A method, apparatus, and device for human-computer interaction

Abstract

This invention provides a method, apparatus, and device for human-computer interaction. The method includes: when the human-computer interaction function is activated, acquiring current frame pressure data collected by a pressure sensor array in response to a finger pressing the pressure sensor array according to a preset action; if the pressure value at at least one location point is greater than a first threshold, determining a control command corresponding to the current frame pressure data, and controlling a controlled object based on the control command. The human-computer interaction method, apparatus, and device provided by this invention utilize pressure values ​​collected by the pressure sensor array, which have magnitude characteristics. By setting a first threshold, user misoperation can be effectively avoided, and normal use of special clothing gloves can be maintained without affecting the user. Furthermore, it enables precise control of the controlled object and achieves refined input.

Description

Technical Field

[0001] This invention relates to the field of human-computer interaction technology, and more specifically, to a method, apparatus, and device for human-computer interaction. Background Technology

[0002] Currently, in fields such as aerospace, chemical defense, and firefighting, workers often wear special protective clothing when operating in the field. These workers primarily rely on their hands to operate devices and other peripheral equipment on their clothing. Because gloves are often quite rigid, the resistance to deformation is also significant. In such situations, workers need to use considerable force to move their finger joints, and their freedom of movement is limited, restricting them to operations such as poking, pressing, and flicking relatively large buttons.

[0003] However, the tasks performed by operators wearing special clothing are gradually becoming more refined. These tasks require operators to be able to operate equipment with precision, which places higher demands on the human-machine interaction system. Summary of the Invention

[0004] To address the existing technical problems, embodiments of the present invention provide a method, apparatus, and device for human-computer interaction.

[0005] In a first aspect, embodiments of the present invention provide a human-computer interaction method applied to a pressure sensor array with a curved surface, comprising:

[0006] When the human-computer interaction function is activated, the pressure data of the current frame is acquired when the pressure sensor array responds to the finger pressing the pressure sensor array according to the preset action; the pressure sensor array is located on the concave surface of the curved shape, the current frame pressure data includes pressure values ​​at multiple locations, and the preset action includes at least one of scrolling action, clicking action, and long press action;

[0007] If the pressure value at at least one of the said locations is greater than a first threshold, a control command corresponding to the current frame pressure data is determined, and the controlled object is controlled based on the control command.

[0008] Secondly, embodiments of the present invention also provide a human-computer interaction device applied to a pressure sensor array with a curved surface, comprising:

[0009] The acquisition module is used to acquire the current frame pressure data collected by the pressure sensor array in response to a finger pressing the pressure sensor array according to a preset action when the human-computer interaction function is activated; the pressure sensor array is located on the concave surface of the curved shape, the current frame pressure data includes pressure values ​​at multiple locations, and the preset action includes at least one of scrolling action, clicking action, and long press action.

[0010] The instruction module is used to determine a control instruction corresponding to the current frame pressure data when the pressure value at at least one of the location points is greater than a first threshold, and to control the controlled object based on the control instruction.

[0011] Thirdly, embodiments of the present invention provide a human-computer interaction device, including: a pressure sensor array and a processor, wherein the processor is used to implement the human-computer interaction method as described above;

[0012] The pressure sensor array is located inside the human-computer interaction device and is used to collect pressure data of the current frame and send the pressure data of the current frame to the processor.

[0013] The human-computer interaction method, apparatus, and device provided in this invention feature a curved pressure sensor array on the inner side of special clothing gloves or the mouth. Utilizing the magnitude of pressure values ​​collected by the pressure sensor array, a first threshold can be set to effectively prevent user misoperation. Furthermore, the system only responds to user pressure and generates control commands when the human-computer interaction function is activated, without affecting the user's normal use of special clothing gloves or tongue movements. The pressure sensor array can collect pressure values ​​at different locations, allowing the user to press different points through a scrolling motion and generate corresponding control commands. This enables precise control of the controlled object, allowing users to finely operate aerospace equipment, cursors, etc., during missions such as spaceflight, achieving precise input. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the background art, the accompanying drawings used in the embodiments of the present invention or the background art will be described below.

[0015] Figure 1 A flowchart of a human-computer interaction method provided by an embodiment of the present invention is shown;

[0016] Figure 2A This diagram illustrates a method for human-computer interaction provided in an embodiment of the present invention, in which special clothing gloves are worn on the fingers.

[0017] Figure 2B This illustration shows another schematic diagram of wearing special clothing gloves on the fingers in the human-computer interaction method provided in the embodiments of the present invention;

[0018] Figure 3 A schematic diagram of a pressure sensor array provided in an embodiment of the present invention is shown;

[0019] Figure 4 A schematic diagram of the scrolling action provided in an embodiment of the present invention is shown;

[0020] Figure 5 This diagram illustrates the determination of a connected region according to an embodiment of the present invention.

[0021] Figure 6 A side view of the pressure sensor array provided in an embodiment of the present invention is shown.

[0022] Figure 7 A schematic diagram of the structure of the sensing unit provided in an embodiment of the present invention is shown;

[0023] Figure 8 This diagram illustrates a structural schematic of a sensing array provided in an embodiment of the present invention.

[0024] Figure 9 A schematic diagram of the structure of a human-computer interaction device provided in an embodiment of the present invention is shown;

[0025] Figure 10 The diagram shows a schematic representation of an electronic device for performing a human-computer interaction method according to an embodiment of the present invention. Detailed Implementation

[0026] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0027] This invention provides a human-computer interaction method that utilizes a curved pressure sensor array. For example, the curved pressure sensor array can be placed inside a special-purpose glove, allowing the user to control other controlled objects by manipulating the glove. Alternatively, for scenarios where finger operation is inconvenient, such as when fingers are engaged in other tasks or the user is disabled, the curved pressure sensor array can be placed inside the mouth, allowing the user to interact with the computer by pressing the array with their tongue.

[0028] Figure 1 A flowchart illustrating a human-computer interaction method provided by an embodiment of the present invention is shown. This method is applied to a pressure sensor array with a curved surface, such as... Figure 1 As shown, the method includes:

[0029] Step 101: When the human-computer interaction function is activated, acquire the current frame pressure data collected by the pressure sensor array in response to the user pressing the pressure sensor array according to the preset action; the pressure sensor array is located on the concave surface of the curved shape, and the current frame pressure data includes pressure values ​​at multiple locations. The preset action includes at least one of the following: scrolling action, clicking action, and long press action.

[0030] In traditional human-computer interaction scenarios, users can easily interact with computers using their fingers due to their dexterity. However, when wearing special protective gloves, the gloves' rigidity makes it difficult to control the computer using traditional methods; or, when using fingers is inconvenient, human-computer interaction becomes even more difficult. In developing this invention, the inventors discovered that when a user wears special protective gloves, there is redundant space within the gloves—a gap between the user's fingers and the inner side of the gloves. (See [link to invention] for details.) Figure 2A and Figure 2B As shown in the figure, 10 represents a special clothing glove. Therefore, this embodiment of the invention utilizes a curved pressure sensor array, which is disposed on the inner side of the special clothing glove to sense user finger operations. Alternatively, the curved pressure sensor array can be disposed inside the user's mouth, with the surface shape of the pressure sensor array conforming to the surface of the inner wall of the mouth, allowing the user to achieve human-computer interaction by pressing the pressure sensor array with their tongue.

[0031] Currently, mainstream capacitive touchscreens work by utilizing the equivalent capacitance formed between the finger and the touchscreen to determine the finger's touch location. However, capacitive touchscreens require driving electrodes to emit high-frequency signals, resulting in a complex structure. Furthermore, the limited space within specialized gloves makes it easy for users' fingers to touch the inner wall of the gloves, leading to frequent misoperations. Similarly, the tongue can easily touch sensors inside the mouth, further contributing to the problem. This invention utilizes the pressure sensor's ability to detect pressure values. A pressure sensor array is used as the sensor to sense user finger movements. For example, this pressure sensor array is located inside the specialized glove, effectively preventing misoperations by utilizing the pressure value.

[0032] In this embodiment of the invention, taking the application of the pressure sensor array to special clothing gloves as an example, when a user wears the special clothing gloves, the user may perform human-computer interaction operations or other operations, such as maintenance or button pressing. This embodiment of the invention sets up a process for activating the human-computer interaction function. If the human-computer interaction function is not currently activated, even if the pressure sensor array collects data, the human-computer interaction function will not be executed, allowing the user to perform maintenance, button pressing, and other operations normally. If the human-computer interaction function is currently activated, the human-computer interaction method provided in this embodiment of the invention can be executed. The human-computer interaction function can be activated by operating other physical buttons, voice input, or by using the pressure sensor array itself. For example, the user can double-click or triple-click the pressure sensor array to activate the human-computer interaction function.

[0033] When the human-computer interaction function is activated, the pressure sensor array can collect current pressure data in real time. In this embodiment, pressure data collected at different time points are distinguished in frames, and the pressure data collected at the current time point is called the current frame pressure data. In this embodiment of the invention, the pressure sensor array is an array composed of multiple pressure sensors, such as an m×n array with a total of m×n pressure sensors; this pressure sensor array can be located at the fingertip, such as... Figure 3 As shown in the figure, 20 represents a pressure sensor array; or, the pressure sensor array can also be a ring structure that can sense pressure applied by the finger in different directions in 360°.

[0034] In this embodiment of the invention, the pressure sensor array includes multiple pressure sensors. Each pressure sensor, as a sensing unit, can collect pressure values ​​at a corresponding location point. One sensing unit corresponds to one location point. The current frame pressure data collected at the current time point includes pressure values ​​from multiple location points. This current frame pressure data may include pressure values ​​from all location points corresponding to all sensing units, or it may only include pressure values ​​from location points corresponding to some sensing units, such as only including pressure values ​​from location points where the pressure value is greater than a certain threshold or where the pressure value changes. This embodiment does not impose such limitations.

[0035] In this invention, the user can press the pressure sensor array through click actions (including single click, double click, etc.) and long press actions, so that the pressure sensor array can collect the corresponding pressure value, thereby achieving discrete control. Furthermore, due to the limited redundant space inside special clothing gloves, sliding operations are difficult to achieve. To enable continuous control, the user can also press the pressure sensor array through a rolling action. This rolling action refers to frictionless rolling between the user's pressing organ (e.g., finger, tongue tip, etc.) and the pressure sensor array, without slippage between the pressing organ and the pressure sensor array. Taking the user's finger pressing the pressure sensor array as an example... Figure 4 As shown, Figure 4 Figures (a) and (b) in the text are schematic diagrams of scrolling the finger left and right. Figure 4 Figure (c) in the diagram is a schematic of scrolling downwards. Figure 4 Figure (c) shows a schematic diagram of scrolling upwards. By performing the scrolling action, the user can continuously change the position of the finger pressing, and continuous control can be achieved by using the continuously changing pressure data.

[0036] It should be noted that during the actual rolling action, there may be slight slippage between the pressing organ and the pressure sensor array, but the action is still mainly a rolling action, which also falls under the category of "rolling action" described in this embodiment.

[0037] Step 102: If the pressure value at at least one location point is greater than the first threshold, determine the control command corresponding to the pressure data of the current frame, and control the controlled object based on the control command.

[0038] In this embodiment of the invention, to avoid user misoperation, a threshold, namely a first threshold, is preset. If the pressure values ​​at all locations in the current frame pressure data are less than the first threshold, it is assumed that the finger has not touched the pressure sensor array, or that the finger has only slightly touched the pressure sensor array due to limited space, and no control command is generated in this case. If the pressure value at at least one location in the current frame pressure data is greater than the first threshold, it is assumed that the user intends to press the pressure sensor array. In this case, a corresponding control command needs to be determined based on the specific situation of the current frame pressure data, and then the corresponding controlled object is controlled based on the control command. The controlled object can be an aircraft, a ground detector, a robotic arm, or a human-machine interface, such as a cursor on the interface.

[0039] The system can determine the type of preset action—scrolling, clicking, or long-press—based on the pressure data of the current frame. Then, it combines the current preset action with the current frame pressure data to generate the corresponding control command. For example, if the pressure value at at least one point in the current frame pressure data is greater than a first threshold, and the distribution of pressure values ​​remains unchanged after a press is detected, the current preset action is determined to be a long-press. If the pressure value at at least one point in the current frame pressure data is greater than the first threshold, and the distribution of pressure values ​​changes significantly after a press is detected, the current preset action is determined to be a scrolling action. If the pressure value at at least one point in the current frame pressure data is greater than the first threshold, and the pressure values ​​in other frames collected within a very short time (e.g., within 50ms) are all less than the first threshold, the current preset action is considered to be a clicking action. Generally, given a defined human-computer interaction scenario, the control commands corresponding to clicking and long-press actions are clear; while the category of the control command corresponding to a scrolling action is clear, the specific parameters of the control command can be determined based on the amplitude of the scrolling action. For example, click or long press actions can generate control commands to press a physical button (or virtual button), and scrolling actions can generate control commands to move an aircraft. The direction and speed of the aircraft's movement are determined by the scrolling distance, pressure value, and other factors of the scrolling action.

[0040] Alternatively, when the pressure sensor array is located inside the special clothing glove, one finger can typically press one pressure sensor array. Therefore, pressure sensor arrays can be installed in multiple finger sleeves (or in the finger sleeves of two special clothing gloves) respectively. Users can operate multiple pressure sensor arrays by controlling the pressing of multiple fingers. By operating multiple pressure sensor arrays simultaneously, users can input more diverse control commands. For example, pressure sensor arrays are installed in both the thumb and index finger sleeves of the special clothing glove. Users can input corresponding control commands by pressing with their thumb and index finger; for example, the user's thumb and index finger can perform a click action simultaneously, or the thumb can perform a long press action and the index finger can perform a click action, or the thumb can perform a scrolling action and the index finger can perform a click action, etc. Different control commands can be generated based on different combinations of preset actions.

[0041] This invention provides a human-computer interaction method that involves installing a curved pressure sensor array on the inner side of special clothing gloves or the mouth. Utilizing the magnitude of pressure values ​​collected by the pressure sensor array, a first threshold can be set to effectively prevent user misoperation. Furthermore, the method only responds to user pressure and generates control commands when the human-computer interaction function is activated, without affecting the user's normal use of special clothing gloves or tongue movements. The pressure sensor array can collect pressure values ​​at different locations, and the user can press different points through a scrolling motion, generating corresponding control commands. This enables precise control of the controlled object, allowing users to finely operate related equipment and cursors during task execution, achieving refined input.

[0042] Optionally, the magnitude of the pressure value acquired by the pressure sensor is affected by the specific implementation of the pressure sensor. This includes the internal circuit design, size, and shape of the substrate on which it is placed, as well as the bonding method between the sensor film and the substrate. Different bonding methods can lead to significant differences in the acquired raw data. For example, if the bonding force around the pressure sensor is greater, the bonding force at that location will contribute more to the pressure signal than at other locations. Furthermore, the pressure signal may also experience temporal drift: for example, drift caused by changes in the force applied to the pressure sensor (such as loosening or misalignment of the bonding between the pressure film and the substrate), drift caused by changes in ambient temperature, humidity, and air pressure, etc. To effectively distinguish the pressure applied by the user from other pressure factors, this embodiment of the invention also performs zero-point calibration on the pressure signal; the pressure above zero is the pressure applied by the user. Specifically, the zero-point calibration process includes:

[0043] Step A1: Perform zero-point calibration on multiple sensing units of the pressure sensor array.

[0044] In this embodiment of the invention, since the base forces borne by different sensing units (i.e., pressure sensors) in the pressure sensor array are different, an independent zero-point calibration method is adopted for each sensing unit, that is, zero-point calibration is performed on each sensing unit separately. Zero-point calibration can be performed periodically at intervals (e.g., 10 minutes, one hour, etc.). Generally, zero-point calibration is performed first, followed by step 101, which involves acquiring the current frame pressure data for generating control commands. Alternatively, zero-point calibration can be performed in real time. That is, after acquiring the current frame pressure data in step 101, zero-point calibration is performed based on the current frame pressure data (e.g., multiple pressure data points within a recent period containing the current frame pressure data).

[0045] Optionally, step A1 above, "performing zero-point calibration of multiple sensing units in the pressure sensor array," includes:

[0046] Step A11: Determine the average pressure value collected by each sensing unit of the pressure sensor array within the first preset time window, and use the average pressure value collected as the zero point to perform zero-point calibration on the corresponding sensing unit; the end time of the first preset time window is the current time, and the length of the first preset time window is greater than the maximum duration of the preset action.

[0047] In this embodiment of the invention, since the pressure sensor array may change, causing the pressure reference to change—for example, the environment in which special clothing gloves are located often changes (e.g., changes between inside and outside the cabin), the pressure reference of the sensing unit in the pressure sensor array inside the special clothing gloves may frequently change. Therefore, this embodiment employs a dynamic zero-point calibration method. Specifically, the zero-point calibration is performed at the current time. The time period between a previous point in time and the current time is taken as the first preset time window (i.e., the end time of the first preset time window is the current time). Within this first preset time window, the sensing unit collects pressure values ​​for multiple frames. In this embodiment, the average of all pressure values ​​within the first preset time window is taken as the zero point to achieve zero-point calibration. As the current time changes, the first preset time window also changes, thus enabling dynamic zero-point calibration based on the latest pressure values.

[0048] Furthermore, within this first preset time window, the user may activate the human-computer interaction function and press the pressure sensor array. In this embodiment, the length of the first preset time window is greater than the maximum duration of the preset action to avoid significant impact on zero-point calibration due to the user actively pressing the pressure sensor array. The maximum duration of the preset action can be the maximum duration triggered when the user previously performed the human-computer interaction function; for example, if the user has continuously input the preset action for one minute, then the length of the first preset time window must be greater than one minute, such as 10 minutes.

[0049] Alternatively, in this embodiment of the invention, zero-point calibration can also be performed based on the pressure value collected when the user is not pressing the pressure sensor array. Specifically, step A1, "performing zero-point calibration of multiple sensing units of the pressure sensor array," includes steps A12-A14:

[0050] Step A12: Determine the pressure value of each frame collected by each sensing unit of the pressure sensor array within the second preset time window; the end time of the second preset time window is the current time.

[0051] Step A13: If the pressure values ​​collected by all sensing units within the undetermined frame are less than the second threshold, the undetermined frame is taken as a valid frame. The undetermined frame is a frame within the second preset time window; the second threshold is the pressure value greater than the current zero point.

[0052] Step A14: Use the average pressure value collected by the sensing unit in all valid frames as the zero point, and perform zero-point calibration on the corresponding sensing unit.

[0053] In this embodiment of the invention, similar to step A11 above, zero-point calibration is also performed based on the pressure values ​​collected within a preset time window; the preset time window used in steps A12-A14 above is a second preset time window. This second preset time window contains multiple frames. In this embodiment, a second threshold is preset. If the pressure value of a frame does not meet the condition of being less than the second threshold, it indicates that the pressure value of that frame is relatively large, and the user is very likely pressing the pressure sensor array; therefore, that frame is not used for zero-point calibration. Conversely, if the pressure value of a frame meets the condition of being less than the second threshold, it indicates that the pressure value of that frame is relatively small, and the user is very likely not operating the pressure sensor array; therefore, the pressure value collected in that frame is the pressure value when the pressure sensor array is operating normally, and it can be used for zero-point calibration. As shown in steps A13-A14 above, frames whose pressure values ​​meet the condition of being less than the second threshold (i.e., the aforementioned undetermined frames) are taken as valid frames, and then the average of the pressure values ​​collected from all valid frames is used as the zero point for zero-point calibration.

[0054] In this embodiment of the invention, the second threshold is a pressure value larger than the current zero point. This second threshold can be a dynamically changing value; for example, a pressure difference ΔP (ΔP>0) can be added to the current zero point P0, i.e., the second threshold th2 is: th2=P0+ΔP. When the pressure values ​​collected by all sensing units within the undetermined frame are sufficiently small, they are considered to meet the condition of being less than the second threshold. For example, the second threshold is a threshold for the pressure sensor array. If the sum of the pressure values ​​collected by all sensing units within the undetermined frame is less than the second threshold, then the pressure values ​​collected by all sensing units within the undetermined frame are considered to meet the condition of being less than the second threshold. Alternatively, the second threshold is a threshold set for a single sensing unit. If, among the pressure values ​​collected by all sensing units within the undetermined frame, the maximum pressure value is less than the corresponding second threshold, or the pressure value with the largest offset from the zero point of the sensing unit is less than the second threshold of that sensing unit, then the pressure values ​​collected by all sensing units within the undetermined frame are considered to meet the condition of being less than the second threshold.

[0055] For example, a pressure sensor array contains n sensing units. Before performing zero-point calibration for the current cycle, the zero point of the i-th sensing unit is Pi0. All sensing units are set with the same pressure difference ΔP, and an overall second threshold TH2 is set for the pressure sensor array. If, in a certain undetermined frame, the pressure values ​​collected by n sensing units are Pi, respectively... now (i = 1, 2, ..., n), if the sum of all pressure values ​​(i.e., n Pi) now If the sum of the values ​​is less than the second threshold TH2, then the pressure values ​​collected by all sensing units within the undetermined frame can be considered to meet the condition of being less than the second threshold. This embodiment does not limit the definition of "meeting the condition of being less than the second threshold".

[0056] Alternatively, for example, a pressure sensor array contains n sensing units. Before performing zero-point calibration for the current round, the zero point of the i-th sensing unit is Pi0. All sensing units are assigned the same pressure difference ΔP, and a second threshold THi2 is set for each sensing unit, where THi2 = Pi0 + ΔP. If, in a certain undetermined frame, the pressure values ​​collected by the n sensing units are Pi0, ... now (i = 1, 2, ..., n), where the pressure value Pk of the k-th sensing unit is... now Maximum, i.e., Pk now =max(Pi now Furthermore, the pressure value Pk of the kth sensing unit. now If the pressure value is less than the corresponding second threshold THk2, then it can be considered that the pressure values ​​collected by all sensing units within the undetermined frame meet the condition of being less than the second threshold. Alternatively, if the pressure value Pk of the k-th sensing unit... now The offset Pk between it and its zero point Pk0now -Pk0 is the largest, that is, Pk now -Pk0=max(Pi now -Pi0), and the pressure value Pk of the kth sensing unit. now If the pressure value collected by all sensing units within the undetermined frame is less than the corresponding second threshold THk2, then it can be considered that the pressure value collected by all sensing units within the undetermined frame satisfies the condition of being less than the second threshold.

[0057] In this embodiment of the invention, frames whose pressure values ​​meet the condition of being less than a second threshold are designated as valid frames. Zero-point calibration is then performed based on the pressure values ​​of these valid frames. This method can ignore the influence of user pressure, allowing the second preset time window to be set to a smaller window (e.g., a few seconds), enabling fast and accurate zero-point calibration. Pressure values ​​collected in previous time periods have minimal impact on the current zero-point calibration process. However, in step A1 above, if the pressure values ​​of all frames within the first preset time window are used for zero-point calibration, then to avoid the influence of user pressure operations within that first preset time window, the first preset time window needs to be set to a larger window. This results in a lag in zero-point calibration, where the currently determined zero point is significantly affected by pressure values ​​collected over a longer period.

[0058] Optionally, in the process of realizing this invention, the inventors discovered that when a user presses their finger against the pressure sensor and then lifts their finger, the pressure value collected by the pressure sensor undergoes a sudden change, and the instantaneous value of this pressure value is below zero, after which the pressure value returns to normal. Since this embodiment sets a second threshold to determine which frames are valid, and the second preset time window in this embodiment can be a relatively small window, this instantaneous decrease in pressure value may lead to failure in zero-point calibration. For example, the pressure value corresponding to zero is 5, the pressure difference is 1, and the second threshold is 6 at this time. When the user presses and releases, the pressure value collected by the pressure sensor will instantly drop from a large value to less than 5, and then gradually rebound to 5, for example, from 10 to 2, and then gradually increase to 5. Since the second preset time window is small, zero-point calibration can still be performed when the pressure value drops to 2, and the determined zero point is 2. Since the pressure difference is 1, the second threshold becomes 3 at this time; however, since the pressure value collected by the pressure sensor is 5 in the absence of zero-point drift, this pressure value 5 must be greater than the second threshold 3, leading to abnormal zero-point calibration.

[0059] To avoid the impact of such a sudden drop in pressure value on zero-point calibration, the above step A13, "if the pressure values ​​collected by all sensing units within the undetermined frame meet the condition of being less than the second threshold, the undetermined frame is taken as a valid frame," includes step A131:

[0060] Step A131: If the pressure values ​​collected by all sensing units within the pending frame meet the condition of being less than the second threshold, and the time interval between the pending frame and any jump frame exceeds the preset interval, the pending frame is taken as a valid frame; the jump frame includes a lower jump frame that can represent the pressure value changing from greater than the second threshold to less than the second threshold, and / or an upper jump frame that can represent the pressure value changing from less than the second threshold to greater than the second threshold.

[0061] In this embodiment of the invention, there may be upward-jumping frames and / or downward-jumping frames within the second preset time window. An upward-jumping frame indicates a change in pressure value from less than a second threshold to greater than the second threshold; for example, the pressure value of the frame preceding the upward-jumping frame is less than the second threshold, and the pressure value of the frame following the upward-jumping frame is greater than the second threshold. Correspondingly, a downward-jumping frame indicates a change in pressure value from greater than the second threshold to less than the second threshold; for example, the pressure value of the frame preceding the downward-jumping frame is greater than the second threshold, and the pressure value of the frame following the downward-jumping frame is less than the second threshold. If the time interval between a pending frame and the jumping frame is small, it indicates that the pressure value of the pending frame may be a momentarily decreased pressure value. If this pending frame is used as a valid frame for zero-point calibration, it may easily lead to the aforementioned calibration anomaly problem. Therefore, it needs to be excluded, i.e., it cannot be used as a valid frame.

[0062] In this embodiment of the invention, the process of determining whether the time interval between the pending frame and the jump frame exceeds a preset interval includes two cases: determining whether the time interval between the pending frame and the upward jump frame exceeds a first preset interval, and determining whether the time interval between the pending frame and the downward jump frame exceeds a second preset interval. The first preset interval corresponding to the upward jump frame is mainly used to ignore frames that rise from a lower pressure value (e.g., zero point) to a second threshold before the upward jump frame. For different jump frames, the preset interval can be different, that is, the first preset interval and the second preset interval are different. For example, the first preset interval corresponding to the upward jump frame can be shorter than the second preset interval corresponding to the downward jump frame.

[0063] Specifically, it can be determined whether the time interval between the pending frame and the next-step change frame meets the condition (equivalent to the first preset interval being zero). That is, after the pressure value suddenly decreases (for example, when the user lifts their pressed finger), only frames with a sufficiently large time interval with the next-step change frame can be considered valid frames. Furthermore, since the pressure values ​​of other frames before the next-step change frame generally do not meet the condition of being less than the second threshold, it is possible to select valid frames by only determining the time interval between the next-step change frame and the pending frames following it. For example, frames a after the next-step change frame (e.g., 3 frames, 10 frames, etc., where the value of a is related to the rebound rate of the pressure sensor; for example, the pressure sensor needs to rebound to the zero position within the time of frame a) cannot be considered valid frames.

[0064] Those skilled in the art will understand that, in implementing step A132 above, the time interval between the pending frame and the transition frame can be determined to determine whether the pending frame is a valid frame. Alternatively, when a transition frame occurs, multiple frames adjacent to the transition frame can be treated as invalid frames, i.e., these frames will not be considered valid frames. Although this process does not require determining the time interval between the pending frame and the transition frame, the valid frames determined at this time still satisfy the condition that "the time interval between the pending frame and any transition frame exceeds a preset interval." That is, this embodiment does not limit whether the step of "determining the time interval between the pending frame and the transition frame" needs to be performed. Furthermore, when there is no transition frame within the second preset time window, all pending frames meet the condition that "the time interval between the pending frame and any transition frame exceeds a preset interval," i.e., pending frames that meet the condition of being less than the second threshold can be directly treated as valid frames.

[0065] Optionally, the pressure data of the current frame collected by the pressure sensor array is the raw pressure sensing signal, which is prone to random noise: such as random electrical noise inherent in the pressure sensor array itself, and electrical signal noise caused by electromagnetic fields of peripheral devices and human electric fields. High-frequency random jitter in random noise can easily cause false triggering of subsequent interactive commands. This embodiment of the invention filters high-frequency noise through low-pass filtering to further avoid false triggering. Specifically, after step 101 "acquiring the current frame pressure data collected by the pressure sensor array in response to the user pressing the pressure sensor array according to a preset action", the method further includes:

[0066] Step B1: Perform spatial filtering and / or temporal filtering operations on the collected current frame pressure data to determine the filtered current frame pressure data; the filtered current frame pressure data is used to determine the control commands.

[0067] Spatial filtering operations include:

[0068] Step B11: Perform a two-dimensional Fourier transform on the collected current frame pressure data to determine the spatial spectrum of the current frame; perform low-pass filtering on the spatial spectrum based on a low-pass filter, and perform a two-dimensional inverse Fourier transform on the low-pass filtered spatial spectrum to determine the spatially filtered current frame pressure data.

[0069] Time filtering operations include:

[0070] Step B12: Perform low-pass time-domain filtering on the pressure value sequence of each sensing unit in the pressure sensor array to determine the pressure value of each sensing unit after time filtering, and then determine the pressure data of the current frame after time filtering.

[0071] In this embodiment of the invention, spatial filtering can be performed on the collected current frame pressure data, and the determined spatially filtered current frame pressure data can be used as the "filtered current frame pressure data" in step B1; alternatively, temporal filtering can be performed on the collected current frame pressure data, and the determined temporally filtered current frame pressure data can be used as the "filtered current frame pressure data" in step B1; alternatively, spatial filtering can be performed on the collected current frame pressure data, and then temporal filtering can be performed on the spatially filtered current frame pressure data, and the processing result after temporal filtering can be used as the "filtered current frame pressure data" in step B1.

[0072] Specifically, each frame of pressure data contains pressure values ​​at multiple locations, which can be represented as a pressure map. The pressure data collected by the pressure sensor array is the original pressure map. In this embodiment, the spatial filtering operation uses each frame of the original pressure map as the processing object, and what needs to be filtered out is the high-frequency noise in each frame of the original pressure map. This embodiment of the invention obtains the spatial spectrum of the original pressure map of the current frame (i.e., the pressure data of the current frame) through a two-dimensional Fourier transform, such as a two-dimensional discrete Fourier transform (2D-DFT). Then, a low-pass filter is used to retain low-frequency components and filter out high-frequency components, performing low-pass filtering on the spatial spectrum. Finally, an inverse two-dimensional Fourier transform, such as a two-dimensional inverse discrete Fourier transform (2D-IDFT), is used to obtain the spatially filtered two-dimensional pressure map, i.e., the spatially filtered pressure data of the current frame. The low-pass filtering technique used for the spatial spectrum can be ideal low-pass filtering, Butterworth low-pass filtering, Gaussian low-pass filtering, etc., which is not limited in this embodiment.

[0073] The time-based filtering operation uses the pressure value sequence of each sensing unit as the processing object, and what it needs to filter out is jitter noise in the sequence. In this embodiment of the invention, since the sensing unit can collect pressure values ​​in real time, and the pressure values ​​collected at different time points can form a time-based pressure value sequence, this embodiment performs low-pass time-domain filtering on this time-based pressure value sequence. For example, a simple moving average or rectangular window function low-pass filtering can be selected, thereby determining the pressure value of the sensing unit in the current frame after time filtering, and then determining the time-filtered current frame pressure data based on the pressure values ​​of multiple sensing units in the current frame after time filtering. Among them, the "pressure value sequence of each sensing unit of the pressure sensor array" in step B12 can be a sequence determined based on the collected current frame pressure data, or it can be a sequence determined based on the spatially filtered current frame pressure data.

[0074] Alternatively, after step B1 "determine the filtered current frame pressure data" described above, the method further includes:

[0075] Step B2: Perform interpolation on the filtered current frame pressure data to determine the interpolated current frame pressure data; the interpolated current frame pressure data is used to determine the control command.

[0076] In this embodiment of the invention, the resolution of the pressure data collected by the pressure sensor array is related to the distribution of the sensing units in the pressure sensor array. For example, if the pressure sensor array includes m×n sensing units, then the resolution of the pressure data it collects is m×n. To improve the accuracy of the touch area and touch point of the pressure sensor array, and to support more interactive applications, this embodiment can also interpolate the pressure data to obtain higher resolution pressure data after upsampling, such as pressure data with a resolution of 2m×2n. For example, bicubic interpolation can be used to perform the interpolation operation. This embodiment filters first and then interpolates to avoid the influence of noise on the interpolation; generating control commands based on the interpolated current frame pressure data can also improve touch accuracy. Furthermore, in the case of real-time zero-point calibration, filtering can be performed before zero-point calibration, or zero-point calibration can be performed before filtering; this embodiment does not limit this.

[0077] Based on any of the above embodiments, when the preset action is a scrolling action, real-time human-computer interaction is required, such as real-time control of related devices, cursors, etc., which means real-time generation of control commands is required. Step 102 "determining the control command corresponding to the current frame pressure data" includes steps C1-C3:

[0078] Step C1: Determine the connected regions touched by the user in the current frame pressure data.

[0079] In this embodiment of the invention, the current frame pressure data includes at least the pressure values ​​corresponding to locations where the pressure value is greater than a certain threshold (e.g., the first threshold in step 102), or at least the pressure values ​​corresponding to locations where the pressure value changes. Based on the pressure values ​​in the current frame pressure data, the area touched by the user can be determined. For example, the area corresponding to the location where the pressure value is greater than the threshold can be taken as the user touch area. Generally, the user touch area detected based on the current frame pressure data is a connected region. Control commands are generated based on this connected region, which can also eliminate the influence of other noise outside the connected region. The "current frame pressure data" in step C1 can be the collected current frame pressure data (i.e., the original data), or it can be the filtered current frame pressure data or the interpolated current frame pressure data, depending on whether filtering or interpolation is required.

[0080] Optionally, step C1 above, "determining the connected region touched by the user in the current frame pressure data," includes:

[0081] Step C11: Determine the maximum pressure value (max) in the current frame pressure data.

[0082] Step C12: In the current frame pressure data, the connected region determined by the position point where the pressure value is greater than or equal to λmax is taken as the connected region touched by the user; 1 / 4 < λ < 3 / 4.

[0083] In this embodiment of the invention, the area corresponding to the location point in the current frame pressure data where the pressure value is greater than a threshold (e.g., the first threshold in step 102) can be directly used as the user touch area. Figure 5 This diagram illustrates the pressure values ​​of some points (points on a straight line) in the current frame's pressure data, with the vertical axis representing the pressure magnitude. If the threshold is τ, then regions with pressure values ​​greater than this threshold τ can be considered as connected regions, such as... Figure 5 The shaded areas shown in Figures (a) and (c) are as follows.

[0084] However, since this threshold τ is generally fixed, the pressure applied to the pressure sensor array varies depending on the user, or even the same user under different circumstances; for example... Figure 5 As shown in Figure (a), if the user presses with a large force, the pressure value in a large area will exceed the threshold τ, requiring processing of many location points. Furthermore, in this embodiment, the pressure sensor array is an arc or ring structure. When the pressure sensor array is pressed with a large force, the pressure distribution shape becomes irregular, resulting in a large and irregularly shaped area where the pressure value exceeds the threshold τ. Therefore, the center of this area deviates from the center the user intends to touch. Additionally, as... Figure 5 As shown in Figure (c), if the user presses the pressure force is small, although there is a region where the pressure value is greater than the threshold τ, the region is small. Even if the user does not actively change the pressure, the existence of jitter will cause a large change in the connected region, resulting in the jitter problem.

[0085] To avoid problems caused by excessively high or low pressing pressure, this embodiment of the invention uses λ times the maximum pressure value as a dynamic segmentation standard, defining the area above λ times the maximum pressure value as the connected area touched by the user. For example... Figure 5 As shown in Figures (b) and (d), assuming λ = 1 / 2, if the maximum pressure value is max, then the region above max / 2 can be considered as the final determined connected region. This connected region can be found in [reference needed]. Figure 5 The shaded areas in Figures (b) and (d) are shown. Figure 5As shown in Figure (b), if the pressing force is too large, λmax will exceed the threshold τ. In this case, we can focus mainly on the central area of ​​the user's press to more accurately determine the user's intention; Figure 5 As shown in Figure (d), if the pressure is too small, λmax is less than the threshold τ. In this case, the center point can be determined based on the pressure value of a larger area, which can effectively prevent shaking. The specific value of λ can be determined based on the actual situation. Figure 5 Take λ = 1 / 2 as an example. In order to be applicable to various situations with both high and low pressure, λ should not be too large or too small; for example, λ should satisfy: 1 / 4 < λ < 3 / 4, or 1 / 3 < λ < 2 / 3, etc.

[0086] This embodiment dynamically adjusts the inference of the connected area touched by the user in proportion to the peak pressure value (i.e. the maximum pressure value), which can effectively utilize the touch distribution information in the pressure data of the current frame, and facilitate a more accurate center position point in the future.

[0087] Step C2: Determine the current frame center position of the connected region based on the coordinates of multiple location points in the connected region, or based on the coordinates and pressure values ​​of multiple location points in the connected region.

[0088] In this embodiment of the invention, since the connected region is a single area containing multiple location points, it is difficult to generate accurate control commands directly based on this connected region. Therefore, this embodiment extracts the center location point of the connected region and generates control commands based on this center location point. Each frame of pressure data corresponds to a specific center location point. In this embodiment, the center location point determined based on the current pressure data is referred to as the current frame center location point. The current frame center location point of the connected region can be determined based on the coordinates of multiple (e.g., all) location points within the connected region. That is, the current frame center location point is the location point corresponding to the center of the connected region, and it is independent of the pressure at multiple location points within the connected region.

[0089] Alternatively, the current frame center location of the connected region can be determined based on the coordinates and pressure values ​​of multiple (e.g., all) location points within the connected region. Specifically, the coordinates of the location points are represented by two-dimensional data, and the pressure value of each location point is represented by a third dimension, forming a three-dimensional solid model that can represent the coordinates and pressure values ​​of all location points within the connected region. The location point corresponding to the center of this three-dimensional solid model is the current frame center location.

[0090] Optionally, due to the phenomenon of positional jitter at the touch point, this embodiment of the invention smooths the center position point of the connected region and uses the smoothed position as the center position point of the corresponding frame. Specifically, step C2, "determining the current frame center position point of the connected region based on the coordinates of multiple position points in the connected region, or based on the coordinates and pressure values ​​of multiple position points in the connected region," may include steps C21-C22:

[0091] Step C21: Determine the temporary center point of the connected region based on the coordinates of multiple points in the connected region, or based on the coordinates and pressure values ​​of multiple points in the connected region.

[0092] Step C22: Determine the center position of the current frame based on the coordinates of the center position of the previous frame; the center position of the current frame satisfies:

[0093] S n =αs n +(1-α)S n-1 ;

[0094] Among them, S n-1 s represents the coordinates of the center point of the previous frame. n S represents the temporary center location point. n This represents the center position of the current frame, where α is a preset adjustment parameter, and 0 < α ≤ 1.

[0095] In this embodiment of the invention, the center point determined based on the coordinates of multiple location points in the connected region, or based on the coordinates and pressure values ​​of multiple location points in the connected region, is used as the temporary center point of the connected region; wherein, the process of determining the temporary center point is similar to the process of generating the center point of the current frame explained in step C2 above, and will not be described in detail here.

[0096] After determining the temporary center position, the coordinates of the temporary center position are smoothed based on the coordinates of the center position determined in the previous frame (i.e., the center position of the previous frame) to determine the current frame center position after jitter elimination, i.e., based on S. n =αs n +(1-α)S n-1 Achieving smoothness. Here, n represents the frame number corresponding to the current frame. If the coordinates of the previous frame's center point are not available, the temporary center point is directly used as the current frame's center point, i.e., S1 = s1. The coordinates of the current frame's center point determined by this smoothing process are a weighted sum of the coordinates of all historical center points, with weights decreasing exponentially. Furthermore, when determining the current frame's center point, only the previous frame's center point needs to be considered, allowing for rapid determination based on all historical center points. To ensure a smoothing effect, generally, α ≠ 1, i.e., 0 < α < 1.

[0097] Since the coordinates of the location point are two-dimensional, each dimension of the coordinate system can be smoothed individually. For example, the coordinates S of the center point in the previous frame... n-1 For (X) n-1 ,Y n-1 ), the coordinates of the temporary center point s n For (x) n ,y n Let S be the coordinates of the center point of the current frame. n For: (X) n ,Y n If ), then the following condition is met:

[0098]

[0099] Step C3: Determine the control command based on the coordinates of the current frame center point and the pressure value.

[0100] In this embodiment of the invention, when the preset action is a scrolling action, control commands can be generated to control the movement of the controlled object (such as an aircraft, a cursor in a display device, etc.); wherein, the degree of movement, including the direction of movement, speed of movement, etc., can be determined based on the coordinates and pressure value of the current frame center position point.

[0101] Optionally, step C3 above, "determine the control command based on the coordinates of the current frame center point and the pressure value," includes:

[0102] Step C31: Determine the offset direction and offset distance between the current frame center position point and the origin based on the coordinates of the current frame center position point.

[0103] In this embodiment of the invention, the origin O of the pressure sensor array can be preset, based on the coordinates S of the current frame center position point. n The direction of the offset between the two can be determined, that is Alternatively, the origin can be the center position S1 of the current frame, which is determined for the first time when the scrolling action is triggered, and the coordinates S of the center position S of the current frame can be used as the reference point. n The direction of the offset between the two can also be determined, that is The offset distance can be the distance between the current frame center point and the origin, or it can be the distance between the current frame center point and the origin on the x-axis or y-axis.

[0104] Step C32: Determine the control direction corresponding to the offset direction, and determine the control speed based on the offset distance and the pressure value of the current frame center position point, and generate a control command containing the control direction and control speed; the control speed is positively correlated with the offset distance and the pressure value of the current frame center position point.

[0105] In this embodiment of the invention, when generating control commands for moving a controlled object, the direction of movement of the controlled object is determined by the offset direction. However, due to the limited space inside the special clothing gloves, the center position point cannot be directly mapped to the movement distance. Therefore, this embodiment determines the movement speed of the passive object based on the offset distance and pressure value of the current frame's center position point. Specifically, when the preset action is a rolling action, the determined control command includes a control direction and a control speed. This control direction corresponds to the offset direction (e.g., is the same or similar). The control speed is positively correlated with the offset distance and the pressure value of the current frame's center position point; that is, the greater the offset distance and the greater the pressure value of the current frame's center position point, the greater the control speed. After issuing the control command, the controlled object can be controlled to move along the control direction at the control speed.

[0106] Optionally, the pressure value at the center point of the current frame can also be the pressure value determined after performing a smoothing process similar to step C22. Specifically, if the pressure value at the center point of the previous frame is P... n-1 The original pressure value corresponding to the center position of the current frame is p. n Let the pressure value at the center point of the current frame after smoothing be P. n Then the following condition is met:

[0107] P n =αp n +(1-α)P n-1 .

[0108] Optionally, step C32, "determining the control direction corresponding to the offset direction", may specifically include at least one of the following steps: C321, C322, and C322.

[0109] Step C321: Determine a control direction that is consistent with the offset direction. That is, the control direction can be exactly the same as the offset direction.

[0110] Step C322: Pre-set multiple standard directions, and use the standard direction with the highest similarity to the offset direction as the control direction.

[0111] In this embodiment of the invention, when the control precision requirement is not high, multiple fixed directions, i.e., standard directions, can be preset; for example, two standard directions (left and right), four standard directions (up, down, left, and right), or eight standard directions (up, down, left, right, up, down, right, left, and up, right, down, left, and down). If the current offset direction has the highest similarity to a certain standard direction (e.g., the angle between them is the smallest), it can be assumed that the user currently expects to control the controlled object in that standard direction, and at this time, the preset standard direction can be used as the control direction.

[0112] Step C323: Pre-set the mapping relationship between the desired direction and the actual direction, take the offset direction as the actual direction, determine the desired direction corresponding to the offset direction based on the mapping relationship, and take the desired direction corresponding to the offset direction as the control direction.

[0113] In this embodiment of the invention, when a user controls the pressure sensor array with their finger, the user can generally control the finger to scroll left, right, up, and down relatively accurately. However, when the user controls the finger to scroll at an angle, due to the limitations of the finger joints and the bias in human perception, there is an error between the user's desired scrolling direction and the actual scrolling direction. For example, if the user expects the cursor to move 60° to the upper right corner, the user's actual scrolling direction is not 60°, but generally less than 60°; for example, the user's actual scrolling direction is 45°. Scrolling the finger is slightly different from traditional mouse operation. Similar problems also exist when the user controls the pressure sensor array with pressing organs such as the tip of the tongue, due to perceptual bias, which will not be elaborated here.

[0114] In this embodiment of the invention, the mapping relationship between the desired direction and the actual direction is determined in advance through experiments. After determining the offset direction, the offset direction is taken as the actual direction, so that the desired direction corresponding to the offset direction can be determined. At this time, the determined desired direction is the direction actually needed by the user, that is, the control direction.

[0115] For example, different experimenters can roll their fingers in different desired directions beforehand, and the actual direction of the fingers when they roll can be collected. By statistics, the mapping relationship between the two can be determined, that is, the mapping relationship between the desired direction and the actual direction. Then, after determining the current offset direction, the control direction corresponding to the offset direction can be determined so as to correct the user's scrolling action.

[0116] Furthermore, those skilled in the art will understand that if the preset action is a click action or a long press action, since there is no change in the pressing position at this time, the pressure data of the current frame can be simply processed to generate control instructions; of course, the center position of the current frame can also be determined based on the above steps C1-C2, and the generation of control instructions is only related to which preset action the user adopts. At this time, the coordinates and pressure value of the center position of the current frame can be ignored (for example, only the existence of the center position of the current frame is considered), or only whether the pressure value of the center position of the current frame is greater than the first threshold can be considered.

[0117] Optionally, the method further includes:

[0118] Step D1: Based on the current frame pressure data collected by multiple pressure sensor arrays that matches the mode switching action, generate a mode switching command; the mode switching command is used to switch the control mode of the pressure sensor array.

[0119] In this embodiment of the invention, multiple control modes can be set for the pressure sensor array. Under different control modes, the same preset action can generate different control commands. For example, when a special clothing glove contains multiple pressure sensor arrays, a mode switching action for switching control modes can be preset. When the user executes the mode switching action, a mode switching command is generated based on the current frame pressure data collected by multiple pressure sensor arrays. For example, if the mode switching action is a double-tap or triple-tap with two fingers simultaneously, then after two pressure sensor arrays detect two click actions simultaneously, a mode switching command is generated, thereby enabling the generation of different control commands under different control modes and enriching the human-computer interaction function.

[0120] Alternatively, in different control modes, users can only perform certain preset actions for human-computer interaction. For example, since both scrolling and long-press actions involve prolonged pressure on the pressure sensor array, and the scrolling motion is relatively small, these two actions may be difficult to distinguish. Therefore, different control modes can be set to differentiate between them. For instance, in control mode 1, the user can input a scrolling action but not a long-press action; that is, when the user presses the pressure sensor array for a long time, a control command corresponding to the scrolling action is generated. In control mode 2, the user can input a long-press action but not a scrolling action; that is, when the user presses the pressure sensor array for a long time, a control command corresponding to the long-press action is generated.

[0121] This invention also provides a human-computer interaction device, which includes a curved pressure sensor array and a processor. The processor is used to implement the human-computer interaction method provided in any of the above embodiments. The pressure sensor array is disposed on the inner side of the human-computer interaction device and is used to collect pressure data of the current frame and send the pressure data of the current frame to the processor. For example, the human-computer interaction device can be a special clothing glove (e.g., a spacesuit glove), and the pressure sensor array can be disposed on the inner side of the special clothing glove.

[0122] In this embodiment of the invention, a pressure sensor array based on an array design is used to collect pressure data; specifically, this pressure sensor array can be a flexible thin-film pressure sensor array. The pressure sensor array uses a force-sensitive material as the sensing medium; several row- and column-oriented strip electrodes are respectively arranged on both sides of the force-sensitive material, each electrode connected to a pin. Both the electrodes and the force-sensitive material are encapsulated by a flexible substrate material on the upper and lower surfaces, which determines the flexibility of the entire pressure sensor array. The flexible substrate, electrodes, and force-sensitive material can all be made to millimeter-level or even lower thicknesses, facilitating installation on the inside of special clothing gloves or the mouth.

[0123] Alternatively, both electrodes can be positioned on the same side of the force-sensitive material. See also Figure 6 As shown, the pressure sensor array includes multiple sensing units. Figure 6 Four sensing units are shown; each sensing unit includes: a first electrode 21, a second electrode 22, and a force-sensitive unit 23; as shown Figure 7 As shown, the first electrode 21 has a ring-shaped structure, and the second electrode 22 has a columnar structure. The second electrode 22 is positioned within the hollow area of ​​the first electrode 21, and there is no contact between the first electrode 21 and the second electrode 22. The first electrode 21 and the second electrode 22 are located on the same side of the force-sensitive unit 23, and both are connected to the force-sensitive unit 23. Figure 6 The structure of the pressure sensor array with curved surface shape is represented in a planar adaptive manner.

[0124] In this embodiment of the invention, each sensing unit includes two electrodes, namely a first electrode 21 and a second electrode 22. The two electrodes are not in contact with each other, but both are connected to a force-sensitive unit 23, thereby enabling the acquisition of signals collected by the force-sensitive unit 23. The force-sensitive unit 23 is made of a material capable of sensing pressure changes. Different pressures affect the resistance value of the force-sensitive unit 23, and the pressure value at a point can be determined by measuring the resistance value of the force-sensitive unit 23.

[0125] For ease of description, Figure 7 and Figure 8 The force-sensitive unit 23 is not shown in the figure. The first electrode 21 of this sensing unit has a ring-shaped structure (e.g., a circular ring, a square ring, etc.), and the second electrode 22 has a columnar structure (e.g., a cylinder, a square prism, etc.). The figure illustrates an example where the first electrode 21 is a ring structure and the second electrode 22 is a cylinder structure. The first electrode 21, with its ring-shaped structure, is hollow in the middle, allowing the second electrode 22 to pass through it without contact. For example, the cross-sectional dimension of the second electrode 22 is smaller than the dimension of the inner ring of the first electrode 21, so that they do not contact each other, and thus can be positioned on the same side of the force-sensitive unit 23. Figure 7As shown, the upper surface of the first electrode 21 and the upper surface of the second electrode 22 can both abut against the force-sensitive unit 23, thereby forming a sensing unit.

[0126] Furthermore, the two wires of the sensing unit do not touch each other. For example... Figure 7 and Figure 8 As shown, the first wire 211 is connected to the first electrode 21, and the second wire 221 is connected to the second electrode 22. The thickness of the second electrode 22 is greater than the thickness of the first electrode 21, allowing the second electrode 22 to protrude, thus enabling the first wire 211 and the second wire 221 to be arranged on different planes.

[0127] In this embodiment of the invention, materials such as... can be pre-made Figure 8 The electrode array is shown; and multiple force-sensitive units 23 are pre-set on the flexible substrate 24 to form a force-sensitive array; by combining the electrode array and the force-sensitive array, the required pressure sensor array can be obtained quickly and at low cost.

[0128] The human-computer interaction method provided by the embodiments of the present invention has been described in detail above. This method can also be implemented by a corresponding device. The human-computer interaction device provided by the embodiments of the present invention will be described in detail below.

[0129] Figure 9 A schematic diagram of the structure of a human-computer interaction device provided in an embodiment of the present invention is shown. Figure 9 As shown, the human-computer interaction device includes:

[0130] The acquisition module 51 is used to acquire the current frame pressure data collected by the pressure sensor array in response to the user pressing the pressure sensor array according to a preset action when the human-computer interaction function is activated; the pressure sensor array is located on the concave surface of the curved shape, the current frame pressure data includes pressure values ​​at multiple locations, and the preset action includes at least one of scrolling action, clicking action, and long press action.

[0131] The instruction module 52 is used to determine a control instruction corresponding to the current frame pressure data when the pressure value at at least one of the location points is greater than a first threshold, and to control the controlled object based on the control instruction.

[0132] In one possible implementation, the device further includes: a zero-point calibration module;

[0133] The zero-point calibration module is used to perform zero-point calibration on multiple sensing units of the pressure sensor array before the acquisition module 51 acquires the current frame pressure data collected when the user presses the pressure sensor array according to a preset action.

[0134] In one possible implementation, the zero-point calibration module is specifically used for:

[0135] The average pressure value collected by each sensing unit of the pressure sensor array within a first preset time window is determined, and the average pressure value is used as the zero point to perform zero-point calibration on the corresponding sensing unit; the end time of the first preset time window is the current time, and the length of the first preset time window is greater than the maximum duration of the preset action.

[0136] In one possible implementation, the zero-point calibration module performs zero-point calibration on multiple sensing units of the pressure sensor array, including:

[0137] The pressure value of each frame collected by each sensing unit of the pressure sensor array within a second preset time window is determined; the end time of the second preset time window is the current time.

[0138] If the pressure values ​​collected by all sensing units within the undetermined frame are less than the second threshold, the undetermined frame is taken as a valid frame. The undetermined frame is a frame within the second preset time window; the second threshold is the pressure value greater than the current zero point.

[0139] The average pressure value collected by the sensing unit in all the valid frames is used as the zero point to perform zero-point calibration on the corresponding sensing unit.

[0140] In one possible implementation, the zero-point calibration module designates the undetermined frame as a valid frame if the pressure values ​​collected by all sensing units within the undetermined frame are less than a second threshold condition, including:

[0141] If the pressure values ​​collected by all sensing units within the undetermined frame meet the condition of being less than the second threshold, and the time interval between the undetermined frame and any transition frame exceeds the preset interval, the undetermined frame is regarded as a valid frame; the transition frame includes a lower transition frame that can represent the pressure value changing from greater than the second threshold to less than the second threshold, and / or an upper transition frame that can represent the pressure value changing from less than the second threshold to greater than the second threshold.

[0142] In one possible implementation, the device further includes a filtering module;

[0143] The filtering module is used to perform spatial filtering and / or temporal filtering operations on the current frame pressure data collected by the acquisition module 51 when the pressure sensor array responds to the user pressing the pressure sensor array according to a preset action, to determine the filtered current frame pressure data; the filtered current frame pressure data is used to determine the control command.

[0144] The spatial filtering operation includes:

[0145] A two-dimensional Fourier transform is performed on the collected current frame pressure data to determine the spatial spectrum of the current frame; a low-pass filter is applied to the spatial spectrum, and a two-dimensional inverse Fourier transform is performed on the low-pass filtered spatial spectrum to determine the spatially filtered current frame pressure data.

[0146] The time filtering operation includes:

[0147] The pressure value sequence of each sensing unit in the pressure sensor array is subjected to low-pass time-domain filtering to determine the pressure value of each sensing unit after time filtering, and then the pressure data of the current frame after time filtering is determined.

[0148] In one possible implementation, the device also includes an interpolation module;

[0149] The interpolation module is used to, after determining the filtered current frame pressure data, further include:

[0150] An interpolation operation is performed on the filtered current frame pressure data to determine the interpolated current frame pressure data; the interpolated current frame pressure data is used to determine the control command.

[0151] In one possible implementation, when the preset action is a scrolling action, the instruction module 52 determines a control instruction corresponding to the current frame pressure data, including:

[0152] Determine the connected region touched by the user in the current frame pressure data;

[0153] The current frame center position of the connected region is determined based on the coordinates of multiple location points in the connected region, or based on the coordinates of multiple location points in the connected region and the pressure value.

[0154] The control command is determined based on the coordinates of the center point of the current frame and the pressure value.

[0155] In one possible implementation, the instruction module 52 determines the connected region touched by the user in the current frame pressure data, including:

[0156] Determine the maximum pressure value (max) in the current frame pressure data;

[0157] The connected region defined by the location point in the current frame pressure data where the pressure value is greater than or equal to λmax is taken as the connected region touched by the user; 1 / 4 < λ < 3 / 4.

[0158] In one possible implementation, the instruction module 52 determines the current frame center position of the connected region based on the coordinates of multiple location points in the connected region, or based on the coordinates of multiple location points in the connected region and pressure values, including:

[0159] A temporary center point of the connected region is determined based on the coordinates of multiple location points in the connected region, or based on the coordinates of multiple location points in the connected region and the pressure value.

[0160] The center position of the current frame is determined based on the coordinates of the center position of the previous frame; the center position of the current frame satisfies:

[0161] S n =αs n +(1-α)S n-1 ;

[0162] Among them, S n-1 s represents the coordinates of the center point of the previous frame. n S represents the temporary center location point. n This represents the center position of the current frame, where α is a preset adjustment parameter, and 0 < α ≤ 1.

[0163] In one possible implementation, the instruction module 52 determines the control instruction based on the coordinates of the current frame center position point and the pressure value, including:

[0164] Determine the offset direction and offset distance between the current frame center position point and the origin based on the coordinates of the current frame center position point;

[0165] A control direction consistent with the offset direction is determined, and a control speed is determined based on the offset distance and the pressure value of the current frame center position point. A control command containing the control direction and the control speed is generated. The control speed is positively correlated with both the offset distance and the pressure value of the current frame center position point.

[0166] In one possible implementation, the instruction module 52 determines a control direction consistent with the offset direction, including:

[0167] Determine a control direction consistent with the offset direction; or

[0168] Multiple standard directions are preset, and the standard direction with the highest similarity to the offset direction is used as the control direction; or

[0169] A mapping relationship between the desired direction and the actual direction is preset, the offset direction is taken as the actual direction, the desired direction corresponding to the offset direction is determined based on the mapping relationship, and the desired direction corresponding to the offset direction is taken as the control direction.

[0170] In one possible implementation, the device further includes:

[0171] The mode switching module is used to generate a mode switching command based on the current frame pressure data collected by the multiple pressure sensor arrays that matches the mode switching action; the mode switching command is used to switch the control mode of the pressure sensor array.

[0172] In addition, embodiments of the present invention also provide an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are respectively connected via the bus. When the computer program is executed by the processor, it implements the various processes of the above-described human-computer interaction method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0173] For details, see Figure 10 As shown, this embodiment of the invention also provides an electronic device, which includes a bus 1110, a processor 1120, a transceiver 1130, a bus interface 1140, a memory 1150, and a user interface 1160.

[0174] In this embodiment of the invention, the electronic device further includes: a computer program stored in a memory 1150 and executable on a processor 1120, wherein the computer program, when executed by the processor 1120, implements the various processes of the above-described human-computer interaction method embodiment.

[0175] Transceiver 1130 is used to receive and send data under the control of processor 1120.

[0176] In this embodiment of the invention, a bus architecture (represented by bus 1110) is used. Bus 1110 may include any number of interconnected buses and bridges. Bus 1110 connects various circuits, including one or more processors represented by processor 1120 and memory represented by memory 1150.

[0177] Bus 1110 represents one or more of several types of bus architectures, including memory buses and memory controllers, peripheral buses, Accelerated Graphics Port (AGP), processors, or local buses using any bus architecture from various bus architectures. As an example and not a limitation, such architectures include: Industry Standard Architecture (ISA) buses, Micro Channel Architecture (MCA) buses, Enhanced ISA (EISA) buses, Video Electronics Standards Association (VESA) buses, and Peripheral Component Interconnect (PCI) buses.

[0178] The processor 1120 can be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method embodiments can be completed by integrated logic circuits in the processor hardware or by instructions in software form. The processors mentioned above include: general-purpose processors, central processing units (CPUs), network processors (NPs), digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs), programmable logic arrays (PLAs), microcontroller units (MCUs) or other programmable logic devices, discrete gates, transistor logic devices, and discrete hardware components. They can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. For example, the processor can be a single-core processor or a multi-core processor, and the processor can be integrated on a single chip or located on multiple different chips.

[0179] Processor 1120 can be a microprocessor or any conventional processor. The method steps disclosed in the embodiments of the present invention can be directly executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in readable storage media known in the art, such as Random Access Memory (RAM), Flash Memory, Read-Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), registers, etc. The readable storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0180] Bus 1110 can also connect various other circuits, such as peripheral devices, voltage regulators, or power management circuits. Bus interface 1140 provides an interface between bus 1110 and transceiver 1130, all of which are well known in the art. Therefore, embodiments of the present invention will not be described further.

[0181] Transceiver 1130 can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. For example, transceiver 1130 receives external data from other devices, and transceiver 1130 is used to send data processed by processor 1120 to other devices. Depending on the nature of the computer system, a user interface 1160 may also be provided, such as a touchscreen, physical keyboard, monitor, mouse, speaker, microphone, trackball, joystick, or stylus.

[0182] It should be understood that, in embodiments of the present invention, memory 1150 may further include memory remotely configured relative to processor 1120, and such remotely configured memory can be connected to a server via a network. One or more portions of the aforementioned network may be an ad hoc network, intranet, extranet, virtual private network (VPN), local area network (LAN), wireless local area network (WLAN), wide area network (WAN), wireless wide area network (WWAN), metropolitan area network (MAN), Internet, public switched telephone network (PSTN), ordinary old-style telephone service (POTS), cellular telephone network, wireless network, Wi-Fi network, and combinations of two or more of the aforementioned networks. For example, cellular telephone networks and wireless networks can be Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), WiMAX, General Packet Radio Service (GPRS), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Advanced Long Term Evolution (LTE-A), Universal Mobile Telecommunications System (UMTS), Enhanced Mobile Broadband (eMBB), Massive Machine Type Communication (mMTC), Ultra Reliable Low Latency Communications (uRLLC), etc.

[0183] It should be understood that the memory 1150 in the embodiments of the present invention may be volatile memory or non-volatile memory, or may include both volatile memory and non-volatile memory. Non-volatile memory includes: read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.

[0184] Volatile memory includes random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1150 of the electronic device described in this embodiment includes, but is not limited to, the above-described and any other suitable types of memory.

[0185] In this embodiment of the invention, the memory 1150 stores the following elements of the operating system 1151 and the application 1152: executable modules, data structures, or subsets thereof, or extended sets thereof.

[0186] Specifically, the operating system 1151 includes various system programs, such as a framework layer, a core library layer, and a driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 1152 includes various applications, such as a media player and a browser, used to implement various application functions. Programs implementing the methods of this embodiment of the invention can be included in the application program 1152. The application program 1152 includes applets, objects, components, logic, data structures, and other computer system executable instructions that perform specific tasks or implement specific abstract data types.

[0187] Furthermore, embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the various processes of the above-described human-computer interaction method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0188] Computer-readable storage media include: permanent and non-permanent, removable and non-removable media, which are tangible devices capable of retaining and storing instructions for use by an instruction execution device. Computer-readable storage media include: electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, and any suitable combination thereof. Computer-readable storage media include: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, optical disc read-only memory (CD-ROM), digital versatile optical disc (DVD) or other optical storage, magnetic tape storage, magnetic disk storage or other magnetic storage devices, memory sticks, mechanical encoding devices (e.g., punched cards or raised structures in grooves on which instructions are recorded), or any other non-transfer medium that can be used to store information accessible by a computing device. As defined in the embodiments of the present invention, computer-readable storage media do not include temporary signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses passing through fiber optic cables), or electrical signals transmitted through wires.

[0189] In the several embodiments provided in this application, it should be understood that the disclosed apparatus, electronic devices, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, or it may be an electrical, mechanical, or other form of connection.

[0190] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to solve the problems addressed by the embodiments of the present invention, depending on actual needs.

[0191] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0192] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (including: a personal computer, a server, a data center, or other network device) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media listed above that can store program code.

[0193] In the description of the embodiments of the present invention, those skilled in the art should understand that the embodiments of the present invention can be implemented as methods, apparatuses, electronic devices, and computer-readable storage media. Therefore, the embodiments of the present invention can be specifically implemented in the following forms: entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software. Furthermore, in some embodiments, the embodiments of the present invention can also be implemented as a computer program product in one or more computer-readable storage media, the computer-readable storage media containing computer program code.

[0194] The aforementioned computer-readable storage medium may be any combination of one or more computer-readable storage media. Computer-readable storage media include: electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, optical disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any combination thereof. In embodiments of the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0195] The computer program code contained in the aforementioned computer-readable storage medium may be transmitted using any suitable medium, including wireless, wire, optical fiber, radio frequency (RF), or any suitable combination thereof.

[0196] Computer program code for performing the operations of the embodiments of the present invention can be written in assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, integrated circuit configuration data, or in one or more programming languages ​​or combinations thereof. The programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The computer program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer or an external computer via any type of network, including a local area network (LAN) or a wide area network (WAN).

[0197] The embodiments of the present invention describe the provided methods, apparatus, and electronic devices through flowcharts and / or block diagrams.

[0198] It should be understood that each block of a flowchart and / or block diagram, as well as combinations of blocks in a flowchart and / or block diagram, can be implemented by computer-readable program instructions. These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine that, when executed by a computer or other programmable data processing apparatus, creates means for implementing the functions / operations specified in the blocks of the flowchart and / or block diagram.

[0199] These computer-readable program instructions may also be stored in a computer-readable storage medium that enables a computer or other programmable data processing device to function in a particular manner. In this way, the instructions stored in the computer-readable storage medium produce an instruction apparatus product that includes the functions / operations specified in the blocks of a flowchart and / or block diagram.

[0200] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer-implemented process, such that the instructions that execute on the computer or other programmable data processing apparatus provide a process for implementing the functions / operations specified in the blocks of the flowchart and / or block diagram.

[0201] The above description is merely a specific implementation of the embodiments of the present invention, but the protection scope of the embodiments of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of the present invention should be included within the protection scope of the embodiments of the present invention. Therefore, the protection scope of the embodiments of the present invention should be determined by the protection scope of the claims.

Claims

1. A method for human-computer interaction, characterized in that, Pressure sensor arrays applied to curved surfaces include: When the human-computer interaction function is activated, the pressure sensor array acquires the current frame pressure data collected when the user presses the pressure sensor array according to a preset action; the pressure sensor array is located on the concave surface of the curved shape, the current frame pressure data includes pressure values ​​at multiple locations, and the preset action includes at least one of scrolling action, clicking action, and long press action; If the pressure value at at least one of the said locations is greater than a first threshold, a control command corresponding to the current frame pressure data is determined, and the controlled object is controlled based on the control command; When the preset action is a scrolling action, determining the control command corresponding to the current frame pressure data includes: Determine the connected region touched by the user in the current frame pressure data; The current frame center position of the connected region is determined based on the coordinates of multiple location points in the connected region, or based on the coordinates of multiple location points in the connected region and the pressure value. The control command is determined based on the coordinates of the current frame center point and the pressure value. Determining the current frame center position of the connected region based on the coordinates of multiple location points in the connected region, or based on the coordinates of multiple location points in the connected region and the pressure value, includes: A temporary center point of the connected region is determined based on the coordinates of multiple location points in the connected region, or based on the coordinates of multiple location points in the connected region and the pressure value. The center position of the current frame is determined based on the coordinates of the center position of the previous frame; the center position of the current frame satisfies: ； Where n represents the frame number corresponding to the current frame. This indicates the coordinates of the center point of the previous frame. Indicates the temporary center location point. This indicates the center position of the current frame, where α is a preset adjustment parameter, and 0 < α ≤ 1; The process of determining the control command based on the coordinates of the current frame center point and the pressure value includes: Determine the offset direction and offset distance between the current frame center position point and the origin based on the coordinates of the current frame center position point; A control direction consistent with the offset direction is determined, and a control speed is determined based on the offset distance and the pressure value of the current frame center position point. A control command containing the control direction and the control speed is generated; the control speed is positively correlated with both the offset distance and the pressure value of the current frame center position point. Determining the connected region touched by the user in the current frame pressure data includes: Determine the maximum pressure value (max) in the current frame pressure data; The connected region defined by the location point in the current frame pressure data where the pressure value is greater than or equal to (λ)·max is taken as the connected region touched by the user; where 1 / 4 < λ < 3 / 4.

2. The method according to claim 1, characterized in that, Also includes: Zero-point calibration is performed on multiple sensing units of the pressure sensor array.

3. The method according to claim 2, characterized in that, The zero-point calibration of the multiple sensing units of the pressure sensor array includes: The average pressure value collected by each sensing unit of the pressure sensor array within a first preset time window is determined, and the average pressure value is used as the zero point to perform zero-point calibration on the corresponding sensing unit; the end time of the first preset time window is the current time, and the length of the first preset time window is greater than the maximum duration of the preset action.

4. The method according to claim 2, characterized in that, The zero-point calibration of the multiple sensing units of the pressure sensor array includes: The pressure value of each frame collected by each sensing unit of the pressure sensor array within a second preset time window is determined; the end time of the second preset time window is the current time. If the pressure values ​​collected by all sensing units within the undetermined frame are less than the second threshold, the undetermined frame is taken as a valid frame. The undetermined frame is a frame within the second preset time window; the second threshold is the pressure value greater than the current zero point. The average pressure value collected by the sensing unit in all the valid frames is used as the zero point to perform zero-point calibration on the corresponding sensing unit.

5. The method according to claim 4, characterized in that, The step of designating the undetermined frame as a valid frame when the pressure values ​​collected by all sensing units within the undetermined frame meet the condition of being less than the second threshold includes: If the pressure values ​​collected by all sensing units within the undetermined frame meet the condition of being less than the second threshold, and the time interval between the undetermined frame and any transition frame exceeds the preset interval, the undetermined frame is regarded as a valid frame; the transition frame includes a lower transition frame that can represent the pressure value changing from greater than the second threshold to less than the second threshold, and / or an upper transition frame that can represent the pressure value changing from less than the second threshold to greater than the second threshold.

6. The method according to claim 1, characterized in that, After acquiring the current frame pressure data collected by the pressure sensor array in response to the user pressing the pressure sensor array according to a preset action, the method further includes: Spatial filtering and / or temporal filtering are performed on the collected current frame pressure data to determine the filtered current frame pressure data; the filtered current frame pressure data is used to determine the control command. The spatial filtering operation includes: A two-dimensional Fourier transform is performed on the collected current frame pressure data to determine the spatial spectrum of the current frame; a low-pass filter is applied to the spatial spectrum, and a two-dimensional inverse Fourier transform is performed on the low-pass filtered spatial spectrum to determine the spatially filtered current frame pressure data. The time filtering operation includes: The pressure value sequence of each sensing unit in the pressure sensor array is subjected to low-pass time-domain filtering to determine the pressure value of each sensing unit after time filtering, and then the pressure data of the current frame after time filtering is determined.

7. The method according to claim 6, characterized in that, After determining the filtered current frame pressure data, the following is also included: An interpolation operation is performed on the filtered current frame pressure data to determine the interpolated current frame pressure data; the interpolated current frame pressure data is used to determine the control command.

8. The method according to claim 1, characterized in that, Determining the control direction consistent with the offset direction includes: Determine a control direction consistent with the offset direction; or Multiple standard directions are preset, and the standard direction with the highest similarity to the offset direction is used as the control direction; or A mapping relationship between the desired direction and the actual direction is preset, the offset direction is taken as the actual direction, the desired direction corresponding to the offset direction is determined based on the mapping relationship, and the desired direction corresponding to the offset direction is taken as the control direction.

9. The method according to claim 1, characterized in that, Also includes: Based on the current frame pressure data collected by the multiple pressure sensor arrays that matches the mode switching action, a mode switching command is generated. The mode switching command is used to switch the control mode of the pressure sensor array.

10. A human-computer interaction device, characterized in that, Pressure sensor arrays applied to curved surfaces include: The acquisition module is used to acquire the current frame pressure data collected by the pressure sensor array in response to the user pressing the pressure sensor array according to a preset action when the human-computer interaction function is activated; the pressure sensor array is located on the concave surface of the curved shape, the current frame pressure data includes pressure values ​​at multiple locations, and the preset action includes at least one of scrolling action, clicking action, and long press action. The instruction module is used to determine a control instruction corresponding to the current frame pressure data when the pressure value at at least one of the location points is greater than a first threshold, and to control the controlled object based on the control instruction. When the preset action is a scrolling action, the instruction module determines a control instruction corresponding to the current frame pressure data, including: Determine the connected region touched by the user in the current frame pressure data; The current frame center position of the connected region is determined based on the coordinates of multiple location points in the connected region, or based on the coordinates of multiple location points in the connected region and the pressure value. The control command is determined based on the coordinates of the current frame center point and the pressure value. The instruction module determines the current frame center position of the connected region based on the coordinates of multiple location points in the connected region, or based on the coordinates of multiple location points in the connected region and the pressure value, including: A temporary center point of the connected region is determined based on the coordinates of multiple location points in the connected region, or based on the coordinates of multiple location points in the connected region and the pressure value. The center position of the current frame is determined based on the coordinates of the center position of the previous frame; the center position of the current frame satisfies: ； Where n represents the frame number corresponding to the current frame. This indicates the coordinates of the center point of the previous frame. Indicates the temporary center location point. This indicates the center position of the current frame, where α is a preset adjustment parameter, and 0 < α ≤ 1; The instruction module determines the control instruction based on the coordinates of the current frame center point and the pressure value, including: Determine the offset direction and offset distance between the current frame center position point and the origin based on the coordinates of the current frame center position point; A control direction consistent with the offset direction is determined, and a control speed is determined based on the offset distance and the pressure value of the current frame center position point. A control command containing the control direction and the control speed is generated; the control speed is positively correlated with both the offset distance and the pressure value of the current frame center position point. The instruction module determines the connected region touched by the user in the current frame pressure data, including: Determine the maximum pressure value (max) in the current frame pressure data; The connected region defined by the location point in the current frame pressure data where the pressure value is greater than or equal to (λ)·max is taken as the connected region touched by the user; where 1 / 4 < λ < 3 / 4.

11. A human-computer interaction device, characterized in that, include: A curved pressure sensor array and a processor, the processor being used to implement the human-computer interaction method as described in any one of claims 1 to 9; The pressure sensor array is located inside the human-computer interaction device and is used to collect pressure data of the current frame and send the pressure data of the current frame to the processor.

12. The human-computer interaction device according to claim 11, characterized in that, At least some of the sensing units in the pressure sensor array include: a first electrode (21), a second electrode (22), and a force-sensitive unit (23); the first electrode (21) is a ring structure, and the second electrode (22) is a columnar structure; The second electrode (22) is disposed in the hollow position of the first electrode (21), and the first electrode (21) and the second electrode (22) do not contact each other; The first electrode (21) and the second electrode (22) are disposed on the same side of the force-sensitive unit (23), and both the first electrode (21) and the second electrode (22) are connected to the force-sensitive unit (23).

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