Tactile feedback method, device, equipment, medium, program product and vehicle

Abstract

The invention relates to a tactile feedback method and device, equipment, a medium, a program product and a vehicle, and the method comprises the steps: carrying out the multiple times of graph scanning in an external space of target equipment based on a target graph according to the graph scanning frequency of the target graph, so as to form a tactile graph corresponding to the target graph in the external space; wherein the pattern scanning frequency enables the formed tactile pattern to generate tactile feedback on a perceived object. The present invention aims to reduce noise of haptic feedback.

Description

Technical Field

[0001] The present application relates to the field of tactile devices, and in particular to a tactile feedback method, apparatus, device, medium, program product, and vehicle. Background Art

[0002] Haptic devices enable human-machine interfaces to create rich and intuitive digital sensations related to touch. Ultrasonic tactile feedback allows for the perception of touch without physical contact. Related technologies employ a simple square wave pattern to modulate the frequency—that is, the array switches on and off at the modulated frequency. However, the square wave generated by the nonlinear breakdown of ultrasonic waves produces relatively high noise. Summary of the Invention

[0003] The embodiments of the present application provide a tactile feedback method, apparatus, device, medium, program product, and vehicle, which reduce tactile feedback noise and improve tactile feedback effect, so as to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above-mentioned object, according to a first aspect of the present application, a method for applying to a target device is provided, comprising:

[0005] performing multiple pattern scans based on the target pattern in an external space of the target device according to a pattern scanning frequency of the target pattern, so as to form a tactile pattern corresponding to the target pattern in the external space;

[0006] The pattern scanning frequency enables the formed tactile pattern to generate tactile feedback on a perceptual object in the external space.

[0007] Optionally, a single graphic scan includes:

[0008] Target signals are transmitted to a plurality of target focal points corresponding to the target pattern in the external space.

[0009] Optionally, the target signal is ultrasonic wave.

[0010] Optionally, the product of the number of the target focal points and the graphic scanning frequency is within an inaudible sound wave frequency band corresponding to the target object in the external space.

[0011] Optionally, the product of the number of the target focal points and the graphic scanning frequency is greater than the maximum value of the audible sound wave frequency band corresponding to the target object in the external space.

[0012] Optionally, the maximum value is less than or equal to 20,000.

[0013] Optionally, the target object includes the perceived object.

[0014] Optionally, transmitting target signals to a plurality of target foci corresponding to the target graphic in the external space includes:

[0015] Target signals are transmitted to the multiple target foci in sequence according to the order of the multiple target foci in the target pattern.

[0016] Optionally, the target device includes a plurality of signal transmitters, and transmitting target signals to a plurality of target focal points corresponding to the target graphic in the external space includes:

[0017] For each of the target focal points, the target signal is transmitted to the target focal point through the multiple signal transmitters.

[0018] Optionally, the target signals emitted by the multiple signal transmitters have the same phase when reaching the target focus.

[0019] Optionally, the phase of the target signals emitted by the multiple signal transmitters when reaching the target focus is a peak.

[0020] Optionally, transmitting the target signal to the target focus through the multiple signal transmitters includes:

[0021] Obtaining a phase delay time of the signal transmitter with respect to the target focus;

[0022] Based on the phase delay time corresponding to the signal transmitter, the corresponding signal transmitter is controlled to transmit the target signal to the target focus, so that the phases of the target signals transmitted by the multiple signal transmitters are the same when they reach the target focus.

[0023] Optionally, obtaining the phase delay time of the signal transmitter with respect to the target focus includes:

[0024] Obtaining a target arrival time required for a target signal emitted by the signal transmitter to reach the target focus;

[0025] Based on the target arrival time and the period of the target signal, the phase delay time of the signal transmitter with respect to the target focus is determined.

[0026] Optionally, obtaining a target arrival time required for the target signal emitted by the signal transmitter to reach the target focus includes:

[0027] The target arrival time corresponding to the signal transmitter is determined based on the first coordinate of the signal transmitter, the second coordinate of the target focus, and the propagation speed of the target signal.

[0028] Optionally, the step of determining the second coordinate of the target focus includes:

[0029] Based on the target graphic, the number of target foci corresponding to the target graphic, and the tactile feedback position, second coordinates of each target foci of the target graphic are determined.

[0030] Optionally, the energy loss ratio of the target signal at a preset distance from the signal transmitter is lower than a preset ratio.

[0031] Optionally, the step of determining the graphic scanning frequency includes:

[0032] Obtaining the length of the target graphic;

[0033] The pattern scanning frequency is determined according to the length of the target pattern and a preset scanning speed.

[0034] Optionally, the preset scanning speed is greater than or equal to 8 m / s and less than or equal to 10 m / s.

[0035] According to a second aspect of the present application, a tactile feedback device is provided, comprising:

[0036] A scanning module is configured to perform multiple graphic scans based on the target graphic in an external space of the target device according to a graphic scanning frequency of the target graphic, so as to form a tactile graphic corresponding to the target graphic in the external space; wherein the graphic scanning frequency enables the formed tactile graphic to generate tactile feedback on a perceptual object in the external space.

[0037] According to a third aspect of the present application, an electronic device is further provided, comprising a processor connected to a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program in the memory to execute any of the above-mentioned tactile feedback methods.

[0038] According to a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and the computer program is any of the above-mentioned tactile feedback methods when executed by a processor.

[0039] According to a fifth aspect of the present application, a computer program product is provided, which includes a computer program, and the computer program is executed by a processor to implement any of the above-mentioned tactile feedback methods.

[0040] According to a sixth aspect of the present application, a vehicle is provided, which executes the tactile feedback method as described above, or includes the tactile feedback device or electronic device as described above.

[0041] To summarize, in the embodiments of the present application, through the above-mentioned technical solution, multiple graphic scans are performed based on the target graphic in the external space of the target device according to the graphic scanning frequency of the target graphic, so as to form a tactile graphic corresponding to the target graphic in the external space; wherein, the graphic scanning frequency enables the formed tactile graphic to generate tactile feedback on the perceptual object in the external space. In this way, there is no need to use a square wave mode to modulate ultrasound, but instead the external space is repeatedly scanned based on the target graphic according to the graphic scanning frequency to achieve tactile feedback corresponding to the target graphic, which can reduce the noise caused by the tactile feedback and improve the user experience.

[0042] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0044] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0045] Figure 1 is a flow chart of an embodiment of a tactile feedback method provided in an embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of a tactile feedback scenario provided in an embodiment of the present invention;

[0047] Figure 3 This is a first example diagram of setting the target focus provided in an embodiment of the present invention;

[0048] Figure 4 is a sound shape detection graph corresponding to the first example of setting the target focus provided in an embodiment of the present invention;

[0049] Figure 5 is a spectrum analysis diagram corresponding to the first example of setting the target focus provided in an embodiment of the present invention;

[0050] Figure 6 This is a second example diagram of setting the target focus provided in an embodiment of the present invention;

[0051] Figure 7 is a sound shape detection graph corresponding to the second example of setting the target focus provided in an embodiment of the present invention;

[0052] Figure 8 is a spectrum analysis diagram corresponding to the second example of setting the target focus provided in an embodiment of the present invention;

[0053] Figure 9a is a schematic diagram of the effect of traditional tactile feedback provided in an embodiment of the present invention;

[0054] Figure 9b is a schematic diagram of the effect of the tactile feedback method provided in an embodiment of the present invention;

[0055] Figure 10 is a schematic diagram of a scenario in which multiple signal transmitters transmit target signals provided in an embodiment of the present invention;

[0056] Figure 11 is a schematic diagram of a spatial coordinate system corresponding to multiple signal transmitters provided in an embodiment of the present invention;

[0057] Figure 12 is the relationship between the ultrasonic frequency and the energy loss rate at z = 0.1 cm provided in the embodiment of the present invention;

[0058] Figure 13 : This is a sound field simulation diagram of the ultrasonic tactile feedback provided in an embodiment of the present invention focused at (0, 0, 0.1m);

[0059] Figure 14 is a schematic structural diagram of a tactile feedback device provided in an embodiment of the present invention;

[0060] Figure 15 2 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0062] Based on the problems mentioned in the above background technology, tactile devices enable human-computer interfaces to create rich and intuitive digital sensations related to touch. The ability to reproduce real physical sensations or create completely new sensations can enrich the communication between computers and people and improve the way we interact. Most tactile devices require physical contact between the actuator or end effector and the skin, but ultrasonic tactile feedback allows the perception of touch without physical contact. Humans are generally unable to feel vibrations at ultrasonic frequencies, that is, they cannot perceive pressure changes at the focus. However, if the amplitude is modulated at a frequency within the vibrotactile perception range (about 5-1000Hz), then the rapid changes in local pressure at the focus will be perceived as a vibration-like touch.

[0063] In addition to enabling contactless tactile sensations, ultrasonic haptic devices offer the unique advantage of expanding the range of tactile sensations that can be generated. Tactile sensations are delivered to the skin via precisely focused sound waves, making it possible to create and move multiple stimulation points without the constraints imposed by physical end-effectors. These sensations can cover a wide range, such as stimulating all hands within a relatively large workspace. Finally, the high sampling rate and speed of sound enable a high degree of temporal precision, which can allow ultrasonic haptic devices to achieve novel tactile sensations that are unattainable with alternative technologies.

[0064] Some related technologies use ultrasound modulated with a simple square wave pattern, where the array is switched on and off at the modulation frequency. As a result, the ultrasound waves generate a near-square wave at the focus of the phased array, whose frequency matches the modulation frequency. This square wave, generated by the nonlinear breakdown of the ultrasound, produces relatively high noise levels. Furthermore, using this modulation method can reduce power output by up to 50% when averaged over time, potentially limiting tactile intensity.

[0065] In some related technologies, active damping can be used to suppress subsequent free damping oscillations after the end of excitation, reduce the mutual influence of adjacent focal points, and eliminate the uncertainty factors that affect the rendering of flat touch intensity, but the impact of touch noise has not been explored.

[0066] Some related technologies use a selected waveform to modulate the generation of ultrasonic waves to produce little or no audible sound at the tactile feedback point. However, this requires reducing noise by selecting an interpolated waveform to make the waveform generated at the focus smoother than the waveform modulated by a square wave pattern, which is not conducive to tactile rendering of complex graphics.

[0067] To address the aforementioned issues, embodiments of the present application provide a tactile feedback method, apparatus, device, medium, program product, and vehicle. These embodiments perform multiple pattern scans based on a target pattern in a space outside a target device, according to a pattern scanning frequency of the target pattern, to form a tactile pattern corresponding to the target pattern in the space outside. The pattern scanning frequency is such that the formed tactile pattern can generate tactile feedback on a perceptual object in the space outside. This can thereby improve and reduce noise caused by tactile feedback.

[0068] Specifically, the tactile feedback method of the present application can be applied to a target device or a vehicle, and the target device can also be a vehicle or be installed on a vehicle. The following takes the target device as an example to describe various embodiments in detail.

[0069] This application provides a tactile feedback method, see Figure 1 The tactile feedback method provided in the embodiment of the present application includes step S10, which is described in detail below.

[0070] S10, performing multiple graphic scans based on the target graphic in an external space of the target device according to a graphic scanning frequency of the target graphic, so as to form a tactile graphic corresponding to the target graphic in the external space;

[0071] The pattern scanning frequency enables the formed tactile pattern to generate tactile feedback on a perceptual object in the external space.

[0072] In this embodiment, the target graphic is the graphic to trigger feedback, and tactile rendering is required to form a tactile graphic in the external space of the target device that can generate tactile feedback on the perceiving object. The perceiving object can perceive tactile feedback consistent with the target graphic.

[0073] In this embodiment, the target device can be a haptic device that can transmit a target signal, such as an ultrasonic wave, into the external space. The focus of the transmitted target signal can move along a trajectory of arbitrary shape and size. In this embodiment, the difference in signal strength at different focus points of the target signal can be minimal, but the focus of the target signal must move within the external space at a sufficiently high speed. The movement of the focus point of the target signal transmitted by the target device into the external space is controlled based on the target pattern, so that the trajectory of the focus point of the target signal forms the target pattern or a shape similar to the target pattern, thereby completing a pattern scan. The pattern scan is repeated multiple times according to the pattern scan frequency of the target pattern to form a tactile pattern corresponding to the target pattern in the external space. The pattern scan frequency refers to the number of pattern scans performed per unit time. Thus, if a point on the tactile pattern is scanned multiple times by the focus point per unit time, a local variation that reaches the pattern scan frequency can be generated. If the pattern scan frequency is within the frequency range perceivable by the perceptual object, the tactile pattern can generate tactile feedback on the perceptual object in the external space.

[0074] In the technical solution disclosed in this embodiment, there is no need to modulate ultrasound using a square wave mode. Instead, the external space is repeatedly scanned based on the target graphic according to the graphic scanning frequency, which can achieve tactile feedback corresponding to the target graphic, reduce the noise caused by the tactile feedback, and improve the user experience. In addition, in this embodiment, the scanning focus position changes within a modulation cycle, and multiple focusing can be performed, which can improve resource utilization. By repeating multiple graphic scanning stimuli, the tactile graphic is smoother, and the perception of the tactile graphic by the perceiving object is also smoother, making it easier for the perceiving object to recognize that the tactile graphic is from the target graphic, thereby improving the restoration of the tactile feedback and improving the tactile feedback effect.

[0075] For better understanding, Figure 2 As shown in FIG, the target graphic of tactile rendering is a circle. Repeatedly scanning the circle 100 times within 1 second will generate a 100Hz vibration on the hand and produce a 100Hz tactile feedback.

[0076] In one embodiment, a single graphic scan includes:

[0077] Target signals are transmitted to a plurality of target focal points corresponding to the target pattern in the external space.

[0078] In this embodiment, multiple target focal points can be determined in external space based on the target pattern. These multiple target focal points in external space can form a shape that matches the target pattern. In a single pattern scan, a target signal can be transmitted to multiple target focal points corresponding to the target pattern in external space, so that the focal points of the target signal can reach each of the multiple target focal points. In this way, the movement trajectory of the target signal focal points can form a pattern that matches the target pattern. By performing multiple pattern scans at the pattern scanning frequency, a tactile pattern can be formed in the external space that can generate tactile feedback on the perceived object.

[0079] In this embodiment, target signals are transmitted to multiple target focal points in a single graphic scan, which is equivalent to performing multiple focusing operations in one modulation cycle. Compared with the related art in which only one square wave focusing is performed in one modulation cycle, resource utilization can be improved.

[0080] In this embodiment, multiple target focal points are discretely arranged in external space relative to the target pattern. The shape formed by the discrete arrangement of the target focal points matches the target pattern. This allows a complex pattern to be broken down into several simple target focal points, each of which can be independently processed in the tactile feedback. This discretization not only simplifies the difficulty of generating the target pattern for tactile feedback, but also ensures that the corresponding output tactile pattern has high resolution and fineness, further improving the tactile feedback effect.

[0081] In one embodiment, the target signal is ultrasonic wave.

[0082] In this embodiment, a target device can emit ultrasonic waves into the external space. The target device can be an ultrasonic tactile device. The target signal emitted by the target device can be ultrasonic waves, and the sensing object can be a human. Humans are generally inaudible to ultrasonic waves, and noise can be further reduced. They also cannot perceive vibrations at ultrasonic frequencies, that is, they cannot perceive pressure changes of ultrasonic waves. However, if the amplitude is modulated within the frequency range of vibrotactile perception (5-1000Hz), then localized rapid changes in focus will be perceived as vibrotactile tactile sensations.

[0083] In this embodiment, ultrasound waves are emitted into the external space based on a target pattern, allowing the ultrasound waves to focus in the external space. The focused trajectory is then moved along a trajectory corresponding to the target pattern. A single pattern scan is completed when the trajectory of the focus forms a target pattern. In this embodiment, a single ultrasound pattern scan is insufficient to form a tactile pattern. Multiple pattern scans are performed at a pattern scan frequency, allowing multiple pattern scans to be completed per unit time. This allows a tactile pattern corresponding to the target pattern to be formed in the external space, generating tactile feedback on a perceived object in the external space.

[0084] In this embodiment, tactile feedback is achieved through ultrasound. Ultrasonic tactile feedback allows for the perception of touch without physical contact and without the need for physical end effectors to impose constraints. By precisely adjusting the focus of the ultrasound, the range of tactile sensation can be expanded, and transmission to the external space can cover a wider range, such as stimulating multiple sensing objects within a relatively large workspace. The high sampling rate and speed of sound can achieve a high degree of temporal accuracy, which allows ultrasonic tactile devices to achieve new tactile sensations that cannot be achieved by alternative technologies, improving the tactile effect. At the same time, using ultrasound as the target signal can reduce auditory noise to a certain extent. Tactile feedback is generated by repeatedly performing a pattern scan at the pattern scan frequency, without the need to modulate a square wave to improve tactile feedback, and no resonant frequency is generated, which can achieve a noise reduction effect for tactile feedback.

[0085] In one embodiment, the product of the number of the target focal points and the pattern scanning frequency is within the inaudible sound wave frequency band corresponding to the target object in the external space.

[0086] In this embodiment, in a single graphic scan, the number of focal points determined based on the target graphic needs to meet certain conditions, that is, the product of the number N of target focal points in a single graphic scan and the graphic scanning frequency F is within the inaudible sound wave frequency band corresponding to the target object in the external space.

[0087] In this embodiment, the graphic scanning frequency F can represent the frequency of graphic scanning per unit time. The number of target focal points to be generated in a single graphic scan is N, so the vibration frequency generated can reach F×N. If not restricted, the vibration frequency may form audible noise. In this embodiment, the number of target focal points and the graphic scanning frequency can be limited so that their product is distributed within the inaudible sound wave frequency band corresponding to the target object in the external space.

[0088] In this way, the vibration frequency corresponding to the audible noise that may be generated by tactile feedback is adjusted to the frequency band of inaudible sound waves of the target object in the external space, which can eliminate the noise of tactile feedback as much as possible and further reduce the noise of tactile feedback.

[0089] In one embodiment, the product of the number of the target focal points and the pattern scanning frequency is greater than the maximum value of the audible sound wave frequency band corresponding to the target object in the external space.

[0090] In this embodiment, while ensuring that F×N falls within the inaudible sound frequency band corresponding to the target object in the external space, F×N can be further limited to a value greater than the maximum value of the audible sound frequency band corresponding to the target object in the external space. This allows for a larger value of F×N, and thus a greater number of target focal points N. The more focal points in the pattern scanning, the smoother the corresponding tactile pattern and the closer the target pattern is to being reproduced, resulting in a more ideal tactile feedback pattern and further enhancing the tactile feedback effect.

[0091] In one embodiment, the audible sound wave frequency band corresponding to the target object is less than or equal to 20,000.

[0092] In this embodiment, the target object can be a human in the external space. The sound frequency range that the human ear can generally perceive is from 20Hz to 2KHZ. This requires that the product of the number of target focal points and the graphic scanning frequency is greater than or equal to 20000, that is, F×N≥20000. In this way, the vibration frequency generated will be greater than or equal to 2KHZ. The vibration frequency generated at this time will basically not be heard by the human ear. Combined with factors such as the environment and distance, the noise of tactile feedback can be basically eliminated, thereby improving the user's comfort.

[0093] For better understanding, an example is provided below:

[0094] Take a circle with a radius of 1.5 cm as the target pattern. If 80 target focuses are set based on the circle and the pattern scanning frequency is 100 Hz, as shown in the figure below: Figure 3 As shown, the microphone is set at one of the target focuses and receives the sound waveform as shown in Figure 4 As shown in the figure, it can be seen that the waveform is not smooth. Figure 5 Frequency domain analysis shows that it contains 8kHz and its multiples, which are within the human audible range. The target device will generate noise when performing tactile feedback. The method provided in this embodiment is to shift the noise frequency of F×N to the ultrasonic frequency range to further reduce the noise. Under the same working condition, the number of target focuses corresponding to the circle is increased to 200, as shown in Figure 1. Figure 6 As shown, the sound waveform received by the microphone is as follows Figure 7 As shown, from Figure 7 It can be seen that the waveform becomes smoother, and the frequency domain analysis is performed on it, and the results are as follows Figure 8 As shown in the figure, there is only 100 Hz noise in the audible sound band. Human hearing is not sensitive to noise of this frequency, so the equipment noise is reduced.

[0095] In one embodiment, the target object includes the perceived object.

[0096] In this embodiment, the target object is an object in the external space, and the perceiving object is also in the external space. Therefore, the target object includes the perceiving object, which can reduce the noise heard by the perceiving object during tactile feedback. The target object can also include objects in the external space other than the perceiving object, such as people in the same space. This can reduce the noise heard by other objects in the external space, further improving the noise reduction effect and range of tactile feedback.

[0097] In one embodiment, transmitting target signals to a plurality of target foci corresponding to the target pattern in the external space includes:

[0098] Target signals are transmitted to the multiple target foci in sequence according to the order of the multiple target foci in the target pattern.

[0099] In this embodiment, multiple target focal points are arranged in sequence in the target graph, and ultrasonic waves are emitted to the multiple target focal points in sequence according to the order of the multiple focal points in the target graph. This can prevent the focal tracks of the signals emitted by the target device from overlapping in a single graphic scan, and can quickly form a graphic that matches the target graphic. After multiple graphic scans are performed according to the graphic scanning frequency, a tactile graphic can be quickly formed, which can improve the efficiency of tactile feedback, and the tactile feedback obtained by the perceived object is more uniform, which can further improve the tactile feedback effect.

[0100] In some embodiments, the multiple target foci are discretely and evenly spaced relative to the target pattern in the external space. This reduces the difference in tactile feedback between the target foci, making the formed tactile pattern smoother and further improving the tactile feedback effect.

[0101] For better understanding, Figure 9a As shown, Figure 9a This waveform is generated by traditional tactile feedback modulation methods. In related technologies, to focus on the image, a square wave is generated within each modulation cycle, resulting in only a single focus, and low resource utilization. Each time a square wave is modulated, a stimulation point is generated for the perceptual object. The time interval between stimulation points is long, resulting in a tactile pattern formed by multiple stimulation points. The perceptual object perceives a pattern formed by these multiple stimulation points, resulting in a rough pattern. Without the perceptual object's ability to recognize the pattern, the tactile feedback effect is poor. Modulating the square wave inevitably generates a resonant signal, resulting in significant noise.

[0102] like Figure 9b As shown, Figure 9b The waveform is generated by modulation using the tactile feedback method provided in this embodiment. Due to the use of ultrasonic frequency, it can be basically noise-free, multiple focusing is achieved within one modulation cycle, resource utilization is high, and multiple repeated scanning is performed, so that the generated tactile graphics have high resolution.

[0103] In some embodiments, the target device includes a plurality of signal transmitters, and transmitting target signals to a plurality of target focal points corresponding to the target graphic in the external space includes:

[0104] For each of the target focal points, the target signal is transmitted to the target focal point through the multiple signal transmitters.

[0105] In this embodiment, the target device includes multiple signal transmitters. During each pattern scan, these transmitters transmit signal waves toward each target focal point. This allows a single target focal point to focus tens or hundreds of signal waves, significantly increasing the achievable amplitude. When an obstruction, such as a sensing object (e.g., a human hand), is located at the target focal point, acoustic radiation pressure manifests as a nonlinear phenomenon of airborne ultrasound: the energy of the sound waves generates positive pressure when reflected from the skin. Multiple transmissions at the pattern scan frequency produce a noticeable tactile feedback.

[0106] In this embodiment, target ultrasonic waves are emitted to the target focus by multiple signal transmitters, which can increase the intensity of tactile feedback and improve the tactile feedback effect.

[0107] In one embodiment, the target signals emitted by the multiple signal transmitters have the same phase when reaching the target focus.

[0108] In this embodiment, each signal transmitter is independently controlled so that the target signals transmitted by the signal transmitters have the same phase when arriving at the target focus, so that the target signals transmitted by multiple signal transmitters can create a signal focus with cumulative amplitude at the target focus, such as Figure 10 As shown, the positive pressure that can be provided at the target focus is enhanced, further enhancing the intensity of the tactile feedback.

[0109] In one embodiment, the phase of the target signals transmitted by the multiple signal transmitters when reaching the target focus is a peak.

[0110] In this embodiment, the peak values ​​of the target signals sent by the multiple signal transmitters are timed to arrive at the target focus synchronously, so that the phase of the target signal sent by each signal transmitter when it arrives at the target focus is the peak value of the target signal, thereby creating a signal focus with a cumulative peak amplitude, thereby further enhancing the tactile feedback intensity.

[0111] In one embodiment, transmitting the target signal to the target focus through the multiple signal transmitters includes:

[0112] Obtaining a phase delay time of the signal transmitter with respect to the target focus;

[0113] Based on the phase delay time corresponding to the signal transmitter, the corresponding signal transmitter is controlled to transmit the target signal to the target focus, so that the phases of the target signals transmitted by the multiple signal transmitters are the same when they reach the target focus.

[0114] In this embodiment, different signal transmitters are installed at different positions, and different signal transmitters have different distances from the target focus. Referring to 10, multiple signal transmitters can be arranged in an array, and the outer signal transmitter needs to transmit before the inner signal transmitter, so that the target signals transmitted by the multiple signal transmitters have the same phase when they reach the target focus. Therefore, different signal transmitters have different phase delay times for the target focus. Based on the phase delay time of the signal transmitter of the signal generator for the target focus, the corresponding signal transmitter is controlled to transmit the target signal, so that the phases of the target signals transmitted by the multiple signal transmitters when they reach the target focus can be the same, and further the target signal peaks transmitted by the multiple signal transmitters can reach the target focus at the same time, so as to focus the signal on the target focus and further enhance the tactile feedback intensity.

[0115] In one embodiment, obtaining the phase delay time of the signal transmitter with respect to the target focus includes:

[0116] Obtaining a target arrival time required for a target signal emitted by the signal transmitter to reach the target focus;

[0117] Based on the target arrival time and the period of the target signal, the phase delay time of the signal transmitter with respect to the target focus is determined.

[0118] In this embodiment, based on the principle of phased acoustic beam focusing, in order to simultaneously focus the peak values ​​of target signals emitted by multiple signal transmitters to the target focal point, the target arrival time required for the target signal emitted by each signal transmitter in the target device to reach the target focal point can be calculated based on the spatial relationship between the target focal point and each signal transmitter. Based on the target arrival time required for the target signal emitted by each signal transmitter to reach the target focal point, the corresponding phase delay time can be further calculated so that the target signals emitted by each signal transmitter arrive at the focal point in phase. The calculation formula is:

[0119] delay i =T-mod(Δt i , t)

[0120] Where mod is the modulo operation and T is the period of the target signal.

[0121] In this embodiment, the phase delay time of each signal transmitter for the target focus is determined by the target arrival time required for the target signal of each signal transmitter to reach the target focus, so that the target signals emitted by multiple signal transmitters can accurately reach the target focus in the same phase and accurately achieve focusing.

[0122] In one embodiment, obtaining the target arrival time required for the target signal transmitted by the signal transmitter to reach the target focus includes:

[0123] The target arrival time corresponding to the signal transmitter is determined based on the first coordinate of the signal transmitter, the second coordinate of the target focus, and the propagation speed of the target signal.

[0124] In this embodiment, if Figure 11 As shown, the first coordinate of the signal transmitter and the second coordinate of the target focus are determined. The first coordinate and the second coordinate may belong to a spatial coordinate system. The distance between the signal transmitter and the target focus can be determined based on the first coordinate and the second coordinate. Based on the distance and the propagation speed of the target signal, the target arrival time required for the target signal emitted by the signal transmitter to reach the target focus can be calculated. The formula is as follows:

[0125]

[0126] Where c0 is the propagation speed of the target signal, (x, y, z) is the first coordinate of the target focus in space, (x i ,y i， z i ) is the second coordinate of the i-th signal transmitter in the target device in space. In some embodiments, the target signal is ultrasonic wave, c0 is the propagation speed of sound in air, and its value is affected by factors such as ambient temperature. When other conditions remain stable, the propagation speed of the target signal is

[0127] In this embodiment, the target arrival time for the target signal transmitted by the signal transmitter to reach the target focus can be accurately determined based on the first coordinate of the signal transmitter, the second coordinate of the target focus and the propagation speed of the target signal.

[0128] In one embodiment, the step of determining the second coordinate of the target focus includes:

[0129] Based on the length of the target graphic, the number of target foci corresponding to the target graphic, and the tactile feedback position, the second coordinates of each target focal point of the target graphic are determined.

[0130] In this embodiment, the step of determining the second coordinate of the target focus includes:

[0131] Based on the target graphic, the number of target foci corresponding to the target graphic, and the tactile feedback position, second coordinates of each target foci of the target graphic are determined.

[0132] In this embodiment, the tactile feedback position is the position where the tactile graphic needs to be formed in the target space. In some embodiments, the tactile feedback position can be preset information. When the perception object moves to the tactile feedback position, tactile feedback of the tactile graphic can be obtained. In some embodiments, the position of the perception object in space can be obtained in real time and used as the tactile feedback position.

[0133] According to the number of target graphics and target focuses, the image coordinates corresponding to the multiple target focuses on the target graphics can be determined, and then the image coordinates of the multiple target focuses on the target graphics can be converted to the tactile feedback positions in space, so that the second coordinates corresponding to the multiple target focuses can be accurately obtained.

[0134] In some embodiments, the second coordinates of the target focus to be rendered in each graphic scan can be the same, so that before tactile rendering is performed, the second coordinates corresponding to multiple target foci can be calculated, and then before the graphic scan is performed, the second coordinates corresponding to the predetermined multiple target foci are obtained, and signal adjustment is performed to achieve focusing of multiple target foci.

[0135] In some embodiments, the energy loss ratio of the target signal at a preset distance from the signal transmitter is lower than a preset ratio.

[0136] In this embodiment, a signal of a certain frequency needs to be selected as the signal frequency for focusing the target signal to the target focus, so that the energy loss ratio of the target signal at a preset distance from the signal transmitter is lower than the preset ratio, thereby further improving resource utilization.

[0137] In one example, the target device is an ultrasonic tactile device. Most ultrasonic tactile devices typically use piezoelectric ultrasonic transmitters to generate ultrasonic waves, and most devices use 40kHz ultrasonic generators. Air is a lossy medium, and the attenuation coefficient β [Np / m] of planar ultrasonic waves varies with frequency. The energy density E at a plane distance z (m) from the ultrasonic transmitter array of the target device is described as: E = E0e -2βz Where is the energy density on the transducer surface (z = 0m). At 40kHz, temperature 25℃, humidity 80%, the attenuation coefficient is 0.13Np / m, and the attenuation coefficient is proportional to the square of the frequency. The relationship between the ultrasonic frequency and the energy loss rate at z = 0.1cm is as follows: Figure 12As shown in the figure. When the frequency is 40kHz, the energy loss is 2.4%. However, if the frequency is increased five times, 50% of the transmitted energy will be lost. Therefore, 40kHz is selected as the frequency of ultrasonic focusing because the attenuation is relatively small and 40kHz ultrasonic generators are also relatively easy to purchase on the market, which can reduce the cost of tactile feedback equipment. Figure 13 The following image shows a simulated sound field generated by a 16x16 ultrasonic transmitter array focused at (0, 0, 0.1m). The ultrasound waves are effectively focused at the focal point. The focus of the ultrasonic transducer array switches between discrete target focal points corresponding to the target pattern according to the aforementioned pattern scanning frequency, ultimately generating a corresponding tactile pattern and enhancing tactile feedback.

[0138] In one embodiment, the step of determining the graphic scanning frequency includes:

[0139] Obtaining the length of the target graphic;

[0140] The pattern scanning frequency is determined according to the length of the target pattern and a preset scanning speed.

[0141] In this embodiment, while the pattern scanning frequency is within the frequency range perceivable by the sensing object, the pattern scanning frequency is also determined in combination with the length of the target pattern and a preset scanning speed. The preset scanning speed may be the speed at which the signal focus moves that produces a strong tactile sensation. The target pattern length is the length of the lines that constitute the target pattern. The calculation formula based on the target pattern length and the preset scanning speed is:

[0142] F=L / S

[0143] Where F represents the graphic scanning frequency, L represents the length, and S represents the preset scanning speed.

[0144] In this embodiment, according to the length of the target pattern and the preset scanning speed, a pattern scanning frequency that produces a strong tactile sensation can be determined, thereby increasing the intensity of the tactile feedback.

[0145] In one embodiment, the preset scanning speed is greater than or equal to 8 m / s and less than or equal to 10 m / s.

[0146] In this embodiment, according to research, when the focus movement speed of the signal is between 8 and 10 m / s, the tactile sensation is the strongest, and the pattern scanning frequency is

[0147] pass Performing multiple graphic scans at a graphic scanning frequency within a certain range can make the tactile sensation stronger and increase the tactile intensity.

[0148] This embodiment also provides a tactile feedback device, which can be integrated into a vehicle, for example, Figure 14 As shown, the tactile feedback device may include:

[0149] The scanning module 1001 is configured to perform multiple graphic scans based on the target graphic in an external space of the target device according to a graphic scanning frequency of the target graphic, so as to form a tactile graphic corresponding to the target graphic in the external space; wherein the graphic scanning frequency enables the formed tactile graphic to generate tactile feedback on a perceptual object in the external space.

[0150] A single graphic scan includes:

[0151] Target signals are transmitted to a plurality of target focal points corresponding to the target pattern in the external space.

[0152] Optionally, the target signal is ultrasonic wave.

[0153] Optionally, the product of the number of the target focal points and the graphic scanning frequency is within an inaudible sound wave frequency band corresponding to the target object in the external space.

[0154] Optionally, the product of the number of the target focal points and the graphic scanning frequency is greater than the maximum value of the audible sound wave frequency band corresponding to the target object in the external space.

[0155] Optionally, the maximum value is less than or equal to 20,000.

[0156] Optionally, the target object includes the perceived object.

[0157] Optionally, transmitting target signals to a plurality of target foci corresponding to the target graphic in the external space includes:

[0158] Target signals are transmitted to the multiple target foci in sequence according to the order of the multiple target foci in the target pattern.

[0159] Optionally, the target device includes a plurality of signal transmitters, and transmitting target signals to a plurality of target focal points corresponding to the target graphic in the external space includes:

[0160] For each of the target focal points, the target signal is transmitted to the target focal point through the multiple signal transmitters.

[0161] Optionally, the target signals emitted by the multiple signal transmitters have the same phase when reaching the target focus.

[0162] Optionally, the phase of the target signals emitted by the multiple signal transmitters when reaching the target focus is a peak.

[0163] Optionally, transmitting the target signal to the target focus through the multiple signal transmitters includes:

[0164] Obtaining a phase delay time of the signal transmitter with respect to the target focus;

[0165] Based on the phase delay time corresponding to the signal transmitter, the corresponding signal transmitter is controlled to transmit the target signal to the target focus, so that the phases of the target signals transmitted by the multiple signal transmitters are the same when they reach the target focus.

[0166] Optionally, obtaining the phase delay time of the signal transmitter with respect to the target focus includes:

[0167] Obtaining a target arrival time required for a target signal emitted by the signal transmitter to reach the target focus;

[0168] Based on the target arrival time and the period of the target signal, the phase delay time of the signal transmitter with respect to the target focus is determined.

[0169] Optionally, obtaining a target arrival time required for the target signal emitted by the signal transmitter to reach the target focus includes:

[0170] The target arrival time corresponding to the signal transmitter is determined based on the first coordinate of the signal transmitter, the second coordinate of the target focus, and the propagation speed of the target signal.

[0171] Optionally, the step of determining the second coordinate of the target focus includes:

[0172] Based on the target graphic, the number of target foci corresponding to the target graphic, and the tactile feedback position, second coordinates of each target foci of the target graphic are determined.

[0173] Optionally, the energy loss ratio of the target signal at a preset distance from the signal transmitter is lower than a preset ratio.

[0174] Optionally, the step of determining the graphic scanning frequency includes:

[0175] Obtaining the length of the target graphic;

[0176] The pattern scanning frequency is determined according to the length of the target pattern and a preset scanning speed.

[0177] Optionally, the preset scanning speed is greater than or equal to 8 m / s and less than or equal to 10 m / s.

[0178] In this embodiment, multiple graphic scans are performed based on the target graphic in the external space of the target device according to the graphic scanning frequency of the target graphic, so as to form a tactile graphic corresponding to the target graphic in the external space; wherein, the graphic scanning frequency enables the formed tactile graphic to generate tactile feedback on the perceptual object in the external space. In this way, there is no need to modulate ultrasound in a square wave mode, but instead the external space is repeatedly scanned based on the target graphic according to the graphic scanning frequency to achieve tactile feedback corresponding to the target graphic, which can reduce the noise caused by the tactile feedback and improve the user experience.

[0179] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0180] Accordingly, an embodiment of the present application further provides an electronic device, such as Figure 15 As shown, Figure 15 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 1100 also includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored on the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. Those skilled in the art will understand that the electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0181] The processor 1101 is the control center of the electronic device 1100. It uses various interfaces and lines to connect the various parts of the entire electronic device 1100. By running or loading software programs and / or units stored in the memory 1102 and calling data stored in the memory 1102, it executes various functions of the electronic device 1100 and processes data, thereby monitoring the electronic device 1100 as a whole. The processor 1101 can be a processor (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of this application.

[0182] In the embodiment of the present application, the processor 1101 in the electronic device 1100 loads instructions corresponding to one or more application processes into the memory 1102 according to the following steps, and the processor 1101 runs the application stored in the memory 1102 to implement various functions, such as:

[0183] A scanning module is configured to perform multiple graphic scans based on the target graphic in an external space of the target device according to a graphic scanning frequency of the target graphic, so as to form a tactile graphic corresponding to the target graphic in the external space; wherein the graphic scanning frequency enables the formed tactile graphic to generate tactile feedback on a perceptual object in the external space.

[0184] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0185] Optional, such as Figure 15 As shown, the electronic device 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. Among them, the processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107 respectively. Those skilled in the art will understand that Figure 15 The electronic device structure shown in the figure does not constitute a limitation to the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0186] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the electronic device, and these graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel can be used to collect the user's touch operation on or near it (such as the user uses any suitable object or accessory such as a finger, a stylus, etc. on the touch panel or near the touch panel) and generate corresponding operation instructions, and the operation instructions execute the corresponding program. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal caused by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 1101, and can receive commands sent by the processor 1101 and execute them. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event. Then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present invention, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to realize the input function.

[0187] The radio frequency circuit 1104 may be used to transmit and receive radio frequency signals, thereby establishing wireless communication with network medical devices or other electronic devices through wireless communication, and transmitting and receiving signals between network medical devices or other electronic devices.

[0188] The audio circuit 1105 can be used to provide an audio interface between the user and the electronic device through a speaker and a microphone. The audio circuit 1105 can convert the received audio data into an electrical signal and transmit it to the speaker, which then converts it into a sound signal for output. On the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data. The audio data is then output to the processor 1101 for processing, and then sent to another electronic device through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earphone jack to provide communication between external headphones and the electronic device.

[0189] The input unit 1106 may be configured to receive input digital, character information, or user feature information (such as fingerprint, iris, or facial information), and to generate keyboard, mouse, joystick, optical, or trackball signal input related to user settings and function control.

[0190] Power supply 1107 is used to supply power to various components of electronic device 1100. Optionally, power supply 1107 can be logically connected to processor 1101 via a power management device, thereby enabling the power management device to manage charging, discharging, and power consumption. Power supply 1107 can also include one or more DC or AC power supplies, a recharging device, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0191] although Figure 15 Not shown, the electronic device 1100 may further include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0192] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0193] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0194] To this end, an embodiment of the present application provides a computer-readable storage medium storing a plurality of computer programs. The computer programs can be loaded by a processor to execute any one of the tactile feedback methods provided in the embodiments of the present application. The computer programs can execute the following steps of the tactile feedback method:

[0195] A scanning module is configured to perform multiple graphic scans based on the target graphic in an external space of the target device according to a graphic scanning frequency of the target graphic, so as to form a tactile graphic corresponding to the target graphic in the external space; wherein the graphic scanning frequency enables the formed tactile graphic to generate tactile feedback on a perceptual object in the external space.

[0196] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0197] The computer-readable storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0198] Since the computer-readable storage medium can implement the beneficially stored computer program that can be implemented by any tactile feedback method provided in the embodiments of the present application, and can execute any tactile feedback method provided in the embodiments of the present application, the effects are detailed in the previous embodiments and will not be repeated here.

[0199] Optionally, an embodiment of the present application further provides a vehicle, comprising any one of the above tactile feedback devices, electronic devices, computer-readable storage media, and computer program products, and executing any one of the above methods.

[0200] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0201] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0202] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other unless there is any conflict.

[0203] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A tactile feedback method, characterized in that: Applied to target devices, including: performing multiple pattern scans based on the target pattern in an external space of the target device according to a pattern scanning frequency of the target pattern, so as to form a tactile pattern corresponding to the target pattern in the external space; The pattern scanning frequency enables the formed tactile pattern to generate tactile feedback on a perceptual object in the external space.

2. The tactile feedback method according to claim 1, wherein: A single graphic scan includes: Target signals are transmitted to a plurality of target focal points corresponding to the target pattern in the external space.

3. The tactile feedback method according to claim 2, wherein: The target signal is ultrasonic wave.

4. The method according to claim 2, wherein The product of the number of the target focal points and the graphic scanning frequency is within the inaudible sound wave frequency band corresponding to the target object in the external space.

5. The method according to claim 4, wherein The product of the number of the target focal points and the pattern scanning frequency is greater than the maximum value of the audible sound wave frequency band corresponding to the target object in the external space.

6. The method according to claim 5, wherein The maximum value is less than or equal to 20,000.

7. The method according to claim 4, wherein The target object includes the perceived object.

8. The tactile feedback method according to claim 2, wherein: The transmitting target signals to the plurality of target focal points corresponding to the target graphic in the external space includes: Target signals are transmitted to the multiple target foci in sequence according to the order of the multiple target foci in the target pattern.

9. The tactile feedback method according to claim 2, wherein: The target device includes a plurality of signal transmitters, and transmitting target signals to a plurality of target focal points corresponding to the target graphics in the external space includes: For each of the target focal points, the target signal is transmitted to the target focal point through the multiple signal transmitters.

10. The tactile feedback method according to claim 9, wherein: The target signals emitted by the multiple signal transmitters have the same phase when reaching the target focus.

11. The tactile feedback method according to claim 10, wherein: The phases of the target signals transmitted by the multiple signal transmitters when they reach the target focus are peak.

12. The tactile feedback method according to claim 10, wherein: The transmitting the target signal to the target focus through the multiple signal transmitters includes: Obtaining a phase delay time of the signal transmitter with respect to the target focus; Based on the phase delay time corresponding to the signal transmitter, the corresponding signal transmitter is controlled to transmit the target signal to the target focus, so that the phases of the target signals transmitted by the multiple signal transmitters are the same when they reach the target focus.

13. The tactile feedback method according to claim 12, wherein: The acquiring of the phase delay time of the signal transmitter with respect to the target focus comprises: Obtaining a target arrival time required for a target signal emitted by the signal transmitter to reach the target focus; Based on the target arrival time and the period of the target signal, the phase delay time of the signal transmitter with respect to the target focus is determined.

14. The tactile feedback method according to claim 13, wherein: The acquiring the target arrival time required for the target signal emitted by the signal transmitter to reach the target focus includes: The target arrival time corresponding to the signal transmitter is determined based on the first coordinate of the signal transmitter, the second coordinate of the target focus, and the propagation speed of the target signal.

15. The tactile feedback method according to claim 14, wherein: The step of determining the second coordinate of the target focus includes: Based on the target graphic, the number of target foci corresponding to the target graphic, and the tactile feedback position, second coordinates of each target foci of the target graphic are determined.

16. The tactile feedback method according to claim 9, wherein: The energy loss ratio of the target signal at a preset distance from the signal transmitter is lower than a preset ratio.

17. The tactile feedback method according to any one of claims 1 to 16, wherein: The step of determining the graphic scanning frequency includes: Obtaining the length of the target graphic; The pattern scanning frequency is determined according to the length of the target pattern and a preset scanning speed.

18. The tactile feedback method according to claim 17, wherein: The preset scanning speed is greater than or equal to 8 m / s and less than or equal to 10 m / s.

19. A tactile feedback device, characterized in that: The tactile feedback device comprises: A scanning module is configured to perform multiple graphic scans based on the target graphic in an external space of the target device according to a graphic scanning frequency of the target graphic, so as to form a tactile graphic corresponding to the target graphic in the external space; wherein the graphic scanning frequency enables the formed tactile graphic to generate tactile feedback on a perceptual object in the external space.

20. An electronic device, characterized in that: The device comprises a processor connected to a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program in the memory to execute the tactile feedback method according to any one of claims 1 to 18.

21. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the tactile feedback method according to any one of claims 1 to 18 is implemented.

22. A computer program product, characterized in that The device comprises a computer program, wherein the computer program is executed by a processor to implement the tactile feedback method according to any one of claims 1 to 18.

23. A vehicle, characterized in that: The vehicle executes the tactile feedback method according to any one of claims 1 to 18, or includes the tactile feedback device according to claim 19 or the electronic device according to claim 20.

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