WO2021253576A1

WO2021253576A1 - Method and device for implementing tactile effect, and computer readable storage medium

Info

Publication number: WO2021253576A1
Application number: PCT/CN2020/104628
Authority: WO
Inventors: 郑亚军
Original assignee: 瑞声声学科技(深圳)有限公司; 瑞声科技(新加坡)有限公司
Priority date: 2020-06-20
Filing date: 2020-07-24
Publication date: 2021-12-23
Also published as: CN111694437B; CN111694437A

Abstract

A method and a device for implementing a tactile effect, and a computer readable storage medium. The implementation method comprises: acquiring a relative acceleration waveform of a preset tactile effect (S100); obtaining an absolute displacement waveform according to the relative acceleration waveform (S200); calculating, according to the absolute displacement waveform, an equalization voltage waveform corresponding to a device (S300); determining whether the maximum voltage value in the equalization voltage waveform is greater than the maximum voltage output value of the device (S400); and if so, processing the equalization voltage waveform according to the maximum voltage output value of the device (S500). By means of the described embodiments, playback requirements of a device can be satisfied, and it is also ensured that the tactile effect is not distorted.

Description

Method and device for realizing haptic effects, and computer readable storage medium

Technical field

The present invention relates to the technical field of tactile feedback, in particular to a method and equipment for realizing tactile effects, and a computer-readable storage medium.

Background technique

With the improvement of people's quality of life, various electronic devices emerge in an endless stream, and major electronic device manufacturers continue to improve product performance to meet the increasing needs of users. As a new technology to improve user experience, haptic feedback has been praised by a wide range of users and has also become a competitive selling point for major electronic equipment manufacturers. High-quality, rich tactile effects can often bring a perfect user experience.

However, the diversity of devices and the limitations of device output capabilities make the tactile effects designed by designers may not be able to be played accurately in different devices, and it is easy to cause distortion of the tactile effects.

Summary of the invention

The present invention mainly provides a method and device for realizing haptic effects, and a computer-readable storage medium, which can solve the problem of distortion of haptic effects caused by playing haptic effects in different devices in the prior art.

In order to solve the above technical problems, a technical solution adopted by the present invention is to provide a method for realizing haptic effects. The realizing method includes: obtaining a relative acceleration waveform of a preset haptic effect; Obtain the absolute displacement waveform from the acceleration waveform; calculate the equalized voltage waveform corresponding to the device according to the absolute displacement waveform; determine whether the maximum voltage value in the equalized voltage waveform is greater than the maximum voltage output value of the device; if the judgment is yes, Then, the equalized voltage waveform is processed according to the maximum voltage output value of the device.

Wherein, obtaining the absolute displacement waveform according to the relative acceleration waveform includes: performing an integral operation on the relative acceleration waveform to obtain a relative displacement waveform; and converting the relative displacement waveform into the absolute displacement waveform.

Wherein, the processing the equalized voltage waveform according to the maximum voltage output value of the device includes: scaling the maximum value in the equalized voltage waveform according to a preset ratio; and forming a new value according to the scaled maximum value. The balanced voltage waveform.

Wherein, the maximum voltage value of the balanced voltage waveform after scaling is the maximum voltage output value of the device.

Wherein, if it is determined that the maximum value in the equalized voltage waveform is less than the maximum voltage output value of the device, then the equalized voltage waveform is kept unchanged.

Wherein, the calculation of the balanced voltage waveform adopts the electromechanical coupling equation:

Wherein, m represents the mass of the actual play of the motor mover, c denotes the actual playback motor mechanical damping, k denotes a real play motor spring coefficient; BL represents the electromechanical coupling coefficient, R _e represent the actual playback of the motor coil resistance, L _e is a real play motor Coil inductance, i is the current, u is the equilibrium voltage, x is the displacement,

Is the speed,

Is acceleration.

Wherein, the method further includes outputting an equalized voltage corresponding to the device, so that the device performs haptic effect playback based on the equalized voltage.

In order to solve the above technical problems, another technical solution adopted by the present invention is to provide a device for realizing haptic effects. The device for realizing haptic effects includes a processor and a memory, and the memory stores computer instructions, and the processor Coupled with the memory, the processor executes the computer instructions during work to implement the above-mentioned method.

In order to solve the above technical problems, another technical solution adopted by the present invention is to provide a computer-readable storage medium on which a computer program is stored, characterized in that the computer program is executed by a processor to implement the above-mentioned method .

The beneficial effects of the present invention are: different from the state of the art, the present invention provides a method and device for realizing haptic effects, and a computer-readable storage medium. The acceleration waveform of the vibration system is used as the description form of the haptic effect, and the acceleration The waveform is stored in the form of a relative acceleration waveform. Considering the difference in the performance of the vibrator in different devices, the acceleration waveform is automatically adjusted to meet the playback requirements of the device while ensuring that the tactile effect is not distorted.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings, among which:

FIG. 1 is a schematic flowchart of an embodiment of a method for implementing haptic effects provided by the present invention;

2 is a schematic diagram of an embodiment of the relative acceleration waveform of the present invention;

FIG. 3 is a schematic flowchart of an embodiment of step S200 in FIG. 1 of the present invention;

4 is a schematic diagram of an embodiment of the relative displacement waveform of the present invention;

5 is a schematic diagram of an embodiment of the absolute displacement waveform of the present invention;

Fig. 6 is a schematic diagram of an embodiment of the equalized voltage waveform of the present invention;

FIG. 7 is a schematic flowchart of an embodiment of step S500 in FIG. 1 of the present invention;

FIG. 8 is a schematic diagram of an embodiment of the balanced voltage after scaling of the present invention;

FIG. 9 is a schematic block diagram of an embodiment of a device for realizing haptic effects provided by the present invention;

Fig. 10 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Please refer to FIGS. 1 and 2 together. FIG. 1 is a schematic flowchart of an embodiment of a method for realizing a haptic effect provided by the present invention, and FIG. 2 is a schematic diagram of an embodiment of a relative acceleration waveform of the present invention. The realization method of haptic effect can specifically include:

S100: Acquire a relative acceleration waveform of a preset haptic effect.

Optionally, the vibration waveform in the present invention is a specific intuitive quantized waveform of the haptic effect, which can be stored in a haptic effect library in advance, and the haptic effect library can be stored in the device memory or cloud storage. The specific form of the vibration waveform may include one of the acceleration waveform curve of the mover of the vibration system, the velocity waveform curve of the mover of the vibration system, and the displacement waveform curve of the mover of the vibration system.

As shown in Fig. 2, in the embodiment of the present invention, the acceleration waveform A0 of the vibration system is used as the description form of the haptic effect. Wherein, the horizontal axis in Figure 2 represents the sampling point, and the vertical axis represents the relative value of acceleration. For example, the sampling rate in this application can be 48000 Hz, the sampling period is 1/48000 second, and the sampling point on the horizontal axis is the number of sampling periods. .

Further, the acceleration waveform A0 is stored in the form of a relative acceleration waveform, and its amplitude a ranges from [-1, 1], and its amplitude a represents the intensity characteristics of the tactile effect. When the amplitude a is equal to 1, it means The device (vibrator) will play the relative acceleration waveform A0 with full force; when the amplitude a is equal to 0, the intensity is the weakest, which means that the vibrator does not need to work, when the amplitude a is equal to 0, it means that the device will play the waveform at half capacity Relative acceleration waveform A0. Among them, full play of the device refers to pushing the vibrator to the maximum limit displacement under the maximum voltage output capacity of the device; half capacity refers to pushing the vibrator to half the maximum limit displacement under the maximum voltage output capacity of the device.

Optionally, when playing in different devices, when the relative acceleration waveform A0 is fixed, the intensity of the haptic effect may be different according to the performance of the vibrator in the playing device, but the frequency components must be the same. Among them, the relative acceleration waveform A0 fixed means that each value of the acceleration in the waveform remains unchanged. It should be noted that because the performance of the vibrator is different, the conversion relationship between the relative acceleration value and the absolute acceleration value is different, but the frequency components are the same. For example, an acceleration waveform with frequency components of 100Hz and 200Hz and a relative intensity of 0.8, the absolute intensity of acceleration played on vibrator 1 (high performance, 5) is 0.8x5, and the absolute intensity of acceleration played on vibrator 2 (low performance) , Is 2) The absolute intensity of the acceleration played on the above is 0.8x2, but the frequency components of the two absolute accelerations are still 100Hz and 200Hz.

In the embodiment of the present invention, the acceleration waveform of the mover of the vibration system is used as the description form of the haptic effect, so that the subjective experience can be accurately described, and the performance of the vibrator is considered to avoid the problem of insufficient device capability to play the corresponding haptic effect.

S200: Obtain an absolute displacement waveform according to the relative acceleration waveform.

Please combine with FIG. 3, which is a schematic flowchart of an embodiment of step S200 of the present invention. As shown in FIG. 3, step S200 provided by the present invention further includes the following sub-steps:

S210: Perform an integral operation on the relative acceleration waveform to obtain a relative displacement waveform.

Specifically, the relative acceleration waveform A0 is integrated twice to obtain the relative displacement waveform D0. In conjunction with FIG. 4, FIG. 4 is a schematic diagram of an embodiment of the relative displacement waveform of the present invention. In FIG. 4, the horizontal axis represents the sampling point, and the vertical axis represents Relative displacement value.

It is understandable that the acceleration signal processed in step S100 is a relative value, and the relative value represents the performance of the vibrator, where 1 represents the vibrator "go all out", and 0 represents the vibrator "does not need to work", so the acceleration The relative value of 1 and the relative displacement value of 1 have the same meaning, and the relative value a of the relative acceleration waveform A0 defined in this way can be directly applied to the relative value of the relative displacement waveform D0.

S220: Convert the relative displacement waveform into an absolute displacement waveform.

Further, in conjunction with FIG. 5, FIG. 5 is a schematic diagram of an embodiment of the absolute displacement waveform of the present invention. As shown in FIG. 5, the horizontal axis represents the sampling point, and the vertical axis represents the absolute value of the displacement. Optionally, the relative displacement wave D0 is converted into the absolute displacement waveform D1 as shown in FIG. 5 through amplitude mapping. Among them, the maximum value of the absolute displacement waveform D1 is a*Xmax, where Xmax is the maximum limit displacement of the vibrator, and the vibrator can only vibrate under the limit displacement. In a specific application scenario of the present invention, the maximum limit displacement Xmax of the vibrator can be set to 0.5 mm. Of course, in other embodiments, it can also be set to other value ranges, which are not specifically limited here.

S300: Calculate and obtain an equalized voltage waveform corresponding to the device according to the absolute displacement waveform.

Further in conjunction with FIG. 6, FIG. 6 is a schematic diagram of an embodiment of the equalized voltage waveform of the present invention. In FIG. 6, the horizontal axis represents the sampling point, and the vertical axis represents the voltage. Specifically, the equalized voltage waveform V0 corresponding to the device is obtained through an equalization algorithm according to the absolute displacement waveform D1, so that the device can play the haptic effect based on the equalized voltage. Among them, the equalization algorithm is a commonly used signal design method, which is obtained by solving the electromechanical coupling equation of the vibration system. The electromechanical coupling equation of the system is as follows:

Is the speed,

Is acceleration. Among them, the speed

Acceleration

Respectively obtain one and two leads from the displacement x; the current is the intermediate coupling quantity i. In this way, by substituting the absolute displacement waveform D1 of the present invention into the above electromechanical coupling equation, the equalized voltage waveform V0 can be obtained.

S400: Determine whether the maximum voltage value in the balanced voltage waveform is greater than the maximum voltage output value of the device.

Specifically, the maximum voltage output value of the device in the embodiment of the present invention is Vmax, and in a specific application scenario, the maximum voltage output value Vmax may be 8V. The maximum voltage value Vp in the equalized voltage waveform V0 is further compared with the maximum voltage output value Vmax of the device. If the maximum voltage value Vp is greater than the maximum voltage output value Vmax of the device, step S500 is entered, and if it is less, step 600 is entered.

S500: Process the equalized voltage waveform according to the maximum voltage output value of the device.

Further in conjunction with FIG. 7, FIG. 7 is a schematic flowchart of an embodiment of step S500 of the present invention. As shown in FIG. 7, step S500 of the present invention further includes the following sub-steps:

S510: Perform scaling processing on the maximum value in the equalized voltage waveform according to a preset ratio.

Optionally, when the maximum voltage value Vp in the equalized voltage waveform V0 is greater than the maximum voltage output value Vmax of the device, at this time, the maximum voltage value of the equalized voltage waveform V0 is scaled to the device according to the ratio V0/max(V0)*Vmax The maximum voltage output value Vmax.

S520: Form a new equalized voltage waveform according to the scaled maximum value.

A new equalized voltage waveform V1 is formed according to the maximum value Vmax of the scaled equalized voltage waveform V0. In conjunction with Fig. 8, Fig. 8 is a schematic diagram of the scaled equalized voltage waveform V1 of the present invention in an implementation of fan mode, and the horizontal axis in Fig. 8 represents sampling points , The vertical axis represents voltage.

S600, keep the equalized voltage waveform unchanged.

Further, if it is determined that the maximum value Vp of the equalized voltage waveform V0 is less than the maximum voltage output value Vmax of the device, the equalized voltage waveform V0 is kept unchanged, and the equalized voltage corresponding to the device is output, so that the device can play the haptic effect based on the equalized voltage. Among them, the device of the present invention can be any device with communication and storage functions, such as: tablet computer, mobile phone, e-reader, remote control, personal computer (PC), notebook computer, in-vehicle device, network TV, wearable Smart devices with network functions such as devices.

In the above embodiment, by using the acceleration waveform of the vibration system as the description form of the haptic effect, and storing the acceleration waveform in the form of a relative acceleration waveform, considering the difference in the performance of the vibrator in different devices, the acceleration waveform can be automatically adjusted. Meet the playback requirements of the device, while ensuring that the tactile effect is not distorted.

Referring to FIG. 9, FIG. 9 is a schematic block diagram of an embodiment of a device for implementing haptic effects provided by the present invention. The device for implementing haptic effects in this embodiment includes a processor 310 and a memory 320. The processor 310 is coupled to the memory 320, and the memory 320 Computer instructions are stored, and the processor 310 executes the computer instructions during work to implement the method for implementing the haptic effect in any of the foregoing embodiments.

The processor 310 may also be referred to as a CPU (Central Processing Unit, central processing unit). The processor 310 may be an integrated circuit chip with signal processing capabilities. The processor 310 may also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component . The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, but is not limited to this.

Referring to FIG. 10, FIG. 10 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention. The computer-readable storage medium in this embodiment stores a computer program 410, which can be executed by a processor to realize the foregoing The realization method of the haptic effect in any embodiment.

Optionally, the readable storage medium may be a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, etc., which can store The medium of the program code, or a terminal device such as a computer, server, mobile phone, or tablet.

Different from the prior art, the embodiments of the present invention provide a method and device for realizing haptic effects, and a computer-readable storage medium. The acceleration waveform of the vibration system is used as the description form of the haptic effect, and the acceleration waveform is in the form of a relative acceleration waveform For storage, considering the difference in vibrator performance in different devices, the acceleration waveform is automatically adjusted to meet the playback requirements of the device while ensuring that the tactile effect is not distorted.

The above are only the embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the description and drawings of the present invention, or directly or indirectly applied to other related technologies In the same way, all fields are included in the scope of patent protection of the present invention.

Claims

A method for realizing haptic effects, characterized in that, the realizing method includes:

Obtain the relative acceleration waveform of the preset haptic effect;

Obtaining an absolute displacement waveform according to the relative acceleration waveform;

Calculating an equalized voltage waveform corresponding to the device according to the absolute displacement waveform;

Judging whether the maximum voltage value in the equalized voltage waveform is greater than the maximum voltage output value of the device;

If the judgment is yes, the equalized voltage waveform is processed according to the maximum voltage output value of the device.
The implementation method according to claim 1, wherein the obtaining an absolute displacement waveform according to the relative acceleration waveform comprises:

Performing an integral operation on the relative acceleration waveform to obtain a relative displacement waveform;

The relative displacement waveform is converted into the absolute displacement waveform.
The implementation method according to claim 1, wherein the processing the equalized voltage waveform according to the maximum voltage output value of the device comprises:

Performing scaling processing on the maximum value in the equalized voltage waveform according to a preset ratio;

A new equalized voltage waveform is formed according to the scaled maximum value.
The implementation method according to claim 3, wherein the maximum voltage value of the balanced voltage waveform after scaling is the maximum voltage output value of the device.
The implementation method of claim 1, wherein if it is determined that the maximum value of the equalized voltage waveform is less than the maximum voltage output value of the device, the equalized voltage waveform is kept unchanged.
The implementation method according to claim 1, wherein the calculation of the equalized voltage waveform adopts an electromechanical coupling equation:

Wherein, m represents the mass of the actual play of the motor mover, c denotes the actual playback motor mechanical damping, k denotes a real play motor spring coefficient; BL represents the electromechanical coupling coefficient, R e represent the actual playback of the motor coil resistance, L e is a real play motor Coil inductance, i is the current, u is the equilibrium voltage, x is the displacement,
Is the speed,
Is acceleration.
The implementation method according to claim 1, wherein the method further comprises outputting an equalized voltage corresponding to the device, so that the device performs haptic effect playback based on the equalized voltage.
A device for realizing haptic effects, wherein the device for realizing haptic effects includes a processor and a memory, the memory stores computer instructions, the processor is coupled to the memory, and the processor executes The computer instructions are used to implement the implementation method according to any one of claims 1-7.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the implementation method according to any one of claims 1-7.