELAY control clock CLK _ DELAY as the drive signal DELAY time taumnThe quantization clock of (2) is simultaneously used as a shift clock of the shift register, and the delay unit δ is the reciprocal of the clock frequency and is expressed as:
4. the variable length shift register based multi-channel ultrasound focusing of claim 1The time delay control method is characterized in that: the step (3) of driving the sensor by the signal xDrive(i) The generation method comprises the following steps:
1) the delay control unit generates a modulation signal x by clock frequency division0(i) And sensor resonant frequency signal xc(i)；
2) And calculating the two signals to obtain a sensor driving signal xDrive(i)：
xDrive(i)＝x0(i)&xc(i)。
5. The multi-channel ultrasonic focusing delay control method based on the variable length shift register according to claim 1, characterized in that: the length setting method of the shift register in the step (4) is as follows:
1) the delay control unit receives the delay DatamnSetting mn channel shift register Length Lmn：
Lmn＝Datamn
2) Initializing an mn channel shift register, and accommodating 0 in the shift register.
6. The multi-channel ultrasonic focusing delay control method based on the variable length shift register according to claim 1, characterized in that: the method for realizing delay control by the shift register in the step (5) is as follows:
1) after the delay control unit sets the shift registers of all channels, the focus enable signal x is pulled upEn(i) Driving the sensor with a signal xDrive(i) And focus enable signal xEn(i) Performing AND operation to obtain input signal x of shift registerIn(i)：
xIn(i)＝xDrive(i)&xEn(i)
Focusing time t of the systemfocuCan be controlled by controlling the focus enable signal xEn(i) Adjusting the number of pulled clock cycles, and calculating the focusing time:
wherein a is an enable signal xEn(i) Number of clock cycles pulled up, fDelayControlling the clock frequency for the delay;
2) with the clock CLK _ DELAY as the shift clock, signal xIn(i) After entering each channel shift register, delay control is started, signal xIn(i) Enabled after setting up each channel shift register, and the shift registers of all channels use the same signal xIn(i) Delay control of all channels can be started synchronously;
3) the DELAY control of the mn channel takes a clock CLK _ DELAY as a shift clock;
4) when the rising edge of the clock comes, the shift register collects and stores the 1 st data;
5) when the next rising edge of the clock comes, the shift register shifts the 1 st data to the right, and simultaneously collects and stores the 2 nd data;
6) and so on until the shift register stores LmnA piece of data;
7) when the next rising edge of the clock comes, the first stored data of the shift register is shifted out of the register, and the Lth data is collected and storedmn+1 data;
8) repeating the steps 4) -7), and finishing the delay output of the channel signal;
9) each channel shift register uses the same clock CLK _ DELAY as the shift clock to transmit the same signal xIn(i) According to steps 4) to 8), shifting the corresponding clock period, i.e. LmnAnd outputting the signals in one clock period to realize delay control of the multichannel signals.
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