A handle vibration noise compensation method and circuit and a handle

Abstract

The application discloses a handle vibration noise compensation method and circuit and a handle, and relates to the technical field of intelligent electronic devices. A corresponding adjustment factor is determined based on the difference between one or more to-be-detected signals and a corresponding target signal. Since the target signals are different, the corresponding adjustment factors are more diversified and flexible, so that a compensation parameter is obtained by conversion processing based on the adjustment factor, and the corresponding compensation value comprehensively considers multiple factors, thereby improving the accuracy and authority of the compensation parameter. In the compensation process, the vibration noise is reduced, so that the motor interacts with the handle shell during vibration. Since the vibration noise is reduced when being emitted, the experience of a user is not affected, and the game experience of the user is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent electronic device technology, and in particular to a method, circuit, and handle for compensating for vibration noise in a handle. Background Technology

[0002] With the development of virtual reality and network technologies, more and more users are paying attention to the user experience of virtual technology and game interaction products. The gamepad is an important component that directly affects the user's product experience. The motors on the gamepad can provide users with rich tactile and force feedback, enhancing the user's gaming experience.

[0003] During the use of the handle, factors such as frequent collisions can cause changes in the tightness between the motor and the housing that holds the motor in place. In addition, factors such as the decrease in the performance of the motor itself as its service life increases can also cause the motor to interact with the handle housing during vibration, generating vibration noise and reducing the user's experience.

[0004] Therefore, how to reduce vibration and noise to improve the user experience is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a method, circuit, and handle for compensating for handle vibration noise, in order to solve the problem that changes in the tightness between the motor and the housing of the fixed motor during the use of the handle, and the interaction between the motor and the handle housing during vibration caused by the performance factors of the motor itself, result in vibration noise and reduce the user's experience.

[0006] To solve the above-mentioned technical problems, the present invention provides a method for compensating for handle vibration noise, comprising:

[0007] The vibration signal collected by the handle vibration sensor is acquired and converted into a signal to be detected; wherein the signal type of the signal to be detected includes at least one or more signals such as amplitude detection signal and frequency detection signal;

[0008] The corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal; wherein, the target signal is the signal corresponding to the vibration noise when the handle is manufactured and / or the signal corresponding to the vibration noise acceptable to the user;

[0009] The corresponding adjustment factors are converted to obtain compensation parameters, which are then used to compensate for the vibration signal.

[0010] On the one hand, there are multiple vibration sensors located at various positions on the handle motor housing near the motor; the vibration signals collected by the handle vibration sensors are acquired, including:

[0011] Acquire vibration signals from multiple vibration sensors over multiple acquisition cycles;

[0012] The maximum vibration signal corresponding to different acquisition cycles is obtained as the first vibration signal within multiple acquisition cycles;

[0013] The final vibration signal is obtained by preprocessing multiple first vibration signals;

[0014] Alternatively, vibration signals from multiple acquisition cycles can be processed synchronously to obtain the final vibration signal.

[0015] On the other hand, the target signals are a first target signal and a second target signal; wherein, the first target signal is the signal corresponding to the vibration noise at the time the handle leaves the factory, and the second target signal is the signal corresponding to the vibration noise acceptable to the user; the signal value of the second target signal is greater than the signal value of the first target signal; the corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal, including:

[0016] Determine whether the difference between the signal to be detected and the first target signal is greater than a first preset difference;

[0017] If the difference is greater than the first preset gap, the signal to be detected will be adjusted to the adjustment factor corresponding to the second target signal.

[0018] If the difference is less than or equal to the first preset gap, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal.

[0019] On the other hand, the target signals are a first target signal and a second target signal; wherein, the first target signal is the signal corresponding to the vibration noise at the time the handle leaves the factory, and the second target signal is the signal corresponding to the vibration noise acceptable to the user; the signal value of the second target signal is greater than the signal value of the first target signal; the corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal, including:

[0020] Determine whether the difference between the signal to be detected and the first target signal is greater than a first preset difference;

[0021] If the difference is greater than the first preset gap, the planned vibration noise corresponding to the signal to be detected is determined according to the mapping relationship between the manufacturing time of the handle and the signal corresponding to the vibration noise.

[0022] If the loudness information corresponding to the signal to be detected is within the preset range of the loudness information of the planned vibration noise, the difference in loudness information between the two signals is determined based on the loudness information corresponding to the acceptable vibration noise of the planned vibration noise and the second target signal, respectively.

[0023] If the loudness information gap is within the preset information gap range, the signal to be detected will be adjusted to the adjustment factor corresponding to the second target signal.

[0024] If the difference is less than or equal to the first preset gap, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal.

[0025] On the other hand, when the target signal is a single signal, the corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal, including:

[0026] Determine whether the signal to be detected is equal to the target signal;

[0027] If not, the first learning model is invoked; wherein, the input parameter of the first learning model is a signal to be detected; the training process of the first learning model is based on feature extraction and classification identification of the signal to be detected, the lifespan of the handle, and the vibration noise factors corresponding to the target signal to obtain the adjustment factor;

[0028] The signal to be detected is used as the input parameter of the first learning model, and the output parameter of the first learning model is used as the adjustment factor.

[0029] On the other hand, the target signals are a first target signal and a second target signal; wherein, the first target signal is the signal corresponding to the vibration noise at the time the handle leaves the factory, and the second target signal is the signal corresponding to the vibration noise acceptable to the user; the signal value of the second target signal is greater than the signal value of the first target signal; the corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal, including:

[0030] Determine the difference relationship between the signal to be detected and the target signal;

[0031] If the signal to be detected does not reach the minimum value of the second preset range corresponding to the second target signal, but exceeds the maximum value of the first preset range corresponding to the first target signal, then the second learning model is invoked; the signal to be detected is used as the input parameter of the second learning model, and the output parameter of the second learning model is obtained as the adjustment factor; wherein, the input parameter of the second learning model is multiple signals to be detected; the training process of the second learning model is based on feature extraction and classification of vibration noise factors corresponding to the signal to be detected and the target signal to obtain the adjustment factor;

[0032] If the signal to be detected is greater than the maximum value of the second preset range corresponding to the second target signal, then the third learning model is invoked; the signal to be detected is used as the input parameter of the third learning model, and the output parameter of the third learning model is obtained as the adjustment factor; wherein, the input parameter of the third learning model is multiple signals to be detected; the training process of the third learning model is based on feature extraction and classification of the signal to be detected, the service life of the handle, and the vibration noise factors corresponding to the target signal to obtain the adjustment factor; the adjustment step size of the adjustment factor corresponding to the third learning model is greater than the adjustment step size of the adjustment factor corresponding to the second learning model;

[0033] If the signal to be detected does not reach the minimum value of the first preset range corresponding to the first target signal, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal.

[0034] If the signal to be detected is within the first preset range corresponding to the first target signal or within the second preset range corresponding to the second target signal, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal or the second target signal.

[0035] On the other hand, the types of signals to be detected include amplitude detection signals and frequency detection signals; the signals to be detected include a first signal to be detected and a second signal to be detected; the corresponding adjustment factors are converted to obtain compensation parameters, including:

[0036] The priority is determined based on amplitude and frequency;

[0037] A first adjustment factor corresponding to a first detection signal is determined according to a first priority; a second adjustment factor corresponding to a second detection signal is determined according to a second priority; wherein, the first adjustment factor is pre-mapped with a signal of the first priority type;

[0038] The first acceleration value corresponding to the first signal to be detected is determined based on the first adjustment factor;

[0039] A new second adjustment factor corresponding to the second signal to be detected is determined based on the first acceleration value; wherein, a mapping relationship is pre-established between the first acceleration, the detection type corresponding to the first priority, and the detection type corresponding to the second priority.

[0040] Replace the second regulatory factor with the new second regulatory factor;

[0041] The first adjustment factor and the replaced second adjustment factor are converted into corresponding compensation parameters.

[0042] On the other hand, the types of signals to be detected include amplitude detection signals and frequency detection signals; the signals to be detected include a first signal to be detected and a second signal to be detected; the corresponding adjustment factors are converted to obtain compensation parameters, including:

[0043] The priority is determined based on amplitude and frequency;

[0044] A first adjustment factor corresponding to a first detection signal is determined according to a first priority; a second adjustment factor corresponding to a second detection signal is determined according to a second priority; wherein, the first adjustment factor is pre-mapped with a signal of the first priority type;

[0045] The first acceleration value corresponding to the first signal to be detected is determined based on the first adjustment factor;

[0046] The second acceleration value corresponding to the second detection signal is determined based on the second adjustment factor.

[0047] If the difference between the first acceleration value and the second acceleration value is greater than a preset difference, the first acceleration value and the second acceleration value are averaged to obtain a third acceleration value; wherein, the acceleration value, the detection type corresponding to the first priority, and the detection type corresponding to the second priority are pre-established with a mapping relationship;

[0048] Based on the third acceleration value, determine the new first adjustment factor corresponding to the first detection signal and the new second adjustment factor corresponding to the second detection signal respectively;

[0049] Replace the first and second regulatory factors with the new first regulatory factor and the new first regulatory factor respectively;

[0050] The replaced first and second adjustment factors are converted into their corresponding compensation parameters.

[0051] To solve the above-mentioned technical problems, the present invention also provides a compensation circuit for handle vibration noise, the compensation circuit including a vibration sensor, a sampling unit and a detection unit;

[0052] The vibration sensor, the sampling unit, and the detection unit are connected in sequence;

[0053] The vibration sensor is located on the handle motor housing near the motor;

[0054] The sampling unit is used to collect the vibration signal from the handle vibration sensor;

[0055] The detection unit is used to convert the vibration signal into a signal to be detected; wherein the signal type of the signal to be detected includes at least one or more signals such as amplitude detection signal and frequency detection signal; a corresponding adjustment factor is determined according to the difference between the signal to be detected and the target signal; wherein the target signal is the signal corresponding to the vibration noise when the handle is manufactured and / or the signal corresponding to the vibration noise acceptable to the user; the corresponding adjustment factor is converted to obtain compensation parameters so as to compensate the vibration signal.

[0056] To address the aforementioned technical problems, the present invention also provides a handle, including the aforementioned handle vibration noise compensation circuit mounted on the main board of the handle's detection circuit.

[0057] This invention provides a method for compensating for controller vibration noise, comprising: acquiring a vibration signal collected by a controller vibration sensor and converting the vibration signal into a signal to be detected; wherein the signal type of the signal to be detected includes at least one or more signals such as amplitude detection signal and frequency detection signal; determining a corresponding adjustment factor based on the difference between the signal to be detected and a target signal; wherein the target signal is the signal corresponding to the vibration noise at the time of manufacture of the controller and / or the signal corresponding to the vibration noise acceptable to the user; and converting the corresponding adjustment factor to obtain compensation parameters for compensating the vibration signal. This invention determines the corresponding adjustment factor based on the difference between one or more signals to be detected and the corresponding target signal. Due to the different target signals, the corresponding adjustment factors are more diverse and flexible, allowing the compensation parameters obtained through conversion based on the adjustment factors to comprehensively consider multiple factors, thus improving the accuracy and authority of the compensation parameters. During the compensation process, vibration noise is reduced. Even if the motor interacts with the controller shell during vibration, the vibration noise is reduced at the time of emission, thus not affecting the user's experience and improving the user's gaming experience.

[0058] In addition, the present invention also provides a compensation circuit and a handle for handle vibration noise, which have the same beneficial effects as the aforementioned compensation method for handle vibration noise. Attached Figure Description

[0059] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 A schematic diagram of failure mode one provided in an embodiment of the present invention;

[0061] Figure 2 A schematic diagram of failure mode two provided in an embodiment of the present invention;

[0062] Figure 3 A flowchart illustrating a method for compensating for handle vibration noise provided in an embodiment of the present invention;

[0063] Figure 4 A flowchart of another method for compensating for handle vibration noise provided in an embodiment of the present invention;

[0064] Figure 5 The circuit diagram shows a compensation circuit for handle vibration noise provided in an embodiment of the present invention. Detailed Implementation

[0065] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present invention.

[0066] The core of this invention is to provide a method, circuit, and handle for compensating for handle vibration noise, in order to solve the problem that changes in the tightness between the motor and the housing of the fixed motor during the use of the handle and the interaction between the motor and the handle housing during vibration caused by the performance factors of the motor itself, resulting in vibration noise and a reduced user experience.

[0067] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0068] Traditional controllers exhibit two types of vibration and noise failure modes during use: one is a loosening between the motor and the housing, and the other is a malfunction in the motor itself. In the first failure mode, Figure 1 This is a schematic diagram of failure mode one provided in an embodiment of the present invention, as shown below. Figure 1 As shown, after the motor is assembled to the plastic part of the handle, it is secured with an interference fit, adhesive, or even screws to achieve a tight fit with the plastic part. When the motor vibrates, it causes the plastic shell to resonate, thereby transmitting vibration. However, if there is looseness between the motor and the plastic shell, the motor cannot fully drive the plastic shell to vibrate, thus generating vibration noise. In the second failure mode, Figure 2 This is a schematic diagram of failure mode two provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the use scenarios for Virtual Reality (VR) controllers typically involve large-amplitude swings, inevitably causing collisions with the casing. Furthermore, with increased use, the motor's performance deteriorates, and the oscillator may shift, all affecting the vibration quality of the individual motor units. This leads to abnormal motor vibration and consequently, controller vibration noise. The controller vibration noise compensation method provided by this invention addresses these failure modes and solves the aforementioned technical problems.

[0069] Figure 3 A flowchart of a method for compensating for handle vibration noise provided in an embodiment of the present invention is shown below. Figure 3 As shown, the method includes:

[0070] S11: Acquire the vibration signal collected by the handle vibration sensor and convert the vibration signal into a signal to be detected;

[0071] Among them, the signal types of the signal to be detected include at least one or more signals such as amplitude detection signal and frequency detection signal;

[0072] It's understandable that the controller vibration sensor is attached to the motor housing near the motor to detect the overall vibration resulting from the vibration of the motor and housing. There's no limit to the number of controller vibration sensors; it can be one or more. With multiple sensors, the corresponding attachment points are located at various positions near the motor housing, which can be evenly distributed within a certain area for multi-directional detection. Furthermore, with multiple sensors, the collected vibration signals are from multiple locations. These signals may differ within each sampling period, requiring processing and integration into a single processed vibration signal for subsequent compensation parameter calculations. The method of processing and integration is not limited; it can involve selecting one signal from multiple signals within each sampling period, or merging multiple signals based on their individual signal characteristics. The specific method can be chosen based on the actual situation.

[0073] The collected vibration signal is converted into a signal to be detected. In the vibration signal conversion process of this embodiment, interference signals of glitches can be eliminated by signal processing and other noise factors can be eliminated by filtering. The conversion process takes into account that the vibration sensor outputs an analog signal, and the analog signal needs to be converted into a digital signal for subsequent detection during acquisition.

[0074] In this embodiment, the converted signal to be detected can be one detection signal or multiple detection signals, such as amplitude signals, frequency signals, etc., and is not limited here.

[0075] S12: Determine the corresponding adjustment factor based on the difference between the signal to be detected and the target signal;

[0076] Among them, the target signal is the vibration noise corresponding to the handle when it leaves the factory and / or the vibration noise that is acceptable to the user;

[0077] Since the signals to be detected in the above embodiments can be one or more, if there is only one signal, there is one adjustment factor; if there are multiple signals, there are multiple adjustment factors. Furthermore, the target signal takes into account signals from different periods, as the signal at the time of manufacture is an ideal signal. If any of the signals to be detected deviates from the target signal, it is adjusted until it matches the target signal. However, considering that the motor's performance degrades with the lifespan of the controller during actual use, even if it is currently adjusted to the ideal signal, the deterioration in motor performance will cause it to deviate from the ideal signal again, requiring compensation adjustments each time. Therefore, the target signal can also be a signal within the acceptable vibration and noise range for the user. Although this signal differs significantly from the ideal signal, the number of compensation adjustments is reduced. Here, the target signal is based on the overall usage cycle of the controller. If the number of compensation adjustments required to bring the signals to the ideal signal at the time of manufacture is high, it can be adjusted to the range of vibration and noise acceptable to the user.

[0078] The number of corresponding adjustment factors is generally based on the same number of types of signals to be detected. Regardless of whether there is one or more target signals, the corresponding adjustment factor is at one level for each target signal. In this embodiment, having multiple target signals can provide more possibilities for compensation and reduce the number of adjustments.

[0079] S13: Convert the corresponding adjustment factor to obtain the compensation parameter, so as to compensate the vibration signal.

[0080] The corresponding adjustment factors are converted to obtain compensation parameters. In this embodiment, considering the various types of signals to be detected, multiple adjustment factors are obtained. Compensation parameters can be obtained individually based on these multiple adjustment factors, or based on a value mapped from these multiple adjustment factors. This value is based on factors that are relevant to multiple signals to be detected. For example, if the signals to be detected are amplitude and frequency signals, both of which are related to acceleration values, then the adjustment factors for amplitude and frequency signals are mapped to acceleration values ​​to obtain corresponding acceleration values. If the corresponding acceleration values ​​are the same, compensation is performed according to their respective compensation parameters. If the corresponding acceleration values ​​are large, they can be neutralized to obtain an acceleration value that is suitable for both vibration and frequency signals, so that it can be converted into their respective adjustment factors and then further converted to obtain their respective compensation parameters. This ensures that the adjustment process not only formally considers multiple signals to be detected but also neutralizes multiple signals during the actual adjustment process, enabling compensation parameters to achieve compensation under multiple factors.

[0081] Furthermore, based on different types of signals to be detected, there will be primary and secondary factors during the generation of vibration signals. Therefore, the compensation parameters for the primary factors will be compensated, which will significantly reduce the generation of vibration signals in the next instance. In this embodiment, the compensation for secondary factors will be based on the acceleration value referencing the acceleration value corresponding to the primary factor, and the corresponding adjustment factor will be modified for compensation.

[0082] It should be noted that the compensation in this embodiment is not performed only once. If the offset occurs again in the next iteration, the compensation will continue. This is a real-time monitoring compensation method, which continues until the signal to be detected matches the target signal.

[0083] This invention provides a method for compensating for controller vibration noise, comprising: acquiring a vibration signal collected by a controller vibration sensor and converting the vibration signal into a signal to be detected; wherein the signal type of the signal to be detected includes at least one or more signals such as amplitude detection signal and frequency detection signal; determining a corresponding adjustment factor based on the difference between the signal to be detected and a target signal; wherein the target signal is the signal corresponding to the vibration noise at the time of manufacture of the controller and / or the signal corresponding to the vibration noise acceptable to the user; and converting the corresponding adjustment factor to obtain compensation parameters for compensating the vibration signal. This invention determines the corresponding adjustment factor based on the difference between one or more signals to be detected and the corresponding target signal. Due to the different target signals, the corresponding adjustment factors are more diverse and flexible, allowing the compensation parameters obtained through conversion based on the adjustment factors to comprehensively consider multiple factors, thus improving the accuracy and authority of the compensation parameters. During the compensation process, vibration noise is reduced. Even if the motor interacts with the controller shell during vibration, the vibration noise is reduced at the time of emission, thus not affecting the user's experience and improving the user's gaming experience.

[0084] In some embodiments, there are multiple vibration sensors located at multiple positions near the motor housing of the handle motor; acquiring vibration signals collected by the handle vibration sensors includes:

[0085] Acquire vibration signals from multiple vibration sensors over multiple acquisition cycles;

[0086] The maximum vibration signal corresponding to different acquisition cycles is obtained as the first vibration signal within multiple acquisition cycles;

[0087] The final vibration signal is obtained by preprocessing multiple first vibration signals;

[0088] Alternatively, vibration signals from multiple acquisition cycles can be processed synchronously to obtain the final vibration signal.

[0089] It is understandable that multiple vibration sensors can collect data based on a single acquisition cycle, or, to ensure fairness in vibration signal acquisition, data can be collected across multiple acquisition cycles. However, the acquisition cycle time should not be too long. Multiple vibration signals are collected by the multiple sensors within multiple acquisition cycles. The largest vibration signal is selected as the first vibration signal from these multiple signals across different acquisition cycles; that is, the number of first vibration signals is the same as the number of vibration sensors. Preprocessing is then performed on these multiple vibration signals to obtain the final vibration signal. In this embodiment, the preprocessing involves extracting signal features from multiple vibration signals to obtain a final vibration signal. This final vibration signal is determined by combining the features of vibration signals from multiple locations. Furthermore, the preprocessing process in this embodiment can be the same as or different from conventional preprocessing methods; no limitation is made here.

[0090] In another embodiment, vibration signals from multiple acquisition cycles are synchronized. In this embodiment, the synchronization is based on synchronizing the acquisition cycles of multiple vibration signals and their respective amplitudes and frequencies, and then fitting a signal. The synchronization fitting process can be the same as or different from the conventional synchronization process, depending on the actual situation.

[0091] In this embodiment, multiple vibration signals are generated based on multiple vibration sensors. The final vibration signal is obtained by combining the vibration noise at each location, which lays the foundation for subsequent compensation processing, captures more vibration noise, provides more possibilities for compensation processing, and improves the accuracy of compensation.

[0092] In some embodiments, when multiple target signals are included, the target signals are a first target signal and a second target signal; wherein, the first target signal is the signal corresponding to the vibration noise at the time the handle is manufactured, and the second target signal is the signal corresponding to the vibration noise acceptable to the user; the signal value of the second target signal is greater than the signal value of the first target signal; determining the corresponding adjustment factor based on the difference between the signal to be detected and the target signal includes:

[0093] Determine whether the difference between the signal to be detected and the first target signal is greater than a first preset difference;

[0094] If the difference is greater than the first preset gap, the signal to be detected will be adjusted to the adjustment factor corresponding to the second target signal.

[0095] If the difference is less than or equal to the first preset gap, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal.

[0096] It is understood that the signal value corresponding to the second target signal is greater than the signal value corresponding to the first target signal. In this embodiment, the target signal can be an amplitude signal, a frequency signal, or other signals, mainly the target signal that the signal to be detected can be adjusted to. It should be noted that the type of target signal corresponds to the type of signal to be detected.

[0097] For example, taking amplitude signals as an example, the amplitude signal of the signal to be detected is A0, the first target signal is A1, and the second target signal is A2, where A2 is greater than A1. Furthermore, the target signal in this embodiment can be a certain preset range or a specific value, which is not limited here.

[0098] If the target signal is taken as a specific value, the process of determining the corresponding adjustment factor requires judging whether the difference between the signal to be detected and the first target signal is greater than a first preset difference. If so, it indicates that the difference from the first target signal is large, and the vibration noise reflects poor tightness between the motor and the housing, or that the motor's performance is affected by prolonged use. Therefore, it is necessary to adjust it to the second target signal corresponding to the vibration noise that is acceptable to the user, that is, adjust the signal to be detected to the adjustment factor corresponding to the second target signal. If it is less than or equal to the first preset difference, it is adjusted to the adjustment factor corresponding to the first target signal.

[0099] The adjustment process in this embodiment can be based on a preset adjustment step size, or it can be adjusted directly to the corresponding adjustment factor in one step; neither is limited here. The adjustment factor in this embodiment is specific to the adjustment step size corresponding to the target signal, i.e., the adjustment step size corresponding to the target signal.

[0100] In other embodiments, the target signal is a first target signal and a second target signal; wherein, the first target signal is the signal corresponding to the vibration noise at the time the handle is manufactured, and the second target signal is the signal corresponding to the vibration noise acceptable to the user; the signal value of the second target signal is greater than the signal value of the first target signal; determining the corresponding adjustment factor based on the difference between the signal to be detected and the target signal includes:

[0101] Determine whether the difference between the signal to be detected and the first target signal is greater than a first preset difference;

[0102] If the difference is greater than the first preset gap, the planned vibration noise corresponding to the signal to be detected is determined according to the mapping relationship between the manufacturing time of the handle and the signal corresponding to the vibration noise.

[0103] If the loudness information corresponding to the signal to be detected is within the preset range of the loudness information of the planned vibration noise, the difference in loudness information between the two signals is determined based on the loudness information corresponding to the acceptable vibration noise of the planned vibration noise and the second target signal, respectively.

[0104] If the loudness information gap is within the preset information gap range, the signal to be detected will be adjusted to the adjustment factor corresponding to the second target signal.

[0105] If the difference is less than or equal to the first preset gap, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal.

[0106] Specifically, as the manufacturing time of the handle increases, a certain mapping relationship exists between the manufacturing time and vibration noise. In other words, for different manufacturing times, the vibration noise corresponding to the extended motor lifespan can be estimated. Therefore, based on the mapping relationship between manufacturing time and vibration noise, the planned vibration noise corresponding to the current signal to be detected can be determined. When the difference between the signal to be detected and the first target signal is greater than a first preset difference, the planned vibration noise is acquired. It should be noted that the planned vibration noise is an estimated noise information, while the signal to be detected is the actual noise information.

[0107] Furthermore, if the loudness information corresponding to the signal to be detected is within the preset range of the loudness information of the planned vibration noise, it indicates that the current vibration noise objectively exists. The loudness information gap needs to be determined based on the loudness information corresponding to the planned vibration noise and the acceptable vibration noise corresponding to the second target signal, respectively. If the loudness information gap is within the preset information gap range, the signal to be detected needs to be adjusted to the adjustment factor corresponding to the second target signal. This indicates that the difference between the loudness information corresponding to the planned noise and the loudness information of the user-acceptable vibration noise is small, therefore the signal to be detected can be adjusted to the adjustment factor corresponding to the second target signal. By comparing the planned vibration noise and the current vibration noise, and adjusting based on the second target signal when the difference is small, a reliable judgment basis is provided for the adjustment process, making the judgment process more accurate.

[0108] If the difference between the signal to be detected and the first target signal is less than or equal to the first preset difference, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal.

[0109] In other embodiments, the target signal is a first target signal and a second target signal; wherein, the first target signal is the signal corresponding to the vibration noise at the time the handle is manufactured, and the second target signal is the signal corresponding to the vibration noise acceptable to the user; the signal value of the second target signal is greater than the signal value of the first target signal; determining the corresponding adjustment factor based on the difference between the signal to be detected and the target signal includes:

[0110] Determine the difference relationship between the signal to be detected and the target signal;

[0111] If the signal to be detected does not reach the minimum value of the second preset range corresponding to the second target signal, but exceeds the maximum value of the first preset range corresponding to the first target signal, then the second learning model is invoked; the signal to be detected is used as the input parameter of the second learning model, and the output parameter of the second learning model is obtained as the adjustment factor; wherein, the input parameter of the second learning model is multiple signals to be detected; the training process of the second learning model is based on feature extraction and classification of vibration noise factors corresponding to the signal to be detected and the target signal to obtain the adjustment factor;

[0112] If the signal to be detected is greater than the maximum value of the second preset range corresponding to the second target signal, then the third learning model is invoked; the signal to be detected is used as the input parameter of the third learning model, and the output parameter of the third learning model is obtained as the adjustment factor; wherein, the input parameter of the third learning model is multiple signals to be detected; the training process of the third learning model is based on feature extraction and classification identification of the signal to be detected, the service life of the handle, and the vibration noise factors corresponding to the target signal to obtain the adjustment factor; the adjustment step size of the adjustment factor corresponding to the third learning model is greater than the adjustment step size of the adjustment factor corresponding to the second learning model;

[0113] If the signal to be detected does not reach the minimum value of the first preset range corresponding to the first target signal, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal.

[0114] If the signal to be detected is within the first preset range corresponding to the first target signal or within the second preset range corresponding to the second target signal, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal or the second target signal.

[0115] Specifically, the first target signal and the second target signal are represented on a coordinate axis. The coordinate axis closer to 0 is taken as the first preset range corresponding to the first target signal. The coordinate information on the same side of the coordinate axis as the first target signal and farther from 0 is taken as the second preset range corresponding to the second target signal. The first target signal and the first preset range of the first target signal are both smaller than the second target signal and the second preset range of the second target signal.

[0116] The gap relationship between the signal to be detected and the target signal is determined. This gap relationship is based on the difference between the signal to be detected and the first and second target signals within their respective preset ranges. When the signal to be detected does not reach the minimum value of the second preset range corresponding to the second target signal, but exceeds the maximum value of the first preset range corresponding to the first target signal, a second learning model is invoked. The input parameters of this second learning model are multiple signals to be detected, and the training process involves feature extraction and classification of vibration noise factors corresponding to the signal to be detected and the target signal to obtain the corresponding adjustment factors. In other words, the second learning model extracts features based on vibration noise factors corresponding to each target signal, such as amplitude and frequency, to extract corresponding feature information. By merging and classifying various feature information, adjustment factors for different types of signals to be detected can be obtained. The specific feature extraction process can be the same as or different from commonly used feature extraction methods. The corresponding classification method is similar. The second learning model can be based on one or more combinations of artificial intelligence, deep learning, or machine learning methods.

[0117] If the signal to be detected exceeds the maximum value of the second preset range corresponding to the second target signal, the third learning model is invoked. The third learning model differs from the second in that its training process also incorporates the handle's lifespan parameter and the vibration noise factor corresponding to the target signal. It should be noted that the third learning model primarily considers that the signal to be detected is close to the second target signal, which corresponds to the vibration noise acceptable to the user. The adjustment process incorporates the handle's lifespan, allowing for a comprehensive consideration of various handle factors and reducing the number of adjustments. Furthermore, the adjustment step size of the adjustment factor in the third learning model is larger than that in the second learning model. Considering that adjusting to the second target signal requires a smaller adjustment step size compared to adjusting to the first target signal, the final adjustment step size is also smaller. The third and second learning models use the same modeling approach, which will not be elaborated upon here.

[0118] In this embodiment, the addition of a learning model makes the acquisition of the regulation factor more accurate, and it is a precise regulation factor obtained by training with multiple types of data.

[0119] If the signal to be detected does not reach the minimum value of the first preset range corresponding to the first target signal, the signal to be detected is directly adjusted to the adjustment factor corresponding to the first target signal. If the signal to be detected is within the first preset range corresponding to the first target signal or within the second preset range corresponding to the second target signal, the nearest adjustment principle is adopted, and the signal to be detected is adjusted to the adjustment factor corresponding to the first target signal or the second target signal.

[0120] This embodiment provides a method for determining which target signal to adjust based on the difference relationship between multiple target signals, thereby obtaining the adjustment factor corresponding to each target signal. One approach is direct adjustment, another is adjusting the planned vibration noise corresponding to the handle's factory manufacturing time, and yet another is adjusting the signal using a learning model. These different adjustment strategies make the adjustment process more flexible and diverse.

[0121] In some embodiments, when the target signal is a signal, determining the corresponding adjustment factor based on the difference between the signal to be detected and the target signal includes:

[0122] Determine whether the signal to be detected is equal to the target signal;

[0123] If not, the first learning model is invoked; wherein, the input parameter of the first learning model is a signal to be detected; the training process of the first learning model is based on feature extraction and classification of the signal to be detected, the lifespan of the handle, and the vibration noise factors corresponding to the target signal to obtain the adjustment factor;

[0124] The signal to be detected is used as the input parameter of the first learning model, and the output parameter of the first learning model is used as the adjustment factor.

[0125] Specifically, when the target signal is a single signal, the relationship between the signal to be detected and the target signal is used. If the relationship is not equal to the target signal, adjustments are made based on the learning model to obtain the corresponding adjustment factor. The learning model in this embodiment is determined in the same way as the third learning model in the above embodiment. The difference is that the target signal in this embodiment is of one type, while the target signal in the third learning model is of multiple types.

[0126] This embodiment provides an example of adding a learning model when the target signal is a single signal, thereby improving the accuracy of the adjustment factor.

[0127] In some embodiments, when there are multiple types of signals to be detected, there are multiple corresponding adjustment factor outputs. The types of signals to be detected include amplitude detection signals and frequency detection signals; the signals to be detected include a first signal to be detected and a second signal to be detected; the corresponding adjustment factors are converted to obtain compensation parameters, including:

[0128] The priority is determined based on amplitude and frequency;

[0129] A first adjustment factor corresponding to a first detection signal is determined according to a first priority; a second adjustment factor corresponding to a second detection signal is determined according to a second priority; wherein, the first adjustment factor is pre-mapped with a signal of the first priority type;

[0130] The first acceleration value corresponding to the first detection signal is determined based on the first adjustment factor;

[0131] A new second adjustment factor corresponding to the second signal to be detected is determined based on the first acceleration value; wherein, a mapping relationship is pre-established between the first acceleration, the detection type corresponding to the first priority, and the detection type corresponding to the second priority.

[0132] Replace the second regulatory factor with the new second regulatory factor;

[0133] The first adjustment factor and the replaced second adjustment factor are converted into corresponding compensation parameters.

[0134] Specifically, under multiple signals to be detected, the priorities corresponding to amplitude and frequency are determined, and a first adjustment factor is determined based on the first priority. Here, the first adjustment factor establishes a mapping relationship with the signal type of the first priority. Furthermore, there is a certain mapping relationship between acceleration value, amplitude, and frequency; amplitude, frequency, and acceleration are three interrelated physical quantities. In simple harmonic motion, amplitude and frequency directly affect the magnitude of the vibration acceleration. Amplitude represents the magnitude of the vibration, that is, the maximum distance the object moves away from its equilibrium position during vibration. A larger amplitude leads to a larger vibration amplitude and acceleration. Frequency represents the number of vibration cycles per unit time, that is, the number of times the object vibrates per second. A higher frequency leads to a faster vibration velocity and a greater acceleration. Acceleration represents the rate of change of the object's velocity per unit time, that is, the magnitude of the object's acceleration during vibration. A larger acceleration represents a faster vibration velocity and a larger vibration amplitude. The relationship between these three physical quantities can be expressed as: Acceleration ∝ Amplitude × Frequency^2. That is, the magnitude of acceleration is proportional to the square of the product of amplitude and frequency.

[0135] The first acceleration value corresponding to the first detection signal is determined based on the first adjustment factor. Then, based on the relationship between the three physical quantities, a new second adjustment factor corresponding to the second detection signal is determined according to the first acceleration value. This new second adjustment factor then replaces the original second adjustment factor. In this embodiment, the original second adjustment factor is the adjustment factor corresponding to the second detection signal determined based on the second priority.

[0136] The acceleration value provided in this embodiment is used to measure the mapping relationship between amplitude and frequency based on the physical quantity of acceleration. The first adjustment factor is determined based on the first priority. Since the type of detection corresponding to the first priority has a major impact on vibration noise, the subsequent second adjustment factor is also attached to it. It is necessary to redetermine the new second adjustment factor based on the first acceleration value corresponding to the first adjustment factor to replace the original second adjustment factor, thereby improving the accuracy of adjustment and the stability of compensation method.

[0137] In other embodiments, an acceleration value is also added, and the types of signals to be detected include amplitude detection signals and frequency detection signals; the signals to be detected include a first signal to be detected and a second signal to be detected; the corresponding adjustment factors are converted to obtain compensation parameters, including:

[0138] The priority is determined based on amplitude and frequency;

[0139] A first adjustment factor corresponding to a first detection signal is determined according to a first priority; a second adjustment factor corresponding to a second detection signal is determined according to a second priority; wherein, the first adjustment factor is pre-mapped with a signal of the first priority type;

[0140] The first acceleration value corresponding to the first detection signal is determined based on the first adjustment factor;

[0141] The second acceleration value corresponding to the second detection signal is determined based on the second adjustment factor.

[0142] If the difference between the first acceleration value and the second acceleration value is greater than a preset difference, the first acceleration value and the second acceleration value are averaged to obtain a third acceleration value; wherein, the acceleration value, the detection type corresponding to the first priority, and the detection type corresponding to the second priority are pre-established with a mapping relationship;

[0143] Based on the third acceleration value, determine the new first adjustment factor corresponding to the first detection signal and the new second adjustment factor corresponding to the second detection signal respectively;

[0144] Replace the first and second regulatory factors with the new first regulatory factor and the new first regulatory factor respectively;

[0145] The replaced first and second adjustment factors are converted into their corresponding compensation parameters.

[0146] Specifically, after obtaining the first acceleration value based on the above embodiments, the second acceleration value corresponding to the second signal to be detected is determined based on the second adjustment factor. It should be noted that the determination of the first and second acceleration values ​​is not in any particular order; as long as the corresponding acceleration values ​​are obtained, it is acceptable. If the difference between the first and second acceleration values ​​is greater than a preset difference, it indicates that the difference is large, and the first and second acceleration values ​​need to be summed and averaged to obtain a third acceleration value. This is to find a suitable acceleration value to achieve a balance between amplitude and frequency adjustment.

[0147] Based on the mapping relationship between the three physical quantities of acceleration, amplitude, and frequency, as well as the third acceleration value, new first and second adjustment factors are determined to replace the original first and second adjustment factors, and then converted into corresponding compensation parameters.

[0148] The acceleration value provided in this embodiment is based on the physical quantity of acceleration to measure the mapping relationship between amplitude and frequency. Considering the two acceleration values ​​obtained by conversion under the different types of signals to be detected, if the difference between the two acceleration values ​​increases, it indicates that there is a certain deviation in the vibration noise fed back by the signal to be detected. It is necessary to adjust the strategy appropriately to achieve a moderate vibration noise corresponding to the two signals to be detected, thereby improving the flexibility of the adjustment method and the balance of adjustment between the types of signals to be detected.

[0149] Figure 4 A flowchart of another method for compensating for handle vibration noise provided in an embodiment of the present invention is shown below. Figure 4 As shown, it includes:

[0150] S21: MCU outputs motor vibration signal;

[0151] S22: Vibration sensor outputs vibration status;

[0152] S23: The ADC sampling unit collects vibration and frequency information;

[0153] S24: Determine whether the output vibration state is consistent with the target vibration state; if not, proceed to step S25; if yes, proceed to step S29.

[0154] S25: Determine whether the vibration information is inconsistent with the target vibration information; if yes, proceed to step S26; if no, proceed to step S27.

[0155] S27: Determine whether the frequency information is inconsistent with the target frequency information; if yes, proceed to step S28; if no, proceed to step S29.

[0156] S26: Generate compensation factor a;

[0157] S28: Generate compensation factor f;

[0158] S29: Maintain the current vibration state;

[0159] S30: Adjust the motor vibration parameters according to compensation factor a and / or compensation factor f.

[0160] It should be noted that the microcontroller unit (MCU) outputs the motor vibration signal, which is sampled by the analog-to-digital converter (ADC) sampling unit. In this embodiment, after judging based on the vibration information, the frequency information is judged. Specifically, if the vibration information is consistent with the target vibration information, the frequency information is checked to see if it is consistent with the corresponding target frequency information; or if the frequency information is consistent with the target vibration frequency information, the vibration information is checked to see if it is consistent with the target vibration information. Alternatively, the two can be performed in any order.

[0161] Understandably, the adjustment process is not always straightforward. After compensating for the motor vibration parameters once, that is, after adjusting the compensation factors a and f, the target amplitude and frequency may still not be achieved. In this case, a second vibration state adjustment is required, generating new compensation factors a1 and f1 to further adjust the vibration state. This process continues until the vibration state of the handle matches the target vibration state.

[0162] For a description of the method for compensating for handle vibration noise provided by the present invention, please refer to the above method embodiments. The present invention will not be described in detail here, but it has the same beneficial effects as the above-described method for compensating for handle vibration noise.

[0163] Furthermore, the present invention also provides a compensation circuit for handle vibration noise. Figure 5 A circuit diagram of a handle vibration noise compensation circuit provided in an embodiment of the present invention is shown below. Figure 5 As shown, the compensation circuit includes a vibration sensor 1, a sampling unit 2, and a detection unit 3;

[0164] Vibration sensor 1, sampling unit 2, and detection unit 3 are connected in sequence;

[0165] Vibration sensor 1 is located on the handle motor housing near the motor;

[0166] Sampling unit 2 is used to collect the vibration signal of handle vibration sensor 1;

[0167] The detection unit 3 is used to convert the vibration signal into a signal to be detected; wherein the signal type of the signal to be detected includes at least one or more signals such as amplitude detection signal and frequency detection signal; the corresponding adjustment factor is determined according to the difference between the signal to be detected and the target signal; wherein the target signal is the signal corresponding to the vibration noise when the handle is manufactured and / or the signal corresponding to the vibration noise acceptable to the user; the corresponding adjustment factor is converted to obtain compensation parameters so as to compensate the vibration signal.

[0168] Specifically, vibration sensor 1 is attached to the plastic housing near the motor. It can detect the overall vibration state caused by the vibration of the motor and the plastic housing, and output a vibration signal to the sampling unit 2 of the MCU. Since the vibration sensor 1 outputs an analog signal, the sampling unit 2 can convert the analog signal into a digital signal and send the signal to the detection unit 3.

[0169] The detection unit 3 includes an amplitude detection unit 6, an amplitude detection unit 65, an amplitude compensation unit, a frequency adjustment unit 8, a frequency adjustment unit 87, a compensation parameter extraction unit 9, and a motor vibration signal generation unit 10.

[0170] The detection unit 3 is used to detect signals such as amplitude and frequency. For amplitude and frequency, it detects and extracts motor vibration amplitude and frequency data. In the vibration compensation unit, the detected amplitude is compared with the target or ideal amplitude. When the amplitude does not match the target value, a corresponding compensation factor is generated. In the frequency adjustment unit, the detected frequency is compared with the target frequency. When the frequency does not match the target frequency, a frequency adjustment factor is generated. The compensation parameter extraction unit 9 converts and processes the amplitude and frequency compensation factors to generate compensation parameters, which are then sent to the motor signal generation unit. The motor vibration signal generation unit 10 adjusts the motor vibration signal according to the compensation parameters. After the vibration signal is generated by the motor vibration signal generation unit 10, it is sent to the motor through the PA performance testing unit 4 to ensure that the actual vibration information and frequency information of the handle are consistent with the corresponding target values.

[0171] For a description of the handheld vibration noise compensation circuit provided by the present invention, please refer to the above method embodiments. The present invention will not be described in detail here, but it has the same beneficial effects as the above-described handheld vibration noise compensation method.

[0172] Furthermore, the present invention also provides a controller. It is understood that the controller can be a common game controller, a VR controller, etc., and is not limited thereto. The main board of the controller's detection circuit includes a controller vibration noise compensation circuit, which will not be described in detail here, but has the same beneficial effect as the output voltage adjustment circuit of the joystick described above.

[0173] The present invention has provided a detailed description of a method, circuit, and handle for compensating for handle vibration noise. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the present invention.

[0174] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

Claims

1. A method for compensating for handle vibration noise, characterized in that, include: The vibration signal collected by the handle vibration sensor is acquired and converted into a signal to be detected; wherein the signal type of the signal to be detected includes at least one or more signals such as amplitude detection signal and frequency detection signal; The corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal; wherein, the target signal is the signal corresponding to the vibration noise when the handle is manufactured and / or the signal corresponding to the vibration noise acceptable to the user; The corresponding adjustment factors are converted to obtain compensation parameters for compensating the vibration signal; wherein, the types of signals to be detected include amplitude detection signals and frequency detection signals; the signals to be detected include a first signal to be detected and a second signal to be detected; the corresponding adjustment factors are converted to obtain compensation parameters, including: The priority is determined based on amplitude and frequency; a first adjustment factor is determined based on the first priority of the signal to be detected; a second adjustment factor is determined based on the second priority of the signal to be detected; wherein, the first adjustment factor is pre-mapped with the signal type of the first priority; a first acceleration value is determined based on the first adjustment factor of the first signal to be detected; a new second adjustment factor is determined based on the first acceleration value of the second signal to be detected; wherein, a mapping relationship is pre-established between the first acceleration, the detection type corresponding to the first priority, and the detection type corresponding to the second priority; the new second adjustment factor replaces the second adjustment factor; the first adjustment factor and the replaced second adjustment factor are respectively converted into corresponding compensation parameters. Alternatively, the priority is determined based on amplitude and frequency; a first adjustment factor is determined based on the first priority of the signal to be detected; a second adjustment factor is determined based on the second priority of the signal to be detected; wherein, the first adjustment factor is pre-mapped with the signal type of the first priority; a first acceleration value is determined based on the first adjustment factor of the signal to be detected; a second acceleration value is determined based on the second adjustment factor of the signal to be detected; if the difference between the first acceleration value and the second acceleration value is greater than a preset difference, the first acceleration value and the second acceleration value are averaged to obtain a third acceleration value; wherein, the acceleration value, the detection type corresponding to the first priority, and the detection type corresponding to the second priority are pre-mapped; a new first adjustment factor is determined based on the third acceleration value of the signal to be detected and a new second adjustment factor is determined based on the third acceleration value; the new first adjustment factor and the new second adjustment factor are respectively used to replace the first adjustment factor and the second adjustment factor; the replaced first adjustment factor and the replaced second adjustment factor are respectively converted into corresponding compensation parameters.

2. The method for compensating for handle vibration noise according to claim 1, characterized in that, There are multiple vibration sensors located at various positions on the handle motor housing near the motor; Acquire vibration signals collected by the handle vibration sensor, including: Acquire vibration signals from multiple vibration sensors over multiple acquisition cycles; The maximum vibration signal corresponding to different acquisition cycles is obtained as the first vibration signal within multiple acquisition cycles; The final vibration signal is obtained by preprocessing multiple first vibration signals; Alternatively, vibration signals from multiple acquisition cycles can be processed synchronously to obtain the final vibration signal.

3. The method for compensating for handle vibration noise according to claim 1, characterized in that, The target signals are a first target signal and a second target signal; wherein, the first target signal is the vibration noise signal corresponding to the handle at the time of manufacture, and the second target signal is the vibration noise signal acceptable to the user; the signal value of the second target signal is greater than the signal value of the first target signal; the corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal, including: Determine whether the difference between the signal to be detected and the first target signal is greater than a first preset difference; If the difference is greater than the first preset gap, the signal to be detected will be adjusted to the adjustment factor corresponding to the second target signal. If the difference is less than or equal to the first preset gap, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal.

4. The method for compensating for handle vibration noise according to claim 1, characterized in that, The target signals are a first target signal and a second target signal; wherein, the first target signal is the vibration noise signal corresponding to the handle at the time of manufacture, and the second target signal is the vibration noise signal acceptable to the user; the signal value of the second target signal is greater than the signal value of the first target signal; the corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal, including: Determine whether the difference between the signal to be detected and the first target signal is greater than a first preset difference; If the difference is greater than the first preset gap, the planned vibration noise corresponding to the signal to be detected is determined according to the mapping relationship between the manufacturing time of the handle and the signal corresponding to the vibration noise. If the loudness information corresponding to the signal to be detected is within the preset range of the loudness information of the planned vibration noise, the difference in loudness information between the two signals is determined based on the loudness information corresponding to the acceptable vibration noise of the planned vibration noise and the second target signal, respectively. If the loudness information gap is within the preset information gap range, the signal to be detected will be adjusted to the adjustment factor corresponding to the second target signal. If the difference is less than or equal to the first preset gap, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal.

5. The method for compensating for handle vibration noise according to claim 1, characterized in that, When the target signal is a single signal, the corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal, including: Determine whether the signal to be detected is equal to the target signal; If not, the first learning model is invoked; wherein, the input parameter of the first learning model is a signal to be detected; the training process of the first learning model is based on feature extraction and classification identification of the signal to be detected, the lifespan of the handle, and the vibration noise factors corresponding to the target signal to obtain the adjustment factor; The signal to be detected is used as the input parameter of the first learning model, and the output parameter of the first learning model is used as the adjustment factor.

6. The method for compensating for handle vibration noise according to claim 1, characterized in that, The target signals are a first target signal and a second target signal; wherein, the first target signal is the vibration noise signal corresponding to the handle at the time of manufacture, and the second target signal is the vibration noise signal acceptable to the user; the signal value of the second target signal is greater than the signal value of the first target signal; the corresponding adjustment factor is determined based on the difference between the signal to be detected and the target signal, including: Determine the difference relationship between the signal to be detected and the target signal; If the signal to be detected does not reach the minimum value of the second preset range corresponding to the second target signal, but exceeds the maximum value of the first preset range corresponding to the first target signal, then the second learning model is invoked; the signal to be detected is used as the input parameter of the second learning model, and the output parameter of the second learning model is obtained as the adjustment factor; wherein, the input parameter of the second learning model is multiple signals to be detected; the training process of the second learning model is based on feature extraction and classification of vibration noise factors corresponding to the signal to be detected and the target signal to obtain the adjustment factor; If the signal to be detected is greater than the maximum value of the second preset range corresponding to the second target signal, then the third learning model is invoked; the signal to be detected is used as the input parameter of the third learning model, and the output parameter of the third learning model is obtained as the adjustment factor; wherein, the input parameter of the third learning model is multiple signals to be detected; the training process of the third learning model is based on feature extraction and classification of the signal to be detected, the service life of the handle, and the vibration noise factors corresponding to the target signal to obtain the adjustment factor; the adjustment step size of the adjustment factor corresponding to the third learning model is greater than the adjustment step size of the adjustment factor corresponding to the second learning model; If the signal to be detected does not reach the minimum value of the first preset range corresponding to the first target signal, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal. If the signal to be detected is within the first preset range corresponding to the first target signal or within the second preset range corresponding to the second target signal, the signal to be detected will be adjusted to the adjustment factor corresponding to the first target signal or the second target signal.

7. A compensation circuit for handle vibration noise, characterized in that, The compensation circuit includes a vibration sensor, a sampling unit, and a detection unit; The vibration sensor, the sampling unit, and the detection unit are connected in sequence; The vibration sensor is located on the handle motor housing near the motor; The sampling unit is used to collect the vibration signal from the handle vibration sensor; The detection unit is used to convert the vibration signal into a signal to be detected; wherein the signal type of the signal to be detected includes at least one or more signals such as amplitude detection signal and frequency detection signal; determine the corresponding adjustment factor based on the difference between the signal to be detected and the target signal; wherein the target signal is the signal corresponding to the vibration noise at the time of manufacture of the handle and / or the signal corresponding to the vibration noise acceptable to the user; convert the corresponding adjustment factor to obtain compensation parameters to compensate for the vibration signal; wherein the signal type of the signal to be detected includes amplitude detection signal and frequency detection signal; the signal to be detected includes a first signal to be detected and a second signal to be detected; the conversion of the corresponding adjustment factor to obtain compensation parameters includes: The priority is determined based on amplitude and frequency; a first adjustment factor is determined based on the first priority of the signal to be detected; a second adjustment factor is determined based on the second priority of the signal to be detected; wherein, the first adjustment factor is pre-mapped with the signal type of the first priority; a first acceleration value is determined based on the first adjustment factor of the first signal to be detected; a new second adjustment factor is determined based on the first acceleration value of the second signal to be detected; wherein, a mapping relationship is pre-established between the first acceleration, the detection type corresponding to the first priority, and the detection type corresponding to the second priority; the new second adjustment factor replaces the second adjustment factor; the first adjustment factor and the replaced second adjustment factor are respectively converted into corresponding compensation parameters. Alternatively, the priority is determined based on amplitude and frequency; a first adjustment factor is determined based on the first priority of the signal to be detected; a second adjustment factor is determined based on the second priority of the signal to be detected; wherein, the first adjustment factor is pre-mapped with the signal type of the first priority; a first acceleration value is determined based on the first adjustment factor of the signal to be detected; a second acceleration value is determined based on the second adjustment factor of the signal to be detected; if the difference between the first acceleration value and the second acceleration value is greater than a preset difference, the first acceleration value and the second acceleration value are averaged to obtain a third acceleration value; wherein, the acceleration value, the detection type corresponding to the first priority, and the detection type corresponding to the second priority are pre-mapped; a new first adjustment factor is determined based on the third acceleration value of the signal to be detected and a new second adjustment factor is determined based on the third acceleration value; the new first adjustment factor and the new second adjustment factor are respectively used to replace the first adjustment factor and the second adjustment factor; the replaced first adjustment factor and the replaced second adjustment factor are respectively converted into corresponding compensation parameters.

8. A handle, characterized in that, The invention includes the handle vibration noise compensation circuit of claim 7, which is mounted on the mainboard of the detection circuit of the handle.

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