Touch position determination method and device and storage medium

Abstract

The embodiment of the invention provides a touch position determination method and device and a storage medium, and the method comprises the steps: receiving voltage signals collected by a plurality of piezoelectric vibrators; determining a characteristic time point corresponding to each voltage signal based on at least one voltage point with similarity in the plurality of voltage signals; the characteristic time point is determined based on at least one time point corresponding to the at least one voltage point; and determining corresponding touch position information based on the plurality of feature time points and the position information of the plurality of piezoelectric vibrators.

Description

Technical Field

[0001] The present application relates to but is not limited to the field of touch technology, and in particular to a touch position determination method, device and storage medium. Background Art

[0002] In the related art, capacitive films are usually used on vehicles to sense the touch position. However, capacitive films are difficult to integrate with the surface materials of the vehicle, which makes the surface of the capacitive film easy to be scratched, and the sensing performance of the capacitive film is reduced after being scratched. In addition, since the use scenarios of vehicles include a large number of open-air scenes, if a capacitive film is installed on the vehicle to sense the touch position, when the capacitive film is exposed to the sun for a long time, it will cause the capacitive film to age and the sensing performance will be reduced. Furthermore, the problem in the related art is that the existing capacitive film on the vehicle will cause the accuracy of sensing the touch position to be reduced when facing the complex use scenarios of the vehicle. Summary of the invention

[0003] One purpose of the present application is to provide a method for determining a touch position, the advantage of which is that by receiving voltage signals collected by multiple piezoelectric vibrators respectively; determining the characteristic time point corresponding to each voltage signal based on at least one voltage point with similarity in the multiple voltage signals; the characteristic time point is determined based on at least one time point corresponding to the at least one voltage point; and determining the corresponding touch position information based on the multiple characteristic time points and the position information of the multiple piezoelectric vibrators. In this way, since the piezoelectric vibrator can be perfectly integrated with the surface material of the vehicle, and the piezoelectric vibrator has the characteristics of being resistant to exposure, and has stable sensing performance when facing complex vehicle usage scenarios, the touch position information can be accurately determined by using the piezoelectric vibrator to sense the touch energy to form the characteristic time point in the voltage signal.

[0004] Another object of the present application is to provide a touch position determination method, which has the advantage of determining at least one voltage point with similarity in each of the voltage signals based on the waveform similarity of the multiple voltage signals; and determining the characteristic time point corresponding to each of the voltage signals based on the time points respectively corresponding to the at least one voltage point with similarity in each of the voltage signals. In this way, since the waveforms of the voltage signals formed by each piezoelectric vibrator are similar, the similar voltage points in each voltage signal correspond to the same energy point in the touch elastic wave. The touch position information can be accurately determined by utilizing the time difference between the characteristic time points corresponding to the multiple voltage points, that is, utilizing the time difference when the same energy point in the elastic wave reaches each piezoelectric vibrator.

[0005] Another object of the present application is to provide a method for determining a touch position, the advantage of which is that the peak voltage point in each of the voltage signals is determined as a voltage point with similarity in each of the voltage signals; the peak voltage point is a voltage point with the largest voltage value in the voltage signal; the time point corresponding to the peak voltage point in each of the voltage signals is determined as the characteristic time point corresponding to each of the voltage signals. In this way, since the peak voltage point in each voltage signal corresponds to an energy point with the largest energy in the elastic wave, the touch position information can be accurately determined by utilizing the time difference between the characteristic time points corresponding to each peak voltage point, that is, utilizing the time difference between the maximum energy point in the elastic wave reaching each piezoelectric vibrator.

[0006] Another object of the present application is to provide a touch position determination method, which has the advantage of determining a window signal corresponding to each voltage signal based on the waveform similarity between each voltage signal; wherein the similarity between the window signals corresponding to each voltage signal satisfies a preset condition; the window signal includes multiple voltage points; based on the time period corresponding to the window signal corresponding to each voltage signal, the characteristic time point corresponding to each voltage signal is determined, so that since the waveform of the voltage signal formed by each piezoelectric vibrator is similar, each determined window signal corresponds to a waveform in the elastic wave, and the characteristic time point determined by the time period of the window signal can accurately reflect the time when the same energy point in a waveform of the elastic wave reaches each piezoelectric vibrator, and then the time difference when the same energy point in the waveform reaches each piezoelectric vibrator can be used to accurately determine the touch position information.

[0007] Another object of the present application is to provide a touch position determination method, which has the advantage of determining at least three characteristic time point pairs from a plurality of characteristic time points; based on the relative time differences corresponding to the at least three characteristic time point pairs, and the position information of a pair of piezoelectric vibrators corresponding to each relative time difference, the touch position information is determined. In this way, since each relative time difference reflects the time difference between a pair of piezoelectric vibrators receiving the same energy point in the elastic wave, the touch position information can be accurately determined by the Time Difference Of Arrival (TDOA) method using at least three relative time differences and the position information of a pair of piezoelectric vibrators corresponding to each relative time difference.

[0008] Another object of the present application is to provide a touch position determination method, which has the advantages that, among other piezoelectric vibrators, a target piezoelectric vibrator is determined based on the touch position information; the other piezoelectric vibrators do not belong to the multiple piezoelectric vibrators; the target piezoelectric vibrator is driven to perform feedback based on a feedback strategy; the feedback strategy is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals, so that the piezoelectric effect of the target piezoelectric vibrator can be utilized to give the panel material feedback capability, and because the feedback strategy is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals, the target piezoelectric vibrator can accurately reflect the relevant information of the touch when providing feedback using the driving strategy, thereby improving the user experience.

[0009] Another object of the present application is to provide a touch position determination method, which has the advantage of determining the distance information between each of the other piezoelectric vibrators and the position represented by the touch position information; determining the target piezoelectric vibrator based on the distance information corresponding to each of the other piezoelectric vibrators. In this way, the target piezoelectric vibrator can be determined based on the distance between the touch position and the other piezoelectric vibrators, that is, the target piezoelectric vibrator closest to the touch position can be selected for feedback, so that the user can clearly perceive the touch feedback.

[0010] Another object of the present application is to provide a method for determining a touch position, the advantage of which is that the target piezoelectric vibrator is driven to perform vibration feedback based on a first vibration parameter; the first vibration parameter is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals; the first vibration parameter includes at least one of the following: a first vibration type, a first vibration intensity and a first vibration frequency; when the target piezoelectric vibrator is a non-sound-generating vibration type piezoelectric vibrator, it is determined that the first vibration frequency does not fall within the sound wave frequency range; the first vibration type is determined based on the position represented by the touch position information, and the first vibration intensity is positively correlated with the voltage represented by each of the voltage signals; in this way, when a user touches, the non-sound-generating piezoelectric vibrator can be used to provide vibration feedback to the user, so that the user can clearly perceive the intensity of the touch.

[0011] Another object of the present application is to provide a method for determining a touch position, the advantage of which is that the target piezoelectric vibrator is driven to provide sound feedback based on a second vibration parameter; the second vibration parameter is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals; the second vibration parameter includes at least one of the following: a second vibration type, a second vibration intensity and a second vibration frequency; when the target piezoelectric vibrator is a sound-emitting vibration type piezoelectric vibrator, it is determined that the second vibration frequency belongs to the sound wave frequency range; the second vibration type is determined based on the position represented by the touch position information, and the second vibration intensity is positively correlated with the voltage represented by each of the voltage signals, so that when the user touches, the sound-emitting piezoelectric vibrator can be used to provide sound feedback to the user, so that the user can clearly perceive the intensity of the touch.

[0012] Another object of the present application is to provide a method for determining a touch position, the advantage of which is that the piezoelectric vibrator includes at least one of the following types: the piezoelectric vibrator arranged on the vehicle interior panel, the piezoelectric vibrator arranged on the vehicle window panel, the piezoelectric vibrator arranged on the vehicle exterior panel, and the piezoelectric vibrator arranged on the vehicle seat surface. In this way, since the piezoelectric vibrator can adapt to various complex usage scenarios of the vehicle, when a touch operation is performed on any one of the vehicle interior panel, the vehicle window panel, the vehicle exterior panel and the vehicle seat surface, the touch position information can be accurately determined based on the voltage signal of the piezoelectric vibrator.

[0013] One purpose of the present application is to provide a touch position determination device, the advantage of which is that the touch position determination device includes: a plurality of piezoelectric vibrators, a memory and a processor; the plurality of piezoelectric vibrators are communicatively connected to the processor; wherein the piezoelectric vibrators collect voltage signals; the memory stores a computer program that can be run on the processor; and the processor implements the steps in the above method when executing the computer program. In this way, since the piezoelectric vibrator can adapt to various complex usage scenarios of the vehicle, the above computer program can be executed by the processor to accurately determine the touch position information using the voltage signal of the piezoelectric vibrator.

[0014] Another object of the present application is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps in the above method when executed by a processor. In this way, since the piezoelectric vibrator can adapt to various complex usage scenarios of the vehicle, the touch position information can be accurately determined by using the voltage signal of the piezoelectric vibrator through the computer program in the computer-readable storage medium.

[0015] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0016] On the one hand, an embodiment of the present application provides a touch position determination method, including:

[0017] Receiving voltage signals respectively collected by a plurality of piezoelectric vibrators;

[0018] Based on at least one voltage point having similarity among the plurality of voltage signals, determining a characteristic time point corresponding to each of the voltage signals; the characteristic time point is determined based on at least one time point corresponding to the at least one voltage point;

[0019] Corresponding touch position information is determined based on the plurality of characteristic time points and the position information of the plurality of piezoelectric vibrators.

[0020] On the other hand, an embodiment of the present application provides a touch position determination device, comprising a plurality of piezoelectric vibrators, a memory, and a processor; the plurality of piezoelectric vibrators are communicatively connected to the processor; wherein,

[0021] The piezoelectric vibrator collects voltage signals;

[0022] The memory stores a computer program executable on the processor;

[0023] When the processor executes the computer program, the steps in the above method are implemented.

[0024] On the other hand, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps in the above method when executed by a processor.

[0025] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0027] Figure 1 A schematic diagram of an implementation flow of a touch position determination method provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of a touch panel structure provided in an embodiment of the present application Figure 1 ;

[0029] Figure 3 A schematic diagram of an implementation flow of a touch position determination method provided in an embodiment of the present application;

[0030] Figure 4A schematic diagram of an implementation flow of a touch position determination method provided in an embodiment of the present application;

[0031] Figure 5 A schematic diagram of a voltage signal provided in an embodiment of the present application Figure 1 ;

[0032] Figure 6 A schematic diagram of an implementation flow of a touch position determination method provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of a touch panel structure provided in an embodiment of the present application Figure 2 ;

[0034] Figure 8 A schematic diagram of an implementation flow of a touch position determination method provided in an embodiment of the present application;

[0035] Fig. 9 A schematic diagram of a voltage signal provided in an embodiment of the present application Figure 2 ;

[0036] Fig.10 A schematic diagram of an implementation flow of a touch position determination method provided in an embodiment of the present application;

[0037] Fig.11 A schematic diagram of an implementation flow of a touch position determination method provided in an embodiment of the present application;

[0038] Fig.12 A schematic diagram of an implementation flow of a touch position determination method provided in an embodiment of the present application;

[0039] Fig.13 A schematic diagram of the structure of a vehicle electronic unit provided in an embodiment of the present application;

[0040] Fig.14 A schematic diagram of the structure of a touch position determination device provided in an embodiment of the present application;

[0041] Fig.15 A hardware entity diagram of a touch position determination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0043] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific order for the objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing this application and are not intended to limit this application.

[0045] An embodiment of the present application provides a method for determining a touch position, which can be processed and executed by an on-board computer device, wherein the computer device may refer to a vehicle computer, a laptop computer, a tablet computer, a desktop computer, a mobile device (such as a mobile phone, a portable video player, a personal digital assistant, a dedicated messaging device, a portable gaming device), and other devices with data processing capabilities.

[0046] Figure 1 A schematic diagram of an implementation flow of a touch position determination method provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes the following steps S101 to S103:

[0047] Step S101: receiving voltage signals respectively collected by a plurality of piezoelectric vibrators.

[0048] In the embodiment of the present application, a plurality of piezoelectric vibrators are arranged on the touch panel. When the user taps the touch panel, voltage signals respectively collected by the plurality of piezoelectric vibrators under the action of the positive piezoelectric effect can be received.

[0049] Among them, when the piezoelectric vibrator is subjected to knocking pressure, the piezoelectric vibrator undergoes mechanical deformation, and a potential difference is generated. The positive or negative of the potential difference is related to the direction of the mechanical deformation, and the size of the potential difference is related to the size of the mechanical deformation. When the mechanical deformation is restored, the potential difference disappears. This phenomenon of converting mechanical energy into electrical energy is called the "positive piezoelectric effect." Piezoelectric vibrators have excellent sensing capabilities. The positive piezoelectric effect of piezoelectric vibrators can generate corresponding voltage changes in response to knocking pressure, and can sense the size of external pressure.

[0050] In other embodiments, each touch panel on the vehicle is provided with a plurality of piezoelectric vibrators. When a user touches any panel, a voltage signal collected by the plurality of piezoelectric vibrators of the touch panel under the action of the positive piezoelectric effect can be received.

[0051] In some embodiments, the piezoelectric vibrator includes at least one of the following types: a piezoelectric vibrator disposed on a vehicle interior panel, a piezoelectric vibrator disposed on a vehicle window panel, a piezoelectric vibrator disposed on a vehicle exterior panel, and a piezoelectric vibrator disposed on a vehicle seat surface.

[0052] Exemplary, combined Figure 2 In some embodiments, the touch panel of the vehicle is provided with piezoelectric vibrator 1, piezoelectric vibrator 2, piezoelectric vibrator 3 and piezoelectric vibrator 4. Among them, piezoelectric vibrator 1, piezoelectric vibrator 2, piezoelectric vibrator 3 and piezoelectric vibrator 4 can be arranged on the inner side of the touch panel. Figure 2 The piezoelectric vibrator in the figure is only for the convenience of demonstration. When the user taps the touch panel, the voltage signals collected by the piezoelectric vibrator 1, the piezoelectric vibrator 2, the piezoelectric vibrator 3 and the piezoelectric vibrator 4 can be received.

[0053] Step S102: determining a characteristic time point corresponding to each of the voltage signals based on at least one voltage point having similarity among the plurality of voltage signals; the characteristic time point is determined based on at least one time point corresponding to the at least one voltage point.

[0054] In the embodiment of the present application, when the energy of the touch tap is transmitted to each piezoelectric vibrator, the energy wave received by each piezoelectric vibrator is similar, so the voltage signals collected by the multiple piezoelectric vibrators are also similar. Based on the similar features between the multiple voltage signals, at least one voltage point with similarity can be determined in each voltage signal. The time point corresponding to the at least one characteristic voltage point is determined to be the characteristic time point of the corresponding piezoelectric vibrator.

[0055] In the embodiment of the present application, the number of at least one voltage point may be one or more. When a voltage point is determined in each voltage signal, the time point corresponding to the voltage point is determined as a characteristic time point. When multiple voltage points with similarity are determined in each voltage signal, the time point corresponding to the Nth voltage point among the multiple voltage points is determined as a characteristic time point. N is an integer.

[0056] In some embodiments, the time point of the voltage point corresponding to the maximum voltage value in each voltage signal may be determined as the characteristic time point.

[0057] Step S103 : determining corresponding touch position information based on the plurality of characteristic time points and the position information of the plurality of piezoelectric vibrators.

[0058] In the embodiment of the present application, the time difference when at least three pairs of piezoelectric vibrators receive the same touch energy point can be determined based on multiple characteristic time points. Based on the time difference when each pair of piezoelectric vibrators receives the same touch energy point, the touch position information is determined using the position information corresponding to the multiple piezoelectric vibrators.

[0059] In the embodiment of the present application, the energy of the touch tapping is transmitted on the touch panel in the form of a transverse wave, and the duration of an energy point in the transverse wave being transmitted to each piezoelectric vibrator may be different. The time point at which each piezoelectric vibrator receives the voltage point formed by the energy point is a characteristic time point, and the characteristic time point of each pair of piezoelectric vibrators can be used to determine the time difference when each pair of piezoelectric vibrators receives the same touch energy point. Based on the time difference corresponding to each pair of piezoelectric vibrators and the position information of multiple piezoelectric vibrators, a positioning algorithm can be used to determine the touch position information. Among them, the positioning algorithm may include: TDOA algorithm.

[0060] Among them, after the touch panel is struck, elastic waves will be generated on the material, and this wave is a transverse wave. The characteristic of a transverse wave is that the vibration direction of the particle is perpendicular to the propagation direction of the wave. In a transverse wave, the wavelength usually refers to the distance between two adjacent wave crests or troughs. During the propagation of the transverse wave, wherever the wave is transmitted, each particle vibrates near its own equilibrium position. As the energy point continues to move outward, the equilibrium vibration amplitude of each particle becomes smaller and smaller until the energy of the strike is completely absorbed by the mechanical energy. Therefore, after the touch panel is struck, the energy point of the transverse wave is transmitted to the external particle in the form of a transverse wave. The farther the particle is, the longer it takes to receive the energy point transmitted by the touch point, until the farthest particle can no longer receive the transverse wave energy. Therefore, the farther the piezoelectric vibrator is from the touch point, the weaker the energy received by the transverse wave, and therefore the smaller the vibration amplitude of the piezoelectric vibrator. The voltage signal collected by the piezoelectric vibrator is also weaker.

[0061] In the embodiment of the present application, voltage signals collected by multiple piezoelectric vibrators are received; based on at least one voltage point with similarity in the multiple voltage signals, the characteristic time point corresponding to each voltage signal is determined; the characteristic time point is determined based on at least one time point corresponding to at least one voltage point; based on multiple characteristic time points and the position information of multiple piezoelectric vibrators, the corresponding touch position information is determined. In this way, since the piezoelectric vibrator can be perfectly integrated with the surface material of the vehicle, and the piezoelectric vibrator has the characteristics of being resistant to exposure and has stable performance in the face of complex vehicle usage scenarios, the piezoelectric vibrator is used to sense the touch energy to form a characteristic time point in the voltage signal, so the touch position information can be accurately determined.

[0062] Figure 3 FIG. 1 is an optional flow chart of a touch position determination method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S102 in can be updated to steps S201 to S202, combining Figure 3 The steps shown are explained.

[0063] Step S201 : based on the waveform similarities of the plurality of voltage signals, determining the at least one voltage point having similarity in each of the voltage signals.

[0064] In the embodiment of the present application, since the voltage waveforms of the multiple voltage signals are similar, at least one voltage point corresponding to a similar waveform can be determined in each voltage signal based on the similarity of the multiple voltage waveforms.

[0065] In an embodiment of the present application, the voltage waveforms of multiple voltage signals can be compared, a similar waveform segment can be determined in the voltage waveform of each voltage signal, and the voltage point corresponding to the waveform segment can be determined to be at least one voltage point with similarity in each voltage signal.

[0066] In some embodiments, based on the similarity between the multiple voltage waveforms, a voltage point of a voltage waveform peak point can be determined in each voltage signal, which is at least one voltage point corresponding to each voltage signal.

[0067] Step S202: Determine the characteristic time point corresponding to each of the voltage signals based on the time points respectively corresponding to the at least one voltage point having similarity in each of the voltage signals.

[0068] In an embodiment of the present application, the voltage points in each voltage signal correspond one-to-one to the time points. After determining at least one voltage point with similarity in each voltage signal, the time point of at least one voltage point with similarity in each voltage signal can be determined as a characteristic time point.

[0069] In some embodiments, the time point corresponding to the voltage point of the voltage waveform peak point of each voltage signal may be determined as the characteristic time point.

[0070] In the embodiment of the present application, based on the waveform similarity of the plurality of voltage signals, the at least one voltage point with similarity in each of the voltage signals is determined, and based on the time points corresponding to the at least one voltage point with similarity in each of the voltage signals, the characteristic time point corresponding to each of the voltage signals is determined. In this way, since the waveform of the voltage signal formed by each piezoelectric vibrator is similar, the at least one voltage point with similarity in each voltage signal corresponds to the same energy point in the touch elastic wave, and the touch position information can be accurately determined by using the time difference between the characteristic time points corresponding to the plurality of voltage points, that is, by using the time difference when the same energy point in the elastic wave reaches each piezoelectric vibrator.

[0071] Figure 4 FIG. 1 is an optional flow chart of a touch position determination method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 3 , Figure 3 Steps S201 to S202 in the above example can be updated to steps S301 to S302, which will be combined with Figure 4 The steps shown are explained.

[0072] S301 : Determine a peak voltage point in each of the voltage signals as a voltage point with similarity in each of the voltage signals.

[0073] In the embodiment of the present application, since the voltage waveforms of each voltage signal are similar, the peak voltage point in the voltage waveform of each voltage signal can be determined as the voltage point with which each voltage signal is similar.

[0074] The peak voltage point is the voltage point with the largest voltage value in the voltage signal, that is, the voltage point corresponding to the highest peak of the voltage waveform of the voltage signal.

[0075] S302: Determine a time point corresponding to the peak voltage point in each of the voltage signals as the characteristic time point corresponding to each of the voltage signals.

[0076] In the embodiment of the present application, each voltage point in each voltage signal corresponds to a time point one by one, and the time point of the voltage point corresponding to the highest peak of the voltage waveform of each voltage signal can be determined as the characteristic time point.

[0077] Exemplary, combined Figure 5 , which are schematic diagrams of voltage waveforms corresponding to piezoelectric vibrator 1, piezoelectric vibrator 2, piezoelectric vibrator 3 and piezoelectric vibrator 4, respectively. The peak voltage point 1 of the highest peak can be determined in the voltage waveform of piezoelectric vibrator 1 as at least one voltage point corresponding to voltage vibrator 1. The time point t1 corresponding to the peak voltage point 1 of piezoelectric vibrator 1 can be determined as a characteristic time point of piezoelectric vibrator 1. The peak voltage point 2 of the highest peak can be determined in the voltage waveform of piezoelectric vibrator 2 as at least one voltage point corresponding to voltage vibrator 2. The time point t2 corresponding to the peak voltage point 2 of piezoelectric vibrator 2 can be determined as a characteristic time point of piezoelectric vibrator 2. The peak voltage point 3 of the highest peak can be determined in the voltage waveform of piezoelectric vibrator 3 as at least one voltage point corresponding to voltage vibrator 3. The time point t3 corresponding to the peak voltage point 3 of piezoelectric vibrator 3 can be determined as a characteristic time point of piezoelectric vibrator 3. The peak voltage point 4 of the highest peak can be determined in the voltage waveform of piezoelectric vibrator 4 as at least one voltage point corresponding to voltage vibrator 4. The time point t4 corresponding to the peak voltage point 4 of the voltage waveform of the piezoelectric vibrator 4 can be determined as the characteristic time point of the piezoelectric vibrator 4 .

[0078] In the embodiment of the present application, the peak voltage point in each of the voltage signals is determined as a voltage point with similarity in each of the voltage signals; the peak voltage point is the voltage point with the largest voltage value in the voltage signal; the time point corresponding to the peak voltage point in each of the voltage signals is determined as the characteristic time point corresponding to each of the voltage signals. In this way, since the peak voltage point in each voltage signal corresponds to an energy point with the largest energy in the elastic wave, the touch position information can be accurately determined by utilizing the time difference between the characteristic time points corresponding to each peak voltage point, that is, utilizing the time difference between the maximum energy point in the elastic wave reaching each piezoelectric vibrator.

[0079] Figure 6 FIG. 1 is an optional flow chart of a touch position determination method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S103 in can be updated to steps S303 to S304, combining Figure 6 The steps shown are explained.

[0080] S303: Determine at least three characteristic time point pairs from the multiple characteristic time points.

[0081] In the embodiment of the present application, since each characteristic time point is the time when a touch energy point is transmitted to the corresponding piezoelectric vibrator, the touch position information can be determined by using a positioning algorithm based on the time difference of the touch energy point reaching the piezoelectric vibrator. In the process of using the positioning algorithm based on the arrival time difference to determine the touch position information, it is necessary to determine at least three characteristic time point pairs based on the characteristic time point of each piezoelectric vibrator. Based on each characteristic time point pair, the time difference when a corresponding pair of piezoelectric vibrators receives a touch energy point can be determined.

[0082] In the embodiment of the present application, the reason why at least three characteristic time point pairs need to be determined is that: if two characteristic time point pairs are determined from the plurality of characteristic time points, two touch positions can be determined based on the two characteristic time point pairs and the position information of the plurality of piezoelectric vibrators, but it is impossible to determine which of the two touch positions is the touch position corresponding to the current touch. When the number of characteristic time point pairs is three or more, one touch position can be determined, so the touch position information can be determined based on at least three characteristic time point pairs.

[0083] S304: Determine the touch position information based on the relative time differences corresponding to at least three pairs of characteristic time points, and the position information of a pair of piezoelectric vibrators corresponding to each relative time difference.

[0084] In the embodiment of the present application, the distance difference between each pair of piezoelectric vibrators and the touch position can be determined based on each relative time difference and the position information of a pair of piezoelectric vibrators corresponding to each relative time difference. Then, the touch position information is determined based on the distance difference corresponding to each pair of piezoelectric vibrators and the position information corresponding to each pair of piezoelectric vibrators.

[0085] In the embodiment of the present application, the curve corresponding to each pair of piezoelectric vibrators can be determined based on the distance difference corresponding to each pair of piezoelectric vibrators and the position information corresponding to each pair of piezoelectric vibrators; the position information of the intersection of the curves corresponding to at least three pairs of piezoelectric vibrators is determined as the touch position information.

[0086] Exemplary, combined Figure 7 , the touch panel includes piezoelectric vibrator 1, piezoelectric vibrator 2, piezoelectric vibrator 3 and piezoelectric vibrator 4. Based on the characteristic time points corresponding to piezoelectric vibrator 1 and piezoelectric vibrator 2, the relative time difference between piezoelectric vibrator 1 and piezoelectric vibrator 2 can be determined, based on the relative time difference between piezoelectric vibrator 1 and piezoelectric vibrator 2, the distance difference between piezoelectric vibrator 1 and piezoelectric vibrator 2 and the touch position can be determined, and curve 1 can be determined based on the distance difference and the position information of piezoelectric vibrator 1 and piezoelectric vibrator 2. Based on the characteristic time points corresponding to piezoelectric vibrator 3 and piezoelectric vibrator 2, the relative time difference between piezoelectric vibrator 3 and piezoelectric vibrator 2 can be determined, based on the relative time difference between piezoelectric vibrator 3 and piezoelectric vibrator 2, the distance difference between piezoelectric vibrator 3 and piezoelectric vibrator 2 and the touch position can be determined, and curve 2 can be determined based on the distance difference and the position information of piezoelectric vibrator 3 and piezoelectric vibrator 2. The relative time difference between piezoelectric vibrator 1 and piezoelectric vibrator 4 can be determined based on the characteristic time points respectively corresponding to piezoelectric vibrator 1 and piezoelectric vibrator 4, the distance difference between piezoelectric vibrator 1 and piezoelectric vibrator 4 and the touch position can be determined based on the relative time difference between piezoelectric vibrator 1 and piezoelectric vibrator 4, and curve 3 can be determined based on the distance difference and the position information of piezoelectric vibrator 1 and piezoelectric vibrator 4. The intersection position information of curve 1, curve 2 and curve 3 is determined as the touch position information.

[0087] In an embodiment of the present application, at least three characteristic time point pairs are determined from the multiple characteristic time points; based on the relative time differences corresponding to the at least three characteristic time point pairs, and the position information of a pair of piezoelectric vibrators corresponding to each relative time difference, the touch position information is determined. In this way, since each relative time difference reflects the time difference between a pair of piezoelectric vibrators receiving the same energy point in the elastic wave, the touch position information can be accurately determined through the TDOA method by utilizing at least three relative time differences and the position information of a pair of piezoelectric vibrators corresponding to each relative time difference.

[0088] Figure 8 FIG. 1 is an optional flow chart of a touch position determination method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S102 in can be updated to steps S401 to S402, combining Figure 8 The steps shown are explained.

[0089] Step S401: Determine a window signal corresponding to each of the voltage signals based on waveform similarities between the voltage signals.

[0090] In the embodiment of the present application, the voltage waveform corresponding to each voltage signal can be matched, and a similar waveform segment can be determined in the voltage waveform corresponding to each voltage signal, and the signal corresponding to the similar waveform segment can be determined as the window signal of each voltage signal. The similarity between the window signals corresponding to each voltage signal meets the preset condition; the window signal includes multiple voltage points. The preset condition can be that the correlation between the window signals of each voltage signal is the maximum.

[0091] In some embodiments, any one reference voltage signal can be determined from a plurality of voltage signals, and a target window waveform of a predetermined time period length can be intercepted from the voltage waveform of the reference voltage signal. The target window waveform is a waveform of a reference voltage signal with a certain voltage amplitude change. The voltage signal corresponding to the target window waveform is determined to be the window signal of the reference voltage signal. The target window waveform of the reference voltage signal is used to perform correlation analysis with the window voltage waveforms of each predetermined time period length in the voltage waveform of each other voltage signal, and the window waveform with the greatest correlation with the target window waveform of the reference voltage signal is determined from each window voltage waveform of each other voltage signal, and the voltage signal corresponding to the window waveform of each other voltage signal is determined to be the window signal of each other voltage signal. Among them, the correlation between the target window waveform and the voltage waveform of each other voltage signal can be determined by a normalized cross-correlation (NCC) algorithm.

[0092] Step S402: Determine the characteristic time point corresponding to each of the voltage signals based on the time period corresponding to the window signal corresponding to each of the voltage signals.

[0093] In the embodiment of the present application, the midpoint time point of the time period corresponding to the window signal can be determined as the characteristic time point corresponding to each voltage signal.

[0094] In some other embodiments, a time point at a fixed proportion in the time period corresponding to the window signal may be determined as a characteristic time point. For example, a time point at one third of the time period may be determined as a characteristic time point. A time point corresponding to the maximum voltage point in the window signal in the time period may also be determined as a characteristic time point.

[0095] Exemplary, combined Fig. 9 , which is a schematic diagram of voltage waveforms of voltage signals corresponding to piezoelectric vibrator 1, piezoelectric vibrator 2, piezoelectric vibrator 3 and piezoelectric vibrator 4, respectively. Window signal 1 corresponding to piezoelectric vibrator 1, window signal 2 corresponding to piezoelectric vibrator 2, window signal 3 corresponding to piezoelectric vibrator 3 and window signal 4 corresponding to piezoelectric vibrator 4 can be determined according to the voltage signals corresponding to piezoelectric vibrator 1, piezoelectric vibrator 2, piezoelectric vibrator 3 and piezoelectric vibrator 4, respectively. In window signal 1, a time point t1 at a fixed ratio in the corresponding time period can be determined as a characteristic time point corresponding to piezoelectric vibrator 1, in window signal 2, a time point t2 at a fixed ratio in the corresponding time period can be determined as a characteristic time point corresponding to piezoelectric vibrator 2, in window signal 3, a time point t3 at a fixed ratio in the corresponding time period can be determined as a characteristic time point corresponding to piezoelectric vibrator 3, and in window signal 4, a time point t4 at a fixed ratio in the corresponding time period can be determined as a characteristic time point corresponding to piezoelectric vibrator 4.

[0096] In an embodiment of the present application, a window signal corresponding to each of the voltage signals is determined based on the waveform similarity between each of the voltage signals; wherein the similarity between the window signals corresponding to each of the voltage signals satisfies a preset condition; the window signal includes a plurality of voltage points; and the characteristic time point corresponding to each of the voltage signals is determined based on the time period corresponding to the window signal corresponding to each of the voltage signals. Thus, since the waveform of the voltage signal formed by each piezoelectric vibrator is similar, each determined window signal corresponds to a waveform segment in the elastic wave. The characteristic time point determined by the time period of the window signal can accurately reflect the time when the same energy point in a waveform segment of the elastic wave reaches each piezoelectric vibrator, and then the time difference when the same energy point in the waveform segment reaches each piezoelectric vibrator can be used to accurately determine the touch position information.

[0097] Fig.10 FIG. 1 is an optional flow chart of a touch position determination method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Fig.10 The steps shown are explained.

[0098] Step S501 : determining a target piezoelectric vibrator among other piezoelectric vibrators based on the touch position information.

[0099] In the embodiment of the present application, the touch panel may be provided with other piezoelectric vibrators, which do not belong to the plurality of piezoelectric vibrators, and the plurality of piezoelectric vibrators are used to determine the touch position information. The other piezoelectric vibrators are used for touch feedback. The target piezoelectric vibrator may be determined based on the position information of the other piezoelectric vibrators and the touch position information. Among them, the target piezoelectric vibrator belongs to the other piezoelectric vibrators.

[0100] Step S502 : driving the target piezoelectric vibrator to perform feedback based on a feedback strategy; the feedback strategy is determined based on the touch position information, the target piezoelectric vibrator, and each of the voltage signals.

[0101] In the embodiment of the present application, a feedback strategy can be determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals. The target piezoelectric vibrator is driven to perform vibration feedback or sound feedback based on the feedback strategy. The driving of the target piezoelectric vibrator to perform vibration feedback or sound feedback utilizes the inverse piezoelectric effect of the piezoelectric vibrator.

[0102] When an electric field is applied to the piezoelectric vibrator, the piezoelectric vibrator undergoes mechanical deformation. When the direction of the external electric field is the same as the polarization direction of the piezoelectric vibrator, the polarization intensity increases, causing the piezoelectric vibrator to stretch along the polarization direction; when the direction of the external electric field is opposite to the polarization direction of the piezoelectric vibrator, the piezoelectric vibrator shortens along the polarization direction. This phenomenon of converting electrical energy into mechanical energy is called the "inverse piezoelectric effect."

[0103] In an embodiment of the present application, a target piezoelectric vibrator is determined among other piezoelectric vibrators based on the touch position information; the other piezoelectric vibrator does not belong to the multiple piezoelectric vibrators; the target piezoelectric vibrator is driven to perform feedback based on a feedback strategy; the feedback strategy is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals. In this way, the piezoelectric effect of the target piezoelectric vibrator can be utilized to enable the panel material to have feedback capability. Since the feedback strategy is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals, the target piezoelectric vibrator can accurately reflect the relevant information of the touch when performing feedback using the driving strategy, thereby improving the user experience.

[0104] Fig.11 FIG. 1 is an optional flow chart of a touch position determination method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Fig.10 , Fig.10 Step S501 in can be updated to steps S601 to S602, combining Fig.11 The steps shown are explained.

[0105] Step S601: Determine the distance information between each of the other piezoelectric vibrators and the position represented by the touch position information.

[0106] In the embodiment of the present application, the distance information between each other piezoelectric vibrator and the position represented by the touch position information can be determined based on the position information of each other voltage vibrator and the touch position information.

[0107] Step S602: Determine the target piezoelectric vibrator based on the distance information corresponding to each of the other piezoelectric vibrators.

[0108] In the embodiment of the present application, the piezoelectric vibrator corresponding to the maximum distance information may be determined as the target piezoelectric vibrator among other piezoelectric vibrators, or the piezoelectric vibrator corresponding to the minimum distance information may be determined as the target piezoelectric vibrator among other piezoelectric vibrators.

[0109] In the embodiment of the present application, by determining the distance information between each of the other piezoelectric vibrators and the position represented by the touch position information; based on the distance information corresponding to each of the other piezoelectric vibrators, the target piezoelectric vibrator is determined. In this way, the target piezoelectric vibrator can be determined based on the distance between the touch position and the other piezoelectric vibrators. In other words, the target piezoelectric vibrator closest to the touch position can be selected for feedback, so that the user can clearly perceive the touch feedback.

[0110] Fig.12 FIG. 1 is an optional flow chart of a touch position determination method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Fig.10 , Fig.10 Step S502 in the above example can be updated to step S603 or step S604. Fig.12 The steps shown are explained.

[0111] Step S603: driving the target piezoelectric vibrator to perform vibration feedback based on the first vibration parameter.

[0112] In the embodiment of the present application, the target piezoelectric vibrator can be driven to perform vibration feedback under the action of the inverse piezoelectric effect based on the first vibration parameter.

[0113] Wherein. The first vibration parameter is determined based on the touch position information, the target piezoelectric vibrator and each voltage signal. The first vibration parameter includes at least one of the following: a first vibration type, a first vibration intensity and a first vibration frequency; when the target piezoelectric vibrator is a non-sound-generating piezoelectric vibrator, it is determined that the first vibration frequency does not fall within the sound wave frequency range; the first vibration type is determined based on the position represented by the touch position information, and the first vibration intensity is positively correlated with the voltage represented by each voltage signal.

[0114] In the embodiment of the present application, when the target piezoelectric vibrator is a non-sound-generating vibration type piezoelectric vibrator, the first vibration frequency is less than 20 Hz.

[0115] In the embodiment of the present application, the target piezoelectric vibrator is driven to perform vibration feedback based on the first vibration parameter; thus, when the user touches, the non-sound-generating piezoelectric vibrator can be used to provide vibration feedback to the user, so that the user can clearly perceive the intensity of the touch.

[0116] Step S604: driving the target piezoelectric vibrator to perform sound feedback based on the second vibration parameter.

[0117] In the embodiment of the present application, the target piezoelectric vibrator can be driven based on the second vibration parameter to perform sound feedback under the action of the inverse piezoelectric effect.

[0118] Among them, the second vibration parameter is determined based on the touch position information, the target piezoelectric vibrator and each voltage signal; the second vibration parameter includes at least one of the following: a second vibration type, a second vibration intensity and a second vibration frequency; when the target piezoelectric vibrator is a sound-emitting vibration type piezoelectric vibrator, it is determined that the second vibration frequency belongs to the sound wave frequency range; the second vibration type is determined based on the position represented by the touch position information, and the second vibration intensity is positively correlated with the voltage represented by each voltage signal.

[0119] In the embodiment of the present application, when the target piezoelectric vibrator is a sound-generating vibration type piezoelectric vibrator, the second vibration frequency is from 20 Hz to 20000 Hz. For example, the second vibration frequency may be 1000 Hz.

[0120] In the embodiment of the present application, sound feedback is performed by driving the target piezoelectric vibrator based on the second vibration parameter; thus, when the user touches, the sound-generating piezoelectric vibrator can be used to provide sound feedback to the user, so that the user can clearly perceive the intensity of the touch.

[0121] In some implementation scenarios, based on the touch position determination method provided in the above embodiments, the embodiments of the present application can also identify stroking actions on the touch panel, and the corresponding identification method includes: using the above touch position determination method to locate the position of the initial point of the stroking action; according to preset time intervals, locating the trajectory points of the stroking action based on the above touch position determination method; fitting the initial point and the trajectory points to obtain the trajectory of the stroking action.

[0122] In an embodiment of the present application, the user can trigger the stroking action recognition process by tapping or touching, and then locate the initial point of the stroking action by the above-mentioned touch position determination method. In response to the stroking action recognition process being triggered, in each subsequent preset time interval, the trajectory point corresponding to the stroking action in each preset time interval is located based on the above-mentioned touch position determination method until the stroking action ends. Wherein, in a preset time interval, when the touch position information cannot be located based on the voltage signals collected by multiple piezoelectric vibrators respectively, it indicates that the stroking action ends.

[0123] In an embodiment of the present application, when the user initially touches the surface of the touch panel, the tapping positioning algorithm is used to locate the position of the initial point of the stroking action, and then the stroking trajectory is discretely positioned to identify the entire stroking trajectory. After the initial point position is determined, the subsequent stroking action trajectory can be discretized. For example, after determining the initial point position, the discrete positioning position is identified every 0.01 seconds. Since the hand slides on the surface of the touch panel at a certain speed and direction, it is necessary to consider the impact of the movement of the hand on the touch panel on the delay or early arrival of the touch energy transmitted to the corresponding vibrator. In some embodiments, the algorithm can be synchronized to ensure that the voltages received by these piezoelectric vibrators at a certain point in time are all actions that reflect the vibration intensity of the tapping or touch at the same tapping or touch point position. In the process of the user stroking the touch panel, the voltage of the discrete point will be transmitted to the piezoelectric vibrators at different distances in a short time, and the algorithm synchronization is used to ensure that these vibrators receive the energy of the tapping or touch action at the same tapping or vibration point position at a certain moment.

[0124] In the current embodiment, since the hand slides on the surface of the object at a certain speed and direction, it is necessary to consider the effect of such movement on the delay or early arrival of the corresponding vibrator; that is, it is necessary to achieve the synchronization of the voltage signals of the subsequent discrete point voltages reaching each vibrator, ensuring that the vibration voltage transmitted at a certain moment at the vibration point position reflects the vibration voltage received by all vibrators at the current time point. For example, at the touch position of 0.05 seconds, the voltage at this time will be transmitted to each piezoelectric vibrator, and the voltage transmitted by the touch position at 0.05 seconds received by these vibrators is received synchronously. When the hand is stroking the surface of the object, its movement speed is usually less than 1 meter per second. Compared with the transmission speed of the mechanical longitudinal wave (1000 to 5000 meters per second), such a hand movement speed is less than one thousandth, that is, the signal synchronization deviation caused by the hand movement can be ignored, that is, the mechanical wave sent by the vibration source can be transmitted to the piezoelectric vibrator in time, and the influence of the hand movement will not affect the time delay of the vibrator reception. Therefore, the influence of the trajectory points at each preset time interval determined in the above method on the movement of the touch point in the stroking action can be ignored.

[0125] Among them, when the user taps or touches the surface of the touch panel, the vibration elastic wave, as a form of mechanical wave, will diffuse inside the touch panel, transfer energy, and will be detected on the surface in the form of elastic waves. Sound waves are a kind of mechanical longitudinal waves, which are in the form of compression waves. Take sound waves as an example: the propagation speed of sound waves in the medium is 340 meters per second in the air, 1500 meters per second in water, and more than 5000 meters per second in steel. It can be understood that the propagation of sound waves is achieved by the compression or stretching deformation of tiny units in the medium, and the longitudinal elastic force that restores the tiny units to their original state. Therefore, the important factors affecting the speed of sound are the incompressibility and density of the medium. The incompressibility refers to the distance that the tiny units (usually molecules, atoms, ions and other particles) in the medium need to move (the greater the incompressibility, the smaller the distance required, and the greater the speed of sound), and the density refers to the number of tiny units involved in the transmission per unit distance (the greater the density, the more tiny units there are, and the smaller the speed of sound). Converted into a formula: Among them, V is the speed of sound, B is the incompressibility, and ρ is the density. Although the density of water is 1000 times that of air, the incompressibility is 10,000 times that of air, so the speed of sound in air is much lower than the speed of sound in water. Similarly, the speed of sound in water is usually lower than the speed of sound in solids. Sound waves are a form of mechanical longitudinal waves, and it can be seen that the propagation speed of mechanical longitudinal waves in solids is the fastest. When the user taps or touches the surface of the touch panel, the vibration source will transfer energy to the surface of the touch panel in the form of mechanical longitudinal waves and continue to attenuate. The touch panel is a solid, and the transmission speed of mechanical longitudinal waves on the touch panel is 1000 to 5000 meters per second. The speed of hand movement on the surface of the touch panel is usually less than 1 meter per second, which is less than one thousandth of the transmission speed of mechanical longitudinal waves on the touch panel, so the signal synchronization deviation caused by hand movement can be ignored.

[0126] In some embodiments, the method of fitting the initial points and the trajectory points may adopt a multi-point fitting algorithm in the related art, which is not limited in this application.

[0127] In an embodiment of the present application, the method for fitting the initial point and the trajectory point may include: determining the coordinate data on the touch panel represented by the position information of the initial point and the trajectory point. The coordinate data of the initial point and the trajectory point are fitted by a multi-point fitting algorithm to obtain a fitting result, and the trajectory of the stroking action is determined according to the fitting result. Among them, the multi-point fitting algorithm may include: a polynomial fitting algorithm, a spline difference fitting algorithm and a Bezier curve fitting algorithm. Exemplarily, determining the trajectory of the stroking action by the polynomial fitting algorithm includes: fitting a polynomial equation to the coordinate data of the initial point and the trajectory point by the least squares method. The coordinates of each sample point on the stroking trajectory are calculated according to the polynomial equation, and the stroking trajectory is determined by the coordinates of each sample point. In an embodiment of the present application, the trajectory of the stroking action may also be subjected to necessary post-processing, such as smoothing, noise reduction, etc., to improve the quality and continuity of the trajectory.

[0128] Based on the above embodiments, the application scenarios of the touch position determination method are enriched. The trajectory of the stroking action can be detected based on the touch position proposed in the present application, and different interaction events can be triggered based on different trajectories.

[0129] The touch position determination method of the present application will be described below using a specific implementation scenario.

[0130] In the related art, vehicles face the following problems:

[0131] With the development of automobile technology, automobile intelligence is the current theme. Concepts such as intelligent surfaces of automobile interiors, plastic-electric integration, and the integration of electronic devices and interiors are popular topics now. These concepts are all based on touch panels. Touch panels can also be integrated on automobile panels or interior panels through inlay injection molding and lamination processes. The touch panel uses sensing technology based on capacitive film. The circuit under the capacitive sensing button can generate a uniformly distributed electrostatic field. When the user's finger moves above the button, the capacitance on the surface of the button changes. The relevant circuit inside the button makes a judgment based on this change in capacitance to achieve the predetermined function. However, it is difficult for the capacitive film to integrate with the surface material of the vehicle, resulting in easy scratches on the surface of the capacitive film, and the perception performance of the capacitive film after scratching is reduced. In addition, since the use scenarios of vehicles include a large number of open-air scenes, if a capacitive film is installed on the vehicle to sense the touch position, when the capacitive film is exposed to the sun for a long time, it will cause the capacitive film to age and the perception performance will be reduced. Therefore, when the capacitive film is applied to the vehicle, it is easy to cause the accuracy of sensing the touch position to be low in the face of the complex use scenarios of the vehicle.

[0132] In view of the above technical problem, a piezoelectric vibrator can be used to replace the capacitive film to solve the technical problem of low accuracy in sensing the touch position in the related art.

[0133] Piezoelectric vibrators have excellent sensing capabilities. By using their positive piezoelectric effect, piezoelectric vibrators produce corresponding voltage changes to the external pressure, and can sense the size of the external pressure. By using its reverse piezoelectric effect, voltage can be applied to its positive and negative electrodes, which can generate vibrations or drive the panel to vibrate or make sounds within the sound frequency range. Piezoelectric vibrators can be mounted inside the touch panel to enable the touch panel to sense and feedback. Many functions can be achieved. For example, on the surface of a car, a touch panel powered by a piezoelectric vibrator can be used to replace traditional physical buttons or capacitive sensing panels. While making the vehicle surface more tidy and beautiful, it can also ensure stable touch sensing performance. The touch panel powered by a piezoelectric vibrator can be set on any curved surface on the surface of the car, which can sense the user's tapping and stroking, so that when the touch panel is tapped, the vehicle will respond. Ask the user for instructions. For example, the user can say: "Connect the rear screen to the surface of the car." In this way, the user can control the vehicle using the touch panel.

[0134] The above applications can be used not only on automotive touch panels, but also in other fields, such as touch panels for smart homes. In order to realize an integrated solution of touch perception + touch feedback on panel materials, multiple piezoelectric vibrators can be mounted on the back of a touch panel made of flat material or curved thin material. The smaller the contact area between the piezoelectric vibrator and the touch panel, the better. In this way, the pressure on the surface of the touch panel can be more concentratedly sensed by the piezoelectric vibrator, and this sensing point is the center position of the piezoelectric vibrator. Therefore, the smaller the area of ​​the piezoelectric vibrator, the higher the accuracy of the touch position perception.

[0135] Multiple piezoelectric vibrators can be mounted on the back of the touch panel. When the surface of the touch panel receives pressure, elastic waves will be generated on the surface of the touch panel. At this time, the elastic waves will be transmitted to different piezoelectric vibrators, and corresponding elastic waveforms will be picked up on different piezoelectric vibrators. The elastic wave shapes of these elastic waveforms are basically the same, except that they arrive at different time points and have different waveform amplitudes. In order to determine the touch position information on the touch panel, the present application provides a TDOA algorithm based on waveform feature time points.

[0136] In an embodiment of the present application, the touch position information can be determined based on the time difference between the elastic wave of the touch operation reaching different piezoelectric vibrators. The principle is that the touch panel can collect the voltage signal of each piezoelectric vibrator after being tapped. The waveforms of each voltage signal are similar. When the time point of the starting voltage point of the voltage signal is used as the starting time point of receiving the elastic wave, the piezoelectric vibrator far away from the touch position may not receive the small amplitude starting amplitude waveform. Therefore, using the time point of the starting voltage point as the starting time point of receiving the elastic wave is prone to cause judgment errors. Therefore, the characteristic time point of each voltage signal can be determined, and the time difference of different vibrators receiving a touch energy point can be measured based on the characteristic time point of each voltage signal. Then, based on the TDOA positioning method, the tapping position can be accurately located.

[0137] This application provides two methods to determine the characteristic time point of the voltage signal:

[0138] 1. Determine the time point of the peak voltage point in the voltage waveform of the voltage signal as the characteristic time point. Based on the characteristic time point, the time difference of a touch energy point reaching different vibrators can be measured. The peak voltage point can be the voltage point of the highest peak in the first falling edge of the voltage waveform. The time point corresponding to the voltage point of the highest peak can be defined as the characteristic time point when each piezoelectric vibrator receives the touch energy point. Therefore, the relative time difference method, that is, the TDOA method, can be used to determine the touch position information.

[0139] 2. It is also possible to determine the time point at a fixed proportion of the time period corresponding to the matching waveform segment of each voltage signal as a characteristic time point. Due to a tapping action, the voltage waveform shape of the voltage signal sensed by any piezoelectric vibrator is consistent, but the amplitude performance is different. Therefore, the voltage waveform correlation matching method is used to find the best matching window signal in each voltage signal, and the midpoint time point in the time period of the window signal is determined as the characteristic time point. Therefore, the TDOA algorithm can continue to be used to determine the touch position information. Since the voltage waveforms of the voltage signals received by different piezoelectric vibrators are the same, the waveform matching cross-correlation algorithm can be used to use a sliding window (the time window can be selected, such as 100ms) to find the best matching window signal, and calculate the cross-correlation through fast Fourier transformation. Currently, commonly used correlation algorithms include standard cross-correlation (CC), normalized cross-correlation algorithm (NCC), and other algorithms.

[0140] In the embodiment of the present application, in order to allow the target piezoelectric vibrator to perform sensing feedback, the vibration intensity of the target piezoelectric vibrator can be controlled according to the voltage amplitude of the voltage signal of each piezoelectric vibrator. Fig.13When the user taps the touch panel, piezoelectric vibrator 1, piezoelectric vibrator 2, piezoelectric vibrator 3 and piezoelectric vibrator 4 can send their own voltage signals to the microcontroller unit (MCU) through the A / D mode converter. The MCU sends a feedback signal to the target piezoelectric vibrator through the power amplifier according to the voltage amplitude of the voltage signal corresponding to piezoelectric vibrator 1, piezoelectric vibrator 2, piezoelectric vibrator 3 and piezoelectric vibrator 4, and controls the target piezoelectric vibrator to perform vibration feedback or sound feedback.

[0141] In the embodiment of the present application, when the user taps the touch panel, the feedback energy of the target piezoelectric vibrator will affect the piezoelectric vibrator receiving voltage that senses the touch position information, so it is necessary to eliminate this influence in advance through calibration. Correspondingly, when the target piezoelectric vibrator performs vibration feedback, that is, the touch panel is driven to vibrate by the target piezoelectric vibration, a lower vibration frequency can be selected (specifically, a suitable frequency can be selected to avoid coinciding with the touch frequency of tapping or stroking as much as possible). When the target piezoelectric vibrator performs sound feedback, that is, the touch panel is driven to sound by the target piezoelectric vibrator vibration, and its frequency can be appropriately higher (specifically, a suitable frequency can be selected to avoid coinciding with the touch frequency of tapping or stroking as much as possible). Of course, when the target piezoelectric vibration provides vibration feedback, it can also be intermittently changed to sound feedback, so that the outside can perceive the vibration feedback and sound feedback output. When the selected power amplifier output capacity is strong, the vibrator will vibrate accordingly with the voltage output of the power amplifier, and within a certain frequency range, the output of vibration feedback and sound can be achieved simultaneously. For example, when the vibration frequency of the target piezoelectric vibrator is below 20Hz, only vibration feedback can be performed, and the human ear is not sensitive to frequencies below 50Hz. However, if the vibration frequency is selected to be 1000Hz, vibration feedback and sound feedback can be performed at the same time. Since the target piezoelectric vibrator needs to provide vibration feedback, the target piezoelectric vibrator needs to have a certain power to support the voltage output of the power amplifier to make corresponding vibrations, thereby promoting the panel vibration feedback and promoting the panel to make sounds.

[0142] The embodiment of the present application provides a hardware architecture for sensing touch position information and performing touch feedback, which can simultaneously support touch positioning, vibration feedback, and sound feedback of the panel. In addition, based on the characteristic time point in the voltage signal of each piezoelectric vibrator, the touch position information can be accurately determined in combination with the TDOA algorithm.

[0143] Based on the aforementioned embodiments, the embodiments of the present application provide another touch position determination device, which includes the units included and the modules included in the units, which can be implemented by a processor in a computer device; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0144] Fig.14 A schematic diagram of the structure of another touch position determination device provided in an embodiment of the present application is shown in FIG. Fig.14 As shown, the touch position determination device 700 includes: a signal receiving module 710 and a signal processing module 720, wherein:

[0145] The signal receiving module 710 is used to receive voltage signals collected by multiple piezoelectric vibrators respectively;

[0146] The signal processing module 720 is used to determine a characteristic time point corresponding to each of the voltage signals based on at least one voltage point having similarity among the plurality of voltage signals; the characteristic time point is determined based on at least one time point corresponding to the at least one voltage point;

[0147] The signal processing module 720 is used to determine corresponding touch position information based on the multiple characteristic time points and the position information of the multiple piezoelectric vibrators.

[0148] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. In some embodiments, the functions or modules included in the device provided in the embodiment of the present application can be used to execute the method described in the above method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0149] It should be noted that in the embodiments of the present application, if the above-mentioned touch position determination method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application can be essentially or partly reflected in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiments of the present application are not limited to any specific hardware, software or firmware, or any combination of hardware, software, and firmware.

[0150] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0151] The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, some or all of the steps in the above method are implemented. The computer-readable storage medium can be transient or non-transient.

[0152] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0153] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.

[0154] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0155] Fig.15 A hardware entity diagram of a touch position determination device provided in an embodiment of the present application is shown in FIG. Fig.15 As shown, the hardware entity of the touch position determination device 800 includes: a processor 801, a memory 802 and a plurality of piezoelectric vibrators 803, and the plurality of piezoelectric vibrators 803 are communicatively connected to the processor 801. The memory 802 stores a computer program that can be run on the processor 801, and the processor 801 implements the steps in the method of any of the above embodiments when executing the program.

[0156] The piezoelectric vibrator 803 is used to collect voltage signals;

[0157] The processor 801 is configured to determine a characteristic time point corresponding to each of the voltage signals based on at least one voltage point having similarity among the plurality of voltage signals; the characteristic time point is determined based on at least one time point corresponding to the at least one voltage point;

[0158] The processor 801 is configured to determine corresponding touch position information based on the plurality of characteristic time points and position information of the plurality of piezoelectric vibrators.

[0159] In some embodiments, the processor 801 is used to determine at least one voltage point with similarity in each of the voltage signals based on the waveform similarity of the multiple voltage signals; and determine the characteristic time point corresponding to each of the voltage signals based on the time points respectively corresponding to the at least one voltage point with similarity in each of the voltage signals.

[0160] In some embodiments, the processor 801 is used to determine the peak voltage point in each of the voltage signals as a voltage point with similarity in each of the voltage signals; the peak voltage point is the voltage point with the largest voltage value in the voltage signal; and determine the time point corresponding to the peak voltage point in each of the voltage signals as the characteristic time point corresponding to each of the voltage signals.

[0161] In some embodiments, the processor 801 is used to determine the window signal corresponding to each of the voltage signals based on the waveform similarity between each of the voltage signals; wherein the similarity between the window signals corresponding to each of the voltage signals satisfies a preset condition; the window signal includes multiple voltage points; based on the time period corresponding to the window signal corresponding to each of the voltage signals, determine the characteristic time point corresponding to each of the voltage signals.

[0162] In some embodiments, the processor 801 is used to determine at least three characteristic time point pairs from the multiple characteristic time points; and determine the touch position information based on the relative time differences corresponding to the at least three characteristic time point pairs, and the position information of a pair of piezoelectric vibrators corresponding to each relative time difference.

[0163] In some embodiments, the processor 801 is used to determine a target piezoelectric vibrator among other piezoelectric vibrators based on the touch position information; the other piezoelectric vibrators do not belong to the multiple piezoelectric vibrators; the target piezoelectric vibrator is driven to perform feedback based on a feedback strategy; the feedback strategy is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals.

[0164] In some embodiments, the processor 801 is configured to determine distance information between each of the other piezoelectric vibrators and the position represented by the touch position information; and determine the target piezoelectric vibrator based on the distance information corresponding to each of the other piezoelectric vibrators.

[0165] In some embodiments, the processor 801 is used to drive the target piezoelectric vibrator to perform vibration feedback based on a first vibration parameter; the first vibration parameter is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals; the first vibration parameter includes at least one of the following: a first vibration type, a first vibration intensity and a first vibration frequency; when the target piezoelectric vibrator is a non-sound-generating vibration type piezoelectric vibrator, it is determined that the first vibration frequency does not fall within the sound wave frequency range; the first vibration type is determined based on the position represented by the touch position information, and the first vibration intensity is positively correlated with the voltage represented by each of the voltage signals;

[0166] The target piezoelectric vibrator is driven to perform sound feedback based on a second vibration parameter; the second vibration parameter is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals; the second vibration parameter includes at least one of the following: a second vibration type, a second vibration intensity and a second vibration frequency; when the target piezoelectric vibrator is a sound-generating vibration type piezoelectric vibrator, it is determined that the second vibration frequency belongs to the sound wave frequency range; the second vibration type is determined based on the position represented by the touch position information, and the second vibration intensity is positively correlated with the voltage represented by each of the voltage signals.

[0167] In some embodiments, the piezoelectric vibrator includes at least one of the following types: the piezoelectric vibrator arranged on the vehicle interior panel, the piezoelectric vibrator arranged on the vehicle window panel, the piezoelectric vibrator arranged on the vehicle exterior panel, and the piezoelectric vibrator arranged on the vehicle seat surface.

[0168] The memory 802 stores a computer program that can be run on the processor. The memory 802 is configured to store instructions and applications executable by the processor 801. It can also cache data to be processed or processed by the processor 801 and each module in the touch position determination device 800 (for example, image data, audio data, voice communication data, and video communication data). It can be implemented through flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0169] When the processor 801 executes the program, the steps of any of the above touch position determination methods are implemented. The processor 801 generally controls the overall operation of the touch position determination apparatus 800 .

[0170] An embodiment of the present application provides a computer storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of the touch position determination method in any of the above embodiments.

[0171] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0172] The processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understandable that the electronic device that implements the functions of the processor may also be other, and the embodiments of the present application are not specifically limited.

[0173] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0174] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0175] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0176] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0177] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0178] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0179] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0180] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0181] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A method for determining a touch position, characterized in that: include: Receiving voltage signals respectively collected by a plurality of piezoelectric vibrators; Determining a characteristic time point corresponding to each of the voltage signals based on at least one voltage point having similarity among the plurality of voltage signals; The characteristic time point is determined based on at least one time point corresponding to the at least one voltage point; Corresponding touch position information is determined based on the plurality of characteristic time points and the position information of the plurality of piezoelectric vibrators.

2. The touch position determination method according to claim 1, characterized in that: The determining, based on at least one voltage point having similarity among the plurality of voltage signals, a characteristic time point corresponding to each of the voltage signals comprises: Based on the waveform similarities of the plurality of voltage signals, determining the at least one voltage point having similarity in each of the voltage signals; The characteristic time point corresponding to each of the voltage signals is determined based on the time points respectively corresponding to the at least one voltage point having similarity in each of the voltage signals.

3. The touch position determination method according to claim 2, characterized in that: The determining, based on the waveform similarity of the plurality of voltage signals, the at least one voltage point having similarity in each of the voltage signals comprises: Determine a peak voltage point in each of the voltage signals as a voltage point with similarity in each of the voltage signals; the peak voltage point is a voltage point with the largest voltage value in the voltage signal; The determining the characteristic time point corresponding to each of the voltage signals based on the time points respectively corresponding to the at least one voltage point having similarity in each of the voltage signals comprises: The time point corresponding to the peak voltage point in each of the voltage signals is determined as the characteristic time point corresponding to each of the voltage signals.

4. The touch position determination method according to claim 1, characterized in that: The determining, based on at least one voltage point having similarity among the plurality of voltage signals, a characteristic time point corresponding to each of the voltage signals comprises: Based on the waveform similarity between each of the voltage signals, determining a window signal corresponding to each of the voltage signals; wherein the similarity between the window signals corresponding to each of the voltage signals satisfies a preset condition; and the window signal includes a plurality of voltage points; The characteristic time point corresponding to each of the voltage signals is determined based on the time period corresponding to the window signal corresponding to each of the voltage signals.

5. The touch position determination method according to any one of claims 1 to 4, characterized in that: The determining corresponding touch position information based on the plurality of characteristic time points and the position information of the plurality of piezoelectric vibrators includes: Determining at least three characteristic time point pairs from the plurality of characteristic time points; The touch position information is determined based on the relative time differences corresponding to at least three pairs of characteristic time points, and the position information of a pair of piezoelectric vibrators corresponding to each relative time difference.

6. The touch position determination method according to any one of claims 1 to 4, characterized in that: After determining the corresponding touch position information based on the plurality of characteristic time points and the position information of the plurality of piezoelectric vibrators, the method further includes: Among other piezoelectric vibrators, a target piezoelectric vibrator is determined based on the touch position information; the other piezoelectric vibrator does not belong to the plurality of piezoelectric vibrators; The target piezoelectric vibrator is driven to perform feedback based on a feedback strategy; the feedback strategy is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals.

7. The touch position determination method according to claim 6, characterized in that: The step of determining a target piezoelectric vibrator among the other piezoelectric vibrators based on the touch position information includes: Determine the distance information between each of the other piezoelectric vibrators and the position represented by the touch position information; The target piezoelectric vibrator is determined based on the distance information corresponding to each of the other piezoelectric vibrators.

8. The touch position determination method according to claim 6, characterized in that: The driving the target piezoelectric vibrator to perform feedback based on the feedback strategy includes any one of the following: The target piezoelectric vibrator is driven to perform vibration feedback based on a first vibration parameter; the first vibration parameter is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals; the first vibration parameter includes at least one of the following: a first vibration type, a first vibration intensity and a first vibration frequency; when the target piezoelectric vibrator is a non-sound-generating vibration type piezoelectric vibrator, it is determined that the first vibration frequency does not fall within the frequency range of the sound wave; the first vibration type is determined based on the position represented by the touch position information, and the first vibration intensity is positively correlated with the voltage represented by each of the voltage signals; The target piezoelectric vibrator is driven to perform sound feedback based on a second vibration parameter; the second vibration parameter is determined based on the touch position information, the target piezoelectric vibrator and each of the voltage signals; the second vibration parameter includes at least one of the following: a second vibration type, a second vibration intensity and a second vibration frequency; when the target piezoelectric vibrator is a sound-generating vibration type piezoelectric vibrator, it is determined that the second vibration frequency belongs to the sound wave frequency range; the second vibration type is determined based on the position represented by the touch position information, and the second vibration intensity is positively correlated with the voltage represented by each of the voltage signals.

9. The touch position determination method according to any one of claims 1 to 4, characterized in that: The piezoelectric vibrator includes at least one of the following types: the piezoelectric vibrator provided on a vehicle interior panel, the piezoelectric vibrator provided on a vehicle window panel, the piezoelectric vibrator provided on a vehicle exterior panel, and the piezoelectric vibrator provided on a vehicle seat surface.

10. A touch position determination device, characterized in that: include: Multiple piezoelectric vibrators, memory and processor; The plurality of piezoelectric vibrators are communicatively connected to the processor; wherein, The piezoelectric vibrator collects voltage signals; The memory stores a computer program executable on the processor; When the processor executes the computer program, the steps in the method according to any one of claims 1 to 9 are implemented.

11. 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 in the method according to any one of claims 1 to 9 are implemented.

Images