Motor control method and device, equipment, storage medium and computer program product

Abstract

The invention discloses a motor control method and device, equipment, a storage medium and a computer program product. The method comprises the following steps that the gesture type of a user is determined through parameters collected by a capacitance film and a pressure film; selecting a gesture type result from a database of the gesture types according to the gesture types; and controlling a motor to generate corresponding vibration according to the gesture type corresponding to the gesture type result. The invention aims to solve the problems that the detection precision is poor and the detection is limited by multiple factors when a single sensor is used for acquiring information data. In order to overcome the limitations, a multi-sensor fusion technology is adopted for gesture recognition, so that a better effect is achieved.

Description

Technical Field

[0001] The present application relates to the field of gesture recognition, and in particular to a motor control method, device, equipment, storage medium and computer program product. Background Art

[0002] With the continuous development of technologies such as artificial intelligence and machine learning, gesture recognition technology is also making continuous progress. However, the current gesture recognition technology still faces some challenges, such as the recognition accuracy in complex environments: in complex environments such as too bright or too dark light, and the gesture is far away from the acquisition device, the accuracy of gesture recognition may be affected. Gesture recognition through a touchpad is an important way, which usually works by sensing the contact and sliding of fingers on the panel. The touchpad has an integrated pressure sensor that can detect the tiny movements of the fingers and convert these movements into electronic signals, which are then recognized and processed by computers or other electronic devices. This technology allows users to easily click, scroll, zoom, and perform other operations without an external mouse or keyboard. In the existing methods for detecting gestures on the market, a single sensor is often used to obtain information data, which has the problem of poor detection accuracy and is restricted by multiple factors. Gesture detection solutions based on multi-sensor fusion technology will be more widely used. At the same time, with the continuous development of artificial intelligence technology, gesture recognition systems will also become more intelligent and personalized, and can better adapt to the needs and habits of different users.

[0003] In order to meet these challenges, researchers are constantly exploring new algorithms and technologies, such as deep learning and multimodal fusion, to improve the accuracy and robustness of gesture recognition. At the same time, with the improvement of hardware performance and the popularization of technologies such as 5G and cloud computing, gesture recognition technology that obtains information through different sensors will become more popular and convenient, bringing more innovations and breakthroughs to the field of human-computer interaction. Summary of the invention

[0004] The main purpose of this application is to provide a motor control method, which aims to solve the problem that the existing method uses a single sensor to obtain information data, which has poor detection accuracy and is limited by multiple factors. In order to overcome these limitations, the use of multi-sensor fusion technology for gesture recognition has better results.

[0005] To achieve the above object, the present application provides a motor control method, the method comprising the following steps:

[0006] Determine the user's gesture type through parameters collected by the capacitive film and the pressure film;

[0007] According to the gesture type, selecting a gesture type result from a database of the gesture type;

[0008] According to the gesture type corresponding to the gesture type result, a motor is controlled to generate corresponding vibration.

[0009] In one embodiment, the step of determining the user's gesture type through parameters collected by the capacitive film and the pressure film further includes:

[0010] Detecting capacitance parameters presented by the user's gesture through the capacitive film;

[0011] Detecting pressure parameters presented by the user's gesture through the pressure film;

[0012] The gesture type corresponding to the output interrupt signal is determined according to the capacitance parameter and the pressure electrical parameter.

[0013] In one embodiment, the step of determining the gesture type corresponding to the output interrupt signal according to the capacitance parameter and the pressure electrical parameter further includes:

[0014] When the interrupt signal is sent by the capacitive film, determining that the gesture type corresponding to the user is a touch gesture;

[0015] When the interrupt signal is sent by the pressure membrane, it is determined that the gesture type corresponding to the user is a pressure gesture.

[0016] In one embodiment, the step of controlling the motor to generate corresponding vibration according to the gesture type corresponding to the gesture type result further includes:

[0017] determining a vibration waveform of the motor according to the gesture type corresponding to the gesture type result;

[0018] The motor is driven to generate corresponding vibration according to the vibration waveform.

[0019] In one embodiment, the step of determining the vibration waveform of the motor according to the gesture type corresponding to the gesture type result further includes:

[0020] When the gesture type corresponding to the user is a touch gesture, determining that the vibration waveform of the motor is a sine wave;

[0021] When the gesture type corresponding to the user is a pressure gesture, the vibration waveform of the motor is determined to be a square wave.

[0022] In one embodiment, before the step of determining the user's gesture type by using parameters collected by the capacitive film and the pressure film, the method further includes:

[0023] Detecting the working status of the capacitive membrane and the pressure membrane;

[0024] When the working states of the capacitive film and the pressure film are both in a normal working state, the step of collecting the user's gesture type through the capacitive film and the pressure film is performed.

[0025] In addition, to achieve the above-mentioned purpose, the present application also provides a motor control device, the device comprising: a gesture determination module, a gesture acquisition module and a motor control module;

[0026] The gesture determination module is used to determine the user's gesture type through parameters collected by the capacitive film and the pressure film;

[0027] The gesture acquisition module is used to select and obtain a gesture type result from the gesture type database according to the gesture type;

[0028] The motor control module is used to control the motor to generate corresponding vibration according to the gesture type corresponding to the gesture type result.

[0029] In addition, to achieve the above-mentioned purpose, the present application also provides a motor control device, which includes: a memory, a processor, and a motor control processing program stored in the memory and executable on the processor, and the motor control processing program implements the steps of the above-mentioned motor control method when executed by the processor.

[0030] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a motor control processing program is stored on the computer storage medium. When the motor control processing program is executed by the processor, the steps of the above-mentioned motor control method are implemented.

[0031] In addition, to achieve the above objectives, the present application also provides a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0032] The above one or more technical solutions provided by this application may have the following advantages or at least achieve the following technical effects:

[0033] The present application discloses a motor control method, which relates to the field of gesture recognition. The technical method includes the following steps: determining the user's gesture type through parameters collected by a capacitive film and a pressure film; selecting a gesture type result from a database of the gesture type according to the gesture type; and controlling the motor to generate corresponding vibrations according to the gesture type corresponding to the gesture type result. The technical solution of the present application obtains the user's gesture type based on the interaction information with the device; judges the gesture type based on the interrupt signal of the capacitive film and the pressure film; traverses the database corresponding to the gesture type according to the judged gesture type; identifies the specific gesture type according to the result of the database of the gesture type, and controls the motor to generate corresponding vibrations. The present application aims to solve the problem that a single sensor obtains information data with poor detection accuracy and is restricted by multiple factors. In order to overcome these limitations, the use of multi-sensor fusion technology for gesture recognition has better results. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application 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 of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0035] Figure 1 is a flow chart of a first embodiment of a motor control method proposed in an embodiment of the present application;

[0036] Figure 2 A schematic flow chart of a second embodiment of the motor control method proposed in the present application;

[0037] Figure 3 This is a flow chart of Embodiment 3 of the motor control method proposed in the embodiment of the present application.

[0038] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0042] In order to accurately identify the gesture type, this application will introduce in detail a method for gesture recognition and control based on a capacitive film, a pressure film and a linear motor. This method has the advantages of simple structure and high reliability, and can meet the application requirements in different scenarios.

[0043] This method combines capacitive film, pressure film and linear motor to achieve accurate gesture recognition and instant feedback. Capacitive film sensor is mainly used to detect the change in capacitance when a finger or other conductive object approaches or touches the screen. The position and movement trajectory of the fingertip are identified by measuring the change in capacitance to ground. Pressure film sensor is installed on the surface or inside of the device and is mainly used to detect the pressure applied to the sensor. When the user presses with different forces, the pressure film will deform, resulting in changes in capacitance or resistance, thereby identifying pressure gestures. The microprocessor is mainly responsible for receiving data from the capacitive film and pressure film sensors. The data is processed and analyzed to identify the user's gestures (such as light touch, long press, slide, press, etc.). According to the instructions of the microprocessor, the linear motor will generate vibrations of different intensities and patterns to provide gesture feedback to the user. The capacitive film and pressure film sensors continuously monitor the interaction between the user and the device and send the collected data (change in capacitance or resistance) to the microprocessor. After receiving the data, the microprocessor processes and analyzes the data through a preset algorithm. According to the different combinations of values ​​returned by the capacitive film and pressure film sensors, the current gesture type is determined. Once a gesture is recognized, the microprocessor sends a corresponding control signal to the linear motor. The linear motor starts quickly according to the control signal, generating vibrations of a specific intensity and pattern to remind the user that the gesture has been recognized and give corresponding feedback. Users interact with the device through different gestures, such as tapping the screen to select options, long pressing to activate specific functions, and sliding to browse content. The device responds to the user's gesture operation instantly through the vibration feedback of the linear motor, improving the user experience.

[0044] Based on this, the present application provides a motor control method, which aims to solve the problem that a single sensor has poor detection accuracy and is limited by multiple factors when acquiring information data. In order to overcome these limitations, the use of multi-sensor fusion technology for gesture recognition has better results.

[0045] This application proposes a motor control method of the first embodiment, please refer to Figure 1 , the motor control method comprises steps S10 to S30:

[0046] Step S10, determining the user's gesture type through parameters collected by the capacitive film and the pressure film;

[0047] Step S20, selecting a gesture type result from a database of gesture types according to the gesture type;

[0048] Step S30: controlling a motor to generate corresponding vibration according to the gesture type corresponding to the gesture type result.

[0049] It should be noted that in this embodiment, the capacitive film, as a sensor element, mainly works on the basis of the characteristics of capacitance, and is usually composed of a thin film capacitive screen and a layer of sensing electrodes. The thin film capacitive screen is covered with a layer of conductive material. When a finger touches the screen, the electric field distribution of the conductive material is affected. When a finger touches the capacitive screen, the charge of the human body changes the capacitance value of the capacitive screen. The sensing electrode detects the change in this capacitance value and converts it into an electrical signal, thereby realizing touch operation and gesture recognition. This change is based on the change recognition process of the capacitance value of the ground formed between the finger and the capacitive screen. When the finger approaches the capacitive touch screen, an additional capacitor is added to the original capacitance system, thereby changing the overall capacitance value. The sensing electrode determines the position of the finger by detecting the change in capacitance value. Although this change is tiny, modern capacitive film sensors can accurately detect these changes and convert them into processable data. By comprehensively analyzing the capacitance value changes of multiple touch points, the system can recognize complex gestures such as sliding, zooming, rotating, etc. As an important component of the capacitive touch screen, the capacitive film realizes accurate recognition of finger positions and gestures through its excellent electrical and mechanical properties. With the continuous development of electronic technology, the application scope of capacitive touch screens will be further expanded, bringing more convenience to people's life and work.

[0050] Pressure membranes, as a sensor element, play a key role in sensors that identify changes in fingertip pressure by changing the capacitance to ground. The working principle of pressure membranes is mainly based on the physical properties of capacitors and the effect of pressure on capacitance. The pressure membrane can sense and respond to changes in external pressure by changing its capacitance to reflect the magnitude of the pressure. When not under pressure, the pressure membrane maintains its original shape and capacitance. At this time, the capacitance value in the pressure membrane sensor circuit is in a stable reference state. When the fingertip or other object applies pressure to the pressure membrane, the diaphragm will deform. This deformation causes the distance or relative area between the diaphragm and the adjacent electrodes to change, thereby changing the capacitance value of the capacitor. The change in capacitance value is proportional to the magnitude of the pressure applied to the pressure membrane. The greater the pressure, the more obvious the deformation of the diaphragm and the greater the change in capacitance value. The pressure membrane sensor circuit detects the change in capacitance value and converts it into electrical signals for processing and analysis. These electrical signals can be further converted into digital signals for interpretation and recognition by microprocessors or other electronic devices. The sensor continuously collects data on the change in capacitance value and transmits it to the processing unit. The processing unit processes and analyzes the collected data and identifies the changing trend and magnitude of fingertip pressure through algorithms. Based on the analysis results, the sensor can output corresponding signals or instructions in response to changes in fingertip pressure. By detecting pressure of different intensities, various pressure gestures such as light touch and heavy press can be distinguished, increasing the dimension of gesture recognition.

[0051] In step S10, the system needs to collect data from the capacitive film and the pressure film, including changes in capacitance, pressure values, and touch locations. The collected raw data needs to be preprocessed to remove noise, smooth data, or perform other forms of processing to improve the accuracy of subsequent analysis. Features that can characterize the gesture type are extracted from the preprocessed data. These features include the duration of the touch, the speed of movement, the pressure change pattern, etc. The extracted features are matched with the predefined gesture template to determine the user's gesture type.

[0052] After completing step S10 and determining the user's gesture type, the system will search for an entry that matches the gesture type in a predefined gesture type database. This database may contain multiple gesture types and their corresponding control instructions or vibration patterns. The system traverses the entries in the database and finds the one that matches the user's gesture type to obtain a traversal result. This traversal result is a control instruction or a vibration pattern code, a pointer to a specific vibration parameter. Finally, the system controls the motor to generate corresponding vibrations based on the traversal result obtained in step S20, that is, the control instruction or vibration pattern that matches the user's gesture type. This involves setting the motor's vibration frequency, amplitude, duration and other parameters to generate tactile feedback that matches the user's gesture type. In this way, users can interact with the device through gestures and obtain instant tactile feedback, thereby enhancing the user experience.

[0053] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 In this embodiment, step S10 also includes steps S11 to S13:

[0054] Step S11, detecting capacitance parameters presented by the user's gesture through the capacitive film;

[0055] Step S12, detecting pressure parameters presented by the user's gesture through the pressure film;

[0056] Step S13: determining the gesture type corresponding to the output interrupt signal according to the capacitance parameter and the pressure electrical parameter.

[0057] It should be noted that the above steps are summarized as gesture acquisition, electrical signal parameter output, gesture type determination and interrupt signal output. Capacitive film usually uses the human body as a conductor. When a finger or other conductive object approaches or touches the screen, the electric field distribution on the screen will change, resulting in a measurable capacitance change. This capacitance change is used to detect the position and movement of the finger. The pressure film works by sensing the pressure applied to its surface. When a finger or other object presses the pressure film, the film deforms, and this deformation is usually converted into an electrical signal (such as a change in resistance, capacitance or piezoelectric effect), allowing the system to detect the size and location of the pressure. Based on the interaction of the capacitive film, the system outputs capacitance change parameters related to the gesture. These parameters include the position of the finger, the speed of movement, the contact area, etc., which can be used as a basis for identifying gestures. Similarly, based on the interaction of the pressure film, the system outputs pressure change parameters related to the gesture. These parameters include the size, distribution, duration, etc. of the pressure, which are also important information for identifying gestures. The system combines the capacitance parameters and the pressure parameters and uses a predefined algorithm to analyze and identify the user's gesture type. This recognition can be based on a variety of factors, such as the shape, direction, speed, pressure, etc. of the gesture. Once a gesture is successfully recognized, the system will output a corresponding interrupt signal based on the gesture type. These interrupt signals can be used to trigger specific functions or operations, such as turning a device on or off.

[0058] Furthermore, in this embodiment, the step of determining the gesture type corresponding to the output interrupt signal according to the capacitance parameter and the pressure electrical parameter further includes:

[0059] When the interrupt signal is sent by the capacitive film, determining that the gesture type corresponding to the user is a touch gesture;

[0060] When the interrupt signal is sent by the pressure membrane, it is determined that the gesture type corresponding to the user is a pressure gesture.

[0061] Specifically, in this embodiment, the interrupt signal is used as a trigger mechanism to distinguish different types of user input gestures. When the capacitive film sends an interrupt signal, the system considers that the user is performing a touch gesture; and when the pressure film sends an interrupt signal, the system considers that the user is performing a pressure gesture. The capacitive film can sense this contact and generate a corresponding interrupt signal. After receiving this signal, the system will further analyze the capacitance parameters (such as contact area, shape, position change, etc.) to determine the specific touch gesture type, such as click, slide, zoom, etc. Pressure gestures involve direct perception of pressure. In this case, the pressure film is used to detect the change in pressure applied by the user on the surface of the device. When the user presses the device hard, the pressure film will sense this change and send an interrupt signal. After receiving the signal, the system will combine the pressure parameters (such as pressure size, duration, etc.) to determine the specific pressure gesture type. These gestures may include light touch, heavy pressure, long press, etc. Interrupt signals from the capacitive film and the pressure film are processed by interrupt service routines (ISR). These routines will be called by the operating system or hardware interrupt controller in response to the triggering of external events.

[0062] It should be further explained that, in this embodiment, the system defines ISR for the interrupt of the capacitive film and the pressure film, and registers the ISR in the interrupt vector table of the operating system, or configures the hardware interrupt controller to call the ISR. When the hardware generates an interrupt, the ISR is called. Then, the sensor data of the capacitive film and the pressure film are read in the ISR, and the necessary gesture recognition processing is performed according to the read data.

[0063] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first and second embodiments can refer to the above introduction, and will not be repeated later. Figure 3 In this embodiment, the step of controlling the motor to generate corresponding vibration according to the gesture type corresponding to the gesture type result further includes:

[0064] Step S31, determining the vibration waveform of the motor according to the gesture type corresponding to the gesture type result;

[0065] Step S32, driving the motor to generate corresponding vibration according to the vibration waveform.

[0066] Specifically, in this embodiment, the user's gesture database is traversed based on the data analysis of the capacitive film and the pressure film, and the corresponding gesture type is determined. Next, according to the gesture type, the system will select a specific vibration waveform and generate the vibration corresponding to the waveform by driving the motor, thereby providing tactile feedback to the user.

[0067] In step S31, the system searches for or calculates the corresponding vibration waveform according to the previously determined gesture type. The vibration waveform refers to the law of changes in parameters such as the vibration intensity (or amplitude), frequency, and duration of the motor over time during the vibration process. Different gesture types may correspond to different vibration waveforms to provide different tactile experiences. For example, a "click" gesture corresponds to a short and strong vibration waveform, indicating confirmation or selection; and a "slide" gesture corresponds to a continuous but relatively gentle vibration waveform, indicating movement or browsing. The system uses a preset mapping table or algorithm to search for or generate the corresponding vibration waveform according to the gesture type.

[0068] In step S32, after the system determines the vibration waveform, the system needs to drive the motor to generate the vibration corresponding to this waveform. This usually involves sending control signals to the motor, which contain all the necessary information of the vibration waveform, such as vibration intensity, frequency and duration. After receiving these control signals, the motor will vibrate according to the instructions of the signal. Since the vibration waveform is carefully designed according to the gesture type, the vibration generated can be closely related to the user's gesture operation, providing intuitive and useful tactile feedback. For example, on a touch screen device, when the user touches the screen with a finger, the system may recognize it as a "click" gesture and drive the motor to generate a short vibration to simulate the feeling of a physical button being pressed. This tactile feedback can enhance the user's operating experience and make the device easier to use.

[0069] Further, in this embodiment, step S31, determining the vibration waveform of the motor according to the gesture type corresponding to the gesture type result, further includes:

[0070] When the gesture type corresponding to the user is a touch gesture, determining that the vibration waveform of the motor is a sine wave;

[0071] When the gesture type corresponding to the user is a pressure gesture, the vibration waveform of the motor is determined to be a square wave.

[0072] It should be further explained that a sine wave is a smooth and continuous waveform whose amplitude changes over time in a sinusoidal function. In tactile feedback, sine wave vibrations usually give people a soft and smooth feeling. When the user performs touch gestures (such as light touch, sliding, etc.), the system selects a sine wave as the vibration waveform, which can simulate the natural and continuous characteristics of these gestures and provide users with a comfortable tactile experience. A square wave is a waveform that switches quickly between high and low levels, and its amplitude changes instantly between the two states. Square wave vibrations usually give people a strong and direct feeling. When the user performs a pressure gesture (such as pressing, heavy touch, etc.), the system selects a square wave as the vibration waveform to emphasize the intensity and directness of the pressure gesture, so that the user can feel more obvious tactile feedback. The system sets the control parameters of the motor based on the results of gesture recognition to produce the desired vibration waveform. These parameters involve the frequency, amplitude, duration, and waveform type (sine wave or square wave) of the vibration.

[0073] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A motor control method, characterized in that: The method comprises the following steps: Determine the user's gesture type through parameters collected by the capacitive film and the pressure film; According to the gesture type, selecting a gesture type result from a database of the gesture type; According to the gesture type corresponding to the gesture type result, a motor is controlled to generate corresponding vibration.

2. The method according to claim 1, characterized in that The step of determining the user's gesture type through parameters collected by the capacitive film and the pressure film also includes: Detecting capacitance parameters presented by the user's gesture through the capacitive film; Detecting pressure parameters presented by the user's gesture through the pressure film; The gesture type corresponding to the output interrupt signal is determined according to the capacitance parameter and the pressure electrical parameter.

3. The method according to claim 2, characterized in that The step of determining the gesture type corresponding to the output interrupt signal according to the capacitance parameter and the pressure electrical parameter also includes: When the interrupt signal is sent by the capacitive film, determining that the gesture type corresponding to the user is a touch gesture; When the interrupt signal is sent by the pressure membrane, it is determined that the gesture type corresponding to the user is a pressure gesture.

4. The method according to claim 3, characterized in that The step of controlling the motor to generate corresponding vibration according to the gesture type corresponding to the gesture type result further includes: determining a vibration waveform of the motor according to the gesture type corresponding to the gesture type result; The motor is driven to generate corresponding vibration according to the vibration waveform.

5. The method according to claim 3, characterized in that The step of determining the vibration waveform of the motor according to the gesture type corresponding to the gesture type result further includes: When the gesture type corresponding to the user is a touch gesture, determining that the vibration waveform of the motor is a sine wave; When the gesture type corresponding to the user is a pressure gesture, the vibration waveform of the motor is determined to be a square wave.

6. The method according to claim 1, characterized in that Before the step of determining the user's gesture type through the parameters collected by the capacitive film and the pressure film, the method further includes: Detecting the working status of the capacitive membrane and the pressure membrane; When the working states of the capacitive film and the pressure film are both in a normal working state, the step of collecting the user's gesture type through the capacitive film and the pressure film is performed.

7. A motor control device, characterized in that: The device comprises: a gesture determination module, a gesture acquisition module and a motor control module; The gesture determination module is used to determine the user's gesture type through parameters collected by the capacitive film and the pressure film; The gesture acquisition module is used to select and obtain a gesture type result from the gesture type database according to the gesture type; The motor control module is used to control the motor to generate corresponding vibration according to the gesture type corresponding to the gesture type result.

8. A motor control device, characterized in that: The motor control device comprises: a memory, a processor, and a motor control processing program stored in the memory and executable on the processor, wherein the motor control processing program implements the steps of the motor control method as claimed in any one of claims 1 to 6 when executed by the processor.

9. A storage medium, characterized in that: The storage medium stores a motor control processing program, and when the motor control processing program is executed by the processor, the steps of the motor control method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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