Ultrasonic touch sound field measurement system and method based on mechanical arm moving platform

Abstract

The invention relates to the technical field of ultrasonic touch intensity quantitative evaluation, and discloses an ultrasonic touch sound field measurement system and method based on a mechanical arm mobile platform, and the system comprises an ultrasonic phased array, a measurement microphone, a preamplifier, an electroacoustic tester, a mechanical arm and a main control computer. The ultrasonic phased array and the mechanical arm can move in the direction perpendicular to the transmitting surface of the ultrasonic phased array, a focus and working parameters are set through the main control computer, transmitted ultrasonic vibration waves are controlled to be focused at any position in a phased array sound field space, and a hand can obtain tactile perception when placed at the focus. During measurement, the main control computer sends a focus position to the mechanical arm through background communication and controls the front end of the mechanical arm to move in a phased array sound field space, so that the measurement microphone loaded at the working front end of the mechanical arm automatically moves to the focus position of the phased array according to a preset track, and a sound signal of the focus is converted into an electric signal; and the signals are amplified by the pre-amplifier and input into the electroacoustic tester, and the frequency spectrum and sound pressure amplitude of the point are measured in real time.

Description

technical field [0001] The present application relates to the technical field of quantitative evaluation of ultrasonic tactile intensity, in particular to an ultrasonic tactile sound field measurement system and method based on a mobile platform of a mechanical arm. Background technique [0002] Gesture gesture capture and force feedback technology for human-computer intelligent interaction can be used in extended reality XR systems (including virtual reality VR / augmented reality AR / mixed reality MR), military training, medical treatment, industry, drone control and car assisted driving, education It has broad application prospects in training and other fields. Tactile perception and force feedback technology is an important development direction in the current human-computer fusion XR interaction environment. Ultrasonic tactile technology adopts ultrasonic phased array technology, uses an array of ultrasonic transducers to focus ultrasound to stimulate the surface of human...

AI Technical Summary

Problems solved by technology

[0003] However, at present, ultrasonic tactile technology is in its infancy, lacks standardized detection methods, and lacks horizontal comparisons with similar domestic products. It is difficult to evaluate the quality and performance of products. Establishing an ultrasonic tactile sound field measurement system has become an urgent problem to be solved.

[0004] In the sound measurement related technology, slide rails and clamping tools are generally used to adjust the three-dimensional coordinates to measure the sound field intensity, which has poor operation convenience, low degree of automation, low measurement efficiency, and low precision.

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