A tactile perception system and method based on a spatial model

Abstract

This invention discloses a tactile sensing system and method based on a spatial model. The system acquires data through an information acquisition module and establishes a three-dimensional spatial model mapping to an entity or virtual scene through an analysis module. Based on changes in spatial relationships between the user and the target object, such as position, direction, distance, multiple objects, paths, and regions, the system dynamically adjusts the contact position, action, pressure, temperature, and signal combinations of the tactile sensing signals. The system supports model updates as spatial relationships change, supports integrated modeling of entities and virtual objects, and supports multiple systems outputting signals based on the same model.

Description

[0001] This application is a divisional application of application number 2021800021595, application date: August 15, 2021, invention title: "A tactile sensing system and its usage method". Technical Field

[0002] This invention relates to the fields of information communication and human-computer interaction technology, and in particular to a tactile perception system and method based on a spatial model. Background Technology

[0003] Touch is an important way for humans to perceive information from the outside world. A key issue is how to obtain spatial location information of objects in the surrounding environment or virtual space, especially in environments with limited light, noise, or other conditions that hinder vision and hearing, such as those with blind assistance or visual impairments.

[0004] Most existing haptic feedback devices can only provide a single haptic cue, lacking a way to dynamically adjust based on changes in the spatial relationship between the user and the target object. Therefore, a spatial model-based haptic perception system is needed to help users perceive information about the target object by establishing a model and adjusting signals according to changes in the spatial relationship. Summary of the Invention

[0005] The main objective of this invention is to provide a tactile sensing system based on a spatial model and its usage method, which establishes a spatial model that maps entities or virtual scenes and dynamically adjusts the tactile sensing signals as spatial relationships change.

[0006] To achieve the above objectives, the present invention provides a tactile perception system based on a spatial model, the system comprising: an information acquisition module, an analysis module, and an output module.

[0007] Information Acquisition Module: Used to acquire information for building the model. This information may include data from the environment, positioning systems, computer systems, images, radar, radio frequency identification, navigation, or the internet.

[0008] Analysis module: Used to build a model based on the acquired information and dynamically adjust the tactile perception signal according to the changes in the spatial relationship between the user and the target object.

[0009] The model includes models that map physical scenes and / or objects, and / or models that map virtual scenes and / or objects. The model includes a three-dimensional spatial model and may include information related to the time dimension.

[0010] The model can include positional relationships between objects, route relationships, regional relationships, relative relationships between users and objects, and correspondences between entities and virtual objects. The model can be updated based on user movement, object movement, path changes, or state changes.

[0011] Output module: Used to output the tactile sensing signal. The tactile sensing signal represents information through at least one of the following: position of contact with the user's body, contact type, shape, contact area, action, temperature, time, and pressure.

[0012] Tactile sensing signals can express changes in spatial relationships through changes in contact position, continuous contact, multiple contact points, contact trajectory, different position combinations, and different action combinations.

[0013] The key features of the system of this invention are: Dynamic adjustment mechanism: The tactile perception signal is dynamically adjusted as the spatial relationship between the user and the target object (including positional relationship, directional relationship, distance relationship, multi-object relationship, path relationship, and regional relationship) changes.

[0014] Dynamic tracking: When spatial relationships change, the analysis module dynamically adjusts the tactile sensing signal.

[0015] Model update: The model is updated based on changes in the spatial relationship between the user and the target object.

[0016] Modeling features: The model supports three-dimensional spatial representation and can incorporate time-related information.

[0017] Multi-system collaboration: Supports multiple tactile sensing systems to output corresponding tactile sensing signals based on the same model.

[0018] The present invention also provides a method of using the above system, comprising: Obtain the information needed to build the model; Build a model based on the information obtained; The tactile sensing signal is dynamically adjusted according to changes in the spatial relationship between the user and the target object; Output tactile sensing signals. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the tactile sensing system based on a spatial model according to the present invention.

[0020] like Figure 1 As shown, the system of the present invention includes an information acquisition module, an analysis module, and an output module.

[0021] in: • The information acquisition module is used to acquire information for building the model, which may include environmental information, object information, location information, path information, or status information, etc. • The analysis module is used to build a model based on the acquired information and dynamically adjust the tactile sensing signal according to the changes in the spatial relationship between the user and the target object; the changes in spatial relationship include changes in positional relationship, directional relationship, distance relationship, multi-object relationship, path relationship, or regional relationship. • The output module is used to output tactile sensing signals to the user; • The user receives the tactile sensing signals through their body and perceives relevant information about the target object. The analysis module establishes models that map physical scenes and / or objects, and / or models that map virtual scenes and / or objects. These models may include three-dimensional spatial models and may include information related to the time dimension.

[0022] The tactile sensing signals can represent spatial relationship changes by the location, movement, pressure, temperature, or a combination of multiple tactile sensing signals that are in contact with the user's body. Detailed Implementation Examples of changes in spatial relationships The system dynamically adjusts the tactile sensing signals based on various changes in the spatial relationship between the user and the target object: Distance relationship change: When the distance between the user and the target object decreases or increases, the analysis module adjusts the tactile perception signal accordingly.

[0023] Changes in orientation: When the target object changes direction relative to the user, the system responds to the change in orientation by changing the position of contact with the body.

[0024] Multi-object spatial relationship changes: When there are multiple objects, the system adjusts the corresponding tactile sensing signals according to the changes in the relative position and relative distance between the user and the multiple objects.

[0025] Area changes: When a user enters or leaves a certain area, or when an object enters the user's area, the system provides feedback through tactile sensing signals.

[0026] Path relationship changes: When the user moves along the path, the object moves along the path, the user deviates from the planned path, or needs to be guided along the path, the system provides feedback on path changes and route guidance information through continuous tactile sensing signals.

[0027] [Spatial Model Example] The analysis module builds various spatial models based on the acquired information: Entity object model: maps entities such as obstacles, equipment, items, machinery, and furniture in the physical environment.

[0028] Virtual object model: maps virtual objects such as interface elements, virtual controls, virtual targets, and virtual scenes.

[0029] The entity-virtual fusion model includes both entity objects and virtual objects, establishing spatial relationships between entities and virtual objects.

[0030] Multi-object spatial model: contains multiple objects and records the relationships between objects such as position, distance, direction, and route.

[0031] The model can include the relative spatial relationships between users and objects, and can be updated based on changes in user location, object location, and path.

[0032] [Example of Dynamic Adjustment] The system expresses changes in spatial relationships through various physical changes in tactile sensing signals: Changes in contact position: This indicates changes in location, distance, or area by changing the position of the contact with the user's body.

[0033] Changes in motion: Spatial relationships are represented by changes in motion such as touching, sliding, rotating, clicking, and pressing.

[0034] Pressure variation: Adjusting the contact pressure indicates changes in distance, proximity, or space.

[0035] Temperature change: Representing the characteristics or state of an object through temperature changes.

[0036] Signal combination variation: expressing complex spatial relationships, multi-object relationships, or path changes through the combination of multiple tactile sensory signals.

[0037] [Model Update Example] The model is not static and can be updated according to changes in spatial relationships: User movement update: When a user moves, the model updates the spatial relationship between the user and objects.

[0038] Object movement update: When the target object moves, the model updates the object's position and relative spatial relationships.

[0039] Path change update: When the path changes, the route is adjusted, or the path deviates from the route, the model updates the path information.

[0040] State change update: When the state, region, quantity, or size of an object changes, the model updates the corresponding information.

[0041] [Multi-system collaboration example] Multiple tactile sensing systems can work together and share a spatial model: Information acquired by multiple devices: Multiple information acquisition devices collect local spatial information, object information, or location information respectively.

[0042] Multiple devices establish partial models: Multiple systems or devices establish partial spatial models respectively.

[0043] Collaborative model formation: Multiple devices build models based on information to form a spatial model.

[0044] Output signals based on the same model: Multiple tactile sensing systems output corresponding tactile sensing signals based on the same spatial model.

[0045] Multi-user shared spatial relationships: The tactile perception systems of different users can perceive the corresponding spatial relationships and object information based on the same model.

[0046] [Example of Physical and Virtual Integration] The model can simultaneously map physical scenes and virtual scenes, establishing a correspondence: Virtual entity mapping: Mapping physical entities to corresponding objects in a virtual model.

[0047] Virtual mapping entity: Maps objects in a virtual model to their corresponding locations in physical space.

[0048] Virtual-Real Interaction: Users perceive spatial changes in a virtual model to perceive physical entities or virtual objects. Scope of Protection Description The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0049] Virtual-real correspondence: Establishing a correspondence between physical space and virtual space, and expressing spatial changes in the correspondence through tactile sensory signals.

[0050] Industrial applicability This invention can be manufactured and used in industry, and can be applied to fields such as spatial prompting in visually and aurally limited environments, walking assistance for the blind, spatial perception, wearable tactile devices, multi-device collaborative interaction, and virtual-real fusion interaction, and has good industrial applicability.

Claims

1. A spatial model based haptic perception system, characterized by, include: The information acquisition module is used to acquire information for building the model; The analysis module is used to build a model based on the acquired information and dynamically adjust the tactile sensing signal according to the changes in the spatial relationship between the user and the target object; The output module is used to output the tactile sensing signal; in, The model includes a model that maps physical scenes and / or objects, and / or a model that maps virtual scenes and / or objects; The model includes a three-dimensional spatial model; The tactile sensing signal is dynamically adjusted as the spatial relationship changes.

2. The system according to claim 1, characterized in that: The spatial relationships include positional relationships, directional relationships, and / or distance relationships.

3. The system according to claim 1, characterized in that: The three-dimensional spatial model includes information related to the time dimension.

4. The system according to claim 1, characterized in that: The analysis module dynamically adjusts the tactile perception signal when spatial relationships change.

5. The system according to claim 1, characterized in that: The model is updated based on changes in the spatial relationship between the user and the target object.

6. The system according to claim 1, characterized in that: The tactile sensing signal represents information through the location of the contact with the user's body, and at least one of the following: contact type, shape, contact area, action, temperature, time, and pressure.

7. The system according to claim 1, characterized in that: The tactile sensing signal includes a combination of one or more tactile sensing signals.

8. The system according to claim 1, characterized in that: Multiple tactile sensing systems output corresponding tactile sensing signals based on the same model.

9. The system according to claim 1, characterized in that: The target object includes physical objects and / or virtual objects.

10. A method for haptic perception based on a spatial model, characterized in that, include: Obtain the information needed to build the model; A model is built based on the acquired information, and the tactile perception signal is dynamically adjusted according to the changes in the spatial relationship between the user and the target object. Output the tactile sensing signal; in, The model includes a model that maps physical scenes and / or objects, and / or a model that maps virtual scenes and / or objects; The model includes a three-dimensional spatial model; The tactile sensing signal is dynamically adjusted as the spatial relationship changes.

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