CN111494927A - Maze with haptic feedback and method of generating maze haptic feedback - Google Patents
Maze with haptic feedback and method of generating maze haptic feedback Download PDFInfo
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- CN111494927A CN111494927A CN202010313983.XA CN202010313983A CN111494927A CN 111494927 A CN111494927 A CN 111494927A CN 202010313983 A CN202010313983 A CN 202010313983A CN 111494927 A CN111494927 A CN 111494927A
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- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F7/00—Indoor games using small moving playing bodies, e.g. balls, discs or blocks
- A63F7/04—Indoor games using small moving playing bodies, e.g. balls, discs or blocks using balls to be shaken or rolled in small boxes, e.g. comprising labyrinths
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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Abstract
The application discloses a maze with tactile feedback. One embodiment of the maze is as follows: labyrinth embeds gesture sensor, motor, speaker, treater, the treater is configured as: the method comprises the steps of obtaining and calculating the posture of a maze according to data measured by a posture sensor, calculating the motion parameters of a virtual ball in the maze according to the posture of the maze and maze map information, calculating the space motion state and the parameters of the virtual ball according to the motion parameters and the maze map information, controlling the vibration of a motor and the sound production of a loudspeaker according to the maze map information, the space motion state and the parameters of the virtual ball, and simulating the touch sense and the auditory sense feedback of the real ball under the space motion state and the parameters. According to the implementation mode, the fact that no real small ball exists in the maze is achieved, whether the space motion state of the virtual small ball is rolling, impacting or stopping is calculated through resolving the gesture of the maze, then the vibration of the motor and the sound production of the loudspeaker are controlled, and the touch sense and the auditory sense feedback of the real small ball are simulated.
Description
Technical Field
The present application relates to the field of electronic devices, and in particular to a maze with haptic feedback and a method of generating maze haptic feedback.
Background
There are two main types of existing mazes. One is a maze with a purely mechanical structure, a physical maze track is arranged in the maze, all the maze tracks form a maze map, and as a user rotates or inclines the maze, a small ball in the maze moves after being stressed. However, the maze map built in the maze is fixed and unchangeable, and is lack of interest and insufficient in user stickiness. The other is that a virtual maze, a maze map and a virtual ball are displayed on a screen of an intelligent terminal such as a mobile phone, and a user controls the inclination of the track and the rolling of the virtual ball by sliding the screen with a hand. The user can only judge the trend of the small ball through vision and hearing, and the sense organ immersion is insufficient due to the lack of tactile feedback.
Disclosure of Invention
It is an object of the present application to propose an improved maze with haptic feedback and a method of generating maze haptic feedback to solve the technical problems mentioned in the background section above.
In a first aspect, the present application provides a maze having tactile feedback, the maze comprising: an attitude sensor built into the labyrinth; a motor built into the labyrinth; a speaker built into the labyrinth; a processor built into the maze, the processor configured to: the method comprises the steps of obtaining data measured by an attitude sensor, resolving the attitude of a maze according to the data measured by the attitude sensor, resolving the motion parameters of virtual balls in the maze according to the attitude of the maze and maze map information, calculating the space motion state and the parameters of the virtual balls according to the motion parameters of the virtual balls in the maze and the maze map information, and controlling the vibration of a motor and the sound production of a loudspeaker in the maze according to the maze map information, the space motion state and the parameters of the virtual balls so as to simulate the touch sense and the auditory feedback of real balls under the space motion state and the parameters.
In some embodiments, the controlling of the motor vibration and the speaker sound production in the maze according to the maze map information, the spatial motion state of the virtual ball and the parameters thereof, for simulating the tactile and auditory feedback of the real ball under the spatial motion state and the parameters thereof, comprises: determining audio frequency according to the maze map information, the space motion state of the virtual small ball and the parameters thereof; and taking the audio as a driving signal of the motor to drive the motor to vibrate, and simultaneously controlling the loudspeaker to play the audio for simulating the tactile and auditory feedback of the real small ball under the space motion state and the parameters thereof.
In some embodiments, the state of spatial motion of the virtual bead comprises: rolling, striking and stopping, wherein parameters corresponding to the rolling state include but are not limited to: position, velocity, acceleration, and parameters corresponding to the impact state include, but are not limited to: position, impulse, collision time, speed before collision, speed after collision, and parameters corresponding to the stop state include but are not limited to: position, velocity, acceleration.
In some embodiments, the maze map information includes, but is not limited to: the material, shape and level of the road in the maze map.
In some embodiments, the material of the roads in the maze map includes, but is not limited to: slate, wood, carpet, sand, cement, ice, the shape of the road including but not limited to: level, ramp, curve, step, the level includes but not limited to: a rotating slide and a conveyor belt.
In some embodiments, the processor is further configured to: calculating the motion trail of the maze according to the posture of the maze; and if the motion track is the same as the preset action instruction, selecting a maze map from a stored maze map set, and controlling the loudspeaker to play the name of the maze map.
In some embodiments, the maze further comprises a communication module, in particular: the communication module is electrically connected with the processor, the processor is communicated with the intelligent terminal through the communication module, and the posture of the maze is uploaded to the intelligent terminal; and the intelligent terminal processes the received gesture of the maze and synchronously displays the position and the space motion state of the virtual small ball in the maze map on a screen of the intelligent terminal in real time.
In some embodiments, the processor communicates with the intelligent terminal through the communication module, and receives the maze map issued by the intelligent terminal.
In some embodiments, the attitude sensors are accelerometers and gyroscopes; the processor is configured to: acquiring triaxial acceleration measured by the accelerometer and triaxial angular rate measured by the gyroscope; and resolving the posture of the maze by using a madgwick algorithm according to the three-axis acceleration and the three-axis angular rate.
In a second aspect, the present application provides a method of generating maze haptic feedback, the method comprising: acquiring data measured by an attitude sensor arranged in the maze; resolving the attitude of the maze according to the data measured by the attitude sensor; calculating the motion parameters of the virtual small balls in the maze according to the posture of the maze and the maze map information; calculating the space motion state and parameters of the virtual small balls according to the motion parameters of the virtual small balls in the maze and the maze map information; and controlling the vibration of a motor and the sound production of a loudspeaker according to the maze map information, the space motion state and the parameters of the virtual small ball, and simulating the touch and auditory feedback of the real small ball under the space motion state and the parameters, wherein the motor and the loudspeaker are both arranged in the maze.
In some embodiments, the controlling of the motor vibration and the speaker sound production in the maze according to the maze map information, the spatial motion state of the virtual ball and the parameters thereof, for simulating the tactile and auditory feedback of the real ball under the spatial motion state and the parameters thereof, comprises: determining audio frequency according to the maze map information, the space motion state of the virtual small ball and the parameters thereof; and taking the audio as a driving signal of the motor to drive the motor to vibrate, and simultaneously controlling the loudspeaker to play the audio for simulating the tactile and auditory feedback of the real small ball under the space motion state and the parameters thereof.
In some embodiments, the state of spatial motion of the virtual bead comprises: rolling, striking and stopping, wherein parameters corresponding to the rolling state include but are not limited to: position, velocity, acceleration, and parameters corresponding to the impact state include, but are not limited to: position, impulse, collision time, speed before collision, speed after collision, and parameters corresponding to the stop state include but are not limited to: position, velocity, acceleration.
In some embodiments, the maze map information includes, but is not limited to: the material, shape and level of the road in the maze map.
In some embodiments, the material of the roads in the maze map includes, but is not limited to: slate, wood, carpet, sand, cement, ice, the shape of the road including but not limited to: level, ramp, curve, step, the level includes but not limited to: a rotating slide and a conveyor belt.
In some embodiments, the method further comprises: calculating the motion trail of the maze according to the posture of the maze; and if the motion track is the same as the preset action instruction, selecting a maze map from a stored maze map set, and controlling the loudspeaker to play the name of the maze map.
In some embodiments, the method further comprises: communicating with an intelligent terminal, and uploading the gesture of the maze to the intelligent terminal; and the intelligent terminal processes the received gesture of the maze and synchronously displays the position and the space motion state of the virtual small ball in the maze map on a screen of the intelligent terminal in real time.
In some embodiments, the method further comprises: and communicating with the intelligent terminal and receiving the maze map issued by the intelligent terminal.
The maze with tactile feedback provided by the application does not have a real maze map and a real small ball in the maze, and is internally provided with a posture sensor, a loudspeaker, a motor and a processor. The processor obtains data measured by the attitude sensor, then the attitude of the maze is calculated according to the data, the spatial motion state of the virtual small ball in the maze is calculated to be rolling, impacting or stopping by combining with the stored maze map information, then the vibration of the motor and the sound of the loudspeaker in the maze are controlled, the vibration touch feeling and the sound when the real small ball rolls and impacts are simulated, the real touch feeling and the auditory feedback are given to a user, and the user feels like the real small ball existing in the maze rolls or impacts.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a block diagram of one embodiment of a maze with haptic feedback according to the present application;
FIG. 2 is a block diagram of another embodiment of a maze with haptic feedback according to the present application;
FIG. 3 is a flow diagram of one embodiment of a method of generating maze haptic feedback according to the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
FIG. 1 is a block diagram of the structure of a maze in one embodiment. As shown, the labyrinth casing includes an attitude sensor 101, a processor 102, a motor 103, and a speaker 104. The attitude sensor 101 is composed of an accelerometer and a gyroscope. In other optional implementations of this embodiment, the attitude sensor 101 is composed of an accelerometer, a gyroscope, and a magnetometer. The processor 102 collects data measured by the attitude sensor 101, and then calculates the current attitude of the maze by an attitude calculation algorithm according to the collected data. The above-mentioned attitude solution algorithms include, but are not limited to: madgwick algorithm, mahony algorithm. The pose of the current maze can be represented by one of quaternion, Euler angle and rotation matrix. Wherein the motor 103 is a linear resonant motor.
The user holds the maze to do different actions, which causes the change of the gesture of the maze. These actions include, but are not limited to: inclining, rotating, overturning and shaking along different directions. If a real ball exists in the maze, the real ball has motion parameters, such as speed, acceleration, displacement, and rolls or bumps in the maze as the pose of the maze changes. However, there is no real ball in the maze, and it is assumed that there exists a ball, i.e. a virtual ball, which has the same motion parameters of position, displacement, velocity, acceleration, etc. as the real ball.
In this embodiment, the processor 102 stores a set of maze maps, the maze is started for the first time, a default initial maze map is opened, and then each time the maze is started, the opened maze map is default to the maze map played when the maze is stopped last time. After the maze is started, a user holds the maze to do specific actions, and different maze maps can be switched and selected. Specifically, the method comprises the following steps: the processor 102 calculates a motion track of the maze according to the posture of the maze, determines whether the motion track is the same as a preset action instruction, selects a maze map from a stored maze map set if the motion track is the same as the preset action instruction, and controls the loudspeaker 104 to play the name of the maze map, wherein, in order to avoid continuously selecting the same maze map, the maze maps can be sequentially selected from the maze map set. For example, the user holds the maze by hand and largely shakes up and down or left and right, the processor 102 calculates the largely shakes up and down or left and right by the posture of the maze, and determines that the user is executing the preset action command because the largely shakes up and down or left and right are the preset action command, selects a different maze map from the stored maze map set, and controls the speaker 104 to play the name of the maze map. Therefore, the user can freely select and switch the maze map, and the maze is more intelligent and interesting.
In other alternative implementations of the present embodiment, the maze has a button that is depressed and the processor 102 is configured to select to replace the maze map and play the name of the maze map through the speaker 104.
In the present embodiment, since the maze map is virtual, a more complicated maze map is supported. For example, the material, shape and customs of roads in the maze map are set more variously, wherein the material of the roads includes but is not limited to: slate, wood, carpet, sand, cement, ice, the shape of the road includes but is not limited to: level, ramp, curve, step, level, including but not limited to: a rotating slide and a conveyor belt. The data together constitute maze map information, and certainly, the maze map information also includes information such as friction, road on-off and the like at each position of the maze. The posture of the maze and the map information of the maze together affect the motion parameters of the virtual small ball, and the motion parameters include but are not limited to: velocity, acceleration, displacement, position, etc. The processor 102 calculates the motion parameters of the virtual small ball in the maze according to the posture of the maze and the map information of the maze. Then, the position of the virtual small ball in the maze map and the road information of the position, up, down, front, back, left and right are determined, and then the space motion state and the parameters of the virtual small ball are calculated by combining the information of the on-off of the road in the advancing direction of the virtual small ball and the like. The spatial motion state of the virtual ball comprises the following steps: rolling, striking and stopping, wherein parameters corresponding to the rolling state include but are not limited to: position, velocity, acceleration, and parameters corresponding to the impact state include, but are not limited to: position, impulse, collision time, speed before collision, speed after collision, and parameters corresponding to the stop state include but are not limited to: position, velocity, acceleration.
In this embodiment, the processor 102 stores a large amount of audio that captures the sound of a real ball rolling or hitting in a maze map of different road materials, shapes, and customs. For example, the sound of a real ball rolling or hitting on a road, sand, snow, ice, steps is collected. The processor 102 firstly judges the rolling audio and/or the impact audio corresponding to the position of the virtual small ball in the maze map, then determines the audio corresponding to the virtual small ball according to the space motion state of the virtual small ball, and then determines the rolling or impact strength according to the parameters of the space motion state. For example, the intensity of the roll or impact is evaluated based on the speed. In other implementations, the intensity of the impact is evaluated from the impulse. Of course, different weighting can be performed on each parameter under the space motion state to comprehensively evaluate the rolling or impacting strength.
In this embodiment, the processor 102 is of the ISD9160 type, and has an audio unit and an amplifier, and the audio is amplified and output by the amplifier, and then the output is divided into two paths, one path is electrically connected to the speaker 104, and the other path is electrically connected to the motor 103. If the motor is too weak to match the sound emitted by the speaker, an amplifier may be electrically connected between the processor 102 and the motor 103. In addition, the processor 102 controls the intensity of the scrolling or bumping by adjusting the gain of the output audio waveform. That is, if the intensity of the scroll is large, the control outputs a large gain audio to cause the speaker to emit a large sound and the motor to vibrate to a large extent.
In this embodiment, the reality and interest are increased. In a certain scrolling scene, a long audio is recorded, then the audio is divided into a plurality of small audio segments, when the audio is used, the small audio segments are randomly combined, the loudspeaker 104 is controlled to play the combined audio, and the audio is adopted to drive the motor 103 to vibrate. In a certain impact scene, recording the audio frequency of multiple impacts, and randomly selecting one audio frequency to drive the motor 103 to vibrate and the loudspeaker 104 to sound when in use.
In this embodiment, a user holds the maze to do a specific action, and can switch and select the maze map, and when the maze is inclined, rotated, shaken and turned, the maze posture is changed, the processor calculates the posture of the maze according to the data measured by the posture sensor, and combines the stored maze map information to calculate whether the space motion state of the virtual small ball is rolling, impacting or stopping and the intensity thereof, and controls the motor vibration and the loudspeaker to sound according to the space motion state and the intensity thereof, and the intensity of the vibration and the size of the sound emitted are matched with the space motion state and the intensity thereof. The user can distinguish whether the current ball rolls, hits or stops only by touch sense and auditory sense, if the ball rolls, the rolling direction and the rolling speed are fast or slow, and if the ball hits, the hitting is strong and the hitting direction is strong.
With continued reference to FIG. 2, there is shown a block diagram of the maze in another embodiment in which the maze is in communication with the intelligent terminal 106 via a wireless connection. The wireless connection modes include but are not limited to: WiFi connections, bluetooth connections, WiMAX connections, Zigbee connections, uwb (ultra wideband) connections, and other wireless connection means now known or later developed. The corresponding labyrinth has a communication module 105. The processor 102 may communicate with the intelligent terminal 106 through the communication module 105. The intelligent terminal 106 refers to various electronic devices having a display screen, including but not limited to: smart phones, tablets, laptop and desktop computers, smart televisions, and the like.
In the present embodiment, after the maze is connected to the intelligent terminal 106, the maze map is downloaded automatically or under the selection operation of the user, and is stored in the processor 102 or the memory of the maze. Meanwhile, the user is supported to select a maze map to be played on the visualized intelligent terminal 106, and then the intelligent terminal 106 transmits the maze map information selected by the user to the processor 105 of the maze.
In this embodiment, when the user plays the maze, the processor 102 calculates the gesture of the maze, calculates the motion parameters of the virtual ball according to the gesture and the maze map information, calculates whether the virtual ball rolls or impacts when being received and the corresponding intensity thereof according to the motion parameters of the virtual ball and the maze map information, controls the speaker 104 to emit the sound with the corresponding intensity, and controls the motor to generate the vibration with the corresponding intensity. In addition, the processor 102 uploads the posture of the maze to the intelligent terminal 106, the intelligent terminal 106 calculates the current spatial position and the current posture of the virtual small ball according to the posture of the maze, and controls the movement of the virtual small ball on the screen of the intelligent terminal 106 in the maze map, so that the intelligent terminal 106 can synchronously and visually display the current spatial position and the current posture of the virtual small ball in the maze in real time. Therefore, the user can more easily control the small ball to pass through the heavy barrier by means of the maze map displayed by the intelligent terminal 106 and the space motion state of the virtual small ball. Meanwhile, the intelligent terminal 106 supports the user to slide the screen and change the view angle of the maze map. In addition, because of the visualization of the maze map, the maze map can be set more variously and more complexly, and the interest is increased. For example, a maze map of different themes is designed: urban road maze maps, desert maze maps, snow maze maps, sea maze maps, iceland maze maps, pipeline maze maps and indoor maze maps. The maze maps with different themes have different or same roads in the maze map. As an example, the pipe maze map is composed of pipes of different shapes, for example, straight pipes, curved pipes having different slopes. The indoor maze map is composed of steps, wooden floors, carpets, doors and the like.
In this embodiment, the processor 102 controls the speaker 104 to emit sound, the motor 103 to generate vibration, and gives audible and tactile feedback to the user, and further gives visual feedback to the user through the display screen of the smart terminal 106. The immersion feeling of the user playing the maze is increased. The maze map switching method supports the user to select and switch the maze map, and increases interestingness and user stickiness.
With continuing reference to FIG. 3, this figure is a flow diagram of one embodiment of a method of generating maze haptic feedback of the present application. To ensure that the user experiences tactile and auditory feedback in a timely manner, the processor repeats the following method in a continuous loop at preset time intervals. As shown, the method comprises the following steps:
In this embodiment, the labyrinth houses a six-axis sensor for measuring the three-axis acceleration and the three-axis angular rate of the labyrinth. The processor continuously reads the triaxial acceleration and the triaxial angular rate according to a smaller preset time interval.
In this embodiment, according to a series of obtained triaxial accelerations and triaxial angular rates, a madgwick algorithm is adopted to solve the labyrinth posture, and a quaternion representing the labyrinth posture is obtained.
And 303, resolving motion parameters of the virtual small balls in the maze according to the posture of the maze and the map information of the maze.
In the embodiment, motion parameters such as acceleration, speed and displacement of the virtual small ball are calculated according to maze map information such as a maze posture quaternion and the friction force of the virtual small ball at the position of the maze map. In order to accurately calculate the motion parameters of the virtual small balls in the current cycle, the motion parameters in the previous cycle are also used. For example, to calculate the speed of the present cycle, the speed calculated in the previous cycle is used as an initial speed, the acceleration calculated this time is integrated, and the initial speed and the integral of the acceleration are summed to obtain the speed of the present cycle.
And step 304, calculating the space motion state and parameters of the virtual small balls according to the motion parameters of the virtual small balls in the maze and the maze map information.
In this embodiment, whether the space motion state received by the virtual small ball is rolling, impacting or stopping is calculated according to the speed and position of the virtual small ball and the information of the on-off state of the road in the advancing direction of the virtual small ball. In this embodiment, to simplify the algorithm, the velocity is used as a parameter of the spatial motion state for characterizing the intensity of the roll or impact.
And 305, controlling motor vibration and loudspeaker sounding in the maze according to the maze map information, the space motion state of the virtual small ball and the parameters thereof, and simulating the touch and auditory feedback of the real small ball under the space motion state and the parameters thereof.
A maze map can be formed by splicing roads and customs of different materials. The sound on which the ball rolls or hits is different. In the embodiment, the sound of rolling or impacting on the road with the balls made of different materials is recorded and stored in advance; in addition, a sound of passing success or failing is produced.
In the embodiment, according to the position of the virtual small ball on the maze map, the road on which the rolling or impact occurs is determined, then the corresponding audio frequency of the rolling or impact on the road is inquired, then the amplification gain of the audio frequency is evaluated according to the speed, and finally the loudspeaker is controlled to play the audio frequency with the amplification gain, and the motor is driven to vibrate by the audio frequency with the amplification gain. In this embodiment, the maze itself stores some maze maps. The intelligent terminals such as the mobile phone and the like support that the maze is controlled at each level and/or at the same level at different time, a three-dimensional maze map is randomly generated, and then the three-dimensional maze map is issued to the maze for the user to play the maze maps with different themes and different scenes, so that the interest is increased.
In this embodiment, during the game, the smart terminal such as a mobile phone supports interaction with the maze. Specifically, the method comprises the following steps: the intelligent terminal obtains the position coordinates and the speed vectors of the virtual small balls from the maze; according to the position coordinates, determining the spatial position of the virtual small ball in the three-dimensional maze map; then, taking the integral of the velocity vector and the vector sum of the space positions as the current space position of the virtual small ball; then, calculating the rotation posture of the virtual small ball according to the velocity vector, and superposing the previous current posture on the rotation posture to obtain the current posture of the virtual small ball at this time; and finally, displaying the picture of the three-dimensional maze map on a screen of the intelligent terminal, and displaying the virtual small balls in the current posture at the current space position of the three-dimensional maze map. The position and the motion state of the virtual small ball in the maze can be synchronously displayed on the screen of the intelligent terminal in real time, and the visual feedback on the screen of the intelligent terminal and the tactile and auditory feedback produced by the maze can be synchronized.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (17)
1. A maze having tactile feedback, wherein the maze comprises:
an attitude sensor built into the labyrinth;
a motor built into the labyrinth;
a speaker built into the labyrinth;
a processor built into the maze, the processor configured to:
acquiring data measured by the attitude sensor,
calculating the attitude of the maze according to the data measured by the attitude sensor,
calculating the motion parameters of the virtual small ball in the maze according to the posture of the maze and the map information of the maze,
calculating the space motion state and parameters of the virtual small ball according to the motion parameters of the virtual small ball in the maze and the maze map information,
and controlling the vibration of a motor and the sound production of a loudspeaker in the maze according to the maze map information, the space motion state and the parameters of the virtual small ball, and simulating the touch and auditory feedback of the real small ball under the space motion state and the parameters.
2. The maze with tactile feedback according to claim 1, wherein the control of the motor vibration and speaker sound generation in the maze according to the maze map information, the spatial motion state of the virtual ball and its parameters, for simulating the tactile and auditory feedback of the real ball under the spatial motion state and its parameters, comprises:
determining audio frequency according to the maze map information, the space motion state of the virtual small ball and the parameters thereof;
and taking the audio as a driving signal of the motor to drive the motor to vibrate, and simultaneously controlling the loudspeaker to play the audio for simulating the tactile and auditory feedback of the real small ball under the space motion state and the parameters thereof.
3. The maze with haptic feedback of claim 2 wherein the state of spatial movement of the virtual ball comprises: rolling, striking and stopping, wherein parameters corresponding to the rolling state include but are not limited to: position, velocity, acceleration, and parameters corresponding to the impact state include, but are not limited to: position, impulse, collision time, speed before collision, speed after collision, and parameters corresponding to the stop state include but are not limited to: position, velocity, acceleration.
4. A maze with haptic feedback as claimed in claim 3 wherein the maze map information includes, but is not limited to: the material, shape and level of the road in the maze map.
5. A maze with tactile feedback according to claim 4, wherein the material of the path in the maze map includes but is not limited to: slate, wood, carpet, sand, cement, ice, the shape of the road including but not limited to: level, ramp, curve, step, the level includes but not limited to: a rotating slide and a conveyor belt.
6. The maze with haptic feedback of claim 1 wherein the processor is further configured to:
calculating the motion trail of the maze according to the posture of the maze;
and if the motion track is the same as the preset action instruction, selecting a maze map from a stored maze map set, and controlling the loudspeaker to play the name of the maze map.
7. Labyrinth with tactile feedback according to claim 1, characterized in that it further comprises a communication module, in particular:
the communication module is electrically connected with the processor, the processor is communicated with the intelligent terminal through the communication module, and the posture of the maze is uploaded to the intelligent terminal;
and the intelligent terminal processes the received gesture of the maze and synchronously displays the position and the space motion state of the virtual small ball in the maze map on a screen of the intelligent terminal in real time.
8. The maze with haptic feedback of claim 7 wherein the processor communicates with a smart terminal through the communication module to receive a maze map sent by the smart terminal.
9. The maze with tactile feedback according to claim 1, characterized in that,
the attitude sensor is an accelerometer and a gyroscope;
the processor is configured to:
acquiring triaxial acceleration measured by the accelerometer and triaxial angular rate measured by the gyroscope;
and resolving the posture of the maze by using a madgwick algorithm according to the three-axis acceleration and the three-axis angular rate.
10. A method of generating maze haptic feedback, the method comprising:
acquiring data measured by an attitude sensor arranged in the maze;
resolving the attitude of the maze according to the data measured by the attitude sensor;
calculating the motion parameters of the virtual small balls in the maze according to the posture of the maze and the maze map information;
calculating the space motion state and parameters of the virtual small balls according to the motion parameters of the virtual small balls in the maze and the maze map information;
and controlling the vibration of a motor and the sound production of a loudspeaker according to the maze map information, the space motion state and the parameters of the virtual small ball, and simulating the touch and auditory feedback of the real small ball under the space motion state and the parameters, wherein the motor and the loudspeaker are both arranged in the maze.
11. The method for generating maze tactile feedback according to claim 10, wherein the controlling of the motor vibration and speaker sound generation in the maze according to the maze map information, the spatial motion state of the virtual ball and the parameters thereof, for simulating the tactile and auditory feedback of the real ball under the spatial motion state and the parameters thereof, comprises:
determining audio frequency according to the maze map information, the space motion state of the virtual small ball and the parameters thereof;
and taking the audio as a driving signal of the motor to drive the motor to vibrate, and simultaneously controlling the loudspeaker to play the audio for simulating the tactile and auditory feedback of the real small ball under the space motion state and the parameters thereof.
12. The method of generating maze haptic feedback of claim 11 wherein the state of spatial motion of the virtual ball comprises: rolling, striking and stopping, wherein parameters corresponding to the rolling state include but are not limited to: position, velocity, acceleration, and parameters corresponding to the impact state include, but are not limited to: position, impulse, collision time, speed before collision, speed after collision, and parameters corresponding to the stop state include but are not limited to: position, velocity, acceleration.
13. The method of generating maze haptic feedback of claim 12 wherein the maze map information includes, but is not limited to: the material, shape and level of the road in the maze map.
14. The method of generating maze haptic feedback of claim 13 wherein the material of the roads in the maze map includes, but is not limited to: slate, wood, carpet, sand, cement, ice, the shape of the road including but not limited to: level, ramp, curve, step, the level includes but not limited to: a rotating slide and a conveyor belt.
15. The method of generating maze haptic feedback of claim 10, further comprising:
calculating the motion trail of the maze according to the posture of the maze;
and if the motion track is the same as the preset action instruction, selecting a maze map from a stored maze map set, and controlling the loudspeaker to play the name of the maze map.
16. The method of generating maze haptic feedback of claim 10, further comprising:
communicating with an intelligent terminal, and uploading the gesture of the maze to the intelligent terminal;
and the intelligent terminal processes the received gesture of the maze and synchronously displays the position and the space motion state of the virtual small ball in the maze map on a screen of the intelligent terminal in real time.
17. The method of generating maze haptic feedback of claim 16, further comprising:
and communicating with the intelligent terminal and receiving the maze map issued by the intelligent terminal.
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