A low-delay vibration control method, device and readable medium

Abstract

The present invention relates to the field of vibration equipment and signal control, and specifically to a low-latency vibration control method, device and readable medium. By assigning a position code to each vibration unit, accurate and independent control of each vibration unit is achieved; and according to the number of vibration centers, the pressure data of each vibration unit and the regional interval, the area where all vibration units are located is divided into a second vibration area, and a plurality of control signals are generated for all second vibration areas. Each control signal includes a position code of all vibration units in at least one second vibration area, a start signal and a vibration signal. All control signals are transmitted to the vibration unit one by one in a time sequence, and all vibration units in the second vibration area corresponding to the control signal are controlled to vibrate, thereby greatly reducing the total amount of control signal transmission, improving the real-time performance of completing various vibration effects, and overcoming the problems of single vibration effect, high noise, discontinuous vibration, strong hysteresis, high energy consumption, etc. in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of vibration equipment and signal control, and in particular to a low-latency vibration control method, device and readable medium. Background Art

[0002] Vibration equipment generally refers to equipment that can generate mechanical vibrations. It is often used in many fields, including medical care, industry, and consumer electronics. Large-scale high-density vibration equipment is specially designed to generate high-intensity, high-frequency vibrations. Commonly used for: 1. Directional vibration testing: For example, in the automotive, aerospace and other industries, directional vibration testing can simulate vibrations and stresses during transportation and use to evaluate their tolerance and stability. The test objects can be components, parts or complete machines. This type of device needs to generate vibrations in multiple areas at the same time. The vibration modes are mainly divided into ① sinusoidal vibration: commonly used in laboratories to simulate rotation-pulsation-oscillation, as well as analysis and verification of product resonant frequencies; ② random vibration: used to evaluate the overall structural seismic resistance of the product, often used to simulate transportation vibrations in packaging; ③ compound vibration; ④ scanning vibration; ⑤ fixed-frequency vibration, etc. Mainly involves parameters such as amplitude, velocity, and acceleration. The main contents of vibration testing are: ① Response measurement: measuring the vibration size of the test object under different working conditions, evaluating the operating quality and reliability of the machine or structure; ② Determination of dynamic characteristic parameters: Measurement includes modal parameters (natural frequency, vibration mode, modal damping ratio, etc.), which helps to optimize the vibration resistance of the system; ③ Load identification: Analyze the nature of the vibration source and the load borne by the system (vibration intensity and duration), and infer the characteristics of the vibration source through the response signal; ④ Environmental testing: Simulate the vibration and impact of the product in the actual use environment, and evaluate the durability and life of the product. 2. Massage products: For example, a smart bed combined with a vibration device can produce fine high-frequency and low-amplitude vibrations, which can relax muscles, improve blood circulation and other rehabilitation effects to a certain extent. The most important thing for such products is safety and comfort, which requires softer vibration effects and control methods.

[0003] Although large-scale, high-density vibration equipment has a wide range of application value, it also faces some practical problems in actual use: (1) High density is accompanied by many lines, and long installation and maintenance; (2) High energy consumption; (3) High noise; (4) It is unable to achieve certain complex or unconventional vibration effects in nature, and it is difficult to match the accuracy required for special scenarios; (5) Delays and setbacks often occur, and the movements are not synchronized.

[0004] Therefore, it is particularly necessary to design a low-latency vibration control method, device and readable medium, and adopt an array coding integrated control method to improve the real-time performance of various vibration effects and enhance the industrial performance and experience of large-scale high-density vibration equipment. Summary of the invention

[0005] The purpose of this application is to propose a low-latency vibration control method, device and readable medium to address the above-mentioned technical problems.

[0006] In a first aspect, the present invention provides a low-latency vibration control method, comprising the following steps:

[0007] Obtaining the positions of all vibration units arranged in an array on a carrier, and assigning a position code to each vibration unit;

[0008] The number of vibration centers is set, and the area where all vibration units are located is divided into a plurality of first vibration areas according to the number of vibration centers, each of which includes a vibration center and at least one vibration unit;

[0009] The pressure data on each vibration unit is collected, and the position of the vibration center of each first vibration area is calculated according to the pressure data and positions of all vibration units located in each first vibration area, specifically including:

[0010] Setting a vibration effect for each first vibration area, the vibration effects include center-diverging type, single-line splitting type and non-diverging type;

[0011] When the vibration effect of the first vibration area is set to a central divergence type or a single line splitting type, the position of the vibration unit corresponding to the maximum pressure data is taken as the position of the vibration center;

[0012] When the vibration effect of the first vibration area is set to non-divergent, the distance between any two vibration units located in the first vibration area and having non-zero pressure data is calculated, and the two vibration units with the farthest distance are selected to construct a rectangle. The two selected vibration units are respectively located at the two ends of the diagonal of the rectangle, and the center position of the rectangle is calculated. The position of the vibration unit closest to the center position of the rectangle is taken as the position of the vibration center;

[0013] Setting a region interval, dividing each first vibration region into at least one second vibration region and a non-vibration region according to the region interval and the position of the vibration center;

[0014] A plurality of control signals are generated according to all the second vibration areas, each control signal includes a position code, a start signal and a vibration signal of all the vibration units in at least one second vibration area, the parameters of the vibration signal include a vibration mode, a number of vibrations, a vibration speed, a single vibration time, a time interval between two adjacent vibrations and a vibration intensity, the vibration signals of all the vibration units located in the same first vibration area have at least the same vibration mode, the vibration signals of any two vibration units located in the same first vibration area and respectively in two second vibration areas have at least one parameter different, all the control signals are transmitted to the vibration units one by one in a time sequence, and all the vibration units in the second vibration area corresponding to the control signal are controlled to vibrate.

[0015] Preferably, obtaining the positions of all vibration units arranged in an array on a carrier and assigning a position code to each vibration unit specifically includes:

[0016] The position of the vibration unit is expressed as (X, Y), where X represents the lateral coordinate of the vibration unit on the carrier, and Y represents the longitudinal coordinate of the vibration unit on the carrier. X and Y are converted into binary representations respectively and combined to obtain the position code of the vibration unit.

[0017] Preferably, each first vibration region is divided into at least one second vibration region and a non-vibration region according to the region interval and the position of the vibration center, specifically including:

[0018] When the vibration effect of the first vibration area is set to be central divergent, a central circle with the vibration center as the center and the area interval as the radius is constructed, and the first vibration area is divided into annular areas with the vibration center as the center and toward the outside of the central circle according to the area interval to obtain at least one second vibration area, until there is no vibration unit with non-zero pressure data in the second vibration area, and the division is stopped, and the area outside the first vibration area and the outermost second vibration area is used as a non-vibration area;

[0019] When the vibration effect of the first vibration area is set to a single-line splitting type, within the first vibration area, a straight line passing through the vibration center is used as the center line, and the area boundary line is parallel to the center line and faces both sides of the center line. The first vibration area is divided into areas according to the area interval to obtain at least one second vibration area, and the division is stopped until there is no vibration unit with non-zero pressure data in the second vibration area, and the area outside the second vibration area that belongs to the first vibration area and is farthest from each side of the center line is used as a non-vibration area;

[0020] When the vibration effect of the first vibration area is set to a non-divergent type, the rectangle is used as the second vibration area, and the area belonging to the first vibration area and outside the rectangle is used as the non-vibration area.

[0021] Preferably, when the pressure data is not zero, the start signal of the vibration unit corresponding to the pressure data is working, otherwise the start signal of the vibration unit corresponding to the pressure data is not working; the vibration modes include sinusoidal vibration, random vibration, compound vibration, scanning vibration and fixed frequency vibration.

[0022] In a second aspect, the present invention provides a low-latency vibration control device, comprising:

[0023] The encoding module is configured to obtain the positions of all vibration units arranged in an array on the carrier and assign a position code to each vibration unit;

[0024] A first partitioning module is configured to set the number of vibration centers, and divide the area where all vibration units are located into a plurality of first vibration areas according to the number of vibration centers, each of which includes a vibration center and at least one vibration unit;

[0025] The vibration center determination module is configured to collect pressure data on each vibration unit, and calculate the position of the vibration center of each first vibration area according to the pressure data and positions of all vibration units located in each first vibration area, specifically including:

[0026] Setting a vibration effect for each first vibration area, the vibration effects include center-diverging type, single-line splitting type and non-diverging type;

[0027] When the vibration effect of the first vibration area is set to a central divergence type or a single line splitting type, the position of the vibration unit corresponding to the maximum pressure data is taken as the position of the vibration center;

[0028] When the vibration effect of the first vibration area is set to non-divergent, the distance between any two vibration units located in the first vibration area and having non-zero pressure data is calculated, and the two vibration units with the farthest distance are selected to construct a rectangle. The two selected vibration units are respectively located at the two ends of the diagonal of the rectangle, and the center position of the rectangle is calculated. The position of the vibration unit closest to the center position of the rectangle is taken as the position of the vibration center;

[0029] A second partitioning module is configured to set a region interval and divide each first vibration region into at least one second vibration region and a non-vibration region according to the region interval and the position of the vibration center;

[0030] The execution module is configured to generate a plurality of control signals according to all the second vibration areas, each control signal includes a position code of all the vibration units in at least one second vibration area, a start signal and a vibration signal, the parameters of the vibration signal include a vibration mode, a number of vibrations, a vibration speed, a single vibration time, a time interval between two adjacent vibrations and a vibration intensity, the vibration signals of all the vibration units located in the same first vibration area have at least the same vibration mode, the vibration signals of any two vibration units located in the same first vibration area and respectively located in two second vibration areas have at least one parameter different, all the control signals are transmitted to the vibration units one by one in a time sequence, and all the vibration units in the second vibration area corresponding to the control signal are controlled to vibrate.

[0031] In a third aspect, the present invention provides a low-latency vibration device, comprising a carrier, a vibration unit, a pressure sensing unit and a control device, wherein the carrier is provided with a plurality of array holes, and the vibration unit is installed in the array holes; the pressure sensing unit is installed on the vibration unit for collecting pressure data on the vibration unit; the vibration unit and the pressure sensing unit are respectively connected to the control device, so that the control device controls the vibration unit to implement the method described in any implementation method in the first aspect.

[0032] In a fourth aspect, the present invention provides an electronic device comprising one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner in the first aspect.

[0033] In a fifth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any implementation manner in the first aspect.

[0034] In a sixth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method described in any implementation manner in the first aspect.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] (1) The low-latency vibration control method proposed in the present invention flexibly groups vibration units according to vibration requirements to achieve group control of vibration units. Compared with the traditional vibration control method in which control signals are sent to each vibration unit one by one, the total amount of control signal transmission is reduced, the transmission load is small, and the noise is reduced, which helps to reduce the working power consumption of the vibration equipment, improve the continuity of the vibration effect, reduce the vibration hysteresis, greatly improve the real-time control of large-scale and high-density vibration equipment, and improve work efficiency.

[0037] (2) The low-latency vibration control method proposed in the present invention adopts an array-type coding integrated control method, in which the vibration units are arranged in an array on a carrier, which is convenient for installation and maintenance. In addition, by encoding the vibration units, the vibration units can be precisely controlled, which can greatly reduce noise and overcome the problems of incoherent vibration and high noise.

[0038] (3) The low-latency vibration control method proposed in the present invention facilitates the realization of different vibration intensities required by different carriers, and facilitates the realization of different vibration effects on the same carrier, thus solving the problem of single vibration effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic flow chart of a low-latency vibration control method according to an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a low-latency vibration control device according to an embodiment of the present application;

[0042] Figure 3 A top view of a carrier and a vibration unit of a low-latency vibration device according to an embodiment of the present application;

[0043] Figure 4 A side view of a carrier and a vibration unit of a low-latency vibration device according to an embodiment of the present application;

[0044] Figure 5 A schematic diagram of the structure of a vibration unit and a pressure sensing unit of a low-latency vibration device according to an embodiment of the present application;

[0045] Figure 6 The local structure diagram of the low-latency vibration device of the embodiment of the present application is shown in FIG. Figure 1 ;

[0046] Figure 7 The local structure diagram of the low-latency vibration device of the embodiment of the present application is shown in FIG. Figure 2 ;

[0047] Figure 8 A schematic diagram of the principle of converting a control signal into a binary signal based on a threshold value of a low-latency vibration device according to an embodiment of the present application, wherein (a) shows the waveform change of an AC power supply voltage and a threshold value, and (b) shows the conversion of a binary signal based on the threshold value;

[0048] Fig. 9 This is a schematic diagram of vibration control of a low-latency vibration device according to Embodiment 1 of the present application;

[0049] Fig.10 This is a vibration control schematic diagram of a low-latency vibration device according to Embodiment 2 of the present application;

[0050] Fig.11 This is a vibration control schematic diagram of a low-latency vibration device according to Embodiment 3 of the present application;

[0051] Fig.12 This is a vibration control schematic diagram of a low-latency vibration device according to Embodiment 4 of the present application;

[0052] Fig.13 This is a vibration control schematic diagram of a low-latency vibration device according to Embodiment 5 of the present application;

[0053] Fig.14 This is a vibration control schematic diagram of a low-latency vibration device according to Embodiment 6 of the present application;

[0054] Fig.15 This is a structural schematic diagram of a low-latency vibration device according to Embodiment 7 of the present application;

[0055] Fig.16 This is a vibration control schematic diagram of a low-latency vibration device according to Embodiment 7 of the present application;

[0056] Fig.17 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention.

[0057] Figure numerals: 1. carrier; 2. vibration unit; 3. input circuit; 4. current loop; 5. pressure sensing unit; 6. bus circuit; 7. first vibration area; 71. vibration center; 8. second vibration area; 81. first test area; 82. second test area; 83. third test area; 84. fourth test area; 91. object to be tested; 92. supporting structure; 93. outer packaging. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] Figure 1 A low-latency vibration control method provided by an embodiment of the present application is shown, comprising the following steps:

[0060] S1, obtaining the positions of all vibration units arranged in an array on a carrier, and assigning a position code to each vibration unit.

[0061] In a specific embodiment, obtaining the positions of all vibration units arranged in an array on a carrier and assigning a position code to each vibration unit specifically includes:

[0062] The position of the vibration unit is expressed as (X, Y), where X represents the lateral coordinate of the vibration unit on the carrier, and Y represents the longitudinal coordinate of the vibration unit on the carrier. X and Y are converted into binary representations respectively and combined to obtain the position code of the vibration unit.

[0063] S2, setting the number of vibration centers, and dividing the area where all vibration units are located into a plurality of first vibration areas according to the number of vibration centers, each first vibration area including a vibration center and at least one vibration unit.

[0064] S3, collecting pressure data on each vibration unit, and calculating the position of the vibration center of each first vibration area according to the pressure data and positions of all vibration units located in each first vibration area, specifically including:

[0065] Setting a vibration effect for each first vibration area, the vibration effects include center-diverging type, single-line splitting type and non-diverging type;

[0066] When the vibration effect of the first vibration area is set to a central divergence type or a single line splitting type, the position of the vibration unit corresponding to the maximum pressure data is taken as the position of the vibration center;

[0067] When the vibration effect of the first vibration area is set to non-divergent, the distance between any two vibration units located in the first vibration area and with non-zero pressure data is calculated, and the two vibration units farthest away are selected to construct a rectangle. The two selected vibration units are located at the two ends of the diagonal of the rectangle, and the center position of the rectangle is calculated. The position of the vibration unit closest to the center position of the rectangle is taken as the position of the vibration center.

[0068] S4, setting the area interval, and dividing each first vibration area into at least one second vibration area and a non-vibration area according to the area interval and the position of the vibration center.

[0069] In a specific embodiment, each first vibration region is divided into at least one second vibration region and a non-vibration region according to the region interval and the position of the vibration center, specifically including:

[0070] When the vibration effect of the first vibration area is set to be central divergent, a central circle with the vibration center as the center and the area interval as the radius is constructed, and the first vibration area is divided into annular areas with the vibration center as the center and toward the outside of the central circle according to the area interval to obtain at least one second vibration area, until there is no vibration unit with non-zero pressure data in the second vibration area, and the division is stopped, and the area outside the first vibration area and the outermost second vibration area is used as a non-vibration area;

[0071] When the vibration effect of the first vibration area is set to a single-line splitting type, within the first vibration area, a straight line passing through the vibration center is used as the center line, and the area boundary line is parallel to the center line and faces both sides of the center line. The first vibration area is divided into areas according to the area interval to obtain at least one second vibration area, and the division is stopped until there is no vibration unit with non-zero pressure data in the second vibration area, and the area outside the second vibration area that belongs to the first vibration area and is farthest from each side of the center line is used as a non-vibration area;

[0072] When the vibration effect of the first vibration area is set to a non-divergent type, the rectangle is used as the second vibration area, and the area belonging to the first vibration area and outside the rectangle is used as the non-vibration area.

[0073] S5, generating a plurality of control signals according to all the second vibration areas, each control signal including a position code of all the vibration units in at least one second vibration area, a start signal and a vibration signal, the parameters of the vibration signal including a vibration mode, a number of vibrations, a vibration speed, a single vibration time, a time interval between two adjacent vibrations and a vibration intensity, the vibration signals of all the vibration units located in the same first vibration area have at least the same vibration mode, the vibration signals of any two vibration units located in the same first vibration area and respectively located in two second vibration areas have at least one parameter different, all the control signals are transmitted to the vibration units one by one in a time sequence, and all the vibration units in the second vibration area corresponding to the control signal are controlled to vibrate.

[0074] In a specific embodiment, when the pressure data is not zero, the start signal of the vibration unit corresponding to the pressure data is working, otherwise the start signal of the vibration unit corresponding to the pressure data is not working; the vibration modes include sinusoidal vibration, random vibration, compound vibration, scanning vibration and fixed frequency vibration.

[0075] Specifically, the low-latency vibration control method proposed in the embodiment of the present application can be used in various places such as vibration test trays and medical massage equipment that require flat plate vibration or multi-area vibration to be linked with each other. The vibration units are flexibly grouped according to the vibration requirements, and a control signal transmission queue is formed for the grouped second vibration area. Compared with the traditional vibration control method in which the control signal is sent to each vibration unit one by one, the total amount of control signal transmission is reduced, the transmission load is small, and the noise is reduced, which helps to reduce the working power consumption of the vibration equipment, improve the continuity of the vibration effect, reduce the vibration hysteresis, greatly improve the real-time control of large-scale and high-density vibration equipment, and improve work efficiency; and by combining the settings of parameters such as vibration mode, number of vibrations, vibration frequency, vibration intensity, and vibration duration, a variety of vibration effects can be displayed in the same vibration equipment, enriching the application scenarios of the vibration equipment, and effectively overcoming the defects of the existing vibration equipment such as incoherent vibration, single vibration effect, large size, and high noise, and can also reduce energy consumption.

[0076] The above steps S1-S5 do not necessarily represent the order between the steps, but are represented by step symbols, and the order between the steps can be adjusted.

[0077] Further references Figure 2 As an implementation of the methods shown in the above figures, the present application provides an embodiment of a low-latency vibration control device, which is similar to Figure 1 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0078] The embodiment of the present application provides a low-latency vibration control device, comprising:

[0079] The encoding module 11 is configured to obtain the positions of all vibration units arranged in an array on the carrier, and assign a position code to each vibration unit;

[0080] The first partitioning module 12 is configured to set the number of vibration centers, and divide the area where all vibration units are located into a plurality of first vibration areas according to the number of vibration centers, each of which includes a vibration center and at least one vibration unit;

[0081] The vibration center determination module 13 is configured to collect pressure data on each vibration unit, and calculate the position of the vibration center of each first vibration area according to the pressure data and positions of all vibration units located in each first vibration area, specifically including:

[0082] Setting a vibration effect for each first vibration area, the vibration effects include center-diverging type, single-line splitting type and non-diverging type;

[0083] When the vibration effect of the first vibration area is set to a central divergence type or a single line splitting type, the position of the vibration unit corresponding to the maximum pressure data is taken as the position of the vibration center;

[0084] When the vibration effect of the first vibration area is set to non-divergent, the distance between any two vibration units located in the first vibration area and having non-zero pressure data is calculated, and the two vibration units with the farthest distance are selected to construct a rectangle. The two selected vibration units are respectively located at the two ends of the diagonal of the rectangle, and the center position of the rectangle is calculated. The position of the vibration unit closest to the center position of the rectangle is taken as the position of the vibration center;

[0085] The second partitioning module 14 is configured to set the area interval and divide each first vibration area into at least one second vibration area and non-vibration area according to the area interval and the position of the vibration center;

[0086] The execution module 15 is configured to generate a plurality of control signals according to all the second vibration areas, each control signal includes a position code of all the vibration units in at least one second vibration area, a start signal and a vibration signal, the parameters of the vibration signal include a vibration mode, a number of vibrations, a vibration speed, a single vibration time, a time interval between two adjacent vibrations and a vibration intensity, the vibration signals of all the vibration units located in the same first vibration area have at least the same vibration mode, the vibration signals of any two vibration units located in the same first vibration area and respectively located in two second vibration areas have at least one parameter that is different, all the control signals are transmitted to the vibration units one by one in a time sequence, and all the vibration units in the second vibration area corresponding to the control signal are controlled to vibrate.

[0087] refer to Figures 3 to 7 The embodiment of the present application provides a low-latency vibration device, including a carrier 1, a vibration unit 2, a pressure sensing unit 5 and a control device. The carrier 1 is provided with a plurality of array holes, and the vibration unit 2 is installed in the array holes; the pressure sensing unit 5 is installed on the vibration unit 2, and is used to collect pressure data on the vibration unit 2; the vibration unit 2 and the pressure sensing unit 5 are respectively connected to the control device, so that the control device controls the vibration unit 2 to implement the above-mentioned method.

[0088] Specifically, refer to Figure 6 and Figure 7The low-latency vibration device provided in the embodiment of the present application also includes an input circuit 3, a current loop 4, a bus circuit 6, a voltage stabilization circuit and a power supply. The carrier 1 can be a reference surface for carrying multi-region vibration, a sorting line for industrial material processing, a vibration test tray or a furniture mattress for directional vibration testing, etc. It can be processed and manufactured according to specific specifications according to the application scenario, and the spacing between each array hole position and the depth of the array hole position can be adjusted according to the application scenario. Reference Figure 3 and Figure 4 In the embodiment of the present application, 10 cm equal-spaced array holes are reserved on the carrier 1, each array hole is set at a depth of 5-8 cm from the upper surface of the carrier 1, and the vibration unit 2 is installed in the array hole. Figure 5 , the pressure sensing unit 5 is installed on the vibration unit 2. In the embodiment of the present application, the vibration unit 2 is embedded in the reserved holes of the carrier 1 in an array, while ensuring the different vibration intensities required by different carriers such as vibration trays, massage equipment, and medical beds for pressure sore relief, the noise can be greatly reduced.

[0089] refer to Figure 6 and Figure 7 , all vibration units 2 are connected to input circuit 3 and current loop 4 respectively, input circuit 3 and current loop 4 are connected to the positive and negative poles of voltage stabilization circuit respectively, and are connected to bus circuit 6, and bus circuit 6 is connected to power supply. Among them, voltage stabilization circuit is set in low-latency vibration equipment to provide stable power supply for vibration unit 2; bus circuit 6 and input circuit 3 both include signal control channel, bus transmission protocol and data protocol are transmitted via signal control channel, signal control channel adopts RS-232 serial communication, and provides specific vibration signal for each vibration unit 2. By integrating signal control channel in bus circuit 6 and input circuit 3 to transmit control signal, vibration unit 2 only needs to be connected to input circuit 3 and current loop 4, and no signal circuit needs to be set up separately, so as to realize power supply and signal transmission of vibration unit 2, overcome the defects of existing vibration equipment with many lines and difficult installation and maintenance, greatly improve the control accuracy of vibration unit 2, the overall modularization of vibration equipment is good, the integration is high, it has the characteristics of line integration and easy disassembly and assembly, greatly improves the circuit utilization efficiency, and has safety at the same time.

[0090] In the embodiment of the present application, the power source used is a household 220V AC power source. Figure 8 (a) The voltage value of the AC power supply changes periodically, and the same change pattern is repeated in each cycle. At the same time, the characteristics of the sine wave determine that the voltage will increase from zero to the maximum value in one cycle, then decrease to the minimum value through zero, and then return to zero to complete a cycle. After that, the amplitude of the output waveform will be more stable through the voltage stabilization circuit, providing a stable voltage for the vibration unit 2. Reference Figure 8 (a) and Figure 8 (b) Set a voltage threshold, detect whether the voltage signal exceeds the threshold in each cycle, output a high level "1" when the input voltage exceeds the threshold, otherwise output a low level "0", and split the AC power signal into parts above the threshold and parts below the threshold, and transmit binary signals through high and low level changes. In the embodiment of the present application, the control signal is a binary signal, which is transmitted through the signal control channel and controls the corresponding vibration unit 2 to execute the vibration signal.

[0091] Each control signal includes the position code of all vibration units in at least one second vibration area, a start signal and a vibration signal. Each vibration unit 2 corresponds to a unique position code, which is fixed. The position of the vibration unit 2 on the carrier 1 is represented by (X, Y), where X represents the horizontal coordinate of the vibration unit 2 on the carrier 1, and Y represents the vertical coordinate of the vibration unit 2 on the carrier 1. For example, the position codes corresponding to the vibration units 2 at positions (01, 01), (02, 02) and (20, 10) are 0101, 1010 and 101001010, respectively. The start signal indicates whether the vibration unit 2 can be executed or not. When the pressure data is not zero, the start signal of the vibration unit 2 corresponding to the pressure data is working, and 01 is added after the position code of the vibration unit 2. Otherwise, the start signal of the vibration unit corresponding to the pressure data is not working, and 00 is added after the position code of the vibration unit 2. For example, the vibration unit 2 at position (02,02) is working, and the control signal of the second vibration area where it is located includes 101001; the vibration unit 2 at position (20,10) is not working, and the control signal of the second vibration area where it is located includes 10100101000. The vibration signal is a description of vibration properties, including vibration mode, number of vibrations, vibration speed, single vibration time, time interval between two adjacent vibrations, and vibration intensity. The low-latency vibration control method and device proposed in the embodiments of the present application, by encoding the position of the vibration unit, not only facilitates the precise control of each vibration unit, but also facilitates the group control of each vibration unit.

[0092] Specifically, RS-232 is designed for point-to-point communication. Since the bandwidth of the signal control channel, that is, the number of bits that can be transmitted per unit time, is certain, there is a certain step-by-step lag in the work control of different batches of vibration units 2. Since the control signals are sent one by one in sequence, each control signal must be transmitted before the next control signal can be transmitted, and the bandwidth and transmission rate of the signal control channel under fixed specification parameters are also certain. In the application scenario of large-scale high-density vibration equipment, the transmission load is large, and some vibration units may inevitably have "control hysteresis" phenomenon, which seriously affects the overall effect of the vibration equipment. The embodiment of the present application adopts vibration unit grouping adaptive logic to group vibration units with the same phase and similar amplitude, which can reduce the number of control signal transmissions by multiples, so that the transmission load is basically within a stable range, improve the line bandwidth utilization, and effectively avoid the occurrence of control hysteresis.

[0093] The scheme of the present invention is further illustrated by using specific embodiments below.

[0094] Embodiment 1

[0095] Embodiment 1 of the present application relates to products such as bedding, massage equipment, etc., such as a smart bed, which includes the low-latency vibration device proposed in the present application. In Embodiment 1 of the present application, reference is made to Fig. 9 , determine the contact area between the human body and the carrier according to the pressure data, if the pressure data is not zero, the human body applies pressure to the surface of the carrier, and the contact area is used as the first vibration area 7. The position of the vibration unit corresponding to the center of the human body is the position of the vibration center 71, the vibration effect of the first vibration area 7 is set to the center divergence type, and the first vibration area 7 is divided into a number of second vibration areas 8, the center circle is a second vibration area 8, and other second vibration areas 8 are ring-shaped except the center circle. A control signal is generated for all vibration units in each second vibration area 8, the vibration signals of all vibration units in the same second vibration area 8 are the same, and at least one vibration parameter of the vibration signals of the vibration units of two adjacent second vibration areas 8 is different, so that a vibration effect of diverging from the center to the surroundings can be achieved, that is, the vibration effect of water ripples.

[0096] Embodiment 2

[0097] refer to Fig.10, the difference between the second embodiment of the present application and the first embodiment is that five vibration centers 71 are set according to the human body structure corresponding to the contact area, and the five vibration centers 71 are respectively located in the head, chest, trunk and legs, and the area where all the vibration units are located is divided into five first vibration areas 7. The vibration effects of the five first vibration areas 7 are all set to be central divergent, and the maximum pressure points in the five first vibration areas 7 are calculated respectively, and the position of the vibration unit corresponding to the pressure data of the point or the position of the vibration unit closest to the maximum pressure point is taken as the position of the vibration center 71. Further, each first vibration area 7 is divided into multiple second vibration areas 8. By controlling the vibration units in all the second vibration areas 8 in each first vibration area 7, the vibration effect of multi-center water ripples is achieved. Furthermore, when dividing the first vibration area 7, a non-vibration area is also determined, and the vibration units located in the non-vibration area can be in a dormant state, and the vibration units in the second vibration area 8 are in a working or standby state, thereby reducing the workload of the overall vibration equipment and saving energy.

[0098] The present application adopts a method of grouping before sending a control signal. One control signal can simultaneously control all vibration units of at least one second vibration area 8 to execute the vibration signal. The motors in the same group are controlled synchronously to achieve group control. Compared with the number of thousands or tens of thousands of vibration units, the number of control signal transmissions can be greatly reduced, achieving a smoother and more natural effect, and creating a low-latency synchronization effect.

[0099] Embodiment 3

[0100] refer to Fig.11, the difference between the third embodiment of the present application and the second embodiment is that the vibration gears are set for the five first vibration areas 7 located at the head, chest, trunk and legs respectively, and the vibration gears include three gears, namely, strong gear, medium gear and weak gear, and each vibration gear corresponds to a range of vibration intensity. For example, the vibration gear of the first vibration area 7 located at the trunk is set to the strong gear, and the vibration intensity gradually decreases from the innermost second vibration area 8 to the innermost second vibration area 8. The range of the vibration intensity of the strong gear is between the first vibration intensity and the second vibration intensity. The first vibration intensity is less than the second vibration intensity. The vibration intensity of the vibration unit of the second vibration area 8 where the vibration center 71 of the trunk is located is the strongest, which is the second vibration intensity. The vibration intensity of the vibration unit of the second vibration area 8 outside it decreases from the inside to the outside. The vibration intensity of the vibration unit of the second vibration area 8 located in the first vibration area 7 of the trunk and the outermost second vibration area 8 is the smallest and not less than the first vibration intensity. The vibration level of the first vibration region 7 located on the chest is set to a medium level, and the value range of the vibration intensity of the medium level is between the third vibration intensity and the fourth vibration intensity, the third vibration intensity is less than the fourth vibration intensity, the fourth vibration intensity is less than or equal to the first vibration intensity, and the vibration intensity of all vibration units in the first vibration region 7 located on the chest is between the third vibration intensity and the fourth vibration intensity. The vibration level of the first vibration region 7 located on the head and legs is set to a weak level, and the value range of the vibration intensity of the weak level is between the fifth vibration intensity and the sixth vibration intensity, the fifth vibration intensity is less than the sixth vibration intensity, the sixth vibration intensity is less than or equal to the third vibration intensity, and the vibration intensity of all vibration units in the first vibration region 7 located on the head and legs is between the fifth vibration intensity and the sixth vibration intensity.

[0101] In the third embodiment of the present application, not only group control is realized, but also the vibration effects of different first vibration areas 7 can be further enriched by setting the vibration gears of different first vibration areas 7, thereby increasing the flexibility of the vibration device. The low-latency vibration control method proposed in the present application can realize complex vibration effects on the same vibration device, such as wave-type, divergent-type, regional reinforcement-type and other vibration effects of different rates and intensities, thereby improving the performance of the vibration device and the user experience.

[0102] Embodiment 4

[0103] refer to Fig.12The difference between the fourth embodiment of the present application and the third embodiment is that, according to the vibration requirements, some vibration centers 71 can be selected not to act, that is, the two first vibration areas 7 located on the chest are artificially cancelled. In the fourth embodiment, the three first vibration areas 7 located on the head, trunk and legs are finally further divided to obtain the second vibration areas 8, and the three first vibration areas 7 located on the head, trunk and legs are respectively set to a weak gear, a strong gear and a weak gear, and the vibration unit is controlled to vibrate within the value range of the vibration intensity corresponding to the vibration gear.

[0104] Embodiment 5

[0105] refer to Fig.13 , the difference between the fifth embodiment of the present application and the first embodiment is that the vibration effect of the first vibration area 7 is set as a single-line split type. In the fifth embodiment of the present application, the entire contact area is taken as the first vibration area 7. In the first vibration area 7, the straight line passing through the vibration center 71 and parallel to the direction of human body height measurement is taken as the center line, so that the regional boundary line is parallel to the center line, facing both sides of the center line, and the first vibration area 7 is divided into regions according to the regional interval to obtain the second vibration area 8. For example, two columns of vibration units located in the first vibration area 7 and along the direction of human body height measurement belong to the same second vibration area 8. In the fifth embodiment of the present application, the vibration signals of the vibration units of the two second vibration areas 8 that are symmetrical about the center line, that is, the midline of the human body, are the same.

[0106] Embodiment 6

[0107] refer to Fig.14 The difference between the sixth embodiment of the present application and the second embodiment is that the vibration effect of the first vibration area 7 is set as a single-line split type; the difference from the fifth embodiment is that five vibration centers 71 are set according to the human body structure, and the five vibration centers 71 are respectively located at the head, chest, trunk and legs, and the area where all vibration units are located is divided into five first vibration areas 7. In each first vibration area 7, a straight line passing through the vibration center and parallel to the direction of human height measurement is used as the center line, and the area dividing line is parallel to the center line, facing both sides of the center line, and the first vibration area 7 is divided into areas according to the area interval to obtain the second vibration area. In a certain first vibration area 7, the vibration signals of the vibration units of the two second vibration areas that are symmetrical about the center line are the same.

[0108] Embodiment 7

[0109] Embodiment 7 of the present application relates to a vibration test generator and a tray. Fig.15 and 16During the process of leaving the factory and transportation, the object to be tested 91 must be placed in a stable support structure 92 and then put into an outer package 93. During the directional vibration test of the object to be tested 91, it is often necessary to generate diversified vibrations in multiple regions and multiple time periods, such as one or more of sinusoidal vibration, random vibration, compound vibration, scanning vibration and fixed frequency vibration, so as to fully test various properties.

[0110] exist Fig.15 and 16 In the figure, the object to be tested 91 includes a digital product host, a data transmission line, a power adapter and other accessories. According to the characteristics, task requirements and placement of the object to be tested 91, the carrier 1 is divided into four first vibration areas, and the vibration effects of all the first vibration areas are set to non-divergent. According to the structure of the object to be tested 91, such as a digital product host, and the contact between its corresponding support structure 92, outer packaging 93 and the carrier 1, the distance between any two vibration units 2 located in the first vibration area and with non-zero pressure data is calculated, and the two farthest vibration units are selected to construct a rectangle, and the center position of the rectangle is calculated. Usually, the center position of the rectangle is the center position of the digital product host. The position of the vibration unit closest to the center position of the rectangle is taken as the position of the vibration center, and the rectangle is taken as the second vibration area. By adopting the low-latency vibration control method proposed in the present application, four second vibration areas are finally obtained, including a first test area 81, a second test area 82, a third test area 83 and a fourth test area 84, wherein the digital product host is placed in the second test area 82 and the fourth test area 84, and the data transmission line, power adapter and other accessories are placed in the first test area 81 and the third test area 83.

[0111] During the vibration test, the digital product host in the second test area 82 and the fourth test area 84 needs to test its vibration size under different working conditions, evaluate the operating quality and reliability of the machine or structure, simulate the vibration and impact of the product in the actual use environment, and evaluate the durability and life of the product. Five types of vibration modes such as sinusoidal vibration, random vibration, compound vibration, scanning vibration and fixed-frequency vibration are often used for testing in various combinations; the data transmission lines, power adapters and other accessories in the first test area 81 and the third test area 83 have relatively simple vibration requirements, and can be tested using sinusoidal vibration and / or random vibration. The similarities between Example 7 of the present application and Example 2 include that the vibration unit 2 located in the non-vibration area can be in a dormant state. Reference Fig.16, the vibration units 2 in the dormant state at least include the vibration units 2 located outside the contact area between the outer package 93 and the carrier 1. Further, the vibration units 2 in the second test area 82 and the fourth test area 84 can be grouped together most of the time, which can greatly reduce the total amount of control signal transmission during the vibration test, and can also be grouped independently within a specific time to carry out specific forms of vibration tests according to different digital product hosts; the vibration units 2 in the first test area 81 and the third test area 83 can be grouped together, which can greatly reduce the total amount of control signal transmission during the vibration test.

[0112] In a low-latency vibration control method and a low-latency vibration device designed by the present invention, the vibration units are encoded and grouped to reduce the total amount of control signal transmission, and the working state of each vibration unit is flexibly controlled, thereby overcoming the problems of single vibration effect, loud noise, discontinuous vibration, strong hysteresis, high energy consumption, complex circuits, etc. in the prior art, improving the real-time performance of various vibration effects, and enhancing the industrial performance and experience of large-scale high-density vibration equipment.

[0113] Fig.17 Schematic diagram of the hardware structure of the electronic device provided by the embodiment of the present invention. Fig.17 As shown, the electronic device of this embodiment includes: a processor 1701 and a memory 1702; wherein the memory 1702 is used to store computer-executable instructions; the processor 1701 is used to execute the computer-executable instructions stored in the memory to implement the various steps performed by the electronic device in the above embodiment. For details, please refer to the relevant description in the above method embodiment.

[0114] Optionally, the memory 1702 may be independent or integrated with the processor 1701 .

[0115] When the memory 1702 is independently provided, the electronic device further includes a bus 1703 for connecting the memory 1702 and the processor 1701 .

[0116] The embodiment of the present invention further provides a computer storage medium, in which computer execution instructions are stored. When the processor 1701 executes the computer execution instructions, the above method is implemented.

[0117] The embodiment of the present invention further provides a computer program product, including a computer program. When the computer program is executed by the processor 1701, the above method is implemented.

[0118] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0119] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0120] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or each module may exist physically separately, or two or more modules may be integrated into one unit. The above-mentioned module-composed unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0121] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor 1701 to perform some steps of the methods of various embodiments of the present application.

[0122] It should be understood that the processor 1701 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or the processor 1701 may be any conventional processor 1701, etc. The steps of the method disclosed in the invention may be directly embodied in the hardware processor 1701 for execution, or may be executed by a combination of hardware and software modules in the processor 1701.

[0123] The memory 1702 may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

[0124] The bus 1703 may be an Industry Standard Architecture (ISA), a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus 1703 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus 1703 in the drawings of the present application is not limited to only one bus 1703 or one type of bus 1703.

[0125] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0126] An exemplary storage medium is coupled to the processor 1701, so that the processor 1701 can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor 1701. The processor 1701 and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor 1701 and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0127] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-latency vibration control method, characterized in that: The following steps are involved: Acquire the positions of all vibration units arranged in an array on a carrier, and assign a position code to each of the vibration units; Setting the number of vibration centers, dividing the area where all the vibration units are located into a plurality of first vibration areas according to the number of vibration centers, each of the first vibration areas including a vibration center and at least one vibration unit; Collecting pressure data on each of the vibration units, and calculating the position of the vibration center of each of the first vibration areas according to the pressure data and positions of all of the vibration units located in each of the first vibration areas, specifically includes: Setting a vibration effect for each of the first vibration areas, wherein the vibration effects include a center-diverging type, a single-line splitting type, and a non-diverging type; When the vibration effect of the first vibration area is set to a central divergence type or a single line splitting type, the position of the vibration unit corresponding to the maximum pressure data is taken as the position of the vibration center; When the vibration effect of the first vibration area is set to be non-divergent, the distance between any two vibration units located in the first vibration area and whose pressure data is not zero is calculated, and the two vibration units with the farthest distance are selected to construct a rectangle, the two selected vibration units are respectively located at the two ends of the diagonal of the rectangle, the center position of the rectangle is calculated, and the position of the vibration unit closest to the center position of the rectangle is taken as the position of the vibration center; Setting a region interval, and dividing each of the first vibration regions into at least one second vibration region and a non-vibration region according to the region interval and the position of the vibration center; A plurality of control signals are generated according to all the second vibration areas, each of the control signals includes a position code, a start signal and a vibration signal of all the vibration units in at least one second vibration area, the parameters of the vibration signal include a vibration mode, a number of vibrations, a vibration speed, a single vibration time, a time interval between two adjacent vibrations and a vibration intensity, the vibration signals of all the vibration units located in the same first vibration area have at least the same vibration mode, and the vibration signals of any two vibration units located in the same first vibration area and respectively in two second vibration areas have at least one parameter that is different, all the control signals are transmitted to the vibration units one by one in a time sequence, and all the vibration units in the second vibration area corresponding to the control signal are controlled to vibrate.

2. The low-latency vibration control method according to claim 1, characterized in that: The obtaining of the positions of all vibration units arranged in an array on the carrier and assigning a position code to each of the vibration units specifically includes: The position of the vibration unit is expressed as (X, Y), wherein X represents the lateral coordinate of the vibration unit on the carrier, and Y represents the longitudinal coordinate of the vibration unit on the carrier. X and Y are respectively converted into binary representations and combined to obtain the position code of the vibration unit.

3. The low-latency vibration control method according to claim 1, characterized in that: The step of dividing each of the first vibration regions into at least one second vibration region and a non-vibration region according to the region interval and the position of the vibration center specifically includes: When the vibration effect of the first vibration area is set to be central divergent, a central circle with the vibration center as the center and the area interval as the radius is constructed, and the first vibration area is divided into annular areas with the vibration center as the center and toward the outside of the central circle according to the area interval to obtain at least one second vibration area, until there is no vibration unit with non-zero pressure data in the second vibration area, the division is stopped, and the area outside the second vibration area that belongs to the first vibration area and is the outermost area is used as a non-vibration area; When the vibration effect of the first vibration area is set to a single-line splitting type, then within the first vibration area, a straight line passing through the vibration center is used as a center line, and a region boundary line is made parallel to the center line and faces both sides of the center line, and the first vibration area is divided into regions according to the region interval to obtain at least one second vibration area, until there is no vibration unit with non-zero pressure data in the second vibration area, and the division is stopped, and the area outside the second vibration area that belongs to the first vibration area and is farthest from each side of the center line is used as a non-vibration area; When the vibration effect of the first vibration area is set to be non-divergent, the rectangle is used as the second vibration area, and the area belonging to the first vibration area and outside the rectangle is used as the non-vibration area.

4. The low-latency vibration control method according to claim 1, characterized in that: When the pressure data is not zero, the start signal of the vibration unit corresponding to the pressure data is working, otherwise the start signal of the vibration unit corresponding to the pressure data is not working; the vibration modes include sinusoidal vibration, random vibration, compound vibration, scanning vibration and fixed frequency vibration.

5. A low-latency vibration control device, characterized in that: include: An encoding module is configured to obtain positions of all vibration units arranged in an array on a carrier, and assign a position code to each of the vibration units; A first partitioning module is configured to set the number of vibration centers, and divide the area where all the vibration units are located into a plurality of first vibration areas according to the number of vibration centers, each of the first vibration areas including a vibration center and at least one vibration unit; The vibration center determination module is configured to collect pressure data on each of the vibration units, and calculate the position of the vibration center of each of the first vibration areas according to the pressure data and positions of all the vibration units located in each of the first vibration areas, specifically including: Setting a vibration effect for each of the first vibration areas, wherein the vibration effects include a center-diverging type, a single-line splitting type, and a non-diverging type; When the vibration effect of the first vibration area is set to a central divergence type or a single line splitting type, the position of the vibration unit corresponding to the maximum pressure data is taken as the position of the vibration center; When the vibration effect of the first vibration area is set to be non-divergent, the distance between any two vibration units located in the first vibration area and whose pressure data is not zero is calculated, and the two vibration units with the farthest distance are selected to construct a rectangle, the two selected vibration units are respectively located at the two ends of the diagonal of the rectangle, the center position of the rectangle is calculated, and the position of the vibration unit closest to the center position of the rectangle is taken as the position of the vibration center; A second partitioning module is configured to set a region interval, and divide each of the first vibration regions into at least one second vibration region and a non-vibration region according to the region interval and the position of the vibration center; The execution module is configured to generate a plurality of control signals according to all the second vibration areas, each of the control signals including a position code of all the vibration units in at least one second vibration area, a start signal and a vibration signal, the parameters of the vibration signal including a vibration mode, a number of vibrations, a vibration speed, a single vibration time, a time interval between two adjacent vibrations and a vibration intensity, the vibration signals of all the vibration units located in the same first vibration area have at least the same vibration mode, the vibration signals of any two vibration units located in the same first vibration area and respectively located in two second vibration areas have at least one parameter different, all the control signals are transmitted to the vibration units one by one in a time sequence, and all the vibration units in the second vibration area corresponding to the control signal are controlled to vibrate.

6. A low-latency vibration device, characterized in that: It includes a carrier, a vibration unit, a pressure sensing unit and a control device, wherein the carrier is provided with a plurality of array holes, and the vibration unit is installed in the array holes; the pressure sensing unit is installed on the vibration unit and is used to collect pressure data on the vibration unit; the vibration unit and the pressure sensing unit are respectively connected to the control device, so that the control device controls the vibration unit to implement any method as claimed in claims 1-4.

7. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 4.

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

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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