WO2023279939A1 - 具备触觉交互功能的用户手持设备、触觉交互方法及装置 - Google Patents

具备触觉交互功能的用户手持设备、触觉交互方法及装置 Download PDF

Info

Publication number
WO2023279939A1
WO2023279939A1 PCT/CN2022/099420 CN2022099420W WO2023279939A1 WO 2023279939 A1 WO2023279939 A1 WO 2023279939A1 CN 2022099420 W CN2022099420 W CN 2022099420W WO 2023279939 A1 WO2023279939 A1 WO 2023279939A1
Authority
WO
WIPO (PCT)
Prior art keywords
user
control signal
torque
handheld device
module
Prior art date
Application number
PCT/CN2022/099420
Other languages
English (en)
French (fr)
Inventor
李福轩
赵德昊
Original Assignee
北京有竹居网络技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京有竹居网络技术有限公司 filed Critical 北京有竹居网络技术有限公司
Publication of WO2023279939A1 publication Critical patent/WO2023279939A1/zh

Links

Images

Classifications

    • 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
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids

Definitions

  • the present disclosure relates to the technical field of human-computer interaction, and in particular, to a user-held device with a tactile interaction function, a tactile interaction method and a device.
  • tactile interaction is mainly realized through the vibration of vibration motors.
  • the vibration interaction method cannot form a good fit with the content displayed on the display device, which affects user experience.
  • the present disclosure provides a user handheld device with a tactile interaction function, a tactile interaction method and a device.
  • the present disclosure provides a user handheld device with a tactile interaction function, and the user handheld device with a tactile interaction function is connected to a display device through communication;
  • the user handheld device with a tactile interaction function includes: a device casing , a processor, and a torque generating component;
  • Both the processor and the torque generating component are disposed in the device housing; and the torque generating component is fixedly connected to the device housing;
  • the processor is electrically connected to the torque generating component, and is used to obtain a control signal, the control signal is associated with the display information of the display device, or the control signal is associated with the user's control operation; and based on The control signal controls the torque generating member to develop torque.
  • the present disclosure also provides a tactile interaction method, which is applicable to the user handheld device with tactile interaction function described in the first aspect; the method includes:
  • control signal is associated with the display information of the display device, or the control signal is associated with the user's control operation;
  • an electrical signal is applied to the torque generating member to cause the torque generating member to develop a torque.
  • the present disclosure also provides a tactile interaction device, which is characterized in that the tactile interaction device is suitable for the user handheld device with a tactile interaction function described in the first aspect; the device includes:
  • An acquisition module configured to acquire a control signal of the user's handheld device, the control signal is associated with the display information of the display device, or the control signal is associated with the user's control operation;
  • the torque module is configured to apply an electrical signal to the torque generating component based on the control signal, so that the torque generating component forms a torque.
  • the present disclosure also provides an electronic device, the electronic device comprising:
  • processors one or more processors
  • the one or more processors When the one or more programs are executed by the one or more processors, the one or more processors are made to implement the above-mentioned tactile interaction method.
  • the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned tactile interaction method is implemented.
  • the user's handheld device with the tactile interaction function acquires the control signal associated with the display information of the display device or the user's control operation in the application scene, and controls the torque generation component based on the control signal to form a corresponding application scene moment.
  • This tactile interaction method can provide users with a variety of tactile sensations, which can form a good fit with the content displayed on the display device, and can improve user experience.
  • FIG. 1 is a schematic structural diagram of a user handheld device with a tactile interaction function provided by an embodiment of the present disclosure
  • Fig. 2 is a schematic structural diagram of a flywheel module provided by an embodiment of the present disclosure
  • Fig. 3 is a schematic structural diagram of a torque generating component provided by an embodiment of the present disclosure
  • Fig. 4 is the analytical diagram of the angular momentum variation of the moment generating part provided with Fig. 3;
  • FIG. 5 is a schematic structural diagram of a user handheld device with a tactile interaction function including the moment generating component provided in FIG. 3 provided by an embodiment of the present disclosure
  • FIG. 6 is a schematic structural diagram of a pan-tilt module in another moment generating component provided by an embodiment of the present disclosure
  • Fig. 7 is a schematic structural view of a moment generating component formed by combining the pan-tilt module and the flywheel module in Fig. 6;
  • FIG. 8 is a flowchart of a tactile interaction method provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a tactile interaction device in an embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure.
  • FIG. 1 is a schematic structural diagram of a user handheld device with a tactile interaction function provided by an embodiment of the present disclosure.
  • the user's hand-held device 1 with the tactile interaction function is connected in communication with the display device 2; the user's hand-held device 1 with the tactile interaction function includes: a device housing (not shown in Fig. 1 ), a processor 11 and a moment generation Part 12.
  • the processor 11 and the torque generating component 12 are both arranged in the device housing; and the torque generating component 12 is fixedly connected to the device housing; the processor 11 is electrically connected to the torque generating component 12 for obtaining control signals, and the control signals are connected with the display device 2
  • the display information is associated, or the control signal is associated with the user's control operation; and based on the control signal, the torque generating component 12 is controlled to form a torque.
  • Torque is a physical quantity that changes the rotational state of an object, that is to say, the faster the rotational state of an object changes, the greater the torque it receives. Therefore, we perceive torque by feeling how quickly an object's rotational state changes.
  • the control signal is associated with the display information of the display device 2
  • the control signal has a corresponding relationship with the display screen of the display device 2, and the torque formed by the torque generating component 12 belongs to the response to the display screen.
  • the screens displayed by the display device 2 are different, the control signals are different, the torque formed by the final torque generating part 12 is different, and the user's hand-held device gives the user a different sense of touch.
  • the display device 2 displays an image of an avatar hitting a stake with a hammer, and the user's handheld device 1 acquires a control signal corresponding to the image (during this process, the user does not wave the user's handheld device 1), and based on The control signal controls the torque generating member 12 to form a torque.
  • the tactile sensation of the formed torque is equal to or close to that of the user hitting a real wooden post with a real hammer in practice.
  • the movement states of the user's limbs are different, the control signals are different, the torque formed by the final torque generating part 12 is different, and the user's hand-held device gives the user a different sense of touch.
  • the display device 2 displays an image of a stake to be struck, and the user swings the user-held device 1 with a tactile interaction function to complete the simulation of swinging a hammer to hit the stake displayed on the display device 2.
  • the device 1 acquires a control signal corresponding to the user's actual waving action, and controls the torque generating component 12 to form a torque based on the control signal.
  • the tactile sensation of the formed torque is equal to or close to that of the user hitting a real wooden post with a real hammer in practice.
  • the user's handheld device with tactile interaction function acquires the control signal associated with the display device display information or the user's control operation in the application scene, and controls the torque generating component based on the control signal to form a torque corresponding to the application scene.
  • This tactile interaction method can provide users with a variety of tactile sensations, which can form a good fit with the content displayed on the display device, and can improve user experience.
  • the moment of the resultant external force acting on the particle with respect to the reference point is equal to the rate of change of the angular momentum of the particle with respect to the reference point with time.
  • the moment of inertia depends on the shape, mass distribution and position of the rotating part of the rotating part. Therefore, for a certain rotating part, its moment of inertia is a constant value. According to the formula (3), it can be known that the torque can be obtained by changing the angular acceleration of the rotating parts.
  • the moment generating component includes at least one flywheel module.
  • Fig. 2 is a schematic structural diagram of a flywheel module provided by an embodiment of the present disclosure.
  • the flywheel module 121 includes a first motor 1211 and a flywheel 1212; the rotation shaft of the first motor 1211 is fixedly connected with the flywheel 1212; when the rotation shaft of the first motor 1211 rotates, the flywheel 1212 can be driven to rotate.
  • the essence of such an arrangement is that by controlling the rotation of the flywheel, the amount of change in the angular acceleration is formed to form the required moment.
  • both angular acceleration and torque are vectors in practice, including magnitude and direction, so it is possible to obtain different moment.
  • Fig. 3 is a schematic structural diagram of a torque generating component provided by an embodiment of the present disclosure.
  • the torque generating component includes three flywheel modules, and any two of the straight lines where the three rotation axes of the three flywheel modules intersect at the same point.
  • Fig. 4 is an analysis diagram of angular momentum variation of the moment generating component provided in Fig. 3 .
  • the flywheel in the flywheel module can obtain an angular acceleration.
  • the angular momentum changes of the three flywheel modules are respectively as well as The change in angular momentum of the entire moment-generating part is as well as The resulting change in angular momentum
  • the Cartesian coordinate system may be a Cartesian coordinate system or an oblique coordinate system. This application is not limited to this.
  • FIG. 5 is a schematic structural diagram of a user handheld device with a tactile interaction function including the moment generating component provided in FIG. 3 according to an embodiment of the present disclosure.
  • the device housing includes a first plane A1, a second plane A2 and a third plane A3; the first plane A1, the second plane A2 and the third plane Any two of the planes A3 intersect; the three flywheel modules are respectively fixed on the first plane A1, the second plane A2 and the third plane A3.
  • Such setting is beneficial to realize the purpose of "any two of the straight lines where the three rotation axes in the three flywheel modules intersect at the same point", and the design scheme is simple and easy to realize.
  • the moment generating component can also be set to include a flywheel module, and the moment generating component also includes a pan-tilt module, the flywheel module is fixed on the pan-tilt module; the pan-tilt module is fixed on the device housing; The pan-tilt module can rotate relative to the equipment casing, and then drive the flywheel module to rotate.
  • the essence of this setting is to change the magnitude of the change in angular acceleration through the rotation speed of the flywheel in the flywheel module; change the direction of the rotation axis of the flywheel module in space through the gimbal module, and then change the direction of the change in angular acceleration. Torques of different sizes and/or directions can be obtained to increase the richness of torque feedback and improve user experience.
  • the gimbal module is a single-axis gimbal module, a two-axis gimbal module or a three-axis gimbal module.
  • the gimbal module as an example of a two-axis gimbal module, the specific structure of the moment generating component will be described below.
  • FIG. 6 is a schematic structural diagram of a pan-tilt module in another torque generating component provided by an embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a torque generating component formed by combining the pan-tilt module and the flywheel module in FIG. 6 . 7 and 6, the pan/tilt module 122 includes a second motor 1221, a third motor 1223, a first connector 1222 and a second connector 1224; both the first connector 1222 and the second connector 1224 are L-shaped Connector; the second motor 1221 is fixed on the equipment housing (not shown in Fig. 6 and Fig.
  • the rotation of the rotation axis of the gimbal module can be controlled first so that the rotation axis of the flywheel module points to a certain angle, and then the rotation of the rotation axis in the flywheel module can be controlled to make the flywheel perform acceleration or deceleration. In this way, the required size and direction angular momentum can be generated in any direction in space, increasing the richness of torque feedback.
  • the required size and direction angular momentum can also be generated in any direction in space, increasing the richness of torque feedback.
  • control signal is to control the rotation speed or rotation angle of the motor, which can specifically be an electrical signal applied to the motor, or indicate how high the rotation speed of the motor is. speed signal.
  • the center of mass of the flywheel module can be set to coincide with the intersection of the straight line where the second motor rotation axis and the third motor rotation axis are located in the gimbal module.
  • This setting can eliminate the influence of gravity, inertial force, etc. on the control of the motor of the gimbal module, and simplify the calculation difficulty of determining the magnitude of the control signal during use.
  • the processor is also used to obtain the motion data of the current torque generating component; based on the control signal and the current motion data of the torque generating component, apply an electrical signal to the torque generating component to make the torque Generate part forming moments.
  • the current motion data of the torque generating component includes, but is not limited to, the current rotational speed of each motor rotation shaft and/or the current direction to which each motor rotation shaft points. The reason for this setting is that, in practice, the torque generating component may have formed a torque before obtaining the control signal, but at this time, the torque is not the required torque, and in this case, it is necessary to consider offsetting the unnecessary torque.
  • control signal is associated with the display information of the display device
  • the processor acquires the control signal of the user's handheld device, including: the display device acquires a video stream to be played, the video stream includes a plurality of video frames, at least some of the video frames include The corresponding control signal of the user's handheld device; the display device sends the control signal of the user's handheld device to the user's handheld device according to the playback progress of the video stream, so that the user's handheld device obtains the control signal.
  • a certain video stream includes 200 video frames, wherein the 50th video frame shows that the avatar is hitting a stake with a hammer, and the 50th video frame includes the corresponding control signal of the user's handheld device.
  • the display device sends the control signal corresponding to the 50th video frame to the user's handheld device, so that the user's handheld device obtains the control signal, and the processor controls the torque generation based on the control signal.
  • the components form a moment, so that when the display device plays the 50th video frame, the user's hand-held device with tactile interaction function forms a moment suitable for the avatar hitting the wooden post with a hammer.
  • obtaining the control signal of the user's handheld device may also include: the display device obtains a video stream to be played, the video stream includes a plurality of video frames, and at least some of the video frames include The corresponding touch feedback model information; based on the touch feedback model information, determine the control signal of the user's handheld device.
  • the touch feedback model information refers to a pre-set model, which specifies electrical information and/or rotational speed information to be input by each motor.
  • the electrical information and/or rotational speed information required to be input by the motors corresponding to different models are at least partially different.
  • determining the control signal of the user's handheld device based on the touch feedback model information can be completed by a display device, or by a user's handheld device with a tactile interaction function, which is not limited in this application.
  • a certain video stream includes 200 video frames, wherein, the 50th video frame and the 150th video frame both show that the avatar is hitting a stake with a hammer, and the 50th video frame and the 150th video frame are both Corresponding to the same touch feedback model information, it is the first model information.
  • the display device When the display device is about to play the 50th video frame, the display device sends the first model information corresponding to the 50th video frame to the user's handheld device, so that the processor can obtain a control signal based on the first model information, and then based on the The control signal controls the torque generation component to form a torque, so that when the display device plays the 50th video frame, the user's hand-held device with tactile interaction function forms a torque suitable for the avatar hitting the wooden stake with a hammer.
  • the display device When the display device is about to play the 150th video frame, the display device sends the control signal corresponding to the 150th video frame to the user's handheld device, so that the processor can obtain the control signal based on the first model information, and then control the The moment generation component forms a moment, and finally when the display device plays the 150th video frame, the user's handheld device with tactile interaction function forms a moment suitable for the avatar hitting the wooden post with a hammer.
  • the essence of this setting is to organize the same control signal into a touch feedback model information, and bind the touch feedback model information to the video frame instead of binding the control signal to the video frame, which can compress the video to be played.
  • the data size of the video stream reduces the traffic consumption during data transmission and the space requirement during storage.
  • obtaining the control signal of the user's handheld device includes: obtaining the user's body movement information during the user's completion of the control operation; determining the user's hand-held device based on the user's body movement information. Control signal.
  • the user's body movement information specifically includes, but is not limited to, the moving speed, rotation angle, spatial position coordinates of the joint points of the user's body, and the like.
  • the user body movement information may be obtained based on an inertial measurement unit.
  • the motors are brushless DC motors.
  • FIG. 8 is a flowchart of a tactile interaction method provided by an embodiment of the present disclosure. This method is suitable for the situation of human-computer interaction.
  • the method may be executed by a tactile interaction device, which may be implemented in the form of software and/or hardware, and which may be configured in any user handheld device with a tactile interaction function provided by the embodiments of the present disclosure.
  • the user handheld device with tactile interaction function specifically includes, but is not limited to, a smart phone, a handheld computer, a tablet computer, a wearable device, an air mouse, a game controller, and the like.
  • Methods include:
  • the essence of the tactile interaction method provided by the embodiments of the present disclosure is that the user’s handheld device with the tactile interaction function obtains the control signal associated with the display information of the display device or the user’s control operation in the application scene, and controls the formation and application of the torque generating component based on the control signal The moment corresponding to the scene. In this way, in terms of touch, it is as if the user actually completes the action in the application scene, thereby achieving the purpose of tactile interaction with the user.
  • This tactile interaction method can provide users with a variety of tactile sensations, which can form a good fit with the content displayed on the display device, and can improve user experience.
  • the method also includes:
  • applying an electrical signal to the torque-generating component to cause the torque-generating component to develop a torque includes:
  • an electrical signal is applied to the torque generating component so that the torque generating component forms a torque.
  • control signal is associated with the display information of the display device, and the control signal of the user's handheld device is acquired, including:
  • the display device acquires a video stream to be played, the video stream includes a plurality of video frames, and at least some of the video frames include corresponding control signals of the user's handheld device;
  • the display device sends the control signal of the user's handheld device to the user's handheld device according to the playing progress of the video stream, so that the user's handheld device obtains the control signal.
  • control signal is associated with the display information of the display device, and the control signal of the user's handheld device is acquired, including:
  • the display device acquires a video stream to be played, the video stream includes a plurality of video frames, and at least some of the video frames include corresponding touch feedback model information;
  • a control signal of the user's handheld device is determined.
  • obtaining the control signal of the user's handheld device includes:
  • a control signal of the user's handheld device is determined.
  • FIG. 9 is a schematic structural diagram of a tactile interaction device in an embodiment of the present disclosure.
  • the tactile interaction device is applicable to any of the user handheld devices with tactile interaction function provided by the embodiments of the present disclosure; referring to FIG. 9 , the tactile interaction device specifically includes:
  • An acquisition module 310 configured to acquire a control signal of the user's handheld device, the control signal is associated with the display information of the display device, or the control signal is associated with the user's control operation;
  • the torque module 320 is configured to apply an electrical signal to the torque generating component based on the control signal, so that the torque generating component forms a torque.
  • the obtaining module 310 is also used to obtain the current motion data of the torque generating component
  • the torque module 320 is configured to apply an electrical signal to the torque generating component based on the control signal and current motion data of the torque generating component, so that the torque generating component forms a torque.
  • control signal is associated with the display information of the display device, and the acquiring module 310 is further configured to:
  • controlling the display device to acquire a video stream to be played, the video stream comprising a plurality of video frames, at least some of the video frames comprising corresponding control signals of the user's handheld device;
  • the display device is controlled to send the control signal of the user handheld device to the user handheld device according to the playing progress of the video stream, so that the user handheld device acquires the control signal.
  • control signal is associated with the display information of the display device, and the acquiring module 310 is further configured to:
  • controlling the display device to acquire a video stream to be played, the video stream comprising a plurality of video frames, at least some of the video frames comprising touch feedback model information corresponding thereto;
  • the acquiring module 310 is further configured to:
  • the tactile interaction device provided by the embodiment of the present disclosure can execute each step in the tactile interaction method provided by the method embodiment of the present disclosure, and has execution steps and beneficial effects, which will not be repeated here.
  • FIG. 10 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure.
  • the electronic device 1000 in the embodiment of the present disclosure may include, but not limited to, mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle-mounted terminals ( Mobile terminals such as car navigation terminals), wearable electronic devices, etc., and fixed terminals such as digital TVs, desktop computers, smart home devices, etc.
  • the electronic device shown in FIG. 10 is only an example, and should not limit the functions and application scope of the embodiments of the present disclosure.
  • an electronic device 1000 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 1001, which may be randomly accessed according to a program stored in a read-only memory (ROM) 1002 or loaded from a storage device 1008.
  • the program in the memory (RAM) 1003 executes various appropriate actions and processing to realize the tactile interaction method according to the embodiment of the present disclosure.
  • various programs and information necessary for the operation of the electronic device 1000 are also stored.
  • the processing device 1001, ROM 1002, and RAM 1003 are connected to each other through a bus 1004.
  • An input/output (I/O) interface 1005 is also connected to the bus 1004 .
  • the following devices can be connected to the I/O interface 1005: input devices 1006 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speaker, vibration an output device 1007 such as a computer; a storage device 1008 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009.
  • the communication means 1009 may allow the electronic device 1000 to perform wireless or wired communication with other devices to exchange information. While FIG. 10 shows electronic device 1000 having various means, it is to be understood that implementing or having all of the means shown is not a requirement. More or fewer means may alternatively be implemented or provided.
  • the processes described above with reference to the flowcharts can be implemented as computer software programs.
  • the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a non-transitory computer readable medium, and the computer program includes program code for executing the method shown in the flow chart, thereby realizing the above The tactile interaction method described.
  • the computer program may be downloaded and installed from a network via the communication means 1009, or from the storage means 1008, or from the ROM 1002.
  • the processing device 1001 the above-mentioned functions defined in the methods of the embodiments of the present disclosure are executed.
  • the above-mentioned computer-readable medium in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two.
  • a computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include an information signal propagated in baseband or as part of a carrier wave carrying computer-readable program code therein. Such propagated information signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device .
  • Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.
  • the client and the server can communicate using any known or future-developed network protocols such as HTTP (HyperText Transfer Protocol, Hypertext Transfer Protocol), and can communicate with digital information in any form or medium (eg, communication network) interconnections.
  • HTTP HyperText Transfer Protocol
  • Examples of communication networks include local area networks ("LANs”), wide area networks ("WANs”), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any known or future developed The internet.
  • the above-mentioned computer-readable medium may be included in the above-mentioned electronic device, or may exist independently without being incorporated into the electronic device.
  • the above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device:
  • control signal is associated with the display information of the display device, or the control signal is associated with the user's control operation;
  • an electrical signal is applied to the torque generating member to cause the torque generating member to develop a torque.
  • the electronic device may also perform other steps described in the above embodiments.
  • Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, or combinations thereof, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and Includes conventional procedural programming languages - such as the "C" language or similar programming languages.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through an Internet service provider). Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider such as AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.
  • each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments described in the present disclosure may be implemented by software or by hardware. Wherein, the name of a unit does not constitute a limitation of the unit itself under certain circumstances.
  • FPGAs Field Programmable Gate Arrays
  • ASICs Application Specific Integrated Circuits
  • ASSPs Application Specific Standard Products
  • SOCs System on Chips
  • CPLD Complex Programmable Logical device
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device.
  • a machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • a machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, portable computer discs, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.
  • the present disclosure provides an electronic device, including:
  • processors one or more processors
  • memory for storing one or more programs
  • the one or more processors are made to implement any one of the tactile interaction methods provided in the present disclosure.
  • the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the tactile interaction as described in any one provided by the present disclosure is realized. method.
  • An embodiment of the present disclosure also provides a computer program product, where the computer program product includes a computer program or an instruction, and when the computer program or instruction is executed by a processor, the above-mentioned tactile interaction method is implemented.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

本公开涉及一种具备触觉交互功能的用户手持设备、触觉交互方法及装置，所述具备触觉交互功能的用户手持设备与显示设备通讯连接；所述具备触觉交互功能的用户手持设备包括：设备壳体、处理器以及力矩产生部件；所述处理器和所述力矩产生部件均设置于所述设备壳体内；且所述力矩产生部件与所述设备壳体固定连接；所述处理器与所述力矩产生部件电连接，用于获取控制信号，所述控制信号与所述显示设备的显示信息相关联，或者，所述控制信号与用户的控制操作相关联；并基于所述控制信号控制所述力矩产生部件形成力矩。这种触觉交互方式能够为用户提供多种触觉感受，可以与显示设备所显示的内容形成很好的契合，可以提高用户体验。

Description

具备触觉交互功能的用户手持设备、触觉交互方法及装置
相关申请的交叉引用
本申请基于申请号为202110772279.5、申请日为2021年07月08日，名称为“具备触觉交互功能的用户手持设备、触觉交互方法及装置”的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及人机交互技术领域，尤其涉及一种具备触觉交互功能的用户手持设备、触觉交互方法及装置。
背景技术
随着显示技术以及虚拟技术的快速发展，在教育、增强现实(Augmented Reality，AR)、虚拟现实(Virtual Reality，VR)、游戏等领域，人们能从屏幕获得非常多的优质内容。同时，人与内容的交互也越来越多，内容给人的反馈，除了可以是视觉、听觉外，还可以是触觉。
但是，目前触觉交互主要是通过振动马达的振动来实现。但振动交互方式不能与显示设备所显示的内容形成很好的契合，影响用户体验。
发明内容
为了解决上述技术问题或者至少部分地解决上述技术问题，本公开提供了一种具备触觉交互功能的用户手持设备、触觉交互方法及装置。
第一方面，本公开提供了一种具备触觉交互功能的用户手持设备，所述具备触觉交互功能的用户手持设备与显示设备通讯连接；所述具备触觉交互功能的用户手持设备包括：设备壳体、处理器以及力矩产生部件；
所述处理器和所述力矩产生部件均设置于所述设备壳体内；且所述力矩产生部件与所述设备壳体固定连接；
所述处理器与所述力矩产生部件电连接，用于获取控制信号，所述控制信号与所述显示设备的显示信息相关联，或者，所述控制信号与用户的控制操作相关联；并基于所述控制信号控制所述力矩产生部件形成 力矩。
第二方面，本公开还提供了一种触觉交互方法，所述触觉交互方法适用于第一方面所述的具备触觉交互功能的用户手持设备；所述方法包括：
获取所述用户手持设备的控制信号，所述控制信号与所述显示设备的显示信息相关联，或者，所述控制信号与用户的控制操作相关联；
基于所述控制信号，向所述力矩产生部件施加电信号，以使所述力矩产生部件形成力矩。
第三方面，本公开还提供了一种触觉交互装置，其特征在于，所述触觉交互装置适用于第一方面所述的具备触觉交互功能的用户手持设备；所述装置包括：
获取模块，用于获取所述用户手持设备的控制信号，所述控制信号与所述显示设备的显示信息相关联，或者，所述控制信号与用户的控制操作相关联；
力矩模块，用于基于所述控制信号，向所述力矩产生部件施加电信号，以使所述力矩产生部件形成力矩。
第四方面，本公开还提供了一种电子设备，所述电子设备包括：
一个或多个处理器；
存储装置，用于存储一个或多个程序；
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如上所述的触觉交互方法。
第五方面，本公开还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上所述的触觉交互方法。
本公开实施例提供的技术方案与现有技术相比具有如下优点：
本公开实施例提供的技术方案是，具备触觉交互功能的用户手持设备获取应用场景中与显示设备显示信息或用户的控制操作关联的控制信号，并基于控制信号控制力矩产生部件形成与应用场景对应的力矩。这样，在触感上，如同用户实际完成该应用场景中所显示的动作，进而达到与用户进行触觉交互的目的。这种触觉交互方式能够为用户提供多种触觉感受，可以与显示设备所显示的内容形成很好的契合，可以提高用户体验。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的一种具备触觉交互功能的用户手持设备的结构示意图；
图2为本公开实施例提供的一种飞轮模组的结构示意图；
图3为本公开实施例提供的一种力矩产生部件的结构示意图；
图4为与图3提供的力矩产生部件的角动量变化量分析图；
图5为本公开实施例提供的一种包括图3提供的力矩产生部件的具备触觉交互功能的用户手持设备的结构示意图；
图6为本公开实施例提供的另一种力矩产生部件中云台模组的结构示意图；
图7为将图6中的云台模组与飞轮模组结合形成的力矩产生部件的结构示意图；
图8为本公开实施例提供的一种触觉交互方法的流程图；
图9为本公开实施例中的一种触觉交互装置的结构示意图；
图10为本公开实施例中的一种电子设备的结构示意图。
具体实施方式
为了能够更清楚地理解本公开的上述目的、特征和优点，下面将对本公开的方案进行进一步描述。需要说明的是，在不冲突的情况下，本公开的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本公开，但本公开还可以采用其他不同于在此描述的方式来实施；显然，说明书中的实施例只是本公开的一部分实施例，而不是全部的实施例。
图1为本公开实施例提供的一种具备触觉交互功能的用户手持设备的结构示意图。参见图1，该具备触觉交互功能的用户手持设备1与显示设备2通讯连接；具备触觉交互功能的用户手持设备1包括：设备壳体(图1中未示出)、处理器11以及力矩产生部件12。处理器11和力矩产生部件12均设置于设备壳体内；且力矩产生部件12与设备壳体固定连 接；处理器11与力矩产生部件12电连接，用于获取控制信号，控制信号与显示设备2的显示信息相关联，或者，控制信号与用户的控制操作相关联；并基于控制信号控制力矩产生部件12形成力矩。
力矩是改变一个物体转动状态的物理量，也就是说一个物体转动状态改变的越快其所受到的力矩也就越大。因此，我们通过感受一个物体转动状态改变的快慢程度可以感知力矩。
其中，“控制信号与显示设备2的显示信息相关联”，是指，控制信号与显示设备2显示画面具有对应关系，力矩产生部件12所形成的力矩属于对显示画面的响应。显示设备2显示的画面不同，控制信号不同，最终力矩产生部件12形成的力矩不同，用户手持设备给用户的触感不同。示例性地，显示设备2显示虚拟人物在用锤子敲击木桩的图像，用户手持设备1获取与该图像对应的控制信号(在这个过程中，用户并未挥动用户手持设备1)，并基于该控制信号控制力矩产生部件12形成力矩。所形成的力矩给人的触感等同或趋近于在实际中用户用真实的锤子敲击真实木桩的触感。
“控制信号与用户的控制操作相关联”，是指，控制信号与用户肢体运动状态具有对应关系，力矩产生部件12所形成的力矩属于对用户肢体运动的响应。用户肢体运动状态不同，控制信号不同，最终力矩产生部件12形成的力矩不同，用户手持设备给用户的触感不同。示例性地，显示设备2显示待敲击的木桩的图像，用户挥动具备触觉交互功能的用户手持设备1完成模拟挥动锤子敲击显示设备2中显示的木桩的动作的过程中，用户手持设备1获取与用户实际挥动动作对应的控制信号，并基于该控制信号控制力矩产生部件12形成力矩。所形成的力矩给人的触感等同或趋近于在实际中用户用真实的锤子敲击真实木桩的触感。
上述技术方案的实质是，具备触觉交互功能的用户手持设备获取应用场景中与显示设备显示信息或用户的控制操作关联的控制信号，并基于控制信号控制力矩产生部件形成与应用场景对应的力矩。这样，在触感上，如同用户实际完成该应用场景中的动作，进而达到与用户进行触觉交互的目的。这种触觉交互方式能够为用户提供多种触觉感受，可以与显示设备所显示的内容形成很好的契合，可以提高用户体验。
根据角动量定理，作用于质点的合外力对于参考点的力矩，等于质点对该参考点的角动量随时间的变化率。即：
Figure PCTCN2022099420-appb-000001
其中，
Figure PCTCN2022099420-appb-000002
为系统所受力矩；
Figure PCTCN2022099420-appb-000003
为系统的角动量，
Figure PCTCN2022099420-appb-000004
为系统的角动量变化量。
又因为，
Figure PCTCN2022099420-appb-000005
结合公式(1)和公式(2)，可以得到：
Figure PCTCN2022099420-appb-000006
其中：
Figure PCTCN2022099420-appb-000007
为系统的角速度，
Figure PCTCN2022099420-appb-000008
为系统角加速度，I为转动零件的转动惯量。
转动惯量的大小取决于该转动零件的形状、质量分布及转轴的位置。因此，对于一个确定的转动零件，其转动惯量为定值。根据公式(3)可知，通过改变转动零件的角加速度，可以获得力矩。
基于此，在实际中，具备触觉交互功能的用户手持设备中力矩产生部件的具体设计方案有多种，本申请对此不作限制。可选地，该具备触觉交互功能的用户手持设备中，力矩产生部件包括至少一个飞轮模组。图2为本公开实施例提供的一种飞轮模组的结构示意图。参见图2，飞轮模组121包括第一电机1211以及飞轮1212；第一电机1211的旋转轴与飞轮1212固定连接；当第一电机1211的旋转轴旋转时可带动飞轮1212旋转。这样设置的实质是，通过控制飞轮的旋转，形成角加速度变化量，进行形成需要的力矩。
进一步地，在实际中角加速和力矩均为矢量，包括大小和方向，因此可以通过仅改变角加速度的大小，或者仅改变角加速度的方向，或者同时改变角加速度的大小和方向以得到不同的力矩。
示例性地，图3为本公开实施例提供的一种力矩产生部件的结构示意图。参见图3，该力矩产生部件包括三个飞轮模组，三个飞轮模组中的三个旋转轴所在直线中任意两者相交于同一点。
其中，设置“三个飞轮模组中的三个旋转轴所在直线中任意两者相交于同一点”是指，三个电机旋转轴分沿笛卡尔坐标系的X、Y以及Z三个轴设置。图4为与图3提供的力矩产生部件的角动量变化量分析图。参见图4，对于每个飞轮模组而言，通过控制第一电机加速或减速，可以使得该飞轮模组中的飞轮获得一个角加速度。当控制三个飞轮加速或减速 旋转时，三个飞轮模组的角动量变化量分别为
Figure PCTCN2022099420-appb-000009
以及
Figure PCTCN2022099420-appb-000010
整个力矩产生部件的角动量变化量为
Figure PCTCN2022099420-appb-000011
以及
Figure PCTCN2022099420-appb-000012
合成后的角动量变化量
Figure PCTCN2022099420-appb-000013
换言之，采用图3中技术方案，通过控制三个电机旋转轴转速的快慢，可以实现控制该力矩产生部件形成不同大小和/或不同方向的力矩，以增加力矩反馈的丰富性，提高用户体验。
可选地，该笛卡尔坐标系可以为直角坐标系，也可以为斜角坐标系。本申请对此不作限制。
图5为本公开实施例提供的一种包括图3提供的力矩产生部件的具备触觉交互功能的用户手持设备的结构示意图。进一步地，在上述技术方案的基础上，可选地，参见图5，设备壳体包括第一平面A1、第二平面A2和第三平面A3；第一平面A1、第二平面A2和第三平面A3中任意两者相交；三个飞轮模组分别固定于第一平面A1、第二平面A2和第三平面A3上。这样设置有利于实现“三个飞轮模组中的三个旋转轴所在直线中任意两者相交于同一点”的目的，设计方案简单，易于实现。
可选地，还可以设置该力矩产生部件包括一个飞轮模组，并且力矩产生部件还包括云台模组，飞轮模组固定于云台模组上；云台模组固定于设备壳体上；云台模组可相对设备壳体转动，进而带动飞轮模组转动。这样设置的实质是通过飞轮模组中飞轮旋转的快慢，改变角加速度变化量的大小；通过云台模组改变飞轮模组的旋转轴在空间中的方向，进而改变角加速度变化量的方向，以得到不同大小和/或不同方向的力矩，以增加力矩反馈的丰富性，提高用户体验。
可选地，云台模组为单轴云台模组、双轴云台模组或三轴云台模组。
下面以云台模组为双轴云台模组为例，对该力矩产生部件的具体结构进行说明。
图6为本公开实施例提供的另一种力矩产生部件中云台模组的结构示意图。图7为将图6中的云台模组与飞轮模组结合形成的力矩产生部件的结构示意图。参见图7和图6，云台模组122包括第二电机1221、第三电机1223、第一连接件1222以及第二连接件1224；第一连接件1222以及第二连接件1224均为L型连接件；第二电机1221固定于设备壳体(图6和图7中未示出)上，并且第二电机1221的旋转轴与第一连接件1222固定连接；第三电机1223固定于第一连接件1222上，并且第三电 机1223的旋转轴与第二连接件1224固定连接；飞轮模组的第一电机1211固定于第二连接件1224上。
在实际使用中，可以先控制云台模组的转动轴转动，以使飞轮模组的旋转轴指向某一角度，然后控制飞轮模组中的旋转轴转动，以使飞轮进行加速或减速运动。通过这种方式，可以在空间中任意方向产生需要大小和方向角动量，增加力矩反馈的丰富性。
或者，在获取控制信号之前，先控制飞轮模组中的旋转轴转动，使得系统具有初始的角动量，在获取控制信号后，基于该控制信号控制云台模组的转动轴转动，以改变角动量的方向，进行得到角动量变化量。通过这种方式，同样可以在空间中任意方向产生需要大小和方向角动量，增加力矩反馈的丰富性。
在上述各技术方案的基础上，本领域技术人员可以理解，控制信号的作用是控制电机转动的转速或旋转角度，其具体可以为施加在电机上的电信号，或者是指示电机以多大转速旋转的转速信号。
进一步地，在实际中，可以设置飞轮模组的质心与云台模组中第二电机旋转轴所在直线和第三电机旋转轴所在直线的交点重合。这样设置可以消除重力，惯性力等对云台模组电机的控制影响，简化在使用时确定控制信号大小的计算难度。
在上述各技术方案的基础上，可选地，处理器还用于获取当前力矩产生部件的运动数据；基于控制信号以及当前力矩产生部件的运动数据，向力矩产生部件施加电信号，以使力矩产生部件形成力矩。当前力矩产生部件的运动数据包括但不限于当前各电机旋转轴的转速和/或当前各电机旋转轴所指向的方向。这样设置的原因是，在实际中，可能在获取控制信号之前，力矩产生部件已形成有力矩，但此时，该力矩不是所需要的力矩，此种情况下需要考虑抵消该不需要的力矩。
进一步地，控制信号与显示设备的显示信息相关联，处理器获取用户手持设备的控制信号，包括：显示设备获取待播放的视频流，视频流包括多个视频帧，至少部分视频帧包括与之对应的用户手持设备的控制信号；显示设备根据视频流的播放进度，将用户手持设备的控制信号发送至用户手持设备，以使用户手持设备获取控制信号。
示例性地，某视频流包括200个视频帧，其中，第50个视频帧显示虚拟人物在用锤子敲击木桩，并且第50个视频帧包括与之对应的用户手 持设备的控制信号。当显示设备即将播放到第50个视频帧时，显示设备将第50个视频帧对应的控制信号发送至用户手持设备，以使用户手持设备获取该控制信号，处理器基于该控制信号控制力矩产生部件形成力矩，最终使得当显示设备播放到第50个视频帧时，该具备触觉交互功能的用户手持设备形成与虚拟人物用锤子敲击木桩相适应的力矩。
可选地，若控制信号与显示设备的显示信息相关联，获取用户手持设备的控制信号，还可以包括：显示设备获取待播放的视频流，视频流包括多个视频帧，至少部分视频帧包括与之对应的触控反馈模型信息；基于触控反馈模型信息，确定用户手持设备的控制信号。
此处，触控反馈模型信息是指预先设置完毕的模型，该模型中规定了各电机需要输入的电信息和/或转速信息。并且不同模型对应的各电机需要输入的电信息和/或转速信息至少部分不同。
其中，“基于触控反馈模型信息，确定用户手持设备的控制信号”可以由显示设备完成，也可以由具备触觉交互功能的用户手持设备完成，本申请对此不作限制。
示例性地，某视频流包括200个视频帧，其中，第50个视频帧和第150个视频帧均显示虚拟人物在用锤子敲击木桩，第50个视频帧和第150个视频帧均对应相同的触控反馈模型信息，为第一模型信息。
当显示设备即将播放到第50个视频帧时，显示设备将第50个视频帧对应的第一模型信息发送至用户手持设备，以使处理器基于第一模型信息，得到控制信号，进而基于该控制信号控制力矩产生部件形成力矩，最终使得当显示设备播放到第50个视频帧时，该具备触觉交互功能的用户手持设备形成与虚拟人物用锤子敲击木桩相适应的力矩。当显示设备即将播放到第150个视频帧时，显示设备将第150个视频帧对应的控制信号发送至用户手持设备，以使处理器基于第一模型信息，得到控制信号，进而基于控制信号控制力矩产生部件形成力矩，最终使得当显示设备播放到第150个视频帧时，该具备触觉交互功能的用户手持设备形成与虚拟人物用锤子敲击木桩相适应的力矩。
这样设置的实质是将相同的控制信号整理为一个触控反馈模型信息，进行触控反馈模型信息与视频帧的绑定关联，代替进行控制信号与视频帧的绑定关联，可以压缩待播放的视频流的数据大小，降低数据传输时对流量的消耗，以及存储时对空间的需求。
若控制信号与用户的控制操作相关联，获取用户手持设备的控制信号，包括：获取用户在完成控制操作动作过程中，用户肢体运动信息；基于用户肢体运动信息，确定用户手持设备的控制信号。
其中，用户肢体运动信息具体包括但不限于用户肢体的移动速度、转动角度、肢体关节点空间位置坐标等。可选地，该用户肢体运动信可以基于惯性测量单元得到。
可选地，在上述各技术方案中，电机(包括第一电机、第二电机以及第三电机)为无刷直流电机。
图8为本公开实施例提供的一种触觉交互方法的流程图。该方法适用于进行人机交互的情况。该方法可以由触觉交互装置执行，该装置可以采用软件和/或硬件的方式实现，该装置可配置于本公开实施例提供的任意一种的具备触觉交互功能的用户手持设备。该具备触觉交互功能的用户手持设备具体包括但不限于智能手机、掌上电脑、平板电脑、可穿戴设备、空中鼠标、游戏手柄等。
方法包括：
S210、获取用户手持设备的控制信号，控制信号与显示设备的显示信息相关联，或者，控制信号与用户的控制操作相关联；
S220、基于控制信号，向力矩产生部件施加电信号，以使力矩产生部件形成力矩。
本公开实施例提供的触觉交互方法实质是，具备触觉交互功能的用户手持设备获取应用场景中与显示设备显示信息或用户的控制操作关联的控制信号，并基于控制信号控制力矩产生部件形成与应用场景对应的力矩。这样，在触感上，如同用户实际完成该应用场景中的动作，进而达到与用户进行触觉交互的目的。这种触觉交互方式能够为用户提供多种触觉感受，可以与显示设备所显示的内容形成很好的契合，可以提高用户体验。
进一步地，该方法，还包括：
获取当前力矩产生部件的运动数据；
基于控制信号，向力矩产生部件施加电信号，以使力矩产生部件形成力矩，包括：
基于控制信号以及当前力矩产生部件的运动数据，向力矩产生部件施加电信号，以使力矩产生部件形成力矩。
进一步地，控制信号与显示设备的显示信息相关联，获取用户手持设备的控制信号，包括：
显示设备获取待播放的视频流，视频流包括多个视频帧，至少部分视频帧包括与之对应的用户手持设备的控制信号；
显示设备根据视频流的播放进度，将用户手持设备的控制信号发送至用户手持设备，以使用户手持设备获取控制信号。
进一步地，控制信号与显示设备的显示信息相关联，获取用户手持设备的控制信号，包括：
显示设备获取待播放的视频流，视频流包括多个视频帧，至少部分视频帧包括与之对应的触控反馈模型信息；
基于触控反馈模型信息，确定用户手持设备的控制信号。
进一步地，若控制信号与用户的控制操作相关联，获取用户手持设备的控制信号，包括：
获取用户在完成控制操作动作过程中，用户肢体运动信息；
基于用户肢体运动信息，确定用户手持设备的控制信号。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
图9为本公开实施例中的一种触觉交互装置的结构示意图。该触觉交互装置适用于本公开实施例提供的任意一种所述的具备触觉交互功能的用户手持设备；参见图9，该触觉交互装置具体包括：
获取模块310，用于获取所述用户手持设备的控制信号，所述控制信号与所述显示设备的显示信息相关联，或者，所述控制信号与用户的控制操作相关联；
力矩模块320，用于基于所述控制信号，向所述力矩产生部件施加电信号，以使所述力矩产生部件形成力矩。
进一步地，获取模块310，还用于获取当前所述力矩产生部件的运动数据；
力矩模块320，用于基于所述控制信号以及当前所述力矩产生部件的 运动数据，向所述力矩产生部件施加电信号，以使所述力矩产生部件形成力矩。
进一步地，所述控制信号与所述显示设备的显示信息相关联，获取模块310，还用于：
控制所述显示设备获取待播放的视频流，所述视频流包括多个视频帧，至少部分所述视频帧包括与之对应的所述用户手持设备的控制信号；
控制所述显示设备根据所述视频流的播放进度，将所述用户手持设备的控制信号发送至所述用户手持设备，以使所述用户手持设备获取所述控制信号。
进一步地，所述控制信号与所述显示设备的显示信息相关联，获取模块310，还用于：
控制所述显示设备获取待播放的视频流，所述视频流包括多个视频帧，至少部分所述视频帧包括与之对应的触控反馈模型信息；
基于所述触控反馈模型信息，确定所述用户手持设备的控制信号。
进一步地，若所述控制信号与用户的控制操作相关联，获取模块310，还用于：
获取用户在完成控制操作动作过程中，用户肢体运动信息；
基于所述用户肢体运动信息，确定所述用户手持设备的控制信号。
本公开实施例提供的触觉交互装置，可执行本公开方法实施例所提供的触觉交互方法中的各步骤，具备执行步骤和有益效果，此处不再赘述。
图10为本公开实施例中的一种电子设备的结构示意图。下面具体参考图10，其示出了适于用来实现本公开实施例中的电子设备1000的结构示意图。本公开实施例中的电子设备1000可以包括但不限于诸如移动电话、笔记本电脑、数字广播接收器、PDA(个人数字助理)、PAD(平板电脑)、PMP(便携式多媒体播放器)、车载终端(例如车载导航终端)、可穿戴电子设备等等的移动终端以及诸如数字TV、台式计算机、智能家居设备等等的固定终端。图10示出的电子设备仅仅是一个示例，不应对本公开实施例的功能和使用范围带来任何限制。
如图10所示，电子设备1000可以包括处理装置(例如中央处理器、图形处理器等)1001，其可以根据存储在只读存储器(ROM)1002中的程序或者从存储装置1008加载到随机访问存储器(RAM)1003中的程 序而执行各种适当的动作和处理以实现如本公开所述的实施例的触觉交互方法。在RAM 1003中，还存储有电子设备1000操作所需的各种程序和信息。处理装置1001、ROM 1002以及RAM 1003通过总线1004彼此相连。输入/输出(I/O)接口1005也连接至总线1004。
通常，以下装置可以连接至I/O接口1005：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置1006；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置1007；包括例如磁带、硬盘等的存储装置1008；以及通信装置1009。通信装置1009可以允许电子设备1000与其他设备进行无线或有线通信以交换信息。虽然图10示出了具有各种装置的电子设备1000，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在非暂态计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码，从而实现如上所述的触觉交互方法。在这样的实施例中，该计算机程序可以通过通信装置1009从网络上被下载和安装，或者从存储装置1008被安装，或者从ROM 1002被安装。在该计算机程序被处理装置1001执行时，执行本公开实施例的方法中限定的上述功能。
需要说明的是，本公开上述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本公开中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的信息信号，其中承载了计算机可读的程序代码。 这种传播的信息信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读信号介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(射频)等等，或者上述的任意合适的组合。
在一些实施方式中，客户端、服务器可以利用诸如HTTP(HyperText Transfer Protocol，超文本传输协议)之类的任何已知或未来研发的网络协议进行通信，并且可以与任意形式或介质的数字信息通信(例如，通信网络)互连。通信网络的示例包括局域网(“LAN”)，广域网(“WAN”)，网际网(例如，互联网)以及端对端网络(例如，ad hoc端对端网络)，以及任何已知或未来研发的网络。
上述计算机可读介质可以是上述电子设备中所包含的；也可以是单独存在，而未装配入该电子设备中。
上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该电子设备执行时，使得该电子设备：
获取所述用户手持设备的控制信号，所述控制信号与所述显示设备的显示信息相关联，或者，所述控制信号与用户的控制操作相关联；
基于所述控制信号，向所述力矩产生部件施加电信号，以使所述力矩产生部件形成力矩。
可选的，当上述一个或者多个程序被该电子设备执行时，该电子设备还可以执行上述实施例所述的其他步骤。
可以以一种或多种程序设计语言或其组合来编写用于执行本公开的操作的计算机程序代码，上述程序设计语言包括但不限于面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来 通过因特网连接)。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本公开实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。其中，单元的名称在某种情况下并不构成对该单元本身的限定。
本文中以上描述的功能可以至少部分地由一个或多个硬件逻辑部件来执行。例如，非限制性地，可以使用的示范类型的硬件逻辑部件包括：现场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、片上系统(SOC)、复杂可编程逻辑设备(CPLD)等等。
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
根据本公开的一个或多个实施例，本公开提供了一种电子设备，包括：
一个或多个处理器；
存储器，用于存储一个或多个程序；
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如本公开提供的任一所述的触觉交互方法。
根据本公开的一个或多个实施例，本公开提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本公开提供的任一所述的触觉交互方法。
本公开实施例还提供了一种计算机程序产品，该计算机程序产品包括计算机程序或指令，该计算机程序或指令被处理器执行时实现如上所述的触觉交互方法。
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅是本公开的具体实施方式，使本领域技术人员能够理解或实现本公开。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本公开的精神或范围的情况下，在其它实施例中实现。因此，本公开将不会被限制于本文所述的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (16)

  1. 一种具备触觉交互功能的用户手持设备，其特征在于，所述具备触觉交互功能的用户手持设备与显示设备通讯连接；所述具备触觉交互功能的用户手持设备包括：设备壳体、处理器以及力矩产生部件；
    所述处理器和所述力矩产生部件均设置于所述设备壳体内；且所述力矩产生部件与所述设备壳体固定连接；
    所述处理器与所述力矩产生部件电连接，用于获取控制信号，所述控制信号与所述显示设备的显示信息相关联，或者，所述控制信号与用户的控制操作相关联；并基于所述控制信号控制所述力矩产生部件形成力矩。
  2. 根据权利要求1所述的设备，其特征在于，所述力矩产生部件包括至少一个飞轮模组；所述飞轮模组包括第一电机以及飞轮；所述第一电机的旋转轴与所述飞轮固定连接；当所述第一电机的旋转轴旋转时可带动所述飞轮旋转。
  3. 根据权利要求2所述的设备，其特征在于，所述力矩产生部件包括三个飞轮模组，所述三个飞轮模组中的三个旋转轴所在直线中任意两者相交于同一点。
  4. 根据权利要求3所述的设备，其特征在于，所述设备壳体包括第一平面、第二平面和第三平面；所述第一平面、所述第二平面和所述第三平面中任意两者相交；
    所述三个飞轮模组分别固定于所述第一平面、所述第二平面和所述第三平面上。
  5. 根据权利要求2所述的设备，其特征在于，所述力矩产生部件包括一个飞轮模组，并且所述力矩产生部件还包括云台模组，所述飞轮模组固定于所述云台模组上；所述云台模组固定于所述设备壳体上；所述云台模组可相对所述设备壳体转动，进而带动所述飞轮模组转动。
  6. 根据权利要求5所述的设备，其特征在于，所述云台模组为单轴云台模组、双轴云台模组或三轴云台模组。
  7. 根据权利要求6所述的设备，其特征在于，所述云台模组为双轴云台模组；
    所述云台模组包括第二电机、第三电机、第一连接件以及第二连接件；所述第一连接件以及所述第二连接件均为L型连接件；所述第二电机固定于所述设备壳体上，并且所述第二电机的旋转轴与所述第一连接件固定连接；所述第三电机固定于所述第一连接件上，并且所述第三电机的旋转轴与所述第二连接件固定连接；所述飞轮模组的第一电机固定于所述第二连接件上。
  8. 根据权利要求7所述的设备，其特征在于，所述飞轮模组的质心与所述云台模组中所述第二电机旋转轴所在直线和所述第三电机旋转轴所在直线的交点重合。
  9. 一种触觉交互方法，其特征在于，所述触觉交互方法适用于权利要求1-8任一项所述的具备触觉交互功能的用户手持设备；所述方法包括：
    获取所述用户手持设备的控制信号，所述控制信号与所述显示设备的显示信息相关联，或者，所述控制信号与用户的控制操作相关联；
    基于所述控制信号，向所述力矩产生部件施加电信号，以使所述力矩产生部件形成力矩。
  10. 根据权利要求9所述的方法，其特征在于，还包括：
    获取当前所述力矩产生部件的运动数据；
    所述基于所述控制信号，向所述力矩产生部件施加电信号，以使所述力矩产生部件形成力矩，包括：
    基于所述控制信号以及当前所述力矩产生部件的运动数据，向所述力矩产生部件施加电信号，以使所述力矩产生部件形成力矩。
  11. 根据权利要求9所述的方法，其特征在于，所述控制信号与所述显示设备的显示信息相关联，所述获取所述用户手持设备的控制信号，包括：
    所述显示设备获取待播放的视频流，所述视频流包括多个视频帧，至少部分所述视频帧包括与之对应的所述用户手持设备的控制信号；
    所述显示设备根据所述视频流的播放进度，将所述用户手持设备 的控制信号发送至所述用户手持设备，以使所述用户手持设备获取所述控制信号。
  12. 根据权利要求9所述的方法，其特征在于，所述控制信号与所述显示设备的显示信息相关联，所述获取所述用户手持设备的控制信号，包括：
    所述显示设备获取待播放的视频流，所述视频流包括多个视频帧，至少部分所述视频帧包括与之对应的触控反馈模型信息；
    基于所述触控反馈模型信息，确定所述用户手持设备的控制信号。
  13. 根据权利要求9所述的方法，其特征在于，若所述控制信号与用户的控制操作相关联，所述获取所述用户手持设备的控制信号，包括：
    获取用户在完成控制操作动作过程中，用户肢体运动信息；
    基于所述用户肢体运动信息，确定所述用户手持设备的控制信号。
  14. 一种触觉交互装置，其特征在于，所述触觉交互装置适用于权利要求1-8任一项所述的具备触觉交互功能的用户手持设备；所述装置包括：
    获取模块，用于获取所述用户手持设备的控制信号，所述控制信号与所述显示设备的显示信息相关联，或者，所述控制信号与用户的控制操作相关联；
    力矩模块，用于基于所述控制信号，向所述力矩产生部件施加电信号，以使所述力矩产生部件形成力矩。
  15. 一种电子设备，其特征在于，所述电子设备包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序；
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求9-13中任一项所述的方法。
  16. 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，该程序被处理器执行时实现如权利要求9-13中任一项所述的方法。
PCT/CN2022/099420 2021-07-08 2022-06-17 具备触觉交互功能的用户手持设备、触觉交互方法及装置 WO2023279939A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110772279.5 2021-07-08
CN202110772279.5A CN113448441B (zh) 2021-07-08 2021-07-08 具备触觉交互功能的用户手持设备、触觉交互方法及装置

Publications (1)

Publication Number Publication Date
WO2023279939A1 true WO2023279939A1 (zh) 2023-01-12

Family

ID=77815498

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/099420 WO2023279939A1 (zh) 2021-07-08 2022-06-17 具备触觉交互功能的用户手持设备、触觉交互方法及装置

Country Status (2)

Country Link
CN (1) CN113448441B (zh)
WO (1) WO2023279939A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113448441B (zh) * 2021-07-08 2023-04-25 北京有竹居网络技术有限公司 具备触觉交互功能的用户手持设备、触觉交互方法及装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016195503A1 (en) * 2015-06-02 2016-12-08 Univcoda As Handheld controller with haptic feedback unit
US20190355272A1 (en) * 2018-05-17 2019-11-21 Gulfstream Aerospace Corporation Tactile responsive surface for virtual reality training device
CN112256136A (zh) * 2020-11-13 2021-01-22 腾讯科技（深圳）有限公司 一种触觉反馈装置、方法、电子设备及人机交互系统
CN113448441A (zh) * 2021-07-08 2021-09-28 北京有竹居网络技术有限公司 具备触觉交互功能的用户手持设备、触觉交互方法及装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090102805A1 (en) * 2007-10-18 2009-04-23 Microsoft Corporation Three-dimensional object simulation using audio, visual, and tactile feedback
CN107340871A (zh) * 2017-07-25 2017-11-10 深识全球创新科技（北京）有限公司 集成手势识别与超声波触觉反馈的装置及其方法和用途
CN110096131B (zh) * 2018-01-29 2021-06-04 华为技术有限公司 触感交互方法、装置、以及触感可穿戴设备

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016195503A1 (en) * 2015-06-02 2016-12-08 Univcoda As Handheld controller with haptic feedback unit
US20190355272A1 (en) * 2018-05-17 2019-11-21 Gulfstream Aerospace Corporation Tactile responsive surface for virtual reality training device
CN112256136A (zh) * 2020-11-13 2021-01-22 腾讯科技（深圳）有限公司 一种触觉反馈装置、方法、电子设备及人机交互系统
CN113448441A (zh) * 2021-07-08 2021-09-28 北京有竹居网络技术有限公司 具备触觉交互功能的用户手持设备、触觉交互方法及装置

Also Published As

Publication number Publication date
CN113448441A (zh) 2021-09-28
CN113448441B (zh) 2023-04-25

Similar Documents

Publication Publication Date Title
WO2023051483A1 (zh) 直播互动方法、装置、可读介质及电子设备
US20170192734A1 (en) Multi-interface unified displaying system and method based on virtual reality
US11465044B2 (en) Method and system for providing game based on video call and object recognition
WO2022088928A1 (zh) 弹性对象的渲染方法、装置、设备及存储介质
WO2023279939A1 (zh) 具备触觉交互功能的用户手持设备、触觉交互方法及装置
WO2023138504A1 (zh) 图像渲染方法、装置、电子设备及存储介质
WO2023151524A1 (zh) 图像显示方法、装置、电子设备及存储介质
WO2023221409A1 (zh) 虚拟现实空间的字幕渲染方法、装置、设备及介质
WO2023051340A1 (zh) 一种动画显示方法、装置及设备
WO2023202358A1 (zh) 虚拟对象的运动控制方法及设备
WO2023103999A1 (zh) 3d目标点渲染方法、装置、设备及存储介质
WO2022012349A1 (zh) 动画处理方法、装置、电子设备及存储介质
WO2023174087A1 (zh) 特效视频生成方法、装置、设备及存储介质
WO2024088144A1 (zh) 增强现实画面的处理方法、装置、电子设备及存储介质
WO2024016924A1 (zh) 视频处理方法、装置、电子设备及存储介质
WO2023116562A1 (zh) 图像展示方法、装置、电子设备及存储介质
WO2023185393A1 (zh) 图像处理方法、装置、设备及存储介质
WO2023121569A2 (zh) 粒子特效渲染方法、装置、设备及存储介质
WO2022033445A1 (zh) 交互式动态流体效果处理方法、装置及电子设备
WO2022218104A1 (zh) 虚拟形象的碰撞处理方法、装置、电子设备和存储介质
WO2021238809A1 (zh) 人脸模型重构方法、装置、介质和设备
CN112169304B (zh) 智能终端的陀螺仪控制方法、系统及计算机可读存储介质
US20210383101A1 (en) Transforming sports implement motion sensor data to two-dimensional image for analysis
WO2023030106A1 (zh) 对象显示方法、装置、电子设备及存储介质
WO2023030091A1 (zh) 控制运动物体运动的方法、装置、设备及介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22836693

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE