CN114924641A - Vibration array system, driving method, and storage medium - Google Patents
Vibration array system, driving method, and storage medium Download PDFInfo
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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Abstract
The application relates to a vibration array system, a driving method and a storage medium. The system comprises a controller, a direct-current power supply, a driving array and a vibrating array, wherein the vibrating array is composed of a plurality of vibrating units, the controller is connected with the driving array, the positive end of the driving array is connected with the positive end of the direct-current power supply, the negative end of the driving array is connected with the positive end of the vibrating array, and the negative end of the vibrating array is connected with the negative end of the direct-current power supply. The driving method comprises the following steps: determining the pulse width modulation frequency of each vibration unit included in the vibration array; the controller generates a driving signal according to the vibration requirement and the pulse width modulation frequency of each vibration unit; summarizing the driving signals corresponding to all the vibration units into a set, and sending the summarized driving signals to a driving array; the driving array drives the vibrating array to vibrate. The system obviously reduces the cost of the whole driving array and simultaneously improves the wearing comfort; the driving method increases the richness of array vibration and realizes the equalization of power supply load.
Description
Technical Field
The present application relates to the field of vibrating array technology, and more particularly, to vibrating array systems, driving methods, and storage media.
Background
In the field of consumer electronics, the vibration device can provide vibration feedback matched with operation, and good use experience is brought to a user. With the rise of the meta-universe concept, the requirement of the AR/VR and other devices on the tactile feedback is higher and higher, the tactile feedback provided by a single device is extremely limited, and the requirement of a user on the reality of the tactile experience cannot be met, so that the more real and rich tactile experience needs to be realized through a vibration array.
However, although the introduction of the vibration array improves the reality and richness of the sense of touch, each vibration unit needs to be equipped with an independent driving circuit, which brings a significant increase in the cost of the driving circuit, and also increases the volume and weight of the wearable device, thereby affecting the user experience.
Disclosure of Invention
In view of the above technical problems, the present invention is directed to a driving method of a vibration array system, which generates a driving signal according to vibration requirements of each vibration unit and the pulse width modulation frequency.
The invention provides a vibration array system, which comprises a controller, a direct current power supply, a driving array and a vibration array, wherein the vibration array is composed of a plurality of vibration units, the controller is connected with the driving array, the positive end of the driving array is connected with the positive end of the direct current power supply, the negative end of the driving array is connected with the positive end of the vibration array, and the negative end of the vibration array is connected with the negative end of the direct current power supply.
In some embodiments of the invention, the vibration array is composed of a plurality of vibration units, which are the same type of rotor eccentric motor.
In some embodiments of the invention, the drive array is comprised of switches; the number of the switches is equal to the number of the vibration units included in the vibration array, each switch is composed of a power switch tube and an anti-parallel diode, and the positive ends of all the switches are connected together.
In some embodiments of the invention, the dc power source is a battery.
A second aspect of the present invention provides a method of driving the vibration array system according to the embodiments, the method including:
determining the pulse width modulation frequency of each vibration unit included in the vibration array;
the controller generates a driving signal according to the vibration requirement of each vibration unit and the pulse width modulation frequency;
summarizing the driving signals corresponding to all the vibration units into a set, and sending the summarized driving signals into a driving array;
the driving array drives the vibration array to vibrate.
In some embodiments of the invention, the controller generates the driving signal according to the vibration requirement of each vibration unit and the pulse width modulation frequency, including:
converting the vibration intensity requirement of each vibration unit into a voltage amplitude requirement;
converting the voltage magnitude requirement to a duty cycle requirement;
the controller generates the driving signal according to the duty ratio requirement and the pulse width modulation frequency of each vibration unit.
In some embodiments of the present invention, the generating the driving signal according to the duty cycle requirement and the pulse width modulation frequency of each vibration unit comprises:
if the PWM frequencies of the vibration units are different, a driving signal is generated based on the PWM frequency and the corresponding duty ratio of a first vibration unit, wherein the first vibration unit is any one of the vibration units.
In some embodiments of the present invention, the generating the driving signal according to the duty cycle requirement and the pulse width modulation frequency of each vibration unit comprises:
if the pulse width modulation frequency of each vibration unit is the same, grouping the duty ratios corresponding to each vibration unit, and finding out the vibration unit combination with the sum of the duty ratios not more than 1 until all the vibration units form the combination;
the duty ratios of all the vibration units in a single combination are sequentially arranged in the same pulse width modulation frequency period, and the duty ratios are close to each other;
numbering all combinations, and arranging duty ratios according to the combination numbers;
and generating corresponding driving signals according to all the duty ratio arrangement conditions.
In some embodiments of the present invention, the numbering all combinations and arranging the duty ratios according to the combination numbers includes:
numbering all combinations to form odd-numbered and even-numbered combinations;
arranging the odd-numbered combinations backward from the beginning of one pulse width modulation frequency period;
the even numbered combinations are arranged with the duty cycle from the end of one pulse width modulation frequency period onwards.
A third aspect of the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any one of claims 5 to 9:
determining the pulse width modulation frequency of each vibration unit included in the vibration array;
generating a driving signal according to the vibration requirement of each vibration unit and the pulse width modulation frequency;
summarizing the driving signals corresponding to all the vibration units into a set, and sending the summarized driving signals into a driving array;
the driving array drives the vibration array to vibrate.
The technical scheme provided in the embodiment of the application has at least the following technical effects or advantages:
the vibration array system comprises a controller, a direct-current power supply, a driving array and a vibration array, wherein a plurality of vibration units are adopted to form the vibration array, multi-scene vibration feedback is realized through combined vibration of all the units, the vibration units are the same type of eccentric motors of rotors, and only one power switch tube and one reverse parallel diode are needed to form a driving circuit, so that the cost of the whole driving array is obviously reduced, the size and the weight of the vibration array system are reduced, and the wearing comfort is further improved; the driving method of the vibration array system comprises the following steps: confirm the pulse width modulation frequency of each vibration unit that vibration array includes, the controller according to each vibration unit the vibration demand with pulse width modulation frequency produces drive signal, summarizes all drive signal that vibration unit corresponds as a set, sends drive signal into the drive array after will summarizing, drive array drive vibration array vibrates because every vibration unit independent control to adjust the sense of vibration intensity through the duty cycle of adjusting pulse width modulation frequency drive waveform, increased the richness of array vibration, and carry out dynamic distribution to the switch moment of pulse width modulation frequency control waveform based on the array drive of consumption dynamic distribution, realized DC power supply load more balanced and rationalization.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 illustrates a schematic diagram of a vibration array system in an exemplary embodiment of the present application;
FIG. 2 shows a schematic diagram of a wearable vibration array device in the form of a glove in an exemplary embodiment of the present application;
FIG. 3 is a schematic diagram illustrating steps of a method of driving a vibration array system in an exemplary embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a process of generating a driving signal according to an exemplary embodiment of the present application;
FIG. 5 is a schematic diagram illustrating yet another process of generating a driving signal in an exemplary embodiment of the present application;
FIG. 6 is a block diagram illustrating a computer device provided in an exemplary embodiment of the present application;
FIG. 7 illustrates a schematic diagram of a storage medium provided by an exemplary embodiment of the present application.
Detailed Description
Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present application. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present application. It will be apparent to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, well-known features of the art have not been described in order to avoid obscuring the present application.
It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. The figures are not drawn to scale, wherein certain details may be exaggerated and some details may be omitted for clarity of presentation. The shapes of the various regions, layers and their relative sizes, positional relationships are shown in the drawings as examples only, and in practice deviations due to manufacturing tolerances or technical limitations are possible, and a person skilled in the art may additionally design regions/layers with different shapes, sizes, relative positions according to the actual needs.
Several examples are given below in conjunction with the description of figures 1-7 to describe exemplary embodiments according to the present application. It should be noted that the following application scenarios are merely illustrated for facilitating understanding of the spirit and principles of the present application, and the embodiments of the present application are not limited in any way in this respect. Rather, embodiments of the present application may be applied to any scenario where applicable.
Currently, more realistic and rich tactile experiences are increasingly popular with vibration arrays, and the TactSuit tactile feedback wireless suit introduced by bHaptic corporation of korea includes a face mask, a vest, and a pair of sleeves, which are integrated with 87 vibration units in total, wherein 7 face masks are provided, 20 face masks are provided at the front and back of the vest, and 20 sleeves are provided at each side. Each vibration unit can independently generate vibration, thereby realizing more real tactile feedback. However, although the introduction of the vibration array improves the reality and richness of the sense of touch, each vibration unit needs to be equipped with an independent driving circuit, which brings a significant increase in the cost of the driving circuit, and also increases the volume and weight of the wearable device, thereby affecting the user experience.
Accordingly, in some exemplary embodiments of the present application, there is provided a vibration array system, as shown in fig. 1, comprising a controller, a dc power source, a driving array and a vibration array, the vibration array being composed of a plurality of vibration units, the controller being connected to the driving array, a positive terminal of the driving array being connected to a positive terminal of the dc power source, a negative terminal of the driving array being connected to a positive terminal of the vibration array, and a negative terminal of the vibration array being connected to a negative terminal of the dc power source. As shown in fig. 1, D1-D6 are the driving signals issued by the controller.
In some embodiments of the present application, the vibration array is composed of a plurality of vibration units, the plurality of vibration units are the same type of rotor eccentric motors, i.e., M1 to M6 in fig. 1, and the driving array is composed of switches; the number of the switches is equal to the number of the vibration units included in the vibration array, each switch is composed of a power switch tube and an anti-parallel diode, and the positive ends of all the switches are connected together. The direct current power supply is a storage battery. It should be added that the vibration array composed of a plurality of vibration units can be various virtual reality devices, such as a tactile glove, fig. 2 is a schematic diagram of a wearable vibration array device in the form of a glove, and 1 vibration unit is respectively installed at the palm and the finger belly of each finger, and the total number of the vibration units is 6, and the vibration units are respectively numbered as M1, M2, M3, M4, M5 and M6. For example, the controller selects 6 vibration units, namely M1, M2, M3, M4, M5 and M6 to vibrate, and the duty ratio of each vibration unit is respectively determined as D1, D2, D3, D4, D5 and D6 according to the requirement of vibration intensity. Of course, in both virtual reality and augmented reality, namely, AR/VR and other devices, the vibration array with good vibration sense can be formed by the vibration units.
The utility model provides a vibration array system is owing to adopt a plurality of vibration units to constitute the vibration array, the vibration feedback of the combination vibration realization multi-scene through each unit, these vibration units are the rotor eccentric motor of the same type, only need a power switch tube and a reverse parallel diode can constitute drive circuit, thereby show the cost that reduces whole drive array, the volume of vibration array system has been reduced simultaneously, weight, and then the travelling comfort is dressed in the promotion.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
In some exemplary embodiments of the present application, there is also provided a driving method of the vibration array system in various embodiments, as shown in fig. 3, the method including:
s1, determining the pulse width modulation frequency of each vibration unit included in the vibration array;
s2, the controller generates a driving signal according to the vibration requirement of each vibration unit and the pulse width modulation frequency;
s3, summarizing the driving signals corresponding to all the vibration units into a set, and sending the summarized driving signals to a driving array;
and S4, the driving array drives the vibration array to vibrate.
In a specific implementation manner, the controller generates the driving signal according to the vibration requirement of each vibration unit and the pulse width modulation frequency, and the driving signal comprises: converting the vibration intensity requirement of each vibration unit into a voltage amplitude requirement; converting the voltage magnitude requirement to a duty cycle requirement; the controller generates the driving signal according to the duty ratio requirement and the pulse width modulation frequency of each vibration unit. Pulse width modulation (pwm) is short for pulse width modulation.
In a specific implementation manner, the generating the driving signal according to the duty ratio requirement and the pulse width modulation frequency of each vibration unit comprises: if the pulse width modulation frequencies of the vibration units are the same, a driving signal is generated based on the pulse width modulation frequency and the corresponding duty ratio of a first vibration unit, wherein the first vibration unit is any one of the vibration units. The duty cycle refers to the ratio between the duration of the drive signal being 1 and the total duration of the drive signals being 1 and 0. As shown in fig. 4, each vibration unit can be independently controlled, and the intensity of vibration is adjusted by adjusting the duty ratio of the PWM driving waveform, so that not only is the array vibration customized, but also the richness of the array vibration is increased by the difference of the vibration intensity. However, the method does not optimize the on and off time of each switching tube of the driving array, which may result in more time for the dc power supply to drive a plurality of vibration units simultaneously, or may result in more time for the dc power supply not to drive any vibration unit, for example, at stage t0-t1, 6 vibration units are all connected to the dc power supply; in the stage t6-t7, no vibration unit is connected to the direct current power supply, so that the direct current power supply is in an unreasonable working state of being overloaded or being lightly loaded.
In another specific implementation manner, the generating the driving signal according to the duty ratio requirement and the pulse width modulation frequency of each vibration unit includes: if the pulse width modulation frequency of each vibration unit is the same, grouping the duty ratios corresponding to each vibration unit, and finding out the vibration unit combination with the sum of the duty ratios not more than 1 until all the vibration units form the combination; the duty ratios of all the vibration units in a single combination are sequentially arranged in the same pulse width modulation frequency period, and the duty ratios are close to each other; numbering all combinations, and arranging duty ratios according to the combination numbers; and generating corresponding driving signals according to all the duty ratio arrangement conditions. For example, for M1, a PWM drive signal with frequency f and duty cycle D1 is generated; for M2, a PWM drive signal with frequency f and duty cycle D2 is generated; for M3, generating a PWM driving signal with the frequency f and the duty ratio D3; for M4, generating a PWM driving signal with the frequency f and the duty ratio D4; for M5, a PWM drive signal with frequency f and duty cycle D5 is generated; for M6, a PWM drive signal is generated with frequency f, duty cycle D6, and so on.
One preferred implementation is: the process of grouping the duty ratios corresponding to the vibration units, finding out the vibration unit combination with the sum of the duty ratios not exceeding 1 until all the vibration units form the combination comprises the following steps: the first vibration unit is taken as a first unit of a first combination, then the duty ratios of all the vibration units except the first vibration unit are sequentially added with the first vibration unit, the vibration unit with the sum of the duty ratios not exceeding 1 for the first time is found out and is taken as a second unit of the first combination, then the duty ratios of all the vibration units except the two vibration units are sequentially added with the sum of the duty ratios, the vibration unit with the sum of the duty ratios not exceeding 1 for the first time is found out and is taken as a third unit of the first combination, and so on, until the sum of the current duty ratios plus the duty ratio of the last vibration unit exceeds 1, the vibration units with the sum of the duty ratios not exceeding 1 are taken as a vibration unit combination 1. As shown in fig. 5, in this example, the duty ratio D1 of the first vibration unit is 0.66, the first sum with it is that the duty ratio D4 of the fourth vibration unit is 0.33, the sum is 0.99, and the sum of the duty ratios D6 of the last vibration unit is 0.11, which exceeds 1, so that the vibration units M1 and M4 are taken as the vibration unit combination 1, the vibration units in the combination 1 are removed from all the vibration units, and the same strategy is adopted for the remaining vibration units, so that the vibration unit combination 2 is determined; in this example, after removing M1 and M4, the same strategy is adopted for the remaining vibration units M2/M3/M5/M6, and the vibration units M2 and M3 are taken as the vibration unit combination 2, and so on until all the vibration units are combined, and the vibration units M5 and M6 are taken as the vibration unit combination 3. Arranging the duty cycles of all the vibration units in a single combination in sequence within 1 PWM period, with the duty cycles next to each other, the duty cycles of M1 and M4 being adjacent to the tf time instant for combination 1, and the duty cycles of M2 and M3 being adjacent to the te time instant for combination 2; for combination 3, the duty cycles of M5 and M6 are adjacent to time tc.
In some embodiments of the present invention, the numbering all combinations and arranging the duty ratios according to the combination numbers includes: numbering all combinations to form odd-numbered and even-numbered combinations; arranging the odd-numbered combinations backward from the beginning of one pulse width modulation frequency period; the even numbered combinations are arranged with the duty cycle from the end of one pulse width modulation frequency period onwards. All combinations are numbered, with odd numbered combinations having the duty cycle arranged backward from the beginning of 1 PWM cycle and even numbered combinations having the duty cycle arranged forward from the end of 1 PWM cycle. As shown in FIG. 5, for M1 and M4 of combination 1, the duty cycle of M1 is arranged between t0-tf, the duty cycle of M4 is arranged between tf-tg, for M2 and M3 of combination 2, the duty cycle of M2 is arranged between te-t7, the duty cycle of M3 is arranged between ta-te, for M5 and M6 of combination 3, the duty cycle of M5 is arranged between t0-tc, and the duty cycle of M6 is arranged between tc-td. And then generating corresponding driving signals according to the duty ratio arrangement condition of all the vibration units, summarizing the driving signals of all the vibration arrays into a set, and sending the set as the driving signals to the driving arrays.
It can be seen that, in the driving method shown in fig. 5, the driving signals of different vibration units are dynamically distributed, the dc power supplies drive 3 vibration units at most simultaneously, and drive 2 vibration units at least simultaneously, and compared with the array driving method 1 shown in fig. 4, in which the dc power supplies drive 6 vibration units at most simultaneously, and drive 0 vibration units at least simultaneously, the method reduces the fluctuation amount of the dc power supply load, so that the dc power supply load is more balanced and reasonable.
The driving method of the vibration array system provided by the application comprises the following steps: confirm the pulse width modulation frequency of each vibration unit that vibration array includes, the controller according to each vibration unit the vibration demand with pulse width modulation frequency produces drive signal, summarizes all drive signal that vibration unit corresponds as a set, sends drive signal into the drive array after will summarizing, drive array drive vibration array vibrates because every vibration unit independent control to adjust the sense of vibration intensity through the duty cycle of adjusting pulse width modulation frequency drive waveform, increased the richness of array vibration, and carry out dynamic distribution to the switch moment of pulse width modulation frequency control waveform based on the array drive of consumption dynamic distribution, realized DC power supply load more balanced and rationalization.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
It is further emphasized that the system provided in the embodiments of the present application may be based on artificial intelligence techniques for obtaining and processing relevant data. Among them, Artificial Intelligence (AI) is a theory, method, technique and application system that simulates, extends and expands human Intelligence using a digital computer or a machine controlled by a digital computer, senses the environment, acquires knowledge and uses the knowledge to obtain the best result. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a robot technology, a biological recognition technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.
Reference is now made to fig. 6, which is a diagram illustrating a computer device, in accordance with some embodiments of the present application. As shown in fig. 6, the computer device 2 includes: the system comprises a processor 200, a memory 201, a bus 202 and a communication interface 203, wherein the processor 200, the communication interface 203 and the memory 201 are connected through the bus 202; the memory 201 stores a computer program that can be executed on the processor 200, and the processor 200 executes the driving method of the vibration array system provided in any one of the foregoing embodiments when executing the computer program.
The Memory 201 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 203 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The processor 200 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 200. The Processor 200 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and completes the steps of the method in combination with the hardware thereof.
Referring to fig. 7, fig. 7 shows a computer readable storage medium, which is an optical disc 30, and on which a computer program (i.e., a program product) is stored, where the computer program is executed by a processor to perform the method for driving the vibration array system according to any of the foregoing embodiments.
In addition, examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the foregoing embodiment of the present application and the method for allocating a quantum key distribution channel in a spatial division multiplexing optical network provided by the embodiment of the present application have the same inventive concept, and have the same beneficial effects as methods adopted, run, or implemented by application programs stored in the computer-readable storage medium.
Embodiments of the present application further provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for driving a vibration array system provided in any of the foregoing embodiments includes: determining the pulse width modulation frequency of each vibration unit included in the vibration array; generating a driving signal according to the vibration requirement of each vibration unit and the pulse width modulation frequency; summarizing the driving signals corresponding to all the vibration units into a set, and sending the summarized driving signals into a driving array; the driving array drives the vibration array to vibrate.
It should be noted that: the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, this application is not intended to refer to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and any descriptions of specific languages are provided above to disclose the best mode of use of the present application. In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed to reflect the intent: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the devices in an embodiment may be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification, and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except that at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification may be replaced by an alternative feature serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the creation apparatus of a virtual machine according to embodiments of the present application. The present application may also be embodied as an apparatus or device program for carrying out a portion or all of the methods described herein. A program implementing the application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a vibration array system, its characterized in that, the system includes controller, DC power supply, drive array and vibration array, the vibration array comprises a plurality of vibration units, the controller with the drive array is connected, the positive terminal of drive array with DC power supply's positive end links to each other, the negative terminal of drive array with the positive terminal of vibration array links to each other, the negative terminal of vibration array with DC power supply's negative terminal links to each other.
2. The vibratory array system of claim 1, wherein the plurality of vibratory units are the same type of rotor eccentric motor.
3. The vibration array system of claim 2, wherein the drive array is comprised of switches; the number of the switches is equal to the number of the vibration units included in the vibration array, each switch is composed of a power switch tube and an anti-parallel diode, and the positive ends of all the switches are connected together.
4. The vibratory array system of claim 1, wherein the dc power source is a battery.
5. A method of driving the vibration array system according to any of claims 1 to 4, wherein the method comprises:
determining the pulse width modulation frequency of each vibration unit included in the vibration array;
the controller generates a driving signal according to the vibration requirement of each vibration unit and the pulse width modulation frequency;
summarizing the driving signals corresponding to all the vibration units into a set, and sending the summarized driving signals to a driving array;
the driving array drives the vibration array to vibrate.
6. The method of driving a vibratory array system as set forth in claim 5 wherein the controller generates the drive signals based on the vibratory demand of each vibratory unit and the pulse width modulation frequency, comprising:
converting the vibration intensity requirement of each vibration unit into a voltage amplitude requirement;
converting the voltage magnitude requirement to a duty cycle requirement;
the controller generates the driving signal according to the duty ratio requirement and the pulse width modulation frequency of each vibration unit.
7. The method of driving a vibratory array system as set forth in claim 6 wherein generating the drive signals based on the duty cycle requirement and the pulse width modulation frequency of each vibratory unit comprises:
if the pulse width modulation frequencies of the vibration units are different, a driving signal is generated based on the pulse width modulation frequency and the corresponding duty ratio of a first vibration unit, wherein the first vibration unit is any one of the vibration units.
8. The method of driving a vibratory array system as set forth in claim 6 wherein generating the drive signals based on the duty cycle requirement and the pulse width modulation frequency of each vibratory unit comprises:
if the pulse width modulation frequency of each vibration unit is the same, grouping the duty ratios corresponding to each vibration unit, and finding out the vibration unit combination with the sum of the duty ratios not exceeding 1 until all the vibration units form a combination;
the duty ratios of all the vibration units in a single combination are sequentially arranged in the same pulse width modulation frequency period, and the duty ratios are close to each other;
numbering all combinations, and arranging duty ratios according to the combination numbers;
and generating corresponding driving signals according to all the duty ratio arrangement conditions.
9. The method of claim 8, wherein the numbering all combinations and arranging duty cycles according to combination numbers comprises:
numbering all combinations to form odd-numbered and even-numbered combinations;
arranging the odd-numbered combinations backward from the beginning of one pulse width modulation frequency period;
the even numbered combinations are arranged with the duty cycles starting from the end of one pulse width modulation frequency period onwards.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 5 to 9.
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| CN202210301005.2A CN114924641A (en) | 2022-03-25 | 2022-03-25 | Vibration array system, driving method, and storage medium |
| PCT/CN2022/124558 WO2023178992A1 (en) | 2022-03-25 | 2022-10-11 | Vibration array system, driving method, and storage medium |
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| CN202210301005.2A CN114924641A (en) | 2022-03-25 | 2022-03-25 | Vibration array system, driving method, and storage medium |
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| WO2023178992A1 (en) * | 2022-03-25 | 2023-09-28 | 歌尔股份有限公司 | Vibration array system, driving method, and storage medium |
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