WO2022000558A1

WO2022000558A1 - Haptic effect obtaining method and system

Info

Publication number: WO2022000558A1
Application number: PCT/CN2020/101509
Authority: WO
Inventors: 郭璇
Original assignee: 瑞声声学科技(深圳)有限公司
Priority date: 2020-06-30
Filing date: 2020-07-10
Publication date: 2022-01-06
Also published as: CN111782046A

Abstract

A haptic effect obtaining method and system. The haptic effect obtaining method comprises: S101: building a haptic effect implementation structure carrier equipped with an actuator, and detecting the haptic effect implementation structure carrier; S102, obtaining a voltage signal, exciting the actuator according to the voltage signal, and acquiring haptic effect data of the haptic effect implementation structure carrier; and S103: according to the haptic effect data, determining whether a haptic effect satisfies requirements, and if yes, determining to obtain a voltage signal corresponding to an ideal haptic effect, or if not, executing S102. The method does not depend on a laboratory tool model and priori knowledge, and completely blind signal generation is achieved; compared with an existing signal design technology based on the laboratory tool model, the method has the characteristics of being wider in applicability and better in flexibility, can be applied to different complex haptic effect design environments, and lowers the difficulty of actual haptic effect design.

Description

Haptic effect acquisition method and system

【Technical field】

The present invention relates to the technical field of haptic feedback, in particular to a method and system for obtaining haptic effects.

【Background technique】

Nowadays, haptic feedback technology is more and more widely used. Haptic (haptic) effects produced by actuators can be seen everywhere in various electronic devices (such as mobile phones, tablets, touchpads), vehicle touch systems, etc. With the improvement of the level, people's experience requirements for tactile feedback are also getting higher and higher. Compared with the laboratory tooling environment, the actual Haptic effect design environment is very complicated. For example, in addition to the resonance frequency of the actuator itself, there will be new resonance frequencies brought by the load structure, and more structural responses. These complex load environments bring great challenges to Haptic effect design. Therefore, this patent proposes an overall haptic effect acquisition solution and implementation path.

[Content of the invention]

Aiming at solving the problem that the design environment of haptic effects is very complex, the present invention provides a method and system for obtaining haptic effects.

In order to achieve the above object, the present invention provides a method for obtaining a haptic effect, comprising: S101: building a haptic effect realizing structure carrier provided with an actuator, and detecting the haptic effect realizing structure carrier; S102: obtaining a voltage signal, Activate the actuator according to the voltage signal, and collect the haptic effect data of the haptic effect realization structure carrier; S103: Determine whether the haptic effect meets the requirements according to the haptic effect data, and if so, determine to obtain the voltage corresponding to the ideal haptic effect signal, if not, execute S102.

As an improvement, the step of detecting the haptic effect realization structure carrier specifically includes: acquiring test data of the haptic effect realization structure carrier, and judging whether the haptic effect realization structure carrier is stable according to the test data.

As an improvement, the step of detecting the haptic effect realization structure carrier specifically includes: outputting a STEP signal that excites the actuator to the actuator, and collecting the haptic effect realization structure carrier for presetting Assuming the test data of the measurement point, it is determined whether the haptic effect realization structure carrier is stable according to the time domain or frequency domain waveform of the test data.

As an improvement, the step of obtaining the voltage signal specifically includes: obtaining an acceleration waveform corresponding to a desired haptic effect, and obtaining a voltage signal corresponding to the acceleration waveform according to the acceleration waveform and the frequency response function of the haptic effect realization structure carrier .

As an improvement, the step of exciting the actuator according to the voltage signal specifically includes: converting the voltage signal into an analog electrical signal through a capture card, and loading the analog electrical signal on the actuator through a power amplifier Stimulate both ends.

As an improvement, the actuator is a motor.

As an improvement, the haptic effect data includes at least one of vibration data, displacement data, and velocity data of the haptic effect realization structure carrier.

As an improvement, the vibration data of the structural carrier is realized by collecting the haptic effect through an accelerometer.

As an improvement, the voltage signal includes any one of a square wave, a sine wave, and a spliced waveform.

As an improvement, the connection point between the front spring member and the casing and the connection point between the rear spring member and the casing are located on one side wall of the casing, and the connection point between the middle spring member and the casing is located on the other side of the casing. side wall.

As an improvement, the structures of the front spring member, the middle spring member, and the rear spring member are the same, and the extension direction of the elastic portion of the middle spring member is different from the extension direction of the elastic portion of the front spring member or the rear spring member.

An embodiment of the present invention also provides a system for obtaining haptic effects, including: a control terminal and a haptic effect realization structure carrier, the control terminal is connected with the haptic effect realization structure carrier, and the haptic effect realization structure carrier realizes the above A haptic effect acquisition method according to an embodiment.

The beneficial effects of the present invention are: the tactile effect is stimulated by the voltage signal to realize the structural carrier, the tactile effect data generated by the excitation of the carrier is collected, and the voltage signal is adjusted according to the tactile effect data to obtain the voltage signal corresponding to the ideal tactile effect. Relying on the laboratory tooling model and prior knowledge, but completely blind signal generation, compared with the existing signal design technology based on the laboratory tooling model, it has the characteristics of wider applicability and more flexibility, and can be applied to various complex haptic effects The design environment reduces the difficulty of actual haptic effect design.

【Description of drawings】

FIG. 1 is a flowchart of a method for obtaining a haptic effect according to the present invention.

FIG. 2 is a further overall flow chart of the haptic effect acquisition method shown in FIG. 1 .

FIG. 3 is a schematic diagram of a laboratory tool test environment to which the haptic effect acquisition method of the present invention is applied.

FIG. 4 is a waveform diagram of a voltage signal in the method for obtaining a haptic effect of the present invention.

FIG. 5 is a structural diagram of the haptic effect acquisition system of the present invention.

【detailed description】

The present invention will be described in detail below with reference to FIGS. 1 to 4 .

As shown in Figure 1 and Figure 2, the haptic effect acquisition method of the present invention includes:

S101: Build a haptic effect realization structure carrier provided with an actuator, and detect the haptic effect realization structure carrier.

According to the application requirements, design and complete the haptic effect to realize the formation of the structure carrier, and complete the construction of the test environment at the same time. Generally speaking, in order to check whether the haptic effect is ideal, it is necessary to collect the voltage excitation haptic effect to realize the actuator on the structure carrier, and then compare the acceleration data at a certain measurement point on the structure or other such as displacement, velocity, etc. with the ideal effect. Therefore, it is necessary to build a corresponding test environment suitable for the structure. The haptic effect acquisition method of the present invention will be specifically described below by taking a laboratory tooling test environment shown in FIG. 3 as an example, wherein the application environment of the haptic effect acquisition method of the present invention is not limited to the environment shown in FIG. 3 , and the actual application environment can be based on needs to be adjusted.

Among them, the haptic effect realization structure carrier in the laboratory tool test environment includes a computer, a capture card, a power amplifier, an actuator, a tool and a sponge. The actuator, tool, and sponge are stacked in order from top to bottom. The tool and the actuator on the tool are carried by the sponge.

In the present invention, the power amplifier includes a first power amplifier, a second power amplifier, and a first power amplifier. One end of the first power amplifier is connected to the ACC (power input end) of the tooling, the other end is connected to the acquisition card, and one end of the second power amplifier is connected. It is connected with the capture card, the other end is connected with the motor, and the collected haptic effect data is sent to the computer through the capture card.

In the present invention, the magnification of the first power amplifier is 10, and the acquisition card is an NI-DAQ4431 data acquisition card.

In other embodiments, the magnification of the first power amplifier may not be 10, and the acquisition card may also be other data acquisition devices capable of converting between analog signals and digital signals.

The present invention uses a motor (LRA: Linear Resonant Actuator) as a complex environmental Haptic effect of the actuator, and the motor is only a typical example of the actuator, and the solution of the present invention can also be applied to other types of actuators.

Generally speaking, complex structures may contain many parts and components, which are prone to undesired situations such as loose installation. Therefore, before activating the actuator to obtain the desired haptic effect, the haptic effect realization structure carrier needs to be detected. The inspection method may include manual observation, test data analysis, etc., which can detect whether the haptic effect is stable to realize the structure carrier. The present invention obtains the test data of the haptic effect realization structure carrier, and judges whether the haptic effect realization structure carrier is stable according to the test data.

Here is an example of a way, the computer judges whether the structure is stable through the consistency of the frequency sweep response of the system multiple times. The computer outputs the STEP signal that excites the actuator to the actuator, and collects the test data of the preset measurement point of the haptic effect realization structure carrier, and judges the realization of the haptic effect according to the time domain or frequency domain waveform of the test data. Whether the structure carrier is stable, that is, the actuator is excited by a certain amplitude STEP signal, and the data such as the acceleration of a certain measurement point of the system are collected and analyzed. It is possible to compare the time-domain or frequency-domain waveforms of the frequency-sweeping response data to determine whether the system is stable or not.

S102: Acquire a voltage signal, excite the actuator according to the voltage signal, and collect haptic effect data of the haptic effect realization structure carrier.

In the present invention, the voltage signal is converted into an analog electrical signal through a capture card, and the analog electrical signal is loaded on both ends of the actuator through a power amplifier for excitation.

In the present invention, the haptic effect data includes at least one of vibration data, displacement data, and velocity data of the haptic effect realization structure carrier. The vibration data of the structural carrier is realized by collecting the haptic effect through an accelerometer.

In other embodiments, a reading microscope, a laser vibrometer, and other sensors capable of detecting vibration may also be used.

In the present invention, the voltage signal includes any one of square wave, sine wave and spliced wave, wherein the spliced wave can be a combination of at least two of square wave, sine wave, cosine wave, triangle wave, staircase wave and other waveforms .

Referring to FIG. 2 , the present invention obtains the voltage signal through two routes and excites the actuator according to the voltage signal.

Route one:

The computer obtains the input voltage signal, and the voltage signal can be a voltage signal designed by the designer according to the desired haptic effect.

The computer excites the actuator according to the voltage signal, and collects the tactile effect to realize the tactile effect data of the structural carrier and conducts the tactile effect test: in the structural test environment as shown in Figure 3, that is, whether the voltage excitation of the motor and the acquisition of the tooling acceleration data is ideal. judgement. If the effect is ideal, the voltage signal design is completed, otherwise, the voltage signal is re-modified and tested again, and iteratively iterates until it is ideal.

In a complex environment, taking the spliced square wave as an example, the initial voltage waveform can be shown in Figure 4. The voltage signal waveform shown in Figure 4 can be regarded as the splicing effect of three waveforms {T1, V1}, {T2, V2}, {T3, V3}, T1, T2, T3 represent the duration of the three segments, V1, V2 , V3 represents the voltage amplitude of the three sections. The computer excites the motor according to the parameters of the voltage signal waveform, and the actual vibration waveform can be measured. According to the actual vibration waveform, the amplitude and duration of the three sections of the voltage signal can be adjusted, and the fourth section of the voltage signal waveform can even be added {T4, V4 }. If the desired haptic effect is high-frequency vibration, but the actual vibration is low-frequency vibration, it can be achieved by shortening the duration T of each segment; if the actual vibration trail is poor, and a clean braking effect is desired, the last segment {T3, V3} can be adjusted The magnitude and duration of the tactile effects are continuously adjusted.

Similarly, the voltage signal with a sinusoidal waveform can also be adjusted in amplitude and frequency according to the vibration effect.

Route two:

Obtain the haptic effect expected by the designer: If the tool acceleration waveform is used as the evaluation method for the haptic effect, then the designer will design the ideal acceleration waveform. A function of the acceleration corresponding to the desired haptic effect is defined as a _p (t) (ie, the acceleration a is a function of time t). Solve the voltage signal according to the system identification result: The system identification is to obtain the frequency response function between the input signal and the output signal under the current haptic effect realization structure carrier. For example, the input signal is the excitation voltage signal, and the output signal is the tooling acceleration. Test the frequency response function of excitation voltage to tool acceleration. In the present invention, the frequency response function can be measured by methods such as Chirp, STEP, and kernel function. Taking the Chirp signal as an example, for the frequency band f1-f2 to be measured, f1 is the starting frequency, f2 is the ending frequency, the corresponding signal is expressed as x(t), and the measured acceleration after exciting the motor is a(t), the frequency response function

where A(f)=fft(a), X(f)=fft(x), which represent the Fourier transform of a(t) and x(t), respectively. Other frequency response identification methods are all in the prior art, and are not described here. After the frequency response function of the system identification is obtained, the corresponding input signal can be solved inversely from the output signal and the frequency response function. The formula is:

A _p (f)=fft( _ap ), motor excitation voltage u(t)=ifft(U(f)). The haptic effect realization structure carrier is excited according to the motor excitation voltage to obtain haptic effect data.

S103: Determine whether the haptic effect meets the requirements according to the haptic effect data, and if so, determine to obtain a voltage signal corresponding to the ideal haptic effect, and if not, execute S102.

In the present invention, the haptic effect data is compared with the desired haptic effect, and it is judged whether the generated haptic effect meets the requirements according to the comparison result.

The embodiment of the present invention also provides a haptic effect acquisition system, and the haptic effect acquisition system of the present invention is described in detail below with reference to FIG. 5 .

The haptic effect acquisition system in the present invention includes: a control terminal and a haptic effect realization structure carrier, the control terminal is connected with the haptic effect realization structure carrier, and the haptic effect acquisition method involved in the above embodiments is realized through the haptic effect realization structure carrier.

Specifically, the control terminal can directly send a voltage signal to the haptic effect realization structure carrier to excite the actuators in the haptic effect realization structure carrier, or can convert the output signal into a haptic effect through a capture card and a power amplifier to realize that the structure carrier can accept The excitation signal is collected, and the haptic effect data is collected through the corresponding collection device. The specific mode of sending the voltage signal can be set according to the signal output mode of the control terminal and the signal reception mode of the haptic effect realization structure carrier.

The above are only the embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, improvements can be made without departing from the inventive concept of the present invention, but these belong to the present invention. scope of protection.

Claims

A haptic effect acquisition method, characterized in that: the haptic effect acquisition method comprises:

S101: Building a haptic effect realization structure carrier provided with an actuator, and detecting the haptic effect realization structure carrier;

S102: Acquire a voltage signal, excite the actuator according to the voltage signal, and collect the haptic effect data of the haptic effect realization structure carrier;

S103: Determine whether the haptic effect meets the requirements according to the haptic effect data, and if so, determine to obtain a voltage signal corresponding to the ideal haptic effect, and if not, execute S102.
The method for obtaining a haptic effect according to claim 1, wherein the step of detecting the haptic effect realization structure carrier specifically comprises:

Acquire test data of the haptic effect realization structure carrier, and determine whether the haptic effect realization structure carrier is stable according to the test data.
The method for obtaining a haptic effect according to claim 2, wherein the step of detecting the haptic effect realization structure carrier specifically comprises:

To the actuator, output the STEP signal that excites the actuator, and collect the test data of the preset measurement point of the haptic effect realization structure carrier, and judge the test data according to the time domain or frequency domain waveform of the test data. The haptic effect realizes whether the structure carrier is stable.
The method for obtaining a haptic effect according to claim 1, wherein the step of obtaining the voltage signal specifically comprises:

Acquire the acceleration waveform corresponding to the desired haptic effect, and obtain the voltage signal corresponding to the acceleration waveform according to the acceleration waveform and the frequency response function of the haptic effect realization structure carrier.
The method for obtaining a haptic effect according to claim 1, wherein the step of exciting the actuator according to the voltage signal specifically comprises:

The voltage signal is converted into an analog electrical signal through a capture card, and the analog electrical signal is loaded on both ends of the actuator through a power amplifier for excitation.
The method for obtaining a haptic effect according to claim 1, wherein the actuator is a motor.
The method for obtaining a haptic effect according to claim 1, wherein the haptic effect data includes at least one of vibration data, displacement data, and velocity data of the haptic effect realizing structure carrier.
The haptic effect acquisition system according to claim 7, wherein the vibration data of the structure carrier is realized by collecting the haptic effect through an accelerometer.
The haptic effect acquisition system according to claim 1, wherein the voltage signal comprises any one of a square wave, a sine wave, and a spliced waveform.
A haptic effect acquisition system, characterized in that: the haptic effect acquisition system comprises: a control terminal and a haptic effect realization structure carrier, the control terminal is connected with the haptic effect realization structure carrier, and the haptic effect realization structure carrier is realized through the haptic effect Implement the haptic effect acquisition method according to any one of claims 1-9.