WO2023178992A1 - 振动阵列系统、驱动方法和存储介质 - Google Patents

振动阵列系统、驱动方法和存储介质 Download PDF

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WO2023178992A1
WO2023178992A1 PCT/CN2022/124558 CN2022124558W WO2023178992A1 WO 2023178992 A1 WO2023178992 A1 WO 2023178992A1 CN 2022124558 W CN2022124558 W CN 2022124558W WO 2023178992 A1 WO2023178992 A1 WO 2023178992A1
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vibration
array
pulse width
width modulation
modulation frequency
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French (fr)
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刘兵
杨鑫峰
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Goertek Inc
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Goertek Inc
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more DC dynamo-electric motors

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  • the present application relates to the field of vibration array technology. More specifically, the present application relates to a vibration array system, a driving method and a storage medium.
  • vibration devices can provide vibration feedback that matches the operation, giving users a good experience.
  • AR/VR and other devices have an increasing demand for tactile feedback.
  • the tactile feedback that a single device can provide is extremely limited and cannot meet users' needs for the authenticity of tactile experience. Therefore, it is necessary to Achieve a more realistic and rich tactile experience through vibration arrays.
  • each vibration unit needs to be equipped with an independent drive circuit, which brings a significant increase in the cost of the drive circuit and also increases the size and size of the wearable device. weight, thereby affecting user experience.
  • the present invention aims to provide a driving method for a vibration array system by generating a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency.
  • a first aspect of the present invention provides a vibration array system.
  • the system includes a controller, a DC power supply, a drive array and a vibration array.
  • the vibration array is composed of a plurality of vibration units.
  • the controller is connected to the drive array.
  • the positive terminal of the driving array is connected to the positive terminal of the DC power supply
  • the negative terminal of the driving array is connected to the positive terminal of the vibration array
  • the negative terminal of the vibration array is connected to the negative terminal of the DC power supply connected.
  • the vibration array is composed of multiple vibration units, and the multiple vibration units are rotor eccentric motors of the same type.
  • the driving array is composed of switches; wherein the number of switches is equal to the number of vibration units included in the vibration array, and each switch is composed of a power switch tube and an anti-parallel diode, The positive terminals of all switches are connected together.
  • the DC power source is a battery.
  • a second aspect of the present invention provides a driving method for the vibration array system described in various embodiments.
  • the method includes:
  • the controller generates a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency
  • the driving array drives the vibration array to vibrate.
  • the controller generates a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency, including:
  • the controller generates drive signals according to the duty cycle requirements and pulse width modulation frequency of each vibration unit.
  • generating a driving signal according to the duty cycle requirements and pulse width modulation frequency of each vibration unit includes:
  • a driving signal is generated based on the pulse width modulation frequency of the first vibration unit and the corresponding duty cycle, where the first vibration unit is any vibration unit among the vibration units.
  • generating a driving signal according to the duty cycle requirements and pulse width modulation frequency of each vibration unit includes:
  • each vibration unit group the corresponding duty cycles of each vibration unit and find a combination of vibration units whose sum of duty cycles does not exceed 1 until all vibration units form a combination;
  • Corresponding driving signals are generated according to all duty cycle arrangements.
  • numbering all combinations and arranging duty cycles according to the combination numbers includes:
  • a third aspect of the present invention provides a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the steps of any one of claims 5-9 are implemented:
  • the driving array drives the vibration array to vibrate.
  • the vibration array system provided in the embodiment of the present application includes a controller, a DC power supply, a drive array and a vibration array, in which multiple vibration units are used to form a vibration array, and vibration feedback in multiple scenarios is achieved through the combined vibration of each unit.
  • These vibration units It is the same type of rotor eccentric motor. It only needs a power switch tube and an anti-parallel diode to form a drive circuit, thereby significantly reducing the cost of the entire drive array, while reducing the size and weight of the vibration array system, thereby improving the wearability of the system.
  • the driving method of the vibration array system including: determining the pulse width modulation frequency of each vibration unit included in the vibration array, and the controller generating drive according to the vibration requirements of each vibration unit and the pulse width modulation frequency signal, the drive signals corresponding to all vibration units are summarized into a set, and the aggregated drive signals are sent to the drive array.
  • the drive array drives the vibration array to vibrate, because each vibration unit can be independently controlled and adjusted by pulse
  • the duty cycle of the width modulation frequency drive waveform is used to adjust the vibration intensity, which increases the richness of the array vibration.
  • the array drive based on dynamic allocation of power consumption dynamically allocates the switching moments of the pulse width modulation frequency control waveform, realizing DC The power load is more balanced and rationalized.
  • Figure 1 shows a schematic diagram of the vibration array system in an exemplary embodiment of the present application
  • Figure 2 shows a schematic diagram of a wearable vibration array device in the form of a glove in an exemplary embodiment of the present application
  • Figure 3 shows a schematic diagram of the steps of the driving method of the vibration array system in an exemplary embodiment of the present application
  • Figure 4 shows a schematic diagram of the process of generating a driving signal in an exemplary embodiment of the present application
  • Figure 5 shows another schematic diagram of the process of generating a driving signal in an exemplary embodiment of the present application
  • Figure 6 shows a schematic structural diagram of a computer device provided by an exemplary embodiment of the present application.
  • Figure 7 shows a schematic diagram of a storage medium provided by an exemplary embodiment of the present application.
  • the TactSuit tactile feedback wireless suit launched by South Korea's bHaptic company includes a mask, a vest and a pair of sleeves. It integrates a total of 87 vibration units, of which 7 pcs for the mask, 20 pcs on the front and back of the vest, and 20 pcs on each side of the sleeves. Each vibration unit can generate vibration independently, thereby achieving more realistic tactile feedback.
  • each vibration unit needs to be equipped with an independent drive circuit, which brings a significant increase in the cost of the drive circuit and also increases the size and size of the wearable device. weight, thereby affecting user experience.
  • a vibration array system includes a controller, a DC power supply, a driving array and a vibration array.
  • the vibration array consists of a plurality of vibration arrays.
  • the controller is connected to the driving array, the positive end of the driving array is connected to the positive end of the DC power supply, the negative end of the driving array is connected to the positive end of the vibration array, and the The negative terminal of the vibration array is connected to the negative terminal of the DC power supply.
  • D1 to D6 are the driving signals sent by the controller.
  • the vibration array is composed of multiple vibration units, the multiple vibration units are rotor eccentric motors of the same type, namely M1 to M6 in Figure 1, and the drive array is composed of switches;
  • the number of switches is equal to the number of vibration units included in the vibration array.
  • Each switch is composed of a power switch tube and an anti-parallel diode, and the positive terminals of all switches are connected together.
  • the DC power supply is a battery.
  • the vibration array composed of multiple vibration units can be a variety of virtual reality devices, such as tactile gloves.
  • Figure 2 is a schematic diagram of a wearable vibration array device in the form of a glove. It is located on the palm and the pulp of each finger.
  • One vibration unit is installed each, totaling 6 units, numbered M1, M2, M3, M4, M5 and M6 respectively.
  • the controller selects six vibration units M1, M2, M3, M4, M5 and M6 for vibration.
  • the duty cycle of each vibration unit is determined as D1, D2, D3, D4, D5 and D6.
  • each vibration unit can be included to form a vibration array with good vibration sense.
  • the vibration array system uses multiple vibration units to form a vibration array, and realizes vibration feedback in multiple scenarios through the combined vibration of each unit.
  • These vibration units are the same type of rotor eccentric motors and only require one power switch tube and one
  • the drive circuit can be formed by connecting diodes in reverse parallel, thereby significantly reducing the cost of the entire drive array, while also reducing the size and weight of the vibration array system, thereby improving wearing comfort.
  • a driving method for the vibration array system described in each embodiment is also provided. As shown in Figure 3, the method includes:
  • the controller generates a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency
  • the driving array drives the vibration array to vibrate.
  • the controller generates a driving signal according to the vibration demand of each vibration unit and the pulse width modulation frequency, including: converting the vibration intensity demand of each vibration unit into a voltage amplitude demand; The voltage amplitude requirement is converted into a duty cycle requirement; the controller generates a driving signal according to the duty cycle requirement and pulse width modulation frequency of each vibration unit.
  • pulse width modulation is referred to as PWM (Pulse width modulation).
  • generating a driving signal based on the duty cycle requirement and pulse width modulation frequency of each vibration unit includes: if the pulse width modulation frequency of each vibration unit is the same, based on the pulse width of the first vibration unit The modulation frequency and the corresponding duty cycle generate a driving signal, wherein the first vibration unit is any one of the vibration units.
  • Duty cycle refers to the ratio between the time the drive signal is 1 and the total time the drive signal is 1 and 0.
  • each vibration unit can be controlled independently, and the vibration intensity can be adjusted by adjusting the duty cycle of the PWM drive waveform. This not only achieves customized array vibration, but also increases the array vibration through differences in vibration intensity. of richness.
  • this method does not optimize the on and off timing of each switch tube in the drive array, which may cause the DC power supply to drive multiple vibration units at the same time for a long time, or may cause the DC power supply to not drive any vibration unit for a long time, for example.
  • all six vibration units are connected to the DC power supply; in the t6-t7 stage, no vibration unit is connected to the DC power supply, resulting in an unreasonable working state in which the DC power supply is either overloaded or underloaded.
  • generating the driving signal according to the duty cycle requirement and pulse width modulation frequency of each vibration unit includes: if the pulse width modulation frequency of each vibration unit is the same, the corresponding duty cycle of each vibration unit is Duty ratio grouping, find a combination of vibration units whose sum of duty cycles does not exceed 1, until all vibration units form a combination; arrange the duty cycles of all vibration units in a single combination in the same pulse width modulation frequency cycle within, and each duty cycle is close to each other; all combinations are numbered, and the duty cycles are arranged according to the combination number; the corresponding driving signal is generated according to all the duty cycle arrangements.
  • a PWM drive signal with a frequency of f and a duty cycle of D1 is generated; for M2, a PWM drive signal with a frequency of f and a duty cycle of D2 is generated; for M3, a PWM drive signal with a frequency of f and a duty cycle of D2 is generated.
  • the PWM drive signal with frequency f and duty cycle D6 is obtained, and so on.
  • a preferred implementation method is to group the duty cycles corresponding to each vibration unit, and find a combination of vibration units whose sum of duty cycles does not exceed 1 until all vibration units form a combination.
  • the process includes: first A vibration unit is used as the first unit of the first combination, and then the duty ratios of each vibration unit other than this unit are added together to find the vibration unit whose sum of duty ratios does not exceed 1 for the first time, as the first unit. For the second unit of the combination, the duty cycle of each vibration unit other than these two units is added to its sum, and the vibration unit whose sum of duty cycles does not exceed 1 for the first time is found, as the first unit of the first combination.
  • vibration unit combination 1 Three units, and so on, until the sum of the current duty cycle plus the duty cycle of the last vibration unit exceeds 1, then the vibration units whose sum of duty cycles does not exceed 1 will be regarded as vibration unit combination 1.
  • the duty cycles of all vibration units in a single combination are arranged sequentially within 1 PWM cycle, and the duty cycles are close to each other.
  • the duty cycles of M1 and M4 are adjacent to the tf moment.
  • the duty cycles of M2 and M3 are adjacent to the time te; for combination 3, the duty cycles of M5 and M6 are adjacent to the time tc.
  • numbering all combinations and arranging duty cycles according to the combination numbers includes: numbering all combinations to form odd numbered and even numbered combinations; changing the odd numbered combinations from one Arrange the duty cycle backwards from the beginning of the pulse width modulation frequency period; arrange the even numbered combinations forward from the end of a pulse width modulation frequency period. All combinations are numbered, and the odd-numbered combinations are arranged in duty cycle backward from the beginning of one PWM period, and the even-numbered combinations are arranged in duty cycle forward from the end of one PWM period. As shown in Figure 5, for M1 and M4 of combination 1, arrange the duty cycle of M1 between t0-tf, and arrange the duty cycle of M4 between tf-tg.
  • the driving method shown in Figure 5 dynamically distributes the driving signals of different vibration units.
  • the DC power supply can drive up to 3 vibration units at the same time and at least 2 vibration units at the same time. This is different from the array driving method shown in Figure 4 Compared with the DC power supply in 1 that can drive up to 6 vibration units at the same time and at least 0 vibration units at the same time, this method reduces the fluctuation of the DC power supply load and makes the DC power supply load more balanced and rational.
  • the driving method of the vibration array system includes: determining the pulse width modulation frequency of each vibration unit included in the vibration array, and the controller based on the vibration requirements of each vibration unit and the pulse width modulation frequency Generate drive signals, summarize the drive signals corresponding to all vibration units into a set, and send the aggregated drive signals to the drive array.
  • the drive array drives the vibration array to vibrate, because each vibration unit can be independently controlled and passed Adjusting the duty cycle of the pulse width modulation frequency drive waveform to adjust the vibration intensity increases the richness of the array vibration, and the array drive based on dynamic allocation of power consumption dynamically allocates the switching moments of the pulse width modulation frequency control waveform to achieve The DC power supply load is more balanced and rationalized.
  • AI Artificial Intelligence
  • Basic artificial intelligence technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation/interaction systems, mechatronics and other technologies.
  • Artificial intelligence software technology mainly includes computer vision technology, robotics technology, biometric technology, speech processing technology, natural language processing technology, and machine learning/deep learning.
  • the computer device 2 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203.
  • the processor 200, the communication interface 203 and the memory 201 are connected through the bus 202; the memory 201 stores There is a computer program that can be run on the processor 200.
  • the processor 200 runs the computer program, it executes the driving method of the vibration array system provided in any of the previous embodiments of the application.
  • the memory 201 may include high-speed random access memory (RAM: Random Access Memory), and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
  • RAM Random Access Memory
  • non-volatile memory such as at least one disk memory.
  • the communication connection between the system network element and at least one other network element is realized through at least one communication interface 203 (which can be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used.
  • the bus 202 may be an ISA bus, a PCI bus, an EISA bus, etc.
  • the bus can be divided into address bus, data bus, control bus, etc.
  • the memory 201 is used to store a program.
  • the processor 200 executes the program after receiving the execution instruction.
  • the driving method of the vibration array system disclosed in any of the embodiments of the present application can be applied to the processor. 200, or implemented by processor 200.
  • the processor 200 may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor 200 .
  • the above-mentioned processor 200 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • CPU central processing unit
  • NP Network Processor
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA off-the-shelf programmable gate array
  • Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory 201.
  • the processor 200 reads the information in the memory 201 and completes the steps of the above method in combination with its hardware.
  • the embodiment of the present application also provides a computer-readable storage medium corresponding to the driving method of the vibration array system provided in the previous embodiment.
  • the computer-readable storage medium shown in Figure 7 is an optical disk 30, on which A computer program (that is, a program product) is stored.
  • a computer program that is, a program product
  • the computer program will execute the driving method of the vibration array system provided in any of the foregoing embodiments.
  • examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), and other types of random access memory.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other optical and magnetic storage media, which will not be described one by one here.
  • the computer-readable storage medium provided by the above-mentioned embodiments of the present application is based on the same inventive concept as the quantum key distribution channel allocation method in a space division multiplexing optical network provided by the embodiments of the present application, and has the same inventive concept as that used by the application program it stores. method of operating or achieving the same beneficial effects.
  • An embodiment of the present application also provides a computer program product, including a computer program.
  • the computer program When executed by a processor, the computer program implements the steps of the driving method of the vibration array system provided in any of the foregoing embodiments, including: determining the vibration array includes The pulse width modulation frequency of each vibration unit; generating a drive signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency; summarizing the drive signals corresponding to all vibration units into a set, and sending the aggregated drive signal to the drive array;
  • the driving array drives the vibration array to vibrate.
  • modules in the devices in the embodiment can be adaptively changed and arranged in one or more devices different from that in the embodiment.
  • the modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All features disclosed in this specification and all processes or elements of any method or apparatus so disclosed may be combined in any combination, except that at least some of such features and/or processes or elements are mutually exclusive.
  • Each feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
  • Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the apparatus for creating a virtual machine according to embodiments of the present application.
  • DSP digital signal processor
  • the present application may also be implemented as a device or device program for performing part or all of the methods described herein.
  • Programs implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, or provided on a carrier signal, or in any other form.

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Abstract

一种振动阵列系统、驱动方法和存储介质，所述系统包括控制器、直流电源、驱动阵列和振动阵列，振动阵列由多个振动单元组成，控制器与驱动阵列连接，驱动阵列的正端与直流电源的正端相连，驱动阵列的负端与振动阵列的正端相连，振动阵列的负端与直流电源的负端相连。驱动方法包括：确定振动阵列包括的各振动单元的脉冲宽度调制频率；控制器根据各振动单元的振动需求和脉冲宽度调制频率产生驱动信号；将所有振动单元对应的驱动信号汇总为一个集合，将汇总后驱动信号送入驱动阵列；驱动阵列驱动振动阵列进行振动。所述系统显著降低整个驱动阵列的成本，同时提升了穿戴舒适性；所述驱动方法增加了阵列振动的丰富性，实现了电源负荷的均衡化。

Description

振动阵列系统、驱动方法和存储介质 技术领域
本申请涉及振动阵列技术领域，更为具体来说，本申请涉及振动阵列系统、驱动方法和存储介质。
背景技术
在消费电子领域，振动器件能够提供与操作相匹配的振动反馈，给用户带来良好的使用体验。而随着元宇宙概念的兴起，AR/VR等设备对触觉反馈的需求也越来越高，单个器件所能提供的触觉反馈极其有限，已经无法满足用户对触觉体验真实性的需求，因此需要通过振动阵列来实现更真实和丰富的触觉体验。
然而，振动阵列的引入虽然提高了触觉的真实性和丰富性，但每个振动单元都需要配备独立的驱动电路，这带来了驱动电路成本的显著上升，同时也增加了穿戴设备的体积、重量，从而影响用户体验。
发明内容
基于上述技术问题，本发明旨在提供一种振动阵列系统的驱动方法，通过根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号。
本发明第一方面提供了一种振动阵列系统，所述系统包括控制器、直流电源、驱动阵列和振动阵列，所述振动阵列由多个振动单元组成，所述控制器与所述驱动阵列连接，所述驱动阵列的正端与所述直流电源的正端相连，所述驱动阵列的负端与所述振动阵列的正端相连，所述振动阵列的负端与所述直流电源的负端相连。
在本发明的一些实施例中，所述振动阵列由多个振动单元组成，所述多个振动单元为同类型的转子偏心马达。
在本发明的一些实施例中，所述驱动阵列由开关构成；其中，所述开关的数量与振动阵列包括的振动单元数目相等，每个开关由一个功率开关管和一个反向并联二极管组成，所有开关的正端连接在一起。
在本发明的一些实施例中，所述直流电源为蓄电池。
本发明第二方面提供了一种各实施例中所述振动阵列系统的驱动方法，所述方法包括：
确定所述振动阵列包括的各振动单元的脉冲宽度调制频率；
所述控制器根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号；
将所有振动单元对应的驱动信号汇总为一个集合，将汇总后驱动信号送入驱动阵列；
所述驱动阵列驱动所述振动阵列进行振动。
在本发明的一些实施例中，所述控制器根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号，包括：
将各振动单元的振动强度需求转换为电压幅值需求；
将所述电压幅值需求转换为占空比需求；
控制器根据各振动单元的占空比需求和脉冲宽度调制频率产生驱动信号。
在本发明的一些实施例中，所述根据各振动单元的占空比需求和脉冲 宽度调制频率产生驱动信号，包括：
若各振动单元的脉冲宽度调制频率不同，基于第一振动单元的脉冲宽度调制频率及对应的占空比产生驱动信号，其中，所述第一振动单元为各振动单元中的任一振动单元。
在本发明的一些实施例中，所述根据各振动单元的占空比需求和脉冲宽度调制频率产生驱动信号，包括：
若各振动单元的脉冲宽度调制频率相同，将各振动单元对应的占空比分组，找出占空比之和不超过1的振动单元组合，直至所有的振动单元均形成组合；
将单个组合内的所有振动单元的占空比依次安排在同一个脉冲宽度调制频率周期内，且各占空比之间相互紧挨；
对所有的组合进行编号，并根据组合编号排列占空比；
根据所有的占空比排列情况生成对应的驱动信号。
在本发明的一些实施例中，所述对所有的组合进行编号，并根据组合编号排列占空比，包括：
对所有的组合进行编号，形成奇数编号和偶数编号；
将奇数编号的组合从一个脉冲宽度调制频率周期的起始开始向后排列占空比；
将偶数编号的组合从一个脉冲宽度调制频率周期的末尾开始向前排列占空比。
本发明第三方面提供了一种计算机可读存储介质，其上存储有计算机 程序，该计算机程序被处理器执行时实现权利要求5-9任一所述方法的步骤：
确定所述振动阵列包括的各振动单元的脉冲宽度调制频率；
根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号；
将所有振动单元对应的驱动信号汇总为一个集合，将汇总后驱动信号送入驱动阵列；
所述驱动阵列驱动所述振动阵列进行振动。
本申请实施例中提供的技术方案，至少具有如下技术效果或优点：
本申请实施例中提供的振动阵列系统，包括控制器、直流电源、驱动阵列和振动阵列，其中采用多个振动单元构成振动阵列，通过各个单元的组合振动实现多场景的振动反馈，这些振动单元是同类型的转子偏心马达，仅需一个功率开关管和一个反向并联二极管即可构成驱动电路，从而显著降低整个驱动阵列的成本，同时降低了振动阵列系统的体积、重量，进而提升了穿戴舒适性；所述振动阵列系统的驱动方法，包括：确定所述振动阵列包括的各振动单元的脉冲宽度调制频率，所述控制器根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号，将所有振动单元对应的驱动信号汇总为一个集合，将汇总后驱动信号送入驱动阵列，所述驱动阵列驱动所述振动阵列进行振动，因为每个振动单元可独立控制，并通过调节脉冲宽度调制频率驱动波形的占空比来调节振感强弱，增加了阵列振动的丰富性，且基于功耗动态分配的阵列驱动对脉冲宽度调制频率控制波形的开关时刻进行动态分配，实现了直流电源负荷的更加均衡与合理化。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本发明。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1示出了本申请一示例性实施例中的振动阵列系统组成示意图；
图2示出了本申请一示例性实施例中的手套形态的可穿戴振动阵列设备示意图；
图3示出了本申请一示例性实施例中的振动阵列系统的驱动方法之步骤示意图；
图4示出了本申请一示例性实施例中产生驱动信号过程示意图；
图5示出了本申请一示例性实施例中又一产生驱动信号过程示意图；
图6示出了本申请一示例性实施例所提供的一种计算机设备的结构示意图；
图7示出了本申请一示例性实施例所提供的一种存储介质的示意图。
具体实施方式
以下，将参照附图来描述本申请的实施例。但是应该理解的是，这些描述只是示例性的，而并非要限制本申请的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本申请的概念。对于本领域技术人员来说显而易见的是，本申请可以无需一个或多个这些细 节而得以实施。在其他的例子中，为了避免与本申请发生混淆，对于本领域公知的一些技术特征未进行描述。
应予以注意的是，这里所使用的术语仅是为了描述具体实施例，而非意图限制根据本申请的示例性实施例。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式。此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。
现在，将参照附图更详细地描述根据本申请的示例性实施例。然而，这些示例性实施例可以多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施例。附图并非是按比例绘制的，其中为了清楚表达的目的，可能放大了某些细节，并且可能省略了某些细节。图中所示出的各种区域、层的形状以及它们之间的相对大小、位置关系仅是示例性的，实际中可能由于制造公差或技术限制而有所偏差，并且本领域技术人员根据实际所需可以另外设计具有不同形状、大小、相对位置的区域/层。
下面结合说明书附图1-7给出几个实施例来描述根据本申请的示例性实施方式。需要注意的是，下述应用场景仅是为了便于理解本申请的精神和原理而示出，本申请的实施方式在此方面不受任何限制。相反，本申请的实施方式可以应用于适用的任何场景。
目前，通过振动阵列来实现更真实和丰富的触觉体验越来越受欢迎，韩国bHaptic公司推出的TactSuit触感反馈无线套装，包含面罩、背心和一对袖套，合计集成了87个振动单元，其中面罩7颗，背心前后各20颗， 袖套每边20颗。每个振动单元都可独立产生振动，从而实现更加真实的触觉反馈。然而，振动阵列的引入虽然提高了触觉的真实性和丰富性，但每个振动单元都需要配备独立的驱动电路，这带来了驱动电路成本的显著上升，同时也增加了穿戴设备的体积、重量，从而影响用户体验。
因此，在本申请一些示例性实施例中，提供了一种振动阵列系统，如图1所示，所述系统包括控制器、直流电源、驱动阵列和振动阵列，所述振动阵列由多个振动单元组成，所述控制器与所述驱动阵列连接，所述驱动阵列的正端与所述直流电源的正端相连，所述驱动阵列的负端与所述振动阵列的正端相连，所述振动阵列的负端与所述直流电源的负端相连。如图1所示，D1至D6是控制器发出的驱动信号。
在本申请的一些实施例中，所述振动阵列由多个振动单元组成，所述多个振动单元为同类型的转子偏心马达即图1中的M1至M6，所述驱动阵列由开关构成；其中，所述开关的数量与振动阵列包括的振动单元数目相等，每个开关由一个功率开关管和一个反向并联二极管组成，所有开关的正端连接在一起。所述直流电源为蓄电池。需要补充说明的是，由多个振动单元组成的振动阵列可以是各种虚拟现实设备，如触觉手套，图2为手套形态的可穿戴振动阵列设备示意图，在掌心和每根手指的指腹位置各安装了1个振动单元，合计6个，分别编号为M1、M2、M3、M4、M5和M6。例如控制器选择了M1、M2、M3、M4、M5和M6这6个振动单元进行振动，根据振动强度需求将每个振动单元的占空比分别确定为D1、D2、D3、D4、D5和D6。当然在虚拟现实和加强现实中即AR/VR等设备都可以包括各振动单元组成振感较好的振动阵列。
本申请所提供的振动阵列系统由于采用多个振动单元构成振动阵列，通过各个单元的组合振动实现多场景的振动反馈，这些振动单元是同类型的转子偏心马达，仅需一个功率开关管和一个反向并联二极管即可构成驱动电路，从而显著降低整个驱动阵列的成本，同时降低了振动阵列系统的体积、重量，进而提升了穿戴舒适性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
在本申请一些示例性实施例中，还提供了各实施例中所述振动阵列系统的一种驱动方法，如图3所示，所述方法包括：
S1、确定所述振动阵列包括的各振动单元的脉冲宽度调制频率；
S2、所述控制器根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号；
S3、将所有振动单元对应的驱动信号汇总为一个集合，将汇总后驱动信号送入驱动阵列；
S4、所述驱动阵列驱动所述振动阵列进行振动。
在一种具体的实现方式中，所述控制器根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号，包括：将各振动单元的振动强度需求转换为电压幅值需求；将所述电压幅值需求转换为占空比需求；控制器根据各振动单元的占空比需求和脉冲宽度调制频率产生驱动信号。其中，脉冲宽度调制简称PWM(Pulse width modulation)。
在一种具体的实现方式中，所述根据各振动单元的占空比需求和脉冲 宽度调制频率产生驱动信号，包括：若各振动单元的脉冲宽度调制频率相同，基于第一振动单元的脉冲宽度调制频率及对应的占空比产生驱动信号，其中，所述第一振动单元为各振动单元中的任一振动单元。占空比指的是驱动信号为1的时长与驱动信号为1和0的总时长之间的比值。如图4所示，每个振动单元可独立控制，并通过调节PWM驱动波形的占空比来调节振感强弱，不仅实现了自定义阵列振动，同时还通过振动强度的差异增加了阵列振动的丰富性。但该方法并未对驱动阵列各开关管的开、关时机进行优化，可能导致直流电源同时驱动多个振动单元的时间较多，也可能导致直流电源不驱动任何振动单元的时间较多，例如在t0-t1阶段，6个振动单元都接入直流电源；在t6-t7阶段，没有振动单元接入直流电源，从而造成直流电源要么负荷过重，要么负荷过轻的不合理工作状态。
在另一种具体的实现方式中，所述根据各振动单元的占空比需求和脉冲宽度调制频率产生驱动信号，包括：若各振动单元的脉冲宽度调制频率相同，将各振动单元对应的占空比分组，找出占空比之和不超过1的振动单元组合，直至所有的振动单元均形成组合；将单个组合内的所有振动单元的占空比依次安排在同一个脉冲宽度调制频率周期内，且各占空比之间相互紧挨；对所有的组合进行编号，并根据组合编号排列占空比；根据所有的占空比排列情况生成对应的驱动信号。例如针对M1，生成了频率为f，占空比为D1的PWM驱动信号；针对M2，生成了频率为f，占空比为D2的PWM驱动信号；针对M3，生成了频率为f，占空比为D3的PWM驱动信号；针对M4，生成了频率为f，占空比为D4的PWM驱动信号；针对M5，生成了频率为f，占空比为D5的PWM驱动信号；针对M6， 生成了频率为f，占空比为D6的PWM驱动信号，等等。
一种优选的实现方式为：将各振动单元对应的占空比分组，找出占空比之和不超过1的振动单元组合，直至所有的振动单元均形成组合的过程，包括：先将第一个振动单元作为第一个组合的第一个单元，再依次用该单元以外的各振动单元的占空比与其相加，找到占空比之和首次不超过1的振动单元，作为第一个组合的第二个单元，再依次用这两个单元以外的各振动单元的占空比与其和相加，找到占空比之和首次不超过1的振动单元，作为第一个组合的第三个单元，以此类推，直到当前占空比之和加上最后一个振动单元的占空比超过1，则将这多个占空比之和不超过1的振动单元作为振动单元组合1。如图5所示，本例中第一个振动单元的占空比D1＝0.66，首次与其相加求和不超过1的是第四个振动单元的占空比D4＝0.33，其和为0.99，该和加上最后一个振动单元的占空比D6＝0.11后超过1，因此将振动单元M1、M4作为振动单元组合1，在所有振动单元中去掉组合1中的振动单元，对剩余振动单元采取同样的策略，确定振动单元组合2；本例中去掉M1和M4后，对剩余振动单元M2/M3/M5/M6采取同样策略，将振动单元M2、M3作为振动单元组合2，以此类推，直到所有的振动单元均已形成组合，将振动单元M5、M6作为振动单元组合3。将单个组合内的所有振动单元的占空比依次安排在1个PWM周期内，且各占空比之间相互紧挨，对于组合1，M1和M4的占空比相邻于tf时刻，对于组合2，M2和M3的占空比相邻于te时刻；对于组合3，M5和M6的占空比相邻于tc时刻。
在本发明的一些实施例中，所述对所有的组合进行编号，并根据组合 编号排列占空比，包括：对所有的组合进行编号，形成奇数编号和偶数编号；将奇数编号的组合从一个脉冲宽度调制频率周期的起始开始向后排列占空比；将偶数编号的组合从一个脉冲宽度调制频率周期的末尾开始向前排列占空比。对所有的组合进行编号，将奇数编号的组合从1个PWM周期的起始开始向后排列占空比，将偶数编号的组合从1个PWM周期的末尾开始向前排列占空比。如图5所示，对于组合1的M1和M4，将M1的占空比安排在t0-tf之间，将M4的占空比安排在tf-tg之间，对于组合2的M2和M3，将M2的占空比安排在te-t7之间，将M3的占空比安排在ta-te之间，对于组合3的M5和M6，将M5的占空比安排在t0-tc之间，将M6的占空比安排在tc-td之间。接着根据所有振动单元的占空比排列情况生成对应的驱动信号，将所有振动阵列的驱动信号汇总为一个集合，作为驱动信号送入驱动阵列。
由此可见，图5所示的驱动方法将不同振动单元的驱动信号进行了动态分配，直流电源最多同时驱动3个振动单元，最少同时驱动2个振动单元，与图4所示的阵列驱动方法1中直流电源最多同时驱动6个振动单元，最少同时驱动0个振动单元相比，该方法减小了直流电源负荷的波动量，使得直流电源负荷更加均衡、合理化。
本申请所提供的所述振动阵列系统的驱动方法，包括：确定所述振动阵列包括的各振动单元的脉冲宽度调制频率，所述控制器根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号，将所有振动单元对应的驱动信号汇总为一个集合，将汇总后驱动信号送入驱动阵列，所述驱动阵列驱动所述振动阵列进行振动，因为每个振动单元可独立控制，并通过 调节脉冲宽度调制频率驱动波形的占空比来调节振感强弱，增加了阵列振动的丰富性，且基于功耗动态分配的阵列驱动对脉冲宽度调制频率控制波形的开关时刻进行动态分配，实现了直流电源负荷的更加均衡与合理化。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本发明。
还需要强调的是，本申请实施例中提供的系统可以基于人工智能技术对相关的数据进行获取和处理。其中，人工智能(Artificial Intelligence，AI)是利用数字计算机或者数字计算机控制的机器模拟、延伸和扩展人的智能，感知环境、获取知识并使用知识获得最佳结果的理论、方法、技术及应用系统。人工智能基础技术一般包括如传感器、专用人工智能芯片、云计算、分布式存储、大数据处理技术、操作/交互系统、机电一体化等技术。人工智能软件技术主要包括计算机视觉技术、机器人技术、生物识别技术、语音处理技术、自然语言处理技术以及机器学习/深度学习等几大方向。
下面请参考图6，其示出了本申请的一些实施方式所提供的一种计算机设备的示意图。如图6所示，所述计算机设备2包括：处理器200，存储器201，总线202和通信接口203，所述处理器200、通信接口203和存储器201通过总线202连接；所述存储器201中存储有可在所述处理器200上运行的计算机程序，所述处理器200运行所述计算机程序时执行本申请前述任一实施方式所提供的振动阵列系统的驱动方法。
其中，存储器201可能包含高速随机存取存储器(RAM：Random Access Memory)，也可能还包括非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器。通过至少一个通信接口203(可以是有线或者无线)实现该系统网元与至少一个其他网元之间的通信连接，可以使用互联网、广域网、本地网、城域网等。
总线202可以是ISA总线、PCI总线或EISA总线等。所述总线可以分为地址总线、数据总线、控制总线等。其中，存储器201用于存储程序，所述处理器200在接收到执行指令后，执行所述程序，前述本申请实施例任一实施方式揭示的所述振动阵列系统的驱动方法可以应用于处理器200中，或者由处理器200实现。
处理器200可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器200中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器200可以是通用处理器，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(Network Processor，简称NP)等；还可以是数字信号处理器(DSP)、专用集成电路(ASIC)、现成可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存 储介质中。该存储介质位于存储器201，处理器200读取存储器201中的信息，结合其硬件完成上述方法的步骤。
本申请实施方式还提供一种与前述实施方式所提供的振动阵列系统的驱动方法对应的计算机可读存储介质，请参考图7，图7示出的计算机可读存储介质为光盘30，其上存储有计算机程序(即程序产品)，所述计算机程序在被处理器运行时，会执行前述任意实施方式所提供的振动阵列系统的驱动方法。
另外，所述计算机可读存储介质的例子还可以包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他光学、磁性存储介质，在此不再一一赘述。
本申请的上述实施例提供的计算机可读存储介质与本申请实施例提供的空分复用光网络中量子密钥分发信道分配方法出于相同的发明构思，具有与其存储的应用程序所采用、运行或实现的方法相同的有益效果。
本申请实施方式还提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现前述任意实施方式所提供的振动阵列系统的驱动方法的步骤，包括：确定所述振动阵列包括的各振动单元的脉冲宽度调制频率；根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号；将所有振动单元对应的驱动信号汇总为一个集合，将汇总后驱动信号送入驱动阵列；所述驱动阵列驱动所述振动阵列进行振动。
需要说明的是：在此提供的算法和显示不与任何特定计算机、虚拟装置或者其它设备有固有相关。各种通用装置也可以与基于在此的示教一起使用。根据上面的描述，构造这类装置所要求的结构是显而易见的。此外，本申请也不针对任何特定编程语言。应当明白，可以利用各种编程语言实现在此描述的本申请的内容，并且上面对特定语言所做的描述是为了披露本申请的最佳实施方式。在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本申请并帮助理解各个发明方面中的一个或多个，在上面对本申请的示例性实施例的描述中，本申请的各个特征有时被一起分组到单个实施例、图或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本申请要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本申请的单独实施例。
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/ 或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的虚拟机的创建装置中的一些或者全部部件的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序。实现本申请的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
以上所述，仅为本申请较佳的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种振动阵列系统，其特征在于，所述系统包括控制器、直流电源、驱动阵列和振动阵列，所述振动阵列由多个振动单元组成，所述控制器与所述驱动阵列连接，所述驱动阵列的正端与所述直流电源的正端相连，所述驱动阵列的负端与所述振动阵列的正端相连，所述振动阵列的负端与所述直流电源的负端相连。
  2. 根据权利要求1所述的振动阵列系统，其特征在于，所述多个振动单元为同类型的转子偏心马达。
  3. 根据权利要求2所述的振动阵列系统，其特征在于，所述驱动阵列由开关构成；其中，所述开关的数量与振动阵列包括的振动单元数目相等，每个开关由一个功率开关管和一个反向并联二极管组成，所有开关的正端连接在一起。
  4. 根据权利要求1所述的振动阵列系统，其特征在于，所述直流电源为蓄电池。
  5. 一种如权利要求1-4任一所述振动阵列系统的驱动方法，其特征在于，所述方法包括：
    确定所述振动阵列包括的各振动单元的脉冲宽度调制频率；
    所述控制器根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号；
    将所有振动单元对应的驱动信号汇总为一个集合，将汇总后驱动信号送入驱动阵列；
    所述驱动阵列驱动所述振动阵列进行振动。
  6. 根据权利要求5所述振动阵列系统的驱动方法，其特征在于，所述控制器根据各振动单元的振动需求和所述脉冲宽度调制频率产生驱动信号，包括：
    将各振动单元的振动强度需求转换为电压幅值需求；
    将所述电压幅值需求转换为占空比需求；
    控制器根据各振动单元的占空比需求和脉冲宽度调制频率产生驱动信号。
  7. 根据权利要求6所述振动阵列系统的驱动方法，其特征在于，所述根据各振动单元的占空比需求和脉冲宽度调制频率产生驱动信号，包括：
    若各振动单元的脉冲宽度调制频率不同，基于第一振动单元的脉冲宽度调制频率及对应的占空比产生驱动信号，其中，所述第一振动单元为各振动单元中的任一振动单元。
  8. 根据权利要求6所述振动阵列系统的驱动方法，其特征在于，所述根据各振动单元的占空比需求和脉冲宽度调制频率产生驱动信号，包括：
    若各振动单元的脉冲宽度调制频率相同，将各振动单元对应的占空比分组，找出占空比之和不超过1的振动单元组合，直至所有的振动单元均形成组合；
    将单个组合内的所有振动单元的占空比依次安排在同一个脉冲宽度调制频率周期内，且各占空比之间相互紧挨；
    对所有的组合进行编号，并根据组合编号排列占空比；
    根据所有的占空比排列情况生成对应的驱动信号。
  9. 根据权利要求8所述振动阵列系统的驱动方法，其特征在于，所述对所有的组合进行编号，并根据组合编号排列占空比，包括：
    对所有的组合进行编号，形成奇数编号和偶数编号；
    将奇数编号的组合从一个脉冲宽度调制频率周期的起始开始向后排列占空比；
    将偶数编号的组合从一个脉冲宽度调制频率周期的末尾开始向前排列占空比。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于， 该计算机程序被处理器执行时实现权利要求5-9任一所述方法的步骤。
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