Calibration method and device of handle, handle and medium

Abstract

The present disclosure provides a handle calibration method and device, a handle and a medium. The method comprises: obtaining a first force value of a calibration device pushing a rocker of the handle in a process of the calibration device pushing the rocker based on a set calibration track; detecting whether the first force value exceeds a set force value; wherein the set force value is determined based on a stroke track of the rocker itself; in a case where the first force value exceeds the set force value, controlling the calibration device to continue pushing the rocker along a track boundary of the rocker based on the set force value, so as to correct the calibration track and obtain a corrected calibration track; and calibrating the rocker according to the corrected calibration track.

Description

Technical Field

[0001] This disclosure relates to the field of wearable device technology, and more specifically, to a method for calibrating a handle, a device for calibrating a handle, a handle, and a computer-readable storage medium. Background Technology

[0002] Virtual Reality (VR) products can shut out a person's visual and auditory senses from the outside world, guiding the user to feel as if they are in a virtual environment. Typically, controllers are an important tool for users to interact with VR products, and controllers include joysticks.

[0003] In related technologies, the joystick in the controller needs to be calibrated before it leaves the factory. The current joystick calibration scheme mainly involves pre-setting the motion trajectory of a tooling robotic arm, then pushing the joystick according to the motion trajectory, and calibrating the joystick by recording the joystick's status information.

[0004] However, this method of calibrating the joystick by pre-setting the motion trajectory of the robotic arm does not take into account the differences in the product itself and its assembly, which leads to a difference between the motion trajectory of the robotic arm and the motion trajectory of the joystick itself. Summary of the Invention

[0005] One object of this disclosure is to provide a new technical solution for calibrating a handle.

[0006] According to a first aspect of the present disclosure, a calibration control method for a handle is provided, the method comprising:

[0007] During the process of the calibration device pushing the joystick of the handle based on the set calibration trajectory, the first force value of the calibration device pushing the joystick is obtained;

[0008] Detect whether the first force value exceeds a set force value; wherein, the set force value is determined based on the travel trajectory of the joystick itself;

[0009] If the first force value exceeds the set force value, the calibration device is controlled to continue pushing the rocker along the trajectory boundary of the rocker based on the set force value, so as to correct the calibration trajectory and obtain the corrected calibration trajectory;

[0010] The joystick is calibrated according to the corrected calibration trajectory.

[0011] Optionally, acquiring the first force value of the calibration device pushing the joystick during the process of the calibration device pushing the joystick based on the set calibration trajectory includes:

[0012] During the process of the calibration device pushing the joystick of the handle based on the set calibration trajectory, the first force value of the calibration device pushing the joystick is obtained by the force detection device.

[0013] Optionally, calibrating the joystick according to the corrected calibration trajectory includes:

[0014] The calibration parameters of the joystick are determined based on the state information of the joystick when the calibration device pushes the joystick according to the corrected calibration trajectory.

[0015] Store the calibration parameters of the joystick.

[0016] Optionally, the method further includes:

[0017] If the first force value is less than the set force value, the calibration device is controlled to continue pushing the joystick of the handle based on the set calibration trajectory;

[0018] When the push ends, the calibration parameters of the rocker are determined based on the state information of the rocker when the calibration device pushes the rocker according to the set calibration trajectory;

[0019] Store the calibration parameters of the joystick.

[0020] Optionally, the method further includes:

[0021] Obtain the target travel trajectory and the travel trajectory of the joystick when the joystick is pushed; wherein, when the set calibration trajectory is corrected, the target travel trajectory is the corrected calibration trajectory, and when the set calibration trajectory is not corrected, the target travel trajectory is the set calibration trajectory;

[0022] The target trigger boundary is determined based on the target travel trajectory and the travel trajectory of the joystick when the joystick is pushed.

[0023] Specifically, when the user pushes the joystick to the target trigger boundary, the function corresponding to the joystick is triggered.

[0024] Optionally, the calibration parameters of the joystick include at least one of the following: the position information of the center of the joystick, and the maximum travel information of the joystick in each preset direction.

[0025] The preset directions include at least the horizontal leftward direction, the horizontal rightward direction, the vertical upward direction, and the vertical downward direction.

[0026] According to a second aspect of the present disclosure, a calibration device for a handle is provided, the device comprising:

[0027] The acquisition module is used to acquire the first force value of the calibration device pushing the joystick of the handle during the process of the calibration device pushing the joystick based on the set calibration trajectory;

[0028] The detection module is used to detect whether the first force value exceeds the set force value;

[0029] The control module is used to control the calibration device to continue pushing the rocker along the trajectory boundary of the rocker based on the set force value when the first force value exceeds the set force value, so as to correct the set calibration trajectory and obtain the corrected calibration trajectory.

[0030] A calibration module is used to calibrate the joystick according to the corrected calibration trajectory.

[0031] Optionally, the acquisition module is specifically used for:

[0032] During the process of the calibration device pushing the joystick of the handle based on the set calibration trajectory, the first force value of the calibration device pushing the joystick is obtained by the force sensing device.

[0033] According to a third aspect of the present disclosure, a handle is provided, the handle comprising: a memory for storing executable computer instructions; and a processor for executing a calibration method for the handle according to the first aspect above, controlled by the executable computer instructions.

[0034] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided that stores computer instructions thereon, which, when executed by a processor, perform the handle calibration method described in the first aspect above.

[0035] One beneficial effect of this embodiment is that, during the process of the calibration device pushing the joystick based on a set calibration trajectory, the handle acquires the first force value of the calibration device pushing the joystick. If the first force value exceeds a set force value, the handle controls the calibration device to continue pushing the joystick along the trajectory boundary based on the set force value to correct the set calibration trajectory, obtaining a corrected calibration trajectory. The joystick is then calibrated based on the corrected calibration trajectory. In other words, the handle acquires the force value of the calibration device pushing the joystick based on the set calibration trajectory. If the force value exceeds the set force value, it is determined that there is a deviation between the joystick's own travel trajectory and the set calibration trajectory. At this point, the set calibration trajectory is corrected based on the set force value, and the joystick is calibrated based on the corrected calibration trajectory. This solves the problem of joystick calibration deviations caused by assembly differences in the product.

[0036] Other features and advantages of this specification will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of this specification and, together with their description, serve to explain the principles of this specification.

[0038] Figure 1 This is a schematic diagram of a handle that can be used to implement embodiments of the present disclosure;

[0039] Figure 2 This is a schematic flowchart of a handle calibration method according to an embodiment of the present disclosure;

[0040] Figure 3 This is a schematic diagram showing the positional relationship between the force detection device and the rocker arm according to an embodiment of this disclosure;

[0041] Figure 4 This is a structural schematic diagram of a force detection device according to an embodiment of the present disclosure for detecting force values ​​during the calibration process of a rocker arm;

[0042] Figure 5 This is a schematic diagram showing the relationship between the modified calibration trajectory and the joystick's own travel trajectory according to an embodiment of this disclosure;

[0043] Figure 6 This is a schematic diagram illustrating the relationship between the target travel trajectory, the travel trajectory of the joystick when the user pushes the joystick, and the target trigger boundary according to an embodiment of this disclosure;

[0044] Figure 7 This is a schematic diagram illustrating the relationship between the target travel trajectory and the target trigger boundary according to an embodiment of this disclosure;

[0045] Figure 8 This is a flowchart illustrating a calibration method for a handle according to an example of this disclosure;

[0046] Figure 9 This is a schematic block diagram of a calibration device for a handle according to an embodiment of the present disclosure;

[0047] Figure 10 This is a schematic block diagram of a handle according to an embodiment of the present disclosure. Detailed Implementation

[0048] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the embodiments of the present disclosure.

[0049] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0050] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0051] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0052] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0053] Before introducing the calibration method for the handle according to the embodiments of this disclosure, let's briefly describe the existing process for calibrating the joystick in a handle. In related technologies, the motion trajectory of a tooling robotic arm is pre-set as the calibration trajectory for the joystick. The robotic arm then pushes the joystick cap according to this calibration trajectory and records the joystick's state information, thereby achieving joystick calibration through the recorded state information. However, there is a deviation between the motion trajectory of the robotic arm pushing the joystick (i.e., the calibration trajectory) and the joystick's own motion trajectory (i.e., its travel trajectory).

[0054] Here, according to the handle calibration method of this disclosure embodiment, during the process of the calibration device pushing the joystick of the handle based on a set calibration trajectory, the handle acquires a first force value of the calibration device pushing the joystick. If the first force value is detected to exceed a set force value, the calibration device is controlled to continue pushing the joystick along the trajectory boundary of the joystick based on the set force value to correct the set calibration trajectory, obtaining a corrected calibration trajectory. Then, the joystick is calibrated based on the corrected calibration trajectory. That is, the handle acquires the force value of the calibration device pushing the joystick based on the set calibration trajectory. If the force value exceeds the set force value, it is determined that there is a deviation between the joystick's own travel trajectory and the set calibration trajectory. At this time, the set calibration trajectory is corrected based on the set force value, and then the joystick is calibrated based on the corrected calibration trajectory. This solves the problem of joystick calibration deviation caused by product assembly differences.

[0055] <Hardware Configuration>

[0056] Figure 1 A schematic diagram of the hardware structure of a handle that can be used to implement a handle calibration method of one embodiment is shown.

[0057] In this embodiment, the controller 1000 can be a VR (Virtual Reality) controller or a game controller; this embodiment is not limited to either. The controller 1000 can be as follows: Figure 1As shown, it includes a processor 1100, a memory 1200, an interface device 1300, and a communication device 1400.

[0058] The processor 1100 may be, for example, a central processing unit (CPU), a microprocessor (MCU), etc. The memory 1200 may include, for example, ROM (Read-Only Memory), RAM (Random Access Memory), or non-volatile memory such as a hard disk. The interface device 1300 may include, for example, a serial bus interface (including a USB interface), a parallel bus interface, or a high-definition multimedia interface (HDMI interface). The communication device 1400 may be capable of wired or wireless communication. Although in Figure 1 The handle 1000 shows multiple devices, however, this disclosure may refer to only some of these devices.

[0059] In this embodiment, the memory 1200 of the handle 1000 is used to store instructions that control the processor 1100 to operate in order to implement or support the implementation of a handle calibration method according to any embodiment. Those skilled in the art can design instructions based on the schemes disclosed in this specification. How the instructions control the processor to operate is well known in the art and will not be described in detail here.

[0060] In the above description, those skilled in the art can design instructions based on the solutions provided in this disclosure. How the instructions control the processor to operate is well known in the art, and therefore will not be described in detail here.

[0061] Figure 1 The handles shown are merely illustrative and are by no means intended to limit this disclosure, its application, or its use.

[0062] <Method Implementation>

[0063] Figure 2 This disclosure illustrates a method for calibrating a handle according to an embodiment of the present disclosure. This method can be implemented by the handle itself, or by the handle and a control device together. This embodiment is not intended to be limiting. Figure 2 As shown, the handle calibration method of this embodiment may include the following steps S2100 to S2400:

[0064] Step S2100: During the process of the calibration device pushing the joystick of the handle based on the set calibration trajectory, the first force value of the calibration device pushing the joystick is obtained.

[0065] The calibration device can be a tooled robotic arm. The set calibration trajectory can be a trajectory determined based on the travel trajectory of any one or more handles themselves. The set calibration trajectory can also be understood as a motion trajectory pre-set for the calibration device. The set calibration trajectory can be a circular trajectory or an elliptical trajectory, which is related to the user's actual operation of the joystick.

[0066] For example, the travel trajectory of any one of the handles can be used as the calibration trajectory of the calibration device. Alternatively, at least two handles can be selected, and the travel trajectories of these two handles may have minimal differences. In this case, the calibration trajectory of the calibration device can be determined based on the travel trajectories of these two handles. For instance, the average value of the travel trajectories of these two handles can be obtained as the calibration trajectory of the calibration device.

[0067] Understandably, the travel trajectory of the joystick itself is the trajectory obtained by pushing the joystick along the trajectory boundary based on the natural force value. This travel trajectory of the joystick itself can also be understood as the travel trajectory of the joystick under ideal conditions.

[0068] In a specific embodiment, step S2100, during the process of the calibration device pushing the joystick of the handle based on the set calibration trajectory, may further include: during the process of the calibration device pushing the joystick of the handle based on the set calibration trajectory, obtaining the first force value of the calibration device pushing the joystick detected by the force detection device.

[0069] The force detection device can be a force sensor, which can detect the force value when the calibration device pushes the joystick in real time.

[0070] Specifically, refer to Figure 3 When the calibration device does not push the rocker arm, the rocker arm 11 is in a stationary state, and the force detection device 21 cannot detect the force value. Figure 4 During the process of the calibration device pushing the rocker arm to rotate through the set calibration trajectory, the force detection device 21 can detect the force value of the calibration device pushing the rocker arm 11 through the set calibration trajectory in real time.

[0071] After obtaining the first force value of the calibration device pushing the joystick based on the set calibration trajectory during the execution of step S2100 above, the process proceeds to:

[0072] Step S2200: Detect whether the first force value exceeds a set force value; wherein, the set force value can be determined based on the travel trajectory of the joystick itself.

[0073] In this embodiment, when the force exerted by the calibration device on the joystick of the handle during the calibration process exceeds the set calibration trajectory, it typically indicates a significant deviation between the calibration trajectory and the joystick's own travel trajectory. It is understood that the set force values ​​for different handles may be the same or different.

[0074] Understandably, when the calibration device pushes the joystick of the handle based on the set calibration trajectory, if the force exceeds the joystick's own travel trajectory, the corresponding force value will increase significantly. Here, by correcting the calibration trajectory with the set force value determined based on the joystick's own travel trajectory, the problem of significant deviation between the calibration trajectory and the joystick's own travel trajectory caused by product assembly differences can be effectively solved.

[0075] After performing the above step S2200 to detect whether the first force value exceeds the set force value, proceed to:

[0076] Step S2300: When the first force value exceeds the set force value, control the calibration device to continue pushing the rocker along the trajectory boundary of the rocker based on the set force value, so as to correct the calibration trajectory and obtain the corrected calibration trajectory.

[0077] In this embodiment, refer to Figure 5 If the force exerted by the calibration device during the rotation of the joystick based on the set calibration trajectory exceeds the set force value (e.g., 10N), the handle determines that there is a significant deviation between the joystick's own travel trajectory 71 and the set calibration trajectory. At this time, the calibration logic can be switched, causing the calibration device to continue pushing the joystick along the trajectory boundary based on the set force value (e.g., 10N) to correct the calibration trajectory, thereby obtaining the corrected calibration trajectory 72. (Refer to...) Figure 5 It can be seen that the difference between the calibration trajectory 71 before correction and the travel trajectory 73 of the handle itself is large, while the deviation between the calibration trajectory 72 after correction and the travel trajectory 73 of the handle itself is small.

[0078] After performing step S2300 above to calibrate the joystick according to the corrected calibration trajectory, proceed to:

[0079] Step S2400: Calibrate the joystick according to the corrected calibration trajectory.

[0080] In a specific embodiment, step S2400, which calibrates the joystick according to the corrected calibration trajectory, may further include the following steps S2410 to S2420:

[0081] Step S2410: Determine the calibration parameters of the rocker arm based on the state information of the rocker arm when the calibration device pushes the rocker arm according to the corrected calibration trajectory.

[0082] The state information of the joystick can be the ADC value obtained by converting the change information of the sensing circuit in the joystick into an analog-to-digital converter.

[0083] In this embodiment, as the calibration device rotates the rocker, the sensing circuit in the rocker detects the rotation and outputs change information. This change information is then converted by an analog-to-digital converter (ADC) to output an ADC value. For example, the sensing circuit includes a resistor and / or a capacitor, and the rocker's state information can be the ADC value resulting from the change in resistance and / or capacitance, converted by the ADC circuit.

[0084] The calibration parameters of the joystick include at least one of the following: the position information of the center of the joystick, and the maximum travel information of the joystick in each preset direction.

[0085] The preset directions include at least the horizontal leftward direction, the horizontal rightward direction, the vertical upward direction, and the vertical downward direction.

[0086] In step S2410, the controller calculates the position information of the center of the joystick based on the joystick's state information, and calculates the maximum travel information of the joystick in the horizontal left direction, the horizontal right direction, the vertical upward direction, and the vertical downward direction.

[0087] Step S2420: Store the calibration parameters of the joystick.

[0088] In step S2420, after determining the position information of the joystick's center, its maximum travel in the horizontal left direction, horizontal right direction, vertical upward direction, and vertical downward direction, the controller can, for example, store these information in the controller's MCU. Alternatively, these same information can be stored in the head-mounted display that has established a communication connection with the controller. For example, the position information of the joystick's center, the maximum travel information of the joystick in the horizontal left direction, the maximum travel information of the joystick in the horizontal right direction, the maximum travel information of the joystick in the vertical upward direction, and the maximum travel information of the joystick in the vertical downward direction can also be stored in a cloud server. It is understood that the embodiments of this disclosure can store the remote sensing calibration parameters in any location, as long as it is ensured that they can be retrieved during calibration.

[0089] According to an embodiment of this disclosure, during the process of the calibration device pushing the joystick of the handle based on a set calibration trajectory, the handle acquires a first force value of the calibration device pushing the joystick. If the first force value is detected to exceed a set force value, the handle controls the calibration device to continue pushing the joystick along the trajectory boundary of the joystick based on the set force value to correct the set calibration trajectory, thereby obtaining a corrected calibration trajectory. The joystick is then calibrated based on the corrected calibration trajectory. In other words, the handle acquires the force value of the calibration device pushing the joystick based on the set calibration trajectory. If the force value exceeds the set force value, it is determined that there is a deviation between the joystick's own travel trajectory and the set calibration trajectory. At this time, the set calibration trajectory is corrected based on the set force value, and the joystick is calibrated based on the corrected calibration trajectory. This solves the problem of joystick calibration deviations caused by assembly differences in the product.

[0090] In one embodiment, the joystick calibration method of this disclosure further includes the following steps S3100 to S3400:

[0091] Step S3100: When the first force value is less than the set force value, control the calibration device to continue pushing the joystick of the handle based on the set calibration trajectory.

[0092] In this embodiment, if the force exerted by the calibration device during the rotation of the joystick based on the set calibration trajectory does not exceed the set force value (e.g., 10N), it is determined that there is no deviation between the joystick's own travel trajectory and the set calibration trajectory, meaning that the product assembly consistency is good. At this point, the calibration device can be controlled to continue pushing the joystick according to the original calibration trajectory, thereby calibrating the handle.

[0093] Step S3200: When the pushing ends, determine the calibration parameters of the rocker arm based on the state information of the rocker arm when the calibration device pushes the rocker arm according to the set calibration trajectory.

[0094] Understandably, during the calibration process where the calibration device rotates the joystick based on a set calibration trajectory, the sensing circuit within the joystick detects the rotation and outputs a change information. This change information is then converted by an analog-to-digital converter (ADC) to output an ADC value. For example, the sensing circuit may include a resistor and / or a capacitor, and the joystick's state information can be the ADC value resulting from the change in resistance and / or capacitance, converted by the ADC circuit.

[0095] In this embodiment, when the calibration device pushes the joystick to the end according to the set calibration trajectory, the handle can obtain the state information of the calibration device during the process of pushing the joystick to rotate according to the set calibration trajectory, and then determine the calibration parameters of the joystick.

[0096] The calibration parameters of the joystick include at least one of the following: the position information of the center of the joystick, and the maximum travel information of the joystick in each preset direction.

[0097] The preset directions include at least the horizontal leftward direction, the horizontal rightward direction, the vertical upward direction, and the vertical downward direction.

[0098] In this step S3200, the controller will calculate the position information of the center of the joystick based on the joystick's state information, as well as the maximum travel information of the joystick in the horizontal left direction, the horizontal right direction, the vertical upward direction, and the vertical downward direction.

[0099] Step S3300: Store the calibration parameters of the joystick.

[0100] In this embodiment, after determining the position information of the joystick's center, the maximum travel information of the joystick in the horizontal left direction, the maximum travel information of the joystick in the horizontal right direction, the maximum travel information of the joystick in the vertical upward direction, and the maximum travel information of the joystick in the vertical downward direction, the handle can store the position information of the joystick's center, the maximum travel information of the joystick in the horizontal left direction, the maximum travel information of the joystick in the horizontal right direction, the maximum travel information of the joystick in the vertical upward direction, and the maximum travel information of the joystick in the vertical downward direction in the handle, or in the head-mounted display that has established a communication connection with the handle, or in the cloud server, ensuring that it can be retrieved during calibration.

[0101] According to an embodiment of this disclosure, the handle acquires a first force value of the calibration device pushing the joystick during the calibration process based on a set calibration trajectory. If the first force value is detected to be below the set value, the handle continues to control the calibration device to push the joystick according to the set calibration trajectory to correct the joystick. That is, the handle acquires the force value of the calibration device pushing the joystick according to the set calibration trajectory. If the force value does not exceed the set value, it indicates good product assembly consistency, and the joystick can then be calibrated based on the set calibration trajectory.

[0102] In one embodiment, after the joystick is calibrated, the user experience varies due to differences in usage habits and hand sizes among different users. Therefore, the joystick calibration method of this embodiment further includes the following steps S4100 to S4200:

[0103] Step S4100: Obtain the target travel trajectory and the travel trajectory of the joystick when the joystick is pushed.

[0104] Wherein, when the set calibration trajectory is corrected, the target travel trajectory is the corrected calibration trajectory; when the set calibration trajectory is not corrected, the target travel trajectory is the set calibration trajectory.

[0105] In this step S4100, the travel trajectory of the remote sensor can be obtained when the same user pushes the remote sensor multiple times, or the travel trajectory of the remote sensor can be obtained when different users push the remote sensor separately.

[0106] Reference Figure 6 Due to differences in user habits and hand size, the travel trajectory of the joystick varies from user to user. The travel trajectory of the joystick for user 1 (75), user 2 (76), user 3 (77), and user 4 (78) are all different and different from the corrected calibration trajectory (72).

[0107] Step S4200: Determine the target trigger boundary based on the target travel trajectory and the travel trajectory of the joystick when the joystick is pushed.

[0108] Specifically, when the user pushes the joystick to the target trigger boundary, the function corresponding to the joystick is triggered.

[0109] In one specific embodiment, after the joystick calibration is completed, the radius corresponding to each stroke trajectory of the joystick when it is pushed and the radius corresponding to the target stroke trajectory can be obtained first. Then, the minimum radius is determined as the target radius, and the target trigger boundary is determined based on the target radius. Here, refer to Figure 6 and Figure 7 The determined target trigger boundary can be 0.97 of the target travel trajectory. When the user pushes the joystick to the target trigger boundary 74, the function corresponding to the joystick is triggered.

[0110] According to embodiments of this disclosure, by setting a target trigger boundary, the handle can improve the problem that users need to frequently adjust the position of their hands on the handle due to different usage habits or differences in hand size. That is, by setting the target trigger boundary through software, the problem that the handle is not easy to trigger during use is improved.

[0111] <Example>

[0112] The following shows an example of a handle calibration method, refer to... Figure 8 The calibration method for this handle may include the following steps:

[0113] In step S711, the calibration device drives the rocker arm to rotate based on the set calibration trajectory.

[0114] Step S712: The force sensor detects the force value during the process of the calibration device pushing the rocker to rotate based on the set calibration trajectory, and determines whether the detected force value exceeds the set force value. If yes, proceed to step S713; otherwise, proceed to step S714.

[0115] In step S713, if the detected force value exceeds the set force value, the calibration logic is switched to control the calibration device to continue pushing the joystick along the trajectory boundary of the joystick based on the set force value, so as to correct the calibration trajectory, obtain the modified calibration trajectory, and continue to execute step S715.

[0116] In step S714, if the detected force value does not exceed the set force value, continue to control the calibration device to push the joystick based on the set calibration trajectory.

[0117] Step S715: After the calibration device pushes the rocker arm to rotate 2 revolutions, determine the calibration parameters of the rocker arm based on the state information of the rocker arm, and write the calibration parameters of the rocker arm into the handle;

[0118] In step S715, the state information of the joystick can be the state information of the joystick when the calibration device pushes the joystick based on the corrected calibration trajectory, or the state information of the joystick when the calibration device pushes the joystick based on the set calibration trajectory.

[0119] In this example, as the calibration device pushes the joystick along a pre-defined calibration trajectory, the force exerted by the device on the joystick is recorded. If the force exceeds a pre-defined value, the calibration device continues to push the joystick along its trajectory boundary to correct the pre-defined calibration trajectory, thus obtaining a corrected calibration trajectory. The joystick is then calibrated based on this corrected trajectory, resolving calibration deviations caused by assembly differences. If the force does not exceed the pre-defined value, the calibration device continues to push the joystick along the pre-defined calibration trajectory to calibrate it.

[0120] <Device Embodiment>

[0121] Figure 9 This is a schematic diagram of a handle calibration device according to one embodiment, with reference to... Figure 9 As shown, the device 900 includes an acquisition module 910, a detection module 920, a control module 930, and a calibration module 940.

[0122] The acquisition module 910 is used to acquire the first force value of the calibration device pushing the joystick of the handle during the process of the calibration device pushing the joystick based on the set calibration trajectory;

[0123] Detection module 920 is used to detect whether the first force value exceeds a set force value;

[0124] The control module 930 is used to control the calibration device to continue pushing the rocker along the trajectory boundary of the rocker based on the set force value when the first force value exceeds the set force value, so as to correct the set calibration trajectory and obtain the corrected calibration trajectory.

[0125] The calibration module 940 is used to calibrate the joystick according to the corrected calibration trajectory.

[0126] In one embodiment, the acquisition module 910 is specifically used to: acquire a first force value detected by the force sensing device as the calibration device pushes the joystick of the handle based on a set calibration trajectory.

[0127] In one embodiment, the calibration module 940 is specifically configured to: determine the calibration parameters of the joystick based on the state information of the joystick when the calibration device pushes the joystick according to the corrected calibration trajectory; and store the calibration parameters of the joystick.

[0128] In one embodiment, the control module 930 is further configured to control the calibration device to continue pushing the joystick of the handle based on the set calibration trajectory when the first force value is less than the set force value;

[0129] The calibration module 940 is further configured to, upon termination of the push, determine the calibration parameters of the rocker based on the state information of the rocker when the calibration device pushes the rocker according to a set calibration trajectory, and store the calibration parameters of the rocker.

[0130] In one embodiment, the acquisition module 910 is further configured to acquire a target travel trajectory and the travel trajectory of the joystick when the joystick is pushed; wherein, when the set calibration trajectory is corrected, the target travel trajectory is the corrected calibration trajectory, and when the set calibration trajectory is not corrected, the target travel trajectory is the set calibration trajectory.

[0131] The calibration module 940 is also used to determine the target trigger boundary based on the target travel trajectory and the travel trajectory of the joystick when the joystick is pushed;

[0132] Specifically, when the user pushes the joystick to the target trigger boundary, the function corresponding to the joystick is triggered.

[0133] According to an embodiment of this disclosure, during the process of the calibration device pushing the joystick of the handle based on a set calibration trajectory, the handle acquires a first force value of the calibration device pushing the joystick. If the first force value is detected to exceed a set force value, the handle controls the calibration device to continue pushing the joystick along the trajectory boundary of the joystick based on the set force value to correct the set calibration trajectory, thereby obtaining a corrected calibration trajectory. The joystick is then calibrated based on the corrected calibration trajectory. In other words, the handle acquires the force value of the calibration device pushing the joystick based on the set calibration trajectory. If the force value exceeds the set force value, it is determined that there is a deviation between the joystick's own travel trajectory and the set calibration trajectory. At this time, the set calibration trajectory is corrected based on the set force value, and the joystick is calibrated based on the corrected calibration trajectory. This solves the problem of joystick calibration deviations caused by assembly differences in the product.

[0134] <Equipment Example>

[0135] Figure 10 This is a schematic diagram of the hardware structure of a handle according to one embodiment. Figure 10 As shown, the handle 100 includes a processor 1010 and a memory 1020.

[0136] The memory 1020 can be used to store executable computer instructions.

[0137] The processor 1010 can be used to execute the handle calibration method according to the method embodiments of this disclosure, under the control of the executable computer instructions.

[0138] The handle 100 can be as follows: Figure 1 The handle 1000 shown can also be a device with other hardware structures, which is not limited here.

[0139] In another embodiment, the handle 100 may include a calibration device 900 for the handle.

[0140] In one embodiment, each module of the calibration device 900 for the above handle can be implemented by the processor 1010 running computer instructions stored in the memory 1020.

[0141] Computer-readable storage media

[0142] This disclosure also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, perform the handle calibration method provided in this disclosure.

[0143] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0144] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) 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 or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient 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 through fiber optic cables), or electrical signals transmitted through wires.

[0145] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0146] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may 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 a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions to implement various aspects of this disclosure.

[0147] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0148] 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 such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0149] 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, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0150] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation in a combination of software and hardware are equivalent.

[0151] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for calibrating a handle, characterized in that, The method includes: During the process of the calibration device pushing the joystick of the handle based on the set calibration trajectory, the first force value of the calibration device pushing the joystick is obtained; Detect whether the first force value exceeds a set force value; wherein, the set force value is determined based on the travel trajectory of the joystick itself; If the first force value exceeds the set force value, it is determined that there is a deviation between the set calibration trajectory and the travel trajectory of the joystick itself, and the calibration device is controlled to continue pushing the joystick along the trajectory boundary of the joystick based on the set force value, so as to correct the calibration trajectory and obtain the corrected calibration trajectory; the joystick is calibrated according to the corrected calibration trajectory. When the first force value is less than the set force value, the calibration device is controlled to continue pushing the joystick of the handle based on the set calibration trajectory; when the pushing ends, the calibration parameters of the joystick are determined according to the state information of the joystick when the calibration device pushes the joystick based on the set calibration trajectory; and the calibration parameters of the joystick are stored.

2. The method according to claim 1, characterized in that, The process of obtaining the first force value of the calibration device pushing the joystick of the handle based on the set calibration trajectory includes: During the process of the calibration device pushing the joystick of the handle based on the set calibration trajectory, the first force value of the calibration device pushing the joystick is obtained by the force detection device.

3. The method according to claim 1, characterized in that, The calibration of the joystick according to the corrected calibration trajectory includes: The calibration parameters of the joystick are determined based on the state information of the joystick when the calibration device pushes the joystick according to the corrected calibration trajectory. Store the calibration parameters of the joystick.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Obtain the target travel trajectory and the travel trajectory of the joystick when the joystick is pushed; wherein, when the set calibration trajectory is corrected, the target travel trajectory is the corrected calibration trajectory, and when the set calibration trajectory is not corrected, the target travel trajectory is the set calibration trajectory; The target trigger boundary is determined based on the target travel trajectory and the travel trajectory of the joystick when the joystick is pushed. Specifically, when the user pushes the joystick to the target trigger boundary, the function corresponding to the joystick is triggered.

5. The method according to claim 2 or 3, characterized in that, The calibration parameters of the joystick include at least one of the following: the position information of the center of the joystick, and the maximum travel information of the joystick in each preset direction. The preset directions include at least the horizontal leftward direction, the horizontal rightward direction, the vertical upward direction, and the vertical downward direction.

6. A calibration device for a handle, characterized in that, The device includes: The acquisition module is used to acquire the first force value of the calibration device pushing the joystick of the handle during the process of the calibration device pushing the joystick based on the set calibration trajectory; The detection module is used to detect whether the first force value exceeds the set force value; The control module is used to determine that there is a deviation between the set calibration trajectory and the travel trajectory of the rocker itself when the first force value exceeds the set force value, and to control the calibration device to continue pushing the rocker along the trajectory boundary of the rocker based on the set force value, so as to correct the set calibration trajectory and obtain the corrected calibration trajectory. A calibration module is used to calibrate the joystick according to the corrected calibration trajectory; The control module is further configured to, when the first force value is less than the set force value, control the calibration device to continue pushing the joystick of the handle based on the set calibration trajectory; when the pushing ends, determine the calibration parameters of the joystick based on the state information of the joystick when the calibration device pushes the joystick based on the set calibration trajectory; and store the calibration parameters of the joystick.

7. The apparatus according to claim 6, characterized in that, The acquisition module is specifically used for: During the process of the calibration device pushing the joystick of the handle based on the set calibration trajectory, the first force value of the calibration device pushing the joystick is obtained by the force sensing device.

8. A handle, characterized in that, The handle includes: Memory is used to store executable computer instructions; A processor, configured to execute the calibration method for the handle according to any one of claims 1-5, under the control of the executable computer instructions.

9. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, perform the calibration method for a handle according to any one of claims 1-5.

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