Vibration array system, driving method and storage medium

Abstract

The present application relates to a vibration array system, a driving method and a storage medium. The system includes a controller, a DC power supply, a driving array and a vibration array. The vibration array is composed of a plurality of vibration units. 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. The negative end of the vibration array is connected to the negative end of the DC power supply. The driving method includes: determining the pulse width modulation frequency of each vibration unit included in the vibration array; the controller generates a driving signal according to the vibration requirements and pulse width modulation frequency of each vibration unit; the driving signals corresponding to all vibration units are aggregated into a set, and the aggregated driving signals are sent to the driving array; the driving array drives the vibration array to vibrate. The system significantly reduces the cost of the entire driving array and improves the wearing comfort; the driving method increases the richness of the array vibration and realizes the balancing of the power supply load.

Description

Technical Field

[0001] The present application relates to the field of vibration array technology, and more specifically, to a vibration array system, a driving method and a storage medium. Background Art

[0002] In the field of consumer electronics, vibration devices can provide vibration feedback that matches the operation, giving users a good experience. With the rise of the concept of the metaverse, the demand for tactile feedback in devices such as AR / VR is getting higher and higher. The tactile feedback that a single device can provide is extremely limited and can no longer meet the user's demand for the authenticity of the tactile experience. Therefore, a vibration array is needed to achieve a more realistic and rich tactile experience.

[0003] However, although the introduction of the vibration array improves the authenticity and richness of the sense of touch, each vibration unit needs to be equipped with an independent driving circuit, which leads to a significant increase in the cost of the driving circuit, and also increases the size and weight of the wearable device, thus affecting the user experience. Summary of the invention

[0004] Based on the above technical problems, 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.

[0005] A first aspect of the present invention provides a vibration array system, which includes a controller, a DC power supply, a drive array and a vibration array, wherein the vibration array is composed of multiple vibration units, the controller is connected to the drive array, the positive end of the drive array is connected to the positive end of the DC power supply, the negative end of the drive array is connected to the positive end of the vibration array, and the negative end of the vibration array is connected to the negative end of the DC power supply.

[0006] In some embodiments of the present invention, the vibration array is composed of a plurality of vibration units, and the plurality of vibration units are rotor eccentric motors of the same type.

[0007] In some embodiments of the present invention, the driving array is composed of switches; wherein the number of the switches is equal to the number of vibration units included in the vibration array, each switch is composed of a power switch tube and a reverse parallel diode, and the positive ends of all switches are connected together.

[0008] In some embodiments of the present invention, the DC power source is a battery.

[0009] A second aspect of the present invention provides a driving method for the vibration array system described in each embodiment, the method comprising:

[0010] Determining a pulse width modulation frequency of each vibration unit included in the vibration array;

[0011] The controller generates a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency;

[0012] Aggregate the drive signals corresponding to all vibration units into a set, and send the aggregated drive signals to the drive array;

[0013] The driving array drives the vibration array to vibrate.

[0014] In some embodiments of the present invention, the controller generates a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency, including:

[0015] Convert the vibration intensity requirement of each vibration unit into a voltage amplitude requirement;

[0016] Converting the voltage amplitude requirement into a duty cycle requirement;

[0017] The controller generates a driving signal according to the duty cycle requirements of each vibration unit and the pulse width modulation frequency.

[0018] In some embodiments of the present invention, the step of generating a driving signal according to the duty cycle requirement and the pulse width modulation frequency of each vibration unit includes:

[0019] If the pulse width modulation frequencies of the vibration units are different, a driving signal is generated based on the pulse width modulation frequency of a first vibration unit and a corresponding duty cycle, wherein the first vibration unit is any one of the vibration units.

[0020] In some embodiments of the present invention, the step of generating a driving signal according to the duty cycle requirement and the pulse width modulation frequency of each vibration unit includes:

[0021] If the pulse width modulation frequencies of the vibration units are the same, the duty cycles corresponding to the vibration units are grouped, and a combination of vibration units whose sum of duty cycles does not exceed 1 is found, until all vibration units form a combination;

[0022] The duty cycles of all vibration units in a single combination are sequentially arranged within the same pulse width modulation frequency cycle, and the duty cycles are closely adjacent to each other;

[0023] Number all the combinations and arrange the duty cycles according to the combination numbers;

[0024] The corresponding driving signals are generated according to all duty cycle arrangements.

[0025] In some embodiments of the present invention, numbering all the combinations and arranging the duty cycles according to the combination numbers includes:

[0026] Number all the combinations to form odd and even numbers;

[0027] Arrange the duty cycles of the odd-numbered combinations backwards starting from the beginning of a pulse width modulation frequency cycle;

[0028] Arrange the duty cycle of the even-numbered combinations starting from the end of one PWM frequency cycle and onwards.

[0029] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods of claims 5 to 9:

[0030] Determining a pulse width modulation frequency of each vibration unit included in the vibration array;

[0031] generating a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency;

[0032] Aggregate the drive signals corresponding to all vibration units into a set, and send the aggregated drive signals to the drive array;

[0033] The driving array drives the vibration array to vibrate.

[0034] The technical solution provided in the embodiments of the present application has at least the following technical effects or advantages:

[0035] 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, wherein a plurality of vibration units are used to form the vibration array, and vibration feedback of multiple scenes is realized through the combined vibration of each unit. These vibration units are rotor eccentric motors of the same type, and only one power switch tube and one reverse parallel diode are required to form a drive circuit, thereby significantly reducing the cost of the entire drive array, while reducing the volume and weight of the vibration array system, thereby improving the wearing comfort; the driving method of the vibration array system includes: determining the pulse width modulation frequency of each vibration unit included in the vibration array, the controller generates a drive signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency, aggregating the drive signals corresponding to all vibration units into a set, and sending the aggregated drive signal to the drive array, the drive array drives the vibration array to vibrate, because each vibration unit can be independently controlled, and the vibration sense is adjusted by adjusting the duty cycle of the pulse width modulation frequency drive waveform, thereby increasing the richness of the array vibration, and the array drive based on the dynamic allocation of power consumption dynamically allocates the switching time of the pulse width modulation frequency control waveform, thereby achieving a more balanced and rational DC power supply load.

[0036] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0038] Figure 1 A schematic diagram showing the composition of a vibration array system in an exemplary embodiment of the present application is shown;

[0039] Figure 2 A schematic diagram of a wearable vibration array device in the form of a glove in an exemplary embodiment of the present application is shown;

[0040] Figure 3 A schematic diagram showing the steps of a driving method of a vibration array system in an exemplary embodiment of the present application is shown;

[0041] Figure 4 A schematic diagram of a process of generating a driving signal in an exemplary embodiment of the present application is shown;

[0042] Figure 5 A schematic diagram of another process of generating a driving signal in an exemplary embodiment of the present application is shown;

[0043] Figure 6 A schematic diagram of the structure of a computer device provided by an exemplary embodiment of the present application is shown;

[0044] Figure 7 A schematic diagram of a storage medium provided by an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0045] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present application. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present application. It is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features known in the art are not described.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of the features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0047] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. The accompanying drawings are not drawn to scale, and certain details may be magnified and certain details may be omitted for the purpose of clear expression. The shapes of the various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are merely exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0048] The following is attached to the instruction manual Figure 1-7 Several embodiments are given to describe exemplary implementations according to the present application. It should be noted that the following application scenarios are only shown to facilitate understanding of the spirit and principles of the present application, and the implementations of the present application are not limited in this regard. On the contrary, the implementations of the present application can be applied to any applicable scenario.

[0049] At present, it is becoming more and more popular to achieve a more realistic and rich tactile experience through vibration arrays. The TactSuit tactile feedback wireless suit launched by South Korea's bHaptic company includes a mask, a vest and a pair of sleeves, which integrates a total of 87 vibration units, including 7 for the mask, 20 for the front and back of the vest, and 20 on each side of the sleeves. Each vibration unit can generate vibrations independently, thereby achieving more realistic tactile feedback. However, although the introduction of vibration arrays has improved the authenticity and richness of touch, each vibration unit needs to be equipped with an independent drive circuit, which has brought about a significant increase in the cost of the drive circuit, and also increased the size and weight of the wearable device, thus affecting the user experience.

[0050] Therefore, in some exemplary embodiments of the present application, a vibration array system is provided, such as Figure 1As shown, the system includes a controller, a DC power supply, a drive array and a vibration array, wherein the vibration array is composed of a plurality of vibration units, the controller is connected to the drive array, the positive end of the drive array is connected to the positive end of the DC power supply, the negative end of the drive array is connected to the positive end of the vibration array, and the negative end of the vibration array is connected to the negative end of the DC power supply. Figure 1 As shown, D1 to D6 are driving signals issued by the controller.

[0051] In some embodiments of the present application, the vibration array is composed of a plurality of vibration units, and the plurality of vibration units are rotor eccentric motors of the same type, i.e. Figure 1 M1 to M6 in the embodiment, the driving array is composed of switches; wherein the number of the 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 ends of all switches are connected together. The DC power supply is a battery. It should be noted that the vibration array composed of multiple vibration units can be various virtual reality devices, such as tactile gloves, Figure 2 This is a schematic diagram of a wearable vibration array device in the form of a glove. One vibration unit is installed on the palm and each fingertip, for a total of six units, numbered M1, M2, M3, M4, M5, and M6. For example, the controller selects six vibration units, M1, M2, M3, M4, M5, and M6, for vibration, and determines the duty cycle of each vibration unit as D1, D2, D3, D4, D5, and D6 according to the vibration intensity requirements. Of course, in virtual reality and augmented reality, i.e., AR / VR and other devices, various vibration units can be included to form a vibration array with better vibration.

[0052] The vibration array system provided in the present application adopts 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 reverse parallel diode to form a drive circuit, thereby significantly reducing the cost of the entire drive array, while reducing the volume and weight of the vibration array system, thereby improving wearing comfort.

[0053] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

[0054] In some exemplary embodiments of the present application, a driving method of the vibration array system described in each embodiment is also provided, such as Figure 3 As shown, the method includes:

[0055] S1. Determine the pulse width modulation frequency of each vibration unit included in the vibration array;

[0056] S2, the controller generates a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency;

[0057] S3, aggregating the driving signals corresponding to all the vibration units into a set, and sending the aggregated driving signals to the driving array;

[0058] S4. The driving array drives the vibration array to vibrate.

[0059] In a specific implementation, the controller generates a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency, including: converting the vibration intensity requirements of each vibration unit into a voltage amplitude requirement; converting the voltage amplitude requirement into a duty cycle requirement; the controller generates a driving signal according to the duty cycle requirements of each vibration unit and the pulse width modulation frequency. Pulse width modulation is referred to as PWM (Pulse width modulation).

[0060] In a specific implementation, the step of generating a driving signal based on the duty cycle requirements and pulse width modulation frequency of each vibration unit includes: if the pulse width modulation frequencies of each vibration unit are the same, generating a driving signal based on the pulse width modulation frequency and the corresponding duty cycle of a first vibration unit, wherein the first vibration unit is any one of the vibration units. The duty cycle refers to the ratio of the duration of the driving signal being 1 to the total duration of the driving signal being 1 and 0. Figure 4 As shown in the figure, each vibration unit can be controlled independently, and the vibration intensity can be adjusted by adjusting the duty cycle of the PWM drive waveform, which not only realizes the customized array vibration, but also increases the richness of the array vibration through the difference in vibration intensity. However, this method does not optimize the on and off timing of each switch tube driving the 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, in the t0-t1 stage, all 6 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 of the DC power supply being either overloaded or underloaded.

[0061] In another specific implementation, the generating of the driving signal according to the duty cycle requirement and the pulse width modulation frequency of each vibration unit includes: if the pulse width modulation frequencies of the vibration units are the same, grouping the duty cycles corresponding to the vibration units, finding a vibration unit combination whose sum of duty cycles does not exceed 1, until all vibration units form a combination; arranging the duty cycles of all vibration units in a single combination in sequence within the same pulse width modulation frequency cycle, and the duty cycles are adjacent to each other; numbering all the combinations, and arranging the duty cycles according to the combination numbers; and generating the corresponding driving signal according to the arrangement of all the duty cycles. For example, for M1, 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 D3 is generated; for M4, a PWM drive signal with a frequency of f and a duty cycle of D4 is generated; for M5, a PWM drive signal with a frequency of f and a duty cycle of D5 is generated; for M6, a PWM drive signal with a frequency of f and a duty cycle of D6 is generated, and so on.

[0062] A preferred implementation method is: grouping the duty cycles corresponding to the vibration units, finding a vibration unit combination whose sum of duty cycles does not exceed 1, until all vibration units form a combination, including: first taking the first vibration unit as the first unit of the first combination, then sequentially adding the duty cycles of each vibration unit other than this unit to it, finding the vibration unit whose sum of duty cycles does not exceed 1 for the first time, as the second unit of the first combination, then sequentially adding the duty cycles of each vibration unit other than these two units to the sum, finding the vibration unit whose sum of duty cycles does not exceed 1 for the first time, as the third unit of the first combination, 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 are taken as vibration unit combination 1. Figure 5As shown, in this example, the duty cycle D1 of the first vibration unit is 0.66, and the first duty cycle D4 of the fourth vibration unit whose sum does not exceed 1 is 0.99. This sum plus the duty cycle D6 of the last vibration unit is greater than 1, so the vibration units M1 and M4 are taken as vibration unit combination 1, and the vibration units in combination 1 are removed from all vibration units. The same strategy is adopted for the remaining vibration units to determine vibration unit combination 2; in this example, after removing M1 and M4, the same strategy is adopted for the remaining vibration units M2 / M3 / M5 / M6, and vibration units M2 and M3 are taken as vibration unit combination 2, and so on, until all vibration units have formed a combination, and vibration units M5 and M6 are taken as vibration unit combination 3. The duty cycles of all vibration units in a single combination are arranged in sequence within one PWM cycle, and the duty cycles are adjacent to each other. For combination 1, the duty cycles of M1 and M4 are adjacent to the tf moment; for combination 2, the duty cycles of M2 and M3 are adjacent to the te moment; for combination 3, the duty cycles of M5 and M6 are adjacent to the tc moment.

[0063] In some embodiments of the present invention, the step of numbering all the combinations and arranging the duty cycle according to the combination numbers includes: numbering all the combinations to form odd numbers and even numbers; arranging the duty cycle of the odd-numbered combinations from the beginning of a pulse width modulation frequency cycle backwards; and arranging the duty cycle of the even-numbered combinations from the end of a pulse width modulation frequency cycle forwards. Numbering all the combinations, arranging the duty cycle of the odd-numbered combinations from the beginning of a PWM cycle backwards, and arranging the duty cycle of the even-numbered combinations from the end of a PWM cycle forwards. Figure 5 As shown, for M1 and M4 of combination 1, the duty cycle of M1 is arranged between t0-tf, and the duty cycle of M4 is arranged between tf-tg. For M2 and M3 of combination 2, the duty cycle of M2 is arranged between te-t7, and the duty cycle of M3 is arranged between ta-te. For M5 and M6 of combination 3, the duty cycle of M5 is arranged between t0-tc, and the duty cycle of M6 is arranged between tc-td. Then, the corresponding driving signal is generated according to the arrangement of the duty cycles of all vibration units, and the driving signals of all vibration arrays are summarized into a set and sent to the driving array as a driving signal.

[0064] It can be seen from this that Figure 5 The driving method shown in the figure 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. Figure 4Compared with the array driving method 1 shown, in which the DC power supply drives a maximum of 6 vibration units at the same time and a minimum of 0 vibration units at the same time, this method reduces the fluctuation of the DC power supply load, making the DC power supply load more balanced and reasonable.

[0065] The driving method of the vibration array system provided in the present application includes: determining the pulse width modulation frequency of each vibration unit included in the vibration array, the controller generating a driving signal according to the vibration demand of each vibration unit and the pulse width modulation frequency, aggregating the driving signals corresponding to all vibration units into a set, and sending the aggregated driving signals to the driving array, the driving array drives the vibration array to vibrate, because each vibration unit can be controlled independently, and the vibration intensity is adjusted by adjusting the duty cycle of the pulse width modulation frequency driving waveform, thereby increasing the richness of the array vibration, and the array drive based on the dynamic allocation of power consumption dynamically allocates the switching time of the pulse width modulation frequency control waveform, thereby achieving a more balanced and rational DC power supply load.

[0066] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.

[0067] It should also be emphasized that the system provided in the embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Among them, artificial intelligence (AI) is the theory, method, technology and application system of simulating, extending and expanding human intelligence, perceiving the environment, acquiring knowledge and using knowledge to obtain the best results using digital computers or machines controlled by digital computers. Basic artificial intelligence technologies generally include technologies such as sensors, special artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics, etc. Artificial intelligence software technology mainly includes computer vision technology, robotics, biometrics, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0068] Please refer to the following Figure 6 , which shows a schematic diagram of a computer device provided by some embodiments of the present application. Figure 6 As shown, the computer device 2 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, wherein the processor 200, the communication interface 203 and the memory 201 are connected via the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and when the processor 200 runs the computer program, the driving method of the vibration array system provided in any of the aforementioned embodiments of the present application is executed.

[0069] The memory 201 may include a high-speed random access memory (RAM), and may also include a 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 may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0070] The bus 202 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 201 is used to store programs, and the processor 200 executes the programs after receiving the execution instruction. The driving method of the vibration array system disclosed in any implementation of the embodiment of the present application may be applied to the processor 200, or implemented by the processor 200.

[0071] The processor 200 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 200. The above processor 200 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a readily available programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and completes the steps of the above method in combination with its hardware.

[0072] The present application also provides a computer-readable storage medium corresponding to the driving method of the vibration array system provided in the above embodiment. Figure 7 , Figure 7The computer-readable storage medium shown is an optical disc 30 on which a computer program (ie, a program product) is stored. When the computer program is executed by a processor, the driving method of the vibration array system provided in any of the aforementioned embodiments will be executed.

[0073] In addition, 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), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0074] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the method for allocating channels for quantum key distribution in a space-division multiplexed optical network provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0075] The present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the driving method of the vibration array system provided in any of the aforementioned embodiments are implemented, including: determining the pulse width modulation frequency of each vibration unit included in the vibration array; generating a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency; aggregating the driving signals corresponding to all vibration units into a set, and sending the aggregated driving signals to a driving array; and the driving array driving the vibration array to vibrate.

[0076] It should be noted that the algorithms and displays provided herein are not inherently related to any particular computer, virtual device or other device. Various general devices can also be used together with the teachings based thereon. According to the above description, it is obvious that the structure required for constructing such devices is constructed. In addition, the present application is not directed to any specific programming language. It should be understood that the content of the present application described herein can be implemented using various programming languages, and the above description of specific languages ​​is to disclose the best implementation mode of the present application. In the specification provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this specification.

[0077] Similarly, it should be understood that in order to streamline the present application and aid in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: the claimed application requires more features than the features explicitly recited in each claim. More specifically, as reflected in the claims below, the inventive aspects lie in less than all the features of the single embodiment disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present application.

[0078] Those skilled in the art will appreciate that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiment can be combined into one module or unit or component, and in addition they can be divided into multiple submodules or subunits or subassemblies. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification and all processes or units of any method or device disclosed in this manner can be combined in any combination. Unless otherwise clearly stated, each feature disclosed in this specification can be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0079] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some or all components in the creation device of the virtual machine according to the embodiment of the present application. The present application can also be implemented as a device or device program for executing part or all of the methods described herein. The program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0080] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A driving method for a vibration array system, characterized in that: The system includes a controller, a DC power supply, a drive array and a vibration array, wherein the vibration array is composed of a plurality of vibration units, the controller is connected to the drive array, the positive end of the drive array is connected to the positive end of the DC power supply, the negative end of the drive array is connected to the positive end of the vibration array, and the negative end of the vibration array is connected to the negative end of the DC power supply; the plurality of vibration units are rotor eccentric motors of the same type; the drive array is composed of switches; wherein the number of the 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 ends of all switches are connected together; the DC power supply is a battery; The method comprises: Determining a pulse width modulation frequency of each vibration unit included in the vibration array; The controller generates a driving signal according to the vibration requirements of each vibration unit and the pulse width modulation frequency; Aggregate the drive signals corresponding to all vibration units into a set, and send the aggregated drive signals to the drive array; 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: Convert the vibration intensity requirement of each vibration unit into a voltage amplitude requirement; Converting the voltage amplitude requirement into a duty cycle requirement; The controller generates a driving signal according to the duty cycle requirements and pulse width modulation frequency of each vibration unit; The step of generating a driving signal according to the duty cycle requirements of each vibration unit and the pulse width modulation frequency includes: If the pulse width modulation frequencies of the vibration units are the same, the duty cycles corresponding to the vibration units are grouped, and a combination of vibration units whose sum of duty cycles does not exceed 1 is found, until all vibration units form a combination; The duty cycles of all vibration units in a single combination are sequentially arranged within the same pulse width modulation frequency cycle, and the duty cycles are closely adjacent to each other; Number all the combinations and arrange the duty cycles according to the combination numbers; The corresponding driving signals are generated according to all duty cycle arrangements.

2. The driving method of the vibration array system according to claim 1, characterized in that: The step of generating a driving signal according to the duty cycle requirements of each vibration unit and the pulse width modulation frequency includes: If the pulse width modulation frequencies of the vibration units are different, a driving signal is generated based on the pulse width modulation frequency of a first vibration unit and a corresponding duty cycle, wherein the first vibration unit is any one of the vibration units.

3. The driving method of the vibration array system according to claim 1, characterized in that: The method of numbering all the combinations and arranging the duty cycles according to the combination numbers includes: Number all the combinations to form odd and even numbers; Arrange the duty cycles of the odd-numbered combinations backwards starting from the beginning of a pulse width modulation frequency cycle; Arrange the duty cycle of the even-numbered combinations starting from the end of one PWM frequency cycle and onwards.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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