Touch control method and device for active pen, equipment, medium and product

Abstract

The invention provides a touch control method and device of an active pen, equipment, a medium and a product, and relates to the field of touch input. The method is applied to a control unit of the active pen, the active pen further comprises a pen body shell, a pen point assembly arranged at the front end of the pen body shell, a sensor unit and a vibration motor, and the sensor unit and the vibration motor are arranged in the pen body shell. Performing feature extraction processing on the vibration data to obtain vibration feature parameters; generating a driving signal according to the vibration characteristic parameter; and according to the driving signal, controlling the vibration motor to generate vibration matched with the vibration characteristic parameter so as to simulate the writing touch on the writing plane. The technical problem that in the prior art, the touch sense is simulated only through a preset fixed vibration mode, and the immersion sense of a real writing scene cannot be restored, so that the touch sense control efficiency of the active pen is low is solved.

Description

Technical Field

[0001] This application relates to the field of touch input, and more particularly to a tactile control method, device, equipment, medium, and product for an active pen. Background Technology

[0002] As a core tool for touch input devices, active pens are widely used in scenarios such as digital art creation, online teaching, engineering drawing, document annotation, and mobile office.

[0003] Current active pens integrate a vibration motor and a simple control chip inside the pen body. Fixed vibration parameters are pre-stored in the control chip. When the active pen interacts with the touch screen, the control chip calls the preset vibration parameters according to parameters such as writing speed or pressure, and generates a fixed pattern of vibration through the vibration motor.

[0004] However, existing technologies only simulate tactile sensation through preset fixed vibration patterns, which cannot reproduce the immersive feeling of a real writing scenario, resulting in low tactile control efficiency of active pens. Summary of the Invention

[0005] This application provides a tactile control method, device, equipment, medium, and product for an active pen, which solves the problem that the existing technology can only simulate tactile sensation through preset fixed vibration modes, which cannot reproduce the immersive feeling of real writing scenarios, thus resulting in low tactile control efficiency of the active pen.

[0006] In a first aspect, this application provides a tactile control method for an active pen, applied to the control unit of the active pen. The active pen further includes a pen body housing, a pen tip assembly disposed at the front end of the pen body housing, a sensor unit and a vibration motor disposed within the pen body housing, and the control unit is disposed within the pen body housing, and the control unit is connected to both the sensor unit and the vibration motor. The method includes:

[0007] Vibration data is collected through a sensor unit; the vibration data is generated by the contact between the pen tip assembly and the writing surface.

[0008] Vibration data are processed by feature extraction to obtain vibration characteristic parameters;

[0009] Based on the vibration characteristic parameters, a driving signal is generated;

[0010] Based on the drive signal, the vibration motor is controlled to generate vibrations that match the vibration characteristic parameters in order to simulate the tactile sensation of writing on a writing surface.

[0011] In one possible design, vibration data is processed by feature extraction to obtain vibration characteristic parameters, including:

[0012] The vibration data is denoised by using a low-pass filter to obtain denoised data.

[0013] The peak detection algorithm is used to extract features from the denoised data to obtain the amplitude peak parameters.

[0014] The main vibration frequency parameters are obtained by using the Fourier transform algorithm to extract features from the denoised data.

[0015] In one possible design, a drive signal is generated based on vibration characteristic parameters, including:

[0016] The pulse width modulation period is calculated based on the calibration compensation parameters and the main vibration frequency parameters; the calibration compensation parameters are obtained by calibrating the active pen; the calibration is performed before the active pen leaves the factory.

[0017] The pulse width modulation duty cycle is calculated based on the calibration compensation parameters and the peak amplitude parameters.

[0018] The driving signal is generated based on the pulse width modulation period and the pulse width modulation duty cycle.

[0019] In one possible design, after controlling the vibration motor to generate vibrations matching the vibration characteristic parameters according to the drive signal to simulate the tactile sensation of writing on a writing surface, it also includes:

[0020] Vibration data is continuously collected through the sensor unit;

[0021] According to a preset cycle, a drive signal is periodically generated to control the vibration motor to vibrate, so as to adapt to the ever-changing writing feel.

[0022] In one possible design, the calibration process includes:

[0023] The control unit responds to the start calibration command and reads the preset standard drive parameters;

[0024] Generate initial drive signals based on preset standard drive parameters;

[0025] The vibration motor is controlled to vibrate based on the initial drive signal.

[0026] Initial vibration data is collected through the sensor unit;

[0027] The calibration compensation parameters are obtained based on the preset calibration compensation parameter calculation strategy and the initial vibration data.

[0028] The calibration compensation parameters are stored in the control unit, and a calibration completion signal is generated.

[0029] In one possible design, the preset calibration compensation parameter calculation strategy includes preset standard waveform characteristic parameters, deviation formulas, and compensation formulas.

[0030] In one possible design, calibration compensation parameters are obtained based on a preset calibration compensation parameter calculation strategy and initial vibration data, including:

[0031] The initial vibration data is denoised by using a low-pass filter to obtain the initial denoised data.

[0032] Feature extraction is performed on the initial denoised data to obtain a set of feature parameters;

[0033] The deviation value is calculated based on the preset standard waveform characteristic parameters and deviation formula;

[0034] The calibration compensation parameters are calculated based on the deviation value and the compensation formula.

[0035] Secondly, this application provides a tactile control device for an active pen, comprising:

[0036] The acquisition module is used to acquire vibration data through the sensor unit; the vibration data is generated by the contact between the pen tip assembly and the writing surface.

[0037] The feature extraction module is used to extract features from vibration data to obtain vibration feature parameters;

[0038] The generation module is used to generate drive signals based on vibration characteristic parameters;

[0039] The control module is used to control the vibration motor to generate vibrations that match the vibration characteristic parameters according to the drive signal, so as to simulate the writing feel on the writing surface.

[0040] Thirdly, this application provides a tactile control device for an active pen, including: a memory and a processor;

[0041] The memory stores instructions that the computer executes;

[0042] The processor executes computer execution instructions stored in the memory, causing the processor to perform the tactile control method of the active pen as described in the first aspect of the invention.

[0043] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the tactile control method of an active pen as described in the first aspect of the invention.

[0044] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the tactile control method for an active pen as described in the first aspect of the invention.

[0045] This application provides a tactile control method, device, equipment, medium, and product for an active pen, comprising: acquiring vibration data through a sensor unit; performing feature extraction processing on the vibration data to obtain vibration feature parameters; generating a drive signal based on the vibration feature parameters; and controlling a vibration motor to generate vibrations matching the vibration feature parameters based on the drive signal, thereby simulating the tactile sensation of writing on a writing surface. Compared to existing technologies that only simulate tactile sensation through preset fixed vibration modes, which cannot reproduce the immersive feeling of a real writing scenario and thus result in low tactile control efficiency of the active pen, this application improves the tactile consistency and multi-scenario tactile simulation by using high-precision data acquisition from a six-axis sensor, feature extraction algorithms from the control unit, and dynamic driving of the vibration motor, thereby improving the tactile control efficiency of the active pen. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A schematic diagram of the system architecture of an active pen tactile control method provided in an embodiment of this application;

[0048] Figure 2 A schematic diagram of the structure of the active pen provided in the embodiments of this application;

[0049] Figure 3 This is a schematic diagram of the electrical connections of the active pen's functional modules provided in an embodiment of this application;

[0050] Figure 4 A flowchart illustrating a tactile control method for an active pen provided in this application embodiment. Figure 1 ;

[0051] Figure 5 A flowchart illustrating a tactile control method for an active pen provided in this application embodiment. Figure 2 ;

[0052] Figure 6 A schematic diagram of the tactile control device for an active pen provided in an embodiment of this application;

[0053] Figure 7This is a schematic diagram of the structure of an active pen tactile control device provided in an embodiment of this application. Detailed Implementation

[0054] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0055] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, nor do they necessarily imply difference. It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner. In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more.

[0056] It should be noted that the phrase "at...time" in the embodiments of this application can refer to the instant at which a certain situation occurs, or to a period of time after the occurrence of a certain situation; the embodiments of this application do not specifically limit this. Furthermore, the tactile control method for an active pen provided in the embodiments of this application is merely an example; the tactile control method for an active pen may also include more or fewer elements.

[0057] Active pens, as core tools of touch input devices, are widely used in digital art creation, online teaching, engineering drawing, document annotation, and mobile office scenarios. In the field of digital art, designers and painters need to use active pens to simulate the tactile feel of writing on real paper on tablet devices to enhance immersion and precision during creation. In educational settings, when teachers use active pens for blackboard writing or annotation, they need vibration feedback to simulate the tactile differences of different writing media (such as blackboards, whiteboards, or paper notebooks) to enhance the realism of teaching interaction. In engineering drawing, engineers need to draw complex drawings on high-precision touchscreens, and the vibration feedback of the active pen needs to be dynamically adapted to parameters such as pen tip pressure and writing speed to provide an operating experience that meets professional requirements. In daily office work, if the vibration feedback of the pen cannot simulate the tactile feel of real writing when users sign or annotate documents on electronic devices, it may lead to user fatigue or misoperation.

[0058] With the popularization of touch display technology, active pens, as a precise touch input tool, are widely used in scenarios such as drawing and design, document annotation, and online teaching. Active pens achieve position positioning through signal interaction with the touch screen. To enhance the realism of writing, some high-end active pens are equipped with vibration motors, which simulate the tactile sensation of writing through vibration feedback.

[0059] The current technical solution mainly involves integrating a vibration motor and a simple control chip inside the pen body. Fixed vibration parameters (such as fixed frequency and amplitude) are pre-stored in the control chip. When the active pen interacts with the touch screen, the control chip calls the preset vibration parameters according to parameters such as writing speed or pressure, and generates a fixed pattern of vibration through the vibration motor.

[0060] However, current active pen vibration feedback technology generally suffers from poor consistency and a lack of diversity in simulation:

[0061] On the one hand, due to individual differences in vibration motors, the vibration output parameters of different pens vary significantly, resulting in inconsistent tactile experiences for users when using different pens.

[0062] Specifically, due to individual manufacturing differences in vibration motors (such as oscillator weight deviation, motor stability differences, etc.), even with the same control parameters, the actual vibration output of different active pens will vary significantly when they leave the factory. This results in inconsistent feel when users use different pens, affecting the uniformity of product experience and leading to poor vibration consistency.

[0063] On the other hand, existing technologies can only simulate tactile sensation through preset fixed vibration modes, and cannot dynamically adjust vibration parameters according to the physical characteristics of the actual writing surface (such as paper, glass, wooden table, etc.), thus failing to reproduce the immersive feeling of a real writing scenario.

[0064] Specifically, the vibration feedback of existing active pens is limited to a preset fixed pattern, which cannot correspond to the unique tactile sensations of different writing surfaces in actual writing scenarios (such as rough wooden tabletops, ordinary A4 paper, rice paper, glass, etc.). For example, when a user writes on a rough wooden table, the pen tip will vibrate at a specific frequency due to the unevenness of the surface. However, existing active pens cannot collect and simulate this real-time vibration information, and can only output a fixed vibration feedback that is independent of the tabletop. This fails to reproduce the immersive feeling of a real writing scenario, resulting in a monotonous simulation of the tactile sensation.

[0065] To address the aforementioned issues, the inventors, during their research on the low tactile control efficiency of active pens, discovered that existing technologies only simulate tactile sensation through preset fixed vibration patterns, failing to recreate the immersive experience of real writing scenarios, thus resulting in low tactile control efficiency. Therefore, the inventors considered using sensors to collect actual vibration data and generate calibration parameters; and by real-time acquisition of the vibration waveform of the writing surface and driving a motor to reproduce it, they achieved improved tactile consistency and multi-scenario tactile simulation. Based on this, embodiments of this application provide a tactile control method, device, equipment, medium, and product for an active pen, applicable to the field of touch input, aiming to solve the problem of low tactile control efficiency in existing active pens.

[0066] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0067] Figure 1 This is a schematic diagram of the system architecture of a tactile control method for an active pen provided in an embodiment of this application. The tactile control system of the active pen is a computer device. Figure 1 In the above architecture, at least one of data acquisition device 101, processing device 102 and display device 103 is included.

[0068] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the processing system architecture of the tactile control method for an active pen. In other feasible embodiments of this application, the above architecture may include more or fewer components than illustrated, or combine some components, or divide some components, or arrange different components, which can be determined according to the actual application scenario and is not limited here. Figure 1 The components shown can be implemented in hardware, software, or a combination of both.

[0069] In the specific implementation process, the data acquisition device 101 may include an input / output interface or a communication interface. The data acquisition device 101 can be connected to the processing device through the input / output interface or the communication interface to acquire vibration data.

[0070] The processing device 102 can control the vibration motor to generate vibrations that match the vibration characteristic parameters based on the vibration data, so as to simulate the writing feel on the writing surface.

[0071] The display device 103 can also be a touch screen or the screen of a terminal device, used to receive user commands while displaying the above-mentioned content, so as to realize interaction with the user.

[0072] It should be understood that the aforementioned processing device can be implemented by a processor reading instructions from memory and executing those instructions, or it can be implemented by a chip circuit.

[0073] Furthermore, the network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0074] The technical solution of this application will be described in detail below with reference to specific embodiments:

[0075] Figure 2 This is a schematic diagram of the structure of the active pen provided in an embodiment of this application, as shown below. Figure 2 As shown, the active pen 20 includes: pen body housing 21, control unit 22, six-axis sensor 23, vibration motor 24, communication unit 25, power supply unit 26, pen tip assembly 27, and PCB motherboard 28.

[0076] The pen tip assembly 27 is installed at the front end of the pen body shell 21.

[0077] The control unit 22, the six-axis sensor 23, and the communication unit 25 are all located on the PCB motherboard 28 inside the pen and are fixed to the middle of the pen body shell 21.

[0078] The six-axis sensor 23 is mounted close to the control unit 22 (to reduce signal transmission loss).

[0079] The vibration motor 24 is installed on the pen body shell 21 near the pen tip assembly 27 (to make the vibration more similar to the writing feel).

[0080] The communication unit 25 and the power supply unit 26 are installed at the rear end of the pen body shell 21, and the power supply unit 26 is connected to the PCB motherboard 28 by wires to provide power.

[0081] Specifically, Figure 3 This is a schematic diagram of the electrical connections of the active pen functional module provided in the embodiments of this application, as shown below. Figure 3 As shown, the control unit 22 is connected to the six-axis sensor 23, the vibration motor 24, the communication unit 25, and the power supply unit 26 respectively. The six-axis sensor 23 inputs signals to the control unit 22, and the control unit 22 outputs control signals to the vibration motor 24. The communication unit 25 communicates bidirectionally with the control unit 22, and the power supply unit 26 supplies power to each module.

[0082] More specifically, the signal output terminal of the six-axis sensor 23 is electrically connected to the signal input terminal of the control unit 22, the control input terminal of the vibration motor 24 is electrically connected to the control output terminal of the control unit 22, the communication unit 25 is bidirectionally connected to the control unit 22, and the power supply unit provides working power to all modules of 26.

[0083] Optionally, the pen body shell 21 is injection molded and has multiple internal brackets for fixing the various electronic modules.

[0084] Optionally, the control unit 22 is a low-power microcontroller unit 22 (MCU), whose chip ADC converter can accurately acquire sensor signals, and also has rich I / O interfaces for connecting other modules. The built-in storage module of the control unit 22 uses 16KB SRAM and 256KB Flash to store calibration parameters, waveform data and control programs.

[0085] Optional, six-axis sensor 23: Sensor integrates a 3-axis accelerometer (measurement range) 2g / 4g / 8g / 16g adjustable) and 3-axis gyroscope (measurement range) 250° / s 500° / s 1000° / s It is adjustable from 2000° / s, with a sampling rate up to 1kHz, and can accurately capture high-frequency vibration signals. It communicates with the control unit 222 via an I2C interface, operates at 3.3V, and is compatible with the output of the power supply unit 26.

[0086] In one possible embodiment, a pressure sensor is added to the six-axis sensor, and the comprehensiveness of the tactile feedback is improved by using a multi-sensor data fusion algorithm (such as Kalman filtering).

[0087] Optional hardware upgrade: Integrate a pressure sensor into the pen tip assembly to collect the contact pressure between the pen tip and the writing surface in real time.

[0088] Optional, data fusion: The control unit fuses the vibration waveform data of the six-axis sensor with the pressure value of the pressure sensor, and uses the Kalman filter algorithm to dynamically adjust the weighting coefficients to generate comprehensive tactile feature parameters.

[0089] Optional, drive optimization: dynamically adjust the drive signal of the vibration motor based on comprehensive parameters (such as adjusting the frequency and amplitude simultaneously).

[0090] Through the collaborative analysis of pressure data and vibration waveforms, the active pen can not only simulate the physical tactile sensation of the writing surface (such as roughness and elasticity), but also dynamically adjust the vibration intensity according to the pressure applied to the pen tip. For example, when the user presses down firmly to write, the pressure sensor detects a high pressure value, and the control unit simultaneously increases the amplitude of the vibration motor to simulate a realistic pressing sensation; while when writing with a light touch, the vibration intensity decreases, restoring a light touch. This solution overcomes the limitations of single vibration feedback, achieving multi-dimensional adaptation of tactile feedback and significantly improving the writing immersion and operational accuracy.

[0091] In one possible embodiment, a temperature compensation module is integrated into the six-axis sensor to eliminate the interference of ambient temperature changes on vibration waveform acquisition.

[0092] Optional, temperature monitoring: A temperature sensor is integrated inside the six-axis sensor or in the pen body housing to collect the current ambient temperature in real time.

[0093] Optional, compensation algorithm: The control unit calls a preset temperature compensation coefficient table based on the temperature sensor data to dynamically adjust the sampling gain and offset correction value of the six-axis sensor.

[0094] Optional, data correction: The compensated vibration waveform data is used for calibration and simulation processes.

[0095] The output of the six-axis sensor is susceptible to temperature fluctuations (e.g., high temperatures can cause a decrease in sensor sensitivity). For instance, when the pen heats up after prolonged writing, the temperature compensation module automatically adjusts the sensor parameters to ensure the stability of the vibration waveform data. This solution eliminates the interference of ambient temperature fluctuations on tactile feedback, significantly improving the reliability and consistency of the active pen in different usage scenarios.

[0096] Optionally, the vibration motor 24 is a miniature linear vibration motor 24 with a diameter of 6mm and a length of 10mm. The operating voltage is 3.3V, the vibration frequency is 150Hz, and the peak vibration is 1g. The frequency is controlled by PWM (pulse width modulation) signal, and the amplitude is controlled by voltage regulation. The motor is fixed to the front end of the pen body by a flexible bracket to reduce the interference of vibration on other modules.

[0097] Specifically, a miniature linear motor is selected for the vibration motor, which is installed with a flexible bracket to reduce the interference of vibration on other modules; thereby improving the vibration transmission efficiency and avoiding vibration affecting the stable operation of the sensor and control unit.

[0098] Optionally, the communication unit 25 uses a Bluetooth 5.0 chip with a working frequency of 2.4GHz and a transmission rate of 1Mbps. It communicates with the control unit 222 via a UART interface for data interaction with terminal devices such as tablets. It can upload calibration parameters and vibration waveform data to the terminal, and can also receive control commands issued by the terminal (such as starting the calibration mode). Some communication Bluetooth ICs are powerful and can also be combined with the control unit 222.

[0099] Specifically, the vibration waveform data is uploaded to the terminal device through the communication unit, realizing the storage and sharing of waveform data. This provides data support for the subsequent establishment of a tactile database for different writing planes, and facilitates the optimization of the tactile simulation effect through software upgrades.

[0100] Optionally, the power supply unit 26 uses a 3.7V, 100mAh lithium polymer battery, which, together with a charging management chip, enables charging. The converter outputs a stable 3.3V voltage to power each module and has built-in overcharge and over-discharge protection circuits to ensure safe use.

[0101] Optionally, the pen tip assembly 27 uses a conductive silicone pen tip with embedded metal contacts for signal interaction with the touch screen. The rear end of the pen tip is connected to the pen body via a spring, enabling pressure sensing (in conjunction with the pressure detection circuit of the control unit 22). At the same time, the spring can more efficiently transmit the vibration of the writing surface to the six-axis sensor 23 inside the pen body.

[0102] In one possible embodiment, the six-axis sensor 23 may be a model with integrated temperature compensation function to reduce the impact of temperature changes on vibration acquisition accuracy; the vibration motor 24 may be an eccentric wheel vibration motor or other similar vibration-generating structure, or piezoelectric ceramics, etc.

[0103] Figure 4 A flowchart illustrating a tactile control method for an active pen provided in this application embodiment. Figure 1 ,like Figure 4 As shown, a control unit is applied to an active pen. The active pen also includes a pen body housing, a pen tip assembly disposed at the front end of the pen body housing, a sensor unit and a vibration motor disposed within the pen body housing, and the control unit is disposed within the pen body housing, and the control unit is connected to both the sensor unit and the vibration motor. The method includes:

[0104] S401. Vibration data is collected through the sensor unit.

[0105] The vibration data is generated by the contact between the pen tip assembly and the writing surface.

[0106] S402. Perform feature extraction processing on the vibration data to obtain vibration characteristic parameters.

[0107] Specifically, the vibration data is denoised using a low-pass filter to obtain denoised data.

[0108] Furthermore, the peak detection algorithm is used to extract features from the denoised data to obtain the amplitude peak parameters.

[0109] Furthermore, the noise-reduced data is processed by using the Fourier transform algorithm to extract features and obtain the main vibration frequency parameters.

[0110] In this embodiment, noise reduction is achieved by using a low-pass filter to denoise the vibration data, resulting in effective noise suppression and a significant improvement in the signal-to-noise ratio. A peak detection algorithm is used to extract features from the denoised data, enabling accurate acquisition of amplitude peak parameters and providing data support for the quantitative analysis of key characteristics of vibration amplitude. Furthermore, a Fourier transform algorithm is used to extract features from the denoised data, achieving precise analysis of the main vibration frequency parameters. This provides a core basis for identifying the dominant frequency components of the vibration system and analyzing vibration modes. Ultimately, this comprehensive approach achieves efficient extraction of vibration data from noise interference to feature parameters and systematic mining of key information.

[0111] S403. Generate a driving signal based on the vibration characteristic parameters.

[0112] Specifically, the pulse width modulation period is calculated based on the calibration compensation parameters and the main vibration frequency parameters.

[0113] The calibration compensation parameters are obtained by calibrating the active pen.

[0114] The calibration process is performed before the active pen leaves the factory.

[0115] Furthermore, the pulse width modulation duty cycle is calculated based on the calibration compensation parameters and the peak amplitude parameters.

[0116] Furthermore, a driving signal is generated based on the pulse width modulation period and the pulse width modulation duty cycle.

[0117] In this embodiment, the precise adaptation of the pulse width modulation period is achieved through the coordinated calculation of calibration compensation parameters and main vibration frequency parameters, ensuring a high degree of matching between the driving signal frequency and vibration characteristics. The dynamic optimization of the pulse width modulation duty cycle is achieved through the joint calculation of calibration compensation parameters and amplitude peak parameters, enabling a precise correspondence between signal strength and vibration amplitude. Finally, a driving signal with high-precision control characteristics is generated through a deterministic combination of period and duty cycle, realizing precise control of the active pen vibration signal throughout the entire chain from parameter calibration to driving output. This significantly improves the vibration response accuracy and signal control stability of the active pen, providing core technical support for high-quality vibration feedback.

[0118] S404. Based on the drive signal, control the vibration motor to generate vibrations that match the vibration characteristic parameters, so as to simulate the writing feel on the writing surface.

[0119] Additionally, after step S404, the following is also included:

[0120] First, vibration data is continuously collected through the sensor unit.

[0121] Secondly, according to the preset cycle, a drive signal is periodically generated to control the vibration motor to vibrate, so as to adapt to the constantly changing writing feel.

[0122] For example:

[0123] First, the user establishes a Bluetooth connection between the active pen and the tablet, then presses the control button on the pen body to put the active pen into vibration sensing mode.

[0124] Secondly, the user holds the active pen and writes on a rough wooden table. The pen tip component contacts the wooden tabletop, and the rough texture of the tabletop causes the pen tip to vibrate irregularly. The vibration is transmitted to the six-axis sensor through the spring and the pen body.

[0125] Furthermore, the control unit controls the six-axis sensor to collect vibration data in real time at a sampling rate of 1000Hz, and transmits 10 sets of collected data to the control unit every 10ms.

[0126] Then, the control unit preprocesses the data: first, high-frequency noise is removed by a low-pass filter (cutoff frequency 500Hz), then the peak amplitude of each data set is extracted by a peak detection algorithm, and the main vibration frequency is extracted by Fourier transform; for example, the main vibration frequency collected is 120Hz and the peak amplitude is 0.5g.

[0127] Furthermore, the control unit calls the calibration compensation parameters stored at the factory and generates a drive signal based on the extracted feature parameters: for example, it calculates the corresponding PWM signal period based on the 120Hz frequency and adjusts the PWM duty cycle based on the 0.5g amplitude.

[0128] Furthermore, the control unit outputs a drive signal to the vibration motor 4, which generates a 120Hz vibration with an amplitude of 0.5g according to the drive signal. This vibration is consistent with the vibration generated by the wooden tabletop, so the user can feel the same tactile sensation as writing on a wooden table when holding the pen.

[0129] Finally, during the writing process, the six-axis sensor continuously collects vibration data, and the control unit updates the drive signal every 10ms to dynamically adjust the output of the vibration motor, ensuring the real-time performance and accuracy of the tactile simulation. If the user switches to writing on A4 paper, the vibration frequency collected by the six-axis sensor becomes 100Hz with a peak amplitude of 0.3g. The control unit will then adjust the drive signal synchronously to make the motor simulate the writing feel of A4 paper.

[0130] Specifically, a six-axis sensor collects the vibration waveform transmitted from the writing plane to the pen body in real time during the writing process. The control unit extracts the waveform feature parameters and drives the vibration motor to reproduce the vibration, thereby simulating the feel of different writing planes. This solves the core problem of the single feel. Without this real-time acquisition and reproduction mechanism, the active pen cannot adapt to different writing planes and can only output a fixed vibration.

[0131] This embodiment provides a tactile control method for an active pen, applied to the control unit of the active pen. The active pen also includes a pen body shell, a pen tip assembly disposed at the front end of the pen body shell, a sensor unit and a vibration motor disposed within the pen body shell, and the control unit is disposed within the pen body shell and connected to both the sensor unit and the vibration motor. Vibration data is collected through the sensor unit; feature extraction processing is performed on the vibration data to obtain vibration feature parameters; a drive signal is generated based on the vibration feature parameters; and the vibration motor is controlled to generate vibrations matching the vibration feature parameters based on the drive signal to simulate the tactile sensation of writing on a writing surface. Compared to existing technologies that only simulate tactile sensation through preset fixed vibration modes, which cannot reproduce the immersive feeling of a real writing scenario, resulting in low tactile control efficiency of the active pen, this application improves tactile consistency and multi-scenario tactile simulation through high-precision data acquisition from a six-axis sensor, feature extraction algorithms from the control unit, and dynamic driving of the vibration motor, thereby improving the tactile control efficiency of the active pen.

[0132] Figure 5 A flowchart illustrating a tactile control method for an active pen provided in this application embodiment. Figure 2 As shown in the figure, the calibration process in step S403 above specifically includes:

[0133] S501: The control unit responds to the start calibration command and reads the preset standard drive parameters.

[0134] S502. Generate the initial drive signal according to the preset standard drive parameters.

[0135] S503. Control the vibration motor to vibrate according to the initial drive signal.

[0136] S504. Initial vibration data is collected through the sensor unit.

[0137] S505. Based on the preset calibration compensation parameter calculation strategy and initial vibration data, the calibration compensation parameters are obtained.

[0138] The preset calibration compensation parameter calculation strategy includes preset standard waveform characteristic parameters, deviation formulas, and compensation formulas.

[0139] Specifically, the initial vibration data is denoised using a low-pass filter to obtain the initial denoised data.

[0140] Furthermore, feature extraction processing is performed on the initial denoised data to obtain a set of feature parameters;

[0141] Furthermore, the deviation value is calculated based on the preset standard waveform characteristic parameters and deviation formula.

[0142] Furthermore, the calibration compensation parameters are calculated based on the deviation value and the compensation formula.

[0143] S506. The calibration compensation parameters are stored in the control unit, and a calibration completion signal is generated.

[0144] For example:

[0145] First, the operator establishes a Bluetooth connection with the communication unit of the active pen through a dedicated calibration device and sends a "start calibration" command to the control unit.

[0146] Secondly, after responding to the command, the control unit enters the calibration mode, reads the preset standard drive parameters (such as PWM duty cycle of 50%) from the Flash, and outputs the drive signal to the vibration motor.

[0147] Secondly, after receiving the drive signal, the vibration motor begins to vibrate in a standard state, and the vibration is transmitted to the six-axis sensor through the pen body.

[0148] Then, the control unit controls the six-axis sensor to collect vibration data at a sampling rate of 500Hz for 1 second, obtaining 500 sets of acceleration and angular velocity data, which are then transmitted to the control unit.

[0149] Furthermore, the control unit filters the acquired data (using algorithms to remove noise), extracts characteristic parameters such as peak value and frequency of the vibration waveform, and compares them with preset standard waveform characteristic parameters; for example, if the standard frequency is 150Hz and the actual acquired frequency is 140Hz, the frequency deviation is calculated. .

[0150] Furthermore, the control unit calculates calibration compensation parameters based on the deviation value, such as adjusting the PWM duty cycle to 53.4% ​​(calculated by the compensation formula fitted from the experimental data), and the actual vibration frequency reaches 150Hz (the same applies to amplitude control).

[0151] Finally, the control unit stores the calibration compensation parameters in Flash and sends a "calibration complete" signal to the calibration device, thus ending the calibration process.

[0152] Specifically, the control unit drives the vibration motor to generate standard vibration, and a six-axis sensor collects the actual vibration waveform and compares it with the standard waveform to generate and store calibration compensation parameters, thereby achieving vibration consistency calibration. This solves the core problem of inconsistent vibration. Without this calibration mechanism, it would be impossible to compensate for individual differences in motors and ensure the uniformity of product feel.

[0153] In this embodiment, the control unit reads standard driving parameters and generates an initial driving signal in response to the calibration start command, thus establishing a benchmark and triggering initial vibration during the calibration process. Initial vibration data is collected by sensors and processed with low-pass filtering to suppress noise and preserve original features of the vibration signal. Feature extraction is performed on the denoised data, and deviation values ​​and calibration compensation parameters are calculated based on standard waveform feature parameters, deviation formulas, and compensation formulas, achieving error quantification and precise compensation from actual vibration to standard parameters. Finally, storing the calibration compensation parameters and generating a calibration completion signal solidifies the calibration results and achieves a closed-loop application. This comprehensive approach enables precise control of the active pen vibration system from initial drive to parameter calibration, significantly improving calibration efficiency and parameter accuracy, and laying a solid foundation for subsequent high-quality driving signal generation. This enhances the tactile control efficiency of the active pen.

[0154] Figure 6 This is a schematic diagram of the tactile control device for an active pen provided in an embodiment of this application, as shown below. Figure 6 As shown, the device includes: an acquisition module 61, a feature extraction module 62, a generation module 63, and a control module 64.

[0155] The acquisition module 61 is used to acquire vibration data through the sensor unit; wherein the vibration data is generated by the contact between the pen tip assembly and the writing surface;

[0156] The feature extraction module 62 is used to perform feature extraction processing on the vibration data to obtain vibration feature parameters;

[0157] The generation module 63 is used to generate a drive signal based on the vibration characteristic parameters;

[0158] The control module 64 is used to control the vibration motor to generate vibrations that match the vibration characteristic parameters according to the drive signal, so as to simulate the writing feel on the writing surface.

[0159] In one possible design, vibration data is processed by feature extraction to obtain vibration characteristic parameters, including:

[0160] The feature extraction module 62 is also used to denoise the vibration data through a low-pass filter to obtain denoised data;

[0161] The peak detection algorithm is used to extract features from the denoised data to obtain the amplitude peak parameters.

[0162] The main vibration frequency parameters are obtained by using the Fourier transform algorithm to extract features from the denoised data.

[0163] In one possible design, a drive signal is generated based on vibration characteristic parameters, including:

[0164] The generation module 63 is also used to calculate the pulse width modulation period based on the calibration compensation parameters and the main vibration frequency parameters; wherein, the calibration compensation parameters are obtained by calibrating the active pen; wherein, the calibration is performed before the active pen leaves the factory;

[0165] The pulse width modulation duty cycle is calculated based on the calibration compensation parameters and the peak amplitude parameters.

[0166] The driving signal is generated based on the pulse width modulation period and the pulse width modulation duty cycle.

[0167] In one possible design, after controlling the vibration motor to generate vibrations matching the vibration characteristic parameters according to the drive signal to simulate the tactile sensation of writing on a writing surface, it also includes:

[0168] Vibration data is continuously collected through the sensor unit;

[0169] According to a preset cycle, a drive signal is periodically generated to control the vibration motor to vibrate, so as to adapt to the ever-changing writing feel.

[0170] In one possible design, the calibration process includes:

[0171] The control unit responds to the start calibration command and reads the preset standard drive parameters;

[0172] Generate initial drive signals based on preset standard drive parameters;

[0173] The vibration motor is controlled to vibrate based on the initial drive signal.

[0174] Initial vibration data is collected through the sensor unit;

[0175] The calibration compensation parameters are obtained based on the preset calibration compensation parameter calculation strategy and the initial vibration data.

[0176] The calibration compensation parameters are stored in the control unit, and a calibration completion signal is generated.

[0177] In one possible design, the preset calibration compensation parameter calculation strategy includes preset standard waveform characteristic parameters, deviation formulas, and compensation formulas.

[0178] In one possible design, calibration compensation parameters are obtained based on a preset calibration compensation parameter calculation strategy and initial vibration data, including:

[0179] The initial vibration data is denoised by using a low-pass filter to obtain the initial denoised data.

[0180] Feature extraction is performed on the initial denoised data to obtain a set of feature parameters;

[0181] The deviation value is calculated based on the preset standard waveform characteristic parameters and deviation formula;

[0182] The calibration compensation parameters are calculated based on the deviation value and the compensation formula.

[0183] This embodiment provides a tactile control device for an active pen, which can execute a tactile control method for an active pen as described in the above embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0184] In the specific implementation of the aforementioned active pen tactile control method, each module can be implemented as a processor. The processor can execute computer execution instructions stored in the memory, thereby enabling the processor to execute the aforementioned active pen tactile control method.

[0185] Figure 7 This is a schematic diagram of the structure of a tactile control device for an active pen, provided as an embodiment of this application. Figure 7 As shown, the haptic control device 70 of the active pen includes at least one processor 71 and a memory 72. The haptic control device 70 also includes a communication component 73. The processor 71, memory 72, and communication component 73 are connected via a bus 74.

[0186] In the specific implementation process, at least one processor 71 executes computer execution instructions stored in memory 72, causing at least one processor 71 to execute a method in the field of touch input as executed on the touch control device side of the above-mentioned active pen.

[0187] The specific implementation process of processor 71 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0188] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0189] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0190] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0191] The above description of the functions implemented by the tactile control device and main control device of the active pen has introduced the solution provided by the embodiments of the present invention. It is understood that, in order to achieve the above functions, the tactile control device or main control device of the active pen includes hardware structures and / or software modules corresponding to the execution of each function. By combining the units and algorithm steps of the various examples described in the embodiments of the present invention, the embodiments of the present invention can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solution of the embodiments of the present invention.

[0192] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the above-described method in the field of touch input.

[0193] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0194] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Alternatively, the readable storage medium can be an integral part of the processor. Both the processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the haptic control device or main control device of an active pen.

[0195] This application also provides a computer program product, comprising: a computer program stored in a readable storage medium, at least one processor of the tactile control device of the active pen being able to read the computer program from the readable storage medium, and at least one processor executing the computer program causing the tactile control device of the active pen to perform the scheme provided in any of the above embodiments.

[0196] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0197] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A tactile control method for an active pen, characterized in that, A control unit for an active pen, the active pen further comprising a pen body housing, a pen tip assembly disposed at the front end of the pen body housing, a sensor unit and a vibration motor disposed within the pen body housing, the control unit being disposed within the pen body housing and connected to both the sensor unit and the vibration motor, the method comprising: Vibration data is collected through the sensor unit; wherein the vibration data is generated by the pen tip assembly in contact with the writing surface; The vibration data is subjected to feature extraction processing to obtain vibration feature parameters; Based on the vibration characteristic parameters, a driving signal is generated; According to the driving signal, the vibration motor is controlled to generate vibrations that match the vibration characteristic parameters in order to simulate the writing feel on the writing surface.

2. The method according to claim 1, characterized in that, The process of extracting features from the vibration data to obtain vibration feature parameters includes: The vibration data is denoised using a low-pass filter to obtain denoised data. The denoised data is processed by a peak detection algorithm to extract the features and obtain the amplitude peak parameters. The denoised data is processed by the Fourier transform algorithm to extract the main vibration frequency parameters.

3. The method according to claim 2, characterized in that, The step of generating a driving signal based on the vibration characteristic parameters includes: The pulse width modulation period is calculated based on the calibration compensation parameters and the main vibration frequency parameters; wherein the calibration compensation parameters are obtained by calibrating the active pen; wherein the calibration is performed before the active pen leaves the factory; The pulse width modulation duty cycle is calculated based on the calibration compensation parameters and the amplitude peak parameters. The driving signal is generated based on the pulse width modulation period and the pulse width modulation duty cycle.

4. The method according to claim 3, characterized in that, After controlling the vibration motor to generate vibrations matching the vibration characteristic parameters according to the driving signal to simulate the writing feel on the writing surface, the method further includes: The vibration data is continuously collected through the sensor unit; According to a preset cycle, the drive signal is periodically generated to control the vibration motor to vibrate, so as to adapt to the constantly changing writing feel.

5. The method according to claim 3, characterized in that, The calibration process includes: The control unit responds to the start calibration command by reading preset standard drive parameters; Generate an initial drive signal based on the preset standard drive parameters; The vibration motor is controlled to vibrate according to the initial drive signal; Initial vibration data is collected through the sensor unit; The calibration compensation parameters are obtained based on the preset calibration compensation parameter calculation strategy and the initial vibration data; The control unit stores the calibration compensation parameters and generates a calibration completion signal.

6. The method according to claim 5, characterized in that, The preset calibration compensation parameter calculation strategy includes preset standard waveform characteristic parameters, deviation formulas, and compensation formulas.

7. The method according to claim 6, characterized in that, The step of calculating the calibration compensation parameters based on a preset calibration compensation parameter calculation strategy and the initial vibration data to obtain the calibration compensation parameters includes: The initial vibration data is denoised using the low-pass filter to obtain initial denoised data. The initial denoised data is subjected to the feature extraction process to obtain a set of feature parameters; The deviation value is calculated based on the preset standard waveform characteristic parameters and the deviation formula; The calibration compensation parameter is calculated based on the deviation value and the compensation formula.

8. A tactile control device for an active pen, characterized in that, A control unit for an active pen, the active pen further comprising a pen body housing, a pen tip assembly disposed at the front end of the pen body housing, a sensor unit and a vibration motor disposed within the pen body housing, the control unit being disposed within the pen body housing and connected to both the sensor unit and the vibration motor, the device comprising: The acquisition module is used to acquire vibration data through the sensor unit; wherein the vibration data is generated by the pen tip assembly in contact with the writing surface; The feature extraction module is used to perform feature extraction processing on the vibration data to obtain vibration feature parameters; The generation module is used to generate a drive signal based on the vibration characteristic parameters; The control module is used to control the vibration motor to generate vibrations that match the vibration characteristic parameters according to the drive signal, so as to simulate the writing feel on the writing surface.

9. A tactile control device for an active pen, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the methods described in claims 1-7.

11. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in claims 1-7.

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