Haptic Feedback Spark Device for Simulator

Abstract

Haptic feedback system that simulates a detonation or explosive event. The system includes a power supply, an energy storage circuit, a switching circuit, and a conductor operatively connected to said energy storage circuit through said switching circuit whereby said conductor causes a haptic event when said energy storage circuit is electrically connected to said conductor by operation of said switching circuit. The system creates shock waves and pressure waves in a safe manner for use in a simulator.

Claims

1. An apparatus for a haptic generator that through an explosion causes an event that includes a pressure wave and a shock wave, said apparatus comprising: a conductor configured to produce the explosion when a specified energy level is applied to a conductor; a vortex generator, said conductor is located inside said vortex generator; said conductor has a first end and a second end, said first end and said second end of said conductor are defined by electrodes, said conductor comprises a gas; and a controller configured to selectively apply said specified energy level to said conductor.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0012] The above-mentioned features will become more clearly understood from the following detailed description read together with the drawings in which:

[0013] FIG. 1 is a functional block diagram of one embodiment of a haptic generator system.

[0014] FIG. 2 is a perspective view of one embodiment of a containment tube.

[0015] FIG. 3 is a cross-sectional view of a containment tube showing one embodiment of a electro-exploding wire assembly.

[0016] FIG. 4 is a front view of one embodiment of a nozzle end of the containment tube.

[0017] FIG. 5 is a symbolic view of one embodiment of an automatic electro-explosive wire feed assembly.

[0018] FIG. 6 is a flow diagram of one embodiment of the operation of the automatic electro-explosive wire feed assembly.

[0019] FIG. 7 is a simplified schematic diagram of the haptic generator system.

[0020] FIG. 8 is a front view of a second embodiment of a nozzle end of the containment tube.

[0021] FIG. 9 is a functional diagram of another embodiment of a haptic generator system.

[0022] FIG. 10 is a simplified schematic diagram of an embodiment of a high voltage generator in its charging phase.

[0023] FIG. 11 is a simplified schematic diagram of an embodiment of a high voltage generator in its discharging phase.

[0024] FIG. 12 is a simplified schematic diagram of one version of the haptic generator system shown in FIG. 9.

[0025] FIG. 13 is a functional diagram of another embodiment of a haptic generator system.

[0026] FIG. 14 is a simplified schematic diagram of one version of the haptic generator system shown in FIG. 13.

[0027] FIG. 15 is a functional diagram of another embodiment of a haptic generator system.

[0028] FIG. 16 is a simplified schematic diagram of one version of the haptic generator system shown in FIG. 15.

[0029] FIG. 17 is a functional diagram of another embodiment of a haptic generator system.

[0030] FIG. 18 is a simplified schematic diagram of another embodiment of a haptic generator system.

DETAILED DESCRIPTION

[0031] Apparatus for a haptic generator system 100 is disclosed. The haptic generator system is generally indicated as 100, with particular embodiments and variations shown in the figures and described below having an alphabetic suffix, for example, 100-A.

[0032] FIG. 1 illustrates a functional block diagram of one embodiment of a haptic generator system 100. The system 100 includes a power supply 102, a controller 104, an energy storage unit 106, and a conductor 108 that is coupled to a containment tube 110 having a nozzle 112.

[0033] The conductor 108 causes an explosive event 114 when it is energized by the energy storage unit 106. The explosive event 114 includes both a shockwave and a pressure wave that emanates from the nozzle 112.

[0034] In one embodiment, such as shown in FIG. 3, the conductor 108 is an electro-exploding wire (EEW) assembly. In other embodiments, the conductor 108 is a stream of liquid that causes an explosive event 114 when energy from the energy storage unit 106 is applied to the stream. The feed tube 306 for the liquid is a nozzle that produces the liquid stream, where the conductor feed system 500 includes a device for propelling the stream, for example, a diaphragm pump. In other embodiments, the conductor 108 is other material responsive to an electrical charge or current, including other conductive or semi-conductive material. In other embodiments, the conductor 108 is a gas, such as air. In other embodiments, the conductor 108 is a plasma or ionized gas.

[0035] The power supply 102 provides power for the system 100 and, in particular, the energy storage unit 106. The controller 104 is operatively connected to the energy storage unit 106, which is electrically connected to the electro-exploding wire assembly 108.

[0036] The explosive event 114 includes both a shockwave and a pressure wave that emanates from the nozzle 112. The shockwave and the pressure wave provide audible and physical stimuli, and the plasma flash provides a visual stimulus. For example, the pressure wave provides physical stimulus, such as with the pressure wave interacting with an observer or with the physical environment of the simulator. In this way haptic feedback is provided. The containment tube 110 and nozzle 112 focuses and shapes the emanated pressure wave from the explosive event 114 to form a focused air blast. In one embodiment the containment tube and the electro-exploding wire assembly 108 are configured as a vortex generator.

[0037] FIG. 2 illustrates a perspective view of one embodiment of a containment tube 110 with a nozzle 112. FIG. 3 illustrates a cross-sectional view of a containment tube 110 showing one embodiment of a electro-exploding wire assembly 108. FIG. 4 illustrates a front view of one embodiment of a nozzle end 112 of the containment tube 110.

[0038] The containment tube 110 is cylindrical with the electro-exploding wire assembly 108 at one end and the nozzle 112 at the opposite end. A central opening 204 at the nozzle 112 end extends into the cylindrical body 202 of the containment tube 110 with a cylindrical sidewall 302. In one embodiment the body 202 of the containment tube 110 includes a surrounding chamber 316 that provides cooling for the generator 110 after an explosive event 114. In one such embodiment the chamber 316 circulates a fluid, such as air, water, or other media suitable for heat transfer. In another such embodiment, the chamber 316 includes openings in sidewall 302 such that a negative air pressure in the chamber 316 draws particulate byproducts from an explosive event 114 out of the containment tube 110, thereby preventing contamination and/or soiling of the environment.

[0039] The electro-exploding wire assembly 108 includes terminal end 304, a pair of struts 308, a length of electro-exploding wire 312, and a feed tube 306. The struts 308 support the terminal end 304 centrally in body 202 of the containment tube 110. The illustrated embodiment shows a pair of struts 308 extending in opposed relationship to support the terminal end 304. In other embodiments the number of struts 308 varies. In each embodiment the number of struts 308 is sufficient to support the terminal end 304 during an explosive event 114.

[0040] The terminal end 304 is cylindrical and axially oriented with respect to the bore 204 in the body 202. The terminal end 304 has a cylindrical bore 318 parallel with the outer cylindrical surface of the terminal end 304. The cylindrical bore 318 is a blind bore that has an inside end that is conical. In the illustrated embodiment the terminal end 304 includes a series of openings 310 between the outer cylindrical surface and the cylindrical bore 318. Those skilled in the art will recognize that the terminal end 304 has a configuration that aids in receiving the wire 312 without unduly restricting the plasma from an explosive event. The electro-exploding wire 312 extends into the cylindrical bore and is seated against the inside point of the conical end, thereby making an electrical connection between the terminal end 304 and the electro-exploding wire 312. In one embodiment at least one of the struts 308 is conductive and provides an electrical pathway to connect to the electro-exploding wire 312 where it contacts the inside point of the conical end.

[0041] The terminal end 304 also includes a series of openings in the cylindrical sidewalls. These openings are configured to allow the expanding plasma from the electro-exploding wire 312 to escape the terminal end 302 in a manner that allows the plasma to form a shockwave in a predetermined form and direction.

[0042] Extending from the inside end 314 of the body 202 is a feed tube 306 with the electro-exploding wire 312 extending from the feed tube 306 into the terminal end 304. The wire 312 extends axially relative to the sidewalls 302 from the feed tube 306 to the terminal end 304.

[0043] Opposite the electro-exploding wire assembly 108 is the nozzle 112. In the illustrated embodiment the nozzle 112 is a focused air blast nozzle. The nozzle 112 focuses the sound pressure wave to a smaller area compared to the containment tube 110 without the nozzle 112. The nozzle 112 has an outer surface 206 that is arcuate and functions to isolate and separate the emitted pressure wave from the ambient air.

[0044] FIG. 5 illustrates a symbolic view of one embodiment of a conductor feed system 500, which is illustrated as an automatic electro-explosive wire feed assembly 500. In one embodiment the haptic generator system 100 is a one-shot device. In such an embodiment the electro-exploding wire 312 must be manually replaced after each explosive event 114. In the illustrated embodiment the haptic generator system 100 is a multi-shot device, that is, the electro-exploding wire 312 is automatically replaced after each explosive event 114 without requiring operator intervention.

[0045] In the illustrated embodiment of the automatic electro-explosive wire feed assembly 500 a spool 502 provides a supply of electro-explosive wire 312. The wire 312 is routed through idler wheels 504 to the wire drive 510. The wire drive 510 includes a capstan that pulls the wire 312 from the spool 502 and forces it through straightening mechanism 506 which in this embodiment comprises a series of straightening wheels 508. After the wire 312 is straightened it is fed through the feed tube 306 where the wire 312 is forced into the terminal end 304. In other embodiments the configuration of the spool 502, idler wheels 504, wire drive 510, and straightening mechanism 506 varies. For example, in a different embodiment the wire drive 510 and corresponding idler wheels 504 are located subsequent to the straightening mechanism 506 and thus the wire drive 510 pulls the wire 312 through the straightening mechanism 506. The wire 312 passing through the feed tube 306 is sufficiently straight that it is readily feed into the terminal end 304.

[0046] The electro-exploding wire 312 is an electrical circuit element. With the application of sufficient voltage and current from the energy storage unit 106 the electro-exploding wire 312 will vaporize. The portion of the wire between the terminal end 304 and the feed tube 306 is the portion desired to be volatized for an explosive event 114. Accordingly, the energy storage device electrically connects to the wire 312 through the terminal end 304 and the feed tube 306. In one embodiment the outboard tip 512 (relative to the inside end 314 of the body 202) of the feed tube 306 is conductive and it is the tip 512 that makes electrical contact with the wire 312. Also illustrated in FIG. 5 is another embodiment of an electrode 512′ positioned adjacent the outboard tip 512 of the feed tube 306, The end of the electrode 512′ is separated from the wire 312 by a spark gap 514. Upon being energized, a spark completes the circuit between the electrode 512′ and the wire 312, thereby allowing the wire 312 to vaporize between the spark gap 514 and the terminal end 304. In this way the portion of the wire 312 that vaporizes is external to the feed tube 306, thereby ensuring that the wire 312 remains free to pass through the feed tube 306 without being fused to the feed tube 306.

[0047] In another embodiment, the conductor feed system 500 replenishes the stream of liquid used as the conductor 108. In such an embodiment the feed tube 306 is a nozzle that directs a stream of liquid to the terminal end 304. The feed system 500 includes a device, such as a pump, for forcing the liquid through the nozzle 306. The liquid is forced through the nozzle 306 immediately before the controller 104 initiates application of energy to the stream of liquid. In another embodiment, the stream of liquid is continuous while the system is running and the feed system 500 does not change liquid output based on whether the controller 104 is about to initiate application of energy to the stream of liquid.

[0048] FIG. 6 illustrates a flow diagram of one embodiment of the operation of the automatic electro-explosive wire feed assembly 500. The EEW feed assembly 500 operates continuously after it starts 602. The assembly 500 includes a sensor that detects if the electro-explosive wire 312 is fully extended. The first step 604 is to determine if the electro-explosive wire 312 is fully extended. If it is not fully extended, then the next step 606 is to drive the motor assembly 510 to advance the wire 312. The position is checked again 604 and the steps 604, 606 repeat until the wire 312 is fully extended. If the electro-explosive wire 312 is fully extended, then the next step 608 is to wait until there is an explosive event. Such an event requires that the wire 312 be advanced such that it fully extends again.

[0049] FIG. 7 illustrates a simplified schematic diagram of the haptic generator system 100. The power supply 102 is fed from a power source 702, such as the mains or a battery.

[0050] The energy storage unit 106 includes an energy storage circuit and a switching circuit. In the illustrated embodiment the energy storage circuit includes a capacitor 704 and the switching circuit includes a switch 706. In other embodiments the energy storage unit 106 includes multiple capacitors 704 and/or switches 706. The controller 104 is operatively connected to the switches 706 in the energy storage unit 106.

[0051] The power supply 102 provides power to charge the energy storage unit 106. The power supply 102 includes a high voltage supply that, for example, operates between 1 to 2 kV dc and charges the capacitor 704. In one embodiment the power supply 102 is current limited such as with a resistor in series with the capacitor 704. In this way the capacity of the power supply 704 will not be exceeded.

[0052] The illustrated energy storage unit 106 has a capacitor 704 of 400 μF. The power supply 102 charges the capacitor 704 up to 2 kV (800 J). The energy storage unit 106 has a switch 706 rated to make a connection that carries such high energy. In one embodiment the switch 706 is a thyratron switch. In another embodiment the switch 706 is a high energy relay. Such a switch 706 has a high speed of operation in order to minimize pre-contact arcing. The switch 706 is also rated to carry the energies used to cause the electro-exploding wire 312 to vaporize.

[0053] The electro-exploding wire 312 is a conducting element that vaporizes when exposed to high current. In various embodiments the wire 312 is made of carbon, nichrome, copper, aluminum, doped water, or other metal or conductive material. A wire 312 made of carbon forms carbon dioxide after an explosive event 114.

[0054] In one embodiment the electro-exploding wire 312 is a thin metal wire with 286 μm diameter. In such an embodiment the capacitor 704 with a 2 kV charge applies approximately 10 kA within about 100 microseconds and the resulting explosive event 114 generates a pressure wave with overpressures on the order of 1 psi (6.9 kPa). Increasing the voltage applied to the wire 312 in this embodiment increases the sound pressure level of the explosive event 114.

[0055] The electro-explosive wire 312 generates an explosive event 114 with results similar to the detonation of high explosives. The resistive heating of the wire 312 vaporizes the wire 312 and generates plasma that is then expanded by the driving current. The expanding plasma cloud compresses the surrounded gas and generates a shockwave that propagates faster than the plasma itself. The expanding plasma cools quickly once the stored energy dissipates. The surrounding air aids in the cooling process and reacts with the metal vapor in the plasma to form non-conductive particulates, such as aluminum oxide for an aluminum wire 312. These particulates, in one embodiment, are drawn from the bore 204 and filtered, thereby preventing any soiling or contamination of the surrounding environment.

[0056] FIG. 7 illustrates a simplified schematic of one embodiment of a haptic generator system 100. The simplified schematic does not illustrate various components and connections, for example, power and ground connections to the various components and a discharge resistor to remove the residual charge on the capacitor 704. However, those skilled in the art will recognize the need for such components and wiring and understand how to construct such a circuit, based on the components ultimately selected for use.

[0057] FIG. 8 illustrates another embodiment front view of a nozzle end 112′ with a conductive shielding 802 placed between the nozzle central opening 204 and terminal end 306. The body 202′ contains sufficient conductive material such that the conductive shielding 802 is grounded to the body 202′ to create a Faraday cage that prevents outside EMF interference with the containment tube 110 and nozzle 112. The shielding 802 also acts as a safety screen to prevent users from inadvertently coming into contact with high voltages and currents.

[0058] FIG. 9 represents a functional block diagram of another embodiment of the haptic generator system 100. A power source 702 charges a high voltage generator 902. The high voltage generator 902 is coupled to a spark generator 904, which is located inside the containment tube 110. A spark is generated in a conducting gas 108 between two electrodes. In one embodiment, the conductor 108 is air. The air 108 is heated very quickly from the spark, causing an explosive event 114 that includes shock and pressure waves. An explosive event 114 caused by a spark will include minimal or no debris. Therefore, the safeguard of interposing a solid shield 304 directly in the path between the spark generator 904 and the opening 204 for the purpose of blocking projectile debris is not necessary. However, conductive shielding 802 is placed between the nozzle central opening 204 and the spark generator 904. In one embodiment, the conductive shielding 802 is a metal screen. The body 202′ contains sufficient conductive material such that the conductive shielding 802 is grounded to the body 202′ to create a Faraday cage that prevents outside EMF interference with the containment tube 110 and nozzle 112. The shielding 802 also acts as a safety screen to prevent users from inadvertently coming into contact with high voltages and currents.

[0059] FIGS. 10 and 11 illustrates the high voltage generator 902 embodied as a Marx generator. FIG. 10 is a Marx generator charging circuit. The Marx generator 902 uses resistors 1004 to charge capacitors 1002 in parallel. Each capacitor is charged to a voltage V. When the first switch 1006 is triggered, the switch voltage drops, which triggers the voltages across the remaining switches 1008, causing a chain reaction of self-triggering. The capacitors 1002 are thus momentarily switched into a series configuration, as shown in FIG. 11. The Marx generator 902 then delivers a voltage pulse to the load 1010. In theory, the voltage pulse output of the Marx generator is equal to the reverse polarity of each individual capacitor 1002 voltage −V multiplied by the number of capacitors 1002.

[0060] FIG. 12 illustrates a simplified schematic diagram of one embodiment of the haptic spark system shown in FIG. 9. The high voltage generator 902 is a Marx generator that delivers a high voltage 1206 across two electrodes 1202, 1204.

[0061] A shock wave and pressure wave is created when the high voltage 1206 generates a spark between the two electrodes 1202, 1204. The spark discharge will heat the channel of air 108 very quickly, causing the shock and pressure waves. The voltage required to initiate a spark between the electrodes 1202, 1204 depends upon the distance between the electrodes 1202, 1204. In one embodiment, the distance between the electrodes 1202, 1204 is one inch, and the Marx generator 902 generates a pulse in the range of 100 kV to 200 kV.

[0062] FIG. 13 represents a functional block diagram of another embodiment of the haptic generator system 100, and FIG. 14 represents a simplified schematic diagram of one embodiment of FIG. 13. One or more power sources 702 power a high voltage generator 902 and a low voltage, high energy source 1302. The high voltage generator 902 delivers an initial high voltage, low energy charge 1206 to the spark generator 904. As a result, the air between the electrodes 1202, 1204 becomes a conductor 108 for the low voltage, high energy source. 1302. That is, the plasma 1404 creates a channel, thereby allowing a charge from the low voltage, high energy source 1302 to travel across the ionized air 108 and thus rapidly heating the ionized air 108 and causing a sufficiently large explosive event 114. In FIG. 14, the high voltage generator 902 includes a trigatron 1402.

[0063] FIG. 15 represents a functional block diagram of another embodiment of the haptic generator system 100, and FIG. 16 represents a simplified schematic diagram of one embodiment of FIG. 15. One or more power sources 702 power a high voltage generator 902 and a low voltage, high energy source 1302. The high voltage generator 902 delivers an initial high voltage, low energy charge to the spark generator 904. The air 108 between the electrodes 1202, 1204 becomes ionized, thereby allowing a charge from the low voltage, high energy source 1302 to travel across the electrodes 1202, 1204 thereby rapidly heating the air 108 and creating a sufficiently large explosive event 114. To avoid the risk of the high voltage charge 1206 damaging the low voltage source 1302, a circuit protector 1502 is interposed between the high voltage generator 902 and the low voltage source 1302.

[0064] FIG. 17 represents a functional block diagram of another embodiment of a portion the haptic generator system 100. A high voltage generator 902 is electrically connected to an intermediate electrode 1702, and sends a low energy, high voltage pulse to generate initial sparks from the intermediate electrode 1702 to each side electrodes 1704, 1706. The intermediate electrode 1702 reduces the chance of high voltage feedback to the electrodes 1704, 1706 that define the air channel gap 108. However, the entire air channel 108 between side electrode 1704 and side electrode 1706 is ionized. Low voltage high energy source 1302 then energizes the air channel 108 between the side electrodes 1704, 1706.

[0065] FIG. 18 represents a simplified schematic diagram of one embodiment of the haptic generator system 100. The spark generator 904 includes a double-ended middle electrode 1802 with a trigatron built into each end. The middle electrode 1802 is powered by two high voltage triggers 902. In one embodiment, multiple middle electrodes 1802 are placed along the air channel 108 between the side electrodes 1704, 1706. The low voltage, high power source 1302 is electrically connected to the side electrodes 1704, 1706. The plasma 1404 generated by the high voltage applied to the middle electrode 1802 creates an ionized conductor channel 108 for the low voltage, high power source 1302 to send a high power charge across the side electrodes 1704, 1706.

[0066] While the present invention has been illustrated by embodiments that have been described in considerable detail, it is not the intention of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and methods, and illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of applicant's general inventive concept.