WO2023246057A1 - Procédé et dispositif d'entraînement de moteur linéaire, et support de stockage - Google Patents

Procédé et dispositif d'entraînement de moteur linéaire, et support de stockage Download PDF

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Publication number
WO2023246057A1
WO2023246057A1 PCT/CN2022/142377 CN2022142377W WO2023246057A1 WO 2023246057 A1 WO2023246057 A1 WO 2023246057A1 CN 2022142377 W CN2022142377 W CN 2022142377W WO 2023246057 A1 WO2023246057 A1 WO 2023246057A1
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waveform
audio
linear motor
data
type
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PCT/CN2022/142377
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English (en)
Chinese (zh)
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李光耀
张佳宁
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北京凌宇智控科技有限公司
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    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B20/00—Signal processing not specific to the method of recording or reproducing; Circuits therefor
    • G11B20/10—Digital recording or reproducing
    • G11B20/10009—Improvement or modification of read or write signals
    • G11B20/10305—Improvement or modification of read or write signals signal quality assessment
    • G11B20/10453—Improvement or modification of read or write signals signal quality assessment physical shape of recording marks, e.g. their length, width, depth or contour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/0416—Control or interface arrangements specially adapted for digitisers

Definitions

  • This article relates to the field of spatial positioning, especially a linear motor driving method, device and storage medium.
  • Tactile experience has widely penetrated into various devices in technological activities, such as controllers, game consoles, mobile phones, game consoles, tablets, etc.
  • Tactile actuators using linear motors as carriers can obtain customized tactile experiences by designing their specific waveforms, which greatly enriches user perception.
  • linear motors have improved users' entertainment experience.
  • Using audio signals to directly drive linear motors can directly experience a richer and more immersive vibration experience; linear motors are only sensitive to a certain frequency range, but audio data contains complex Frequency component, when the audio data is directly used to drive a linear motor, the vibration frequency component that is not suitable for the linear motor will be loaded onto the linear motor.
  • the consequence is that the ultra-low frequency data part of the audio data makes the linear motor more likely to get hot, and the high-frequency data part And the UHF frequency data part makes the linear motor only produce sound without vibration. If low-pass filtering or band-pass filtering is used to process audio data, all frequency components of the filtered audio will be directly filtered out, and the linear motor can no longer be driven to vibrate.
  • the audio frequency of an electric drill is generally above 1Khz. If the audio data of the electric drill directly drives the linear motor, the linear motor cannot vibrate. If low-pass filtering is used to filter the audio data of the electric drill and the audio data of the electric drill is directly reset to zero, the filtered result will still not be able to drive the linear motor.
  • This application provides a linear motor driving method, device and storage medium.
  • the method processes and converts audio data in the time domain, so that the audio frequency diversity can be retained after conversion of the audio data to effectively drive the linear motor.
  • This application provides a linear motor driving method, which method includes:
  • process the audio data to obtain the backbone waveform of the audio data, where the backbone waveform is the waveform with the largest area among all waveforms of the audio data;
  • the linear motor is driven according to the main waveform of the audio data.
  • processing the audio data based on the time domain audio waveform and the operating frequency to obtain the backbone waveform of the audio data includes:
  • time-domain audio waveforms of different areas are converted into sinusoidal waveforms corresponding to the audio data
  • the backbone waveform is determined.
  • obtaining the time domain audio waveform of audio data includes:
  • an audio waveform in the time domain which is a waveform formed by discrete data points composed of time and audio waveform intensity; where the x-axis represents the time of the audio waveform data point, and the y-axis represents the intensity of the audio waveform data point;
  • determining the half-cycle range of effective audio waveform data for driving the linear motor according to the operating frequency of the linear motor includes:
  • a lower limit of a half cycle of valid audio waveform data for driving the linear motor is determined based on the second frequency.
  • dividing the acquired time-domain audio waveform data into types according to the determined half-cycle range of the valid audio waveform data includes:
  • the audio waveform that passes through the intensity 0 axis and whose time range is between the upper half-cycle limit and the lower half-cycle limit is defined as the second type of waveform
  • the audio waveform that continues on the intensity 0 axis is defined as the fourth type of waveform.
  • calculating the area of a graph surrounded by each type of time-domain audio waveform and the x-axis representing time includes:
  • For the first type of waveform divide the audio waveform into multiple waveform segments according to the upper limit of the half cycle; calculate the area of the graph surrounded by each waveform segment and the x-axis representing time;
  • the area of the fourth type waveform is 0.
  • converting time-domain audio waveforms of different areas into sinusoidal waveforms corresponding to the audio data according to the calculated areas and preset conversion rules including:
  • the amplitude of the sine wave form For the first type of waveform and the second type of waveform, calculate the amplitude of the sine wave form according to the determined duration and area; according to the amplitude and duration, each waveform or waveform segment is restored to a half-cycle sine wave;
  • the duration of the third type waveform and the fourth type waveform is combined and calculated. If the combined duration range is between the lower limit and the upper limit of the half cycle, the amplitude and duration are calculated. Restore each third type waveform to a half-cycle sine wave; if the combined duration range is smaller than the second half-cycle definition, convert both the third and fourth type waveforms into straight lines with an intensity of 0.
  • the reduction to a half-cycle sine wave includes:
  • the area of the graph surrounded by the x-axis representing time is negative, and it is restored to a half-cycle sine wave below the x-axis.
  • This application also provides a linear motor driving device, which includes: an acquisition module, a processing module and a driving module;
  • the acquisition module is used to acquire the time domain audio waveform of the audio data used to drive the linear motor and the operating frequency of the linear motor to be driven;
  • the processing module is configured to process the audio data based on the time domain audio waveform and the operating frequency, and obtain the backbone waveform of the audio data.
  • the backbone waveform is the entire waveform of the audio data. The largest waveform in the medium area;
  • the driving module is used to drive the linear motor according to the main waveform of the audio data.
  • This application also provides a linear motor driving device, which includes: a memory and a processor; wherein the memory is used to save a linear motor driving program, and the processor is used to read and execute the program for the linear motor.
  • the driver program executes the method described in any one of the above embodiments.
  • the present application also provides a computer storage medium in which computer-executable instructions are stored, and the computer-executable instructions are used to execute the linear motor driving method described in any one of the embodiments.
  • this application provides a linear motor driving method, device and storage medium.
  • the method includes: acquiring the time domain audio waveform of the audio data used to drive the linear motor and the work of the linear motor to be driven. Frequency; based on the time domain audio waveform and the operating frequency, process the audio data to obtain the backbone waveform of the audio data, and the backbone exploits the waveform with the largest area among all the waveforms of the audio data; according to The main waveform of the audio data drives the linear motor.
  • the method processes and converts audio data in the time domain, so that the diversity of audio frequencies can be retained after conversion of the audio data to effectively drive the linear motor.
  • Figure 1 is a flow chart of a linear motor driving method according to an embodiment of the present application
  • Figure 2 is a schematic diagram of audio waveforms in some exemplary embodiments
  • Figure 3 is a schematic diagram of a partially amplified audio waveform in some exemplary embodiments
  • Figure 4 is a schematic diagram of dividing time-domain audio waveform data into first type waveforms in some exemplary embodiments
  • Figure 5 is a schematic diagram of dividing time domain audio waveform data into a second type of waveform in some exemplary embodiments.
  • Figure 6 is a schematic diagram of dividing time domain audio waveform data into a third type of waveform in some exemplary embodiments
  • Figure 7 is a schematic diagram of dividing time domain audio waveform data into a fourth type of waveform in some exemplary embodiments.
  • Figure 8A is a rendering of the first type of waveform before conversion in some exemplary embodiments.
  • Figure 8B is a rendering of the first type of waveform after conversion in some exemplary embodiments.
  • Figure 9A is a rendering of the second type of waveform before conversion in some exemplary embodiments.
  • Figure 9B is a rendering of the second type of waveform after conversion in some exemplary embodiments.
  • Figure 10A is a diagram of the effects before third type and fourth type waveform conversion in some exemplary embodiments.
  • Figure 10B is a diagram showing the effects after conversion of third type and fourth type waveforms in some exemplary embodiments.
  • Figure 11 is a schematic diagram of positive and negative half-cycle sine waves restored according to the positive and negative areas of the waveform in some exemplary embodiments;
  • Figure 12 is a schematic diagram of area calculation of waveform data in some exemplary embodiments.
  • Figure 13A is a rendering of audio data before conversion in some exemplary embodiments
  • Figure 13B is a rendering of audio data after conversion in some exemplary embodiments.
  • Figure 14 is a schematic diagram of the linear motor driving device according to the embodiment of the present application.
  • Figure 15 is a schematic diagram of a linear motor driving device according to an embodiment of the present application.
  • Linear motors can vibrate using input analog signals (such as analog signals connected to headphones) and waveforms (such as square waves, sine waves), or they can use dedicated vibration drivers to vibrate.
  • a dedicated vibration driver generally supports analog signals, digital signals (connected through I2C ⁇ SPI ⁇ UART, etc.), and PWM signal input methods.
  • the vibration signal source is audio data
  • the audio data must be analog signals or converted into analog signals. You can It converts specific external audio signals into analog signals (such as audio input from Bluetooth, audio input from an audio interface (such as 3.55mm port)).
  • An embodiment of the present disclosure provides a linear motor driving method, as shown in Figure 1.
  • the method includes steps S110-S130:
  • the audio signal when used to directly drive the linear motor, a rich and more immersive vibration experience can be directly experienced, thereby improving the user's entertainment experience.
  • Implementation of obtaining the time-domain audio waveform of audio data The audio waveform is original audio data, and the audio data contains complex frequency components.
  • the sensitive or effective working frequency of each linear motor is different. First, the sensitive or effective working frequency of the linear motor to be driven must be obtained, and the invalid frequencies of the audio data are removed based on the obtained sensitive or effective working frequency.
  • obtaining the time domain audio waveform includes: obtaining the audio waveform in the time domain, where the audio waveform is a waveform formed by discrete data points composed of time and audio waveform intensity; where the x-axis represents The time of the audio waveform data point, the y-axis represents the intensity of the audio waveform data point; the x-axis is used as the intensity 0 axis of the audio waveform data point, and adjacent audio discrete data points are connected to form an audio waveform.
  • the horizontal axis is the x-axis and the vertical axis is the y-axis; taking the x-axis as the intensity 0 axis of the audio waveform data points, connecting each adjacent discrete data point is a continuous upward, downward or The audio waveform that returns the x-axis (0-axis).
  • the audio waveform shown in Figure 2 the audio waveform is partially enlarged and displayed, as shown in Figure 3.
  • processing the audio data based on the time domain audio waveform and the operating frequency to obtain the backbone waveform of the audio data includes: determining based on the operating frequency of the linear motor The half-cycle range of the effective audio waveform data that drives the linear motor; classify the acquired time-domain audio waveform into types according to the determined half-cycle range of the effective audio waveform data;
  • determining the half-cycle range of effective audio waveform data for driving the linear motor according to the operating frequency of the linear motor includes: determining the effective frequency range for driving the linear motor to be the first frequency to the second frequency; The upper limit of the half period of the effective audio waveform data for driving the linear motor is determined according to the first frequency; the lower limit of the half period of the effective audio waveform data for driving the linear motor is determined according to the second frequency.
  • the sensitive frequency range of the linear motor to be driven is 80HZ-200HZ, that is, the first frequency is 80HZ and the second frequency is 200HZ.
  • the upper limit of the half period of the effective audio waveform data for driving the linear motor is determined according to the first frequency to be 6.25 ms, and the lower limit of the half period of the effective audio waveform data for driving the linear motor is determined according to the second frequency to be 2.5 ms.
  • the acquired time-domain audio waveform data is divided into types according to the determined half-cycle range of the valid audio waveform data, including: audio that passes through the intensity 0 axis and whose time range is greater than the upper limit of the half-cycle
  • the waveform is defined as the first type of waveform; the audio waveform that passes through the intensity 0 axis and the time range is between the upper limit of the half cycle and the lower limit of the half cycle is defined as the second type waveform; the audio waveform that passes through the intensity 0 axis and the time range is less than the second half
  • the periodic audio waveform is defined as the third type of waveform; the audio waveform that continues on the intensity 0 axis is defined as the fourth type of waveform.
  • the time domain audio waveform data will be divided into types, which will pass through the intensity 0
  • the audio waveform that crosses the intensity 0 axis and has a time range greater than 6.25ms is defined as the first type of waveform, as shown in Figure 4; the audio waveform that passes through the intensity 0 axis and the time range is between 2.5ms-6.25ms is defined as the second type of waveform.
  • the audio waveform that passes through the intensity 0 axis and the time range is less than 2.5ms is defined as the third type of waveform, as shown in Figure 6; the audio waveform that continues on the intensity 0 axis is defined as the fourth type of waveform, As shown in Figure 7.
  • calculating the area of a graph surrounded by each type of time-domain audio waveform and the x-axis representing time includes: for the first type of waveform, dividing the audio waveform according to the upper half-cycle limit Divide multiple waveform segments; calculate the area of the graph surrounded by each waveform segment and the x-axis representing time; for the second type of waveform and the third type of waveform, calculate the time domain audio waveform surrounded by the x-axis representing time. The resulting graphic area is; the area of the fourth type waveform is 0.
  • converting time domain audio waveforms of different areas into corresponding sinusoidal waveforms for driving linear motors according to the calculated areas and preset conversion rules includes: converting the first type of waveform and second type waveforms, calculate the amplitude of the sine wave form based on the determined duration and area; restore each waveform or waveform segment to a half-cycle sine wave based on the amplitude and duration; for the third type waveform and the fourth type For waveforms, the durations of the third type waveform and the fourth type waveform are combined and calculated. If the combined duration range is between the lower limit and the upper limit of the half cycle, each third type waveform is restored to a half cycle based on the amplitude and duration.
  • Periodic sine wave if the combined duration range is smaller than the second half-cycle definition, the third and fourth types of waveforms will be converted into straight lines with an intensity of 0. For example: start processing the waveform from the beginning of the audio. For the first type of waveform, truncate it every 6.25ms, and then calculate the area of each segment of the audio waveform and the x-axis. Before conversion, as shown in Figure 8A, the conversion The final effect is shown in Figure 8B; for the second type of waveform, the area can be calculated directly, and the amplitude in the form of a sine wave is calculated based on the determined duration and area; each waveform or waveform segment is restored to a half cycle based on the amplitude and duration.
  • the sine wave is shown in Figure 9A before conversion, and the effect after conversion is shown in Figure 9B; for the third type waveform and the fourth type waveform, the effect before conversion is shown in Figure 10A, and the effect after conversion is shown in Figure 10B.
  • the reduction to a half-cycle sine wave includes: when the time domain audio waveform is above the x-axis, the area of the graph surrounded by the x-axis representing time is positive, and the reduction is A half-cycle sine wave above the x-axis; when the time-domain audio waveform is below the x-axis, the area of the graph surrounded by the x-axis representing time is negative, and it returns to a half-cycle sine wave below the x-axis.
  • the area of each waveform is the area between the waveform and the x-axis. Once the area and duration are known, it can be restored according to the half cycle of the sine waveform. A positive area is restored to a positive period, and a negative area Restore to a negative cycle, as shown in Figure 11.
  • the following steps may be used for the area method of a graph surrounded by each type of time-domain audio waveform and the x-axis representing time:
  • the first step Calculate the basic graphic area: x ⁇ [0,1], sinx ⁇ 0,
  • the second step assumes that the audio waveform sampling rate is 12000hz, 16bit (value range -32768 ⁇ 32767), and an original waveform (n points in total, each point corresponds to the value f(n))) interval area for:
  • the third step is to calculate the average area between every two points according to the following formula:
  • the fourth step is to calculate the proportional coefficient k:
  • Step 1000/n, i ⁇ [0,n];
  • the fifth step is to restore the calculation formula of each point value of the waveform as:
  • the Val set is the restored waveform, and connecting all the waveforms is the processed audio waveform that can drive the linear motor.
  • the diversity of audio frequencies can be retained after the audio data is converted.
  • Figure 13A before the audio data is converted and as shown in Figure 13B after the audio data is converted. It shows that from the comparison between Figure 13A and Figure 13B, the waveform after conversion is completely equal in time to the waveform before conversion, and the converted audio can be directly driven by the linear motor.
  • the embodiment of the present disclosure also provides a linear motor driving device.
  • the device includes: an acquisition module 1410, a processing module 1420 and a driving module 1430;
  • the acquisition module 1410 is used to acquire the time domain audio waveform of the audio data used to drive the linear motor and the operating frequency of the linear motor to be driven;
  • the processing module 1420 is configured to process the audio data based on the time domain audio waveform and the operating frequency, and obtain the backbone waveform of the audio data.
  • the backbone waveform is the entire waveform of the audio data. The largest waveform in the medium area;
  • the driving module 1430 is used to drive the linear motor according to the main waveform of the audio data.
  • the embodiment of the present disclosure also provides a linear motor driving device.
  • the device includes: a memory 1510 and a processor 1520; wherein the memory is used to save a linear motor driving program, and the processor uses After reading and executing the program for linear motor driving, the linear motor driving method described in any one of the above embodiments is executed.
  • Embodiments of the present disclosure also provide a computer storage medium in which computer-executable instructions are stored, and the computer-executable instructions are used to execute the linear motor driving method described in any one of the embodiments.
  • computer storage media includes volatile and nonvolatile media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. removable, removable and non-removable media.
  • Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disk (DVD) or other optical disk storage, magnetic cassettes, tapes, disk storage or other magnetic storage devices, or may Any other medium used to store the desired information and that can be accessed by a computer.
  • communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .

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  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

Sont divulgués un procédé et un dispositif d'entraînement de moteur linéaire, et un support de stockage. Le procédé comprend les étapes suivantes : obtention d'une forme d'onde audio de domaine temporel pour entraîner les données audio du moteur linéaire et une fréquence de travail du moteur linéaire à entraîner ; traitement des données audio sur la base de la forme d'onde audio de domaine temporel et de la fréquence de travail afin d'obtenir une forme d'onde de tige des données audio, la forme d'onde de tige présentant la plus grande zone parmi toutes les formes d'onde des données audio ; et entraînement du moteur linéaire selon la forme d'onde de tige des données audio.
PCT/CN2022/142377 2022-06-20 2022-12-27 Procédé et dispositif d'entraînement de moteur linéaire, et support de stockage WO2023246057A1 (fr)

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CN115223599A (zh) * 2022-06-20 2022-10-21 北京凌宇智控科技有限公司 线性马达驱动方法、装置及存储介质

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CN115223599A (zh) * 2022-06-20 2022-10-21 北京凌宇智控科技有限公司 线性马达驱动方法、装置及存储介质

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CN105278355A (zh) * 2014-06-13 2016-01-27 中兴通讯股份有限公司 一种利用音频控制马达震动的方法及装置
CN109887528A (zh) * 2019-02-15 2019-06-14 上海艾为电子技术股份有限公司 马达随音频振动的方法及装置、存储介质及电子设备
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