Non-contact haptic feedback system based on ultrasonic transducer array

Abstract

The utility model discloses a non-contact haptic feedback system based on an ultrasonic transducer array. The non-contact haptic feedback system comprises the ultrasonic transducer array, an FPGA (Field Programmable Gate Array) signal conversion and driving module and a data signal feedback module, the ultrasonic transducer array consists of a circuit board and a shell; the signal output end of the FPGA signal conversion and driving module is connected to a circuit board of the ultrasonic transducer array; and the data signal feedback module is connected to the signal input end of the FPGA signal conversion and driving module. By designing the non-contact haptic feedback system which not only can realize non-contact touch, but also can realize real-time automatic adjustment of an ultrasonic focusing position, the problem that an ultrasonic focusing point in an existing non-contact haptic system cannot be automatically tracked and adjusted according to the change of a finger position is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of tactile feedback technology, especially in a kind of non-contact force tactile feedback system based on ultrasonic transducer array. BACKGROUND

[0002] Ultrasonic phased array technology is a kind of array formed by multiple ultrasonic wave emitter and receiver, by controlling the phase and amplitude of each unit, realizes the focusing and directional emission of ultrasonic wave technology.Non-contact ultrasonic tactile feedback system is a kind of human-computer interaction technology in recent years, it utilizes ultrasonic phased array technology, provides tactile feedback to user without physical contact.The research of this technology aims at improving the naturalness, convenience and multi-sensory experience of human-computer interaction.

[0003] Existing ultrasonic tactile feedback system can make fixed height finger produce touch feeling, but system cannot obtain finger movement condition, thus cannot automatically adjust ultrasonic focusing position to track the direction of finger movement. UTILITY MODEL CONTENT

[0004] The utility model aims at overcoming the insufficient of prior art, to realize above-mentioned purpose, a kind of non-contact force tactile feedback system based on ultrasonic transducer array is used to solve the problems raised in the above background technology.

[0005] A kind of non-contact force tactile feedback system based on ultrasonic transducer array, including ultrasonic transducer array, FPGA signal conversion and driving module and data signal feedback module;

[0006] The ultrasonic transducer array is composed of circuit board and shell;

[0007] The inside of the circuit board is provided with a plurality of array distribution ultrasonic working array elements, and the working array element is composed of a plurality of ultrasonic sensor arrays, which can emit and receive ultrasonic waves;

[0008] The ultrasonic working array element includes first ultrasonic transducer unit and second ultrasonic transducer unit distributed in the circumferential direction of the first ultrasonic transducer unit, an ultrasonic transducer unit contains an ultrasonic sensor, the first ultrasonic transducer unit has the functions of ultrasonic wave emission and ultrasonic wave reception, the second ultrasonic transducer unit only has the function of emitting ultrasonic wave, and the first ultrasonic transducer unit and the second ultrasonic transducer unit are embedded together with the sound source hole provided in the shell;

[0009] The first ultrasonic transducer unit is located at the center position of the ultrasonic working array element, for measuring the distance from the skin surface to the array element center in real time;

[0010] The second ultrasonic transducer unit generates ultrasonic waves for forming ultrasonic focusing, and generates non-contact touch when the skin is contacted, and adopts a different working frequency from the first ultrasonic transducer unit;

[0011] After the first ultrasonic transducer unit transmits the ranging information to the system, the system tracks the finger position to adjust the parameters of the second ultrasonic transducer unit to form a new ultrasonic focusing point;

[0012] The signal output end of the FPGA signal conversion and driving module is connected to the circuit board of the ultrasonic transducer array;

[0013] The data signal feedback module is connected to the signal input end of the FPGA signal conversion and driving module.

[0014] As a further technical scheme of the present application, the FPGA signal conversion and driving module is installed in a separate housing, and the two ends are connected to the ultrasonic transducer array and the data signal feedback module.

[0015] As a further technical scheme of the present application, the data signal feedback module is used for setting ultrasonic parameters.

[0016] As a further technical scheme of the present application, the signal output end of the FPGA signal conversion and driving module and the ultrasonic transducer array adopt a wired connection mode.

[0017] As a further technical scheme of the present application, the data signal feedback module is connected to the signal input end of the FPGA signal conversion and driving module through a wireless connection or a wired connection.

[0018] Compared with the prior art, the present application has the following technical effects:

[0019] The above technical scheme is adopted, and a tactile feedback system capable of realizing non-contact touch and real-time acquisition of finger position and adjustment of ultrasonic focusing position is designed. The system mainly comprises an ultrasonic transducer array, an FPGA signal conversion and driving module, and a data signal feedback module arranged on a computer, the system can generate ultrasonic waves to form a focusing point, and can also receive reflected ultrasonic waves to perform real-time ranging on the fingers above the ultrasonic transducer array, and further adjust the ultrasonic focusing position. BRIEF DESCRIPTION OF DRAWINGS

[0020] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings:

[0021] Figure 1 The structure diagram of the tactile feedback system of the disclosed embodiment of the present application is shown in the figure;

[0022] Figure 2Structure schematic diagram and plane schematic diagram of the ultrasonic transducer array of the embodiment disclosed in the present application;

[0023] Figure 3 Plane schematic diagram of the working elements on the ultrasonic transducer array of the embodiment disclosed in the present application and working schematic diagram of the working elements generating ultrasonic waves and receiving echoes;

[0024] Figure 4 Schematic diagram of the ultrasonic waves generated by the ultrasonic transducer array of the embodiment disclosed in the present application forming focusing.

[0025] In the figure: 1, ultrasonic transducer array; 2, FPGA signal conversion and driving module; 3, computer; 4, working element on the ultrasonic transducer array; 5, internal circuit board of the ultrasonic transducer array; 6, sound source hole; 7, shell of the ultrasonic transducer array; 8, first ultrasonic transducer unit; 9, second ultrasonic transducer unit. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the 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.

[0027] Please refer to Figure 1 In the embodiments of the present application, a non-contact force haptic feedback system based on an ultrasonic transducer array comprises an ultrasonic transducer array 1, an FPGA signal conversion and driving module 2, and a data signal feedback module, wherein the data signal feedback module is arranged on a remote computer 3.

[0028] In the present embodiment, the ultrasonic transducer array 1 is composed of a circuit board 5 and a shell 7 in the array structure, and the external features include a plurality of arrayed ultrasonic working elements 4.

[0029] In the present embodiment, the FPGA signal conversion and driving module 2 is placed in an external independent square box, and the signal output end of the FPGA signal conversion and driving module 2 is connected to the ultrasonic transducer array 1 in a wired manner.

[0030] In the present embodiment, the signal input end of the FPGA signal conversion and driving module 2 is connected to the computer 3 provided with the data signal feedback module in a wireless or wired manner.

[0031] In the embodiment, the data signal feedback module is used for setting the ultrasonic wave parameters, specifically, the data signal feedback module on the computer 3 can be used to artificially operate or adjust the parameters of the ultrasonic wave generated by the ultrasonic transducer array 1 and the position of the focusing point.

[0032] Please refer to Figure 2 In the embodiment, the ultrasonic transducer array 1 is composed of a circuit board 5 and a shell 7. The circuit board 5 contains a plurality of sensors for transmitting and receiving ultrasonic waves. The circuit board 5 is provided with a plurality of arrayed ultrasonic working elements 4. Sixteen working elements 4 are arranged in a symmetrical arrangement of four rows and four columns on the circuit board 5. The circuit board 5 is installed in the shell 7 and connected with the signal output end of the FPGA signal conversion and driving module 2.

[0033] In the embodiment, the shell 7 of the ultrasonic transducer array is provided with sound source holes 6. The sound source holes 6 are also arranged in a symmetrical arrangement of four rows and four columns on the shell. The ultrasonic working elements 4 on the internal circuit board include first ultrasonic transducer units and second ultrasonic transducer units arranged in an array around the first ultrasonic transducer units. The number of sound source holes is the same as that of ultrasonic transducer units. Each sound source hole 6 corresponds to a first ultrasonic transducer unit or a second ultrasonic transducer unit. The sound source hole and the ultrasonic transducer unit are embedded together.

[0034] Please refer to Figure 3 Each working element 4 of the ultrasonic transducer array is composed of nine ultrasonic transducer units arranged in a symmetrical arrangement of three rows and three columns. The working element contains two types of ultrasonic transducer units. Each ultrasonic transducer unit contains an ultrasonic sensor. The first ultrasonic transducer unit 8 contains an ultrasonic transmitter and receiver, which can transmit and receive ultrasonic waves and is located at the center of the working element. The second ultrasonic transducer unit 9 can only transmit ultrasonic waves for focusing and is uniformly distributed around the first ultrasonic transducer unit 8.

[0035] In the embodiment, the first ultrasonic transducer unit 8 and the second ultrasonic transducer unit 9 are arranged on the circuit board inside the ultrasonic transducer array. The first ultrasonic transducer unit 8 transmits and receives ultrasonic waves to measure the distance from the skin surface to the center of the element in real time.

[0036] In the embodiment, the second ultrasonic transducer unit 9 around the center of the element transmits ultrasonic waves and focuses on a certain position above the ultrasonic transducer array 1 to generate non-contact tactile sensation when the skin is contacted. A different working frequency is used for the second ultrasonic transducer unit.

[0037] In the embodiment, the first ultrasonic transducer unit can transmit and receive ultrasonic waves and is not sensitive to the ultrasonic frequency transmitted by the second ultrasonic transducer unit.

[0038] The second ultrasonic transducer unit only emits ultrasonic waves, does not receive ultrasonic echoes, and uses a different operating frequency than the first ultrasonic transducer unit;

[0039] Please refer to Figure 4 The ultrasonic transducer uses a phased array technique, which can achieve the superposition of ultrasonic waves at the touch point by setting the same phase of the ultrasonic waves emitted by each second ultrasonic transducer unit when reaching the touch point. When the ultrasonic transducer array is working, all the first ultrasonic transducer units on it work at the same time to measure the distance of the skin above the measuring unit. The first ultrasonic transducer unit transmits the distance information to the remote computer, and the remote computer takes the lowest point of the measured skin as the focus point of the ultrasonic waves emitted by the second ultrasonic transducer unit, and feedbacks the signal through the data signal feedback module. When the finger moves, the computer adjusts the parameters of the second ultrasonic transducer unit to form a new focus position according to the distance information. The use of the phased array technique enhances the signal at the touch point and enhances the touch feeling;

[0040] Working principle:

[0041] Please refer to Figure 1 , Figure 1 The structure diagram of the tactile feedback system of the disclosed embodiment of the present application;

[0042] The working principle of the ultrasonic tactile feedback system is based on the emission and reception of ultrasonic waves, the conversion of electrical signals, and the setting of phases. First, the parameter setting of the first ultrasonic transducer unit and the second ultrasonic transducer unit for generating and emitting ultrasonic waves is performed on the data signal feedback module on the computer 3. These parameters define the frequency of the ultrasonic transducer unit for generating ultrasonic waves and the coordinate parameters of the second ultrasonic transducer unit for emitting ultrasonic waves to form an initial focus point. After the ultrasonic transducer array is started, the computer 3 transmits the parameter information to the FPGA signal conversion and driving module 2. The FPGA signal conversion and driving module 2 converts the parameter information into a driving signal for the sensors in the ultrasonic transducer unit to generate and emit ultrasonic waves, and transmits it to the circuit board inside the ultrasonic transducer array 1. Each working element can work according to the predetermined requirements.

[0043] The ultrasonic sensor in the second ultrasonic transducer unit on the circuit board receives the driving signal, generates ultrasonic waves according to predetermined parameters, and forms a focus in a specific area; at the same time, the first ultrasonic transducer unit receives the driving signal to emit ultrasonic waves and also receives ultrasonic echoes reflected by the skin surface, the received echo signal is transmitted to the FPGA signal conversion and driving module 2 through the internal circuit board of the ultrasonic transducer array, and then transmitted to the data signal feedback module on the computer 3 after being processed by the FPGA signal conversion and driving module 2, the computer calculates the height from the skin surface to the ultrasonic transducer array and takes the lowest point as the focus position. When the finger or palm of a person is placed above the ultrasonic transducer array, the first ultrasonic transducer unit detects the finger and transmits the ranging information to the system, and the system adjusts the parameters of the second ultrasonic transducer unit to form a focus point at the lowest point of the skin; when the finger or palm moves, the computer adjusts the position of the focus point through real-time detection of the finger position.

[0044] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of the present application is defined by the appended claims and their equivalents, and all should be included in the protection scope of the present application.

Claims

1. An ultrasonic transducer array based non-contact force haptic feedback system, characterized in that, The ultrasonic transducer array, the FPGA signal conversion and driving module, and the data signal feedback module are included. The ultrasonic transducer array is composed of a circuit board and a shell. The circuit board is internally provided with a plurality of arrayed ultrasonic working elements, and the working element is composed of a plurality of ultrasonic sensor arrays and can emit and receive ultrasonic waves. The ultrasonic working element includes a first ultrasonic transducer unit and a second ultrasonic transducer unit distributed circumferentially around the first ultrasonic transducer unit, one ultrasonic transducer unit contains one ultrasonic sensor, the first ultrasonic transducer unit has the functions of ultrasonic emission and ultrasonic reception, the second ultrasonic transducer unit only has the function of emitting ultrasonic waves, and the first ultrasonic transducer unit and the second ultrasonic transducer unit are embedded together with a sound source hole provided in the shell. The first ultrasonic transducer unit is located at the center of the ultrasonic working element and is used for real-time measurement of the distance from the skin surface to the center of the element. The ultrasonic waves generated by the second ultrasonic transducer unit are used to form ultrasonic focusing, and when the skin is contacted, non-contact touch feeling is generated, and a different working frequency is adopted than that of the first ultrasonic transducer unit. After the ranging information is transmitted to the system by the first ultrasonic transducer unit, the system tracks the finger position and adjusts the parameters of the second ultrasonic transducer unit to form a new ultrasonic focusing point. The signal output end of the FPGA signal conversion and driving module is connected to the circuit board of the ultrasonic transducer array. The data signal feedback module is connected to the signal input end of the FPGA signal conversion and driving module.

2. The non-contact force haptic feedback system based on an ultrasonic transducer array of claim 1, wherein, The FPGA signal conversion and driving module is installed in a separate shell and connected to the ultrasonic transducer array and the data signal feedback module at both ends.

3. The non-contact force haptic feedback system based on an ultrasonic transducer array of claim 1, wherein, The data signal feedback module is used for setting ultrasonic parameters.

4. The non-contact force haptic feedback system based on an ultrasonic transducer array of claim 1, wherein, The signal output end of the FPGA signal conversion and driving module and the ultrasonic transducer array adopt a wired connection mode.

5. The non-contact force haptic feedback system based on an ultrasonic transducer array of claim 4, wherein, The data signal feedback module is connected to the signal input end of the FPGA signal conversion and driving module in a wireless connection or wired connection mode.

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