CN214202303U - Touch feedback subsystem, touch feedback system and terminal equipment - Google Patents

Abstract

The utility model discloses a tactile feedback subsystem, a touch feedback system and a terminal device, wherein the tactile feedback subsystem comprises a first shell, the first shell is provided with a window and a first accommodating cavity is formed inside the first shell; the ultrasonic transmitter array is arranged in the first accommodating cavity and comprises a plurality of ultrasonic transmitters, and the transmitting end of each ultrasonic transmitter faces the window and is used for transmitting ultrasonic waves and focusing the ultrasonic waves to the touch points; the controller is arranged in the first accommodating cavity, connected with the ultrasonic emitter array and used for acquiring touch feedback control instructions and touch point coordinate information, controlling each ultrasonic emitter to emit ultrasonic waves according to the touch feedback control instructions and the touch point coordinate information and focusing the ultrasonic waves to touch points. The system can realize non-contact tactile feedback of the user, the operation mode is more natural and comfortable, the risk of contacting equipment when the user operates is avoided, and the system is more sanitary and safer.

Description

Touch feedback subsystem, touch feedback system and terminal equipment

Technical Field

The utility model belongs to the technical field of the touch-control feedback technique and specifically relates to a touch-sensitive feedback subsystem, a touch-sensitive feedback system and terminal equipment are related to.

Background

In the related art, for the touch tactile feedback technology, the tactile perception is realized by using principles and technologies such as vibration, electrostatic force and the like with the aid of related equipment (such as a screen, a glove and the like). However, this method requires contact with the auxiliary equipment, on one hand, the cross use of the equipment causes public health safety problems, and the user cannot get rid of the constraint of heavy equipment; on the other hand, personal information such as fingerprints and palm prints left on the device after the user uses the device may expose the personal information security to leakage risks.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, an object of the present invention is to provide a haptic feedback subsystem, which can realize non-contact haptic feedback for users, and the operation mode is more natural and comfortable, so as to avoid the risk of contacting the device when the user operates, and is more sanitary and safe.

A second objective of the present invention is to provide a touch feedback system.

The third objective of the present invention is to provide a terminal device.

In order to solve the above problem, an embodiment of the present invention provides a haptic feedback subsystem, including a first housing, the first housing being provided with a window and having a first accommodating cavity formed therein; the ultrasonic transmitter array is arranged in the first accommodating cavity and comprises a plurality of ultrasonic transmitters, and the transmitting end of each ultrasonic transmitter faces the windowing and is used for transmitting ultrasonic waves and focusing the ultrasonic waves to a touch point; the controller is arranged in the first accommodating cavity, connected with the ultrasonic emitter array and used for acquiring touch feedback control instructions and touch point coordinate information of an air interaction interface, controlling each ultrasonic emitter to emit ultrasonic waves according to the touch feedback control instructions and the touch point coordinate information and focusing the ultrasonic waves to touch points.

According to the utility model discloses tactile feedback subsystem combines with aerial formation of image subsystem, acquires aerial mutual interface's touch-control feedback control instruction and touch-control point coordinate information through the controller to according to every ultrasonic transmitter transmission ultrasonic wave of touch-control feedback control instruction and touch-control point coordinate information control, and focus on the ultrasonic wave to the touch-control point, promptly the utility model discloses an with ultrasonic wave radiation pressure, produce tactile feedback in aerial mutual interface's touch-control point department, realize user non-contact tactile feedback's purpose, and the operating mode is also more natural and comfortable, need not to set up the device of extra restriction user operation, the risk of contact device when avoiding user's operation also avoids appearing causing the problem of personal information leakage because of user's information remains on the contact surface, more sanitary safety.

In some embodiments, the controller comprises: the data processing module is used for determining the delay phase of each ultrasonic transmitter according to the coordinate information of the touch point and the position information of each ultrasonic transmitter; and the driving module is connected with the ultrasonic transmitter array and the data processing module and is used for obtaining a target driving signal corresponding to each ultrasonic transmitter according to the delay phase of each ultrasonic transmitter.

In some embodiments, the data processing module comprises: the first storage unit is used for storing data and programs in the data processing process; and the data processing unit is connected with the first storage unit and used for determining the delay phase of each ultrasonic transmitter according to the coordinate information of the touch point and the position information of the transmitting end of each ultrasonic transmitter.

In some embodiments, the drive module comprises: the second storage unit is used for storing data and files in the drive control process; the control unit is connected with the second storage unit and is used for carrying out time delay processing on the original driving signal of each ultrasonic transmitter according to the time delay phase of each ultrasonic transmitter; and the driving unit is connected with the control unit and used for obtaining a target driving signal of each ultrasonic transmitter according to the original driving signal after time delay processing so as to respectively control each ultrasonic transmitter.

In some embodiments, a first heat dissipation hole is disposed on a first sidewall of the first accommodating cavity, and a second heat dissipation hole is disposed on a second sidewall of the first accommodating cavity, wherein the first sidewall is opposite to the second sidewall.

In some embodiments, the haptic feedback subsystem further comprises: the suction fan is arranged on the first side wall and used for sucking external air to the first accommodating cavity through the first heat dissipation hole; the exhaust fan is arranged on the second side wall and used for exhausting air in the first accommodating cavity through the second heat dissipation hole.

In some embodiments, the haptic feedback subsystem further comprises: and the blocking cover is arranged on the first shell and used for blocking the window.

In some embodiments, the flap is mesh-shaped.

In some embodiments, the shield cover is a wave-transparent material shield.

An embodiment of a second aspect of the present invention provides a touch feedback system, including an imaging subsystem, configured to image and display human-computer interaction information in an aerial target area to form an aerial interaction interface, and send a touch feedback control instruction and touch point coordinate information when detecting an interaction signal between a user and the aerial interaction interface; in the haptic feedback subsystem provided in the above embodiment, the haptic feedback subsystem is configured to perform haptic feedback control according to the touch feedback control instruction and the touch point coordinate information.

According to the touch feedback system of the embodiment of the present invention, the imaging subsystem and the haptic feedback subsystem for imaging in the air are combined, the imaging subsystem images and displays the human-computer interaction information in the air target area to form an air interaction interface, i.e. the imaging subsystem adopts an interactive air imaging technology, the air interaction interface is used as a reference surface for sensing the touch sense to guide the touch of the user, and when the imaging subsystem detects the interaction signal between the user and the air interaction interface, the imaging subsystem sends a touch feedback control command and touch point coordinate information to the haptic feedback subsystem, the haptic feedback subsystem performs the haptic feedback control according to the received touch feedback control command and touch point coordinate information, i.e. the haptic feedback subsystem generates the haptic feedback effect between the human body and the touch point by the ultrasonic radiation pressure, thereby realizing the purpose of non-contact haptic feedback of the user, and the embodiment of the utility model provides an in the embodiment based on present aerial mutual interface at aerial target area, can trigger the operation of touch-control feedback through the aerial mutual interface of user touch, satisfy user's mutual experience simultaneously in vision and sense of touch, and the operation mode is also more natural and comfortable, need not to set up the device of extra restriction user operation, the risk of contact means when avoiding user operation also avoids appearing remaining on the contact surface because of user information and causes the problem that personal information reveals, more sanitary safety.

An embodiment of a third aspect of the present invention provides a terminal device, including a device body; in the touch feedback system according to the above embodiment, the touch feedback system is disposed on the device body.

According to the utility model discloses terminal equipment, through adopting the touch-control feedback system that above-mentioned embodiment provided, can realize user non-contact touch feedback's purpose, and need not to set up extra restriction user operating means, the operation mode is also more natural convenient to satisfy user's interactive experience simultaneously in vision and sense of touch.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a haptic feedback subsystem in accordance with an embodiment of the present invention;

fig. 2 is a schematic diagram of an ultrasonic transmitter array according to an embodiment of the present invention;

fig. 3 is a block diagram of a data processing module according to an embodiment of the present invention;

fig. 4 is a block diagram of a drive module according to an embodiment of the present invention;

fig. 5 is a block diagram of a touch feedback system according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a touch feedback system according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a human-machine interaction, according to an embodiment of the present invention;

fig. 8 is a block diagram of a terminal device according to an embodiment of the present invention.

Reference numerals:

a terminal device 2000;

a touch feedback system 1000; an apparatus body 300;

an imaging subsystem 100; a haptic feedback subsystem 200;

a first housing 210; an array of ultrasonic transmitters 220; a controller 250; a data processing module 230; a driving module 240;

a first accommodating chamber 2; a first heat dissipation hole 3; a second heat dissipation hole 4; a blocking cover 5; an ultrasonic transmitter 30;

a first storage unit 11; a data processing unit 12; a first interface unit 13; a first power supply unit 14; a first serial interface 15; a first parallel interface 16;

a second storage unit 17; a control unit 18; a drive unit 19; a second power supply unit 20; a second interface unit 21; a power input port 22; a second parallel interface 23; a drive signal output port 24;

a second housing 110; an imaging assembly 120; a detection module 130; a main control module 140;

a display 25; an optical assembly 26; an aerial target area 10; a display window 40; and a second receiving chamber 50.

Detailed Description

Embodiments of the present invention are described in detail below, and the embodiments described with reference to the drawings are exemplary.

In order to solve the above problem, an embodiment of the first aspect of the present invention provides a haptic feedback subsystem, which can implement non-contact haptic feedback for users, and the operation manner is more natural and comfortable, so as to avoid the risk of contacting with the device during the operation of the users, and is more sanitary and safe.

The haptic feedback subsystem proposed by the present embodiment is described below with reference to fig. 1.

As shown in fig. 1, the haptic feedback subsystem 200 includes a first housing 210, an ultrasonic transmitter array 220, and a controller 250.

The first housing 210 is provided with a window and has a first receiving chamber 2 formed therein. The first housing 210 may provide protection and support for the haptic feedback subsystem 200 to prevent damage to the system from external impacts, vibrations.

The ultrasonic transmitter array 220 is disposed in the first accommodating chamber 2 for protection. According to an acoustic theory, the ultrasonic waves can generate sound pressure in a certain space, the sound pressure distribution is inversely related to the distance, the sound pressure generated by the ultrasonic waves emitted by a single ultrasonic emitter is insufficient to provide tactile feedback for a user, when the number of the ultrasonic emitters reaches a certain number, the ultrasonic waves generated by each ultrasonic emitter simultaneously reach a certain point in the space and are focused and superposed at the point, the superposed sound pressure is far greater than the sound pressure generated by the single ultrasonic emitter, and a human body can sense vibration at the point, so that the ultrasonic tactile feedback is realized. Thus, in an embodiment of the present invention, the ultrasonic transmitter array 220 is used to transmit ultrasonic waves and focus the ultrasonic waves to the touch point to generate a haptic feedback effect at the touch point. For example, as shown in the schematic structural diagram of fig. 2, the ultrasonic transmitter array 220 includes a plurality of ultrasonic transmitters 30, the plurality of ultrasonic transmitters 30 are combined in an N × N array or an M × N array to form the ultrasonic transmitter array 220, and as shown in fig. 1, a transmitting end of each ultrasonic transmitter 30 faces the opening window and is exposed to the opening window, so that the ultrasonic waves can be radiated normally, and the loss of radiation energy is reduced.

The ultrasonic transmitter array 220 may be comprised of several low power, miniaturized ultrasonic transmitters 30 for commercial use and integration.

It should be noted that the number of the ultrasonic transmitters 30 used in the ultrasonic transmitter array 220 can be determined according to system requirements, such as the size of the touch area, the touch distance, etc., and according to the technical indexes of the ultrasonic transmitters 30, such as the resonant frequency, the sound pressure level, the direction angle, etc., and herein, the number of the ultrasonic transmitters 30 used is not limited.

The controller 250 is disposed in the first accommodating cavity 2, connected to the ultrasonic transmitter array 220, and configured to acquire a touch feedback control instruction and touch point coordinate information of the air interface, control each ultrasonic transmitter 30 to transmit ultrasonic waves according to the touch feedback control instruction and the touch point coordinate information, and focus the ultrasonic waves to a touch point. Specifically, the haptic feedback subsystem of the embodiment of the present invention is combined with an imaging subsystem, wherein the imaging subsystem images and displays human-computer interaction information in an aerial target area to form an aerial interaction interface, the aerial area where the aerial interaction interface is located can be used as a touch feedback area of the haptic feedback subsystem 200, the imaging subsystem sends a touch feedback control command and touch point coordinate information when detecting an interaction signal between a user and the aerial interaction interface, wherein a touch position of the user on the aerial interaction interface is a touch point, the controller 250 obtains the touch point coordinate information and the touch feedback control command, controls the ultrasonic transmitter array 220 to transmit ultrasonic waves according to the touch feedback control command, controls the ultrasonic waves of each ultrasonic transmitter 30 to be focused to the touch point according to the touch point coordinate information, and superposes ultrasonic sound pressures at the touch point to generate a haptic feedback force, the human body sense of reality is influenced by the existence of the touch points, and the sensing of the touch object is realized.

According to the utility model discloses tactile feedback subsystem 200, combine with aerial imaging subsystem, acquire aerial interactive interface's touch-control feedback control instruction and touch-control point coordinate information through controller 250, and according to every ultrasonic transmitter 30 transmission ultrasonic wave of touch-control feedback control instruction and touch-control point coordinate information control, and focus on the ultrasonic wave to the touch-control point, promptly the utility model discloses an with ultrasonic wave radiation pressure, produce tactile feedback in aerial interactive interface's touch-control point department, realize user non-contact tactile feedback's purpose, and the operation mode is also more natural and comfortable, need not to set up extra restriction user operating means, the risk of contact device when avoiding user's operation also avoids appearing remaining on the contact surface because of user information and causes the problem of personal information disclosure, more sanitary safety.

In some embodiments, as shown in fig. 1, the controller 250 includes a data processing module 230 and a driving module 240.

The data processing module 230 is configured to determine a delay phase of each ultrasonic transmitter 30 for transmitting the ultrasonic wave according to the coordinate information of the touch point and the position information of the transmitting end of each ultrasonic transmitter 30. Specifically, since the spatial distances from the transmitting end of each ultrasonic transmitter 30 to the touch point on the ultrasonic transmitter array 220 are different, in order to enable the ultrasonic waves transmitted by each ultrasonic transmitter 30 to reach the touch point at the same time to generate a tactile feedback at the touch point, after the data processing module 230 finishes the coordinate data processing and phase calculation of the touch point, the data processing module performs delay control on the phase of the control signal of the ultrasonic transmitter 30 according to the position of each ultrasonic transmitter 30 and the coordinate data of the touch point, so that the ultrasonic waves are transmitted to the touch point at the same time, and the ultrasonic waves are superimposed at the touch point at the same time to generate a vibration feedback.

In the embodiment of the present invention, the data processing module 230 calculates the delay phase of the ultrasonic wave emitted from the ultrasonic transmitter 30. Specifically, an array plane of the ultrasonic transmitter array 220 is used as a coordinate plane, a geometric center of the array plane is used as a coordinate origin O, a group of orthogonal axes parallel to the array edge and passing through the origin O on the array plane is used as x and y axes, a z axis is perpendicular to the array plane and passes through the origin O, and a spatial rectangular coordinate system is established, wherein the array plane is a plane where a transmitting end of the ultrasonic transmitter array 220 is located. The data processing module 230 obtains coordinates of the geometric center of the transmitting end of the ultrasonic transmitter 30 according to the arrangement of the ultrasonic transmitters 30 on the ultrasonic transmitter array 220, combines the coordinates with the coordinate information of the touch points sent by the imaging subsystem, calculates and obtains the spatial distance from the geometric center of the transmitting end of each ultrasonic transmitter 30 to each touch point, substitutes the spatial distance difference between the ultrasonic transmitters 30 in the ultrasonic transmitter array 220 into the sound velocity value c, and finally obtains the delay phase of each ultrasonic transmitter 30. It should be noted that the coordinates of the touch point acquired by the imaging subsystem and the coordinates of the geometric center of the transmitting end of the ultrasonic transmitter 30 are in the same coordinate system.

The driving module 240 is connected to the ultrasonic transmitter array 220 and the data processing module 230, and configured to obtain a target driving signal of each ultrasonic transmitter according to the delay phase of each ultrasonic transmitter 30, so as to respectively control the ultrasonic waves emitted by each ultrasonic transmitter 30 to be focused on a touch point. Specifically, since the spatial distances from the transmitting end of each ultrasonic transmitter 30 to the touch point on the ultrasonic transmitter array 220 are different, the driving module 240 delays the driving signal according to the delay phase of each ultrasonic transmitter 30, that is, the transmitting time of each ultrasonic transmitter 30 transmitting the ultrasonic wave is adjusted to control the superposition of the multiple ultrasonic sound pressures at the touch point at the same time, so as to implement the haptic feedback.

In some embodiments, the driving module 240 is configured to generate a clock signal and a modulation signal according to the touch feedback control instruction when responding to the touch feedback control instruction, and generate an original driving signal according to the clock signal and the modulation signal.

Specifically, the controller 250 transmits the acquired coordinate information of the touch point and the touch feedback control command to the data processing module 230 and the driving module 240, respectively. The data processing module 230 calculates a delay phase of each ultrasonic transmitter 30 according to the spatial coordinates of the touch points and the positions of the ultrasonic transmitters 30 on the ultrasonic transmitter array 220, and sends the delay phase to the driving module 240. The driving module 240 receives the touch feedback control command and completes the signal modulation process and clock distribution, i.e. generates a clock signal and a modulation signal to generate the original driving signals of the plurality of ultrasonic transmitters 30; and the driving module 240 performs delay control on the original driving signal of each ultrasonic transmitter 30 according to the delay phase sent by the data processing module 230, so that each ultrasonic transmitter 30 transmits ultrasonic waves in the corresponding phase and reaches the touch point at the same time to be superposed and converged to generate touch feedback, so that the human body can be realistically influenced by the existence of the touch point.

In some embodiments, the driving module 240 delays the original driving signal according to the delay phase of each ultrasonic transmitter 30 to obtain the target driving signal of each ultrasonic transmitter 30, and drives each ultrasonic transmitter 30 to transmit the ultrasonic wave according to the target driving signal. Specifically, after the driving module 240 receives the delay phase transmitted by the data processing module 230, the driving module 240 performs delay processing on the original driving signal of each ultrasonic transmitter 30, and performs amplification processing on the signal after delay control to obtain a target driving signal required by each ultrasonic transmitter 30, and synchronously transmits the target driving signal of each ultrasonic transmitter 30 to the ultrasonic transmitter array 220, so as to drive each ultrasonic transmitter 30 to sequentially transmit ultrasonic waves under the corresponding target driving signal, thereby realizing that the ultrasonic waves transmitted by each ultrasonic transmitter 30 reach a touch point at the same time, and generating a tactile feedback at the touch point.

In the embodiment of the present invention, preferably, the ultrasonic transmitter 30 adopts a spherical wave-like form to transmit the ultrasonic wave outwards, and the spherical wave center is the geometric center of the transmitting end of the ultrasonic transmitter 30.

In addition, the sound pressure distribution of the ultrasonic wave in the limited space is in negative correlation with the distance on one hand, that is, the farther the distance is, the weaker the sound pressure is, so that the distance from the touch point to the array surface of the ultrasonic wave transmitter array 220 is limited; on the other hand, the free space wave number of the ultrasonic wave in the air medium is related to the frequency f of the ultrasonic wave according to the ultrasonic wave correlation theory

That is, the higher the frequency f, the larger the free space wave number k, but the ultrasonic radiation power E ^ k²The higher the ultrasonic frequency, the shorter the wavelength, so that the ultrasonic wave is weaker in transparency, and the greater the energy loss during propagation. Therefore, in order to ensure the effective touch distance, the value of the ultrasonic frequency is not too large, and preferably, the value range of the ultrasonic frequency is less than 60 KHz. In addition, the ultrasonic wave emitted from the ultrasonic emitter 30 has directivity, cannot be radiated in the form of an ideal spherical wave, and is limited by the direction angle of the ultrasonic emitter 30, and preferably the range of the direction angle of the ultrasonic emitter 30 is 60 ° to 80 °. When the ultrasonic transmitters 30 in the ultrasonic transmitter array 220 are arranged, the size of the array, the direction angle and the size of the touch area need to be considered comprehensively, for example, when the ultrasonic transmitters 30 take a direction angle of 80 °, the touch area equivalent to the area of the array surface can be presented at a position 300mm away from the array surface.

In addition, the speed of ultrasonic waves propagating in an air medium also changes due to the influence of the ambient temperature, and the sound velocity is c at 0 ℃ under the standard atmospheric pressure₀331.45m/s, the actual transmission speed of the ultrasonic wave is

Wherein T is the ambient temperature. Therefore, the embodiment of the utility model provides a can set up temperature sensor, control through data processing module 230 to the ambient temperature that real-time measurement is located, and according to the actual measurement temperature value, revise actual sound velocity. Therefore, by correcting the sound velocity, the system error can be reduced, the delay precision of the control signal is improved, the focusing precision of the ultrasonic wave is further ensured, and the system function abnormity caused by abrupt temperature change is avoided.

Therefore, according to the above principle of controlling the ultrasonic emitters 30 to emit ultrasonic waves, the ultrasonic waves can be focused at any point in the aerial target area by controlling the emission time difference of different ultrasonic emitters 30, and for a plurality of touch points, the emission time difference of each ultrasonic emitter 30 is changed according to a certain refresh frequency, so that the multi-point touch interaction requirement can be met.

In addition, for multiple touch points, multi-point touch feedback can be realized through high-speed refreshing of the touch feedback subsystem 200, and a floating real image can be presented in a touch feedback area by combining an interactive aerial imaging technology so as to guide a user to perform touch operation. To the great or application scene of 3D object touch-control of real object, because of its focus point figure increases, the embodiment of the utility model provides a also can adopt a plurality of tactile feedback subsystems 200 synchronous workings to the mode of combination and concatenation realizes user and complicated operation interface's human-computer interaction, especially to the profile perception of 3D display object, improves user experience.

In some embodiments, as shown in fig. 3, the data processing module 230 includes a first storage unit 11, a data processing unit 12, a first interface unit 13, and a first power supply unit 14.

Wherein the first interface unit 13 comprises a first serial interface 15 and a first parallel interface 16. The first serial interface 15 is connected to the imaging subsystem 100 and the data processing unit 12 to realize information transmission between the imaging subsystem 100 and the data processing module 230, for example, the first serial interface 15 may be, for example, a USB interface, and may realize transmission of touch point coordinate data and system control commands. The first parallel interface 16 is connected to the driving module 240 and the data Processing unit 12 to realize information transmission between the driving module 240 and the data Processing module 230, for example, the first parallel interface 16 may adopt an Upp parallel port integrated by a DSP (Digital Signal Processing), so as to complete transmission of the delay phase data and the feedback data.

The first power supply unit 14 is connected to the first storage unit 11, the data processing unit 12 and the first interface unit 13, and the first power supply unit 14 is configured to perform power conversion, convert an input power into various stable and reliable power supplies required by each module in the data processing module 230, and supply power to the modules to ensure normal operation of the modules.

The first storage unit 11 is used to store data and programs in the data processing process. As shown in fig. 3, the first storage unit 11 is divided into a data storage unit for storing data during data processing and a program storage unit for storing a system boot program and a loader program. Preferably, the Data storage unit adopts DDR2 SDRAM (Double-Data-Rate Two Synchronous Random Access Memory), and the program storage unit adopts NAND FLASH (flash Memory).

The data processing unit 12 is connected to the first storage unit 11, and preferably, the data processing unit 12 may use a floating-point DSP chip as a main control, and the master frequency is above 200MHz, so as to ensure the real-time requirement of the system. The data processing unit 12 receives the coordinate data of the touch point, determines the delay phase of each ultrasonic transmitter 30 according to the coordinate information of the touch point and the position information of the transmitting end of each ultrasonic transmitter 30, and transmits the delay phase information to the driving module 240 through the first parallel interface 16, so that the driving module 240 delays the original driving signal according to the delay phase of each ultrasonic transmitter 30, and controls each ultrasonic transmitter 30 based on the delayed driving signal, so that the ultrasonic waves transmitted by each ultrasonic transmitter 30 reach the touch point at the same time and are focused and superposed, so that the vibration is generated at the touch point, and the human body can perceive the touch feedback.

In some embodiments, as shown in fig. 4, the driving module 240 includes a second storage unit 17, a control unit 18, a driving unit 19, a second power supply unit 20, and a second interface unit 21.

Wherein the second interface unit 21 comprises a power input port 22, a second parallel interface 23 and a drive signal output port 24. The power input port 22 is connected to the second power supply unit 20, the second parallel interface 23 is connected to the control unit 18 and the first parallel interface 16, and the driving signal output port 24 is connected to the driving unit 19. The second parallel interface 23, such as an Upp parallel interface, performs data communication with the control unit 18, and realizes transmission of delay phase data, a control instruction, and feedback data.

The second storage unit 17 is used for storing data and files in the drive control process, for example, for storing processing data of the control unit 18 and data in the signal modulation process. The second storage unit 17 may be an SRAM (Static Random-Access Memory) chip, and a dedicated FLASH (solid state Memory) chip, for storing and loading the logic target file of the control unit 18.

The control unit 18 is connected to the second storage unit 17, and is configured to perform delay processing on the driving signal of each ultrasonic transmitter 30 according to the delay phase of each ultrasonic transmitter 30. Preferably, the control unit 18 may select an FPGA (Field Programmable Gate Array) as a main control chip to directly and synchronously output a driving signal to the driving unit 19 through a configured I/O port, so as to complete control of transmitting ultrasonic waves by each ultrasonic transmitter 30, and meanwhile, the pin resource of the FPGA main control chip is rich and the pin can be redefined and configured, which can meet the design requirement of the system.

The driving unit 19 is connected to the control unit 18, and is configured to amplify the delayed original driving signal to obtain a target driving signal of each ultrasonic transmitter 30, and drive each ultrasonic transmitter 30 according to the target driving signal.

The second power supply unit 20 is connected to the second storage unit 17, the control unit 18, and the drive unit 19. The second power supply unit 20 is used for supplying stable and reliable power to the whole system, inputting external power through the power input port 22, and supplying the required power to the driving module 240, the control unit 18, and the ultrasonic transmitter array 220 after DC-DC conversion and linear conversion.

In the embodiment of the present invention, since the size of the control unit 18 is smaller than that of the driving unit 19, the control unit 18 can be fixed on the driving unit 19 through the high-speed inter-board connector. The size of the driving unit 19 is equivalent to that of the ultrasonic transmitter array 220, and the driving unit and the ultrasonic transmitter array can be interconnected through a connector between boards. The ultrasonic transmitter array 220, the control unit 18 and the driving unit 19 are assembled, and the assembled whole is packaged in the first shell 210, so that the integration and the aesthetic property of the system are improved.

In some embodiments, as shown in fig. 1, a first heat dissipation hole 3 is disposed on a first sidewall of the first accommodating cavity 2, and a second heat dissipation hole 4 is disposed on a second sidewall of the first accommodating cavity 2, the first sidewall being opposite to the second sidewall. The heat dissipation holes are respectively formed in the two sides of the first housing 210, so that a heat dissipation effect can be provided for the system.

In some embodiments, haptic feedback subsystem 200 also includes a suction fan and an exhaust fan. Specifically, as shown in fig. 1, the suction fan is disposed on the first sidewall for sucking the external air to the first accommodating chamber 2 through the first heat dissipation hole 3. The exhaust fan is arranged on the second side wall and used for exhausting air in the first accommodating cavity 2 through the second heat dissipation holes 4. The heat dissipation holes are respectively formed in the two sides of the first shell 210, and the suction fan and the exhaust fan are combined, so that the heat dissipation effect of the system is further improved.

In some embodiments, as shown in fig. 1, the haptic feedback subsystem 200 further comprises a cover 5 disposed on the first housing 210 for shielding the open window, preventing the transmitting end of the ultrasonic transmitter 30 from being directly exposed to the air, and protecting the transmitting end while enhancing the aesthetic appearance of the product.

In some embodiments, the material of the shield cover 5 is not limited to the material without obstructing the normal radiation of the ultrasonic waves, for example, the shield cover 5 may be a mesh-shaped protective cover or a wave-transparent material baffle.

Furthermore, the embodiment of the present invention provides an assembly between the data processing module 230, the driving module 240 and the ultrasonic transmitter array 220 through the connectors between the micro-miniature boards, and the whole tactile feedback subsystem 200 adopts modularization and miniaturization design, so that the overall height can be reduced after the system is assembled, the volume can be reduced, the occupied space can be reduced, and the aesthetic property and the integration of the system can be improved.

Based on the haptic feedback subsystem provided in the above embodiment, a second aspect embodiment of the present invention provides a haptic feedback system, and a touch feedback system provided in an embodiment of the present invention is described below with reference to fig. 5.

As shown in fig. 5, a touch feedback system 1000 provided by the embodiment of the present invention includes an imaging subsystem 100 and a haptic feedback subsystem 200.

The imaging subsystem 100 is configured to image and display human-computer interaction information in an air target area to form an air interaction interface, and send a touch feedback control instruction and touch point coordinate information when an interaction signal between a user and the air interaction interface is detected. The haptic feedback subsystem 200 is connected to the imaging subsystem 100, and the haptic feedback subsystem 200 is configured to perform haptic feedback control according to the touch feedback control instruction and the touch point coordinate information.

In the embodiment of the present invention, the imaging subsystem 100 adopts an interactive aerial imaging technology, and forms a floating real image, i.e. an aerial interactive interface, at a determined position in the air, so as to serve as a reference surface for the tactile perception of the user, and the three-dimensional space where the floating real image is covered is an aerial target area. Human-computer interaction information is converged and imaged in an air target area through the imaging subsystem 100 to form an air interaction interface, and when an interaction signal of a user and the air interaction interface is detected, the imaging subsystem 100 sends a touch feedback control instruction and touch point coordinate information to the tactile feedback subsystem 200.

The touch area of the haptic feedback subsystem 200 is set to cover the three-dimensional space where the air interactive interface is located, i.e., the air target area. Specifically, based on the size and display position of the air interface being relatively fixed, the haptic feedback subsystem 200 generates a touch feedback plane of equal size and position according to the known air interface. Namely, an air interface is provided by the imaging subsystem 100 to guide a user's touch, and a touch feedback plane is provided by the haptic feedback subsystem 200 to feedback the user's perception of the touch object.

According to the utility model discloses touch-control feedback system 1000 combines together aerial imaging subsystem and tactile feedback subsystem, through imaging subsystem 100 with human-computer interaction information in aerial target area formation of image display in order to form aerial mutual interface, regard aerial mutual interface as the reference surface of user's sense of touch perception for guide user's touch-control, and when imaging subsystem 100 detected user and aerial mutual interface's interactive signal, send touch-control feedback control instruction and touch-control point coordinate information to tactile feedback subsystem 200. The touch feedback subsystem 200 transmits ultrasonic waves and focuses the ultrasonic waves to the touch points according to the received touch feedback control instruction and the coordinate information of the touch points, and generates a touch feedback effect between the human body and the touch points, so that the human body can be realistically influenced by the existence of the touch points, and the purpose of non-contact touch feedback of a user is achieved. The embodiment of the utility model provides an in based on present aerial mutual interface in aerial target area, can trigger the operation of touch-control feedback through the aerial mutual interface of user touch, satisfy user's mutual experience simultaneously in vision and sense of touch, and the operating mode is also more natural and comfortable, need not to set up the device of extra restriction user operation, the risk of contact device when avoiding user operation. Meanwhile, the information safety problem caused by leakage of personal information due to the fact that fingerprint information of the user is left is avoided.

In some embodiments, as shown in fig. 6, the imaging subsystem 100 includes a second housing 110, an imaging assembly 120, a detection module 130, and a master module 140.

Wherein the second housing 110 is formed with a display window 40 and a second receiving chamber 50 therein.

The imaging assembly 120 is disposed in the second accommodating cavity 50, and is used for imaging and displaying human-computer interaction information in the aerial target area 10 to form an aerial interaction interface. Specifically, the imaging component 120 forms a floating real image, that is, an air interactive interface, at a certain position in the air, and the three-dimensional space where the covered floating real image is located is the air target area 10, that is, the imaging component 120 can present the floating real image in the air target area 10 without a solid medium, so that the visual interactive experience of the user is met, and the imaging component 120 does not need to provide an additional limiting mechanism to guide the user to operate, so that the risk of the user contacting the device body is reduced.

The detection module 130 is used for detecting an interaction signal of a user with the air interaction interface. Specifically, as shown in fig. 7, the sensing area of the detection module 130 is located on the same plane as the air interface and includes a three-dimensional space where the air interface is located. The detection module 130 detects the interaction operation of the user on the air interaction interface in the air target area 10 in real time, so that when the interaction signal of the user and the air interaction interface is detected, the detected interaction signal is fed back to the main control module 140, and the main control module 140 sends a touch feedback control instruction and touch point coordinate information to the tactile feedback subsystem 200 in response to the interaction signal, so as to trigger the tactile feedback subsystem 200 to feed back the perception of the user on the touch object. Therefore, the user can directly interact with the air interaction interface to trigger the operation mode of the tactile feedback subsystem 200 for tactile feedback, so that the system is more natural and comfortable.

In an embodiment, the detection module 130 may be an optical sensor, and its sensing form may include, but is not limited to, far and near infrared, ultrasonic, laser interference, grating, encoder, fiber optic type or CCD (Charge-coupled Device), etc.

In practical application, the detection module 130 may select an optimal sensing form according to an installation space, a viewing angle, and a use environment, so that a user can conveniently operate the target area 10 in the air at an optimal posture, and user experience is improved.

The main control module 140 is connected to the imaging assembly 120 and the detection module 130, and configured to send a touch feedback control instruction and touch point coordinate information in response to the interaction signal. The main control module 140 and the detection module 130 may be connected in a wired or wireless manner to transmit digital or analog signals, so that the volume of the whole device may be flexibly controlled, and the electrical stability of the touch feedback system 1000 may be enhanced.

In some embodiments, as shown in FIG. 6, imaging assembly 120 includes display 25 and optical assembly 26.

Specifically, the display 25 is disposed in the second accommodating cavity 50, connected to the main control module 140, and configured to display human-computer interaction information. The optical assembly 26 is disposed in the second receiving cavity 50, and is used for refracting the light carrying the man-machine interaction information to the aerial target area 10 to form an aerial interaction interface.

As shown in fig. 6, the display 25 is disposed on the light source side of the optical assembly 26, and the display window 40 is on the image side of the optical assembly 26. The main control module 140 controls the display 25 to display human body interaction information, and light of the human body interaction information displayed on the display 25 is imaged and displayed on the aerial target area 10 through the optical assembly 26 to form an aerial interaction interface for guiding a user to touch.

In some embodiments, a light absorbing layer is disposed on an inner wall of the second receiving chamber 50. That is, the parts of the second housing 110 except the display surface of the display 25 are subjected to black light absorption treatment, such as spraying light absorption paint or pasting light absorption film, so as to eliminate the diffuse reflection of the internal components of the second housing 110 to the light and improve the display effect of the air interface.

The embodiment of the utility model provides an in, ultrasonic emitter array 220 can adopt the stronger ultrasonic emitter 30 of penetrability, consequently, to ultrasonic emitter array 220's arrangement, can arrange in a flexible way according to the demand of practical application occasion and system, does not do the restriction to this.

The utility model discloses third aspect embodiment provides a terminal equipment, as shown in FIG. 8, terminal equipment 2000 includes the touch-control feedback system 1000 that equipment body 300 and above-mentioned embodiment provided, and touch-control feedback system 1000 sets up on equipment body 300.

According to the utility model discloses terminal equipment 2000, through the touch-control feedback system 1000 that adopts above-mentioned embodiment to provide, can realize user non-contact touch feedback's purpose, and need not to set up extra restriction user operating means, and the operation mode is also more natural convenient to satisfy user's interactive experience simultaneously in vision and sense of touch.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (11)

1. A haptic feedback subsystem, comprising:

the first shell is provided with a window, and a first accommodating cavity is formed in the first shell;

the ultrasonic emitter array is arranged in the first accommodating cavity and comprises a plurality of ultrasonic emitters, and the emitting end of each ultrasonic emitter faces the windowing and is used for emitting ultrasonic waves and focusing the ultrasonic waves to a touch point;

and the controller is arranged in the first accommodating cavity, is connected with the ultrasonic emitter array, and is used for acquiring a touch feedback control instruction and touch point coordinate information of an air interaction interface and controlling each ultrasonic emitter according to the touch feedback control instruction and the touch point coordinate information.

2. A haptic feedback subsystem as recited in claim 1 wherein said controller comprises:

the data processing module is used for determining the delay phase of each ultrasonic transmitter according to the coordinate information of the touch point and the position information of each ultrasonic transmitter;

and the driving module is connected with the ultrasonic transmitter array and the data processing module and is used for obtaining a target driving signal corresponding to each ultrasonic transmitter according to the delay phase of each ultrasonic transmitter.

3. A haptic feedback subsystem as recited in claim 2 wherein said data processing module comprises:

the first storage unit is used for storing data and programs in the data processing process;

and the data processing unit is connected with the first storage unit and used for determining the delay phase of each ultrasonic transmitter according to the coordinate information of the touch point and the position information of the transmitting end of each ultrasonic transmitter.

4. A haptic feedback subsystem as recited in claim 3 wherein said drive module comprises:

the second storage unit is used for storing data and files in the drive control process;

the control unit is connected with the second storage unit and is used for carrying out time delay processing on the original driving signal of each ultrasonic transmitter according to the time delay phase of each ultrasonic transmitter;

and the driving unit is connected with the control unit and used for obtaining a target driving signal of each ultrasonic transmitter according to the original driving signal after time delay processing so as to respectively control each ultrasonic transmitter.

5. A haptic feedback subsystem according to claim 1, wherein a first heat vent is disposed on a first sidewall of the first receiving cavity and a second heat vent is disposed on a second sidewall of the first receiving cavity, the first sidewall being opposite the second sidewall.

6. A haptic feedback subsystem as recited in claim 5 further comprising:

the suction fan is arranged on the first side wall and used for sucking external air to the first accommodating cavity through the first heat dissipation hole;

the exhaust fan is arranged on the second side wall and used for exhausting air in the first accommodating cavity through the second heat dissipation hole.

7. A haptic feedback subsystem as recited in claim 1 further comprising:

and the blocking cover is arranged on the first shell and used for blocking the window.

8. A haptic feedback subsystem as recited in claim 7 wherein said flap is mesh-shaped.

9. A haptic feedback subsystem as recited in claim 7 wherein said cover is a wave-transparent material barrier.

10. A touch feedback system, comprising:

the imaging subsystem is used for imaging and displaying the human-computer interaction information in an air target area to form an air interaction interface and sending a touch feedback control instruction and touch point coordinate information when an interaction signal of a user and the air interaction interface is detected;

the haptic feedback subsystem of any of claims 1-9, the haptic feedback subsystem to perform haptic feedback control based on the touch feedback control command and the touch point coordinate information.

11. A terminal device, comprising:

an apparatus body;

the touch feedback system of claim 10, the touch feedback system disposed on the device body.

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