Hall data processing method, device, equipment and readable storage medium

Abstract

The present application discloses a method, device, equipment and readable storage medium for processing Hall data, which belongs to the field of VR. The method includes: when the human-computer interaction device is turned on, determining the Hall measurement data corresponding to the displacement change information of the internal force feedback device; determining whether there is an error based on the relative difference between the Hall measurement data and the preset Hall measurement standard and the preset allowable error; when it is determined that there is an error, determining that the force feedback device has a position offset, then determining the error type corresponding to the error based on the relative difference and the allowable error; and performing corresponding processing based on the error type. In the prior art, there is a problem that the human-computer interaction device cannot self-calibrate after leaving the factory. In the present application, each time the human-computer interaction device is turned on, if it is determined that there is an error, different methods are used to process it according to the error type. That is, the self-calibration process is completed when the human-computer interaction device is turned on, overcoming the problem that the human-computer interaction device cannot self-calibrate after leaving the factory.

Description

Technical Field

[0001] The present application relates to the VR field, and in particular to a method, device, equipment and readable storage medium for processing Hall data. Background Art

[0002] Players have an increasing demand for the real feeling of VR (virtual reality). One of the keys to enhancing the real feeling of VR is to optimize the human-computer interaction device used in VR. Currently, the human-computer interaction device is only calibrated once by writing a calibration file when it leaves the factory. As a result, if the human-computer interaction device has an error after leaving the factory, it cannot be self-calibrated. That is, there is a problem in the prior art that the human-computer interaction device cannot be self-calibrated after leaving the factory.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a method, device, equipment and readable storage medium for processing Hall data, aiming to solve the problem in the prior art that the human-computer interaction device cannot self-calibrate after leaving the factory.

[0005] To achieve the above object, the present application provides a method for processing Hall data, the method comprising:

[0006] When the human-machine interaction device is turned on, determining the Hall measurement data corresponding to the displacement change information of the internal force feedback device;

[0007] Determining whether there is an error based on a relative difference between the Hall measurement data and a preset Hall measurement standard and a preset allowable error;

[0008] When it is determined that there is an error, it is determined that the force feedback device has a positional offset, and then based on the relative difference and the allowable error, an error type corresponding to the error is determined;

[0009] Based on the error type, corresponding processing is performed.

[0010] Optionally, after the step of performing corresponding processing based on the error type, the following steps are included:

[0011] Determine whether the corresponding processing is successfully performed;

[0012] If the corresponding processing is not successfully performed, prompting the user to restart the human-computer interaction device;

[0013] The step of determining whether there is an error based on a relative difference between the acquired Hall measurement data and a preset Hall measurement standard and a preset allowable error is performed when the human-machine interaction device is turned on.

[0014] Optionally, the step of determining whether there is an error based on a relative difference between the Hall measurement data and a preset Hall measurement standard and a preset allowable error includes:

[0015] Based on the Hall measurement data, determining a maximum measurement value and a minimum measurement value of the Hall measurement data;

[0016] Determine the difference between the maximum measured value and the minimum measured value as a span;

[0017] Determining a preset Hall measurement standard, wherein the Hall measurement standard includes a standard maximum measurement value, a standard minimum measurement value, and a standard span;

[0018] Determine whether there is an error based on a first relative difference between the maximum measurement value and the standard maximum measurement value, a second relative difference between the minimum measurement value and the standard minimum measurement value, a third relative difference between the span and the standard span, and the allowable error;

[0019] Among them, if the first relative difference, the second relative difference, and the third relative difference are all within the allowable error range, it is determined that there is no error; if at least one of the first relative difference, the second relative difference, and the third relative difference is outside the allowable error range, it is determined that there is an error.

[0020] Optionally, the step of determining the error type corresponding to the error based on the relative difference and the allowable error includes:

[0021] If at least one of the first relative difference and the second relative difference is outside the allowable error range and the third relative difference is within the allowable error range, determining that the error type is the first error type;

[0022] If the first relative difference, the second relative difference, and the third relative difference are all outside the allowable error range, determining that the error type is the first error type;

[0023] If at least one of the first relative difference and the second relative difference is within the allowable error range, and the third relative error is outside the allowable error range, it is determined that the error type is the second error type.

[0024] Optionally, the step of performing corresponding processing based on the error type includes:

[0025] If it is determined that the error type is the first error type, a first solution is adopted for processing;

[0026] The first solution is to use the maximum measurement value as a new standard maximum measurement value, the minimum measurement value as a new standard minimum measurement value, and use a linear difference method to update the intermediate data between the new standard maximum measurement value and the new standard minimum measurement value;

[0027] If it is determined that the error type is the second error type, a second solution is used for processing;

[0028] The second solution is to use the standard maximum measurement value as the new maximum measurement value and the standard minimum measurement value as the new minimum measurement value.

[0029] Optionally, after the step of determining whether an error exists, the following steps are included:

[0030] When it is determined that there is no error, the Hall measurement data and the Hall measurement standard are not updated.

[0031] Optionally, the processing result is stored so that the processing result can be called the next time the human-computer interaction device is turned on.

[0032] In addition, to achieve the above-mentioned purpose, the present application also provides a Hall data processing device, the Hall data processing device comprising:

[0033] A first determination module is used to determine the Hall measurement data corresponding to the displacement change information of the internal force feedback device when the human-computer interaction device is turned on;

[0034] A second determination module, used to determine whether there is an error based on a relative difference between the Hall measurement data and a preset Hall measurement standard and a preset allowable error;

[0035] A third determination module is used to determine that the force feedback device has a positional offset when it is determined that an error exists, and then determine an error type corresponding to the error based on the relative difference and the allowable error;

[0036] The processing module is used to perform corresponding processing based on the error type.

[0037] In addition, to achieve the above-mentioned purpose, the present application also provides a Hall data processing device, which is a physical node device, and the Hall data processing device includes: a memory, a processor, and a Hall data processing program stored in the memory and runable on the processor, and the processor executes the Hall data processing program to implement the steps of the Hall data processing method.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a readable storage medium, on which is stored a program for implementing the Hall data processing method. When the Hall data processing program is executed by a processor, the steps of the Hall data processing method described above are implemented.

[0039] The present application provides a method, device, equipment and readable storage medium for processing Hall data. Compared with the problem in the prior art that the human-machine interaction device cannot self-calibrate due to errors after leaving the factory, in the present application, when the human-machine interaction device is turned on, the Hall measurement data corresponding to the displacement change information of the internal force feedback device is determined; based on the relative difference between the Hall measurement data and the preset Hall measurement standard and the preset allowable error, it is determined whether there is an error; when it is determined that there is an error, it is determined that the force feedback device has a position offset, and based on the relative difference and the allowable error, the error type corresponding to the error is determined; based on the error type, corresponding processing is performed. In the present application, each time the human-machine interaction device is turned on, it is determined whether there is an error. If there is an error, different methods are used to process it according to the error type. That is, the self-calibration process is completed when the human-machine interaction device is turned on, which overcomes the problem that the human-machine interaction device cannot self-calibrate after leaving the factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the process involved in the embodiment of the present application;

[0041] Figure 2 This is a partial structural diagram of a VR handle involved in an embodiment of the present application;

[0042] Figure 3 This is a schematic diagram of the device structure of the hardware operating environment involved in the Hall data processing method of this application.

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0045] Embodiment 1

[0046] The present application embodiment provides a method for processing Hall data. In the first embodiment of the method for processing Hall data of the present application, refer to Figure 1 , a device for processing Hall data, the method for processing Hall data comprising:

[0047] Step S10, when the human-machine interaction device is turned on, determining the Hall measurement data corresponding to the displacement change information of the internal force feedback device;

[0048] Step S20, determining whether there is an error based on the relative difference between the Hall measurement data and a preset Hall measurement standard and a preset allowable error;

[0049] Step S30: when it is determined that there is an error, it is determined that the force feedback device has a positional offset, and then based on the relative difference and the allowable error, an error type corresponding to the error is determined;

[0050] Step S40: performing corresponding processing based on the error type.

[0051] In this embodiment, when the human-computer interaction device is turned on, the Hall measurement data corresponding to the displacement change information of the internal force feedback device is determined; based on the relative difference between the Hall measurement data and the preset Hall measurement standard and the preset allowable error, it is determined whether there is an error; when it is determined that there is an error, it is determined that the force feedback device has a position shift, and based on the relative difference and the allowable error, the error type corresponding to the error is determined; based on the error type, corresponding processing is performed.

[0052] The specific steps are as follows:

[0053] Step S10, when the human-machine interaction device is turned on, determining the Hall measurement data corresponding to the displacement change information of the internal force feedback device;

[0054] In this embodiment, it should be noted that the method for processing Hall data can be applied to a processing device for Hall data, and the processing device for Hall data belongs to a processing equipment for Hall data.

[0055] In this embodiment, the human-computer interaction device is a medium for interaction between a user and a virtual object in VR. The human-computer interaction device can be a head-mounted display, virtual reality clothing, or a VR handle, etc., without specific limitation.

[0056] In this embodiment, the Hall measurement data is used to reflect the relative positions between components in the human-computer interaction device. The type of the Hall measurement data can be a voltage type or a pressure type, and the specific type is not limited. In this embodiment, the Hall measurement data is a Hall type, that is, the Hall signal collected by the Hall sensor is used as the Hall measurement data.

[0057] The force feedback device is a device preset to simulate real scenes in order to enhance the user's real experience. As an example, the force feedback device is a direct drive motor. When the user exerts a force based on the human-computer interaction device, the direct drive motor simulates the feedback of the force exerted on the user in reality.

[0058] Step S20, determining whether there is an error based on the relative difference between the Hall measurement data and a preset Hall measurement standard and a preset allowable error;

[0059] In this embodiment, correspondingly, the Hall measurement standard and the Hall measurement data are of the same type, that is, the type of the Hall measurement standard is also the Hall type.

[0060] Since the relative position offset between the internal devices of the human-computer interaction device will affect the normal use of the functions of the human-computer interaction device, for example, the relative position offset between the direct-drive motor and the Hall sensor in the VR handle will cause the Hall signal and the extended part of the direct-drive motor to be unable to correspond in real time, thus affecting a series of control instructions based on the Hall signal.

[0061] The allowable error is preset manually. In this embodiment, the allowable error is 2%.

[0062] Step S20, based on the relative difference between the Hall measurement data and the preset Hall measurement standard and the preset allowable error, determines whether there is an error, including:

[0063] Step S21: determining a maximum measurement value and a minimum measurement value of the Hall measurement data based on the Hall measurement data;

[0064] Step S22: Determine the difference between the maximum measurement value and the minimum measurement value as the span;

[0065] Step S23: determining a preset Hall measurement standard, wherein the Hall measurement standard includes a standard maximum measurement value, a standard minimum measurement value, and a standard span;

[0066] Step S24: determining whether there is an error based on a first relative difference between the maximum measurement value and the standard maximum measurement value, a second relative difference between the minimum measurement value and the standard minimum measurement value, a third relative difference between the span and the standard span, and the allowable error;

[0067] Among them, if the first relative difference, the second relative difference, and the third relative difference are all within the allowable error range, it is determined that there is no error; if at least one of the first relative difference, the second relative difference, and the third relative difference is outside the allowable error range, it is determined that there is an error.

[0068] In this embodiment, the type of the Hall measurement standard is the Hall type, and the Hall measurement standard is [h1, h2, ..., hn], where n is the number of the Hall measurement standards, and h1≤h2≤...≤hn. Then the standard minimum measurement value in the Hall measurement standard is h1, the standard maximum measurement value in the Hall measurement standard is hn, and the standard span in the Hall measurement standard is hd, hd=hn-h1.

[0069] In this embodiment, the type of Hall measurement data is Hall type, and the Hall measurement data is [h1', h2', ..., hn'], where n is the number of Hall measurement data, h1'≤h2'≤ ...≤hn'. Then the minimum measurement value in the Hall measurement data is h1', the maximum measurement value in the Hall measurement data is hn', and the span in the Hall measurement standard is hd', hd'=hn'-h1'.

[0070] The first relative difference is the relative difference between the maximum measured value and the standard maximum measured value, the first relative difference is |hn-hn'|, the second relative difference is the relative difference between the minimum measured value and the standard minimum measured value, the second relative difference is |h1-h1'|, the third relative difference is the relative difference between the span and the standard span, the third relative difference is |hd-hd'|.

[0071] If |hn-hn'| / (|hn+hn'|) is less than or equal to 2%, it is determined that the first relative difference is within the allowable error range; if |hn-hn'| / (|hn+hn'|) is greater than 2%, it is determined that the first relative difference is outside the allowable error range.

[0072] Similarly, if |h1-h1'| / (|h1+h1'|) is less than or equal to 2%, the second relative difference is determined to be within the allowable error range; if |h1-h1'| / (|h1+h1'|) is greater than 2%, the second relative difference is determined to be outside the allowable error range.

[0073] If |hd-hd'| / (|hd+hd'|) is less than or equal to 2%, the third relative difference is determined to be within the allowable error range; if |hd-hd'| / (|hd+hd'|) is greater than 2%, the third relative difference is determined to be outside the allowable error range.

[0074] In this embodiment, Figure 2 This is a partial structural diagram of the VR handle, such as Figure 2 The motor shown is a direct drive motor. As an example, when a user holds a VR controller to experience a fishing game, the VR controller is similar to a fishing rod, and the user's fingers press Figure 2The trigger in the game, when the fish is not hooked, there is no force applied by the fish on the fishing rod, so the motor does not apply force to the trigger direction; the motor applies a pulsed force to the trigger direction to simulate the fish biting the bait. When the fish is hooked, the motor continues to apply stronger and stronger force to the trigger direction to simulate the process of lifting the rod. Depending on the different game scenes, the force applied by the motor is different, that is, the authenticity of the game experience is enhanced through the motor. In the above control process, when the motor applies force to the trigger direction, correspondingly, Figure 2 The extended part of the motor in the motor moves accordingly. Figure 2 The Hall magnet and Hall sensor are used to detect the position of the extended part of the motor, and the VR handle is controlled based on the Hall measurement data collected by the Hall sensor.

[0075] Before the VR controller leaves the factory, the relative positions of the components shift due to material processing tolerances, assembly, and other reasons. The VR controller is calibrated once by writing a calibration file before leaving the factory. The calibration steps before leaving the factory ensure that the characteristics of the Hall sensor built into the VR controller and the VR controller body structure are normal when leaving the factory, thus ensuring that the VR controller is controlled normally when leaving the factory. However, only calibrating the VR controller once before leaving the factory cannot guarantee that the relative positions of the components of the VR controller will not shift during subsequent use.

[0076] Therefore, through the processing device of the Hall data, when the VR handle is turned on, it is automatically detected whether the force feedback device has position deviation. If position deviation occurs, a corresponding solution is adopted to handle it.

[0077] As an example, when the VR controller is turned on, the user is prompted to press the trigger to the end position. When the trigger is pressed from the initial position to the end position, Figure 2 The extended part of the motor moves accordingly, that is, the extended part of the motor is displaced. Figure 2 The Hall magnet on the extended part of the middle motor also moves accordingly, and the magnetic field around the Hall sensor changes. Due to the change in the magnetic field, Hall measurement data is collected through the Hall sensor. That is, when the human-computer interaction device is turned on, the Hall measurement data corresponding to the displacement change information of the internal force feedback device is determined.

[0078] When the trigger is pressed from the initial position to the end position, the Hall signal value collected by the Hall sensor increases from the minimum value to the maximum value. In this embodiment, the minimum value is the minimum measurement value, the maximum value is the maximum measurement value, and the difference between the maximum measurement value and the minimum measurement value is the span. The Hall measurement standard includes a standard maximum measurement value, a standard minimum measurement value, a standard span, and a standard intermediate data. Based on the first relative difference between the maximum measurement value and the standard maximum measurement value, the second relative difference between the minimum measurement value and the standard minimum measurement value, the third relative difference between the span and the standard span, and the allowable error, determine whether there is an error

[0079] If the first relative difference, the second relative difference, and the third relative difference are all within the allowable error range, it is determined that there is no error; if at least one of the first relative difference, the second relative difference, and the third relative difference is outside the allowable error range, it is determined that there is an error.

[0080] Step S30, when it is determined that there is an error, it is determined that the force feedback device has a positional offset, and then based on the relative difference and the allowable error, an error type corresponding to the error is determined;

[0081] In step S30, the step of determining the error type corresponding to the error based on the relative difference and the allowable error includes:

[0082] Step S31: if at least one of the first relative difference and the second relative difference is outside the allowable error range and the third relative difference is within the allowable error range, determining that the error type is the first error type;

[0083] Step S32: if the first relative difference, the second relative difference, and the third relative difference are all outside the allowable error range, determining that the error type is the first error type;

[0084] Step S33: If at least one of the first relative difference and the second relative difference is within the allowable error range, and the third relative error is outside the allowable error range, then determining that the error type is the second error type.

[0085] As an example, if the first relative difference is outside the allowable error range, the second relative difference is within the allowable error range, and the third relative difference is within the allowable error range, it is determined that an overall Hall signal offset occurs in the Hall sensor (there is no characteristic difference in the main structure of the direct drive motor), that is, the error type is determined to be the first error type.

[0086] As an example, if the first relative difference, the second relative difference, and the third relative difference are all outside the allowable error range, it is determined that an overall Hall signal offset occurs in the Hall sensor and that characteristic differences occur in the main structure of the direct-drive motor, that is, the error type is determined to be the first error type.

[0087] As an example, if the first relative difference is outside the allowable error range, the second relative difference is within the allowable error range, and the third relative error is outside the allowable error range, it is determined that there is a characteristic difference in the main structure of the direct-drive motor (the Hall sensor does not undergo an overall Hall signal offset), such as, the tightness of the spring in the direct-drive motor is abnormal, that is, the error type is determined to be the second error type.

[0088] Step S40: performing corresponding processing based on the error type.

[0089] Step S40, performing corresponding processing based on the error type, includes:

[0090] Step S41: if it is determined that the error type is the first error type, a first solution is adopted for processing;

[0091] The first solution is to use the maximum measurement value as a new standard maximum measurement value, the minimum measurement value as a new standard minimum measurement value, and use a linear difference method to update the intermediate data between the new standard maximum measurement value and the new standard minimum measurement value;

[0092] Step S42: if it is determined that the error type is the second error type, a second solution is adopted for processing;

[0093] The second solution is to use the standard maximum measurement value as the new maximum measurement value and the standard minimum measurement value as the new minimum measurement value.

[0094] As an example, the Hall measurement data is [h1', h2', h3', h4'], and the Hall measurement standard is [h1, h2, h3, h4], where h2 and h3 are the intermediate data of the Hall measurement standard. If it is determined that the error type is the first error type, the maximum measurement value h4' is used as the new standard maximum measurement value h4, the minimum measurement value h1' is used as the new standard minimum measurement value h1, and the intermediate data between the new standard maximum measurement value and the new standard minimum measurement value is updated by the linear difference method. The process of updating the intermediate data is: the result of (h2-h1)*(h4'-h1') / (h4-h1)+h1 is used as the new h2, and the result of (h3-h1)*(h4'-h1') / (h4-h1)+h1 is used as the new h3. If it is determined that the error type is the second error type, the standard maximum measurement value h4 is used as the new maximum measurement value h4', and the standard minimum measurement value h1 is used as the new minimum measurement value h1'.

[0095] The present application provides a method, device, equipment and readable storage medium for processing Hall data. Compared with the problem that the human-machine interaction device cannot self-calibrate after leaving the factory due to errors in the prior art, in the present application, when the human-machine interaction device is turned on, the Hall measurement data corresponding to the displacement change information of the internal force feedback device is determined; based on the relative difference between the Hall measurement data and the preset Hall measurement standard and the preset allowable error, it is determined whether there is an error; when it is determined that there is an error, it is determined that the force feedback device has a position offset, and based on the relative difference and the allowable error, the error type corresponding to the error is determined; based on the error type, corresponding processing is performed. In the present application, each time the human-machine interaction device is turned on, it is determined whether there is an error, and if there is an error, different methods are used to process it according to the error type. That is, the self-calibration process is completed when the human-machine interaction device is turned on, which overcomes the problem that the human-machine interaction device cannot self-calibrate after leaving the factory. In the present application, each time the human-machine interaction device is turned on, it is determined whether there is an error, and if there is an error, different methods are used to process it according to the error type. That is, the human-machine interaction device completes the self-calibration process when it is turned on, thus overcoming the problem that the human-machine interaction device cannot be self-calibrated after leaving the factory.

[0096] Embodiment 2

[0097] Further, based on the first embodiment of the present application, another embodiment of the present application is provided. In this embodiment, after the step S40: performing corresponding processing based on the error type, the following steps are included:

[0098] Step S51: Determine whether the corresponding processing is successfully performed;

[0099] Step S52: If the corresponding processing is not successfully performed, prompting the user to restart the human-computer interaction device;

[0100] Step S53: executing a step of determining whether there is an error based on a relative difference between the acquired Hall measurement data and a preset Hall measurement standard and a preset allowable error when the human-machine interaction device is turned on.

[0101] As an example, based on the first error type, after the step of using the first solution to process, the user is prompted to press Figure 2 The trigger in the VR controller is moved to the end position. When the user presses the trigger from the initial position to the end position, the Hall sensor collects the Hall signal (Hall measurement data) correspondingly. According to the relative difference between the Hall measurement data and the Hall measurement standard and the preset allowable error, it is determined whether there is an error. If there is no error, it is determined that the corresponding processing is successfully performed. If there is an error, it is determined that the corresponding processing is not successfully performed. If the corresponding processing is not successfully performed, the user is prompted to restart the VR handle, and the step of determining whether there is an error based on the relative difference between the acquired Hall measurement data and the preset Hall measurement standard and the preset allowable error when the human-computer interaction device is turned on is performed.

[0102] In this embodiment, after performing the corresponding processing step based on the error type, a step of determining whether the corresponding processing is successfully performed is added. If it is determined that the corresponding processing is not successfully performed, the step of powering on the human-computer interaction device is repeated, thereby ensuring that the human-computer interaction device successfully handles the error when it is powered on, that is, further ensuring that the human-computer interaction device is successfully self-calibrated after leaving the factory, that is, further overcoming the problem that the human-computer interaction device cannot be self-calibrated after leaving the factory.

[0103] Embodiment 3

[0104] Further, based on the first embodiment and the second embodiment of the present application, another embodiment of the present application is provided. In this embodiment, in step S20, after the step of determining whether there is an error, the following steps are included:

[0105] When it is determined that there is no error, the Hall measurement data and the Hall measurement standard are not updated.

[0106] In this embodiment, when it is determined that there is no error, the Hall measurement data and the Hall measurement standard are not updated, that is, the maximum measurement value, the minimum measurement value, the span, and the intermediate data in the Hall measurement data are kept unchanged, and the standard maximum measurement value, the standard minimum measurement value, the standard span, and the standard intermediate data in the Hall measurement standard are kept unchanged.

[0107] In this embodiment, when it is determined that there is no error, the Hall measurement data and the Hall measurement standard are not updated, that is, the processing result of the Hall data at the last power-on is maintained, that is, the problem that the human-computer interaction device cannot be self-calibrated after leaving the factory is further overcome.

[0108] Embodiment 4

[0109] Further, based on the first embodiment, the second embodiment and the third embodiment of the present application, another embodiment of the present application is provided. In this embodiment, after the step S40, based on the error type, performs the corresponding processing, the following steps are included:

[0110] The processing result is stored so that the processing result can be called when the human-computer interaction device is turned on next time.

[0111] As an example, based on the first error type, after the step of processing using the first solution, the new standard maximum measurement value, the new standard minimum measurement value, and the intermediate data between the new standard maximum measurement value and the new standard minimum measurement value are stored so that the standard maximum measurement value, the standard minimum measurement value, and the intermediate data between the new standard maximum measurement value and the new standard minimum measurement value can be called the next time the human-computer interaction device is turned on.

[0112] As an example, based on the second error type, after the step of processing with the second solution, the unupdated standard maximum measurement value, the unupdated standard minimum measurement value, and the unupdated intermediate data are stored so that the unupdated standard maximum measurement value, the unupdated standard minimum measurement value, and the unupdated intermediate data can be called the next time the human-computer interaction device is turned on.

[0113] In this embodiment, after performing corresponding processing steps based on the error type, the processing result is stored so that the processing result can be called the next time the human-machine interaction device is turned on. Then, the Hall measurement standard is updated to a certain extent when the human-machine interaction device is turned on, thereby avoiding the historical accumulation problem caused by the long-term use of the same Hall measurement standard, that is, further overcoming the problem that the human-machine interaction device cannot be self-calibrated after leaving the factory.

[0114] Embodiment 5

[0115] Further, based on all the above embodiments, another embodiment of the present application is provided. In this embodiment, a device for processing Hall data is provided, and the device includes:

[0116] A first determination module is used to determine the Hall measurement data corresponding to the displacement change information of the internal force feedback device when the human-computer interaction device is turned on;

[0117] A second determination module, used to determine whether there is an error based on a relative difference between the Hall measurement data and a preset Hall measurement standard and a preset allowable error;

[0118] A third determination module is used to determine that the force feedback device has a positional offset when it is determined that an error exists, and then determine an error type corresponding to the error based on the relative difference and the allowable error;

[0119] The processing module is used to perform corresponding processing based on the error type.

[0120] Optionally, the device is used to implement:

[0121] Determine whether the corresponding processing is successfully performed;

[0122] If the corresponding processing is not successfully performed, prompting the user to restart the human-computer interaction device;

[0123] The step of determining whether there is an error based on a relative difference between the acquired Hall measurement data and a preset Hall measurement standard and a preset allowable error is performed when the human-machine interaction device is turned on.

[0124] Optionally, the device is used to implement:

[0125] Based on the Hall measurement data, determining a maximum measurement value and a minimum measurement value of the Hall measurement data;

[0126] Determine the difference between the maximum measured value and the minimum measured value as a span;

[0127] Determining a preset Hall measurement standard, wherein the Hall measurement standard includes a standard maximum measurement value, a standard minimum measurement value, and a standard span;

[0128] Determine whether there is an error based on a first relative difference between the maximum measurement value and the standard maximum measurement value, a second relative difference between the minimum measurement value and the standard minimum measurement value, a third relative difference between the span and the standard span, and the allowable error;

[0129] Among them, if the first relative difference, the second relative difference, and the third relative difference are all within the allowable error range, it is determined that there is no error; if at least one of the first relative difference, the second relative difference, and the third relative difference is outside the allowable error range, it is determined that there is an error.

[0130] Optionally, the device is used to implement:

[0131] If at least one of the first relative difference and the second relative difference is outside the allowable error range and the third relative difference is within the allowable error range, determining that the error type is the first error type;

[0132] If the first relative difference, the second relative difference, and the third relative difference are all outside the allowable error range, determining that the error type is the first error type;

[0133] If at least one of the first relative difference and the second relative difference is within the allowable error range, and the third relative error is outside the allowable error range, it is determined that the error type is the second error type.

[0134] Optionally, the device is used to implement:

[0135] If it is determined that the error type is the first error type, a first solution is adopted for processing;

[0136] The first solution is to use the maximum measurement value as a new standard maximum measurement value, the minimum measurement value as a new standard minimum measurement value, and use a linear difference method to update the intermediate data between the new standard maximum measurement value and the new standard minimum measurement value;

[0137] If it is determined that the error type is the second error type, a second solution is used for processing;

[0138] The second solution is to use the standard maximum measurement value as the new maximum measurement value and the standard minimum measurement value as the new minimum measurement value.

[0139] Optionally, the device is used to implement:

[0140] When it is determined that there is no error, the Hall measurement data and the Hall measurement standard are not updated.

[0141] Optionally, the device is used to implement:

[0142] The processing result is stored so that the processing result can be called when the human-computer interaction device is turned on next time.

[0143] The specific implementation of the Hall data processing device of the present application is basically the same as the above-mentioned Hall data processing method embodiments, and will not be repeated here.

[0144] Embodiment 6

[0145] Furthermore, based on all the above embodiments, another embodiment of the present application is provided. In this embodiment, a Hall data processing device is provided. The Hall data processing device is a physical node device. The Hall data processing device includes: a memory, a processor, and a program for implementing the Hall data processing method stored in the memory. The memory is used to store the program for implementing the Hall data processing method; the processor is used to execute the program for implementing the Hall data processing method to implement the steps of the Hall data processing method in the above embodiment.

[0146] Reference Figure 3 , Figure 3 It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application.

[0147] like Figure 3 As shown, the Hall data processing device may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0148] Optionally, the Hall data processing device may also include a network interface, an audio circuit, a display, a connecting line, a sensor, an input module, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface, a Bluetooth interface), and the input module may optionally include a keyboard, a system soft keyboard, voice input, wireless receiving input, etc.

[0149] Those skilled in the art will appreciate that the structure of the Hall data processing device does not limit the Hall data processing device, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0150] The memory as a computer-readable storage medium may include an operating system, an information exchange module, and a Hall data processing program. The operating system is a program that manages and controls the hardware and software resources of the Hall data processing device, and supports the operation of the Hall data processing program and other software and / or programs. The information exchange module is used to realize the communication between the components inside the memory, and to communicate with other hardware and software in the Hall data processing system.

[0151] In the Hall data processing device, the processor is used to execute the Hall data processing program stored in the memory to implement the above-mentioned steps of Hall data processing.

[0152] The specific implementation of the Hall data processing device of the present application is basically the same as the various embodiments of the Hall data processing method described above, and will not be repeated here.

[0153] Embodiment 7

[0154] An embodiment of the present application provides a readable storage medium, and the readable storage medium stores one or more programs, and the one or more programs can also be executed by one or more processors to implement the steps of the Hall data processing method in the above embodiment.

[0155] The specific implementation of the readable storage medium of the present application is basically the same as the above-mentioned embodiments of the method for processing Hall data, and will not be repeated here.

[0156] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0157] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0158] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage-readable storage medium (such as ROM or RAM, magnetic disk, optical disk) as described above, including a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0159] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for processing Hall data, characterized in that: The method for processing the Hall data includes: When the human-machine interaction device is turned on, determining the Hall measurement data corresponding to the displacement change information of the internal force feedback device; Determining whether there is an error based on a relative difference between the Hall measurement data and a preset Hall measurement standard and a preset allowable error; The determining whether there is an error based on the relative difference between the Hall measurement data and a preset Hall measurement standard and a preset allowable error includes: Based on the Hall measurement data, determining a maximum measurement value and a minimum measurement value of the Hall measurement data; Determine the difference between the maximum measured value and the minimum measured value as a span; Determining a preset Hall measurement standard, wherein the Hall measurement standard includes a standard maximum measurement value, a standard minimum measurement value, and a standard span; Determine whether there is an error based on a first relative difference between the maximum measurement value and the standard maximum measurement value, a second relative difference between the minimum measurement value and the standard minimum measurement value, a third relative difference between the span and the standard span, and the allowable error; If the first relative difference, the second relative difference, and the third relative difference are all within the allowable error range, it is determined that there is no error; if at least one of the first relative difference, the second relative difference, and the third relative difference is outside the allowable error range, it is determined that there is an error; When it is determined that there is an error, it is determined that the force feedback device has a positional offset, and then based on the relative difference and the allowable error, an error type corresponding to the error is determined; Based on the error type, corresponding processing is performed.

2. The method for processing Hall data according to claim 1, after the step of performing corresponding processing based on the error type, comprising: Determine whether the corresponding processing is successfully performed; If the corresponding processing is not successfully performed, prompting the user to restart the human-computer interaction device; The step of determining whether there is an error based on a relative difference between the acquired Hall measurement data and a preset Hall measurement standard and a preset allowable error is performed when the human-machine interaction device is turned on.

3. The method for processing Hall data according to claim 1, wherein the step of determining the error type corresponding to the error based on the relative difference and the allowable error comprises: If at least one of the first relative difference and the second relative difference is outside the allowable error range and the third relative difference is within the allowable error range, determining that the error type is the first error type; If the first relative difference, the second relative difference, and the third relative difference are all outside the allowable error range, determining that the error type is the first error type; If at least one of the first relative difference and the second relative difference is within the allowable error range, and the third relative error is outside the allowable error range, it is determined that the error type is the second error type.

4. The method for processing Hall data according to claim 1, wherein the step of performing corresponding processing based on the error type comprises: If it is determined that the error type is the first error type, a first solution is adopted for processing; The first solution is to use the maximum measurement value as a new standard maximum measurement value, the minimum measurement value as a new standard minimum measurement value, and use a linear difference method to update the intermediate data between the new standard maximum measurement value and the new standard minimum measurement value; If it is determined that the error type is the second error type, a second solution is used for processing; The second solution is to use the standard maximum measurement value as the new maximum measurement value and the standard minimum measurement value as the new minimum measurement value.

5. The method for processing Hall data according to claim 1, after the step of determining whether there is an error, comprising: When it is determined that there is no error, the Hall measurement data and the Hall measurement standard are not updated.

6. The method for processing Hall data according to claim 1, after the step of performing corresponding processing based on the error type, comprising: The processing result is stored so that the processing result can be called when the human-computer interaction device is turned on next time.

7. A Hall data processing device, characterized in that: The Hall data processing device comprises: A first determination module is used to determine the Hall measurement data corresponding to the displacement change information of the internal force feedback device when the human-computer interaction device is turned on; A second determination module, used to determine whether there is an error based on a relative difference between the Hall measurement data and a preset Hall measurement standard and a preset allowable error; The second determination module is specifically used to determine the maximum measurement value and the minimum measurement value of the Hall measurement data based on the Hall measurement data; determine the difference between the maximum measurement value and the minimum measurement value as the span; determine a preset Hall measurement standard, wherein the Hall measurement standard includes a standard maximum measurement value, a standard minimum measurement value, and a standard span; determine whether there is an error based on a first relative difference between the maximum measurement value and the standard maximum measurement value, a second relative difference between the minimum measurement value and the standard minimum measurement value, a third relative difference between the span and the standard span, and the allowable error; wherein, if the first relative difference, the second relative difference, and the third relative difference are all within the allowable error range, it is determined that there is no error; if any at least one of the first relative difference, the second relative difference, and the third relative difference is outside the allowable error range, it is determined that there is an error; A third determination module is used to determine that the force feedback device has a positional offset when it is determined that an error exists, and then determine an error type corresponding to the error based on the relative difference and the allowable error; The processing module is used to perform corresponding processing based on the error type.

8. A Hall data processing device, characterized in that: The method comprises a memory, a processor and a Hall data processing program stored in the memory and executable on the processor, wherein the processor executes the Hall data processing program to implement the steps of the Hall data processing method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that: The readable storage medium stores a program for implementing a method for processing Hall data, and the program for implementing a method for processing Hall data is executed by a processor to implement the steps of the method for processing Hall data as claimed in any one of claims 1 to 6.

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