WO2022266803A1

WO2022266803A1 - Mechanical matrix, and control method and apparatus for mechanical matrix

Info

Publication number: WO2022266803A1
Application number: PCT/CN2021/101254
Authority: WO
Inventors: 王培至; 郑明辉; 王谊
Original assignee: 华为技术有限公司
Priority date: 2021-06-21
Filing date: 2021-06-21
Publication date: 2022-12-29
Also published as: CN116171569A

Abstract

The present application provides a mechanical matrix, and a control method and apparatus for a mechanical matrix. The mechanical matrix comprises motion units; the height of the top end of each motion unit is adjustable; a sensor is provided on each motion unit; and the sensor is used for outputting contact information, and the contact information is used for indicating whether the top end of the motion unit is in contact with a target. The sensor is provided on the motion unit, and the contact information outputted by the sensor is used for indicating whether the motion unit is in contact with the target, so that a three-dimensional shape formed by each motion unit in the mechanical matrix can be adjusted according to the situation that the motion unit is in contact with the target, thereby being capable of making the mechanical matrix have a human-computer interaction capability, and improving the flexibility of controlling the mechanical matrix.

Description

Mechanical matrix, control method and device for mechanical matrix

technical field

The present application relates to the field of mechanical structures, in particular to a mechanical matrix and a control method and device for the mechanical matrix.

Background technique

The mechanical matrix includes multiple matrix units, and each matrix unit can move bidirectionally along a straight line, that is, the height of each matrix unit is adjustable. The plurality of matrix units can be arranged in order in rows and columns. In the mechanical matrix, the number of matrix units can be customized according to the actual application environment. By controlling the height of the matrix units, various static and dynamic patterns can be constructed to simulate three-dimensional topography, urban planning changes, movable type printing, text patterns, wave movements, etc. The device can also be combined with digital images to form various realistic three-dimensional dynamic patterns.

The three-dimensional shape formed by the mechanical matrix is preset, and the flexibility of the adjustment method is low.

Contents of the invention

The present application provides a mechanical matrix, a control method and a device for the mechanical matrix, which can improve the flexibility of the adjustment mode of the mechanical matrix.

In the first aspect, a mechanical matrix is provided, including a plurality of motion units; the height of the top of each motion unit is adjustable; each motion unit is provided with a sensor, and the sensor is used to output contact information, and the contact information It is used to indicate whether the tip of the set motion unit is in contact with the target.

By setting the sensor on the motion unit, the contact information output by the sensor is used to indicate whether the motion unit is in contact with the target. Therefore, the mechanical matrix can be provided with the ability of human-computer interaction, and the mechanical matrix can be controlled according to the contact information output by the sensor, and the control flexibility of the mechanical matrix can be improved.

With reference to the first aspect, in some possible implementation manners, the plurality of motion units include a first motion unit and a second motion unit, and in the mechanical array adjusted according to the contact information, the first motion unit The unit and the second movement unit form a concave structure, the height of the top of the first movement unit is smaller than the height of the top of the second movement unit, the second movement unit surrounds the first movement unit, the The first motion unit includes a contact motion unit that is in contact with the target among the plurality of motion units.

When the target is in contact with the moving unit in the mechanical matrix, the height of the top of the moving unit is adjusted, so that a concave structure is formed in the mechanical array adjusted according to the contact information, and the target is located in the concave. Compared with the shelf with a fixed shape, the flexible form of the shelf can reduce the space occupied by the shelf.

With reference to the first aspect, in some possible implementation manners, the first motion unit is the contact motion unit, and the second motion unit is one of the plurality of motion units that is less than a preset distance from the contact motion unit Neighboring motion units of the value.

The first motion units located at the bottom of the concave structure are all in contact with the target, so that the bottom of the concave structure adapts to the shape of the target, provide stable support for the target, and improve the support stability for placed objects.

The second motion unit surrounding the bottom of the concave structure is not in contact with the target, and the distance between the second motion unit and the first motion unit at the bottom of the concave structure is less than or equal to a preset value, so that the shape and size of the concave structure are adapted to The shape of the target improves the support stability of the mechanical matrix for placed items and prevents the target from shaking.

With reference to the first aspect, in some possible implementation manners, the mechanical matrix is located in a vehicle, and the vehicle is in a bumpy state, the direction of change of the height of the contact motion unit is opposite to the vibration direction of the vehicle vibration, and the contact motion unit The height variation of a unit is positively correlated with the vibration distance of the vehicle vibration, and the contact motion unit is a motion unit in contact with the target among the plurality of motion units.

With reference to the first aspect, in some possible implementations, the target is an electronic display device, and in the mechanical array adjusted according to the contact information, the contacts among the multiple motion units that are in contact with the target The motion unit forms a frame for setting the orientation of the target.

In the case of vehicle bumps, the absolute height of the vehicle changes. According to the jolt information, the height of the contact motion unit is adjusted so that the top of the contact motion unit moves relative to the vehicle. The tip of the contact motion unit moves in a direction opposite to the vibration direction of the vehicle, and the height change difference of the contact motion unit is positively correlated with the vibration distance of the vehicle.

That is to say, by controlling the relative movement between the contact motion unit and the vehicle, the change range of the absolute distance of the target is reduced, and the bumps suffered by the target are reduced.

The goal is electronic display equipment, control the mechanical matrix to form a bracket, adjust the orientation of electronic display equipment, and improve user experience.

With reference to the first aspect, in some possible implementation manners, the bracket makes the target face the user's head.

The bracket formed on the top of each motion unit in the mechanical matrix makes the electronic wire device face the user's head, which can improve the user experience.

With reference to the first aspect, in some possible implementation manners, at least one slope surface is formed on the top of the motion unit, so that the target slides to a target position, and the target position is located at the symmetry plane of the user's head , the bracket is located at the target position.

Setting the electronic display device on the symmetrical plane of the head can make the distance between the user's eyes and the electronic display device equal, thereby improving user experience.

With reference to the first aspect, in some possible implementation manners, the target slides on the slope so that the bottom of the target is perpendicular to the direct viewing direction of the user, and the support is formed such that the bottom A side is perpendicular to the plane of symmetry and directs the target towards the user's head.

Make the bottom edge of the target perpendicular to the user's direct view. Therefore, when the bracket is formed, without changing the motion unit in contact with the bottom edge of the target, the posture of the target is more in line with the posture requirements of the user for the electronic display device, thereby improving user experience.

With reference to the first aspect, in some possible implementations, the mechanical array is used to display an image, the multiple motion units correspond to multiple pixels of the image, and the mechanical array adjusted according to the contact information In the array, the color of at least one pixel is changed, and the at least one pixel is a pixel corresponding to at least one of the contact motion unit and the adjacent motion unit, and the contact motion unit is the pixel corresponding to the plurality of motion units. A moving unit that is in contact with the target, and the adjacent moving unit is a moving unit whose distance from the contacting moving unit is smaller than a preset value.

In the case that multiple motion units correspond to multiple pixels in the image displayed by the mechanical array, the color of each pixel can also be adjusted according to the contact information output by the support structure, making the control of the mechanical matrix more flexible.

In a second aspect, a method for controlling a mechanical matrix is provided, wherein the mechanical matrix includes a plurality of motion units, each of which is provided with a sensor, and the method includes: acquiring Contact information output by the set sensor, the contact information is used to indicate whether the top of the motion unit is in contact with the target; according to the contact information, adjust the height of the top of at least one of the motion units, the at least one motion unit includes a contact A motion unit and/or an adjacent motion unit, the tip of the contact motion unit is in contact with the target, and the distance between the adjacent motion unit and the contact motion unit is less than a preset value.

By setting a sensor on the motion unit, the contact information output by the sensor is used to indicate whether the tip of the motion unit is in contact with the target, and if there is a contact motion unit with the tip in contact with the target in the mechanical matrix, adjust the contact motion unit and the contact motion The height of the tip of at least one of the adjacent motion units near the unit is used to adjust the three-dimensional shape formed by the motion unit. Therefore, the adjustment method for the three-dimensional shape formed by each motion unit in the mechanical matrix is more flexible.

With reference to the second aspect, in some possible implementations, the height of the top is an absolute height, the plurality of motion units include a first motion unit and a second motion unit, and the top of the at least one motion unit The adjustment of the height makes the first motion unit and the second motion unit form a concave structure, the height of the top of the first motion unit is smaller than the height of the top of the second motion unit, and the second motion A unit surrounds the first motion unit, the first motion unit including the contact motion unit.

When the target is in contact with the motion unit in the mechanical matrix, the height of the top of the motion unit is adjusted to form a recessed structure, and the target is located in the recess. Compared with a shelf with a fixed shape, adjusting the height of the top of the motion unit in the mechanical matrix to form a shelf when the motion unit is in contact with the target can reduce the space occupied by the shelf.

With reference to the second aspect, in some possible implementation manners, in the adjusted mechanical matrix, the first motion unit is the contact motion unit.

With reference to the second aspect, the second motion unit includes the adjacent motion unit.

With reference to the second aspect, in some possible implementations, the mechanical matrix is located in the vehicle, and the method further includes: acquiring bump information, the bump information is used to indicate the vibration direction and the vibration distance of the vehicle vibration, the The vibration direction is a direction perpendicular to the sea level, and the vibration distance is used to indicate the absolute height change of the vehicle along the vibration direction; according to the bump information, an adjusted height difference is determined, and the adjusted height difference is the same as The vibration distance is positively correlated; the adjusting the height of the top of at least one of the motion units according to the contact information includes: adjusting the height of the top of the contact motion unit in a direction opposite to the vibration direction, The height variation of the contact motion unit is the adjusted height difference.

In the case of vehicle bumps, the absolute height of the vehicle changes. According to the jolt information, the height of the contact motion unit is adjusted so that the top of the contact motion unit moves relative to the vehicle. The top of the contact motion unit moves in the direction opposite to the vibration direction of the vehicle, and the height change difference of the contact motion unit is positively correlated with the vibration distance of the vehicle.

With reference to the second aspect, in some possible implementation manners, the mechanical matrix is located in a vehicle, and the method further includes: acquiring bump indication information, where the bump indication information is used to indicate that the vehicle is in a bump state; The contact information, adjusting the height of the top of at least one of the motion units includes: adjusting the height of the top of the contact motion unit according to the bump indication information and the first contact information output by the first sensor, so that The difference between the first pressure and the second pressure is the smallest, the first sensor is arranged on the top of the contact motion unit, the first contact information is used to indicate the first pressure, and the first pressure is at the top of the contact motion unit. The pressure received by the contact motion unit when the vehicle is in the turbulent state, and the second pressure is the pressure received by the contact motion unit when the vehicle is in a smooth running state.

The height of the top of the contact motion unit in the mechanical matrix is controlled to minimize the difference in the pressure on the contact motion unit when the vehicle is in a bumpy state and in a smooth driving state, which can reduce the bumps on the target at the top of the contact motion unit.

With reference to the second aspect, in some possible implementation manners, the target is an electronic display device, and in the adjusted mechanical matrix, the contact motion unit forms a bracket, and the bracket is used to set the orientation of the target.

With reference to the second aspect, in some possible implementation manners, the method further includes: determining that the target is an electronic display device according to the contact information.

Judging based on the contact information provides a convenient way to judge whether the target is an electronic display device.

With reference to the second aspect, in some possible implementation manners, head position information is acquired, the head position information is used to indicate the position of the user's head, and the bracket makes the target face the user head.

According to the obtained head position information, the height of the top of the motion unit in the mechanical matrix is controlled to form a bracket. The formed bracket makes the target face the user's head, which can improve user experience.

The mechanical matrix may be located in the vehicle, and the head position information may be determined from images collected by cameras in the vehicle.

With reference to the second aspect, in some possible implementation manners, acquire head posture information, the head posture information is used to indicate the symmetry plane of the user's head; determine the target position according to the head posture information , the position of the target is located on the plane of symmetry; the adjusting the height of the top of at least one of the motion units includes: adjusting the height of at least one of the motion units to form a slope, so that the target slides to the target position, the bracket is located at the target position.

With reference to the second aspect, in some possible implementation manners, the target slides on the slope so that the bottom of the target is perpendicular to the symmetry plane; the support is formed so that the target wraps around the bottom While rotating, the target after rotating around the bottom faces the user's head.

Make the bottom edge of the target perpendicular to the direct viewing direction of the user, so that when forming the bracket, the posture of the target is more in line with the posture requirements of the user for the electronic display device without changing the motion unit that the bottom edge of the target contacts , improve user experience.

For example, after the target slides on the slope, the height of the top of the motion unit below the target can be adjusted to make the target rotate around the direction perpendicular to the bottom edge on the display plane of the target, so that the bottom edge of the target is perpendicular to the symmetry plane , that is, make the bottom edge of the target parallel to the line connecting the eyes. Afterwards, the height of the top end of the motion unit below the target is adjusted so that the target turns along the bottom edge to form a stand.

With reference to the second aspect, in some possible implementations, the mechanical array is used to display an image, and the multiple motion units correspond to multiple pixels of the image, and the method further includes: according to the contact information, Adjusting the color of at least one pixel, where the at least one pixel is a pixel corresponding to at least one of the contact motion unit and the adjacent motion unit.

In the third aspect, a method for controlling a mechanical matrix is provided, the mechanical matrix includes a plurality of motion units, each of the motion units is provided with a sensor, and the sensor is used to output contact information, and the contact information is used to indicate Setting whether the top of the movement unit of the sensor is in contact with the target, the method includes: acquiring button formation information; adjusting the first movement unit and the second movement unit among the plurality of movement units according to the button formation information; The height of the top of at least one of the motion units in the units is used to form a button. In the adjusted mechanical matrix, the height of the top of the first motion unit located in the area where the button is located is the same as the height of the top of the second motion unit. The heights are different, the second motion unit surrounds the first motion unit; output key information, the key information is determined according to the contact information output by the sensor provided on the first motion unit.

The mechanical matrix can be controlled to form a button only when there is a need for the button, and the button information can be determined according to the contact information output by the sensor set on each motion unit in the mechanical matrix, so that the human-computer interaction function of the mechanical matrix can be realized and improved. Wide range of mechanical matrix applications.

With reference to the third aspect, in some possible implementation manners, the method further includes: acquiring button elimination information; and adjusting at least one of the first movement unit and the second movement unit according to the button elimination information. The height of the top of the motion unit to eliminate the button.

Buttons can be eliminated without requiring user input, thereby reducing the space occupied by buttons.

In a fourth aspect, there is provided a control device for a mechanical matrix, the mechanical matrix includes a plurality of motion units, each motion unit is provided with a sensor, and the control device includes: an acquisition module, configured to acquire the plurality of motion units The contact information output by the sensor provided above is used to indicate whether the top of the motion unit is in contact with the target; the adjustment module is used to adjust the height of at least one top of the motion unit according to the contact information, and the At least one motion unit includes a contact motion unit and/or an adjacent motion unit, the tip of the contact motion unit is in contact with the target, and the distance between the adjacent motion unit and the contact motion unit is less than a preset value.

With reference to the fourth aspect, in some possible implementation manners, the height of the top is an absolute height, the plurality of motion units include a first motion unit and a second motion unit, and the top of the at least one motion unit The adjustment of the height makes the first motion unit and the second motion unit form a concave structure, the height of the top of the first motion unit is smaller than the height of the top of the second motion unit, and the second motion The unit surrounds the first movement unit, and in the adjusted mechanical array, the first movement unit includes the contact movement unit.

With reference to the fourth aspect, in some possible implementation manners, in the adjusted mechanical matrix, the first motion unit is the contact motion unit.

With reference to the fourth aspect, in some possible implementation manners, the second motion unit includes the adjacent motion unit.

With reference to the fourth aspect, in some possible implementation manners, the mechanical matrix is located in the vehicle, and the acquiring module is further configured to acquire bump information, where the bump information is used to indicate the vibration direction and vibration distance of the vehicle vibration , the vibration direction is a direction perpendicular to the sea level, the vibration distance is used to indicate the absolute height change of the vehicle along the vibration direction; the control device also includes a processing module for The jolt information is used to determine the adjusted height difference, and the adjusted height difference is positively correlated with the vibration distance; the adjustment module is also used to adjust the height of the top end of the contact motion unit in a direction opposite to the vibration direction, The height variation of the contact motion unit is the adjusted height difference.

With reference to the fourth aspect, in some possible implementations, the mechanical matrix is located in the vehicle, and the control device further includes a processing module, the processing module is used to determine that the vehicle is in a bumpy state; the adjustment module also uses Therefore, according to the first contact information output by the first sensor, the height of the tip of the contact motion unit is adjusted to minimize the difference between the first pressure and the second pressure, the first contact information is used to indicate the A first pressure, where the first pressure is the pressure that the contact motion unit receives when the vehicle is in the bumpy state, and the second pressure is the pressure that the contact motion unit receives when the vehicle is in a smooth running state pressure.

With reference to the fourth aspect, in some possible implementations, whether the target is an electronic display device or not, in the adjusted mechanical matrix, the contact motion unit forms a bracket, and the bracket is used to set the orientation of the target .

With reference to the fourth aspect, in some possible implementation manners, the control device further includes a processing module, configured to determine, according to the contact information, that the target is an electronic display device.

With reference to the fourth aspect, in some possible implementation manners, the acquiring module is further configured to acquire head position information, the head position information is used to indicate the position of the user's head, and the bracket enables The target is directed toward the user's head.

With reference to the fourth aspect, in some possible implementation manners, the acquisition module is further configured to acquire head posture information, where the head posture information is used to indicate the symmetry plane of the user's head; the processing The module is also used to determine a target position according to the head posture information, and the target position is located on the symmetry plane; the adjustment module is also used to adjust the height of at least one of the motion units to form a slope, so that The target slides to the target position, and the bracket is located at the target position.

With reference to the fourth aspect, in some possible implementation manners, the head posture information is also used to indicate the user's direct gaze direction, and the sliding and turning of the target on the slope makes the bottom edge of the target perpendicular to the direct viewing direction; the bracket is formed such that the bottom edge is perpendicular to the plane of symmetry and the target faces the user's head.

With reference to the fourth aspect, in some possible implementations, the mechanical array is used to display an image, the multiple motion units correspond to multiple pixels in the image, and the adjustment module is further configured to, according to the The contact information is to adjust the color of at least one pixel, and the at least one pixel is a pixel corresponding to at least one of the contact motion unit and the adjacent motion unit.

In a fifth aspect, a control device for a mechanical matrix is provided, the mechanical matrix includes a plurality of motion units, each of the motion units is provided with a sensor, the sensor is used to output contact information, and the contact information is used to indicate Whether the top of the motion unit is in contact with the target, the control device includes: an acquisition module, configured to acquire button formation information; an adjustment module, configured to adjust the first motion unit among the plurality of motion units according to the button formation information , the height of the top of at least one of the second motion units to form a button, the second motion unit surrounds the first motion unit, and in the adjusted mechanical matrix, the first motion The height of the top of the unit is different from the height of the top of the second motion unit; the output module is used to output key information, and the key information is determined according to the contact information output by the sensor provided on the first motion unit of.

With reference to the fifth aspect, in some possible implementation manners, the acquiring module is further configured to acquire button elimination information; the adjusting module is further configured to adjust the first motion unit, the The height of the top of at least one of the second motion units is adjusted to eliminate the button.

In a sixth aspect, an electronic device is provided, including at least one memory and at least one processor, the at least one memory is used to store a program, and the at least one processor is used to run the program, so as to implement the first aspect. Methods.

In a seventh aspect, there is provided a chip, which is characterized in that it includes at least one processor and an interface circuit, the interface circuit is used to provide program instructions or data for the at least one processor, and the at least one processor is used to execute the The above program instructions are used to implement the method described in the first aspect.

According to an eighth aspect, a computer-readable storage medium is provided, wherein the computer-readable medium stores program code for execution by a device, and when the program code is executed by the device, the method described in the first aspect is implemented .

In a ninth aspect, a computer program product is provided, the computer program product includes a computer program, and when the computer program product is executed by a computer, the computer executes the method in the aforementioned first aspect.

It should be understood that in this application, the method in the first aspect may specifically refer to the first aspect and the method in any of the various implementation manners in the first aspect.

A tenth aspect provides a terminal, including the mechanical matrix of the first aspect, and the control device of the mechanical matrix of the fourth aspect, the control device of the mechanical matrix of the fifth aspect, or the electronic device of the sixth aspect .

Further, the terminal can be transportation equipment, such as cars, trucks, motorcycles, buses, boats, airplanes, helicopters, lawn mowers, recreational vehicles, playground vehicles, construction equipment, trams, golf carts, Trains, trolleys, etc.

Description of drawings

Fig. 1 is a schematic structural diagram of a mechanical matrix provided by an embodiment of the present application.

Fig. 2 is a schematic flowchart of a method for controlling a mechanical matrix provided by an embodiment of the present application.

Fig. 3 is a schematic flowchart of another method for controlling a mechanical matrix provided by an embodiment of the present application.

Fig. 4 is a schematic flowchart of a method for determining an electronic display device provided by an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a mechanical matrix provided by an embodiment of the present application.

Fig. 6 is a schematic structural diagram of another mechanical matrix provided by an embodiment of the present application.

Fig. 7 is a schematic structural diagram of another mechanical matrix provided by the embodiment of the present application.

Fig. 8 is a schematic flowchart of another method for controlling a mechanical matrix provided by an embodiment of the present application.

9 to 13 are schematic structural diagrams of the mechanical matrix provided by the embodiment of the present application.

Fig. 14 is a schematic flowchart of another method for controlling a mechanical matrix provided by an embodiment of the present application.

Fig. 15 is a schematic structural diagram of a mechanical matrix provided by an embodiment of the present application.

Fig. 16 is a schematic flowchart of another method for controlling a mechanical matrix provided by an embodiment of the present application.

Fig. 17 is a schematic structural diagram of a mechanical matrix provided by an embodiment of the present application.

Fig. 18 is a schematic flowchart of another method for controlling a mechanical matrix provided by an embodiment of the present application.

Fig. 19 is a schematic flowchart of another method for controlling a mechanical matrix provided by an embodiment of the present application.

Fig. 20 is a schematic flowchart of another method for controlling a mechanical matrix provided by an embodiment of the present application.

Fig. 21 is a schematic structural diagram of a vehicle-mounted system provided by an embodiment of the present application.

Fig. 22 is a schematic structural diagram of a mechanical matrix control device provided by an embodiment of the present application.

Fig. 23 is a schematic structural diagram of another mechanical matrix control device provided by an embodiment of the present application.

Fig. 24 is a schematic structural diagram of another mechanical matrix control device provided by an embodiment of the present application.

detailed description

The technical solution in this application will be described below with reference to the accompanying drawings.

The mechanical matrix includes multiple matrix units, and each matrix unit can move bidirectionally along a straight line, that is, the height of each matrix unit is adjustable. The mechanical matrix can be used to display text, graphics, changing animations, etc. By controlling the height of each matrix unit in the mechanical matrix, various three-dimensional graphic effects can be changed. The control of the mechanical matrix and the cooperation of the lighting and audio media bring the audience a good audio-visual and visual experience.

The three-dimensional shape formed by the mechanical matrix is preset, and the adjustment method of the three-dimensional shape has low flexibility.

In order to solve the above problems, embodiments of the present application provide a mechanical matrix, and a control method and device for the mechanical matrix.

The mechanical matrix 100 includes a plurality of motion units 110 , and the height of the top of each motion unit 110 is adjustable.

The height of the top of the motion unit 110 may be used to indicate the distance between the top of the motion unit 110 and the reference plane. The reference plane may be a horizontal plane, or may have a certain angle with the horizontal plane.

Each motion unit 110 is provided with a sensor 120 for outputting contact information. The contact information is used to indicate whether the tip of the motion unit 110 is in contact with the target.

It should be understood that the contact information output by each sensor is used to indicate whether the tip of the motion unit on which the sensor is disposed is in contact with the target.

By installing a sensor on each motion unit, the contact information output by the sensor can indicate whether the tip of the motion unit on which the sensor is installed is in contact with the target, thus making the control of the three-dimensional shape formed by the mechanical matrix more flexible.

The sensor can continuously output contact information, indicating whether the tip of the motion unit is in contact with the target through different information contents. Alternatively, the sensor may output contact information only if the tip of the motion unit is in contact with the target. Alternatively, the sensor may output contact information only if the tip of the motion unit is not in contact with the target.

The height of the top of each movement unit 110 can be adjusted according to the contact condition between the top of each movement unit 110 and the target, so that the three-dimensional shape formed by the mechanical matrix changes according to the contact condition with the target.

It is also possible to adjust the height of the top of the motion unit 110 when the user needs to input information, so that the three-dimensional shape formed by the mechanical matrix meets the requirements of ergonomics, handles the coordination relationship between man-machine-environment, and improves user satisfaction.

In the mechanical structure, each motion unit can be a structure with a fixed shape, or a structure with an adjustable shape.

For example, the shape of the motion unit may be columnar or similar to a column, and the motion unit may move along the longitudinal direction of the column, so that the height of the top of the motion unit can be adjusted. Or, the motion unit can be a telescopic structure, the bottom end of the motion unit can be fixed, and the height adjustment to the top of the motion unit can be realized through the expansion and contraction of the motion unit.

The sensor 120 may be a pressure sensor, an optical sensor, or the like.

The pressure sensor may be disposed at the top or bottom of the motion unit 110 . The contact information output by the pressure sensor can be used to indicate the magnitude of the pressure. If the pressure indicated by the contact information output by the pressure sensor is greater than or equal to the preset value, it can be determined that the motion unit setting the sensor is in contact with the target; conversely, if the pressure indicated by the contact information output by the pressure sensor is less than the preset value, it can be determined The motion unit on which this sensor is set is not in contact with the target.

An optical sensor may be disposed on the top of the motion unit 110 . The contact information output by the optical sensor can be used to indicate the magnitude of the light intensity. When the light intensity indicated by the contact information output by the optical sensor is less than or equal to the preset value, it can be determined that the motion unit setting the sensor is in contact with the target; otherwise, if the light intensity indicated by the contact information output by the optical sensor is greater than the preset value, then It can be determined that the motion unit on which the sensor is provided is not in contact with the target.

The mechanical matrix 100 can be controlled by the method shown in FIG. 2 .

The mechanical matrix includes multiple motion units, each of which is provided with a sensor. Specifically, reference may be made to the description of FIG. 1 .

The control method 1000 of the mechanical matrix includes steps S1010 to S1020.

At S1010, acquire contact information output by sensors provided on the plurality of motion units, where the contact information is used to indicate whether the tip of the motion unit is in contact with the target.

At S1020, adjust the height of the tip of at least one of the motion units according to the contact information, the at least one motion unit includes a contact motion unit and/or an adjacent motion unit, and the top of the contact motion unit is in contact with the target , the distance between the adjacent motion unit and the contact motion unit is smaller than a preset value.

By setting a sensor on the motion unit, the contact information output by the sensor is used to indicate whether the motion unit is in contact with the target, and in the case of the motion unit being in contact with the target, adjust the height of the top of the motion unit to adjust the three-dimensional shape formed by the motion unit . Therefore, the adjustment method for the three-dimensional shape formed by each motion unit in the mechanical matrix is more flexible.

The height of the top of the motion unit 110 can be adjusted according to the contact between the top of each motion unit and the target, so that the three-dimensional shape formed by the mechanical matrix changes with the contact with the target.

Mechanical matrices can be used to display solid shapes.

When the user's fingers or other objects perform different operations such as touching and sliding on different positions of the three-dimensional figure, the sensors at the top of each motion unit forming the three-dimensional shape output contact information. The adjustment mode corresponding to the user operation may be determined according to the contact information output by each sensor, and the height of the top of each motion unit may be adjusted.

For example, a mechanical matrix showing the shape of a cake. According to the contact information output by each sensor in the mechanical matrix, when it is determined that the target (such as the user's finger, etc.) penetrates through the upper surface of the cake, the top height of the motion unit at the position where the user swipe can be controlled to decrease, so as to Shows the shape of the cake after it has been cut.

Mechanical Matrix can be used for storage.

In the case where a mechanical matrix is used to place items, the height of the top of each motion unit refers to the absolute height. Absolute height, also known as altitude, refers to the vertical distance from the sea level, or the height with the mean sea level as the reference plane.

In the case that the mechanical matrix can be used for placing objects, in the adjusted mechanical matrix obtained by performing S1020, the first motion unit and the second motion unit form a concave structure. The height of the top of the first motion unit is smaller than the height of the top of the second motion unit, and the second motion unit surrounds the first motion unit. In the adjusted mechanical array, the first motion unit includes the contact motion unit.

By controlling the height of the top of at least one motion unit in the mechanical matrix, the concave structure formed by the first motion unit and the second motion units surrounding the first motion unit is formed. The first movement unit includes a contact movement unit, that is, the target is located in the recessed structure, so that the recessed structure can limit the movement range of the target and improve the stability when placing objects.

The shape of the storage rack is fixed, and when the user does not place items in the storage rack, the storage rack takes up space. When the target is in contact with the motion unit in the mechanical matrix, the height of the motion unit is adjusted to form a recessed structure, that is, a shelf is formed. The storage rack is formed when items are placed, thereby reducing the space occupied by the storage rack.

It should be understood that there may be multiple contact motion units, and the first motion unit may include all contact motion units in the mechanical array.

Since the number of targets placed on the mechanical matrix can be multiple. Successive contact motion units can be understood as corresponding to one target. Therefore, the height of the top of each movement unit can be adjusted to form a concave structure corresponding to each target. In the following, the number of targets is taken as an example for description.

There may be multiple first motion units. In the adjusted mechanical matrix, the first motion unit includes a contact motion unit. The first motion unit may only include contact motion units, may also include adjacent motion units, and may also include other motion units.

Each of the first motion units may be a contact motion unit. The first motion units located below the target are all in contact with the target, providing stable support for the target, and improving the stability of placed objects.

The second motion unit may include an adjacent motion unit. That is to say, the distance between the second movement unit and the first movement unit may be less than or equal to a preset value.

The distance between the second movement unit located around the target and the first movement unit located below the target is less than or equal to a preset value, so that the shape and size of the recessed structure adapt to the shape of the target and improve the stability of placed items.

The mechanical matrix may be located in the vehicle. Vehicles can be vehicles such as cars, trucks, motorcycles, buses, boats, airplanes, helicopters, lawn mowers, recreational vehicles, playground vehicles, construction equipment, trams, golf carts, trains, trolleys, etc. Examples are not particularly limited.

There may be bumps during the driving of the vehicle, and the height of the contact motion unit placed under the target on the mechanical matrix can be adjusted to reduce the bumps on the target.

On the one hand, bump information may be acquired, the bump information is used to indicate the vibration direction and vibration distance of the vehicle vibration, the vibration direction is a direction perpendicular to the sea level.

The adjusted height difference may be determined according to the turbulence information, and the adjusted height difference is positively correlated with the shaking distance.

The height of the top end of the contact motion unit can be adjusted in a direction opposite to the vibration direction, and the height change of the contact motion unit is the adjusted height difference.

In the case of vehicle bumps, the height of the top of the first motion unit is adjusted in the direction opposite to the vibration direction, and the adjusted height difference is positively related to the vibration distance of the vehicle bumps, thereby reducing the distance between the target and the sea level The range of change can reduce the turbulence suffered by the target.

It should be understood that during the process of adjusting the height of the tip of each movement unit, the contact movement unit may change. For example, at time t0, the moving unit in contact with the target is the touching moving unit 1 . At time t0, the height of the contact motion unit 1 is lowered. During the descending process of the contact motion unit 1 , the motion units other than the contact motion unit 1 contact the target. For example, at time t1 during the descent of the contact movement unit 1 , the movement unit in contact with the target is the contact movement unit 2 . The contact sport unit 2 may include all or part of the contact sport unit 1 , and the contact sport unit 2 may also include other contact sport units other than the contact sport unit 1 .

It should be understood that during the process of adjusting the height of the contact motion unit according to the jolt information, the new target unit that is in contact with the target can also be used as the contact motion unit for height adjustment.

On the other hand, the height of the tip of the contact motion unit may be adjusted according to the first contact information output by the first sensor in the bumpy state of the vehicle, so that the difference between the first pressure and the second pressure is minimized , the first contact information is used to indicate the first pressure, the first pressure is the pressure on the contact motion unit when the vehicle is in the bumpy state, and the second pressure is the pressure when the vehicle is in a smooth running state The pressure on the contact motion unit in the state.

The first sensor may be provided at the contact motion unit.

It may be determined that the vehicle is in a bumpy state based on the bumpy information or other information. For example, if the bump information indicates that the vibration distance of the vehicle is greater than a preset value, it may be determined that the vehicle is in a bump state.

It should be understood that the second pressure may be the pressure output by the first sensor when the vehicle is in the bumpy state. Alternatively, the second pressure may also be an average value of the pressure output by the first sensor within a period of time.

By adjusting the height of the top end of the contact motion unit during the bumping process of the vehicle, the difference between the first pressure on the contact motion unit in a bumpy state and the second pressure on the contact motion unit in a smooth driving situation can be reduced. The bumps on the small target.

Specifically, the positive correlation coefficient between the adjustment height difference and the vibration distance can be adjusted according to the difference between the first pressure on the contact motion unit in a bumpy state and the second pressure on the contact motion unit in a smooth driving state, so that Correct the adjustment height difference to further reduce the turbulence suffered by the target.

The pressure on the contact motion unit can be understood as the pressure component in the vertical direction.

In the case where the mechanical matrix is used for placing objects, when the target placed on the mechanical matrix is an electronic display device, the orientation of the electronic display device can also be adjusted by adjusting the height of the motion unit in the mechanical matrix.

Specifically, in the adjusted mechanical matrix, the contact motion unit forms a bracket, and the bracket is used to set the orientation of the target.

Further, it may be determined whether the target is an electronic display device according to the contact information output by each sensor.

The bracket can make the target face a certain preset direction.

Alternatively, head position information may be acquired, where the head position information is used to indicate the position of the user's head. Thus, the brace is formed so that the target is directed toward the user's head.

The head position information may be determined according to the image information collected by the camera.

For example, the mechanical matrix can be located around the driver's seat in the vehicle, and cameras in the vehicle can capture images of the driver's head so that the position of the driver's head can be determined. Head position information may be used to indicate the driver's head position.

Further, head posture information may also be acquired, and the head posture information is used to indicate the symmetry plane of the user's head.

The head pose information may include the orientation of the user's face. According to the head posture information and the head position information, the symmetry plane of the user's head can be determined.

A target position may be determined according to the head posture information, and the target position is located on the symmetry plane.

The height of at least one of the moving units may be adjusted to form a slope, so that the target slides to the target position. A stent can be located at the target location. That is, the bracket can be used to set the orientation of the target at the target location.

Further, the head posture information is also used to indicate the direct-looking direction of the user. When the target slides to the target position, the formed slope can also change the angle between the bottom edge of the target and the direct viewing direction. After the target slides on the slope, the bottom edge of the target may be perpendicular to the direct viewing direction.

The bracket is formed so that the target can rotate around the bottom edge, and the target rotated around the bottom edge faces the user's head.

By adjusting the height of the top of the motor unit, the sliding of the target can be made. The sliding of the target makes the plane perpendicular to the display plane of the target where the bottom edge of the target is located be perpendicular to the symmetry plane of the user's head. That is, the object slides so that the bottom edge of the object is parallel to the plane of the user's face. Afterwards, the support can be formed so that the bottom edge of the target can be perpendicular to the symmetry plane and make the target face the user's head.

Therefore, it is relatively easy to make the target face the user's head, so that the display of the target meets the usage requirements and improves the user experience.

In some embodiments, the target may be perpendicular to the symmetry plane of the user's head after sliding on the slope.

To improve user experience, mechanical arrays can be used to display images. Multiple motion units may correspond to multiple pixels of an image, and different pixels may display the same or different colors.

When the tip of at least one of the motion units is in contact with the target, in addition to adjusting the height of the motion unit, the color corresponding to each motion unit can also be adjusted. That is to say, according to the contact information, the color of at least one pixel may be adjusted, and the at least one pixel is a pixel corresponding to at least one of the contact motion unit and the adjacent motion unit. .

The color of a pixel can be represented by a pixel value. The pixel value of the image can be a red-green-blue (RGB) color value, and the pixel value can be a long integer representing the color. For example, the pixel value is 256*Red+100*Green+76Blue, where Blue represents a blue component, Green represents a green component, and Red represents a red component. In each color component, the smaller the value, the lower the brightness, and the larger the value, the higher the brightness. For grayscale images, the pixel values may be grayscale values.

By installing a sensor on the motion unit and adjusting the color of the pixel corresponding to the motion unit according to the contact between the motion unit and the target, the adjustment method for the image displayed in the three-dimensional shape formed by each motion unit in the mechanical matrix is more flexible.

Fig. 3 is a schematic flowchart of a method for controlling a mechanical matrix provided by an embodiment of the present application.

Near the front seat of the vehicle, a cup holder is generally designed. During the running of the vehicle, items such as water cups can be placed in the cup holder, which can prevent the water cups from toppling over due to bumps during the running of the vehicle. The cup holder can also be used as a storage space for storing mobile phones, keys and other personal belongings, which is very convenient.

Generally, in order to make the water cup stable in the cup holder, the shape and size of the cup holder are limited, and it is impossible to place large items, which reduces the convenience of the water cup holder as a storage space for users.

The mechanical matrix may be located in the cabin of the vehicle. The mechanical matrix can be located between the driver's and passenger's seats, or it can be located elsewhere, such as at the rear seats. The mechanical matrix can be at the same height as the seat, or it can be slightly higher or lower than the seat height to facilitate placement of items on the mechanical matrix by the driver or other vehicle users.

A mechanical matrix can include multiple motion units. It is illustrated by taking each motion unit of the mechanical matrix as a support rod with the same shape as an example. In the mechanical matrix, multiple support rods are arranged in a matrix, and each support rod can move up and down along the longitudinal direction of the support rod. Items can be placed on the Mechanical Matrix. The mechanical matrix can also be called a storage array or a storage table, etc.

The control method 200 of the mechanical matrix may be performed by a surface control module. The control method 200 of the mechanical matrix includes S210-S250.

In S210, the top ends of the plurality of support rods are set at an initial horizontal plane.

Each support rod can be moved above or below the initial horizontal plane. For example, a support rod whose tip is located in the initial plane is located in the middle of the range of motion of the support rod.

At S220, a support rod in contact with the target is determined.

Targets can be items placed on the Mechanical Matrix by the driver or other members of the vehicle.

The top of each support rod is provided with a sensor. For example, it could be a pressure sensor or a light sensor. The surface control module can receive the information output by each sensor, and determine the support rod in contact with the target according to the information output by each sensor.

The pressure sensor is used to sense the pressure signal and convert the pressure signal into an electrical signal for output. When the pressure indicated by the output signal of the pressure sensor at the top of the support rod is greater than or equal to a preset value, it is determined that the top of the support rod is in contact with the target.

The light sensor is used to sense the light intensity signal and convert the light intensity signal into an electrical signal for output. When the light intensity indicated by the output signal of the light sensor at the top of the support rod is less than a preset value, it is determined that the top of the support rod is in contact with the target.

At S230, it is determined whether the target is an electronic display device.

Whether the target is an electronic display device can be determined according to the shape of the area where the support rod in contact with the target is located.

Further, when the sensor provided on the support rod is a pressure sensor, it can also be determined whether the target is an electronic display device according to the pressure indicated by the sensor provided at the top of each support rod in contact with the target.

The size information and quality information of electronic display devices such as smart phones and tablet computers can be combined to determine whether the target is an electronic display device. Specifically, reference may be made to the description of FIG. 3 .

If it is determined that the target is an electronic display device, go to S240.

In S240, the height of the support bar is adjusted in the stand mode.

The stand mode adjusts the height of the support bar to form a stand so that the display surface of the electronic display device faces the driver. Specifically, reference may be made to the description of FIG. 4 .

When the target is an electronic display device, adjusting the height of the support rod so that the surface of the target for display faces the driver can improve the convenience of the driver when using the electronic display device.

If it is determined that the target is not an electronic display device, go to S250.

In S250, the height of the support rod is adjusted in the storage mode.

Adjusting the height of the support rod in the object placement mode can form a recessed structure, so that the target is located in the recessed structure, so that the position of the target is fixed. Specifically, reference may be made to the description of FIG. 8 .

By adjusting multiple support rods and fixing the position of the target, the target can be prevented from falling from the mechanical matrix when the vehicle is driving in a bumpy environment.

The electronic display device judging method 300 includes S310-S330, which can be executed by the surface control module. The surface control module can determine whether the target is an electronic display device by executing the electronic display device judging method 300.

The target is located on the mechanical matrix, as shown in Figure 5. According to the information output by the sensors provided on each support pole, the support pole in contact with the target can be determined. The area where the support rods are in contact with the target may be referred to as the contact area. At this time, the contact situation between the target and each support rod can be as shown in FIG. 6 . Each support rod can be represented as a point, the support rod not in contact with the target is represented by a hollow point, and the point in contact with the target is represented by a solid point.

At S310, it is determined whether the target bottom surface is a rectangle. Specifically, S311-S313 may be performed.

At S311, vertices of the contact area are determined.

The electronic display device is generally rectangular, and the points with the largest coordinates and the smallest coordinates in the contact area in two perpendicular directions can be determined as vertices respectively.

The horizontal and vertical directions of the support bar matrix are perpendicular to each other. According to the position of each support rod in the support rod matrix, each vertex of the contact area can be expressed as: the uppermost point (x _t , y _t ) in the longitudinal direction, the lowermost point (x _d , y _d ) in the longitudinal direction, and the leftmost point in the horizontal direction Point (x _l , y _l ), the rightmost point in the horizontal direction (x _r , y _r ).

In S312, the edges of the contact area are determined according to the vertices.

Starting from the row where the uppermost point (x _t , y _t ) is located and ending with the row where the lowest point (x _d , y _d ) is located, determine the set of edge points in the strut matrix. The set of edge points includes: the edge contact point on the left side of each row that is in contact with the target, the edge contact point on the right side of each row that is in contact with the target, and the edge contact point on the upper side of each column that is in contact with the target point, the edge contact point on the lower side of each column where the lowermost side contacts the target. The edge contact point, that is, the point at the edge position among the points in contact with the target.

The expression of the edge L1 of the contact area can be obtained by fitting a straight line to the points whose x coordinates are between x _l and x _t and y coordinates y _l and y _t in the edge point set. The expression of the edge L2 of the contact area can be obtained by fitting a straight line to the points whose x coordinates are between x _r and x _t and y coordinates y _r and y _t in the edge point set.

The expression of the edge L3 of the contact area can be obtained by fitting a straight line to the points whose x coordinates are between x _l and x _d and y coordinates y _l and y _d in the edge point set. The expression of the edge L4 of the contact area can be obtained by fitting a straight line to the points whose x coordinates are between x _r and x _d and y coordinates y _r and y _d in the edge point set.

Fit a straight line to N points, each point can be expressed as ( _xi , y _i ), x _i ∈ [1, N], y _i ∈ [1, N], i, N are positive integers. The following formula can be used for straight line fitting:

Among them, a and b are the parameters of the fitted straight line expression. The fitted straight line can be expressed as: y=ax+b.

Therefore, according to the number and coordinates of the edge contact points used to determine each edge, the straight line expression of the edge can be determined, that is, each edge of the contact area is determined, as shown in FIG. 7 .

The shape of the mechanical matrix may be rectangular. Possible parts of the target area may extend beyond the edge of the mechanical matrix. For example, a corner of a rectangular electronic display device may extend beyond the left edge of the mechanical matrix. In this case, a plurality of support rods located on the left edge of the mechanical matrix are in contact with the electronic display device. The uppermost point among the multiple support rods on the left edge that is in contact with the target can be taken as a horizontal leftmost point (x _l1 , y _l1 ), combined with the vertical uppermost point (x _t , y _t ), to calculate the expression; and the lowest point among the multiple support rods that are in contact with the target on the left edge is taken as another horizontal leftmost point (x _l2 , y _l2 ), combined with the vertical lowest point (x _d , y _d ), calculate the expression of edge L3.

In S313, it is judged whether there are two groups of sides, and two sides in each group are parallel to each other.

L1 to L4 are grouped, and the lines in each group are obtained from completely different vertices. L1 to L4 can be divided into two groups, and each group includes two sides, wherein, the side L1 obtained from the uppermost point and the leftmost point and the side L4 obtained from the lowermost point and the rightmost point form a group, and according to the uppermost point and the most The side L2 obtained from the right point and the side L3 obtained from the bottommost point and the leftmost point form a group.

Determine whether, for each set, two edges are parallel.

The inclination angle of each edge can be calculated. The inclination angle of the i-th side can be expressed as arctanb _i , i=1,2,3,4.

When the difference between the inclination angles of two sides in a group is smaller than a preset value, it may be determined that the two sides are parallel. The preset value may be 2°, for example.

If the sides in each group are parallel, the target base can be determined to be rectangular. That is, when arctan b ₁ -arctan b ₄ |≤θ and |arctan b ₂ -arctan b ₃ |≤θ, it is determined that the target base is a rectangle; otherwise, it is determined that the target base is not a rectangle. Wherein, θ is a preset angle value, for example, it may be 1°, 2° or 3°.

When the bottom surface of the target is not a rectangle, it may be determined that the target is not an electronic display device, and S250 is performed.

When the target bottom surface is a rectangle, go to S320.

At S320, it is determined whether the aspect ratio of the target bottom surface satisfies a preset ratio range.

The length and width of the target can be calculated according to the four sides L1 to L4, so as to determine the aspect ratio of the target.

The length l of the target can be expressed as:

The width d of the target can be expressed as:

Thus the aspect ratio k of the target bottom surface can be determined:

The preset ratio range may be determined according to known aspect ratios of electronic display devices. As shown in Table 1, are the parameters of different types of electronic display devices.

Table 1

The preset ratio range may be greater than or equal to a minimum value among known aspect ratios of various types of electronic display devices, and less than or equal to a maximum value among known aspect ratios of various types of electronic display devices.

When the aspect ratio of the bottom surface of the target does not meet the preset ratio range, it may be determined that the target is not an electronic display device, and S250 is performed.

When the aspect ratio of the target bottom surface satisfies the preset ratio range, go to S330.

At S330, it is determined whether the ratio of the target pressure on the mechanical matrix to the target bottom surface area satisfies a preset pressure range.

The area of the target bottom surface may be determined according to the sides of the contact area.

When the target does not exceed the range of the mechanical matrix, the contact area is rectangular, and the area of the bottom surface of the target is the area of the contact area.

When the target exceeds the range of the mechanical matrix, the contact area is not a rectangle, and it can be accurately judged whether the target is an electronic device according to the area of the bottom surface of the target determined by the contact area.

The preset pressure range may be greater than or equal to the minimum value and the maximum value of the known pressures when multiple types of electronic display devices are placed on a horizontal plane.

When an electronic display device with mass m is placed on a horizontal plane, the pressure P is equal to the gravity of the electronic display device, which can be expressed as

where g is the acceleration due to gravity.

Under the condition that the target does not exceed the range of the mechanical matrix and the supporting rods of the mechanical matrix are uniformly set and stressed uniformly, the pressure F of each supporting rod is:

where ρ is the density of the struts.

In the case that the target does not exceed the range of the mechanical matrix, and the mechanical matrix support rods are uniformly set and the force is uniform, the judgment of whether the ratio of the gravity of the target to the target area meets the preset pressure range can also be converted to support rods covering the target Judgment under pressure.

When there are no more than three consecutive support rods in contact with the target at the edge of the mechanical matrix, it can be determined that the target is not beyond the range of the mechanical matrix.

When the ratio of the gravity of the target to the area of the bottom surface of the target does not satisfy the preset pressure range, it may be determined that the target is not an electronic display device, and S250 is performed.

When the ratio of the gravity to the area of the target satisfies the preset pressure range, it may be determined that the target is an electronic display device, and S240 is performed.

Fig. 8 is a schematic flowchart of a method for controlling a mechanical matrix provided by an embodiment of the present application.

If the target is an electronic display device, the surface control module may perform S410-S420 to implement the method S240.

At S410, the driver's head posture is acquired.

The driver's head posture can be represented by the position of the origin of the head coordinate system in the vehicle body coordinate system and the direction that each coordinate axis of the head coordinate system points to in the vehicle body coordinate system. In general, the vehicle has a vehicle coordinate system with the center of mass as the origin. The x-axis of the vehicle coordinate system can be the driving direction of the vehicle, that is, the direction in which the head of the vehicle points, the y-axis of the vehicle coordinate system can be the lateral direction of the vehicle, and the z-axis of the vehicle coordinate system can be the vertical upward direction. Therefore, the head coordinate system can be understood as a local coordinate system.

The origin of the head coordinate system is the center of the driver's head, the x-axis is the horizontal direction perpendicular to the driver's direct viewing direction, the z-axis is the direct viewing direction from the origin to the driver, and the y-axis is perpendicular to the x-axis and aligned with The direction vertical to the y-axis, the y-axis may be a direction pointing to the top of the driver's head.

The driver's direct gaze direction can also be understood as the driver's frontal gaze direction, which may be a direction perpendicular or approximately perpendicular to the plane where the driver's eyes and mouth are located.

In a vehicle, a driver monitoring system (DMS) can determine the pose of the driver's head. DMS is a system based on image processing technology and/or voice processing technology to monitor the status of the driver in the car, mainly used to ensure driving safety and improve driving experience. DMS can achieve driver identity recognition or driver status detection based on image recognition algorithms, computer vision algorithms, eye sight tracking, pupil detection and other technologies. Driver state detection includes detection of the pose of the driver's head.

The DMS can acquire the images collected by the camera. DMS can image the driver's head and eyes, so as to determine the position of the driver's head and eyes. For example, a DMS can use a neural network model to process images captured by a camera to determine the position of the driver's head and eyes. The position of the driver's head can be expressed as the position of the driver's head in the vehicle body coordinate system. The position of the driver's eyes can be expressed as the position of the driver's eyes in the vehicle body coordinate system, or as the relative position between the driver's eyes and the driver's head. Based on the relative position of the driver's head and eyes, the driver's attitude can be determined.

The surface control module can send a detection request to the DMS. The DMS detects the pose of the driver's head based on the detection request. The DMS can send the pose of the driver's head to the surface control module. The signal transmission between the surface control module and the DMS can be forwarded by a smart cockpit domain controller (cockpit domain controller, CDC) or a vehicle identification unit (vehicle identification unit, VIU).

Under normal circumstances, when an item user places an item, he or she will subconsciously look at the location where the item is placed. The driver's head pose may be acquired when at least one support rod in the mechanical matrix is determined to be in contact with the target.

At S420, adjust the height of the support bar according to the driver's head posture, so that the electronic display device faces the driver.

S420 may be performed by the surface control module. Specifically, S421 to S422 may be performed.

In S421, the target position is determined according to the driver's head posture.

The target location is within the driver's line of sight.

The target position may lie on a curve where the plane of symmetry of the driver's head intersects the surface of the mechanical matrix. For example, the target location may be where the direction the driver is looking directly intersects the surface of the mechanical matrix. It may be based on the driver's head posture to determine the direction the driver is looking directly at.

Where the CDC receives the pose of the driver's head, the target position can also be determined by the CDC and sent to the surface control module. The target position can be used to represent the position of the origin of the device coordinate system in the vehicle coordinate system.

In the case that the electronic display device is located at the target position, go to S423.

If the electronic display device is not at the target location, S422 may be performed. And after S422, S423 can be performed.

At S422, adjust the height of the support bar to form a slope, so that the electronic display device slides to the target position.

The electronic display device located on the slope slides from a higher position to a lower position under the action of gravity. 9 and 10 show the slope formed by the support rods, and the position changes of the electronic display device on the slope.

During the sliding process of the electronic display device, according to the information output by the sensor at the top of the support rod, it can be determined whether the electronic display device has reached the target position.

Through S422, the target can be set at the target position.

At S423, adjust the height of the support rods to form a bracket.

By forming the stand, it is possible to direct the display surface of the electronic display device for display towards the driver.

Specifically, a device coordinate system of the electronic display device may be established, and the device coordinate system may be understood as a local coordinate system. The origin of the device coordinate system may be the center of mass of the electronic display device or other positions on the electronic display device, and the z-axis direction of the device coordinate system is a direction perpendicular to the display surface of the electronic display device. Generally, the display surface is rectangular, the x-axis can be the direction of the bottom, the y-axis can be the direction of the side adjacent to the bottom, and the origin of the device coordinate system is located at the center of the electronic display device. The bottom side can be preset to be the long side or the short side in the long direction.

The display surface faces the driver, that is, the z-axis direction of the device coordinate system points to the driver. In some embodiments, the z-axis direction of the device coordinate system may be parallel to the z-axis direction of the head coordinate system.

The height of the support rod is adjusted to form a slope, and the electronic display device located on the slope can rotate under the action of gravity. The height of the support rod can be adjusted to form a slope, so that the electronic display device can rotate along the z-axis of the device coordinate system. The rotation of the electronic display device along the z-axis of the device coordinate system makes the projection of the x-axis of the device coordinate system on the x-y plane of the vehicle coordinate system parallel to the projection of the x-axis of the head coordinate system on the x-y plane of the vehicle coordinate system.

It should be understood that the attitude of the electronic display device may also be adjusted during S422 or before S422 so that the x-axis of the device coordinate system is parallel to the projection of the x-axis of the head coordinate system on the x-y plane of the vehicle coordinate system. As shown in FIG. 11 , before performing S422, the electronic display device is located at position P1, the distance between the projection of the x-axis of the device coordinate system on the x-y plane of the vehicle coordinate system and the projection of the x-axis of the head coordinate system on the x-y plane of the vehicle coordinate system The included angle is α, and α is greater than 0; after performing S422, the electronic display device is located at position P2, the projection of the x-axis of the device coordinate system on the x-y plane of the vehicle coordinate system and the projection of the x-axis of the head coordinate system on the x-y plane of the vehicle coordinate system parallel.

The height of the support rod can be adjusted to form a slope, so that the electronic display device rotates along the y-axis of the device coordinate system, and the x-axis of the device coordinate system of the electronic display device after rotating around the y-axis and the x-axis of the head coordinate system parallel.

Make the projection of the x-axis of the device coordinate system on the x-y plane of the vehicle coordinate system parallel to the projection of the x-axis of the head coordinate system on the x-y plane of the vehicle coordinate system, and make the x-axis of the device coordinate system parallel to the x-axis of the head coordinate system , which can make the bottom edge of the display device perpendicular to the direct viewing direction of the driver, thereby improving user experience.

The target is located at the target position, the target position is located on the symmetry plane of the driver's head, the projection of the x-axis of the device coordinate system on the x-y plane of the vehicle coordinate system is parallel to the projection of the x-axis of the head coordinate system on the x-y plane of the vehicle coordinate system, and When the x-axis of the device coordinate system is parallel to the x-axis of the head coordinate system, the z-axis of the device coordinate system is coplanar with the z-axis of the head coordinate system.

Afterwards, the height of the support rod is adjusted so that the electronic display device rotates along the x-axis of the device coordinate system, as shown in FIG. 12 . The electronic display device rotated along the x-axis of the device coordinate system faces the driver. When the height adjustment of the support bar reduces the angle between the z-axis of the equipment coordinate system and the position of the electronic display device and the position of the driver's head, it can be understood that the height adjustment of the support bar makes the electronic display device face the driver.

For example, as shown in FIG. 13 , the rotation of the electronic display device along the x-axis of the device coordinate system (shown by the dotted line) can make the z-axis of the device coordinate system parallel to the z-axis of the head coordinate system (shown by the solid line). Alternatively, the rotation of the electronic display device along the x-axis of the device coordinate system may make the z-axis of the device coordinate system point to the position of the driver's head.

In general, the x-axis of the head coordinate system is parallel or approximately parallel to the x-y plane of the vehicle coordinate system. The normal of the mechanical matrix is generally set to be perpendicular to the x-y plane of the vehicle coordinate system. Therefore, when the projection of the x-axis of the device coordinate system on the x-y plane of the vehicle coordinate system is parallel to the projection of the x-axis of the head coordinate system on the x-y plane of the vehicle coordinate system, it can be considered that the x-axis of the device coordinate system is parallel to the head The x-axis of the coordinate system is parallel. Afterwards, brackets can be formed for adjusting the height of the support rods. The bracket makes the z-axis of the device coordinate system parallel to the projection of the z-axis of the head coordinate system on the y-z plane of the device coordinate system.

Where the CDC receives the pose of the driver's head, the CDC may also determine a target pose for the electronic display device. The target pose can be used to indicate the orientation of each axis of the device coordinate system. The target posture can be such that the projection of the x-axis of the device coordinate system on the x-y plane of the vehicle coordinate system is parallel to the projection of the x-axis of the head coordinate system on the x-y plane of the vehicle coordinate system, and the x-axis of the device coordinate system is parallel to the x-y plane of the head coordinate system. In the case of parallel axes, make the electronic display device face the driver's z-axis direction.

The CDC can send the target posture to the surface control module, so that the surface control module can adjust the height of the support rod according to the target posture to adjust the posture of the electronic display device, so that the adjusted posture of the electronic display device is the target posture.

In some embodiments, the location where the user places the item may be recorded. Therefore, according to the user's usage habits, the height of the support bar can be adjusted under the condition that the mechanical matrix is in contact with the target, so that the target can slide to a corresponding position. The position where the user places other items other than the electronic display device and the number of times the user places the other items at the position, as well as the number of times the user places the target position corresponding to the electronic display device and each target position can be recorded respectively. Thereby, common locations corresponding to other items and common target locations of electronic display devices are determined.

Where the mechanical matrix is in contact with the target, it can be determined whether the target is an electronic display device. When it is determined that the target is not an electronic display device, the height of the support rod can be adjusted so that the target slides to the usual position. When it is determined that the target is an electronic display device, the height of the support rod can be adjusted so that the target slides to the usual target position. Therefore, the position of the slid target is more in line with the habit of the user.

Fig. 14 is a schematic flowchart of a method for controlling a mechanical matrix provided by an embodiment of the present application.

If the target is not an electronic display device, the surface control module may perform S510-S423 to implement the method S250.

The absolute heights corresponding to the lowest points of the various support rods in the mechanical matrix are the same. The lowest point of each support bar may be preset. The mechanical matrix is controlled according to the method in FIG. 14 , and the height change of the support rods in the mechanical matrix can be shown in FIG. 15 .

On the S510, the support rod below the target is lowered to its lowest point.

Specifically, S511-S512 may be performed.

At S511 , the support rod in contact with the target is lowered to the lowest point.

In S512, it is determined whether there is a support rod in contact with the target among the non-falling support rods.

The undeclined struts can be understood as the struts in the mechanical matrix that have not been subjected to S511.

If any of the support rods that have not been lowered touches the target, go to S511. If the support rods that have not descended evenly touch the target, go to S520.

The support pole that descends to the lowest point is the support pole below the target.

Each support rod can be provided with a pressure sensor or a light sensor.

The support rod in contact with the target may be a support rod whose pressure sensor indicates that the pressure is greater than a preset value, or may also be a support rod whose light intensity is greater than a preset value indicated by a light sensor. That is to say, the pressure indicated by the pressure sensor of the support rod is very small, for example, when the pressure is 0, it is considered that the support rod is not in contact with the target; the light intensity indicated by the light sensor of the support rod is very small, for example, when the light intensity is 0, it is considered to be supported The rod makes contact with the target.

Alternatively, S510 may be executed by performing S513-S514.

In S513 , the support rod that is in contact with the target is lowered until it is no longer in contact with the target, that is, the lowering stops.

In S514, it is judged whether each support rod in the mechanical matrix is in contact with the target.

If any of the support rods is in contact with the target, and the position of the support rod contacted by the target is higher than the lowest point, go to S511. If none of the support rods are in contact with the target, or the contact with the target is at the lowest point, S513 is not performed.

In the case that the supporting structures whose positions are higher than the lowest point are not in contact with the target, S510 ends.

After performing S510, in the mechanical matrix, the supporting rods below the target are all in contact with the target, or in a critical state of contact with the target.

In S520 , among the support rods that have descended to the lowest point, the support rods that are not in contact with the target are raised to a position where they are in contact with the target.

It should be understood that the sensor at the top of the support rod continues to detect during the rising process of the support rod that has descended to the lowest point. When the support rod comes into contact with the target, the raising of the support rod is stopped.

Exemplarily, among the support rods that descend to the lowest point, the support rods that are not in contact with the target may be raised layer by layer outward.

At S530 , the support rods within a preset distance range around the support rods descended to the lowest point through S510 are raised.

Exemplarily, the rising height of the support rod within the preset distance range may be an arithmetic progression.

That is to say, during the process of performing S510, the height at which the support rods that are not in contact with the target can be raised decreases as the distance from the support rods below the target increases.

In some embodiments, during the process of performing S530, the support poles within the preset distance range around the support poles that descend to the lowest point after S510 may contact the target during the rising process. The support rod may not be raised again after touching the target.

Through the S520, the support rods below the target are all in contact with the target, providing stable support for the target at the bottom of the target. Through the S530, the lateral support pole of the target is raised, providing stable support for the target in the lateral direction, and avoiding the target from tilting or falling over.

Fig. 16 is a schematic flowchart of a method for controlling a mechanical matrix provided by an embodiment of the present application.

During the driving process of the vehicle, due to road conditions and other factors, the vehicle may experience bumps. In order to make the objects on the mechanical matrix more stable, after the method 200 or the method 300, the surface control module can control the mechanical matrix in the manner shown in FIG. 16 .

The control method 1600 of the mechanical matrix includes S1601-S1602.

The mechanical matrix includes a first support bar height, and the first support bar is in contact with the target.

At S1601, acquire bump information, the bump information is used to indicate the vibration direction and vibration distance of the vehicle vibration.

The vibration direction is up or down. The vibration direction can point to the positive or negative direction of the z-axis of the vehicle coordinate system, and can also be vertically upward or vertically downward. The vertical direction is the direction perpendicular to the horizon.

The bump information may be collected by a vehicle dynamics control system (VDC). The surface control module can receive the bump information sent by VDC. The thrashing information sent by the VDC can be forwarded via the CDC.

In S1602, an adjustment direction and an adjustment height difference are determined according to the turbulence information, the adjustment direction is opposite to the vibration direction, and the adjustment height difference is positively correlated with the vibration distance.

In S1603, the height of the first support bar is adjusted along the adjustment direction, and the height variation of the first support bar is the adjusted height difference.

In some embodiments, the adjustment height difference is inversely proportional to the shock distance of the vehicle.

Further, in S1603, the height of each support rod in the mechanical matrix can be adjusted along the adjustment direction, or the height of the first support rod in contact with the target and the support rods surrounding the first support rod within a preset distance range can be adjusted. The cover degree is adjusted, and the height variation of each support rod is the adjusted height difference.

As shown by the dotted line box in FIG. 17 , there are support rods located in the vertical downward direction of the target in the mechanical matrix. In S1603, if the height of the support rods surrounding the target is not adjusted, these support rods will contact the target during the vehicle bumping process, which may cause the bumping of the target to be more obvious. Adjust the height of each support rod in the mechanical matrix along the adjustment direction, which can effectively reduce the bumps on the target.

Further, the sensor provided on the support rod may be a pressure sensor. After S1603, S1604 can be performed.

At S1604, the height of the first support rod may be adjusted according to the pressure information output by the sensor provided on the first support rod.

The first support rod is the support rod that is in contact with the target. The sensor provided on the first support rod is the first sensor.

When the vehicle is running smoothly, the first contact information output by the first sensor is used to indicate the first pressure. When the vehicle is in a bumpy state, the first contact information output by the first sensor is used to indicate the second pressure. The height of the first support rod is adjusted to minimize the difference between the first pressure and the second pressure. Thus, the turbulence to which the target is subjected can be reduced.

In some embodiments, S1601 to S1602 and S1604 determining the adjustment direction and distance required for adjusting the first support rod may be performed by the CDC. The CDC can send the adjustment direction and the adjustment height difference to the surface control module. The surface control module can determine the displacement of each support bar according to the adjustment direction and the adjustment height difference, and control the movement of the support bars.

Fig. 18 is a schematic flowchart of a method for controlling a mechanical matrix provided by an embodiment of the present application.

The mechanical matrix includes a plurality of support rods with the same shape, the multiple support rods are arranged in a matrix, and each support rod can move up and down. A sensor is arranged at the top of each support rod.

The plurality of support rods corresponds to a plurality of pixels. For example, one or more struts may correspond to one pixel, or one strut may correspond to multiple pixels. A display device may be provided on the top of each support rod, or projection may be performed on the mechanical matrix, so that the mechanical matrix may be used to display images, and multiple support rods may correspond to multiple pixels. A display device is arranged on the top of each support bar, and each support bar corresponds to a pixel as an example for illustration.

The control method 1700 of the mechanical matrix includes S1701 to S1705.

At S1701, the surface control module sends a surface control command to an electronic control unit (ECU).

Surface control commands are used to indicate the height and/or movement speed of each support rod in the display area. The surface control instruction is also used to indicate the color of the pixel corresponding to each support bar in the display area.

The display area can be the area where all or part of the support rods in the mechanical matrix are located.

When items are placed on the surface of the mechanical matrix or buttons are displayed, the display area may be an area other than the area where the item is located or the area where the button is located.

In S1702, the ECU adjusts the mechanical matrix according to the surface control command.

The ECU can adjust the height of the support bar and the color of the pixels in the display area according to the surface control command.

S1701-S1702 may be performed only once, so that the support rods in the display area assume a static shape. Alternatively, S1701-S1702 may be performed multiple times, so that the support rods in the display area present dynamically changing shapes.

At S1703, the surface control module acquires contact information output by each sensor, where the contact information is used to indicate whether the support rod where the sensor is located is in contact with the target.

At S1704, the surface control module sends an adjustment instruction to the ECU.

In S1705, the ECU adjusts the adjustment mechanical matrix according to the adjustment instruction.

The ECU can adjust the height of the support bar and the color of the pixels in the display area according to the adjustment instruction.

The ECU can adjust the height of at least one support rod in the display area, and adjust the color of the pixel corresponding to the at least one support rod.

Before S1701, the CDC may send a generation instruction to the surface control module, and the surface control instruction may be determined according to the generation instruction. The generation instruction may be used to indicate the shape, color, etc. formed by the support bars of the display area. The surface control module may store the corresponding relationship between the generation instruction and the surface control instruction.

Exemplarily, before S1701, the CDC sends a generation instruction to the surface control module, the generation instruction is used to indicate the three-dimensional image of the cream cake. In S1701, the surface control module sends a surface control instruction corresponding to the three-dimensional image of the cream cake to the ECU. In S1702, the ECU can set the display area in the shape of a cream cake by setting the height of each support rod in the display area and the color of the pixel corresponding to each support rod. The upper surface of the cake may include a plurality of protrusions, and the color of the raised areas may be different from the color of the flat areas of the upper surface of the cake. For example, the color of the flat area on the upper surface of the cake can be milky white (used to represent cream), the raised shape can be text, the outline of a fruit, etc., and the color of the raised place can be red or the color of the fruit.

The user can use the tip of a pen, the edge of a paper, etc. to draw across the top surface of the cake. At S1703, the CDC acquires the contact information output by each sensor to determine the support bar that is in contact with the target among the support bars forming the upper surface of the cake. At S1704, the adjustment command sent by the CDC may be used to instruct to lower the height of the support rods that are in contact with the target among the support rods forming the upper surface of the cake, so as to form a depression. The adjustment instruction is also used to instruct to adjust the color of the pixel corresponding to the support rod in contact with the target to yellow or orange (used to represent the color of the cake under the cream).

Exemplarily, at S1702, the ECU may set a partial area of the display area as a plane by setting the height of each support rod in the display area. The ECU dynamically sets the color of the pixels corresponding to each support rod, and this part of the display area can display a top view of the pond or lake. For example, this part of the area can show a dynamic scene of fish swimming in a pond.

The user can touch or swipe across this part of the area with a fingertip or other objects. At S1703, the CDC acquires the contact information output by each sensor to determine the support bar that is in contact with the target such as the user's fingertip or other objects among the support bars forming the upper surface of the cake. At S1704, the adjustment instruction sent by the CDC may be used to instruct to adjust the height of the support rods near the support rod in contact with the target in the partial area, so as to form three-dimensional corrugations. The adjustment instruction is also used to instruct to adjust the color of the pixel corresponding to the support rod near the support rod in contact with the target in the partial area, so as to form water waves.

When the support rod is in contact with the target, the height of the support rod is adjusted according to the contact information sent by the sensor at the top of each support rod, and the color of the pixel corresponding to each support rod is adjusted, which can improve the display accuracy of the mechanical structure. Image flexibility.

Before performing S1701, the CDC may acquire user input information. The user's input information may be used to indicate the stereoscopic image. The CDC may send a generation instruction corresponding to the three-dimensional image indicated by the user to the surface control module according to the user's input information. Therefore, the user can select the stereoscopic image displayed by the mechanical matrix according to his preference.

Fig. 19 is a schematic flowchart of a method for controlling a mechanical matrix provided by an embodiment of the present application.

The mechanical matrix includes a plurality of motion units, each of which is provided with a sensor. The sensor is used to output contact information, and the contact information is used to indicate whether the tip of the motion unit is in contact with the target. Specifically, reference may be made to the description of FIG. 1 for the mechanical matrix.

The control method 2200 of the mechanical matrix includes S2201 to S2203. The surface control module may execute S2201 to S2203.

S2201. Acquire button formation information.

Can receive button formation information sent by other devices. Alternatively, other modules in the device generate button formation information and store it in a cache unit or other storage unit, and the surface control module in the device can read the button formation information from the cache unit or other storage unit.

S2202. According to the button formation information, according to the button formation information, adjust the height of the top of at least one of the first movement unit and the second movement unit among the plurality of movement units, so as to form a button , the second motion unit surrounds the first motion unit, and in the adjusted mechanical matrix, the height of the top of the first motion unit located in the area where the button is located is the same as the height of the top of the second motion unit different heights;

S2203. Output key information, the key information is determined according to the contact information output by the sensor provided on the first motion unit.

The key information may be used to indicate the user's operation on the key.

Entering information via buttons is more ergonomic than entering information on a flat surface and can improve user satisfaction. Through S2201 to S2202, if the user needs to input information, the height of the top of the exercise unit 110 is adjusted to form a button. Compared with the method of setting fixed buttons on the console, the buttons are only formed when the user needs to input and perform the functions, which can reduce the occupation of space.

It should be understood that the number of buttons formed according to the button formation information may be one or more.

The user operation sensed by the sensor may be contact information output by the sensor provided on the support rod at the button. Alternatively, the user operation sensed by the sensor may be determined according to the contact condition between the support rod at each button and the target.

The contact information output by the sensor can be used to indicate whether the support rod on which the sensor is set is in contact with the target. According to the contact information output by the sensors provided on the respective support rods where the buttons are located, the key sequence of the user at the multiple buttons, the pressing time of the user at each button, etc. can be determined.

The output key information may be sent to a processing unit for processing user operations. After receiving the key press information, the processing unit may send the button cancel information. The surface control module can eliminate the formed button according to the button elimination information.

That is to say, after S2203, button cancellation information can be acquired. Moreover, the height of at least one of the motion units may be adjusted according to the button elimination information, so as to eliminate the button.

Elimination of the button can make the height of the first motion unit and the second motion unit the same. Alternatively, the height of the motion unit can be adjusted in other ways to form a three-dimensional shape according to the button elimination information.

Fig. 20 is a schematic flowchart of a method for controlling a mechanical matrix provided by an embodiment of the present application.

The mechanical matrix includes a plurality of support rods with the same shape, the multiple support rods are arranged in the form of matrix, and each support rod can move up and down. The top of each support rod is provided with a sensor.

The control method 2300 of the mechanical matrix includes S2301-S2308.

At S2301, the CDC sends a button formation request to the surface control module.

The CDC may perform S2301 when the user is required to confirm whether to power off the vehicle or whether to turn on the electronic handbrake light, etc. and requires user input instructions.

At S2302, the surface control module sends a button forming instruction to the ECU, and the button forming instruction is used to indicate the height of each support rod in the first area.

It should be understood that items may be placed on the mechanical matrix. The first area forming the button should be different from where the item is placed. When the surface control module performs the steps described in FIG. 2 , it can record the positions of the items placed on the mechanical matrix. Alternatively, the surface control module may determine the support rod in contact with the item according to the contact information sent by each sensor of the mechanical matrix when receiving the button formation request in S2301, so as to determine the position of the item. The surface control module determines the first area outside the area where the item is located according to the location of the item.

The shape of the first area and the relative heights of the support rods at different positions in the first area may be preset.

The button forming instruction may instruct the height of each support bar in the first area to increase or decrease, to form a depression or a protrusion, so that the height of each support bar in the first area is different from other support bars around the first area.

At S2303, the ECU controls the mechanical matrix forming button.

The ECU can adjust the height of each support bar in the first area of the mechanical matrix according to the button forming instruction, so as to form at least one button.

When the first area is discontinuous, a plurality of buttons may be formed.

In S2304, the surface control module receives the contact information output by the sensors provided at the tops of the respective support rods in the first area, and determines user input information according to the contact information.

The surface control module can determine the support rods in contact with the user according to the contact information of the sensors provided at the tops of the respective support rods in the first area.

Whether or not the user presses the formed button may be determined according to the shape of the support bar in contact with the user. The sensor arranged at the top of the support rod may be a pressure sensor. Whether or not the user presses the formed button may be determined based on the pressure sensed by the respective sensors. For example, when the pressure sensed by each sensor is within a preset range, it is determined that the user presses the button.

The user's input information may be determined according to the order in which each support bar in the first area contacts the user, the order in which the user presses or touches the plurality of buttons, or the user's sliding operation, etc.

At S2305, the surface control module sends the user's input information to the CDC.

At S2306, the CDC sends response information to the surface control module.

At S2307, the surface control module sends a button removal instruction to the ECU according to the response information, and the button removal instruction is used to indicate the height of each support rod in the first area.

At S2308, the ECU controls the mechanical matrix cancel button.

The ECU can adjust the height of each support rod in the area indicated by the second position information in the mechanical matrix according to the button cancellation command.

The button elimination command can instruct the ECU to adjust each support rod in the first area to the same height, so that the height of the support rods in the first area is the same, that is, to restore the level in the first area.

The vehicle-mounted system 2400 includes a mechanical matrix 100, a surface control unit 2401, an ECU 2402, a CDC 2403, a pose detection module 2404, a camera 2405, and a VDC 2406. Among them, one or more of the surface control unit 2401, ECU 2402, CDC 2403, pose detection module 2404, and VDC 2406 can be integrated in one device, or the surface control unit 2401, ECU 2402, CDC 2403, pose detection Module 2404 and VDC 2406 can be independent devices.

The mechanical matrix 100 includes multiple motion units, and the height of the top of each motion unit is adjustable. Each motion unit 110 is provided with a sensor. Specifically, reference may be made to the description of FIG. 1 .

The surface control unit 2401 can receive the contact information sent by each sensor in the mechanical matrix 100 , the contact information is used to indicate whether the motion unit where the sensor is set is in contact with the target. Therefore, the surface control unit 2401 can determine the adjustment mode of each motion unit in the mechanical matrix 100 according to the contact information. For example, the adjustment method of the exercise unit may include the adjusted height of the exercise unit, the movement speed during the adjustment, and the like. The surface control unit 2401 can also send control information to the ECU 2402, and the control information is used to indicate the adjustment mode of each movement unit in the mechanical matrix 100.

The ECU 2402 can receive the control information sent by the surface control unit 2401, and according to the control information, control each movement unit in the mechanical matrix 100 to adjust according to the adjustment mode indicated by the control information. Through ECU 2402's control of each movement unit in the mechanical matrix, the adjustment of the three-dimensional image formed by the mechanical matrix can be realized.

In some embodiments, the surface control unit 2401 may determine whether the target is an electronic display device according to the contact information sent by each sensor.

In the case that the target is not an electronic display device, the surface control unit 2401 may determine an adjustment method so that the target is located in the concave structure formed by each moving unit of the mechanical matrix.

In case the target is an electronic display device, the surface control unit 2401 may send a detection request to the CDC 2403. CDC 2403 may forward the detection request to pose detection module 2404.

The pose detection module 2404 may reside in the DMS. The pose detection module 2404 can process the image collected by the camera 2405 according to the detection request, so as to determine the pose of the driver's head. The pose detection module 2404 can also send the driver's head pose to the CDC 2403.

The CDC 2403 can also determine the target position and target posture according to the driver's head posture, and send the target position and target posture to the surface control unit 2401. The target attitude orients the electronic display device toward the driver.

The surface control unit 2401 can determine the adjustment mode of each motion unit in the mechanical matrix 100 according to the target position and target posture. This adjustment method makes the target at the target position and the target attitude in the adjusted mechanical matrix.

That is, in a case where the target is an electronic display device, the in-vehicle system 2400 may cause the electronic display device to face the driver.

Further, under the condition that the target is placed on the mechanical matrix, if the vehicle is in a bumpy state, the VDC 2406 can send bumpy information to the CDC 2403. The bump information is used to indicate the vibration direction and distance of the vehicle vibration. The CDC 2403 can determine buffer information according to the jolt information, and send the buffer amount to the surface control unit 2401. The buffer information may include adjusting direction and adjusting height difference. The adjustment direction is opposite to the vibration direction, and the adjustment height difference is positively related to the vibration distance. The surface control unit 2401 may determine an adjustment method according to the buffer information, so that each movement unit of the mechanical matrix is adjusted according to the buffer information.

Further, CDC 2403 can also store the target position of the electronic display device determined each time and the number of times each target position is determined. In situations such as failing to acquire the driver's head posture, the CDC 2403 can send the target position with the highest number of records to the surface control unit 2401. Of course, the CDC 2403 can also record the target attitude determined each time and the number of times the target attitude is determined. When the head posture of the driver cannot be obtained, the CDC 2403 can also send the most recorded target posture to the surface control unit 2401.

In some other embodiments, the CDC 2403 can send the stereoscopic image information to the surface control unit 2401. The surface control unit 2401 may determine an adjustment mode corresponding to the stereoscopic image information, so that the mechanical matrix displays the stereoscopic image indicated by the stereoscopic image information.

The mechanical matrix provided by the present application and the method embodiment of the present application are described above with reference to FIG. 1 to FIG. 21 . The device embodiment of the embodiment of the present application is described below in conjunction with FIG. 22 to FIG. 24 . It should be understood that the descriptions of the method embodiments correspond to the descriptions of the device embodiments, therefore, for parts not described in detail, reference may be made to the foregoing method embodiments.

The mechanical matrix includes multiple motion units, each of which is provided with a sensor.

The control device 2000 of the mechanical matrix includes an acquisition module 2010 and an adjustment module 2020 .

The acquiring module 2010 is configured to acquire the contact information output by the sensors provided on the plurality of motion units, the contact information is used to indicate whether the tip of the motion unit is in contact with the target.

The adjustment module 2020 is configured to adjust the height of the top of at least one of the motion units according to the contact information, the at least one motion unit includes a contact motion unit and/or an adjacent motion unit, the top of the contact motion unit is in contact with the The target is in contact, and the distance between the adjacent motion unit and the contacting motion unit is smaller than a preset value.

Optionally, the height of the top is an absolute height, and the plurality of motion units include a first motion unit and a second motion unit.

The height of the top of the at least one motion unit is adjusted so that the first motion unit and the second motion unit form a concave structure, and the height of the top of the first motion unit is smaller than that of the second motion unit The height of the top of the unit, the second movement unit surrounds the first movement unit, and in the adjusted mechanical array, the first movement unit includes the contact movement unit.

Optionally, in the adjusted mechanical matrix, the first motion unit is the contact motion unit, and the second motion unit includes the adjacent motion unit.

Optionally, the mechanical matrix is located in a vehicle.

The obtaining module 2010 is further configured to obtain bump information, the bump information is used to indicate the vibration direction and vibration distance of the vehicle vibration, and the vibration direction is a direction perpendicular to the sea level.

The apparatus 2000 also includes a processing module. The processing module is used to determine the adjusted height difference according to the turbulence information, and the adjusted height difference is positively correlated with the shaking distance.

The adjustment module 2020 is also used to adjust the height of the top of the contact motion unit in a direction opposite to the vibration direction, and the height change of the contact motion unit is the adjusted height difference

Optionally, the mechanical matrix is located in a vehicle.

The control device further includes a processing module configured to determine that the vehicle is in a bumpy state.

The adjustment module 2020 is further configured to, according to the first contact information output by the first sensor, adjust the height of the top of the contact motion unit so as to minimize the difference between the first pressure and the second pressure, the first contact information Used to indicate the first pressure, the first pressure is the pressure on the contact motion unit when the vehicle is in the bumpy state, and the second pressure is the pressure when the vehicle is in a smooth running state The pressure on the contact motion unit.

Optionally, whether the target is an electronic display device.

In the adjusted mechanical matrix, the contact motion unit forms a bracket, and the bracket is used to set the orientation of the target.

Optionally, the control device 2000 further includes a processing module, the processing module is configured to, according to the contact information, determine that the target is an electronic display device.

Optionally, the obtaining module 2010 is further configured to obtain head position information, the head position information is used to indicate the position of the user's head, and the bracket makes the target face the user's head department.

Optionally, the acquiring module 2010 is further configured to acquire head posture information, where the head posture information is used to indicate the symmetry plane of the user's head.

The processing module is further configured to determine a target position according to the head posture information, and the target position is located on the symmetry plane.

The adjustment module 2020 is further configured to adjust the height of at least one of the moving units to form a slope, so that the target slides to the target position, and the support is located at the target position.

Optionally, the head posture information is also used to indicate the direct-sight direction of the user, and the sliding and turning of the target on the slope makes the bottom of the target perpendicular to the direct-sight direction.

The support is formed such that the base is perpendicular to the plane of symmetry and the target is directed toward the user's head.

Optionally, the mechanical array is used to display an image, and the plurality of motion units correspond to a plurality of pixels in the image.

The adjustment module 2020 is further configured to adjust the color of at least one pixel according to the contact information, and the at least one pixel is a pixel corresponding to at least one motion unit among the contact motion unit and the adjacent motion units.

Fig. 23 is a schematic structural diagram of a mechanical matrix control device provided by an embodiment of the present application.

The mechanical matrix includes multiple motion units, each of which is provided with a sensor. The sensor is used to output contact information, and the contact information is used to indicate whether the tip of the motion unit is in contact with the target.

The mechanical matrix control device 4000 includes an acquisition module 4010 , an adjustment module 4020 , and an output module 4030 .

The obtaining module 4010 is used to obtain button formation information.

The adjustment module 4020 is configured to adjust the height of at least one of the first and second motion units among the plurality of motion units according to the button formation information, so as to form a button, and the second The motion unit surrounds the first motion unit, and in the adjusted mechanical matrix, the height of the first motion unit located in the area where the button is located is different from the height of the second motion unit.

The output module 4030 is configured to output key information, the key information is determined according to the contact information output by the sensor provided on the first motion unit.

Optionally, the acquiring module 4010 is also used to acquire button elimination information;

The adjustment module 4020 is further configured to adjust the height of at least one of the first motion unit and the second motion unit according to the button elimination information, so as to eliminate the button.

Fig. 24 is a schematic structural diagram of a mechanical matrix control device provided by an embodiment of the present application.

The control device 3000 of the mechanical matrix includes at least one memory 3010 and at least one processor 3020, the at least one memory 3010 is used to store a program, and the at least one processor 3020 is used to run the program, so as to realize the method described above .

The device 2000, the device 3000, and the device 4000 can be a vehicle with a storage and/or human-computer interaction function, or other components with a storage and/or human-computer interaction function. The device includes but is not limited to: vehicle-mounted terminal, vehicle-mounted controller, vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip, and vehicle-mounted unit. , a vehicle-mounted chip, and a vehicle-mounted unit, implementing the method provided by this application.

The device can also be an intelligent terminal with storage and/or human-computer interaction functions other than the vehicle, or be set in an intelligent terminal with storage and/or human-computer interaction functions other than the vehicle, or set in the Among the components of the smart terminal. The smart terminal may be other terminal devices such as smart transportation devices, smart home devices, and robots. The device includes, but is not limited to, a smart terminal or a controller, chip, sensor, and other components within the smart terminal.

The apparatus 2000 and the apparatus 3000 may be a general-purpose device or a special-purpose device. In a specific implementation, the device can also be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, an embedded device or other devices with processing functions. The embodiment of the present application does not limit the type of the device.

The apparatus 2000 and the apparatus 3000 may also be chips or processors with processing functions, and the apparatuses may include multiple processors. The processor may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. The chip or processor with processing function may be set in the sensor, or may not be set in the sensor, but set at the receiving end of the output signal of the sensor.

It should be understood that the processor in the embodiment of the present application may be a central processing unit (central processing unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the non-volatile memory can be read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically programmable Erases programmable read-only memory (electrically EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (RAM), which acts as external cache memory. By way of illustration and not limitation, many forms of random access memory (RAM) are available, such as static random access memory (static RAM, SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory Access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory Access memory (synchlink DRAM, SLDRAM) and direct memory bus random access memory (direct rambus RAM, DR RAM).

The descriptions of the processes corresponding to the above-mentioned figures have their own emphasis. For the parts not described in detail in a certain process, you can refer to the relevant descriptions of other processes.

The embodiment of the present application also provides a computer-readable storage medium, which is characterized in that the computer-readable storage medium has program instructions, and when the program instructions are directly or indirectly executed, the foregoing method is realized.

The embodiment of the present application also provides a computer program product containing instructions, which, when run on a computing device, enables the computing device to execute the aforementioned method, or enables the computing device to realize the functions of the aforementioned apparatus.

An embodiment of the present application further provides a chip system, which is characterized in that the chip system includes at least one processor, and when the program instructions are executed in the at least one processor, the foregoing method is implemented.

The embodiment of the present application also provides an on-vehicle system, which is used to provide the control function of the mechanical matrix for the vehicle. It includes at least one control device of the mechanical matrix mentioned in the above-mentioned embodiments of the present application, and the mechanical matrix. The at least one sensor device in the system can be integrated into a complete machine or equipment, or the at least one sensor device in the system can also be independently configured as a component or device.

An embodiment of the present application further provides a vehicle, the vehicle includes the mechanical matrix control device mentioned in at least one of the above-mentioned embodiments of the present application.

An embodiment of the present application further provides a terminal, including the mechanical matrix control device mentioned in at least one of the foregoing embodiments of the present application.

Further, the terminal can be transportation equipment, such as cars, trucks, motorcycles, buses, boats, airplanes, helicopters, lawn mowers, recreational vehicles, playground vehicles, construction equipment, trams, golf carts, trains , trolleys, etc.

The above-mentioned embodiments may be implemented in whole or in part by software, hardware, firmware or other arbitrary combinations. When implemented using software, the above-described embodiments may be implemented in whole or in part in the form of computer program products. The computer program product comprises one or more computer instructions or computer programs. When the computer instruction or computer program is loaded or executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center that includes one or more sets of available media. The available media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media. The semiconductor medium may be a solid state drive.

It should be understood that the term "and/or" in this article is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B may mean: A exists alone, and A and B exist at the same time , there are three cases of B alone, where A and B can be singular or plural. In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship, but it may also indicate an "and/or" relationship, which can be understood by referring to the context.

In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one item (unit) in a, b or c can represent: a, b, c, a-b, a-c, b-c or a-b-c, wherein a, b, c can be single or multiple.

It should be understood that, in various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application. The implementation process constitutes any limitation.

The terms "component", "module", "system" and the like are used in this specification to refer to a computer-related entity, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component may be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a computing device and the computing device can be components. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures stored thereon. A component may, for example, be based on a signal having one or more packets of data (e.g., data from two components interacting with another component between a local system, a distributed system, and/or a network, such as the Internet via a signal interacting with other systems). Communicate through local and/or remote processes.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

The above is only a specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application. Should be covered within the protection scope of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.

Claims

A mechanical matrix, characterized in that the mechanical matrix includes a plurality of motion units (110);

The height of the top of each motion unit (110) is adjustable;

Each motion unit (110) is provided with a sensor (120), and the sensor (120) is used to output contact information, and the contact information is used to indicate whether the tip of the motion unit (110) is in contact with the target.
The mechanical matrix according to claim 1, wherein the plurality of motion units (110) include a first motion unit and a second motion unit, and in the mechanical array adjusted according to the contact information, the The first motion unit and the second motion unit form a concave structure, the height of the top of the first motion unit is smaller than the height of the top of the second motion unit, and the second motion unit surrounds the first motion unit The first motion unit includes a contact motion unit in contact with the target among the plurality of motion units (110).
The mechanical matrix according to claim 2, wherein the first motion unit is the contact motion unit, and the second motion unit includes the contact motion unit among the plurality of motion units (110). Neighboring motion units whose distance is less than a preset value.
The mechanical matrix according to any one of claims 1-3, wherein the mechanical matrix is located in a vehicle, and the vehicle is in a bumpy state,

The change direction of the height of the contact motion unit is opposite to the vibration direction of the vehicle vibration, the height change of the contact motion unit is positively related to the vibration distance of the vehicle vibration, and the contact motion unit is the plurality of motion units The motion unit in (110) in contact with the target.
The mechanical matrix according to any one of claims 1-4, wherein the target is an electronic display device, and in the mechanical array adjusted according to the contact information, the plurality of motion units ( In 110), the contact motion unit in contact with the target forms a bracket, and the bracket is used to set the orientation of the target.
5. The mechanical matrix of claim 5, wherein said support orients said target toward the head of a user of said target.
The mechanical matrix according to claim 6, characterized in that at least one of the movement units has a slope formed on the top end so that the target slides to a target position, and the target position is symmetrical to the user's head plane, the bracket is located at the target position.
The mechanical matrix according to claim 7, characterized in that, the sliding of the target on the slope makes the bottom edge of the target perpendicular to the direct viewing direction of the user, and the formation of the support makes the The bottom edge is perpendicular to the plane of symmetry and directs the target towards the user's head.
The mechanical matrix according to any one of claims 1-8, characterized in that, the mechanical array is used to display an image, and the plurality of motion units (110) correspond to a plurality of pixels of the image, according to In the mechanical array after the adjustment of the contact information, the color of at least one pixel is changed, and the at least one pixel is a pixel corresponding to at least one of the contact movement unit and the adjacent movement unit, and the contact movement unit is a movement unit in contact with the target among the plurality of movement units (110), and the adjacent movement unit is a movement unit whose distance from the contact movement unit is smaller than a preset value.
A method for controlling a mechanical matrix, characterized in that the mechanical matrix includes a plurality of motion units, each motion unit is provided with a sensor, and the method includes:

Acquiring contact information output by sensors provided on the plurality of motion units, the contact information being used to indicate whether the top of the motion unit is in contact with the target;

According to the contact information, adjust the height of the top of at least one of the motion units, the at least one motion unit includes a contact motion unit and/or an adjacent motion unit, the top of the contact motion unit is in contact with the target, the The distance between the adjacent motion unit and the contact motion unit is smaller than a preset value.
The method according to claim 10, wherein the height of the top is an absolute height, and the plurality of motion units include a first motion unit and a second motion unit,

The height of the top of the at least one motion unit is adjusted so that the first motion unit and the second motion unit form a concave structure, and the height of the top of the first motion unit is smaller than that of the second motion unit The height of the top of the unit, the second movement unit surrounds the first movement unit, and in the adjusted mechanical array, the first movement unit includes the contact movement unit.
The method according to claim 11, wherein in the adjusted mechanical matrix, the first motion unit is the contact motion unit, and the second motion unit includes the adjacent motion unit.
The method according to any one of claims 10-12, wherein the mechanical matrix is located in a vehicle, the method further comprising:

Acquiring bump information, the bump information is used to indicate the vibration direction and the vibration distance of the vehicle vibration, the vibration direction is a direction perpendicular to the sea level, and the vibration distance is used to indicate the vibration direction of the vehicle along the vibration The absolute height change in direction;

determining an adjusted height difference according to the turbulence information, and the adjusted height difference is positively correlated with the vibration distance;

The adjusting the height of the top of at least one of the motion units according to the contact information includes: adjusting the height of the top of the contact motion unit in a direction opposite to the vibration direction, the height of the contact motion unit The amount of change is the adjusted height difference.
A method according to any one of claims 10-13, characterized in that the mechanical matrix is located in a vehicle,

The method also includes: determining that the vehicle is in a bumpy state;

The adjusting the height of the top of at least one of the motion units according to the contact information includes: adjusting the height of the top of the contact motion unit according to the first contact information output by the first sensor, so that the first pressure and The difference between the second pressures is the smallest, the first contact information is used to indicate the first pressure, the first pressure is the pressure on the contact motion unit when the vehicle is in the bumpy state, the The second pressure is the pressure on the contact motion unit when the vehicle is in a stable running state.
The method according to any one of claims 10-14, wherein the target is an electronic display device,

In the adjusted mechanical matrix, the contact motion unit forms a bracket, and the bracket is used to set the orientation of the target.
The method according to claim 15, further comprising: determining that the target is an electronic display device according to the contact information.
The method according to claim 15 or 16, wherein the method further comprises:

Head position information is acquired, the head position information is used to indicate the position of the user's head, and the bracket makes the target face the user's head.
The method according to claim 17, further comprising:

acquiring head posture information, where the head posture information is used to indicate a symmetry plane of the user's head;

determining a target position according to the head posture information, where the target position is located on the symmetry plane;

The adjusting the height of the top of at least one of the motion units includes:

The height of the top end of at least one of the moving units is adjusted to form a slope, so that the target slides to the target position, and the support is located at the target position.
The method according to claim 18, wherein the head posture information is also used to indicate the user's direct gaze direction,

The sliding of the target on the slope makes the base of the target perpendicular to the plane of symmetry;

The support is formed such that the base is perpendicular to the plane of symmetry and the target is directed toward the user's head.
The method according to any one of claims 10-19, wherein the mechanical array is used to display an image, and the plurality of motion units correspond to a plurality of pixels of the image, the method further comprising:

Adjusting the color of at least one pixel according to the contact information, where the at least one pixel is a pixel corresponding to at least one of the contact motion unit and the adjacent motion unit.
A method for controlling a mechanical matrix, characterized in that the mechanical matrix includes a plurality of motion units, and each of the motion units is provided with a sensor, and the sensor is used to output contact information, and the contact information is used to indicate motion whether the top of the unit is in contact with the target, the method comprising:

Get button formation information;

According to the button formation information, adjust the height of the top of at least one of the first motion unit and the second motion unit among the plurality of motion units to form a button, and the second motion unit surrounds all the motion units. For the first motion unit, in the adjusted mechanical matrix, the height of the top of the first motion unit located in the area where the button is located is different from the height of the top of the second motion unit;

Output key information, the key information is determined according to the contact information output by the sensor provided on the first motion unit.
The method according to claim 21, further comprising:

Obtain button elimination information;

According to the button elimination information, the height of the top of at least one of the first motion unit and the second motion unit is adjusted to eliminate the button.
A control device for a mechanical matrix, characterized in that the mechanical matrix includes a plurality of motion units, each motion unit is provided with a sensor, and the control device includes:

An acquisition module, configured to acquire contact information output by sensors provided on the plurality of motion units, the contact information being used to indicate whether the top of the motion unit is in contact with the target;

An adjustment module, configured to adjust the height of the top of at least one of the motion units according to the contact information, the at least one motion unit includes a contact motion unit and/or an adjacent motion unit, the top of the contact motion unit is in contact with the The target is in contact, and the distance between the adjacent motion unit and the contacting motion unit is smaller than a preset value.
The device according to claim 23, wherein the height of the top is an absolute height, and the plurality of motion units include a first motion unit and a second motion unit,

The height of the top of the at least one motion unit is adjusted so that the first motion unit and the second motion unit form a concave structure, and the height of the top of the first motion unit is smaller than that of the second motion unit The height of the top of the unit, the second movement unit surrounds the first movement unit, and in the adjusted mechanical array, the first movement unit includes the contact movement unit.
The device according to claim 24, wherein in the adjusted mechanical matrix, the first motion unit is the contact motion unit, and the second motion unit includes the adjacent motion unit.
Apparatus according to any one of claims 23-25, characterized in that the mechanical matrix is located in a vehicle,

The acquisition module is also used to acquire bump information, the bump information is used to indicate the vibration direction and vibration distance of the vehicle vibration, the vibration direction is a direction perpendicular to the sea level, and the vibration distance is used for Indicating the absolute height change of the vehicle along the vibration direction;

The control device further includes a processing module, configured to determine an adjusted height difference according to the turbulence information, and the adjusted height difference is positively correlated with the vibration distance;

The adjustment module is further configured to adjust the height of the top of the contact motion unit in a direction opposite to the vibration direction, and the height change of the contact motion unit is the adjusted height difference.
Apparatus according to any one of claims 23-26, characterized in that the mechanical matrix is located in a vehicle,

The control device also includes a processing module, the processing module is used to determine that the vehicle is in a bumpy state;

The adjustment module is further configured to, according to the first contact information output by the first sensor, adjust the height of the top of the contact motion unit so that the difference between the first pressure and the second pressure is the smallest, and the first contact The information is used to indicate the first pressure, the first pressure is the pressure on the contact motion unit when the vehicle is in the bumpy state, and the second pressure is the pressure when the vehicle is in the smooth running state The pressure on the contact motion unit.
The device according to any one of claims 23-27, wherein the target is an electronic display device,

In the adjusted mechanical matrix, the contact motion unit forms a bracket, and the bracket is used to set the orientation of the target.
The device according to claim 28, wherein the control device further comprises a processing module, the processing module is configured to determine that the target is an electronic display device according to the contact information.
Apparatus according to claim 28 or 29, characterized in that,

The acquiring module is further configured to acquire head position information, the head position information is used to indicate the position of the user's head, and the bracket makes the target face the user's head.
The device according to claim 30, characterized in that,

The acquiring module is further configured to acquire head posture information, where the head posture information is used to indicate the symmetry plane of the user's head;

The processing module is further configured to determine a target position according to the head posture information, and the target position is located on the symmetry plane;

The adjusting module is further used to adjust the height of at least one of the moving units to form a slope, so that the target slides to the target position, and the support is located at the target position.
The device according to claim 31, wherein the head posture information is also used to indicate the direct-looking direction of the user,

The target slides and rotates on the slope so that the bottom edge of the target is perpendicular to the direct viewing direction;

The support is formed such that the base is perpendicular to the plane of symmetry and the target is directed toward the user's head.
The device according to any one of claims 23-32, wherein the mechanical array is used to display an image, and the plurality of motion units correspond to a plurality of pixels in the image,

The adjustment module is further configured to adjust the color of at least one pixel according to the contact information, and the at least one pixel is a pixel corresponding to at least one motion unit among the contact motion unit and the adjacent motion units.
A control device for a mechanical matrix, characterized in that the mechanical matrix includes a plurality of motion units, and each of the motion units is provided with a sensor, and the sensor is used to output contact information, and the contact information is used to indicate movement Whether the tip of the unit is in contact with the target, the control means include:

The acquisition module is used to acquire button formation information;

An adjustment module, configured to adjust the height of at least one of the first motion unit and the second motion unit among the plurality of motion units according to the button formation information, so as to form a button, and the second motion unit The unit surrounds the first motion unit, and in the adjusted mechanical matrix, the height of the top of the first motion unit located in the area where the button is located is different from the height of the top of the second motion unit;

An output module, configured to output key information, the key information is determined according to the contact information output by the sensor provided on the first motion unit.
The device according to claim 34, characterized in that,

The acquiring module is also used to acquire button elimination information;

The adjustment module is further configured to adjust the height of at least one of the first motion unit and the second motion unit according to the button elimination information, so as to eliminate the button.
A control device for a mechanical matrix, characterized in that it includes at least one memory and at least one processor, the at least one memory is used to store a program, and the at least one processor is used to run the program, so as to realize claim 10- The method described in any one of 22.
A chip, characterized in that it includes at least one processor and an interface circuit, the interface circuit is used to provide program instructions or data to the at least one processor, and the at least one processor is used to execute the program instructions to Implementing the method described in any one of claims 10-22.
A computer-readable storage medium, characterized in that the computer-readable medium stores program code for execution by a device, and when the program code is executed by the device, the implementation of any one of claims 10-22 Methods.