CN116107451A - Touch detection control method, device and system for keys - Google Patents
Touch detection control method, device and system for keys Download PDFInfo
- Publication number
- CN116107451A CN116107451A CN202310002427.4A CN202310002427A CN116107451A CN 116107451 A CN116107451 A CN 116107451A CN 202310002427 A CN202310002427 A CN 202310002427A CN 116107451 A CN116107451 A CN 116107451A
- Authority
- CN
- China
- Prior art keywords
- value
- pressing force
- pressure value
- target pressure
- key
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0416—Control or interface arrangements specially adapted for digitisers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
- H02P25/034—Voice coil motors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/041—Indexing scheme relating to G06F3/041 - G06F3/045
- G06F2203/04105—Pressure sensors for measuring the pressure or force exerted on the touch surface without providing the touch position
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The disclosure relates to a touch detection control method, device and system for keys, belonging to the technical field of key detection, wherein the method comprises the following steps: when the key is stressed to move, collecting pressing force data from the sensor; acquiring a load instruction for performing touch detection on the key; the load instruction represents a mapping relation of the pressing force changing along with time within a set time length; determining a corresponding sub-moment in the load instruction and a target pressure value of the pressing force at the sub-moment according to the pressing force data; obtaining a current value corresponding to the target pressure value according to the target pressure value; and driving a motor to drive a pressing head to move according to the current value in a sampling interval corresponding to the moment so as to apply pressing force corresponding to the target pressure value to the key through the pressing head.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of key detection, and in particular relates to a touch detection control method, device and system for keys.
Background
With the rapid development of the electronic industry, keys are widely used as media for man-machine interaction, such as remote controllers, keyboards, handles, and the like. The touch feeling can be improved by controlling the motor to drive the key to move when the user touches the key.
Currently, the touch feeling of a key is usually detected by a load detection method, that is, a pressure threshold is set, and when the pressing force applied to the key reaches the pressure threshold, the motor is controlled to stop moving. The key may continue to be pressurized due to inertia, braking, etc. of the motor, and the pressure applied to the key may exceed the pressure threshold.
Disclosure of Invention
An object of an embodiment of the present disclosure is to provide a new technical solution of a touch detection control method, device and system for a key.
According to a first aspect of the present disclosure, there is provided a touch detection control method of a key, the method including: when the key is stressed to move, collecting pressing force data from the sensor; acquiring a load instruction for performing touch detection on the key; the load instruction represents a mapping relation of the pressing force changing along with time within a set time length; determining a corresponding sub-moment in the load instruction and a target pressure value of the pressing force at the sub-moment according to the pressing force data; obtaining a current value corresponding to the target pressure value according to the target pressure value; and driving a motor to drive a pressing head to move according to the current value in a sampling interval corresponding to the moment so as to apply pressing force corresponding to the target pressure value to the key through the pressing head.
Optionally, before the obtaining the current value corresponding to the target pressure value according to the target pressure value, the method further includes: determining an actual pressure value applied to the key by the pressing head output by the force sensor at the sub moment according to the pressing force data; obtaining a pressure deviation value of the actual pressure value relative to the target pressure value according to the target pressure value and the actual pressure value; the obtaining a current value corresponding to the target pressure value according to the target pressure value comprises the following steps: and obtaining a current value corresponding to the target pressure value according to the pressure deviation value and the target pressure value.
Optionally, before obtaining the current value corresponding to the target pressure value according to the pressure deviation value and the target pressure value, the method further includes: acquiring displacement data from a sensor when the key is stressed; obtaining a target speed value according to the pressure deviation value and the target pressure value; according to the displacement data, obtaining an actual speed value of the key in the sampling interval; obtaining a speed deviation value of the actual speed value relative to the target value according to the target speed value and the actual speed value; and obtaining the current value according to the speed deviation value and the target speed value.
Optionally, the load instruction is set to: the first target pressure value of the pressing force at the starting time of the set time length is larger than 0, and the set sampling time comprises the starting time.
Optionally, the load instruction indicates the mapping relation through a reference value of the pressing force within a set time length and a variation of the pressing force relative to the reference value along with time; wherein the amount of change is represented by a set amplitude and a coefficient of time change of the set amplitude, the coefficient being represented by a period and an initial phase of time change of the pressing force within a set time length.
Optionally, in the process of driving the motor to drive the pressing head to move according to the current value, the method further includes: acquiring a switching signal output by a limit switch; and controlling the motor according to a set control mode under the condition that the switch signal indicates that the motor moves to a set limit position.
Optionally, the load instruction is a first load instruction or a second load instruction; the first load instruction comprises a pressing stage and a lifting stage, and the first load instruction represents a mapping relation of pressing force of the pressing stage and the lifting stage along with time; the second load command includes a full phase, and the second load command indicates that a time-varying mapping relationship of a pressing force of a pressing phase in the full phase and a time-varying mapping relationship of a pressing force of a lifting phase in the full phase, which is indicated by the second load command, are mirror images of each other.
According to a second aspect of the present disclosure, there is also provided a touch detection control device of a key, the device including: the pressing force data acquisition module is used for acquiring pressing force data from the sensor when the key is stressed to move; the load instruction acquisition module is used for acquiring a load instruction for carrying out touch detection on the keys; the load instruction represents a mapping relation of the pressing force changing along with time within a set time length; the pressure value determining module is used for determining a corresponding sub-moment in the load instruction and a target pressure value of the pressing force at the sub-moment according to the pressing force data; a current value obtaining module, configured to obtain a current value corresponding to the target pressure value according to the target pressure value; and the motor driving module is used for driving the motor to drive the pressing head to move according to the current value in the sampling interval corresponding to the moment so as to apply the pressing force corresponding to the target pressure value to the key through the pressing head.
According to a third aspect of the present disclosure, there is also provided a touch detection control device of a key, including a memory for storing a computer program, and a processor; the processor is configured to execute the computer program to implement the method according to the first aspect of the present disclosure.
According to a fourth aspect of the present disclosure, there is also provided a touch sensing system of a key, the system including: the upper computer is used for providing a load instruction; the pressing head is used for being in contact with the key; the motor is used for driving the pressing head to apply pressing force to the keys; a sensor for detecting pressing force data; and a tactile sensation detection control device according to claim 9; the touch sense detection control device is connected with the upper computer to receive the load instruction sent by the upper computer; the touch sense detection control device is connected with the sensor to acquire the pressing force data; the touch sensing control device is connected with the motor to drive the motor to move.
Optionally, the motor is a voice coil motor.
The method has the advantages that the designed target pressure values of the pressing force at different moments in the set time length are accurately designed, the motor is controlled to move according to the load instruction, the designed target pressure values are applied to the keys at all moments in the set time length, and further the touch detection is accurately controlled, so that the condition that the keys are damaged due to pressure overload applied to the keys is reduced.
Other features of the disclosed embodiments and their advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.
Fig. 1 is a schematic diagram of a composition structure of a touch detection control system of a key to which a touch detection control method of a key according to an embodiment can be applied;
fig. 2 is a flowchart of a touch sensing control method of a key according to another embodiment;
FIG. 3 is a flow chart illustrating operation of a tactile sensation detection control device according to another embodiment;
fig. 4 is a functional block diagram of a tactile sensation detection control device according to another embodiment;
fig. 5 is a schematic hardware configuration of a tactile sensation detection control apparatus according to another embodiment.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
< System example >
Fig. 1 is a schematic diagram of the composition structure of a touch detection system of a key to which a touch detection control method of a key according to an embodiment can be applied. As shown in fig. 1, the system includes a host computer 110, a pressing head 120, a motor 130, a force sensor 140, a displacement sensor 150, and a tactile sensation detection control device 160, and can be applied to a human-computer interaction scene.
The upper computer 110 may be, but is not limited to, various smart phones, personal computers, notebook computers, tablet computers. The upper computer 110 may control the operation of turning on, off, and resetting the touch sensing control device 160, and the upper computer 110 may also control the operation of turning on, off, and resetting the motor 130 by sending an operation command to the touch sensing control device 160.
The touch sensing control device 160 may be directly electrically connected to the host computer 110, or may be connected by wireless communication such as bluetooth, etc., which is not limited herein. The tactile sensation detection control device 160 may be a controller, and an output end of the tactile sensation detection control device 160 is connected with the motor 130 and drives the motor 130 to move so as to control the pressing force of the motor 130 on the key 200.
The motor 130 may be fixedly mounted on the mechanical base 170, the motor 130 may be a voice coil motor, the moving end of the voice coil motor has a better response speed, and the moving end of the motor 130 may move to a corresponding position with respect to the instruction output by the touch sensing control device 160. The mechanical base 170 may be, but not limited to, a housing of a keyboard, a handle, etc., and the keys 200 on the mechanical base 170 may slide along the thickness direction of the mechanical base 170.
The pressing head 120 is located between the force sensor 140 and the key 200 and is fixedly connected with the force sensor 140. The pressing head 120 is in contact with the key 200, and when the key 200 receives a pressing force applied by a user, the pressing head 120 can transmit its deformation amount to the force sensor 140.
The force sensor 140 is electrically connected to the tactile sensation detection control device 160, and an end of the force sensor 140 remote from the pressing head 120 may be mounted on a moving end of the motor 130. The force sensor 140 may convert the force transmitted by the pressing head 120 into an electrical signal and output the electrical signal to the tactile sensation detection control device 160. The electric signal output from the pressing head 120 may be amplified by the amplifier 141 and then output to the tactile sensation detection control device 160.
The displacement sensor 150 is electrically connected to the tactile sensation detection control device 160, and the displacement sensor 150 may be fixedly mounted on the machine base 170. The displacement sensor 150 may be a grating sensor that obtains the moving distance of the key 200 and outputs it to the tactile sensation detection control device 160 as an electrical signal.
The system may further include a limit switch 180, where the limit switch 180 may be fixedly mounted on the mechanical base 170, and the limit switch 180 may be a photoelectric switch, and detects whether the moving end of the motor 130 moves to a limit position. When the moving end of the motor 130 is detected to reach the limit position, feedback is fed to the tactile sensation detection control device 160, and the tactile sensation detection control device 160 controls the motor 130 to stop moving or withdraw in the opposite direction, so that a limiting effect is achieved on the motor 130.
The upper computer 110 may also output a preset load instruction to the touch sensing control device 160, where the touch sensing control device 160 receives the load instruction and controls the motor 130 based on the load instruction, and the movement end of the motor 130 moves to drive the pressing head 120 to move. So that the force sensor 140 and the displacement sensor 150 can feed back the collected data to the tactile sensation detection control device 160 in the form of an electric signal, and the tactile sensation detection control device 160 outputs to the upper computer 110. The upper computer 110 can also perform quality judgment on the key 200 through the fed-back data, and display the judgment result through the display screen 190 associated with the upper computer 110.
In the embodiments applied to the present disclosure, the memory of the tactile sensation detection control device 160 is used to store a computer program for controlling the processor of the tactile sensation detection control device 160 to operate to implement the tactile sensation detection control method of the key according to any of the embodiments. The skilled person may design a computer program according to the solution of the embodiments of the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.
< method example >
Fig. 2 is a flow chart of a touch sensing control method of a key according to an embodiment. The above-described tactile sensation detection control device is used as an execution subject in the present embodiment.
As shown in fig. 2, the touch detection control method of the key of the present embodiment may include the following steps S201 to S205:
step S201, collecting pressing force data from the sensor when the key is forced to move.
Specifically, the user triggers the key on the mechanical base, and when the key is stressed, the touch detection control device collects the pressing force data from the sensor.
Step S202, acquiring a load instruction for performing touch detection on a key; the load command indicates a mapping relationship in which the pressing force changes with time within a set time period.
Specifically, the upper computer determines a load instruction corresponding to the key and transmits the load instruction to the touch detection control device, and the touch detection control device acquires the load instruction for touch detection of the key. The load command indicates a mapping relationship in which the pressing force changes with time within a set time period.
In one embodiment, the load instruction is a first load instruction or a second load instruction; the first load instruction comprises a pressing stage and a lifting stage, and the mapping relation of the pressing force of the pressing stage and the lifting stage, which is represented by the first load instruction, is changed along with time; the second load command includes a full phase, and the second load command indicates that the time-dependent pressing force of the pressing phase in the full phase is a mirror image of the time-dependent pressing force of the lifting phase in the full phase indicated by the second load command.
The load instruction can be set by the upper computer, and the load instruction can be a pressure curve which changes with time from the start of the press head to the contact of the key, to the press of the key to the limit position and finally to the complete process of separating from the key. The load instruction may specifically include a first load instruction F com1 And a second load instruction F com2 . Wherein the pressure curve of the second load command in the pressing phase in the full phase is symmetrical to the pressure curve in the lifting phase in the full phase.
In one embodiment, the load command indicates the map by a reference value of the pressing force within a set time length and a variation amount of the pressing force with respect to the reference value with time; wherein the amount of change is represented by a set amplitude and a coefficient of time-varying of the set amplitude, the coefficient being represented by a period and an initial phase of time-varying of the pressing force within a set time length.
Specifically, the load instruction may be the first load instruction or the second load instruction described above. In the case where the load instruction is a second load instruction, the second load instruction F com2 The pressure curves of the whole process of key pressing and rebound can be expressed as symmetrical pressure curves, namely, the pressure curves of the pressing stage and the lifting stage in the whole stage are symmetrical. And pressing with the initial load value until the maximum value is reached, continuing to move according to the load instruction curve, and gradually separating from the key until the pressing force is zero. The specific algorithm can be expressed as the following formula:
F com2 ＝F initial +α·f(β·t+γ)，0＜t≤t total Formula (1)
Wherein t is total Representing a time period corresponding to the full phase; f (F) initial Represents a load instruction initial value, i.e., a reference value of the pressing force within a set time period, and F initial > 0 to ensure that the motion module contacts the key at the initial time of the pressing motionThe method comprises the steps of carrying out a first treatment on the surface of the α·f (β·t+γ) is the above-described variation amount, and f may be represented as a curve function and may be a trigonometric function; alpha can be the set amplitude and can be the curve amplitude, namely the variation amplitude of the pressing force with time in the set time can be reflected; beta.t+gamma is the coefficient described above, and beta may be preset and used to adjust the period of the curve; gamma is the initial phase described above and is used to adjust the phase shift of the curve.
Specifically, a first load instruction F com1 It is possible to represent a pressure curve in which the two processes of key depression and rebound are not identical, i.e. the pressure curve of the pressing phase and the pressure curve of the lifting phase in the full phase are not symmetrical. In the pressing stage, the key is pressed with a load initial value until the load maximum value is reached, and the pressing stage is the pressing process. In the lifting stage, the push button is far away until the push button is separated from the push button, the pressing force is zero at the moment, and the lifting stage is the rebound process. The specific algorithm can be expressed as the following formula:
Wherein t is less than or equal to t peak Indicating the pressing stage, t peak Indicating the time when the load reaches the peak value, t peak ≤t≤t total Indicating the lift-up phase, t total Represents the time period corresponding to the whole process, and t peak ≤t total To time limit the pressing action; f (F) initial A load initial value, i.e., a reference value indicating that the pressing force is in the pressing stage, and F initial > 0 to ensure that the motion module contacts the key at the initial time of performing the pressing action; f (F) peak A reference value indicating that the pressing force is in the rebound phase; alpha 1 ·f 1 (β 1 ·t+γ 1 ) To the above variation, f 1 A curve function representing the compression phase and may be a trigonometric function; f (f) 2 A curve function representing the lift-off phase and may be a trigonometric function; beta 1 ·t+γ 1 A coefficient representing the compression phase; beta 2 ·t+
γ 2 Representing the coefficients at the rebound phase. Alpha 1 The set amplitude may be the above-described one and may be a curve amplitude representing the compression phase; alpha 2 The amplitude may be the set amplitude described above and may be a curve amplitude representing the lift-up phase. Can preset beta 1 And beta 2 And are all used to adjust the period of the curve. Gamma ray 1 And gamma 2 Are the initial phases described above and are used to adjust the phase shift of the curve.
Accordingly, in adjusting parameters in the above expression, it is necessary to satisfy: adjusting the time t when the load reaches the peak value peak And the time t required for the whole process total To ensure that the load instruction can meet a complete cycle. Regulating the period beta, beta of a load command 1 And beta 2 Phase shift gamma, gamma 1 And gamma 2 So as to ensure that the load can cause the corresponding deformation of the key, thereby being identified by the algorithm. Adjusting the amplitude alpha, alpha of the load command 1 And alpha 2 So as to meet the standard requirement of the key on the input pressing force. Adjusting initial value F of load instruction initial And a load instruction maximum value F peak So as to meet the requirement that the pressing head contacts with the key at the beginning of one period and the pressing head can fully press the key. Wherein, the initial value F of the load instruction initial And a load instruction maximum value F peak All of which are the above-mentioned reference values.
In one embodiment, the load command indicates the map by a reference value of the pressing force over a set time period, a magnitude of the time-dependent change of the pressing force over the set time period, and a period.
Specifically, the load instruction may be the above formula (1), F in formula (1) initial That is, the reference value of the pressing force in the set time period is α in the formula (1) which is the amplitude of the pressing force varying with time in the set time period, and β in the formula (1) which is the period of the pressing force varying with time in the set time period. Accordingly, load instruction F com2 ＝F initial +α·f(β·t+γ)，0＜t≤t total . In other words, by combining the reference value, the amplitude and the periodAnd the pressure curve of the load command is changed with time to be in an ascending trend until the pressure value reaches a load peak value, and is in a descending trend until the pressure value is 0 after the pressure value reaches the load peak value. In other words, in the process of pressing to rebound, the pressing force is output in a nonlinear manner, so that the output current value can be determined through a curve matched with the pressing force output, and the accuracy of the current value output to the motor is further improved.
Step S203, determining a target pressure value at the sub-time of the pressing force and a corresponding sub-time of the load command according to the pressing force data.
Specifically, in the case where the user releases immediately after pressing so that the key rebounds, that is, a certain actual point of time when the user touches the pressing head, it is possible to determine the point of time as the start of one cycle of the load instruction. The moment in one period from the actual time point can correspond to the moment of the load instruction, and the target pressure value corresponding to the moment in the load instruction can be determined.
Similarly, when the user releases the button after a period of time has elapsed after pressing, the time points corresponding to the peak value of the load and the time point corresponding to the peak value to be lower than the peak value of the load can be detected, and the time period between the actual time point when the user touches the pressing head and the time point when the user reaches the peak value of the load, and the time period when the user is about to be lower than the peak value of the load and the time period when the load is 0 are taken as one period, and the time moment of the load instruction corresponding to the moment in the period and the target pressure value corresponding to the time moment are determined.
Step S204, according to the target pressure value, a current value corresponding to the target pressure value is obtained.
Specifically, the tactile sensation detection control device may obtain a current value corresponding to the target pressure value from the target pressure value after determining the target pressure value. The larger the target pressure value is, the smaller the corresponding current value is, so that the resistance is larger when a user contacts the pressing head at first, and the resistance is smaller when the load reaches the peak value, and the touch feeling of the user pressing the key is further improved.
In step S205, in the sampling interval corresponding to the moment, the motor is driven to drive the pressing head to move according to the current value, so as to apply the pressing force corresponding to the target pressure value to the key through the pressing head.
The sampling interval can be preset between adjacent moments when the sensor collects the pressing force data, so that the touch sensing control device can output a current value to drive the motor. Specific examples are: the sampling interval is 200ms, the sensor collects the pressing force data at one sub-moment of 200ms each, and the corresponding sub-moment can be 0, 200ms, 400ms, 600ms, 800ms and 1s.
Specifically, in the sampling interval corresponding to the moment, the motor is driven according to the current value corresponding to the sampling moment, and the motor moves to drive the pressing head to move towards the direction of the finger touched by the user, so that the pressing force corresponding to the target pressure value is applied to the key through the pressing head.
In one embodiment, prior to step 204, specifically comprising: determining an actual pressure value applied to the key by a pressing head output by the force sensor at a sub-moment according to the pressing force data; and obtaining a pressure deviation value of the actual pressure value relative to the target pressure value according to the target pressure value and the actual pressure value. Step 204 specifically includes: and obtaining a current value corresponding to the target pressure value according to the pressure deviation value and the target pressure value.
Specifically, the force sensor in the system can detect and output an actual pressure value applied to the key by the pressing head when the pressing head moves, and the touch detection control device can acquire the actual pressure value applied to the key by the pressing head output by the force sensor. The displacement sensor in the system can set the displacement value of the corresponding key to be 0 when the key is not pressed, and can output the displacement value corresponding to the key when the key is pressed. The tactile sensation detection control device may acquire the displacement value of the key output by the displacement sensor. The force sensor can determine the difference between the actual pressure value and the target pressure value according to the target pressure value corresponding to a certain sampling time and the actual pressure value corresponding to the detection time after the sampling time, wherein the difference is the pressure deviation value. According to the current value corresponding to the target pressure value, the current value can be adjusted through the pressure deviation value, so that the pressing force applied by the pressing head is adjusted, and the condition that the key is damaged due to overlarge pressing force applied by a user is reduced.
In one embodiment, prior to step 204, the following is included: and acquiring displacement data from the sensor when the key is stressed. The process of obtaining a current value corresponding to the target pressure value based on the pressure deviation value and the target pressure value specifically includes: obtaining a target speed value according to the pressure deviation value and the target pressure value; obtaining an actual speed value of the key in a sampling interval according to the displacement data; obtaining a speed deviation value of the actual speed value relative to the target value according to the target speed value and the actual speed value; and obtaining a current value according to the speed deviation value and the target speed value.
Specifically, the upper computer may be provided with a force controller, and the force controller may include a force feedforward controller and a force feedback error proportional-integral-derivative controller. The input of the force controller is a target pressure value and an actual pressure value, wherein the target pressure value is input to the force feedforward controller, the target pressure value and the actual pressure value are subjected to error, namely, a pressure deviation value, and the pressure deviation value is input to the force feedback error proportional-integral-derivative controller. Accordingly, the output of the force controller is a speed command, and the force controller has the following specific expression:
Wherein K is F Representing a feedforward control coefficient; f (F) ff The feedforward force instruction output by the force feedforward controller is represented and is obtained by sampling a load instruction; k (K) P ，K I ，K D Representing a feedback control coefficient; f (F) err Representing the difference between the target pressure value and the actual pressure value.
Wherein the touch detection control device determines a start position and an end position corresponding to a certain sampling interval from the displacement data. And obtaining the actual speed value of the key in the sampling interval according to the starting point position, the end point position and the duration of the sampling interval.
Specifically, the upper computer may be provided with a speed controller, and the speed controller may determine a difference between the actual speed value and the target speed value according to the target speed value and the actual speed value corresponding to a certain sampling time, where the difference is a speed deviation value.
Specifically, the speed controller described above may include a speed feedforward controller and a speed feedback error proportional-integral-derivative controller. The input of the speed controller is a target speed value and an actual speed value, wherein the target speed value is input to the speed feedforward controller, the target speed value and the actual speed value are subjected to error, namely a speed deviation value, and the speed deviation value is input to the speed feedback error proportional-integral-derivative controller. Accordingly, the output of the speed controller is a current command that drives the motor in motion. The current command may be a current value. The specific expression of the speed controller is as follows:
Wherein K is VF Representing feedforward control coefficient, V ff Representing a feedforward speed command, and obtaining K by sampling the speed command output by the force controller VP ，K VI ，K VD Representing the feedback control coefficient, V err Representing the difference between the target speed value and the actual speed value.
In general, as shown in fig. 3, after the tactile sensation detection control device acquires a load instruction, force feedback output from the force sensor, that is, an actual pressure value may be received. And comparing the actual pressure value with the target pressure value to generate a pressure deviation value and outputting the pressure deviation value to the force controller, thereby realizing the outer ring control. The force controller then outputs the target speed value. The displacement sensor, such as a grating sensor, outputs a speed feedback, i.e. an actual speed value. And comparing the actual speed value with the target speed value to generate a speed deviation value and outputting the speed deviation value into a speed controller, wherein the speed controller outputs a current value to control the motor such as the moving end of the voice coil motor to move, and the moving end of the voice coil motor moves to drive the pressing head to move so that the force sensor can output corresponding force feedback to realize complete closed-loop control. Under complete closed-loop control, the movement of the movable end of the motor is more accurate, and the touch feeling of pressing the pressing head by a user is further improved.
In one embodiment, the load instruction may be set to: the first target pressure value of the pressing force at the starting time of the set time length is larger than 0, and the set sampling time comprises the starting time.
Specifically, when the user touches the pressing head, that is, when the pressing head receives the pressing force applied by the finger of the user at the initial time of the set time length, the first target pressure value needs to be set correspondingly, so that the touch feedback of the corresponding pressing head is obtained when the user touches. The first target pressure value is greater than 0, and may be F in the above formula (1) or formula (2) initial . In other words, by setting the first target pressure value, the touch feeling when the user just touches the key can be effectively improved.
In one embodiment, in the step S205, in the process of driving the motor to move the pressing head according to the current value, the method may include: and acquiring a switching signal output by the limit switch. When the switch signal indicates that the motor moves to the set limit position, the motor is controlled according to the set control mode.
In particular, the limit switch may be a photoelectric switch and is used for detecting the position of the motor in real time. The limit position of the motor movement can be set manually or by default. The limit switch can detect that the motor moves to the limit position and feeds back to the touch detection control device so that the touch detection control device can control the motor to stop moving or withdraw from along the opposite direction, and then the limit switch plays a limiting role on the motor, so that the motor is protected.
The method has the advantages that the designed target pressure values of the pressing force at different moments in the set time length are accurately designed, the motor is controlled to move according to the load instruction, the designed target pressure values are applied to the keys at all moments in the set time length, and further the touch detection is accurately controlled, so that the condition that the keys are damaged due to pressure overload applied to the keys is reduced.
< device example one >
Fig. 4 is a functional block diagram of a tactile sensation detection control device according to one embodiment. As shown in fig. 4, the tactile sensation detection control apparatus 400 may include an instruction acquisition module 410, a pressing force sampling module 420, a control module 430, an execution module 440, a detection module 450, and a data processing module 460.
The pressing force data acquisition module 410 is used for acquiring pressing force data from the sensor when the key is stressed to move;
the load instruction acquisition module 420 is configured to acquire a load instruction for performing touch detection on the key; the load instruction represents a mapping relation of the pressing force changing along with time within a set time length;
the pressure value determining module 430 is configured to determine, according to the pressing force data, a corresponding time instant in the load instruction and a target pressure value of the pressing force at the time instant;
A current value obtaining module 440 for obtaining a current value corresponding to the target pressure value according to the target pressure value;
and the motor driving module 450 is used for driving the motor to drive the pressing head to move according to the current value in the sampling interval corresponding to the moment so as to apply the pressing force corresponding to the target pressure value to the key through the pressing head.
In some embodiments, the pressure value determining module is configured to determine, according to the pressing force data, an actual pressure value applied to the key by the pressing head output by the force sensor at a sub-moment;
the pressure deviation value module is used for obtaining a pressure deviation value of the actual pressure value relative to the target pressure value according to the target pressure value and the actual pressure value;
the current value obtaining module 440 is further configured to obtain a current value corresponding to the target pressure value according to the pressure deviation value and the target pressure value.
In some embodiments, the displacement data acquisition module is used for acquiring displacement data from the sensor when the key is stressed;
the current value obtaining module 440 is further configured to obtain a target speed value according to the pressure deviation value and the target pressure value; obtaining an actual speed value of the key in a sampling interval according to the displacement data; obtaining a speed deviation value of the actual speed value relative to the target value according to the target speed value and the actual speed value; and obtaining a current value according to the speed deviation value and the target speed value.
In some embodiments, the touch sensing control device 400 may further include a safety protection module, where the safety protection module is configured to obtain a switching signal output by the limit switch; and controlling the motor according to the set control mode under the condition that the switch signal indicates that the motor moves to the set limit position.
< device example two >
Fig. 5 is a schematic hardware configuration of a tactile sensation detection control apparatus according to another embodiment.
As shown in fig. 5, the tactile sensation detection control apparatus 500 includes a processor 510 and a memory 520, the memory 520 storing an executable computer program, the processor 510 being configured to perform a method as in any of the above method embodiments, according to control of the computer program.
The above modules of the tactile sensation detection control apparatus 400 may be implemented by the processor 510 executing a computer program stored in the memory 510 in the present embodiment, or may be implemented by other structures, which are not limited herein.
The present invention may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present invention may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (11)
1. A touch detection control method for a key, comprising:
when the key is stressed to move, collecting pressing force data from the sensor;
acquiring a load instruction for performing touch detection on the key; the load instruction represents a mapping relation of the pressing force changing along with time within a set time length;
determining a corresponding sub-moment in the load instruction and a target pressure value of the pressing force at the sub-moment according to the pressing force data;
obtaining a current value corresponding to the target pressure value according to the target pressure value;
And driving a motor to drive a pressing head to move according to the current value in a sampling interval corresponding to the moment so as to apply pressing force corresponding to the target pressure value to the key through the pressing head.
2. The method of claim 1, further comprising, prior to said obtaining a current value corresponding to said target pressure value from said target pressure value:
determining an actual pressure value applied to the key by the pressing head output by the force sensor at the sub moment according to the pressing force data;
obtaining a pressure deviation value of the actual pressure value relative to the target pressure value according to the target pressure value and the actual pressure value;
the obtaining a current value corresponding to the target pressure value according to the target pressure value comprises the following steps:
and obtaining a current value corresponding to the target pressure value according to the pressure deviation value and the target pressure value.
3. The method of claim 2, further comprising, prior to obtaining a current value corresponding to the target pressure value from the pressure bias value and the target pressure value:
acquiring displacement data from a sensor when the key is stressed;
The obtaining a current value corresponding to the target pressure value according to the pressure deviation value and the target pressure value includes:
obtaining a target speed value according to the pressure deviation value and the target pressure value;
according to the displacement data, obtaining an actual speed value of the key in a sampling interval;
obtaining a speed deviation value of the actual speed value relative to the target value according to the target speed value and the actual speed value;
and obtaining the current value according to the speed deviation value and the target speed value.
4. A method according to any one of claims 1 to 3, wherein the load instruction is arranged to: the first target pressure value of the pressing force at the starting time of the set time length is larger than 0, and the set sampling time comprises the starting time.
5. The method according to claim 4, wherein the load instruction indicates the map by a reference value of the pressing force within a set time length and a variation amount of the pressing force with respect to the reference value with time;
wherein the amount of change is represented by a set amplitude and a coefficient of time change of the set amplitude, the coefficient being represented by a period and an initial phase of time change of the pressing force within a set time length.
6. The method of claim 1, wherein during said driving of the motor by said current value, said method further comprises:
acquiring a switching signal output by a limit switch;
and controlling the motor according to a set control mode under the condition that the switch signal indicates that the motor moves to a set limit position.
7. The method of any one of claims 1 to 6, wherein the load instruction is a first load instruction or a second load instruction;
the first load instruction comprises a pressing stage and a lifting stage, and the first load instruction represents a mapping relation of pressing force of the pressing stage and the lifting stage along with time;
the second load command includes a full phase, and the second load command indicates that a time-varying mapping relationship of a pressing force of a pressing phase in the full phase and a time-varying mapping relationship of a pressing force of a lifting phase in the full phase, which is indicated by the second load command, are mirror images of each other.
8. A touch detection control device for a key, comprising:
the pressing force data acquisition module is used for acquiring pressing force data from the sensor when the key is stressed to move;
The load instruction acquisition module is used for acquiring a load instruction for carrying out touch detection on the keys; the load instruction represents a mapping relation of the pressing force changing along with time within a set time length;
the pressure value determining module is used for determining a corresponding sub-moment in the load instruction and a target pressure value of the pressing force at the sub-moment according to the pressing force data;
a current value obtaining module, configured to obtain a current value corresponding to the target pressure value according to the target pressure value;
and the motor driving module is used for driving the motor to drive the pressing head to move according to the current value in the sampling interval corresponding to the moment so as to apply the pressing force corresponding to the target pressure value to the key through the pressing head.
9. The touch sensing control device of the key is characterized by comprising a memory and a processor, wherein the memory is used for storing a computer program; the processor is configured to execute the computer program to implement the tactile sensation detection control method according to any one of claims 1 to 7.
10. A touch sensing system for a key, comprising:
the upper computer is used for providing a load instruction;
The pressing head is used for being in contact with the key;
the motor is used for driving the pressing head to apply pressing force to the keys;
a sensor for detecting pressing force data; the method comprises the steps of,
a tactile sensation detection control device according to claim 9; the touch sense detection control device is connected with the upper computer to receive the load instruction sent by the upper computer; the touch sense detection control device is connected with the sensor to acquire the pressing force data; the touch sensing control device is connected with the motor to drive the motor to move.
11. The tactile sensation detection system of claim 9 wherein said motor is a voice coil motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310002427.4A CN116107451A (en) | 2023-01-03 | 2023-01-03 | Touch detection control method, device and system for keys |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310002427.4A CN116107451A (en) | 2023-01-03 | 2023-01-03 | Touch detection control method, device and system for keys |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116107451A true CN116107451A (en) | 2023-05-12 |
Family
ID=86263236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310002427.4A Pending CN116107451A (en) | 2023-01-03 | 2023-01-03 | Touch detection control method, device and system for keys |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116107451A (en) |
-
2023
- 2023-01-03 CN CN202310002427.4A patent/CN116107451A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111078110B (en) | Input device and user interface interactions | |
| EP2386935B1 (en) | Method of providing tactile feedback and electronic device | |
| US8347221B2 (en) | Touch-sensitive display and method of control | |
| US20120274578A1 (en) | Electronic device and method of controlling same | |
| US8863020B2 (en) | Portable electronic device and method of controlling same | |
| EP2202621A1 (en) | Portable electronic device including touch-sensitive display and method of controlling same to provide tactile feedback | |
| EP2375309A1 (en) | Handheld device with localized delays for triggering tactile feedback | |
| US20110084922A1 (en) | Electronic device including touch-sensitive display and method of controlling same | |
| WO2013002779A1 (en) | Character preview method and apparatus | |
| US20120206370A1 (en) | Method and apparatus for displaying keys of a virtual keyboard | |
| EP2523081B1 (en) | Method and terminal for displaying picture/interface | |
| WO2016106541A1 (en) | Touch operation method, touch operation assembly and electronic device | |
| KR20090028344A (en) | Method for materialization of touchpad using touch sensor | |
| US20110248931A1 (en) | Tactile feedback for touch-sensitive display | |
| CN116107451A (en) | Touch detection control method, device and system for keys | |
| US20120206366A1 (en) | Systems and Methods for Character Input Using an Input Member on a Mobile Device | |
| US20130201108A1 (en) | Portable electronic device and method of controlling same | |
| EP2690538A1 (en) | Electronic device including touch-sensitive display and method of controlling same | |
| EP2386934A1 (en) | Method of providing tactile feedback and electronic device | |
| EP3249507B1 (en) | Input apparatus and input operation method therefor | |
| US9645655B2 (en) | Integrated touchpad and keyboard | |
| KR101702066B1 (en) | Apparatus and Rendering Method for Haptic Button Click | |
| JP6083908B1 (en) | Information processing apparatus, information processing method, and program | |
| US20140028563A1 (en) | Electronic device including touch-sensitive display and method of controlling same | |
| CN115979611A (en) | Key quality detection method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |