Control method and system based on flexible material resistance recognition, terminal and medium

Abstract

The invention discloses a control method and system based on flexible material resistance recognition, a terminal and a medium. Continuously reading a plurality of resistance values for the flexible material single-chip microcomputer, and determining an actual resistance value according to an average value of residual resistance values after the extreme value and the abnormal value are removed; the resistance extreme value of the flexible material single-chip microcomputer is obtained, and an updating method of the resistance extreme value comprises the steps that an extreme value queue is updated regularly, and the resistance extreme value is updated according to the extreme value queue through a linear approaching or binary approaching method; and determining a receiving signal of the control equipment according to the actual resistance value and the resistance extreme value. According to the method, the resistance value is filtered in a mode of eliminating extreme values and abnormal values. And the resistance extreme value is adaptively updated through a linear approaching or binary approaching method. The problem that the accuracy and the reliability of a control signal generated based on the flexible material single-chip microcomputer are reduced due to the fact that the resistance extreme value of the flexible material single-chip microcomputer which is used for multiple times is difficult to determine reasonably at present is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible materials, and in particular to a control method, system, terminal and medium based on flexible material resistance identification. Background Art

[0002] Flexible material microcontrollers have good flexibility, ductility and bendability, and there is a correlation between deformation and changes in resistance value. Therefore, flexible material microcontrollers can be arranged arbitrarily according to the application scenario. For example, they can be used to make clothing with health monitoring functions to monitor a person's pulse, breathing, tremor and other information, or they can be used to wrap around a person's hand to capture a person's hand movements at any time. However, related flexible materials have problems with resistance fatigue and interface wear. As the number of times the flexible material is used increases, the resistance may also increase. It is difficult to reasonably determine the resistance extreme value of the flexible material microcontroller after multiple uses, resulting in reduced accuracy and reliability of the control signal generated based on the flexible material microcontroller.

[0003] Therefore, the existing technology still needs to be improved and developed. Summary of the invention

[0004] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, a control method, system, terminal and medium based on flexible material resistance identification are provided, aiming to solve the problem in the prior art that it is difficult to reasonably determine the resistance extreme value of the flexible material microcontroller after multiple uses, resulting in reduced accuracy and reliability of the control signal generated based on the flexible material microcontroller.

[0005] The technical solution adopted by the present invention to solve the problem is as follows:

[0006] In a first aspect, an embodiment of the present invention provides a control method based on flexible material resistance identification, the method comprising:

[0007] Obtaining several resistance values ​​of the flexible material microcontroller that are continuously read, and determining the actual resistance value according to the average value of the remaining resistance values ​​after removing extreme values ​​and abnormal values;

[0008] Obtaining the resistance extreme value corresponding to the flexible material single chip microcomputer; wherein the method for updating the resistance extreme value during the use phase of the flexible material single chip microcomputer comprises: obtaining an updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method;

[0009] A receiving signal of a control device corresponding to the flexible material single chip microcomputer is determined according to the actual resistance value and the resistance extreme value.

[0010] In one embodiment, the extreme value includes a maximum value and a minimum value, and determining the actual resistance value according to the average value of the remaining resistance values ​​after removing the extreme value and the abnormal value includes:

[0011] Eliminate the maximum value and the minimum value among the resistance values, and use the remaining resistance values ​​as candidate resistance values;

[0012] Screening out abnormal values ​​among the candidate resistance values ​​according to the average values ​​of the candidate resistance values;

[0013] Eliminate abnormal values ​​from the candidate resistance values, and use the remaining resistance values ​​as target resistance values;

[0014] The actual resistance value is determined according to an average value of the target resistance values.

[0015] In one implementation, determining the actual resistance value according to the average value of each target resistance value includes:

[0016] Determining a practical resistance value according to an average value of each of the target resistance values;

[0017] Obtaining the cumulative number of bending times corresponding to the flexible material single chip microcomputer, and determining a predicted resistance value according to the practical resistance value and the cumulative number of bending times;

[0018] The actual resistance value is determined according to a weighted sum of the practical resistance value and the predicted resistance value.

[0019] In one embodiment, determining the predicted resistance value according to the practical resistance value and the accumulated bending times includes:

[0020] Determine a target segment prediction function from a preset multi-segment prediction function according to the accumulated bending times, and determine a target variable value according to the target segment prediction function; wherein different segments of the multi-segment prediction function correspond to different bending times ranges, and the multi-segment prediction function is obtained by fitting experimental data and is used to reflect the relationship between the resistance of the flexible material single-chip microcomputer and the bending times;

[0021] The predicted resistance value is determined according to the practical resistance value, the accumulated bending times, and the target variable value.

[0022] In one implementation, the resistance extreme value includes a resistance maximum value and a resistance minimum value, and the acquiring of the updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method, includes:

[0023] For the maximum value of resistance, if the updated extreme value queue has a larger value, the maximum value of resistance is updated by a binary approach method; if the updated extreme value queue has a smaller value, the maximum value of resistance is updated by a linear approach method;

[0024] For the minimum resistance value, if there is a smaller value in the updated extreme value queue, the minimum resistance value is updated by the binary approach method; if there is a larger value in the updated extreme value queue, the minimum resistance value is updated by the linear approach method.

[0025] In one embodiment, the linear approach method includes: shortening the distance value between the current value and the target value by a fixed unit distance; the binary approach method includes: shortening the distance value between the current value and the target value by a dynamically adjusted unit distance.

[0026] In one embodiment, determining a received signal of a control device corresponding to the flexible material single chip microcomputer according to the actual resistance value and the resistance extreme value includes:

[0027] Obtaining a signal value range corresponding to the control device;

[0028] determining a flexible material signal value according to the actual resistance value;

[0029] The received signal value is determined according to the flexible material signal value, the resistance extreme value and the signal value range.

[0030] In a second aspect, an embodiment of the present invention further provides a control system based on flexible material resistance identification, the system comprising:

[0031] A filtering module is used to obtain a number of resistance values ​​of the flexible material single chip microcomputer that are continuously read, and determine the actual resistance value according to the average value of the remaining resistance values ​​after eliminating extreme values ​​and abnormal values;

[0032] An updating module is used to obtain the resistance extreme value corresponding to the flexible material single chip microcomputer; wherein the updating method of the resistance extreme value during the use phase of the flexible material single chip microcomputer comprises: obtaining an updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method;

[0033] The control module is used to determine a receiving signal of a control device corresponding to the flexible material single chip microcomputer according to the actual resistance value and the resistance extreme value.

[0034] In a third aspect, an embodiment of the present invention further provides a terminal, comprising a memory and one or more processors; the memory stores one or more programs; the program includes instructions for executing a control method based on flexible material resistance identification as described in any one of the above; and the processor is used to execute the program.

[0035] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a plurality of instructions are stored, wherein the instructions are suitable for being loaded and executed by a processor to implement the steps of any of the control methods based on flexible material resistance identification as described above.

[0036] Beneficial effects of the present invention: The embodiment of the present invention filters the resistance value by eliminating extreme values ​​and abnormal values. And adaptively updates the resistance extreme value by linear approach or binary approach. It solves the problem that it is difficult to reasonably determine the resistance extreme value of the flexible material single-chip microcomputer after multiple uses, resulting in reduced accuracy and reliability of the control signal generated by the flexible material single-chip microcomputer. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a flow chart of a control method based on flexible material resistance identification provided by an embodiment of the present invention.

[0039] Figure 2 It is a schematic diagram of the use scenario of the flexible material single chip microcomputer and the control device provided in the embodiment of the present invention.

[0040] Figure 3 It is a schematic diagram of a single chip microcomputer control flow provided by an embodiment of the present invention.

[0041] Figure 4 It is a detailed flowchart of extreme value updating and manipulator control provided by an embodiment of the present invention.

[0042] Figure 5 It is a module schematic diagram of a control system based on flexible material resistance identification provided by an embodiment of the present invention.

[0043] Figure 6 It is a principle block diagram of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention discloses a control method, system, terminal and medium based on flexible material resistance identification. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0046] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0047] In view of the above-mentioned defects of the prior art, the present invention provides a control method based on flexible material resistance identification, wherein the method obtains several resistance values ​​of the flexible material single-chip microcomputer read continuously, and determines the actual resistance value according to the average value of the remaining resistance value after eliminating the extreme value and the abnormal value; obtains the resistance extreme value corresponding to the flexible material single-chip microcomputer; wherein, the method for updating the resistance extreme value during the use phase of the flexible material single-chip microcomputer includes: obtaining the updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method; and determining the receiving signal of the control device corresponding to the flexible material single-chip microcomputer according to the actual resistance value and the resistance extreme value. The present invention filters the resistance value of the flexible material single-chip microcomputer by eliminating the extreme value and the abnormal value. And the resistance extreme value is adjusted by a linear approach method and / or a binary approach method to realize the adaptive update of the resistance extreme value. The problem that the accuracy and reliability of the control signal generated based on the flexible material single-chip microcomputer are reduced due to the difficulty in reasonably determining the resistance extreme value of the flexible material single-chip microcomputer after multiple uses is solved.

[0048] like Figure 1 As shown, the method specifically comprises the following steps:

[0049] Step S100 , obtaining a plurality of resistance values ​​of the flexible material single chip microcomputer that are continuously read, and determining the actual resistance value according to the average value of the remaining resistance values ​​after eliminating extreme values ​​and abnormal values.

[0050] Specifically, Figure 2 As shown, the flexible material single-chip microcomputer of this embodiment can be used as a deformation resistance sensitive sensor and arranged on the user's hand. By cooperating with multiple flexible material single-chip microcomputers, different gesture information can be captured in real time. In actual application scenarios, when the user's fingers move, it will trigger the skin morphology of the hand to change, which will then cause the flexible material single-chip microcomputer to deform and change the read resistance value. However, due to material interface problems or the use of single-chip microcomputers for identification or accidental circumstances, inaccurate resistance may rarely appear in the process of reading resistance, and the inaccurate resistance may be much larger or smaller than the actual maximum or minimum value. Therefore, this embodiment realizes the filtering process of the resistance value of the flexible material single-chip microcomputer by eliminating extreme values ​​and abnormal values, thereby improving the accuracy and reliability of subsequent data processing.

[0051] In one implementation, the flexible material single chip microcomputer is constructed based on a flexible material that is sensitive to linear changes in deformation resistance, and the flexible material is generated based on a PI film etched with a preset pattern.

[0052] Specifically, this embodiment uses laser etching technology to etch a specific pattern on the PI film to prepare a flexible material that is sensitive to deformation resistance. The flexible material can be in the form of a thin film, and the specific shape can be a strip or a snake, so that the flexible material has greater elastic deformation and maintains conformal contact with the skin. It should be noted that after a specific pattern is etched on the PI film by laser, the bending deformation amount and the resistance are linearly related. Although the resistance weakness of the flexible material or the wearability of the interface will increase with the increase in the number of uses, the resistance after the increase is tested to be overall orderly due to the microscopic disorder, and the overall resistance is linearly related.

[0053] In one implementation, the extreme value includes a maximum value and a minimum value, and determining the actual resistance value according to the average value of the remaining resistance values ​​after removing the extreme value and the abnormal value includes:

[0054] Eliminate the maximum value and the minimum value among the resistance values, and use the remaining resistance values ​​as candidate resistance values;

[0055] Screening out abnormal values ​​among the candidate resistance values ​​according to the average values ​​of the candidate resistance values;

[0056] Eliminate abnormal values ​​from the candidate resistance values, and use the remaining resistance values ​​as target resistance values;

[0057] The actual resistance value is determined according to an average value of the target resistance values.

[0058] Specifically, since the variable resistance is read, the filtering process of this embodiment does not adopt the double threshold method, but continuously reads several resistance values, and then calculates the average value after removing the maximum and minimum values. Usually, in a very short time, the resistance change should not exceed the average value too much or be too much lower than the average value. Therefore, this embodiment can use the above-calculated average value as a reference value to filter out the abnormal values ​​in the remaining resistance values ​​and remove them. After removing the extreme values ​​and abnormal values, all the remaining resistance values ​​are calculated to get the actual resistance value at the current moment.

[0059] For example, the data processing steps of the filtering algorithm include: reading 7 resistance values ​​continuously, then removing the maximum and minimum values, and calculating the average resistance value. For the remaining 5 resistance values, the resistance change should not exceed twice the average value or be less than 1 / 2 in a very short time, so as to screen out abnormal resistance values. Eliminate resistance values ​​that exceed the average resistance value by 2 / 1.2 = 1.6 times, and resistance values ​​that are less than the average resistance value by 0.5 / (4.5 / 5) = 0.56 times. Finally, take the average value of the remaining resistance values ​​as the actual resistance value at the current moment.

[0060] In one implementation, determining the actual resistance value according to the average value of each target resistance value includes:

[0061] Determining a practical resistance value according to an average value of each of the target resistance values;

[0062] Obtaining the cumulative number of bending times corresponding to the flexible material single chip microcomputer, and determining a predicted resistance value according to the practical resistance value and the cumulative number of bending times;

[0063] The actual resistance value is determined according to a weighted sum of the practical resistance value and the predicted resistance value.

[0064] Specifically, since too many bending times of the flexible material may affect the performance, in order to further improve the reliability of the data, this embodiment adopts a fusion strategy to determine the final actual resistance value. This embodiment predicts the data based on the bending condition of the flexible material to obtain the predicted resistance value, and adopts a reading method to obtain the practical resistance value, and fuses the predicted resistance value and the practical resistance value to obtain the final actual resistance value. In the actual application scenario, all target resistance values ​​are read and filtered to obtain the resistance values ​​retained, and the average value of all target resistance values ​​is calculated to obtain the practical resistance value. Then a resistance value is predicted by the practical resistance value and the cumulative number of bending times, that is, the predicted resistance value is obtained. The user can predetermine the weight values ​​of the predicted resistance value and the practical resistance value according to the usage scenario or task type, and then fuse the two resistance values ​​in a weighted manner to obtain the final actual resistance value.

[0065] For example, the resistance calculation formula (fusion algorithm) based on the fusion strategy can be:

[0066] Actual resistance value = α practical resistance value + (1-α) predicted resistance value;

[0067] Among them, α and 1-α are the set weight values.

[0068] In one implementation, determining the predicted resistance value according to the practical resistance value and the accumulated bending times includes:

[0069] Determine a target segment prediction function from a preset multi-segment prediction function according to the accumulated bending times, and determine a target variable value according to the target segment prediction function; wherein different segments of the multi-segment prediction function correspond to different bending times ranges, and the multi-segment prediction function is obtained by fitting experimental data and is used to reflect the relationship between the resistance of the flexible material single-chip microcomputer and the bending times;

[0070] The predicted resistance value is determined according to the practical resistance value, the accumulated bending times, and the target variable value.

[0071] Specifically, as the number of times the flexible material is used increases, the flexible resistance will change, that is, the corresponding relationship between the resistance value and the bending angle of the flexible material may also change. Therefore, how to correctly determine the bending angle corresponding to the current resistance value is the key point for subsequent device control. In this embodiment, the cumulative number of bending times of the flexible material is used as one of the parameters to calculate the predicted resistance value, taking into account the influence of the number of times used on the flexible resistance. Specifically, the predicted resistance value in this embodiment is calculated by the practical resistance value, the cumulative number of bending times and a specific variable value. The flexible material of the specified shape is experimented in advance, and the experimental data can reflect the relationship between the number of bending times and the change of resistance. Since the experimental phenomenon shows that the resistance increase phenomenon of the flexible material becomes extremely slow after the number of bending times reaches a certain critical value, a multi-segment prediction function can be fitted according to the experimental data, and the variable value can have different values ​​in different segments of the multi-segment prediction function. In the actual application scenario, after obtaining the current practical resistance value, the current cumulative number of bending times is used to determine which segment of the multi-segment prediction function is used, and the segment is the target segment prediction function, and the variable value corresponding to the target segment prediction function is the target variable value. The predicted resistance value is calculated by the practical resistance value, the cumulative number of bending times and the target variable value.

[0072] For example, an experiment is conducted on a flexible material of a specific shape to obtain the resistance values ​​corresponding to different bending times. The experimental data is fitted to obtain the experimental fitting formula of this shape, that is, the resistance-bending prediction formula (prediction algorithm):

[0073] Predicted resistance value = experimental resistance value * bending times * (1 + β);

[0074] Among them, the experimental resistance value obtained in the experiment corresponds to the practical resistance value obtained in actual application; β corresponds to the aforementioned variable value. According to the experimental phenomenon, a multi-segment function is fitted, that is, the β value can be different according to the segment function. Taking the second segment as an example, according to the laser power travel speed and etching shape, β is defined as 5*10 -6 and 1*10 -7 , with 100,000 times as the dividing point.

[0075] Step S200, obtaining the resistance extreme value corresponding to the flexible material single chip microcomputer; wherein, the method for updating the resistance extreme value during the use phase of the flexible material single chip microcomputer includes: obtaining an updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method.

[0076] Specifically, the resistance extreme value includes the resistance maximum value and the resistance minimum value. During the use stage of the flexible material single-chip microcomputer, in order to reasonably determine the resistance extreme value, the present embodiment will use a queue to store the resistance extreme values ​​collected in the last few times to obtain an extreme value queue. Then update the extreme value queue. When a new extreme value is generated, add it to the end of the extreme value queue. If the length of the extreme value queue exceeds the preset value (that is, the data storage capacity is greater than the preset value), remove the old extreme value at the head of the extreme value queue, thereby ensuring that the length of the extreme value queue remains constant. In order to further reasonably determine the resistance extreme value of the flexible material single-chip microcomputer, the present embodiment will not directly update the resistance extreme value through the extreme value queue, but will judge the relationship between the current extreme value and the average value of the extreme value queue, and then use binary or linear approach to finally realize the update process of the resistance extreme value.

[0077] In one implementation, during the initial startup phase of the flexible material single chip microcomputer, the resistance extreme value may be determined according to a preset value.

[0078] In another implementation, during the initial startup phase of the flexible material microcontroller, within a preset time period, a human hand to which the flexible material microcontroller is attached performs a preset action, and reads the material resistance of the flexible material microcontroller at a first preset frequency, and updates the historically collected resistance extreme value at a second predicted frequency, retains several of them, and obtains the initial resistance extreme value by averaging.

[0079] For example, in the initial startup phase: within 10s or 5s, the human hand with the flexible material microcontroller attached will make a fist and stretch out the palm, and the material resistance will be read X times per second. The historical extreme value will be updated Y times, and Z of them will be retained, and the average will be taken as the final resistance extreme value.

[0080] In one implementation, the resistance extreme value includes a resistance maximum value and a resistance minimum value, and the acquiring of the updated extreme value queue and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method include:

[0081] For the maximum value of resistance, if the updated extreme value queue has a larger value, the maximum value of resistance is updated by a binary approach method; if the updated extreme value queue has a smaller value, the maximum value of resistance is updated by a linear approach method;

[0082] For the minimum resistance value, if there is a smaller value in the updated extreme value queue, the minimum resistance value is updated by the binary approach method; if there is a larger value in the updated extreme value queue, the minimum resistance value is updated by the linear approach method.

[0083] In summary, this embodiment sets different update strategies for the maximum resistance value and the minimum resistance value, that is, the maximum resistance value and the minimum resistance value are distinguished for updating, and different update strategies are also set for different situations of the updated extreme value queue to improve the accuracy of the update of the extreme resistance value. Specifically, for the maximum resistance value, check whether there is a larger value (i.e., a value larger than the historical resistance maximum value) in the updated extreme value queue. If there is a larger value, the binary approach method is used to update the maximum resistance value to gradually approach the larger value; check whether there is a smaller value (i.e., a value smaller than the historical resistance maximum value) in the updated extreme value queue. If there is a smaller value, the linear approach method is used to update the maximum resistance value to gradually approach the smaller value. For the minimum resistance value, check whether there is a smaller value (i.e., a value smaller than the minimum resistance value recorded in the history) in the updated extreme value queue. If there is a smaller value, the minimum resistance value is updated using a binary approach method to gradually approach the smaller value; check whether there is a larger value in the updated extreme value queue. If there is a larger value (i.e., a value larger than the minimum resistance value recorded in the history), the minimum resistance value is updated using a linear approach method to gradually approach the larger value. The adaptive adjustment method for the resistance extreme value provided in this embodiment can better cope with unknown future resistance changes during the use stage of the flexible material single-chip microcomputer.

[0084] For example, during the use phase of the flexible material microcontroller, the data processing steps of the adaptive algorithm include: updating the extreme value queue every x seconds, taking the average after every x updates, and then performing the above-mentioned adaptive adjustment to modify the current maximum value according to the historical average extreme value queue. Adaptive adjustment method: For the maximum value, when a larger value appears, binary approach is performed, and when a smaller value appears, linear approach is performed; for the minimum value, when a smaller value appears, binary approach is performed, and when a larger value appears, linear approach is performed.

[0085] In one implementation, the linear approach method includes: shortening the distance value between the current value and the target value by a fixed unit distance; the binary approach method includes: shortening the distance value between the current value and the target value by a dynamically adjusted unit distance.

[0086] Specifically, the current value in this embodiment refers to the resistance extreme value to be updated, and the target value refers to the resistance extreme value expected to be achieved. The linear approach method is to gradually approach in a linear manner, that is, to shorten the distance between the current value and the target value by a fixed unit distance; the binary approach method is to adjust with a dynamic amplitude, that is, to shorten the distance between the current value and the target value by a dynamically adjusted unit distance.

[0087] For example, the linear approach method may be to divide the distance into a preset number of parts (eg, 16 parts), and increase one part every time a unit of time passes; the binary approach method may be to approach according to 84211 unit distances.

[0088] Step S300: determining a receiving signal of a control device corresponding to the flexible material single chip microcomputer according to the actual resistance value and the resistance extreme value.

[0089] Specifically, the present embodiment adopts the actual resistance value and the optimized resistance extreme value, which can more accurately generate the receiving signal of the control device, thereby improving the timeliness and accuracy of the remote control.

[0090] For example, Figure 2 As shown, the flexible material microcontroller is set on the user's finger, and the control device can be a robot. The user's gesture changes are recognized by the resistance change of the flexible material microcontroller, and a receiving signal of the robot is generated, so that the robot performs an action corresponding to the user's gesture.

[0091] In one implementation, determining a received signal of a control device corresponding to the flexible material single chip microcomputer according to the actual resistance value and the resistance extreme value includes:

[0092] Obtaining a signal value range corresponding to the control device;

[0093] determining a flexible material signal value according to the actual resistance value;

[0094] The received signal value is determined according to the flexible material signal value, the resistance extreme value and the signal value range.

[0095] After determining the maximum and minimum resistance values, this embodiment will interpolate the actual resistance value to correctly calculate the bending angle corresponding to the flexible material at this time, and generate a receiving signal of the control device. Specifically, the signal value range of the control device can reflect the amplitude range of its execution action. For example, if the control device is a manipulator, the signal value range of the manipulator can reflect the range of its executable bending angles (i.e., the minimum and maximum angles of finger bending). Finally, the flexible material signal value is determined according to the current actual resistance value. Through the flexible material signal value, the resistance extreme value and the signal value range, an accurate and feasible receiving signal value of the control device is comprehensively generated, thereby realizing the control of the control device by the flexible material at a very low cost.

[0096] For example, Figure 3As shown in the figure, when the control device is a manipulator, the flexible material and the manipulator are controlled by a single chip microcomputer respectively, and data is exchanged through Bluetooth. The signal range of the manipulator controlled by the single chip microcomputer is [L, r], the extreme value of the flexible material is [a, b], the received signal value of the manipulator is signal_m, and the signal value of the flexible material is signal_x. The calculation formula for the received signal value is (interpolation algorithm):

[0097] signal_m=(signal_x-a) / (ba)*(rL)+l.

[0098] like Figure 4 As shown, in order to facilitate understanding of the present technical solution, this embodiment provides a complete extreme value update and manipulator control process:

[0099] Step S1. Start the manipulator and the flexible material microcontroller;

[0100] Step S2. Startup phase: determine the initial extreme value;

[0101] Step S3. Determine the current material signal value according to the filtering algorithm;

[0102] Step S4. Correcting the current material signal value according to the fusion algorithm;

[0103] Step S5. Controlling the manipulator according to the interpolation algorithm;

[0104] Step S6. Determine whether a new extreme value appears; if no new extreme value appears, continue to execute step S5; if a new extreme value appears, insert the new extreme value into the update queue to determine whether the update number is reached. If the update number is reached, decide to use a linear approach or a binary approach algorithm to modify the extreme value based on the relationship between the extreme value and the historical extreme value. If the update number is not reached, continue to execute step S5;

[0105] Step S7: Shut down.

[0106] Among them, the extreme value corresponds to the aforementioned resistance extreme value, including the resistance maximum value and the resistance minimum value; the initial extreme value corresponds to the aforementioned resistance extreme value in the initial startup phase; the current material signal value corresponds to the aforementioned flexible material signal value; and the queue corresponds to the aforementioned extreme value queue.

[0107] The advantages of the present invention are: after using a new type of flexible material, resistance identification is performed based on the aforementioned filtering method and adaptive method, which is low-cost and requires little calculation. Specifically, the flexible device can be controlled to design a flexible skin solution and a corresponding control algorithm and control logic. Through the aforementioned filtering algorithm, adaptive algorithm, prediction algorithm based on the experimental conclusion of the relationship between the number of times and resistance, and fusion algorithm, the current control difficulty of how to determine the minimum resistance value and the maximum resistance value is solved together.

[0108] Based on the above embodiments, the present invention also provides a control system based on flexible material resistance identification, such as Figure 5 As shown, the system comprises:

[0109] The filter module 01 is used to obtain a number of resistance values ​​of the flexible material microcontroller that are continuously read, and determine the actual resistance value according to the average value of the remaining resistance values ​​after removing extreme values ​​and abnormal values;

[0110] The updating module 02 is used to obtain the resistance extreme value corresponding to the flexible material single chip microcomputer; wherein the method for updating the resistance extreme value during the use phase of the flexible material single chip microcomputer includes: obtaining an updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method;

[0111] The control module 03 is used to determine the receiving signal of the control device corresponding to the flexible material single chip microcomputer according to the actual resistance value and the resistance extreme value.

[0112] It should be noted that the above explanation of the control method embodiment based on flexible material resistance identification is also applicable to the control system based on flexible material resistance identification in this embodiment, which will not be described in detail here.

[0113] Based on the above embodiment, the present invention further provides a terminal, whose principle block diagram can be shown as follows: Figure 6 As shown. The terminal includes a processor, a memory, a network interface, and a display screen connected through a system bus. Among them, the processor of the terminal is used to provide computing and control capabilities. The memory of the terminal includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the terminal is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method based on flexible material resistance identification is implemented. The display screen of the terminal can be a liquid crystal display screen or an electronic ink display screen.

[0114] Those skilled in the art will understand that Figure 6 The principle block diagram shown in the figure is only a block diagram of a partial structure related to the scheme of the present invention, and does not constitute a limitation on the terminal to which the scheme of the present invention is applied. The specific terminal may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0115] In one implementation, the memory of the terminal stores one or more programs, and is configured to be executed by one or more processors. The one or more programs include instructions for performing a control method based on flexible material resistance identification.

[0116] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0117] In summary, the present invention discloses a control method, system, terminal and medium based on flexible material resistance identification. The method obtains several resistance values ​​of the flexible material single-chip microcomputer read continuously, and determines the actual resistance value according to the average value of the remaining resistance value after eliminating the extreme value and the abnormal value; obtains the resistance extreme value corresponding to the flexible material single-chip microcomputer; wherein, the method for updating the resistance extreme value during the use phase of the flexible material single-chip microcomputer includes: obtaining the updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method; according to the actual resistance value and the resistance extreme value, determining the receiving signal of the control device corresponding to the flexible material single-chip microcomputer. The present invention filters the resistance value of the flexible material single-chip microcomputer by eliminating the extreme value and the abnormal value. And the resistance extreme value is adjusted by a linear approach method and / or a binary approach method to realize the adaptive update of the resistance extreme value. The problem that the accuracy and reliability of the control signal generated based on the flexible material single-chip microcomputer are reduced due to the difficulty in reasonably determining the resistance extreme value of the flexible material single-chip microcomputer after multiple uses is solved.

[0118] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A control method based on flexible material resistance identification, characterized in that: The method comprises: Obtaining several resistance values ​​of the flexible material microcontroller that are continuously read, and determining the actual resistance value according to the average value of the remaining resistance values ​​after removing extreme values ​​and abnormal values; Obtaining the resistance extreme value corresponding to the flexible material single chip microcomputer; wherein the method for updating the resistance extreme value during the use phase of the flexible material single chip microcomputer comprises: obtaining an updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method; A receiving signal of a control device corresponding to the flexible material single chip microcomputer is determined according to the actual resistance value and the resistance extreme value.

2. The control method based on flexible material resistance identification according to claim 1 is characterized in that: The extreme value includes a maximum value and a minimum value, and the actual resistance value is determined according to the average value of the remaining resistance values ​​after removing the extreme value and the abnormal value, including: Eliminate the maximum value and the minimum value among the resistance values, and use the remaining resistance values ​​as candidate resistance values; Screening out abnormal values ​​among the candidate resistance values ​​according to the average values ​​of the candidate resistance values; Eliminate abnormal values ​​from the candidate resistance values, and use the remaining resistance values ​​as target resistance values; The actual resistance value is determined according to an average value of the target resistance values.

3. The control method based on flexible material resistance identification according to claim 2 is characterized in that: The determining the actual resistance value according to the average value of each target resistance value includes: Determining a practical resistance value according to an average value of each of the target resistance values; Obtaining the cumulative number of bending times corresponding to the flexible material single chip microcomputer, and determining a predicted resistance value according to the practical resistance value and the cumulative number of bending times; The actual resistance value is determined according to a weighted sum of the practical resistance value and the predicted resistance value.

4. The control method based on flexible material resistance identification according to claim 3 is characterized in that: The step of determining the predicted resistance value according to the practical resistance value and the accumulated bending times includes: Determine a target segment prediction function from a preset multi-segment prediction function according to the accumulated bending times, and determine a target variable value according to the target segment prediction function; wherein different segments of the multi-segment prediction function correspond to different bending times ranges, and the multi-segment prediction function is obtained by fitting experimental data and is used to reflect the relationship between the resistance of the flexible material single-chip microcomputer and the bending times; The predicted resistance value is determined according to the practical resistance value, the accumulated bending times, and the target variable value.

5. The control method based on flexible material resistance identification according to claim 1, characterized in that: The resistance extreme value includes a resistance maximum value and a resistance minimum value, and the acquiring of the updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method, includes: For the maximum value of resistance, if the updated extreme value queue has a larger value, the maximum value of resistance is updated by a binary approach method; if the updated extreme value queue has a smaller value, the maximum value of resistance is updated by a linear approach method; For the minimum resistance value, if there is a smaller value in the updated extreme value queue, the minimum resistance value is updated by the binary approach method; if there is a larger value in the updated extreme value queue, the minimum resistance value is updated by the linear approach method.

6. The control method based on flexible material resistance identification according to claim 5, characterized in that: The linear approach method includes: shortening the distance value between the current value and the target value according to a fixed unit distance; the binary approach method includes: shortening the distance value between the current value and the target value according to a dynamically adjusted unit distance.

7. The control method based on flexible material resistance identification according to claim 1, characterized in that: The step of determining a receiving signal of a control device corresponding to the flexible material single chip microcomputer according to the actual resistance value and the resistance extreme value includes: Obtaining a signal value range corresponding to the control device; determining a flexible material signal value according to the actual resistance value; The received signal value is determined according to the flexible material signal value, the resistance extreme value and the signal value range.

8. A control system based on flexible material resistance identification, characterized in that: The system comprises: A filtering module is used to obtain a number of resistance values ​​of the flexible material single chip microcomputer that are continuously read, and determine the actual resistance value according to the average value of the remaining resistance values ​​after eliminating extreme values ​​and abnormal values; An updating module is used to obtain the resistance extreme value corresponding to the flexible material single chip microcomputer; wherein the updating method of the resistance extreme value during the use phase of the flexible material single chip microcomputer comprises: obtaining an updated extreme value queue, and updating the resistance extreme value according to the extreme value queue by a linear approach method or a binary approach method; The control module is used to determine a receiving signal of a control device corresponding to the flexible material single chip microcomputer according to the actual resistance value and the resistance extreme value.

9. A terminal, characterized in that: The terminal includes a memory and one or more processors; the memory stores one or more programs; the program contains instructions for executing the control method based on flexible material resistance identification as described in any one of claims 1-7; and the processor is used to execute the program.

10. A computer-readable storage medium having a plurality of instructions stored thereon, characterized in that: The instructions are suitable for being loaded and executed by a processor to implement the steps of the control method based on flexible material resistance identification as described in any one of claims 1 to 7 above.

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