Force calibration method, unit and system

Abstract

The invention discloses a force calibration method, unit and system, and the method is applied to a touch module comprising a touch panel and a sensor. The method comprises the following steps: receiving original force signals of a plurality of detection points on a preset path, wherein the original force signals are detected when a movable force application device moves on the preset path of the touch panel in a set direction and pressure; determining calibration force signals of a plurality of calibration points for force calibration based on the original force signals of the plurality of detection points; and determining a force calibration parameter of the touch panel according to the calibration force signals of the plurality of calibration points.

Description

Technical Field

[0001] This article relates to touch technology, and more particularly to a force calibration method, unit and system. Background Art

[0002] Products equipped with force modules need to be calibrated for force accuracy before the force module or the product leaves the factory. A common force calibration method is click force calibration, which is to divide the entire touch panel area into points for clicking. Assuming that it takes 2 seconds to click once, calibration requires 20 points. Because the click head needs to complete the drop and lift operations, the entire calibration process takes at least 40 seconds, and the time for each workstation in an automated production line is generally within 10 seconds. It can be seen that click force calibration takes a long time, and as the number of click points increases, it will cause a significant decrease in production efficiency. Summary of the invention

[0003] The present application provides a force calibration method, unit and system, which can ensure the force calibration accuracy and improve the force calibration efficiency.

[0004] The present application provides a force calibration method, which is applied to a touch module including a touch panel and a sensor. The force calibration method includes:

[0005] receiving original force signals of a plurality of detection points on the preset path obtained by detecting when the mobile force applying device moves on the preset path of the touch panel with a set direction and pressure;

[0006] Determining calibration force signals of a plurality of calibration points for force calibration based on the original force signals of the plurality of detection points;

[0007] A force calibration parameter of the touch panel is determined according to the calibration force signals of the multiple calibration points.

[0008] In an exemplary embodiment, the preset path includes a plurality of rows;

[0009] The moving directions include:

[0010] In each row, move in a first direction and in a second direction; or

[0011] Of two adjacent rows, the previous row moves along a first direction, and the next row moves along a second direction;

[0012] The first direction and the second direction are opposite.

[0013] In an exemplary embodiment, the touch panel includes two opposite sides, and the movement is moving from one side edge through the surface of the touch panel to the other side edge, or moving from the outside of one side edge through the surface of the touch panel to the outside of the other side edge;

[0014] The moving direction includes a first direction and a second direction which are opposite to each other; when controlling the mobile force applying device to turn, the mobile force applying device is first controlled to stop moving, lifted, and then lowered to contact the touch panel and apply the set pressure.

[0015] In an exemplary embodiment, when the preset path moves through all calibration points of the plurality of calibration points, calibration force signals of the plurality of calibration points are selected from the original force signals of the plurality of detection points;

[0016] When the preset path moves through some of the calibration points among the multiple calibration points, calibration force signals of the some calibration points are selected from the original force signals of the multiple detection points; and interpolation operation is performed on the original force signals of the multiple detection points to obtain calibration force signals of the remaining calibration points.

[0017] In an exemplary embodiment, there are N sensors, each sensor corresponds to one channel; the original force signals of the multiple detection points include original force signals of N channels at the multiple detection points, N≥1;

[0018] The step of determining calibration force signals of a plurality of calibration points for force calibration based on the original force signals of the plurality of detection points comprises:

[0019] Determine the movement directions corresponding to the original force signals of the plurality of detection points, wherein the original force signal obtained when the mobile force applying device moves along the first direction corresponds to the first direction, and the original force signal obtained when the mobile force applying device moves along the second direction corresponds to the second direction;

[0020] Obtaining first force signals of the plurality of calibration points based on the original force signals of the detection points corresponding to the first direction, and obtaining second force signals of the plurality of calibration points based on the original force signals of the detection points corresponding to the second direction;

[0021] For each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, a corresponding moving direction is selected from the first force signal and the second force signal of the plurality of calibration points of the channel to make the moving force applying device approach the force signal of the sensor;

[0022] Determining calibration force signals of the plurality of calibration points based on the force signals selected from all channels;

[0023] The moving direction corresponding to the first force signal is a first direction, and the moving direction corresponding to the second force signal is a second direction.

[0024] In an exemplary embodiment, determining the moving directions corresponding to the original force signals of the plurality of detection points includes:

[0025] Determine a turning point among the plurality of detection points according to one or more of a position change relationship between the detection points and a reporting delay of the detection positions;

[0026] The moving direction corresponding to the original force signal of the turning point and the detection point thereafter changes, that is, changes from the first direction to the second direction, or changes from the second direction to the first direction.

[0027] In an exemplary embodiment, determining a turning point among the multiple detection points according to one or more of a position change relationship between the detection points and a reporting delay of the detection position includes one or more of the following:

[0028] When it is detected that the position change trend of the detection point changes, the detection point corresponding to the change point is the turning point;

[0029] When it is detected that the position of the detection point is repeated, the detection point corresponding to the repeated point is the turning point;

[0030] When it is detected that the position reporting delay of the adjacent detection point is greater than the preset delay threshold, the next detection point is the turning point.

[0031] In an exemplary embodiment, obtaining the first force signals of the plurality of calibration points based on the original force signals of the detection points corresponding to the first direction, and obtaining the second force signals of the plurality of calibration points based on the original force signals of the detection points corresponding to the second direction, comprises:

[0032] When the preset path moves through all the calibration points of the plurality of calibration points, an original force signal in the first direction corresponding to each calibration point is used as its first force signal, and an original force signal in the second direction corresponding to each calibration point is used as its second force signal;

[0033] When the preset path moves through some of the calibration points among the multiple calibration points, the original force signal of the first direction corresponding to each of the calibration points is used as its first force signal; interpolation operation is performed based on the original force signals of the first direction of the multiple detection points, and the first force signals of the remaining calibration points are extracted from the interpolation signal; the original force signal of the second direction corresponding to each of the calibration points among the calibration points is used as its second force signal; interpolation operation is performed based on the original force signals of the second direction of the multiple detection points, and the second force signals of the remaining calibration points are extracted from the interpolation signal.

[0034] In an exemplary embodiment, for a case where a plurality of sensors are distributed at four corners of a touch panel, and the first direction is from left to right, and the second direction is from right to left:

[0035] For each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, selecting a corresponding moving direction from the first force signal and the second force signal of the plurality of calibration points of the channel to make the moving force applying device approach the force signal of the sensor, comprising:

[0036] For channels corresponding to sensors distributed at the upper left corner and the lower left corner, select the second force signals of the channels at the plurality of calibration points;

[0037] For the channels corresponding to the sensors distributed at the upper right corner and the lower right corner, the first force signals of the channels at the multiple calibration points are selected.

[0038] In an exemplary embodiment, when a plurality of sensors are distributed inside a touch panel, and the first direction is from left to right, and the second direction is from right to left:

[0039] For each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, selecting a corresponding moving direction from the first force signal and the second force signal of the plurality of calibration points of the channel to make the moving force applying device approach the force signal of the sensor, comprising:

[0040] For each channel, when the calibration point is located on the left side of the sensor corresponding to the channel, the first force signal of the channel at the calibration point is selected; when the calibration point is located on the right side of the sensor corresponding to the channel, the second force signal of the channel at the calibration point is selected.

[0041] In an exemplary embodiment, when a plurality of sensors are distributed inside a touch panel, and in two adjacent rows, the first row moves along a first direction, and the second row moves along a second direction, and the first direction is from left to right, and the second direction is from right to left:

[0042] For each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, selecting a corresponding moving direction from the first force signal and the second force signal of the plurality of calibration points of the channel to make the moving force applying device approach the force signal of the sensor, comprising:

[0043] For each channel, when the moving direction is the first direction, when the calibration point is located on the left side of the sensor corresponding to the channel, the first force signal of the channel at the calibration point is selected, and when the calibration point is located on the right side of the sensor corresponding to the channel, the first force signal of the channel at the calibration point after linear compensation is selected; when the moving direction is the second direction, when the calibration point is located on the right side of the sensor corresponding to the channel, the second force signal of the channel at the calibration point is selected, and when the calibration point is located on the left side of the sensor corresponding to the channel, the second force signal of the channel at the calibration point after linear compensation is selected.

[0044] In an exemplary embodiment, determining calibration force signals of the plurality of calibration points based on force signals selected from all channels includes:

[0045] Sum the force signals of all selected channels at each calibration point to obtain the calibration force signal of the corresponding calibration point.

[0046] An embodiment of the present application also provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the force calibration method as described in any of the previous embodiments.

[0047] An embodiment of the present application further provides a force calibration device, which includes a memory and a processor. The memory stores a program, and when the program is read and executed by the processor, the force calibration method described in any of the previous embodiments is implemented.

[0048] The embodiment of the present application further provides a force calibration system, which is applied to a touch module including a touch panel and a sensor, and the system includes:

[0049] A motion control device configured to control the motion of the mobile force applying device;

[0050] The mobile force applying device is configured to move along a preset path on the touch panel under the control of the motion control device;

[0051] A force calibration device as described in the previous embodiment.

[0052] Compared with the related art, the sensor types applicable to the technical solution described in this application are not limited to piezoelectric sensors, but can also be piezoresistive sensors, capacitive sensors, or pressure-sensitive sensors, etc. The technical solution described in this application performs force calibration based on the original force signal detected when the mobile force-applying device moves on the surface of the touch panel, instead of force calibration performed by clicking force on the surface of the touch panel, which significantly improves the efficiency of force calibration.

[0053] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained by the schemes described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0055] Figure 1 A flow chart of a force calibration method provided in an embodiment of the present application;

[0056] Figure 2 A schematic diagram of moving through a detection point on a touch panel according to a preset moving direction provided in an embodiment of the present application;

[0057] Figure 3 A comparison diagram of a force signal obtained from sliding toward a piezoelectric sensor to sliding away from the piezoelectric sensor provided in an embodiment of the present application and a force signal obtained by applying force by clicking along the same path;

[0058] Figure 4 A comparison diagram of a force signal obtained from sliding toward a strain gauge to sliding away from the strain gauge provided in an embodiment of the present application and a force signal obtained by applying force by clicking along the same path;

[0059] Figure 5 A schematic diagram of the relationship between various types of force signals and touch panel coordinates provided in an embodiment of the present application;

[0060] Figure 6 A schematic diagram of sensor distribution and sliding direction provided in an embodiment of the present application;

[0061] Figure 7 Another schematic diagram of sensor distribution and sliding direction provided in an embodiment of the present application;

[0062] Figure 8 A schematic diagram of the distribution of detection points on a touch panel provided in an embodiment of the present application;

[0063] Fig. 9 A schematic diagram of the error between the force response signal calibrated by the click force calibration method provided in an embodiment of the present application and the actual force applied;

[0064] Fig.10 A schematic diagram of the error between a force response signal and an actual force applied when performing force calibration using a sliding method provided in an embodiment of the present application;

[0065] Fig.11 A module diagram of a force calibration unit provided in an embodiment of the present application;

[0066] Fig.12 A schematic diagram of a mobile force-applying device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] The present application describes multiple embodiments, but the description is exemplary rather than restrictive, and it is obvious to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described in the present application. Although many possible feature combinations are shown in the drawings and discussed in the specific embodiments, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0068] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in the present application may also be combined with any conventional features or elements to form a unique invention scheme defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other invention schemes to form another unique invention scheme defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in the present application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the attached claims and their equivalents, the embodiments are not subject to other restrictions. In addition, various modifications and changes may be made within the scope of protection of the attached claims.

[0069] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps of the specific order described. As will be understood by those of ordinary skill in the art, other sequences of steps are also possible. Therefore, the specific sequence of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to the steps of performing them in the order written, and those skilled in the art can easily understand that these sequences can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0070] The present application embodiment provides a force calibration method, such as Figure 1 As shown, the method can be applied to a touch module including a touch panel and a sensor, and the force calibration method includes:

[0071] Step S101 receives original force signals of a plurality of detection points on a preset path obtained by detecting when a mobile force applying device moves on a preset path of the touch panel with a set direction and pressure;

[0072] The type of movement may be sliding, or rolling;

[0073] When the movement type is rolling, the part of the moving force applying device that contacts the touch panel may be a moving component with a roller;

[0074] Step S102: determining calibration force signals of a plurality of calibration points for force calibration based on the original force signals of the plurality of detection points;

[0075] The positions of the multiple calibration points on the touch panel are known; the multiple calibration points may be distributed in a two-dimensional matrix on the touch panel;

[0076] Step S103 determines the force calibration parameters of the touch panel according to the calibration force signals of the plurality of calibration points.

[0077] The sensor types applicable to the method described in the embodiment of the present application are not limited to piezoelectric sensors, but may also be piezoresistive sensors, capacitive sensors, or pressure-sensitive sensors, etc. The embodiment of the present application performs force calibration based on the original force signal detected when the mobile force-applying device moves on the surface of the touch panel, instead of force calibration performed by clicking force on the surface of the touch panel, which significantly improves the efficiency of force calibration.

[0078] In an exemplary embodiment, the touch panel includes two opposite sides, and the movement is moving from one side edge through the surface of the touch panel to the other side edge, or moving from the outside of one side edge through the surface of the touch panel to the outside of the other side edge;

[0079] The preset path includes multiple lines;

[0080] The moving direction may include: in each row, moving in the first direction and the second direction successively, that is, moving repeatedly in each row; or, in two adjacent rows, the previous row moves in the first direction and the next row moves in the second direction, that is, no longer moving repeatedly in each row.

[0081] The first direction and the second direction may be opposite or the same. Compared with the case where the first direction and the second direction are the same, the second direction and the second direction are opposite, and the preset path can be moved faster, further shortening the force calibration time.

[0082] In an exemplary embodiment, when the first direction and the second direction are opposite, when the mobile force-applying device is controlled to turn, the mobile force-applying device is first controlled to stop moving, lifted, and then lowered to contact the touch panel and apply the set pressure. The lifting action performed in the embodiment of the present application is conducive to the touch panel (such as the ForcePad panel) to restore the deformation, thereby ensuring that the original force signal received during the turning movement is more accurate.

[0083] The row recorded in the embodiment of the present application is not limited to the horizontal direction parallel to one boundary of the touch panel, but can also be the vertical direction parallel to the other boundary of the touch panel, or even the diagonal direction. As long as the moving path is a straight line, it can be called a row in the embodiment of the present application. Exemplarily, the first direction is the direction from left to right, and the second direction is the direction from right to left; or, the first direction is the direction from top to bottom, and the second direction is the direction from bottom to top; or, the first direction is the direction inclined upward at a preset angle, and the second direction is the direction inclined downward at the same angle.

[0084] Figure 2 A schematic diagram of moving through detection points on a touch panel in a preset moving direction is shown. Among them, the track connected by solid lines is the moving track, and the moving direction is lateral movement. The track connected by dotted lines can be moved or not (such as after the force-applying moving device moves from detection point 1 to detection point 5, the mobile force-applying device stops moving, is lifted, and then put down at the position of detection point 10). Assuming that the size of the touch panel is 130mm*80mm, the moving speed of the force-applying moving device is 300mm / s (the moving speed can be adjusted according to factors such as sensor response speed and product structure), it takes about 0.4s for the force-applying moving device to move through 130mm, the lateral movement time is <2s, and the longitudinal movement time is <1s. Compared with the click force calibration, the force calibration time can be greatly shortened.

[0085] When the touch panel surface moves along a preset path, it may pass through all the calibration points required for force calibration, or it may pass through only some of the calibration points required for force calibration. In an exemplary embodiment, when the preset path moves through all the calibration points among the multiple calibration points, the calibration force signals of the multiple calibration points are selected from the original force signals of the multiple detection points; when the preset path moves through some of the calibration points among the multiple calibration points, the calibration force signals of the partial calibration points are selected from the original force signals of the multiple detection points; and the original force signals of the multiple detection points are interpolated to obtain the calibration force signals of the remaining calibration points.

[0086] Compared with the solution in which the preset path only passes through some calibration points, when the preset path moves through all calibration points, the calculation error caused by the interpolation operation can be reduced. Moreover, since all the required calibration force signals can be quickly obtained in a very short time, the step of extracting the force calibration template can be cancelled, which is compatible with products with poor consistency, reduces the consistency requirements for product structure, PCBA, and assembly, and indirectly improves the yield of product production.

[0087] The inventors of the present application also discovered through a large amount of experimental data that when the surface of the touch panel moves, the force signal obtained based on the feedback of the sensor may show different patterns depending on whether the moving direction is close to the sensor or away from the sensor: when the sliding direction is close to the sensor, the force signal obtained based on the feedback of the sensor is close to the envelope of the force signal obtained based on the feedback of the sensor in the click force mode; when the sliding direction is away from the sensor, the force signal obtained based on the feedback of the sensor is different from the envelope of the force signal obtained based on the feedback of the sensor in the click force mode, and there is a linear relationship between the force signal obtained by movement and the force signal obtained by click force, that is, the movement force signal after linear compensation can be close to the force signal obtained by click force.

[0088] Figure 3 The figure shows the force signal obtained from sliding toward the piezoelectric sensor to sliding away from the piezoelectric sensor, and the force signal obtained by applying force by clicking along the same path. Figure 3 It can be seen that when sliding toward the piezoelectric sensor, the difference between the envelopes of the force signal obtained by sliding and the force signal obtained by clicking is small (although the difference between the two increases when sliding above the piezoelectric sensor, because the signal amplitude of the position sensor is large, it can have a larger tolerance); when sliding away from the piezoelectric sensor, the difference between the envelopes of the force signal obtained by sliding and the force signal obtained by clicking is large.

[0089] Figure 4 A comparison diagram showing the force signal obtained from sliding toward the strain gauge to sliding away from the strain gauge and the force signal obtained by applying force by clicking along the same path is shown. Figure 4 In the figure, when sliding toward the strain gauge, the envelope of the force signal obtained by sliding and the force signal obtained by clicking the force are almost the same; similarly, when sliding away from the compressive strain gauge, the envelope of the force signal obtained by sliding and the force signal obtained by clicking the force are greatly different.

[0090] Since the sliding direction affects the accuracy of the sliding force signal, in an exemplary embodiment of the present application, after receiving the original force signals of multiple detection points on the preset path detected when the moving force applying device moves on the preset path of the touch panel with a set direction and pressure, the moving directions corresponding to the original force signals of the multiple detection points can be determined, and the determination method may include:

[0091] Determine a turning point among the plurality of detection points according to one or more of a position change relationship between the detection points and a reporting delay of the detection positions;

[0092] The moving direction corresponding to the original force signal of the turning point and the detection point thereafter changes, that is, changes from the first direction to the second direction, or changes from the second direction to the first direction.

[0093] In an exemplary embodiment, determining a turning point among the multiple detection points according to one or more of a position change relationship between the detection points and a reporting delay of the detection position includes one or more of the following:

[0094] When it is detected that the position change trend of the detection point changes, the detection point corresponding to the change point is the turning point; if it is detected that the position coordinate of the detection point changes from increasing to decreasing, or it is detected that the position coordinate of the detection point changes from decreasing to increasing, the detection point corresponding to the change point is the turning point;

[0095] When it is detected that the position of the detection point is repeated, the detection point corresponding to the repeated point is the turning point;

[0096] When it is detected that the position reporting delay of adjacent detection points is greater than the preset delay threshold, the next detection point is the turning point; since the mobile force-applying device may be lifted up first and then put down to contact the touch panel when turning, there will be a large delay in reporting the position of the detection point when turning, and the turning point can be judged based on the delay.

[0097] In an exemplary embodiment, it is assumed that there are N sensors, each sensor corresponds to one channel; the original force signals of the multiple detection points include original force signals of N channels at the multiple detection points, N≥1;

[0098] The step of determining calibration force signals of a plurality of calibration points for force calibration based on the original force signals of the plurality of detection points comprises:

[0099] Determine the movement directions corresponding to the original force signals of the plurality of detection points, wherein the original force signal obtained when the mobile force applying device moves along the first direction corresponds to the first direction, and the original force signal obtained when the mobile force applying device moves along the second direction corresponds to the second direction;

[0100] Obtaining first force signals of the plurality of calibration points based on the original force signals of the detection points corresponding to the first direction, and obtaining second force signals of the plurality of calibration points based on the original force signals of the detection points corresponding to the second direction;

[0101] For each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, a corresponding moving direction is selected from the first force signal and the second force signal of the plurality of calibration points of the channel to make the moving force applying device approach the force signal of the sensor;

[0102] Determining calibration force signals of the plurality of calibration points based on the force signals selected from all channels;

[0103] The moving direction corresponding to the first force signal is a first direction, and the moving direction corresponding to the second force signal is a second direction.

[0104] In an exemplary implementation, obtaining the first force signal of the plurality of calibration points based on the original force signal of the detection point corresponding to the first direction, and obtaining the second force signal of the plurality of calibration points based on the original force signal of the detection point corresponding to the second direction, comprises:

[0105] When the preset path moves through all the calibration points of the plurality of calibration points, an original force signal in the first direction corresponding to each calibration point is used as its first force signal, and an original force signal in the second direction corresponding to each calibration point is used as its second force signal;

[0106] When the preset path moves through some of the calibration points among the multiple calibration points, the original force signal of the first direction corresponding to each of the calibration points is used as its first force signal; interpolation operation is performed based on the original force signals of the first direction of the multiple detection points, and the first force signals of the remaining calibration points are extracted from the interpolation signal; the original force signal of the second direction corresponding to each of the calibration points among the calibration points is used as its second force signal; interpolation operation is performed based on the original force signals of the second direction of the multiple detection points, and the second force signals of the remaining calibration points are extracted from the interpolation signal.

[0107] Figure 5 The figure shows the relationship between the original force signal S1 in the first direction, the original force signal S2 in the second direction, the signal S1' after interpolation of the original force signal S1 in the first direction, the signal S2' after interpolation of the original force signal S2 in the second direction, the first force signal S1" at the calibration point, the second force signal S2" at the calibration point and the touch coordinates on the touch panel. Figure 5It can also be seen that the force signals S1″ and S2″ of the calibration points are partly directly derived from the original force signals S1 and S2, and partly derived from the difference signals S1′ and S2′.

[0108] Below, the embodiment of the present application is based on different sensor distribution structures, taking the first direction from left to right and the second direction from right to left as an example to illustrate the specific method of determining the calibration force signal of multiple calibration points.

[0109] Example 1: Multiple sensors are distributed at the four corners of the touch panel. Figure 6 shown.

[0110] With respect to the distribution structure, for each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, a corresponding moving direction is selected from the first force signal and the second force signal of the channel at the plurality of calibration points to make the moving force applying device approach the force signal of the sensor, including:

[0111] For the channels corresponding to the sensors distributed in the upper left corner and the lower left corner, the second force signals of the channels at the plurality of calibration points are selected; Figure 6 , the second force signal of the channel corresponding to the sensor 1 at the upper left corner at each calibration point is expressed as S2" (channel 1), and the second force signal of the channel corresponding to the sensor 3 at the lower left corner at each calibration point is expressed as S2" (channel 3);

[0112] For the channels corresponding to the sensors distributed in the upper right corner and the lower right corner, the first force signal of the channel at the plurality of calibration points is selected; Figure 6 , the first force signal of the channel corresponding to the sensor 2 at the upper right corner at each calibration point is represented as S1" (channel 2), and the first force signal of the channel corresponding to the sensor 4 at the lower right corner at each calibration point is represented as S1" (channel 4);

[0113] Determining calibration force signals of the plurality of calibration points based on the force signals selected from all channels includes:

[0114] The force signals of all selected channels at each calibration point are summed to obtain the calibration force signal of the corresponding calibration point, such as Figure 6 , the calibration force signal S3 of each calibration point is S2”(channel 1)+S1”(channel 2)+S2”(channel 3)+S1”(channel 4).

[0115] Example 2: Multiple sensors are distributed inside the touch panel, such as Figure 7 shown.

[0116] With respect to the distribution structure, for each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, a corresponding moving direction is selected from the first force signal and the second force signal of the channel at the plurality of calibration points to make the moving force applying device approach the force signal of the sensor, including:

[0117] For each channel, when the calibration point is located on the left side of the sensor corresponding to the channel, the first force signal of the channel at the calibration point is selected; when the calibration point is located on the right side of the sensor corresponding to the channel, the second force signal of the channel at the calibration point is selected;

[0118] like Figure 7 In the figure, for the calibration point located on the left side of sensor 1, the first force signal of channel 1 at the calibration point is represented as "S1" (channel 1), and for the calibration point located on the right side of sensor 1, the second force signal of channel 1 at the calibration point is represented as "S2" (channel 1);

[0119] For the calibration point located on the left side of sensor 2, the first force signal of channel 2 at the calibration point is represented as "S1" (channel 2), and for the calibration point located on the right side of sensor 2, the second force signal of channel 2 at the calibration point is represented as "S2" (channel 2);

[0120] For the calibration point located on the left side of sensor 3, the first force signal of channel 3 at the calibration point is represented as "S1" (channel 3), and for the calibration point located on the right side of sensor 3, the second force signal of channel 3 at the calibration point is represented as "S2" (channel 3);

[0121] For the calibration point located on the left side of sensor 4, the first force signal of channel 4 at the calibration point is represented as S1" (Channel 4), and for the calibration point located on the right side of sensor 4, the second force signal of channel 4 at the calibration point is represented as S2" (Channel 4).

[0122] Determining calibration force signals of the plurality of calibration points based on the force signals selected from all channels includes:

[0123] The force signals of all selected channels at each calibration point are summed to obtain the calibration force signal of the corresponding calibration point, such as Figure 6 The calibration force signal S3 of each calibration point = S1" (channel 1) (for the calibration point on the left side of sensor 1) + S2" (channel 1) (for the calibration point on the right side of sensor 1) + S1" (channel 2) (for the calibration point on the left side of sensor 2) + S2" (channel 2) (for the calibration point on the right side of sensor 2) + S1" (channel 3) (for the calibration point on the left side of sensor 3) + S2" (channel 3) (for the calibration point on the right side of sensor 3) + S1" (channel 4) (for the calibration point on the left side of sensor 4) + S2" (channel 4) (for the calibration point on the right side of sensor 4).

[0124] Example 3: Multiple sensors are distributed inside the touch panel, and in two adjacent rows, the first row moves along the first direction, and the second row moves along the second direction.

[0125] With respect to the distribution structure, for each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, selecting a corresponding moving direction from the first force signal and the second force signal of the channel at the plurality of calibration points so as to make the moving force applying device approach the force signal of the sensor, comprises:

[0126] For each channel, when the moving direction is the first direction, when the calibration point is located on the left side of the sensor corresponding to the channel, the first force signal of the channel at the calibration point is selected; when the calibration point is located on the right side of the sensor corresponding to the channel, the first force signal of the channel at the calibration point after linear compensation is selected;

[0127] When the moving direction is the second direction, when the calibration point is located on the right side of the sensor corresponding to the channel, the second force signal of the channel at the calibration point is selected; when the calibration point is located on the left side of the sensor corresponding to the channel, the second force signal of the channel at the calibration point after linear compensation is selected.

[0128] by Figure 7 For example, when the moving direction is the first direction, for the calibration point located on the left side of sensor 1, the first force signal of channel 1 at the calibration point is expressed as S1" (channel 1), and for the calibration point located on the right side of sensor 1, the first force signal of channel 1 at the calibration point after linear compensation is expressed as k*S1" (channel 1) + b, where k and b are compensation parameters; for the calibration point located on the left side of sensor 2, the first force signal of channel 2 at the calibration point is expressed as S1" (channel 2), and for the calibration point located on the right side of sensor 2, the first force signal of channel 2 at the calibration point after linear compensation is expressed as k *S1" (channel 2) + b; for the calibration point located on the left side of sensor 3, the first force signal of channel 3 at the calibration point is expressed as S1" (channel 3), for the calibration point located on the right side of sensor 3, the first force signal of channel 3 at the calibration point after linear compensation is expressed as k*S1" (channel 3) + b; for the calibration point located on the left side of sensor 4, the first force signal of channel 4 at the calibration point is expressed as S1" (channel 4), for the calibration point located on the right side of sensor 4, the first force signal of channel 4 at the calibration point after linear compensation is expressed as k*S1" (channel 4) + b.

[0129] When the moving direction is the second direction, for the calibration point located on the right side of sensor 1, the second force signal of channel 1 at the calibration point is expressed as S2" (channel 1), and for the calibration point located on the left side of sensor 1, the second force signal of channel 1 at the calibration point after linear compensation is expressed as k*S2" (channel 1) + b, where k and b are compensation parameters; for the calibration point located on the right side of sensor 2, the second force signal of channel 2 at the calibration point is expressed as S2" (channel 2), and for the calibration point located on the left side of sensor 2, the second force signal of channel 2 at the calibration point after linear compensation is expressed as k* S2" (channel 2) + b; for the calibration point located on the right side of sensor 3, the second force signal of channel 3 at the calibration point is expressed as S2" (channel 3), and for the calibration point located on the left side of sensor 3, the second force signal of channel 3 at the calibration point after linear compensation is expressed as k*S2" (channel 3) + b; for the calibration point located on the right side of sensor 4, the second force signal of channel 4 at the calibration point is expressed as S2" (channel 4), and for the calibration point located on the left side of sensor 4, the second force signal of channel 4 at the calibration point after linear compensation is expressed as k*S2" (channel 4) + b;

[0130] Determining calibration force signals of the plurality of calibration points based on the force signals selected from all channels includes:

[0131] The force signals of all selected channels at each calibration point are summed to obtain the calibration force signal of the corresponding calibration point.

[0132] like Figure 7 , the calibration force signal S3 of the calibration point = S1" (channel 1) (for the calibration point on the left side of sensor 1) + (k*S1" (channel 1) + b) (for the calibration point on the right side of sensor 1) + S1" (channel 2) (for the calibration point on the left side of sensor 2) + (k*S1" (channel 2) + b) (for the calibration point on the right side of sensor 2) + S1" (channel 3) (for the calibration point on the left side of sensor 3) + (k*S1" (channel 3) + b) (for the calibration point on the right side of sensor 3) + S1" (channel 4) (for the calibration point on the left side of sensor 4) + (k*S1" (channel 4) + b) (for the calibration point on the right side of sensor 4), or,

[0133] The calibration force signal of the calibration point S3 = S2" (Channel 1) (for the calibration point on the right side of sensor 1) + (k*S2" (Channel 1) + b) (for the calibration point on the left side of sensor 1) + S2" (Channel 2) (for the calibration point on the right side of sensor 2) + (k*S2" (Channel 2) + b) (for the calibration point on the left side of sensor 2) + S2" (Channel 3) (for the calibration point on the right side of sensor 3) + (k*S2" (Channel 3) + b) (for the calibration point on the left side of sensor 3) + S2" (Channel 4) (for the calibration point on the right side of sensor 4) + (k*S2" (Channel 4) + b) (for the calibration point on the left side of sensor 4).

[0134] The calibration force signal S3 of the calibration point is the final sliding signal. S3 reflects the signal amount sliding across the calibration point under a fixed force, and corresponds one-to-one with the click force signal at the calibration point.

[0135] In an exemplary embodiment, determining the force calibration parameters of the touch panel according to the calibration force signals of the plurality of calibration points includes: taking the reciprocals of the calibration force signals of the plurality of calibration points as the force calibration parameters.

[0136] The obtained force calibration parameters can be sent to the force module and saved in the force module memory.

[0137] An example of force calibration based on the method described in the above embodiment is given below.

[0138] The detection points on the touch panel are distributed as follows: Figure 8 As shown, there are 153 detection points in total. Among them, the click force method is used to calibrate the force of points 1, 5, 9, 13, and 17 in rows 1, 3, 5, 7, and 9, for a total of 25 points. Slide through rows 1 to 9, and slide each row left and right repeatedly, and use the method described in the embodiment of this application to calibrate the force. In the figure, ch1~ch4 are the locations of sensors 1~4.

[0139] After testing, the error between the force response signal calibrated by the click force calibration method and the actual force applied is as follows: Fig. 9 As shown, 98% of the point errors are less than 15% and the time consumed is 90s.

[0140] The error between the force response signal and the actual force applied by the sliding method described in the embodiment of the present application for force calibration is as follows: Fig.10 As shown, 98% of the point errors are less than 15% and the time consumed is 20 seconds.

[0141] It can be seen that the method described in the embodiment of the present application can maintain the accuracy of force calibration and significantly improve the efficiency of force calibration.

[0142] An embodiment of the present application also provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the force calibration method as described in any of the previous embodiments.

[0143] The present application also provides a force calibration device, such as Fig.11 As shown, the force calibration device includes a memory 1101 and a processor 1102. The memory 1101 stores a program. When the program is read and executed by the processor 1102, the force calibration method as described in any of the previous embodiments is implemented.

[0144] The force calibration device described in the embodiment of the present application may be a processor or a host computer.

[0145] The embodiment of the present application also provides a force calibration system, the system comprising:

[0146] A motion control device configured to control the motion of the mobile force applying device;

[0147] The motion control device can control the moving direction and moving speed of the mobile force-applying device, and control the lifting or falling of the moving component in the mobile force-applying device that contacts the touch panel, etc.;

[0148] The motion control device may be a host computer;

[0149] A mobile force applying device, configured to move along a preset path on the touch panel under the control of the motion control device;

[0150] And the force calibration device as described in the previous embodiment receives the original force signals of multiple detection points on the preset path detected when the mobile force applying device moves on the preset path, and determines the force calibration parameters according to the original force signals.

[0151] In an exemplary embodiment, the mobile force applying device is as follows Fig.12 As shown, it includes a force-applying weight unit 1202 , a moving component 1201 and a driving mechanism 1203 .

[0152] The force-applying counterweight unit 1202 is fixedly connected to the moving component 1201 to apply a counterweight force to the moving component 1201;

[0153] The moving component 1201 can move along the surface of the touch panel 100, and in the process of moving along the surface of the touch panel 100, the counterweight force and its own gravity are applied to the surface of the touch panel 100; for example, the moving component can move along the first direction or the second direction of the surface of the touch panel 100;

[0154] The driving mechanism 1203 is connected to the force-applying weight unit 1202 or the moving component 1201. The driving mechanism 1203 drives the moving component to move along the surface of the touch panel 100 under the action of the motion control device, so that the movement of the moving component along the surface of the touch panel 100 can be accurately controlled. The driving mechanism 1203 is electrically connected to the motion control device.

[0155] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A force calibration method, applied to a touch module including a touch panel and a sensor, the force calibration method comprising: receiving original force signals of a plurality of detection points on the preset path obtained by detecting when the mobile force applying device moves on the preset path of the touch panel with a set direction and pressure; Determining calibration force signals of a plurality of calibration points for force calibration based on the original force signals of the plurality of detection points; A force calibration parameter of the touch panel is determined according to the calibration force signals of the multiple calibration points.

2. The method according to claim 1, characterized in that The preset path includes multiple lines; The moving directions include: In each row, move in a first direction and in a second direction; or Of two adjacent rows, the previous row moves along a first direction, and the next row moves along a second direction; The first direction and the second direction are opposite.

3. The method according to claim 1, characterized in that The touch panel includes two opposite sides, and the movement is moving from one side edge through the surface of the touch panel to the other side edge, or moving from the outside of one side edge through the surface of the touch panel to the outside of the other side edge; The moving direction includes a first direction and a second direction which are opposite to each other; when controlling the mobile force applying device to turn, the mobile force applying device is first controlled to stop moving, lifted, and then lowered to contact the touch panel and apply the set pressure.

4. The method according to claim 1, characterized in that: When the preset path moves through all the calibration points of the plurality of calibration points, calibration force signals of the plurality of calibration points are selected from the original force signals of the plurality of detection points; When the preset path moves through some of the calibration points among the multiple calibration points, calibration force signals of the some calibration points are selected from the original force signals of the multiple detection points; and interpolation operation is performed on the original force signals of the multiple detection points to obtain calibration force signals of the remaining calibration points.

5. The method according to claim 2, characterized in that: There are N sensors, each sensor corresponds to one channel; the original force signals of the multiple detection points include original force signals of N channels at the multiple detection points, N≥1; The step of determining calibration force signals of a plurality of calibration points for force calibration based on the original force signals of the plurality of detection points comprises: Determine the movement directions corresponding to the original force signals of the plurality of detection points, wherein the original force signal obtained when the mobile force applying device moves along the first direction corresponds to the first direction, and the original force signal obtained when the mobile force applying device moves along the second direction corresponds to the second direction; Obtaining first force signals of the plurality of calibration points based on the original force signals of the detection points corresponding to the first direction, and obtaining second force signals of the plurality of calibration points based on the original force signals of the detection points corresponding to the second direction; For each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, a corresponding moving direction is selected from the first force signal and the second force signal of the plurality of calibration points of the channel to make the moving force applying device approach the force signal of the sensor; Determining calibration force signals of the plurality of calibration points based on the force signals selected from all channels; The moving direction corresponding to the first force signal is a first direction, and the moving direction corresponding to the second force signal is a second direction.

6. The method according to claim 5, characterized in that The determining the moving directions corresponding to the original force signals of the plurality of detection points includes: Determine a turning point among the plurality of detection points according to one or more of a position change relationship between the detection points and a reporting delay of the detection positions; The moving direction corresponding to the original force signal of the turning point and the detection point thereafter changes, that is, changes from the first direction to the second direction, or changes from the second direction to the first direction.

7. The method according to claim 6, characterized in that Determining a turning point among the plurality of detection points according to one or more of a position change relationship between the detection points and a reporting delay of the detection positions includes one or more of the following: When it is detected that the position change trend of the detection point changes, the detection point corresponding to the change point is the turning point; When it is detected that the position of the detection point is repeated, the detection point corresponding to the repeated point is the turning point; When it is detected that the position reporting delay of the adjacent detection point is greater than the preset delay threshold, the next detection point is the turning point.

8. The method according to claim 5, characterized in that The method comprises: obtaining first force signals of the plurality of calibration points based on original force signals of the detection points corresponding to the first direction, and obtaining second force signals of the plurality of calibration points based on original force signals of the detection points corresponding to the second direction, comprising: When the preset path moves through all the calibration points of the plurality of calibration points, an original force signal in the first direction corresponding to each calibration point is used as its first force signal, and an original force signal in the second direction corresponding to each calibration point is used as its second force signal; When the preset path moves through some of the calibration points among the multiple calibration points, the original force signal of the first direction corresponding to each of the calibration points is used as its first force signal; interpolation operation is performed based on the original force signals of the first direction of the multiple detection points, and the first force signals of the remaining calibration points are extracted from the interpolation signal; the original force signal of the second direction corresponding to each of the calibration points among the calibration points is used as its second force signal; interpolation operation is performed based on the original force signals of the second direction of the multiple detection points, and the second force signals of the remaining calibration points are extracted from the interpolation signal.

9. The method according to claim 5, characterized in that For the case where multiple sensors are distributed at the four corners of the touch panel, and the first direction is from left to right and the second direction is from right to left: For each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, selecting a corresponding moving direction from the first force signal and the second force signal of the plurality of calibration points of the channel to make the moving force applying device approach the force signal of the sensor, comprising: For channels corresponding to sensors distributed at the upper left corner and the lower left corner, select the second force signals of the channels at the plurality of calibration points; For the channels corresponding to the sensors distributed at the upper right corner and the lower right corner, the first force signals of the channels at the multiple calibration points are selected.

10. The method according to claim 5, characterized in that When multiple sensors are distributed inside the touch panel, and the first direction is from left to right and the second direction is from right to left: For each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, selecting a corresponding moving direction from the first force signal and the second force signal of the plurality of calibration points of the channel to make the moving force applying device approach the force signal of the sensor, comprising: For each channel, when the calibration point is located on the left side of the sensor corresponding to the channel, the first force signal of the channel at the calibration point is selected; when the calibration point is located on the right side of the sensor corresponding to the channel, the second force signal of the channel at the calibration point is selected.

11. The method according to claim 5, characterized in that When multiple sensors are distributed inside the touch panel, and in two adjacent rows, the previous row moves along a first direction and the next row moves along a second direction, and the first direction is from left to right and the second direction is from right to left: For each channel, according to the positional relationship between the sensor corresponding to the channel and the plurality of calibration points, selecting a corresponding moving direction from the first force signal and the second force signal of the plurality of calibration points of the channel to make the moving force applying device approach the force signal of the sensor, comprising: For each channel, when the moving direction is the first direction, when the calibration point is located on the left side of the sensor corresponding to the channel, the first force signal of the channel at the calibration point is selected, and when the calibration point is located on the right side of the sensor corresponding to the channel, the first force signal of the channel at the calibration point after linear compensation is selected; when the moving direction is the second direction, when the calibration point is located on the right side of the sensor corresponding to the channel, the second force signal of the channel at the calibration point is selected, and when the calibration point is located on the left side of the sensor corresponding to the channel, the second force signal of the channel at the calibration point after linear compensation is selected.

12. The method according to claim 5, characterized in that Determining calibration force signals of the plurality of calibration points based on the force signals selected from all channels includes: The force signals of all selected channels at each calibration point are summed to obtain the calibration force signal of the corresponding calibration point.

13. A computer-readable storage medium storing one or more programs, wherein the one or more programs can be executed by one or more processors to implement the force calibration method according to any one of claims 1 to 12.

14. A force calibration device, characterized in that: The force calibration device comprises a memory and a processor, wherein the memory stores a program, and when the program is read and executed by the processor, the force calibration method according to any one of claims 1 to 12 is implemented.

15. A force calibration system, applied to a touch module including a touch panel and a sensor, characterized in that: The system comprises: A motion control device configured to control the motion of the mobile force applying device; The mobile force applying device is configured to move along a preset path on the touch panel under the control of the motion control device; A force calibration device as claimed in claim 14.

Images