Interactive multi-axis electromagnetic tactile array driving method and device

Abstract

The invention provides an interactive multi-axis electromagnetic tactile array driving method and device. The method comprises the following steps: acquiring a magnetic induction intensity value of a magnetostrictive tactile device; performing electromagnetic solution on the magnetic induction intensity value, and determining a driving current set of the solenoid array and a driving current set of the tactile operating rod; a haptic feedback force generated by the magnetohaptic device is determined based on a set of drive currents of the solenoid array and a set of drive currents of the haptic lever. According to the interactive multi-axis electromagnetic tactile array driving method and device provided by the invention, through the magnetic tactile calculation under the electromagnetic field, the tactile generation direction is not limited, the tactile generation in any direction in the magnetic tactile feedback is realized, the tactile feedback closest to the real environment can be realized, the interactive calculation precision is improved, and the interactive multi-axis electromagnetic tactile array driving method and device are suitable for large-scale popularization and application. And a tactile driving mode for finally generating stable current is obtained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magneto- tactile technology, and particularly relates to an interactive multi-axis electromagnetic tactile array driving method and device. BACKGROUND

[0002] The research on magneto-tactile is a hot scheme in the field of tactile feedback. Especially in the micro-invasive surgical operation system which requires strictness, the high initiative and low interference characteristics guarantee the safety of the operation. Doctors hope to complete the meticulous operation with the help of a handy tactile feedback device.

[0003] In the existing implementation mode of magneto-tactile feedback, only the form of tactile implementation is proposed, and the design scheme for generating tactile in any direction in magneto-tactile feedback is not involved. How to realize the demand for generating tactile in any direction in magneto-tactile feedback is an important topic to be solved in the industry at present. SUMMARY

[0004] The present application provides an interactive multi-axis electromagnetic tactile array driving method and device to realize the generation of tactile in any direction in magneto-tactile feedback.

[0005] The present application provides an interactive multi-axis electromagnetic tactile array driving method, comprising:

[0006] Obtaining a magnetic induction intensity value of a magneto-tactile device, the magnetic induction intensity value being generated based on that a tactile operating rod of the magneto-tactile device is in an operating space of a solenoid array of the magneto-tactile device, the solenoid array being constructed by arranging a plurality of transmitting solenoids, and the tactile operating rod being constructed based on a three-axis orthogonal coil;

[0007] Electromagnetically solving the magnetic induction intensity value to determine a driving current set of the solenoid array and a driving current set of the tactile operating rod;

[0008] Determining a tactile feedback force generated by the magneto-tactile device based on the driving current set of the solenoid array and the driving current set of the tactile operating rod.

[0009] According to the interactive multi-axis electromagnetic tactile array driving method provided by the present application, the magnetic induction intensity value is electromagnetically solved to determine the driving current set of the solenoid array and the driving current set of the tactile operating rod, comprising:

[0010] The magnetic induction intensity value is electromagnetically solved based on a near-field finite element model, the driving current set of the solenoid array and the driving current set of the haptic operating rod are determined, the near-field finite element model is constructed based on a near-field electromagnetic field model and a near-field electromagnetic finite element (NEFEM) algorithm, and the magnetic field parameters are generated based on the geometric parameters between the haptic operating rod and the solenoid array, and the current parameter output corresponding to the magnetic field parameters is generated.

[0011] According to the interactive multi-axis electromagnetic haptic array driving method provided by the application, the haptic feedback force generated by the magneto-haptic device is determined based on the driving current set of the solenoid array and the driving current set of the haptic operating rod, and includes the following steps:

[0012] The target electromagnetic force is generated based on the driving current set of the solenoid array and the driving current set of the haptic operating rod.

[0013] The haptic feedback force generated by the magneto-haptic device is determined based on the target electromagnetic force.

[0014] According to the interactive multi-axis electromagnetic haptic array driving method provided by the application, the haptic feedback force generated by the magneto-haptic device is determined based on the target electromagnetic force, and includes the following steps:

[0015] The haptic feedback force received by the magneto-haptic device is determined by adjusting the target electromagnetic force based on the mapping relationship.

[0016] The mapping relationship is based on a simplex algorithm, and the electromagnetic force generated by the magneto-haptic device is iterated so that the error between the electromagnetic force generated by the magneto-haptic device and the actual acting force of the magneto-haptic device is less than a preset error threshold.

[0017] According to the interactive multi-axis electromagnetic haptic array driving method provided by the application, the haptic operating rod is constructed based on a detection coil, a receiving coil, a Hall sensor array, an inertial measurement unit and a force sensor.

[0018] According to the interactive multi-axis electromagnetic haptic array driving method provided by the application, after determining the haptic feedback force received by the magneto-haptic device, the method further includes the following steps:

[0019] The mutual inductance voltage value is determined based on the magnetic field mutual inductance interaction between the haptic operating rod and the solenoid array.

[0020] The haptic operating rod is positioned and calculated based on the distance between the receiving coil of the haptic operating rod and the transmitting solenoid in the solenoid array, the mutual inductance voltage value and the angle value of the haptic operating rod, and the three-dimensional space coordinates of the end operating point of the haptic operating rod and the attitude of the end operating point are determined.

[0021] The application further provides an interactive multi-axis electromagnetic haptic array driving device, comprising:

[0022] A magnetic induction intensity determination module is configured to obtain a magnetic induction intensity value of the magneto-haptic device, which is generated when the haptic operating rod of the magneto-haptic device is in the operating space of the solenoid array of the magneto-haptic device, the solenoid array is arranged and constructed by a plurality of transmitting solenoids, and the haptic operating rod is constructed based on a three-axis orthogonal coil;

[0023] A driving current solving module is configured to electromagnetically solve the magnetic induction intensity value, determine a driving current set of the solenoid array and a driving current set of the haptic operating rod.

[0024] A feedback determination module is configured to determine a haptic feedback force generated by the magneto-haptic device based on the driving current set of the solenoid array and the driving current set of the haptic operating rod.

[0025] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the interactive multi-axis electromagnetic haptic array driving method according to any one of the above when executing the computer program.

[0026] The application further provides a non-transitory computer-readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the interactive multi-axis electromagnetic haptic array driving method according to any one of the above.

[0027] The application further provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the interactive multi-axis electromagnetic haptic array driving method according to any one of the above.

[0028] The interactive multi-axis electromagnetic haptic array driving method and device provided by the application generate a magnetic induction intensity value of the magneto-haptic device when the haptic operating rod of the magneto-haptic device is in the operating space of the solenoid array of the magneto-haptic device, electromagnetically solve the magnetic induction intensity value, determine a driving current set of the solenoid array and a driving current set of the haptic operating rod, and further determine a haptic feedback force generated by the magneto-haptic device. Through magneto-haptic calculation under an electromagnetic field, the direction of haptic generation is not limited, haptic generation in any direction of magneto-haptic feedback is achieved, haptic feedback closest to a real environment is achieved, interactive calculation precision is improved, and a haptic driving mode with stable current is finally generated. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly described below. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0030] Figure 1 is a schematic diagram of a haptic implementation of the related method;

[0031] Figure 2 is a flowchart of the interactive multi-axis electromagnetic haptic array driving method provided by the present application;

[0032] Figure 3 is a structural schematic diagram of the magnetorheological haptic device provided by the present application;

[0033] Figure 4 is a structural schematic diagram of the three-axis differential receiving end electromagnetic coil provided by the present application;

[0034] Figure 5 is a design structural schematic diagram of the magnetorheological haptic device provided by the present application;

[0035] Figure 6 is a flowchart of the electromagnetic force determination algorithm provided by the present application;

[0036] Figure 7 is a result schematic diagram of the iterative calculation provided by the present application;

[0037] Figure 8 is a time domain finite state machine schematic diagram of the haptic scheduling provided by the present application;

[0038] Figure 9 is a structural schematic diagram of the interactive multi-axis electromagnetic haptic array driving device provided by the present application;

[0039] Figure 10 is a structural schematic diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0040] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, but not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] In the related method, no design scheme is involved in any direction haptic generation of the magnetic haptic feedback, most designs only propose the form of haptic implementation, and the significance of haptic to surgical operation cannot be truly played. The schematic diagram of the related method can be as follows Figure 1 The haptic implementation schematic diagram of the related method is shown. Figure 1 (a) of the related method is a haptic feedback device, which is bulky and large in size, and occupies a large operation space. Meanwhile, the movement mode of the device is fixed, and only position and posture coupled operation can be completed. Figure 1 (b) of the related method is a haptic feedback device, which relies on optical positioning. The positioning accuracy is affected by the external environment and imaging device. Meanwhile, the array form is single, and the uniformity is difficult to maintain. Figure 1 (c) of the related method is a haptic feedback device, which also relies on visual positioning. Three electromagnetic arrays and permanent magnets with fixed magnetic moments are adopted. The generation dimension of the haptic effect is limited.

[0042] Therefore, in the related method, the haptic feedback cannot achieve satisfactory haptic effect, resulting in low calculation result accuracy. Fixed driving matrix and current control are adopted, and the generated force cannot completely describe the magnetic haptic in the case of rapid change of position in the working space, that is, delicate haptic cannot be completely generated. Therefore, the generation of delicate haptic depends on the interaction dimension of the magnetic haptic driving array and the response speed of the array driving, that is, the size, direction and speed of haptic generation. In the field of strict minimally invasive surgery, the specifications of haptic generation, positioning, stability and reliability must meet the standards of medical instruments.

[0043] The present application provides an interactive multi-axis electromagnetic haptic array driving method, Figure 2 The flowchart of the interactive multi-axis electromagnetic haptic array driving method provided by the present application is shown. Referring to Figure 2 The interactive multi-axis electromagnetic haptic array driving method provided by the present application can include:

[0044] In step 210, the magnetic induction intensity value of the magnetic haptic device is obtained, the magnetic induction intensity value is generated based on that the haptic operating rod of the magnetic haptic device is in the operation space of the solenoid array of the magnetic haptic device, the solenoid array is arranged and constructed by a plurality of emitting solenoids, and the haptic operating rod is constructed based on three-axis orthogonal coils;

[0045] In step 220, the magnetic induction intensity value is electromagnetically solved to determine the driving current set of the solenoid array and the driving current set of the haptic operating rod.

[0046] At step 230, based on the driving current set of the solenoid array and the driving current set of the haptic operating rod, the haptic feedback force generated by the magneto-haptic device is determined.

[0047] The execution subject of the interactive multi-axis electromagnetic haptic array driving method provided by the application can be an electronic device, a component in the electronic device, an integrated circuit, or a chip. The electronic device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a notebook computer, a palm computer, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), and the non-mobile electronic device can be a server, a network attached storage (NAS), or a personal computer (PC), without specific limitation of the application.

[0048] The technical solutions of the application will be described in detail below with the computer executing the interactive multi-axis electromagnetic haptic array driving method provided by the application as an example.

[0049] At step 210, the magnetic induction intensity value of the magneto-haptic device is obtained, which is generated based on the fact that the haptic operating rod of the magneto-haptic device is in the operation space of the solenoid array of the magneto-haptic device. The solenoid array is constructed by arranging a plurality of transmitting solenoids, and the haptic operating rod is constructed based on a three-axis orthogonal coil.

[0050] The structural diagram of the constructed magneto-haptic device can be as shown in Figure 3 The structural diagram of the magneto-haptic device provided by the application is shown. The magneto-haptic device includes a solenoid array and a haptic operating rod. The innovative design of the interaction module can provide a multi-degree-of-freedom effect. The magneto-haptic array is generated in the form of regularly arranged transmitting solenoids. The array configuration is shown in the figure, and seven solenoids are taken as an example, but the number is not limited to this in actual deployment, and the number of solenoids can be actually determined according to the region of interest (ROI).

[0051] First, redundancy is provided in the solenoid array part, multi-degree-of-freedom is provided in the receiving coil part, and multi-degree-of-freedom is jointly provided in the interaction calculation. As shown in Figure 4 As shown in the three-axis differential receiving end electromagnetic coil structure diagram provided by the application, the coil receiving part is located Figure 3The front end position of the haptic operating rod is enhanced in positioning and haptic generation ability through structural design and coil winding method. The three-axis orthogonal coil arrangement can cover the driving and positioning requirements on the sphere axis, and each axis is arranged with two differential coils for suppressing common mode noise and improving the accuracy of positioning signal reception; the pure iron core enhances the signal reception ability and also increases the amplitude of electromagnetic force.

[0052] Specifically, the magneto-haptic device is divided into two parts, a solenoid array and a haptic operating rod, and the specific design structure can be as shown in Figure 5 The design structure of the magneto-haptic device provided by the application is shown in the schematic diagram. The user holds the haptic operating rod, places the front end of the haptic operating rod in the effective working area (as shown in Figure 5 (1) in the figure) inside the array cavity, and completes the fine operation with haptic feedback constraint. Figure 5 (2) in the figure shows the arrangement of the example magnetic field strength around the array.

[0053] The haptic operating rod contains a detection coil (as shown in Figure 5 (3) in the figure), and any sensor that can play a role, such as a sensor Hall sensor array, an inertial measurement unit, and a force sensor, and includes various buttons to realize the defined operation function.

[0054] The cavity structure is an array composed of a plurality of solenoids with cores, which surrounds the working space in a hemispherical curved surface shape, and finally obtains a time-varying electromagnetic field by inputting current to each electromagnet, so as to further determine the magnetic induction strength value based on the time-varying electromagnetic field.

[0055] The array bottom is a signal acquisition box, which places a signal processing board inside to complete high-speed acquisition of various analog signals and digital signals, and the shell adopts magnetic shielding material to keep the signal pure in the operation environment.

[0056] The solenoid adopts a redundant arrangement method, which can efficiently complete the rapid response to multidirectional haptics. In theory, three orthogonal electromagnetic coils can complete the generation of any magnetic field in the enclosed working space, and can balance the excitation current required at the edge of the array, so the redundant array is a suitable design, and the redundant number is determined by the specific haptic cavity size, which can be flexibly changed to adapt to specific surgical application scenarios.

[0057] In step 220, the magnetic induction strength value is electromagnetically solved to determine the driving current set of the solenoid array and the driving current set of the haptic operating rod.

[0058] Optionally, based on the near-field electromagnetic finite element NEFEM algorithm, the process of determining the driving current set of the solenoid array and the driving current set of the haptic operating rod, and further determining the magnetic field force can be:

[0059] Pre-modeling of the magneto-haptic array is performed to obtain a near-field finite element model under electromagnetic field. The near-field finite element model can convert the entire device grid geometry into electromagnetic field variables. The conversion from geometry parameters to magnetic field parameters (inside) and then to current parameter output is achieved.

[0060] The magnetic field generation follows the Biot-Savart law and the Gauss law, where B is the magnetic induction value, is the displacement current vector, r' is the displacement vector, is the unit vector, and μ0 represents the vacuum permeability constant.

[0061]

[0062] For the static magnetic field, the linear superposition principle of the magnetic field is followed, i.e. the magnetic field induction value at a point in space can be regarded as the vector superposition of multiple magnetic fields.

[0063]

[0064] The force on the magnet in the magnetic field can be represented by the following formula. Where τ is the magnetic moment, is the magnetic dipole moment.

[0065]

[0066] Further, the calculation of the magnetic force follows the following scheme. Where F(t), T(t) are the generation of force and torque, Ka and Kb represent the geometric factors to adjust the weight in the calculation, which is refreshed in real time through the position of the haptic handle, m represents the overall magnetic moment under the driving current, and B is the magnetic field intensity at the corresponding position.

[0067]

[0068] After obtaining the magnetic force, the positioning of the haptic handle can be further performed. The positioning algorithm is to solve the inverse Neumann equation to obtain the geometric parameters of the positioning coil and the transmitting solenoid. A polynomial method for solving Fredholm integral equation of the second kind is used, and the calculation formula is as follows:

[0069]

[0070] Where, M ij is the mutual inductance coefficient, μ0, μ r is the permeability parameter, l T , l RFor integral line element, D is the transmitting solenoid (from the solenoid array) and the receiving coil (from the haptic lever), r, h, and theta are positioning geometric parameters, which are adapted to different configurations, and the position and posture of the haptic lever can be further derived.

[0071] In step 230, based on the driving current set of the solenoid array and the driving current set of the haptic lever, the haptic feedback force generated by the magneto-haptic device is determined.

[0072] It can be understood that based on the driving current set of the solenoid array and the driving current set of the haptic lever, the electromagnetic force corresponding to the current can be generated.

[0073] The electromagnetic force can be converted into the haptic feedback force generated by the magneto-haptic device, thereby realizing the determination of the haptic feedback force of the magneto-haptic device.

[0074] The interactive multi-axis electromagnetic haptic array driving method provided by the embodiment of the application generates the magnetic induction intensity value of the magneto-haptic device through the haptic lever of the magneto-haptic device in the operation space of the solenoid array of the magneto-haptic device, performs electromagnetic solving on the magnetic induction intensity value, determines the driving current set of the solenoid array and the driving current set of the haptic lever, and further determines the haptic feedback force generated by the magneto-haptic device. Through magneto-haptic calculation under the electromagnetic field, the direction of the generated haptic is not limited, the haptic generation in any direction of the magneto-haptic feedback is realized, the haptic feedback closest to the real environment is realized, the interactive calculation precision is improved, and the final stable current generated haptic driving mode is obtained.

[0075] In one embodiment, the electromagnetic solving on the magnetic induction intensity value to determine the driving current set of the solenoid array and the driving current set of the haptic lever includes: based on a near-field finite element model, performing electromagnetic solving on the magnetic induction intensity value to determine the driving current set of the solenoid array and the driving current set of the haptic lever, the near-field finite element model is constructed based on a near-field electromagnetic field model and a near-field electromagnetic finite element NEFEM algorithm, and is used to generate a magnetic field parameter based on the geometric parameter between the haptic lever and the solenoid array, and generate a current parameter output corresponding to the magnetic field parameter.

[0076] Specifically, the near-field finite element model is constructed based on the near-field electromagnetic field model and the near-field electromagnetic finite element NEFEM algorithm.

[0077] The near-field finite element model is a grid of the geometry parameters of the magnetorheological haptic device converted into electromagnetic field variables (i.e. magnetic field intensity). The near-field finite element model is based on the near-field electromagnetic model (Maxwell equations) and the near-field electromagnetic finite element NEFEM algorithm, which can realize the conversion from geometry parameters to magnetic field parameters (internally) and then to current parameters output.

[0078] Optionally, the generation process can be:

[0079] Step 1: The computing platform loads the near-field electromagnetic finite element model.

[0080] Configure the geometry parameters of the solenoid array and the haptic handle;

[0081] Set the model boundary constraints, current constraints, and target power constraints.

[0082] Step 2: Enter the Nelder-mead simplex calculation kernel.

[0083] Update the finite element model based on the existing current set, position, and attitude;

[0084] Current variable sorting: update the weight sequence;

[0085] Simplex reflection, expansion, and contraction;

[0086] If the error is below the threshold, proceed to the next step, otherwise return to Step 2.

[0087] Step 3: Haptic waveform generation control.

[0088] Generate a time-domain waveform sequence based on the haptic characteristics.

[0089] Step 4: Current output feedback.

[0090] Analog-to-digital converter samples the output current;

[0091] Perform current closed-loop control;

[0092] If the current error is below the threshold, proceed to the next step, otherwise return to Step 1.

[0093] Step 5: Observe or perform external calibration through peripheral force sensors and haptic sensors.

[0094] Step 6: End.

[0095] In one embodiment, determining the haptic feedback force generated by the magneto- haptic device based on the driving current set of the solenoid array and the driving current set of the haptic joystick comprises: generating a target electromagnetic force based on the driving current set of the solenoid array and the driving current set of the haptic joystick; determining the haptic feedback force generated by the magneto- haptic device based on the target electromagnetic force.

[0096] Generating a target electromagnetic force based on the driving current set of the solenoid array and the driving current set of the haptic joystick.

[0097] After generating the target electromagnetic force, the haptic feedback force generated by the magneto-haptic device can be generated based on the target electromagnetic force based on the correspondence between the target electromagnetic force and the haptic feedback force.

[0098] The correspondence between the target electromagnetic force and the haptic feedback force can be determined in advance.

[0099] In one embodiment, determining the haptic feedback force generated by the magneto- haptic device based on the target electromagnetic force comprises: adjusting the target electromagnetic force based on a mapping relationship to determine the received haptic feedback force of the magneto-haptic device; the mapping relationship is based on a simplex algorithm to iteratively generate electromagnetic force of the magneto-haptic device so that the error between the electromagnetic force generated by the magneto-haptic device and the actual acting force of the magneto-haptic device is less than a preset error threshold.

[0100] Specifically, as shown in Figure 6 The electromagnetic force determination algorithm flow provided by the present application is shown in the figure.

[0101] As shown in Figure 6 ① in the figure, this part completes the finite element modeling and electromagnetic solving process of the solenoid array and the receiving coil under the current position, Figure 6 ② in the figure represents gradually adjusting the driving current set strategy according to the optimization logic in the simplex algorithm, and iteratively returning to the electromagnetic calculation to gradually reduce the error. In actual testing, it is verified that the iteration step number of this part is about 500 steps, and the deployment of a fast multi-level sub-operation core in FPGA can quickly complete the solution of this part, as shown in Figure 7 The result of the iterative calculation provided by the present application is shown in the figure. The Nelder-Mead iterative calculation process: Figure 7 (a) in the figure is the calculated output force, Figure 7 (a) in the figure is the driving current of the coil, Figure 7 (b) in the figure is the error between the target output force and the calculated output force.

[0102] In one embodiment, the haptic joystick is constructed based on a detection coil, a receiving coil, a Hall sensor array, an inertial measurement unit and a force sensor.

[0103] The haptic grip contains a probe coil, a receiver coil, and any sensors that can function, such as a Hall sensor array, an inertial measurement unit, and a force sensor, as well as various buttons to implement the defined operating functions.

[0104] In one embodiment, after determining the tactile feedback force received by the magneto-haptic device, the method further includes: determining the mutual inductance voltage value based on the magnetic field interaction between the tactile operating rod and the solenoid array; and performing positioning calculations on the tactile operating rod based on the distance between the receiving coil of the tactile operating rod and the transmitting solenoid in the solenoid array, the mutual inductance voltage value, and the angle value of the tactile operating rod, to determine the three-dimensional spatial coordinates of the end point of the tactile operating rod and the orientation of the end point.

[0105] The specific positioning process can be implemented based on a positioning refresh algorithm. The main purpose of the positioning refresh algorithm is to obtain the position and orientation of the tactile control lever based on magnetic field mutual induction interaction. The positioning refresh algorithm process is as follows:

[0106] Step 1: Perform Kalman filtering on the original mutual inductance voltage values.

[0107] State equation construction: X(k)=AX(k-1)+w(k-1);

[0108] The observation equation is constructed as follows: Y(k) = CX(k) + v(k);

[0109] Noise identification: Q ij =E <w·w T >,R ij =E <v·v T >;

[0110] predict:

[0111] renew:

[0112] Where k is time, X is the state variable, A is the state change parameter, w is the process noise, Y is the observation quantity, C is the observation model parameter, v is the observation noise, and Q is the process noise. ij Let W be the covariance matrix of w, E be the expected value, and R be the expected value. ij The covariance matrix P is the posterior estimation error covariance matrix, and K is the optimal Kalman gain.

[0113] Step 2: Sample the reference angle values ​​of the inertial measurement unit;

[0114] Obtain the angle value of the inertial measurement unit;

[0115] Obtaining small range deviation angle between coils;

[0116] Step 3: Fast Fourier Transform is performed on the filtered mutual inductance voltage sequence to obtain a mutual inductance voltage matrix (7x6);

[0117] Step 4: Enter the calculation core of mutual inductance voltage and geometric relationship.

[0118] Input reference angle value, small angle deviation and mutual inductance voltage matrix;

[0119] Least square global optimization is performed on parameters r and h to obtain solutions;

[0120] Obtain the distance d between the transmitting solenoid and the receiving coil;

[0121] Step 5: Enter the positioning calculation core.

[0122] According to the existing solenoid array geometric parameters, the Cartesian coordinates of the end operation point are calculated;

[0123] According to the angle optimization result, the posture of the haptic operating rod is obtained;

[0124] Step 6: Finally, the three-dimensional space coordinates (x, y, z) and the posture (α, β, γ) of the end operation point are obtained.

[0125] Optionally, the magneto-haptic needs real-time positioning refresh to guarantee real haptic generation at any motion moment, and the integration of positioning and driving can realize complete haptic feedback application in a true sense. The innovation point of the patent is that haptic and positioning are completed through the same physical medium (solenoid array / haptic operating rod), which endows the solenoid and the coil with interactive positioning and driving capability, and the scheduling algorithm is realized in the form of a finite state machine (FSM) on a high-performance computing platform, such as Figure 8 The haptic scheduling finite state machine diagram provided by the application is shown, by means of the large throughput pipeline operation of the parallel computing platform, the final purpose is to control the haptic generation and positioning switching interval to be as small as possible, and to realize high refresh rate haptic generation.

[0126] Figure 9 The structure diagram of the interactive multi-axis electromagnetic haptic array driving device provided by the application is shown in the figure Figure 9 The device comprises:

[0127] The magnetic induction intensity determination module 910 is configured to obtain a magnetic induction intensity value of the magneto-haptic device, the magnetic induction intensity value being generated based on that a haptic operating rod of the magneto-haptic device is in an operating space of a solenoid array of the magneto-haptic device, the solenoid array being constructed by arranging a plurality of transmitting solenoids, and the haptic operating rod being constructed based on a three-axis orthogonal coil;

[0128] The driving current solving module 920 is configured to perform electromagnetic solving on the magnetic induction intensity value to determine a driving current set of the solenoid array and a driving current set of the haptic operating rod.

[0129] The feedback determination module 930 is configured to determine a haptic feedback force generated by the magneto-haptic device based on the driving current set of the solenoid array and the driving current set of the haptic operating rod.

[0130] The interactive multi-axis electromagnetic haptic array driving device provided by the embodiment of the present application generates the magnetic induction intensity value of the magneto-haptic device by the haptic operating rod of the magneto-haptic device being in the operating space of the solenoid array of the magneto-haptic device, performs electromagnetic solving on the magnetic induction intensity value, determines the driving current set of the solenoid array and the driving current set of the haptic operating rod, and further determines the haptic feedback force generated by the magneto-haptic device. Through the magneto-haptic calculation under the electromagnetic field, the direction of the generated haptic is not limited, the haptic generation in any direction of the magneto-haptic feedback is realized, the haptic feedback closest to the real environment is realized, the interactive calculation precision is improved, and the final haptic driving mode with stable current is obtained.

[0131] In one embodiment, the driving current solving module 920 is specifically configured to:

[0132] perform electromagnetic solving on the magnetic induction intensity value to determine the driving current set of the solenoid array and the driving current set of the haptic operating rod, including:

[0133] perform electromagnetic solving on the magnetic induction intensity value to determine the driving current set of the solenoid array and the driving current set of the haptic operating rod based on a near-field finite element model, the near-field finite element model being constructed based on a near-field electromagnetic field model and a near-field electromagnetic finite element (NEFEM) algorithm, and being configured to generate a magnetic field parameter based on geometric parameters between the haptic operating rod and the solenoid array, and generate a current parameter output corresponding to the magnetic field parameter.

[0134] In one embodiment, the feedback determination module 930 is specifically configured to:

[0135] determine the haptic feedback force generated by the magneto-haptic device based on the driving current set of the solenoid array and the driving current set of the haptic operating rod, including:

[0136] generate a target electromagnetic force based on the driving current set of the solenoid array and the driving current set of the haptic stick;

[0137] determine a haptic feedback force generated by the magneto-haptic device based on the target electromagnetic force.

[0138] In one embodiment, the feedback determination module 930 is further specific for:

[0139] determine a haptic feedback force generated by the magneto-haptic device based on the target electromagnetic force, including:

[0140] adjust the target electromagnetic force based on the mapping relationship to determine a received haptic feedback force of the magneto-haptic device;

[0141] the mapping relationship is based on a simplex algorithm to iteratively generate the electromagnetic force of the magneto-haptic device so that an error between the electromagnetic force generated by the magneto-haptic device and an actual acting force of the magneto-haptic device is less than a preset error threshold.

[0142] In one embodiment, the magnetic intensity determination module 910 is specific for:

[0143] determine the haptic stick is constructed based on a detection coil, a receiving coil, a Hall sensor array, an inertial measurement unit, and a force sensor.

[0144] In one embodiment, the feedback determination module 930 is further specific for:

[0145] determine the received haptic feedback force of the magneto-haptic device, further including:

[0146] determine a mutual inductance voltage value based on the magnetic field mutual inductance interaction between the haptic stick and the solenoid array;

[0147] based on the distance between the receiving coil of the haptic stick and the transmitting solenoid in the solenoid array, the mutual inductance voltage value, and the angle value of the haptic stick, perform positioning calculation on the haptic stick to determine a three-dimensional space coordinate of an end operation point of the haptic stick and a posture of the end operation point.

[0148] Figure 10 An example of a schematic diagram of the physical structure of an electronic device is shown in FIG. 1, which includes a haptic stick 100 and a magneto-haptic device 200. Figure 10As shown, the electronic device can include a processor 1010, a communications interface 1020, a memory 1030, and a communications bus 1040, wherein the processor 1010, the communications interface 1020, and the memory 1030 complete mutual communication through the communications bus 1040. The processor 1010 can invoke a logic instruction in the memory 1030 to execute an interactive multi-axis electromagnetic haptic array driving method, which includes:

[0149] Obtaining a magnetic induction strength value of the magneto-haptic device, the magnetic induction strength value being generated based on a haptic operating rod of the magneto-haptic device being in an operating space of a solenoid array of the magneto-haptic device, the solenoid array being constructed by arranging a plurality of transmitting solenoids, the haptic operating rod being constructed based on a three-axis orthogonal coil;

[0150] Electromagnetically solving the magnetic induction strength value to determine a driving current set of the solenoid array and a driving current set of the haptic operating rod;

[0151] Determining a haptic feedback force generated by the magneto-haptic device based on the driving current set of the solenoid array and the driving current set of the haptic operating rod.

[0152] In addition, the logic instruction in the memory 1030 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0153] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer can execute the interactive multi-axis electromagnetic haptic array driving method provided by the above-mentioned methods, which includes:

[0154] Obtaining a magnetic induction intensity value of a magneto-haptic device, the magnetic induction intensity value is generated based on a haptic operating rod of the magneto-haptic device being in an operating space of a solenoid array of the magneto-haptic device, the solenoid array is arranged and constructed based on a plurality of transmitting solenoids, the haptic operating rod is constructed based on a three-axis orthogonal coil;

[0155] Electromagnetically solving the magnetic induction intensity value to determine a driving current set of the solenoid array and a driving current set of the haptic operating rod;

[0156] Determining a haptic feedback force generated by the magneto-haptic device based on the driving current set of the solenoid array and the driving current set of the haptic operating rod.

[0157] In another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the above-mentioned interactive multi-axis electromagnetic haptic array driving method, the method comprising:

[0158] Obtaining a magnetic induction intensity value of a magneto-haptic device, the magnetic induction intensity value is generated based on a haptic operating rod of the magneto-haptic device being in an operating space of a solenoid array of the magneto-haptic device, the solenoid array is arranged and constructed based on a plurality of transmitting solenoids, the haptic operating rod is constructed based on a three-axis orthogonal coil;

[0159] Electromagnetically solving the magnetic induction intensity value to determine a driving current set of the solenoid array and a driving current set of the haptic operating rod;

[0160] Determining a haptic feedback force generated by the magneto-haptic device based on the driving current set of the solenoid array and the driving current set of the haptic operating rod.

[0161] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0162] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0163] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An interactive multi-axis electromagnetic haptic array driving method, characterized in that, The method includes: The magnetic induction intensity value of the magneto-haptic device is obtained. The magnetic induction intensity value is generated based on the tactile operating lever of the magneto-haptic device being located in the operating space of the solenoid array of the magneto-haptic device. The solenoid array is constructed by arranging multiple emitting solenoids. The tactile operating lever is constructed based on a triaxial orthogonal coil. Electromagnetic solution is performed on the magnetic induction intensity value to determine the driving current set of the solenoid array and the driving current set of the tactile operating lever; The tactile feedback force generated by the magneto-haptic device is determined based on the driving current set of the solenoid array and the driving current set of the tactile operating lever.

2. The interactive multi-axis electromagnetic haptic array driving method according to claim 1, characterized in that, The step of electromagnetically solving the magnetic induction intensity value to determine the driving current set of the solenoid array and the driving current set of the tactile operating lever includes: Based on the near-field finite element model, the magnetic induction intensity value is electromagnetically solved to determine the driving current set of the solenoid array and the driving current set of the tactile operating lever. The near-field finite element model is constructed based on the near-field electromagnetic field model and the near-field electromagnetic finite element NEFEM algorithm. It is used to generate magnetic field parameters based on the geometric parameters between the tactile operating lever and the solenoid array, and to generate the current parameter output corresponding to the magnetic field parameters.

3. The interactive multi-axis electromagnetic haptic array driving method according to claim 1, characterized in that, The determination of the tactile feedback force generated by the magneto-haptic device based on the drive current set of the solenoid array and the drive current set of the tactile operating lever includes: The target electromagnetic force is generated based on the driving current set of the solenoid array and the driving current set of the tactile operating lever. Based on the target electromagnetic force, the tactile feedback force generated by the magneto-haptic device is determined.

4. The interactive multi-axis electromagnetic haptic array driving method according to claim 3, characterized in that, The determination of the tactile feedback force generated by the magneto-haptic device based on the target electromagnetic force includes: Based on the mapping relationship, the target electromagnetic force is adjusted to determine the tactile feedback force received by the magneto-haptic device; The mapping relationship is based on the simplex algorithm, which iterates the electromagnetic force generated by the magneto-tactile device to make the error between the electromagnetic force generated by the magneto-tactile device and the actual force of the magneto-tactile device less than a preset error threshold.

5. The interactive multi-axis electromagnetic haptic array driving method according to any one of claims 1-4, characterized in that, The tactile control lever is constructed based on a detection coil, a receiving coil, a Hall sensor array, an inertial measurement unit, and a force sensor.

6. The interactive multi-axis electromagnetic haptic array driving method according to claim 5, characterized in that, After determining the tactile feedback force received by the magneto-haptic device, the method further includes: The mutual inductance voltage value is determined based on the magnetic field interaction between the tactile operating lever and the solenoid array. Based on the distance between the receiving coil of the tactile operating rod and the transmitting solenoid in the solenoid array, the mutual inductance voltage value, and the angle value of the tactile operating rod, the positioning calculation of the tactile operating rod is performed to determine the three-dimensional spatial coordinates of the end point of the tactile operating rod and the posture of the end point.

7. An interactive multi-axis electromagnetic tactile array driving device, characterized in that, include: A magnetic induction intensity determination module is used to obtain the magnetic induction intensity value of the magneto-haptic device. The magnetic induction intensity value is generated based on the tactile operating lever of the magneto-haptic device being located in the operating space of the solenoid array of the magneto-haptic device. The solenoid array is constructed by arranging multiple emitting solenoids, and the tactile operating lever is constructed based on a triaxial orthogonal coil. The driving current solving module is used to perform electromagnetic solving on the magnetic induction intensity value to determine the driving current set of the solenoid array and the driving current set of the tactile operating lever. The feedback determination module is used to determine the tactile feedback force generated by the magneto-haptic device based on the drive current set of the solenoid array and the drive current set of the tactile operating lever.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the interactive multi-axis electromagnetic haptic array driving method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the interactive multi-axis electromagnetic haptic array driving method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the interactive multi-axis electromagnetic haptic array driving method as described in any one of claims 1 to 6.

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