CN102208138A - Learning and cognitive system based on texture haptic display - Google Patents

Learning and cognitive system based on texture haptic display Download PDF

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CN102208138A
CN102208138A CN2011101330274A CN201110133027A CN102208138A CN 102208138 A CN102208138 A CN 102208138A CN 2011101330274 A CN2011101330274 A CN 2011101330274A CN 201110133027 A CN201110133027 A CN 201110133027A CN 102208138 A CN102208138 A CN 102208138A
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module
main control
tactile
control module
texture
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陆熊
王元庆
周小超
郭旭
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Abstract

本发明公开了一种基于纹理触觉再现的学习和认知系统。该系统包括触觉再现模块、驱动模块、手指位置检测模块以及主控模块；触觉再现模块包括一块透明触觉面板以及可使该触觉面板产生不同幅值振动的振动装置；驱动模块分别与主控模块及所述振动装置连接，根据主控模块的指令驱动振动装置产生振动；手指位置检测模块用于检测手指在触摸所述触觉面板时的位置信息，并将位置信息传输给主控模块；主控模块对外部输入的图像进行纹理特征提取，并根据提取的图像特征及手指位置检测模块检测到的位置信息进行解算，产生相应的控制指令控制驱动模块驱动振动装置产生振动。本发明触觉感受丰富、稳定，适于盲人及学龄前儿童对文字图像信息进行学习和认知。

Figure 201110133027

The invention discloses a learning and cognition system based on texture tactile reproduction. The system includes a tactile reproduction module, a drive module, a finger position detection module and a main control module; the tactile reproduction module includes a transparent tactile panel and a vibration device that can cause the tactile panel to vibrate with different amplitudes; the drive module is connected with the main control module and the main control module respectively. The vibration device is connected, and the vibration device is driven to vibrate according to the instruction of the main control module; the finger position detection module is used to detect the position information of the finger when touching the tactile panel, and transmit the position information to the main control module; the main control module The texture feature is extracted from the externally input image, and calculated according to the extracted image feature and the position information detected by the finger position detection module, and corresponding control instructions are generated to control the driving module to drive the vibration device to generate vibration. The invention has rich and stable tactile sensations and is suitable for learning and recognizing text and image information by blind people and preschool children.

Figure 201110133027

Description

Study and cognitive system based on the texture tactile sense reproduction
Technical field
The present invention relates to a kind of study and cognitive system, relate in particular to a kind of study and cognitive system, be used for that vision disorder crowd and preschool child learn character image information and cognitive based on the texture tactile sense reproduction.
Background technology
As emerging human-computer interaction technology, tactile sense reproduction is subjected to people and more and more payes attention to.The tactile sense reproduction technology by means of tactile sense reproduction equipment and Computer Simulation environment make the operator can touch, perception and manipulation dummy object.Existing tactile sense reproduction method mainly contains: the tactile sense reproduction that feel to reproduce based on power, based on the tactile sense reproduction of array apparatus, based on the tactile sense reproduction of friction force control.
Power feels that reproducer mainly is to be designed for the acting force feedback that realizes in the man-machine interaction process.The operator makes when firmly feeling reproducer and dummy object reciprocation, and power feels that reproducer can stop operator's motion to avoid puncture mutual.Thereby, there are researchers to make firmly to feel reproducer to come the character of surface such as shape, texture of reproducing virtual object.The device that the advantage of this method is to need not to be designed in addition tactile sense reproduction just can increase tactile sense reproduction on power is felt the basis of reproducing.But shortcoming is quite a few: existing power feels that the heavy opereating specification expensive, that provided of reproducer is limited, and the tactile sense reproduction performance is subjected to the influence of several factors.
Early stage tactile sense reproduction equipment adopts the method for array mostly, and their design inspiration derives from point-needle type printer and braille system, promptly comes stimulation applications person's skin with the two-dimensional array device, distributes with the space behavior power that forms reflection surface tactile characteristics.Yet the structure of array is because the scale restriction of manufacturing process and array except being difficult to realize miniaturization and the portability, also is difficult to obtain the comparatively virtual haptic reproduction of fine-point.The Haywardy of Canada McGill university etc. makes operator's finger skin produce deformation by probe array Piezoelectric Ceramic, that can be displaced sideways and obtains tactile sense reproduction.Their " LATERO " apparatus array scale is 6 * 10, has higher space distribution rate (1.8 * 1.2mm).
Studies show that human when carrying out tactilely-perceptible, the side direction acting force of the space distribution that finger is experienced has important effect for improving texture recognition.Therefore, become a research focus of tactile representation device based on the tactile sense reproduction method of friction force control.Based on the tactile sense reproduction method of friction force control, though be to express tactile data by the variation of side direction acting force field on the interactive interface, this method is the most potential method, goes for showing more meticulous virtual haptic and reproduces.
In the actual life, the blind person comes the perception world around by the sense of touch sense of hearing, but the books that existing blind man is read have blind person's books and talking book.Blind person's books are to write with special braille, the cost height, volume is big, kind is few, for abundanter information representation ability such as images, and the blind person is less to their demand.The blind person needs the auxiliary of stranger when using talking book, because reading matter is sound, thereby in use it can not well protect the privacy of blind users, and not fully up to expectations equally for the expression effect of image.The reading tool that children use in the course of education in early days generally also fails to realize good man-machine interaction, and they can only learn and cognitive the fixedly literal picture of some prior input tools, and can not produce understanding intuitively for a lot of pictorial informations.By means of the tactile sense reproduction system, for the blind person, the function that it can provide auditory system to realize: embody the object surfaces textural characteristics by tactile sense reproduction, can allow them obtain valuable perception and experience.For normal person (as the school-ager), in the virtual environment that computing machine generates,, can allow them obtain to contact usually or the tactile-surface characteristic of the object that is not easy to contact by generating virtual haptic information.If in conjunction with traditional vision, they can obtain abundant more man-machine interaction and experience.
Summary of the invention
Technical matters to be solved by this invention is to overcome the deficiency of existing tactile sense reproduction equipment, and a kind of study and cognitive system based on the texture tactile sense reproduction is provided, and is used for that vision disorder crowd and preschool child learn character image information and cognitive.
Study and cognitive system based on the texture tactile sense reproduction of the present invention, this system comprises tactile sense reproduction module, driver module, finger position detection module and main control module; Described tactile sense reproduction module comprises a transparent sense of touch panel and can make this sense of touch panel produce the vibrating device of different amplitude vibrations; Described driver module is connected with main control module and described vibrating device respectively, according to the instruction driving vibrating device generation vibration of main control module; Described finger position detection module is used to detect the positional information of finger when touching described sense of touch panel, and positional information is transferred to main control module; Main control module carries out texture feature extraction to the image of outside input, and resolve according to characteristics of image and the detected positional information of finger position detection module extracted, produce the described driver module of control corresponding instruction control and drive vibrating device and produce vibration.
As a kind of improvement project, described tactile sense reproduction module also comprises the display device that is arranged at described sense of touch panel below, and the character image of outside input can show on this display device synchronously, is more suitable for study and cognition in the preschool child.
As another improvement project, this system also comprises the image collecting device that is connected with described main control module, and this image collecting device can be that existing video camera, digital camera, shooting are first-class, thereby can directly obtain image information from the outside.
As a preferred version, described vibrating device is the piezoelectric vibrating reed; Further, described piezoelectric vibrating reed has four, is arranged at four jiaos of described sense of touch panel respectively.
As another preferred version, described finger position detection module comprises the optical sensing array that is connected with described main control module, and light source; Described optical sensing array is two row photodiodes, is arranged at the described sense of touch panel two opposite side outside respectively.
A kind of study and cognitive approach based on the texture tactile sense reproduction, this method utilize based on the study of texture tactile sense reproduction and cognitive system and realize that this system comprises tactile sense reproduction module, driver module, finger position detection module and main control module; Described tactile sense reproduction module comprises a transparent sense of touch panel and can make this sense of touch panel produce the vibrating device of different amplitude vibrations; Described driver module is connected with main control module and described vibrating device respectively, according to the instruction driving vibrating device generation vibration of main control module; Described finger position detection module is used to detect the positional information of finger when touching described sense of touch panel, and positional information is transferred to main control module; Main control module carries out texture feature extraction to the image of outside input, and resolve according to characteristics of image and the detected positional information of finger position detection module extracted, produce the described driver module of control corresponding instruction control and drive vibrating device and produce vibration; This method specifically may further comprise the steps:
Step 1, main control module resolve according to image texture characteristic and the detected positional information of finger position detection module extracted, and the output steering order is given driver module;
The steering order that step 2, driver module provide according to main control module drives described vibrating device vibration;
Step 3, vibrating device excitation sense of touch panel are done ultrasonic vibration;
Step 4, when finger position changes on the sense of touch panel, repeat above step.Compared to existing technology, the present invention has the following advantages:
(1) for begining to learn children, because the sense of touch panel is transparent, thereby can directly thereunder installs LCDs and be used for showing the current literal picture characteristic information that collects, so just well merged mutually with visual rendition.
(2) because the sense of touch panel is large-area, thereby can provide bigger surface of contact, thereby make the touch feeling of acquisition abundanter to user's finger.
(3) the piezoelectric vibrating reed has all been installed in four corners of sense of touch panel, thereby the friction coefficient that has realized sense of touch panel each point can both be regulated and can be reached consistent controllability.
Description of drawings
Fig. 1 is a system architecture diagram of the present invention;
Fig. 2 is the structural representation of tactile sense reproduction module in the embodiment, and wherein (a) is front view, (b) is vertical view; Among the figure, 1 is transparent sense of touch panel, and 2 is the piezoelectric ceramics vibrating reed, and 3 is LCD;
Fig. 3 is the principle schematic of finger position detection module in the embodiment;
Fig. 4 is the control flow chart of main control module in the embodiment;
Fig. 5 is a principle of work synoptic diagram of the present invention in the embodiment.
Embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is elaborated:
Study and cognitive system based on the texture tactile sense reproduction of the present invention, its structure comprise image collecting device, main control module, driver module, tactile sense reproduction module as shown in Figure 1, and the finger position detection module.
Tactile sense reproduction module in this embodiment as shown in Figure 2, comprises transparent sense of touch panel 1, piezoelectric ceramics vibrating reed 2, LCDs 3.Wherein, piezoelectric ceramics vibrating reed 2 has 4, is installed in four jiaos of transparent sense of touch panel 1 respectively, can realize the consistance of whole sense of touch panel skin-friction force coefficient.LCDs 3 is arranged at the below of sense of touch panel 1, is used for showing that synchronously it can be connected with main control module about the current character image that collects, and obtains realtime graphic and the demonstration that image collecting device collects by main control module; Also can obtain the character image information that is stored in this computing machine by the computing machine of the outside that is connected with main control module and LCDs 3 respectively.
Finger position detects and adopts optical detection to realize in this embodiment.The finger position detection module comprises optical sensing array (LSA) and infrared LED lamp.Wherein LSA by two row totally 768 photodiodes form, the LED infrared light is used for providing light source to LSA.The synoptic diagram that the finger position detection module is realized principle is as shown in Figure 3: set up as the plan rectangular coordinate system, what be positioned at X, Y-axis negative direction is the line source (guaranteeing to shine the All Ranges on the sense of touch panel) that some infrared LED lamps are formed, the optical sensing array then is positioned on the positive dirction of X, Y diaxon (length of optical sensing array is larger than the length of side of sense of touch panel and identical with light source length), and line source and optical sensing array lay respectively at the opposite side outside of sense of touch panel.When photodiode is subjected to illumination, can form electric current, the integrating circuit among the LSA can be exported the voltage signal that is proportional to the intensity of illumination on the single photodiode, and refreshes with the frequency about 500HZ.Therefore when finger places on the panel, can handle thereby the magnitude of voltage of exporting can be flowed to main control module in formation " shade " zone on each of linear array, convert the coordinate figure of finger position to.
In this embodiment, driver module comprises signal generator, multiplier and amplifier; Main control module resolves according to characteristics of image and the detected positional information of finger position detection module extracted, output analog gain magnitude of voltage; The analog gain voltage of high frequency sinusoidal signal that signal generator (as: AD9833) provides and main control module output carries out multiplication in multiplier (as: AD633) synthetic, and being amplified to the voltage signal that amplitude is 0-60V by amplifier (as: AD8221), this signal is the voltage drive signals of piezoelectric ceramics vibrating reed.
In this embodiment, main control module adopts the MCU(microcontroller), wherein store and be used for image is carried out feature extraction, and the software that resolves the analog gain magnitude of voltage according to characteristics of image and finger position.Wherein image characteristics extraction can be adopted existing various image characteristic extracting method, and for example statistical analysis technique, geometric properties method, signal processing method, key point method etc. because it is prior art, repeat no more herein.In this embodiment, as shown in Figure 4, main control module carries out resolving of analog gain magnitude of voltage in accordance with the following methods:
Step 1, finger position detection module flow to main control module with the magnitude of voltage of exporting and handle, and convert finger position coordinate figure information to;
Step 2, main control module are according to finger position information, by friction coefficient formula μ=f(x, y) obtain the friction coefficient of corresponding finger position (by becoming the frictional experiment device to the measurement of the friction force between finger and the sense of touch panel, pressure and to the record of respective finger position, again according to the friction force formula F Friction force=μ * N PressureCan obtain the friction coefficient at difference place on the corresponding sense of touch panel);
Step 3, main control module are further by formula V G=f(μ) obtains the aanalogvoltage gain;
Step 4, when finger position changes on the sense of touch panel, repeat above step.
Principle of work of the present invention is as shown in Figure 5: at first image collecting device is gathered literal, image, and then main control module carries out Digital Image Processing to literal, the image that is collected; This moment, LCDs just can show the current literal that collects, image in real time, owing to realized the transparency of sense of touch panel, was corresponding with shown literal picture characteristic information on the LCD so the user points mobile on the sense of touch panel.When user's finger touch sense of touch panel, the finger position detection module is transferred to main control module with detected finger position information, main control module resolves the analog gain magnitude of voltage according to characteristics of image and finger position, and by driver module piezoelectric vibration piece is applied ac-excited signal and impel the sense of touch panel to form ultrasonic vibration.Ultrasonic vibration can form air press mold effect between user's finger and panel, obtain friction coefficient and reduce, thereby change the side direction acting force that user's finger is experienced in the reciprocal process.When the excitation signal strength that imposes on the piezoelectric ceramics vibrating reed changed, the ultrasonic vibration amplitude of panel also can change, thereby obtained the scalable control of friction coefficient.Along with user's finger moving on the sense of touch panel, by detecting the positional information of user's finger on the sense of touch panel and the side direction effect field of force that can change, the final tactilely-perceptible that obtains the current literal picture that collects of user.

Claims (7)

1.一种基于纹理触觉再现的学习和认知系统，其特征在于，该系统包括触觉再现模块、驱动模块、手指位置检测模块以及主控模块；所述触觉再现模块包括一块透明触觉面板以及可使该触觉面板产生不同幅值振动的振动装置；所述驱动模块分别与主控模块及所述振动装置连接，根据主控模块的指令驱动振动装置产生振动；所述手指位置检测模块用于检测手指在触摸所述触觉面板时的位置信息，并将位置信息传输给主控模块；主控模块对外部输入的图像进行纹理特征提取，并根据提取的图像特征及手指位置检测模块检测到的位置信息进行解算，产生相应的控制指令控制所述驱动模块驱动振动装置产生振动。1. A learning and cognitive system based on texture tactile reproduction, characterized in that the system includes a tactile reproduction module, a drive module, a finger position detection module and a main control module; the tactile reproduction module includes a transparent tactile panel and a A vibrating device that causes the tactile panel to vibrate with different amplitudes; the drive module is connected to the main control module and the vibrating device respectively, and drives the vibrating device to vibrate according to the instructions of the main control module; the finger position detection module is used to detect The position information of the finger when touching the tactile panel, and transmit the position information to the main control module; the main control module extracts texture features from the externally input image, and according to the extracted image features and the position detected by the finger position detection module The information is calculated, and corresponding control instructions are generated to control the driving module to drive the vibration device to generate vibration. 2.如权利要求1所述基于纹理触觉再现的学习和认知系统，其特征在于，所述触觉再现模块还包括设置于所述触觉面板下方的显示装置。2 . The learning and cognition system based on texture tactile reproduction as claimed in claim 1 , wherein the tactile reproduction module further comprises a display device disposed under the tactile panel. 3 . 3.如权利要求1所述基于纹理触觉再现的学习和认知系统，其特征在于，所述振动装置为压电材料振动片。3. The learning and cognition system based on texture tactile reproduction as claimed in claim 1, wherein the vibration device is a vibrating piece of piezoelectric material. 4.如权利要求3所述基于纹理触觉再现的学习和认知系统，其特征在于，所述压电材料振动片有四片，分别设置于所述触觉面板的四角。4 . The learning and cognitive system based on texture tactile reproduction according to claim 3 , wherein there are four piezoelectric material vibrating pieces, which are respectively arranged at the four corners of the tactile panel. 5.如权利要求1所述基于纹理触觉再现的学习和认知系统，其特征在于，所述手指位置检测模块包括与所述主控模块连接的光学传感阵列，以及光源；所述光学传感阵列为两列光电二极管，分别设置于所述触觉面板两对边外侧。5. The learning and cognitive system based on texture tactile reproduction as claimed in claim 1, wherein the finger position detection module includes an optical sensor array connected to the main control module, and a light source; The sensing array is two rows of photodiodes, which are respectively arranged outside two opposite sides of the touch panel. 6.如权利要求1所述基于纹理触觉再现的学习和认知系统，其特征在于，该系统还包括与所述主控模块连接的图像采集装置。6. The learning and cognition system based on texture tactile reproduction as claimed in claim 1, further comprising an image acquisition device connected to the main control module. 7.一种基于纹理触觉再现的学习和认知方法，其特征在于，该方法利用权利要求1所述系统实现，具体包括以下步骤：7. A learning and cognitive method based on texture tactile reproduction, characterized in that, the method is realized by the system according to claim 1, specifically comprising the following steps: 步骤1、主控模块根据提取的图像纹理特征及手指位置检测模块检测到的位置信息进行解算，输出控制指令给驱动模块；Step 1, the main control module calculates according to the extracted image texture features and the position information detected by the finger position detection module, and outputs control instructions to the drive module; 步骤2、驱动模块按照主控模块提供的控制指令驱动所述振动装置振动；Step 2, the driving module drives the vibrating device to vibrate according to the control instructions provided by the main control module; 步骤3、振动装置激励触觉面板作超声振动；Step 3, the vibrating device excites the tactile panel for ultrasonic vibration; 步骤4、当手指位置在触觉面板上发生改变时，重复以上步骤。Step 4. When the position of the finger changes on the touch panel, repeat the above steps.
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CN113593373A (en) * 2020-12-10 2021-11-02 宁波大学 Braille dynamic contact unit based on piezoelectric ultrasonic vibration and Braille touch perception device
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Application publication date: 20111005