A sensor parameter detection method and device for a resistive fabric and a medium

Abstract

The application provides a sensor parameter detection method and device of a resistance fabric and a medium, and relates to data processing technology. The method comprises the following steps: when a sensor of a target resistance fabric is a series resistance fabric sensor, a constant current source is applied to the target resistance fabric, a target output voltage of the target resistance fabric is obtained, an initial series curvature change of a target bending part of a hose is determined based on the target output voltage of the target resistance fabric, when a bending type of the target bending part is radial single-point deformation, the initial series curvature change is taken as a target series curvature change, when the bending type of the target bending part is axial single-edge deformation, an initial bending angle is determined based on the initial series curvature change, and the target series curvature change is determined based on an axial series-parallel correction value corresponding to the initial series curvature change and the initial bending angle, so that the prediction accuracy of the target series curvature change is improved.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method, device and medium for detecting sensor parameters of resistive fabric. Background Technology

[0002] Agricultural towing hoses frequently bend during service. When bent to their limit, they experience kinking, meaning the hose undergoes irreversible deformation with a sharp angle smaller than its diameter. Under this irreversible deformation, the PU and polyester reinforcement layers of the hose separate, and stress concentration in the outer layer makes it more prone to wear and leakage. Since the bending radius of the hose is not constantly measured during farm use to prevent kinking, existing technologies use embedded sensors with external signal outputs to allow operators to monitor the bending status in real time and extend the hose's lifespan, as illustrated in the article "Design and Analysis of Flexible Strain Sensors Based on Woven Structures" published in the July 2008 issue of the Journal of Sensor Technology (Vol. 21, No. 7). One approach is to integrate the sensor with the water delivery hose through integrated weaving, directly embedding the sensing unit into the plain or twill woven fabric, avoiding post-processing damage to the mechanical properties of the fabric and hose. However, this method also has the following technical problems: only sensors with series or parallel resistance fabrics can be embedded in the woven fabric, and the accuracy of angle prediction for deformation types varies depending on the connection method of the resistance fabric. Summary of the Invention

[0003] To address the aforementioned technical problems, the technical solution adopted by this invention is as follows: According to a first aspect of the present invention, a method for detecting sensor parameters of a resistive fabric is provided, the method being used to detect changes in the curvature of a flexible tube in which a sensor of a target resistive fabric is embedded, the method comprising the following steps: S100, when the sensor of the target resistive fabric is a series resistive fabric sensor, execute S200; S200, apply a constant current source to the target resistive fabric to obtain the target output voltage of the target resistive fabric; S300, determines the initial series curvature change at the target bend of the hose based on the target output voltage of the target resistive fabric; S400, when the bending type at the target bend is radial single-point deformation, the initial series curvature change is taken as the target series curvature change; S500, when the bending type at the target bend is axial unilateral deformation, the initial bending angle is determined based on the initial series curvature change, and the target series curvature change is determined based on the axis series-parallel correction value corresponding to the initial series curvature change and the initial bending angle.

[0004] According to a second aspect of the present invention, a non-transitory computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, and the computer program is loaded and executed by a processor to implement the aforementioned method.

[0005] According to a third aspect of the present invention, an electronic device is provided, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned method.

[0006] The present invention has at least the following beneficial effects: In summary, when the sensor of the target resistive fabric is a series resistive fabric sensor, a constant current source is applied to the target resistive fabric to obtain the target output voltage of the target resistive fabric. Based on the target output voltage of the target resistive fabric, the initial series curvature change at the target bend of the hose is determined. When the bend type at the target bend is radial single-point deformation, the initial series curvature change is taken as the target series curvature change. When the bend type at the target bend is axial single-sided deformation, the initial bending angle is determined based on the initial series curvature change. Based on the axial series-parallel correction value corresponding to the initial series curvature change and the initial bending angle, the target series curvature change is determined. Based on the type of resistive fabric sensor and the bending angle, the prediction accuracy of the target series curvature change is improved. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 A flowchart of a sensor parameter detection method for resistive fabric provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a series resistive fabric sensor provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a parallel resistive fabric sensor provided in an embodiment of the present invention. Detailed Implementation

[0009] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0010] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar tasks and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0011] Example 1 Embodiment 1 of the present invention provides a method for detecting sensor parameters of resistive fabric, such as... Figure 1 As shown, the method is used to detect changes in the curvature of a flexible tube, in which a sensor of a target resistive fabric is embedded. The method includes the following steps: S100, when the sensor for the target resistive fabric is a series resistive fabric sensor, execute S200.

[0012] Specifically, the series-connected resistive fabric sensor consists of: odd-numbered weft yarns of the woven fabric being conductive elastic yarns, even-numbered weft yarns and all warp yarns of the woven fabric being insulating elastic yarns, and the beginning and end of the conductive elastic weft yarns being connected in series to form a continuous yarn.

[0013] The parallel resistive fabric sensor consists of: all weft yarns and the first and nth warp yarns of the woven fabric are conductive elastic yarns, and the n-2 warp yarns other than the first and nth warp yarns are insulating elastic yarns. The beginning or end of each conductive elastic weft yarn is connected to the first or nth warp yarn, and the number of warp yarns is n.

[0014] In one embodiment of the present invention, such as Figure 2 As shown, the parallel resistive fabric sensor consists of weft yarns in the horizontal direction and warp yarns in the vertical direction. Dashed lines represent conductive elastic yarns, and solid lines represent insulating yarns. All weft yarns (W1 to Wm) and the first and nth warp yarns (J1 and Jn) of the woven fabric are conductive elastic yarns. The remaining n-2 warp yarns (J2, J3, ..., Jn-1) are insulating elastic yarns. The beginning or end of each conductive elastic weft yarn is connected to either the first warp yarn (J1) or the nth warp yarn (Jn). The total number of warp yarns is n. This parallel resistive fabric sensor constitutes part of the fabric.

[0015] In one embodiment of the present invention, such as Figure 3As shown, in a series-connected resistive fabric sensor, the horizontal direction represents weft yarns, and the vertical direction represents warp yarns. Dashed lines represent conductive elastic yarns, and solid lines represent insulating yarns. Wi represents the i-th weft yarn, where i ranges from 1 to m, and m is the number of weft yarns. Jj represents the j-th warp yarn, where j ranges from 1 to n, and n is the number of warp yarns. The 1st, 3rd, 5th, etc., odd-numbered weft yarns (i.e., W1, W3, W5...) of the resistive fabric are conductive elastic yarns, while the 2nd, 4th, 6th, etc., even-numbered weft yarns (i.e., W2, W4, W6...) are insulating elastic yarns. All warp yarns are insulating elastic yarns. The beginning and end of each conductive elastic weft yarn are sequentially connected in a folded-edge manner to form a continuous yarn.

[0016] Specifically, in a parallel resistive fabric sensor: all weft yarns of the resistive fabric are conductive elastic yarns, the first and nth warp yarns are conductive elastic yarns, and the remaining n-2 warp yarns (excluding the first and nth warp yarns) are insulating elastic yarns. The beginning or end of each conductive elastic weft yarn is tightly connected to the first or nth conductive elastic warp yarn. In one embodiment of the invention, the beginning or end of each conductive elastic weft yarn is bonded to the first or nth conductive elastic warp yarn using conductive adhesive.

[0017] S200 applies a constant current source to the target resistive fabric to obtain the target output voltage of the target resistive fabric. It can be understood that when bending occurs, the conductive yarn undergoes strain, the resistance changes, and the target output voltage changes.

[0018] S300, the initial series curvature change at the target bend of the hose is determined based on the target output voltage of the target resistive fabric. Those skilled in the art will understand that any prior art method for determining the initial series curvature change based on the target output voltage falls within the scope of protection of this invention.

[0019] S400, when the bending type at the target bend is radial single-point deformation, the initial series curvature change is taken as the target series curvature change. It can be understood that series-connected resistive fabric sensors are more accurate at detecting radial single-point deformation; parallel-connected resistive fabric sensors are more accurate at detecting axial single-point deformation. Therefore, when a radial single-point deformation is detected in a series-connected resistive fabric, the initial series curvature change is directly taken as the target series curvature change.

[0020] S500: When the bending type at the target bend is axial unilateral deformation, the initial bending angle is determined based on the initial series curvature change. The target series curvature change is determined based on the initial series curvature change and the corresponding axial series-parallel correction value for the initial bending angle. It can be understood that using a series-type resistive fabric sensor for axial unilateral deformation detection is less accurate than using a parallel-type resistive fabric sensor for axial single-directional deformation. Therefore, the axial series-parallel correction value corresponding to the initial bending angle is found to compensate for the series curvature change.

[0021] Specifically, the target series curvature change is determined based on the axis-to-parallel correction values ​​corresponding to the initial series curvature change and the initial bending angle, including: The target series curvature change is equal to the sum of the initial series curvature change and the axis series correction value corresponding to the initial bending angle.

[0022] In summary, when the sensor for the target resistive fabric is a series-type resistive fabric sensor, a constant current source is applied to the target resistive fabric to obtain the target output voltage of the target resistive fabric. Based on the target output voltage of the target resistive fabric, the initial series curvature change at the target bend of the hose is determined. When the bend type at the target bend is radial single-point deformation, the initial series curvature change is used as the target series curvature change. When the bend type at the target bend is axial single-sided deformation, the initial bending angle is determined based on the initial series curvature change. Based on the axial series-parallel correction values ​​corresponding to the initial series curvature change and the initial bending angle, the target series curvature change is determined. Based on the type of resistive fabric sensor and the bending angle, the prediction accuracy of the target series curvature change is improved.

[0023] Specifically, in S500, the shaft string correction value corresponding to the initial bending angle is determined through the following steps: S510, acquire target training data, the target training data includes a first axial curvature change list A1={A11, A12, ..., A1g, ..., A1z} and a second axial curvature change list A2={A21, A22, ..., A2g, ..., A2z}, A1g is the curvature change determined by the voltage output of a constant current source applied under g real bending angles of axial unilateral deformation of the first flexible tube embedded with parallel resistive fabric, and A2g is the curvature change determined by the voltage output of a constant current source applied under g real bending angles of axial unilateral deformation of the second flexible tube embedded with series resistive fabric, where the value of g ranges from 1 to z, and z is the number of real bending angles.

[0024] S520, obtain the list of curvature changes along the third axis A0={A01, A02, ..., A0g, ..., A0z}, and the curvature change along the third axis A0g=A1g-A2g.

[0025] S530: Set a target sliding window with a fixed bending angle. When only one target sliding window meets the preset stability condition, the target sliding window is taken as the stable angle range. When several adjacent target sliding windows meet the preset stability condition, the angle covered by the several adjacent target sliding windows is taken as the stable angle range.

[0026] The target sliding window satisfies a preset stability condition, specifically: the average value of the curvature change along the third axis within the target sliding window is less than a preset stability threshold.

[0027] S530, obtain the average value k0 of the third axial curvature change of all true bending angles within the stable angle range.

[0028] S540, if the initial bending angle is within the stable angle range, the shaft parallel correction value corresponding to the initial bending angle is k0.

[0029] Specifically, if there is more than one stable angle interval, the average value k0 of the third axial curvature change of all the actual bending angles within the stable angle intervals is used.

[0030] In summary, the training data for the target is obtained, a list of third-axis curvature changes is obtained, and a target sliding window with a fixed bending angle is set. When only one target sliding window meets the preset stability condition, the target sliding window is taken as the stable angle interval. When several adjacent target sliding windows meet the preset stability condition, the angles covered by the several adjacent target sliding windows are taken as the stable angle interval. The average value of the third-axis curvature change of all real bending angles in the stable angle interval is obtained. If the initial bending angle is in the stable angle interval, the axis series-parallel correction value corresponding to the initial bending angle is k0. By using the difference between the series resistive fabric sensor and the parallel resistive fabric sensor under axial unilateral deformation, when the difference is stable within a certain range, the difference is used as the compensation value to make the axis series-parallel correction value more accurate.

[0031] Furthermore, S540 also includes the following steps when the initial bending angle is not within a stable angle range, and there is only one stable angle range: When the initial bending angle is less than the left endpoint of the stable angle range, the shaft parallel correction value corresponding to the initial bending angle is the product of the first weight coefficient and k0. The first weight coefficient is equal to the quotient of the first target difference and the left endpoint. The first target difference is the difference between the left endpoint and the initial bending angle.

[0032] When the initial bending angle is greater than the right endpoint of the steady angle interval, the shaft parallel correction value corresponding to the initial bending angle is the product of the second weight coefficient and k0. The second weight coefficient is equal to the quotient of the second target difference and the right endpoint. The second target difference is the difference between the initial bending angle and the right endpoint.

[0033] Furthermore, S540 also includes: when the initial bending angle is not within a stable angle range, and when the number of stable angle ranges exceeds one, performing the following steps: Calculate the initial bending angle and the distance between the left and right endpoints of each stable angle interval, and obtain the endpoint corresponding to the minimum distance as the target endpoint; Obtain the shaft parallel correction value corresponding to the initial bending angle. The shaft parallel correction value is the product of the third weight coefficient and k0. The third weight coefficient is equal to the quotient of the third target difference and the target endpoint. The third target difference is the absolute value of the difference between the initial bending angle and the target endpoint.

[0034] In summary, by determining the weights based on the difference between the initial bending angle and the stable angle range, the shaft parallel correction value can be further determined, thus more accurately obtaining the shaft parallel correction value when the initial bending angle is not within the stable angle range.

[0035] Example 2 Embodiment 2 of the present invention provides an optimization method for a sensor of resistive fabric. When the sensor of the target resistive fabric is a parallel resistive fabric sensor, S002 is executed. S002, apply a constant current source to the target resistive fabric to obtain the specified output voltage of the target resistive fabric.

[0036] S003, determine the initial parallel curvature change at a specified bend in the hose based on the specified output voltage of the target resistive fabric.

[0037] S004, when the bending type at the specified bend is axial single-point deformation, the initial parallel curvature change is taken as the target parallel curvature change.

[0038] S005, when the bending type at the specified bend is radial unilateral deformation, the intermediate bending angle is determined based on the initial parallel curvature change, and the target parallel curvature change is determined based on the radial-parallel-series correction value corresponding to the initial parallel curvature change and the intermediate bending angle. It can be understood that the detection of radial unilateral deformation by a parallel resistive fabric sensor is less accurate than that by a series resistive fabric sensor. Therefore, the target parallel curvature change is determined by compensating for the initial associated curvature change based on the radial-parallel-series correction value corresponding to the intermediate bending angle.

[0039] Specifically, the target parallel curvature change is determined based on the initial parallel curvature change and the radial-parallel-serial correction value corresponding to the intermediate bending angle, including: The target parallel curvature change is equal to the sum of the initial parallel curvature change and the radial-parallel-serial correction value corresponding to the intermediate bending angle.

[0040] In summary, when the sensor for the target resistive fabric is a parallel resistive fabric sensor, a constant current source is applied to the target resistive fabric to obtain a specified output voltage. Based on the specified output voltage of the target resistive fabric, the initial parallel curvature change at a specified bend in the hose is determined. When the bend type at the specified bend is axial single-point deformation, the initial parallel curvature change is used as the target parallel curvature change. When the bend type at the specified bend is radial single-sided deformation, the intermediate bend angle is determined based on the initial parallel curvature change. Based on the radial-parallel-series correction value corresponding to the initial parallel curvature change and the intermediate bend angle, the target parallel curvature change is determined. This invention, using a parallel resistive fabric sensor, more accurately obtains the target parallel curvature change.

[0041] Specifically, in S005, the diameter-parallel-series correction value corresponding to the intermediate bending angle is determined through the following steps: S051, Obtain specified training data, which includes a first radial curvature change list B1={B11, B12, ..., B1g, ..., B1m} and a second radial curvature change list B2={B21, B22, ..., B2g, ..., B2m}. B1g is the curvature change determined by the voltage output of a constant current source applied to a first flexible tube with embedded parallel resistive fabric under g real bending angles of radial unilateral deformation. B2g is the curvature change determined by the voltage output of a constant current source applied to a second flexible tube with embedded series resistive fabric under g real bending angles of radial unilateral deformation. The value of g ranges from 1 to z, where z is the number of real bending angles.

[0042] S052, obtain the list of third radial curvature changes B0={B01, B02, ..., B0g, ..., B0m}, and the third radial curvature change B0g=B2g-B1g.

[0043] S053, set a specified sliding window with a fixed bending angle. When only one specified sliding window meets the preset stability condition, the specified sliding window is used as the specified angle range. When several adjacent specified sliding windows meet the preset stability condition, the angle covered by the several adjacent specified sliding windows is used as the specified angle range.

[0044] Specifically, the specified sliding window meets the preset stability condition, which is: the average value of the third radial curvature change within the specified sliding window is less than a preset specified threshold.

[0045] S054, obtain the average value t0 of the third radial curvature change of all true bending angles within the specified angle range.

[0046] S055, if the intermediate bending angle is within the specified angle range, the corresponding radial-parallel correction value for the intermediate bending angle is t0.

[0047] In summary, the invention obtains specified training data, a list of third radial curvature changes, and sets a specified sliding window with a fixed bending angle. When only one specified sliding window meets the preset stability condition, this specified sliding window is used as the specified angle interval. When several adjacent specified sliding windows meet the preset stability condition, the angles covered by these adjacent specified sliding windows are used as the specified angle interval. The average value t0 of the third radial curvature changes of all real bending angles within the specified angle interval is obtained. If the intermediate bending angle is within the specified angle interval, the radial-parallel-series correction value corresponding to the intermediate bending angle is t0. This invention uses the difference between the parallel resistance fabric and the series resistance fabric under radial unilateral deformation. When the difference is stable within a certain range, this difference is used as a compensation value, making the radial-parallel-series correction value more accurate.

[0048] Furthermore, S055 also includes: when the intermediate bending angle is not within the specified angle range, and there is only one specified angle range, the following steps are performed: When the intermediate bending angle is less than the left endpoint of the specified angle interval, the radial parallel correction value corresponding to the intermediate bending angle is the product of the first weight factor and t0. The first weight factor is equal to the quotient of the first specified difference and the left endpoint. The first specified difference is the difference between the left endpoint and the intermediate bending angle.

[0049] When the intermediate bending angle is greater than the right endpoint of the specified angle interval, the radial parallel series correction value corresponding to the intermediate bending angle is the product of the second weighting factor and t0. The second weighting factor is equal to the quotient of the second specified difference and the right endpoint. The second specified difference is the difference between the intermediate bending angle and the right endpoint.

[0050] Furthermore, S055 also includes: when the intermediate bending angle is not within a specified angle range, and the number of specified angle ranges exceeds one, the following steps are performed: Calculate the intermediate bending angle and the distance between the left and right endpoints of each specified angle interval, and obtain the endpoint corresponding to the minimum distance as the specified endpoint.

[0051] Obtain the radial-parallel-serial correction value corresponding to the intermediate bending angle. The radial-parallel-serial correction value is the product of the third weighting factor and t0. The third weighting factor is equal to the quotient of the third specified difference and the specified endpoint. The third specified difference is the absolute value of the difference between the intermediate bending angle and the specified endpoint.

[0052] In summary, by determining the weights based on the difference between the intermediate bending angle and the specified angle range, the correction value for parallel-to-serial conversion can be determined more accurately.

[0053] Example 3 Embodiment 3 of the present invention provides a sensor detection method for resistive fabric, the method further comprising: S101, based on several target parallel curvature changes 'a' and the actual parallel curvature changes 'b' corresponding to each target parallel curvature change, determine the first accuracy of the parallel sensor connection method. Specifically, if 'a' is in [bx, b+x], 'a' is taken as the first positive sample, the first accuracy is the ratio of the number of first positive samples to the number of target parallel curvature changes, and x is the first preset error threshold.

[0054] S102, based on several target series curvature changes c and the actual series curvature change d corresponding to each target series curvature change, determine the second accuracy of the series sensor connection method. If c is in [dy, d+y], x is taken as the second positive sample, the second accuracy is the ratio of the number of second positive samples to the number of target series curvature changes, and y is the second preset error threshold.

[0055] Furthermore, S102 also includes: S110 applies a constant current source to the resistive fabric to obtain the fabric voltage output by the resistive fabric.

[0056] S120, determine the first fabric curvature change at the fabric bend of the hose based on the fabric voltage of the resistive fabric.

[0057] S130, when the fabric bend is circumferentially deformed, based on the first fabric curvature change and the first sensor connection method of the resistive fabric in the hose, the second fabric curvature change of the hose in the second sensor connection method is determined. The sensor connection method is either a parallel resistive fabric sensor or a series resistive fabric sensor, and the first sensor connection method is different from the second sensor connection method.

[0058] Specifically, if the first sensor is connected in parallel as a resistive fabric sensor, then the second sensor is connected in series as a resistive fabric sensor; if the first sensor is connected in series as a resistive fabric sensor, then the second sensor is connected in parallel as a resistive fabric sensor.

[0059] S140, based on the first fabric curvature change, the second fabric curvature change, the first accuracy rate, and the second accuracy rate, determine the target fabric curvature change.

[0060] Specifically, S140 also includes: S141, if the first sensor connection method is a parallel resistive fabric sensor, the curvature of the target fabric is equal to the weighted sum of the curvature of the first fabric and the curvature of the second fabric, and the weight ratio of the curvature of the first fabric and the curvature of the second fabric is the ratio of the second accuracy to the first accuracy.

[0061] S142, if the first sensor connection method is a series resistive fabric sensor, the curvature of the target fabric is equal to the weighted sum of the curvature of the first fabric and the curvature of the second fabric, and the weight ratio of the curvature of the first fabric and the curvature of the second fabric is equal to the ratio of the first accuracy and the second accuracy.

[0062] In summary, a constant current source is applied to the resistive fabric to obtain the output fabric voltage. Based on the fabric voltage of the resistive fabric, the first fabric curvature change at the fabric bend of the hose is determined. When the fabric bend is a circular deformation, based on the first fabric curvature change and the first sensor connection method of the resistive fabric in the hose, the second fabric curvature change of the hose in the second sensor connection method is determined. Based on the first fabric curvature change, the second fabric curvature change, the first accuracy rate, and the second accuracy rate, the target fabric curvature change during circular deformation is more accurately determined.

[0063] Embodiments of the present invention also provide a non-transitory computer-readable storage medium that can be disposed in an electronic device to store a computer program related to implementing a method in the method embodiments, the computer program being loaded and executed by the processor to implement the method provided in the above embodiments.

[0064] Embodiments of the present invention also provide an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method provided in the above embodiments.

[0065] Embodiments of the present invention also provide a computer program product including program code, which, when the program product is run on an electronic device, causes the electronic device to perform the steps of the methods described above in various exemplary embodiments of the present invention.

[0066] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and are not intended to limit the scope of the invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the invention.

Claims

1. A method for detecting sensor parameters of resistive fabric, characterized in that, The method is used to detect changes in the curvature of a flexible tube, in which a sensor for a target resistive fabric is embedded. The method includes the following steps: S100, when the sensor of the target resistive fabric is a series resistive fabric sensor, execute S200; S200, apply a constant current source to the target resistive fabric to obtain the target output voltage of the target resistive fabric; S300, determines the initial series curvature change at the target bend of the hose based on the target output voltage of the target resistive fabric; S400, when the bending type at the target bend is radial single-point deformation, the initial series curvature change is taken as the target series curvature change; S500, when the bending type at the target bend is axial unilateral deformation, the initial bending angle is determined based on the initial series curvature change, and the target series curvature change is determined based on the initial series curvature change and the shaft series-parallel correction value corresponding to the initial bending angle; in S500, the shaft series-parallel correction value corresponding to the initial bending angle is determined through the following steps: S510, acquire target training data, the target training data includes a first axial curvature change list A1={A11, A12, ..., A1g, ..., A1m} and a second axial curvature change list A2={A21, A22, ..., A2g, ..., A2m}, A1g is the curvature change determined by the voltage output of a constant current source when the first flexible tube with embedded parallel resistance fabric is subjected to g real bending angles with axial unilateral deformation, and A2g is the curvature change determined by the voltage output of a constant current source when the second flexible tube with embedded series resistance fabric is subjected to g real bending angles with axial unilateral deformation, the value of g ranges from 1 to z, and z is the number of real bending angles; S520, obtain the list of third axial curvature changes A0={A01, A02, ..., A0g, ..., A0m}, and the third axial curvature change A0g=A1g-A2g; S530: Set a target sliding window with a fixed bending angle. When only one target sliding window meets the preset stability condition, the target sliding window is taken as the stable angle range. When several adjacent target sliding windows meet the preset stability condition, the angle covered by the several adjacent target sliding windows is taken as the stable angle range. S530, obtain the average value k0 of the third axial curvature change of all true bending angles within the stable angle range; S540, if the initial bending angle is within the stable angle range, the shaft parallel correction value corresponding to the initial bending angle is k0.

2. The method for detecting sensor parameters of resistive fabric according to claim 1, characterized in that, Based on the initial series curvature change and the shaft-to-parallel correction value corresponding to the initial bending angle, the target series curvature change is determined, specifically including: The target series curvature change is equal to the sum of the initial series curvature change and the axis series correction value corresponding to the initial bending angle.

3. The method for detecting sensor parameters of resistive fabric according to claim 1, characterized in that, S540 also includes: when the initial bending angle is not within a stable angle range, and there is only one stable angle range, the following steps are performed: When the initial bending angle is less than the left endpoint of the stable angle range, the axis parallel correction value corresponding to the initial bending angle is the product of the first weight coefficient and k0. The first weight coefficient is equal to the quotient of the first target difference and the left endpoint. The first target difference is the difference between the left endpoint and the initial bending angle. When the initial bending angle is greater than the right endpoint of the steady angle interval, the shaft parallel correction value corresponding to the initial bending angle is the product of the second weight coefficient and k0. The second weight coefficient is equal to the quotient of the second target difference and the right endpoint. The second target difference is the difference between the initial bending angle and the right endpoint.

4. The method for detecting sensor parameters of resistive fabric according to claim 1, characterized in that, S540 also includes: when the initial bending angle is not within a stable angle range, and when the number of stable angle ranges exceeds one, the following steps are performed: Calculate the initial bending angle and the distance between the left and right endpoints of each stable angle interval, and obtain the endpoint corresponding to the minimum distance as the target endpoint; Obtain the shaft parallel correction value corresponding to the initial bending angle. The shaft parallel correction value is the product of the third weight coefficient and k0. The third weight coefficient is equal to the quotient of the third target difference and the target endpoint. The third target difference is the absolute value of the difference between the initial bending angle and the target endpoint.

5. The method for detecting sensor parameters of resistive fabric according to claim 1, characterized in that, The target sliding window meets the preset stability condition, specifically: the average value of the curvature change along the third axis within the target sliding window is less than the preset stability threshold.

6. The method for detecting sensor parameters of resistive fabric according to claim 1, characterized in that, The series-connected resistive fabric sensor consists of: odd-numbered weft yarns of the woven fabric being conductive elastic yarns, even-numbered weft yarns and all warp yarns of the woven fabric being insulating elastic yarns, and the beginning and end of the conductive elastic weft yarns being connected in series to form a continuous yarn.

7. The method for detecting sensor parameters of resistive fabric according to claim 1, characterized in that, The parallel resistive fabric sensor consists of: all weft yarns and the first and nth warp yarns of the woven fabric are conductive elastic yarns, and the n-2 warp yarns other than the first and nth warp yarns are insulating elastic yarns. The beginning or end of each conductive elastic weft yarn is connected to the first or nth warp yarn, and the number of warp yarns is n.

8. A non-transitory computer-readable storage medium, characterized in that, The storage medium stores a computer program, which is loaded and executed by a processor to implement the sensor parameter detection method for resistive fabric as described in any one of claims 1-7.

9. An electronic device, comprising: A processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the sensor parameter detection method for resistive fabric as described in any one of claims 1-7.

Images