Hand-off detection method for flight simulator, computer device, and medium

Abstract

The application relates to the field of flight simulation and provides a hand-off detection method for a flight simulator, computer equipment and a medium. The hand-off detection method comprises the following steps: collecting, by an encoder, shaft quantity output associated with a driving rod of the flight simulator or a position of the driving rod as sample data; detecting, by a detector, noise data associated with the sample data, and determining that the driving rod is in a hand-off state when the size of the noise data associated with the sample data does not exceed a hand-off detection threshold value in a detection time period. In this way, the simulation effect of the starting force of the flight simulator and the improved user operation experience are considered, and the existing resources of the flight simulator are utilized, so that the difficulty is low, and the application is convenient to popularize.

Description

Technical Field

[0001] This application relates to the field of flight simulation technology, and in particular to a method for detecting off-hand movement in a flight simulator, a computer device, and a medium. Background Technology

[0002] Breakout force, in real flight applications, refers to the force required for the control stick to begin moving when the pilot applies force with their palm. In flight simulators, this breakout force effect can be simulated by setting a certain degree of logical axis dead zone and using spring force. This allows the user to feel that a certain amount of force is required to move the control stick away from the center position. For example, when a user attempts to disengage autopilot and regain control of the aircraft, a force exceeding the breakout force is required to move the control stick, i.e., switching from autopilot mode to user-controlled mode. However, simulating breakout force in real flight increases the difficulty of micro-operations near the center position. This could mean that every attempt to push or pull the control stick requires a force exceeding the breakout force, potentially negatively impacting the user experience. At the same time, maintaining the simulated breakout force effect is necessary so that users can realistically experience the feel of modern flight control systems or the handling of earlier aircraft.

[0003] Therefore, this application provides a method, computer device and medium for off-hand detection in flight simulators. It utilizes off-hand detection logic to achieve a simulation effect that simultaneously takes into account the starting force of the flight simulator and improves the user's operating experience. Furthermore, it utilizes the existing resources of the flight simulator, making it easy to implement and promote its application. Summary of the Invention

[0004] Firstly, this application provides a method for off-hand detection in a flight simulator. The off-hand detection method includes: acquiring axial output data associated with the control stick of the flight simulator or the position of the control stick as sample data using an encoder; detecting noise data associated with the sample data using a detector; and determining that the control stick is in an off-hand state when the magnitude of the noise data associated with the sample data does not exceed an off-hand detection threshold within the detection time period.

[0005] The first aspect of this application utilizes the phenomenon that the user's breathing rhythm causes periodic fluctuations in the axial output associated with the control stick held by the user, or changes in the position of the control stick. By detecting these periodic fluctuations, it is determined whether the user's hand is on the control stick. If the noise data does not exceed the off-hand detection threshold within a continuous period of time, i.e., the detection period, it indicates that the control stick is off-hand, and therefore the starting force can be retried. The off-hand detection logic achieves both the simulation effect of the flight simulator's starting force and an improved user control experience. Furthermore, it utilizes the existing resources of the flight simulator, is easy to implement, and is convenient for widespread application.

[0006] In one possible implementation of the first aspect of this application, the off-hand detection threshold is determined based on noise data associated with sample data collected by the encoder when the starting force of the control stick was most recently exceeded by the operating force applied to the control stick.

[0007] In one possible implementation of the first aspect of this application, the encoder is configured to acquire the sample data at sampling intervals not exceeding one-fifth of the natural fluctuation time of the human hand.

[0008] In one possible implementation of the first aspect of this application, the off-hand detection method is used in the off-hand detection mode of the flight simulator, the off-hand detection mode being activated when the flight simulator detects that the activation force of the control stick was most recently exceeded by the control force applied to the control stick.

[0009] In one possible implementation of the first aspect of this application, when the flight simulator detects that the activation force of the control stick has most recently been exceeded by the control force applied to the control stick, the flight simulator disengages from autopilot mode or auto-calibration mode.

[0010] In one possible implementation of the first aspect of this application, the release detection threshold is adjusted based on a release coefficient, which is determined based on the historical position of the control stick and the current position of the control stick.

[0011] In one possible implementation of the first aspect of this application, the flight simulator re-enables the start-up force when the control stick is determined to be in the off-hand state.

[0012] In one possible implementation of the first aspect of this application, the off-hand detection method further includes: determining that the control stick is in a non-off-hand state when the magnitude of the noise data associated with the sample data exceeds the off-hand detection threshold during the detection time period, wherein the flight simulator maintains actuation force disabled during the period during which the control stick is determined to be in the non-off-hand state.

[0013] In one possible implementation of the first aspect of this application, the axial output of the control stick is determined based on the position of the control stick relative to its centering position.

[0014] In one possible implementation of the first aspect of this application, when the axial output associated with the control stick is used as the sample data, the detection of noise data associated with the sample data is determined based on the change in the axial output associated with the control stick, and when the position of the control stick is used as the sample data, the detection of noise data associated with the sample data is determined based on the change in the position of the control stick.

[0015] In one possible implementation of the first aspect of this application, the off-hand detection method further includes: when the flight simulator is in autopilot mode or auto calibration mode, determining whether the control stick is in an off-hand state by using a pressure sensor on the control stick.

[0016] Secondly, embodiments of this application also provide a computer device, the computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a method according to any of the above-mentioned implementations.

[0017] Thirdly, embodiments of this application also provide a computer-readable storage medium storing computer instructions that, when executed on a computer device, cause the computer device to perform a method according to any of the above-described implementations.

[0018] Fourthly, embodiments of this application also provide a computer program product, the computer program product including instructions stored on a computer-readable storage medium, which, when executed on a computer device, cause the computer device to perform a method according to any of the above-described aspects. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating a method for detecting off-hand movement in a flight simulator, provided as an embodiment of this application;

[0021] Figure 2 A schematic diagram illustrating the adjustment of the off-hand detection threshold provided in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0023] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0024] It should be understood that in the description of this application, "at least one" means one or more, and "multiple" means two or more. In addition, the words "first," "second," etc., unless otherwise stated, are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance or order.

[0025] Figure 1 This is a flowchart illustrating a method for detecting hands-off operation in a flight simulator, as provided in an embodiment of this application. Figure 1 As shown, the off-hand detection method includes the following steps.

[0026] Step S101: Collect the axial output associated with the control stick of the flight simulator or the position of the control stick as sample data through the encoder.

[0027] Step S103: Detect the noise data associated with the sample data using a detector, and determine that the control stick is in a hands-free state when the magnitude of the noise data associated with the sample data does not exceed the hands-free detection threshold within the detection time period.

[0028] See Figure 1The hands-off detection method is used in flight simulation to determine whether the user's hand has left the control stick, i.e., whether the control stick is in a hands-off state. If the control stick is in a hands-off state, it means the user's hand is still gripping the control stick. In this case, by keeping the ignition force disabled, that is, temporarily invalidating the ignition force mechanism, the user can easily regain control by pulling the control stick when attempting to disengage the autopilot or autocalibrate without overcoming the force set by the original ignition force mechanism, thus improving the user experience. Conversely, if the control stick is in a hands-off state, the ignition force is re-enabled, so that the user needs to overcome the force set by the ignition force mechanism when attempting to disengage the autopilot or autocalibrate. That is, the user needs to apply a force exceeding the ignition force to pull the control stick. This provides a simulation of the ignition force in real flight, allowing the user to realistically experience the control feel of modern flight control systems or older aircraft. In real aircraft, such as some general aviation aircraft or older aircraft, the ignition force is usually described as the minimum force required for the aircraft to begin responding. The cause of the starting force may be gaps or looseness at the connection points of different control devices, cables, and control surfaces. Therefore, when moving the control stick, a slight sliding process will occur. Furthermore, before the applied force on the control stick reaches a certain starting force, the control stick should generally not move significantly, except for potential elastic deformation of some components. Real aircraft typically achieve the starting force mechanism through deliberately designed counterweights, system friction in mechanical mechanisms, or special limiting devices. In flight simulation, flight simulators and corresponding software can simulate similar effects by setting logical axis dead zones and then combining them with spring force or starting force dead zones.

[0029] Continue reading Figure 1To simultaneously simulate the flight simulator's start-up force and improve the user's control experience, in step S101, an encoder collects the axial output associated with the flight simulator's control stick or the position of the control stick as sample data. Then, in step S103, a detector detects the noise data associated with the sample data. Here, the encoder and detector can be deployed on the flight simulator's hardware base, on a host computer connected to the flight simulator, or separately, using a hardware and software combination to implement the off-hand detection method. The encoder converts the axial output associated with the flight simulator's control stick or the position of the control stick into sample data. The detector detects the noise data associated with the sample data. For example, taking the axial output associated with the control stick as sample data, changes in the axial output associated with the control stick, i.e., changes in the sample data, may be due to the user's breathing rhythm. Therefore, by utilizing the phenomenon that the user's breathing rhythm causes periodic fluctuations in the axial output associated with the control stick held by the user, and detecting these periodic fluctuations, it is determined whether the user's hand is on the control stick. If it's determined that the user's hand is not on the joystick (i.e., the user has released their grip), the starting force setting is triggered. This way, when the user releases their grip and attempts to control the joystick again, they will feel the starting force. If it's determined that the user's hand is on the joystick, the starting force setting is not triggered. Therefore, once the user overcomes the starting force initially and keeps their hand on the joystick, the starting force remains inactive. This provides a simulation of starting force while eliminating the hassle of constantly countering it, improving the gaming experience. Conversely, using the joystick position as sample data, changes in the joystick position, and thus changes in sample data, can also be caused by the user's breathing rhythm. Therefore, by utilizing the phenomenon that the user's breathing rhythm causes periodic fluctuations in the position of the joystick held by the user, this periodic fluctuation can be detected to determine whether the user's hand is on the joystick.

[0030] Continue reading Figure 1By detecting noise data, periodic fluctuations in the sample data caused by the user's breathing rhythm can be detected. Therefore, as long as periodic fluctuations are detected, for example, by setting a high sampling frequency relative to the low-frequency automatic hand movement frequency, that is, setting the encoder sampling interval to be less than the natural hand movement time, for example, setting the encoder sampling interval to one-fifth of the natural hand movement time, the fluctuations in the noise data can be captured, thereby analyzing and determining whether the user's hand is no longer on the control stick, that is, whether the control stick is in a hands-off state. Specifically, when the magnitude of the noise data associated with the sample data does not exceed the hands-off detection threshold within the detection time period, it is determined that the control stick is in a hands-off state. Therefore, by detecting that the magnitude of the noise data does not exceed the hands-off detection threshold for a continuous period of time, that is, the detection time period, it indicates that the user's hand has left the control stick, and thus the starting force is retried. Furthermore, by adjusting the hand-off detection threshold—for example, when a user initially applies force exceeding the starting force, thus ending the automatic calibration mode—the noise data collected at that moment can reflect the natural fluctuations caused by the user's breathing. This allows for setting a hand-off detection threshold specific to that user, better adapting to different users' natural breathing rhythms and the frequency of natural hand fluctuations caused by breathing. For instance, firstly, noise data of the current encoder is collected at the end of automatic calibration, and the hand-off detection threshold is determined based on the magnitude of this noise data. Then, after enabling the hand-off detection function, the data collected by the encoder is periodically sampled at regular intervals and compared with the average of the previous period's samples to determine if fluctuations exist. Moreover, by setting the sampling interval to one-fifth of the natural hand fluctuation time, encoder data fluctuations can be captured within ten samples (one sampling cycle). Alternatively, the axial output associated with the control stick or the position of the control stick can be used as sample data. For example, the detection and judgment can be made based on the change in the position of the motor. This means that no additional hardware needs to be added to the control stick. The above-mentioned off-hand detection method can be realized by using the chip on the control stick itself or the computing power resources of the host computer. Therefore, it utilizes the existing resources of the flight simulator, is easy to implement, and is easy to promote and apply.

[0031] In short, Figure 1The off-hand detection method for flight simulators shown utilizes the phenomenon that the user's breathing rhythm causes periodic fluctuations in the axial output associated with the control stick held by the user, or changes in the position of the control stick. By detecting these periodic fluctuations, it determines whether the user's hand is on the control stick. If the noise data does not exceed the off-hand detection threshold within a continuous period of time (i.e., the detection period), it indicates that the control stick is off-hand, and therefore the starting force can be retried. The off-hand detection logic achieves both a simulation effect that takes into account the starting force of the flight simulator and an improved user control experience. Furthermore, it utilizes the existing resources of the flight simulator, is easy to implement, and is convenient for widespread application.

[0032] Figure 2 This is a schematic diagram illustrating an adjustment of the off-hand detection threshold provided in an embodiment of this application. Figure 2 As shown, in step S201, the start-up force and function initialization are enabled. Then, in step S210, it is determined whether the hands-off detection is enabled. If hands-off detection is enabled, step S220 is executed; otherwise, the judgment logic of step S210 (not shown) continues. Therefore, Figure 2 The off-hand detection threshold adjustment shown can only be executed after off-hand detection has been confirmed to be enabled. Enabling off-hand detection can be triggered by user input or a command issued by a host computer. After confirming off-hand detection is enabled, step S220 is executed to read the current position of the control stick. Then, step S222 is executed to analyze the current driving position based on the historical position of the control stick. Next, step S224 is executed to calculate the release coefficient. Here, the release coefficient is used to adjust the off-hand detection threshold. Then, step S230 is executed to determine whether the off-hand detection threshold has been exceeded; for details, please refer to the above. Figure 1 The specific implementation will not be described in detail here. If it is determined that the off-hand detection threshold has been exceeded, step S232 is executed to re-enable the starting force; if it is determined that the off-hand detection threshold has not been exceeded, step S234 is executed to keep the starting force disabled. It can be seen that whether the starting force is re-enabled or disabled, step S210, i.e., determining whether to enable the off-hand detection threshold, will be executed. Therefore, the user or the host computer can issue a command to disable the off-hand detection threshold, thereby restoring the default setting. The default setting can be to always keep the starting force enabled or always keep the starting force disabled.

[0033] Figure 2The hand-off detection threshold adjustment shown here, after confirming that the user has initially overcome the starting force (i.e., when the user has disengaged autopilot or auto-calibration mode), collects the current encoder noise data and determines the hand-off detection threshold based on the magnitude of this noise. After this function is enabled, encoder data is periodically sampled at regular intervals and compared with the average of the previous period's samples to determine if fluctuations exist. Because the sampling interval is chosen to be one-fifth of the natural hand-flicker time, encoder data fluctuations can be captured within ten samples (one sampling cycle). If encoder data does not exceed the judgment threshold for a continuous period, it is considered that the user's hand has left the joystick. At this point, the starting force is retried. Furthermore, the current joystick position is read, and combined with historical position analysis, the joystick position information is calculated to obtain the hand-off coefficient. Therefore, in order to improve the detection effect, it is necessary to combine historical positions to analyze the current position information of the control stick and analyze the fluctuation over a period of time, so as to set a release coefficient. This release coefficient can be considered as the reverse correspondence to the release detection threshold for judging whether the human hand is on the control stick. Therefore, this release coefficient can be used to adjust the release detection threshold and improve the accuracy of the release detection method.

[0034] See Figure 1 and Figure 2In one possible implementation, the hands-off detection threshold is determined based on noise data associated with sample data collected by the encoder when the activation force of the control stick was most recently exceeded by the control force applied to the control stick. Thus, by detecting when the activation force of the control stick was most recently exceeded, the timing for disengaging the flight simulator's autopilot or automatic calibration can be determined; that is, disengaging the autopilot or automatic calibration will only occur when the control force applied to the control stick exceeds the activation force required for piloting. By collecting noise data associated with sample data collected by the encoder when the activation force of the control stick was most recently exceeded, and utilizing the statistical analysis results of the collected noise data, such as the average value of the collected noise data or statistical analysis results obtained through other mathematical calculations, it is helpful to determine the user's hands-off detection threshold. For example, the noise data of the current encoder is first collected at the end of automatic calibration. The magnitude of this noise data is used to determine the hand-off detection threshold. Then, after the hand-off detection function is enabled, the data collected by the encoder is periodically sampled at regular intervals and compared with the average of the previous period's samples to determine if fluctuations exist. Furthermore, by setting the sampling interval to one-fifth of the natural fluctuation time of a human hand, encoder data fluctuations can be captured within ten samples (one sampling cycle). This improves the detection accuracy of the hand-off detection method, achieves a simulation effect that simultaneously considers the starting force of the flight simulator and improves the user's operating experience, and utilizes the existing resources of the flight simulator, making it easy to implement and widely applicable.

[0035] In one possible implementation, the encoder is configured to acquire the sample data at sampling intervals no higher than one-fifth of the natural hand movement time. Thus, by setting a high sampling frequency relative to the low-frequency automatic hand movement frequency, i.e., setting the encoder's sampling interval to be less than the natural hand movement time, for example, setting the encoder's sampling interval to one-fifth of the natural hand movement time, fluctuations in the noise data can be captured, allowing analysis to determine whether the hand is no longer on the control stick, i.e., whether the control stick is in a hands-off state.

[0036] In one possible implementation, the hands-off detection method is used in the hands-off detection mode of the flight simulator. This mode activates when the flight simulator detects that the activation force of the control stick has most recently exceeded the control force applied to the control stick. Thus, by detecting when the activation force of the control stick was most recently exceeded, the timing for disengaging autopilot or autocalibrating can be determined; that is, disengaging autopilot or autocalibrating only occurs when the control force applied to the control stick exceeds the activation force required for pilot control. By activating the hands-off detection mode when the flight simulator detects that the activation force of the control stick was most recently exceeded, the phenomenon that the user's breathing rhythm causes periodic fluctuations in the axial output associated with the control stick's grip or its position. By detecting these periodic fluctuations, it is determined whether the user's hands are on the control stick. In this way, the hands-off detection logic achieves both a simulation effect that considers the activation force of the flight simulator and an improved user experience, while utilizing existing flight simulator resources, making it easy to implement and widely applicable.

[0037] In some embodiments, when the flight simulator detects that the activation force of the control stick has been exceeded by the control force applied to the control stick, the flight simulator disengages from autopilot mode or autocalibration mode. Thus, by detecting when the activation force of the control stick was most recently exceeded by the control force applied to the control stick, the timing for disengaging autopilot or autocalibration can be determined. That is, autopilot or autocalibration will only be disengaged when the control force applied to the control stick exceeds the activation force required for piloting, thereby facilitating accurate activation of hands-off detection and improving the user experience.

[0038] In one possible implementation, the hand-off detection threshold is adjusted based on a release coefficient, which is determined based on the historical position and current position of the joystick. Thus, after determining that the user has initially overcome the starting force, i.e., when the user has disengaged autopilot or auto-calibration mode, noise data from the current encoder is collected, and the hand-off detection threshold is determined based on the magnitude of this noise. After this function is enabled, encoder data is periodically sampled at regular intervals and compared with the average of the previous period's samples to determine if fluctuations exist. Because the sampling interval is chosen to be one-fifth of the natural hand-flicker time, encoder data fluctuations can be captured within ten samples (one sampling cycle). If encoder data does not exceed the judgment threshold for a continuous period, it is considered that the user's hand has left the joystick. At this point, the starting force is retried. Furthermore, the current joystick position is read, and the joystick position information is analyzed in conjunction with the historical position to calculate the release coefficient. Therefore, in order to improve the detection effect, it is necessary to combine historical positions to analyze the current position information of the control stick and analyze the fluctuation over a period of time, so as to set a release coefficient. This release coefficient can be considered as the reverse correspondence to the release detection threshold for judging whether the human hand is on the control stick. Therefore, this release coefficient can be used to adjust the release detection threshold and improve the accuracy of the release detection method.

[0039] In one possible implementation, the flight simulator re-enables the start-up force when the control stick is determined to be in the off-hand state. This utilizes the phenomenon that the user's breathing rhythm causes periodic fluctuations in the axial output associated with the control stick's grip or its position. By detecting these periodic fluctuations, it determines whether the user's hand is on the control stick. Furthermore, if the noise level does not exceed the off-hand detection threshold within a continuous period (the detection time), it indicates that the control stick is in the off-hand state, thus allowing the start-up force to be retried. This off-hand detection logic achieves both a good simulation of the flight simulator's start-up force and an improved user experience, while also utilizing existing flight simulator resources, making it easy to implement and widely applicable.

[0040] In some embodiments, the off-hand detection method further includes: determining that the control stick is in a non-off-hand state when the magnitude of the noise data associated with the sample data exceeds the off-hand detection threshold during the detection time period, wherein the flight simulator maintains disabling the actuation force during the period during which the control stick is determined to be in the non-off-hand state. Thus, if the control stick is in a non-off-hand state, it means that the user's hands are still holding the control stick. In this case, by maintaining disabling the actuation force, i.e., temporarily invalidating the actuation force mechanism, the user can regain control by pulling the control stick without overcoming the force set by the original actuation force mechanism when attempting to disengage autopilot or autocalibrate, thereby improving the user experience.

[0041] In one possible implementation, the axial output of the control stick is determined based on the position of the control stick relative to its centering position. This achieves support for a centering mechanism, and the centering position for the driving feel can be determined by a host computer based on factors such as the balancing state.

[0042] In one possible implementation, when the axial output associated with the joystick is used as the sample data, the detection of noise data associated with the sample data is determined based on changes in the axial output associated with the joystick. Furthermore, when the position of the joystick is used as the sample data, the detection of noise data associated with the sample data is determined based on changes in the position of the joystick. Thus, by detecting noise data, periodic fluctuations in the sample data caused by the user's breathing rhythm can be detected. Therefore, as long as periodic fluctuations are detected, for example, by setting a high sampling frequency relative to the low-frequency automatic hand movement frequency (i.e., setting the encoder sampling interval to be less than the natural hand movement time, for example, setting the encoder sampling interval to one-fifth of the natural hand movement time), fluctuations in the noise data can be captured, thereby allowing analysis to determine whether the hand is no longer on the joystick, i.e., whether the joystick is in a hands-free state. Alternatively, the axial output associated with the control stick or the position of the control stick can be used as sample data. For example, the detection and judgment can be made based on the change in the position of the motor. This means that no additional hardware needs to be added to the control stick. The above-mentioned off-hand detection method can be realized by using the chip on the control stick itself or the computing power resources of the host computer. Therefore, it utilizes the existing resources of the flight simulator, is easy to implement, and is easy to promote and apply.

[0043] In one possible implementation, the off-hand detection method further includes: when the flight simulator is in autopilot mode or auto-calibration mode, determining whether the control stick is in an off-hand state using a pressure sensor on the control stick. Thus, when the flight simulator is in autopilot mode or auto-calibration mode, changes in sample data may be caused by autopilot or auto-calibration commands issued by the host computer. Furthermore, depending on the requirements of the simulated flight scenario, the commands issued by the host computer may also cause periodic fluctuations in the sample data, i.e., the axial output associated with the control stick or the position change of the control stick. For example, the control stick may swing back and forth at a high frequency in the X-axis or Y-axis direction. Therefore, when the flight simulator is in autopilot mode or auto-calibration mode, it may be difficult to perform off-hand detection by detecting noise data associated with the sample data. In this case, an auxiliary off-hand detection method, i.e., using a pressure sensor on the control stick, can provide auxiliary judgment criteria. For example, when the flight simulator is in autopilot mode or auto-calibration mode, the data fed back by the pressure sensor can be used to determine whether sufficient pressure is applied to the control stick, thereby assisting in the off-hand detection judgment. The pressure sensor can be designed as a capacitive pressure sensor or other suitable pressure sensor design.

[0044] Figure 3 This is a schematic diagram of a computing device 300 provided in an embodiment of this application. The computing device 300 includes one or more processors 310, a communication interface 320, and a memory 330. The processors 310, communication interface 320, and memory 330 are interconnected via a bus 340. Optionally, the computing device 300 may further include an input / output interface 350, which is connected to input / output devices for receiving user-set parameters, etc. The computing device 300 can be used to implement some or all of the functions of the device embodiment or system embodiment in the above-described embodiments of this application; the processor 310 can also be used to implement some or all of the operation steps of the method embodiment in the above-described embodiments of this application. For example, the specific implementation of various operations performed by the computing device 300 can be referred to the specific details in the above embodiments, such as the processor 310 being used to execute some or all of the steps or operations in the above-described method embodiments. For example, in the embodiments of this application, the computing device 300 can be used to implement some or all of the functions of one or more components in the above-described device embodiments. In addition, the communication interface 320 can be used specifically for communication functions necessary to implement the functions of these devices and components, and the processor 310 can be used specifically for processing functions necessary to implement the functions of these devices and components.

[0045] It should be understood that, Figure 3The computing device 300 may include one or more processors 310, and the multiple processors 310 may collaboratively provide processing power in a parallel connection mode, a serial connection mode, a serial-parallel connection mode, or an arbitrary connection mode; or the multiple processors 310 may form a processor sequence or a processor array; or the multiple processors 310 may be divided into a main processor and an auxiliary processor; or the multiple processors 310 may have different architectures, such as adopting a heterogeneous computing architecture. Furthermore, Figure 3 The structural and functional descriptions of the computing device 300 shown are exemplary and non-limiting. In some exemplary embodiments, the computing device 300 may include... Figure 3 The diagram shows more or fewer components, or combinations of some components, or splitting of some components, or different arrangements of components.

[0046] The processor 310 can have various specific implementations. For example, it may include one or more combinations of a central processing unit (CPU), a graphics processing unit (GPU), a neural network processing unit (NPU), a tensor processing unit (TPU), or a data processing unit (DPU). This application does not impose specific limitations on these embodiments. The processor 310 can also be a single-core or multi-core processor. The processor 310 can be a combination of a CPU and hardware chips. These hardware chips can be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The PLDs can be complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), generic array logic (GALs), or any combination thereof. The processor 310 can also be implemented using logic devices with built-in processing logic, such as FPGAs or digital signal processors (DSPs). The communication interface 320 can be a wired interface or a wireless interface, used to communicate with other modules or devices. The wired interface can be an Ethernet interface, a local interconnect network (LIN), etc., and the wireless interface can be a cellular network interface or a wireless LAN interface, etc.

[0047] Memory 330 may be non-volatile memory, such as read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Memory 330 may also be volatile memory, which may be random access memory (RAM) used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). The memory 330 can also be used to store program code and data, so that the processor 310 can call the program code stored in the memory 330 to execute some or all of the operation steps in the above method embodiments, or to execute the corresponding functions in the above device embodiments. Furthermore, the computing device 300 may include, compared to... Figure 3 The number of components displayed may be more or less, or there may be different component configurations.

[0048] Bus 340 can be a Peripheral Component Interconnect Express (PCIe) bus, or an Extended Industry Standard Architecture (EISA) bus, a Unified Bus (Ubus or UB), a Compute Express Link (CXL) bus, a Cache Coherent Interconnect for Accelerators (CCIX) bus, etc. Bus 340 can be divided into address bus, data bus, control bus, etc. In addition to the data bus, bus 340 can also include a power bus, a control bus, and a status signal bus. However, for clarity, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0049] The methods and devices provided in this application are based on the same inventive concept. Since the principles by which the methods and devices solve problems are similar, the embodiments, implementation methods, examples, or methods of implementation of the methods and devices can be referred to each other, and repeated details will not be repeated. This application also provides a system comprising multiple computing devices, the structure of each computing device of which can refer to the structure of the computing devices described above. The functions or operations achievable by this system can refer to the specific implementation steps in the above method embodiments and / or the specific functions described in the above device embodiments, and will not be repeated here.

[0050] This application also provides a computer-readable storage medium storing computer instructions. When these computer instructions are executed on a computer device (such as one or more processors), they can implement the method steps described in the above method embodiments. The specific implementation of the above method steps by the processor of the computer-readable storage medium can refer to the specific operations described in the above method embodiments and / or the specific functions described in the above device embodiments, and will not be repeated here.

[0051] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. This application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Embodiments of this application can be implemented wholly or partially by software, hardware, firmware, or any other combination. When implemented in software, the above embodiments can be implemented wholly or partially as a computer program product. This application can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. The computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. Computer-readable storage media can be any available medium that a computer can access, or a data storage device such as a server or data center that contains one or more sets of available media. Available media can be magnetic media (such as floppy disks, hard disks, and magnetic tapes), optical media, or semiconductor media. Semiconductor media can be solid-state drives, random access memory, flash memory, read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, or any other suitable form of storage medium.

[0052] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. Each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0053] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments. Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of the embodiments of this application. The steps in the methods of the embodiments of this application can be adjusted in order, combined, or deleted according to actual needs; the modules in the systems of the embodiments of this application can be divided, combined, or deleted according to actual needs. If these modifications and variations of the embodiments of this application fall within the scope of the claims of this application and their equivalents, then this application also intends to include these modifications and variations.

Claims

1. A hands-off detection method for a flight simulator, characterized in that, The method for detecting hand-off detection includes: The encoder collects the axial output associated with the control stick of the flight simulator or the position of the control stick as sample data. The detector detects noise data associated with the sample data, and if the magnitude of the noise data associated with the sample data does not exceed the off-hand detection threshold within the detection time period, it is determined that the control stick is in an off-hand state. The encoder is configured to acquire the sample data at sampling intervals, the sampling intervals being no more than one-fifth of the natural fluctuation time of the human hand.

2. The handoff detection method of claim 1, wherein, The off-hand detection threshold is determined based on noise data associated with sample data collected by the encoder when the starting force of the control stick was most recently exceeded by the operating force applied to the control stick.

3. The handoff detection method of claim 1, wherein, The off-hand detection method is used in the off-hand detection mode of the flight simulator, which is activated when the flight simulator detects that the activation force of the control stick was most recently exceeded by the control force applied to the control stick.

4. The handoff detection method of claim 3, wherein, When the flight simulator detects that the activation force of the control stick was most recently exceeded by the control force applied to the control stick, the flight simulator disengages from autopilot mode or auto calibration mode.

5. The handoff detection method of claim 1, wherein, The release detection threshold is adjusted based on a release coefficient, which is determined based on the historical position of the control stick and the current position of the control stick.

6. The handoff detection method of claim 1, wherein, When the control stick is determined to be in the off-hand state, the flight simulator re-enables the start-up force.

7. The handoff detection method of claim 6, wherein, The off-hand detection method further includes: when the magnitude of the noise data associated with the sample data exceeds the off-hand detection threshold during the detection time period, determining that the control stick is in a non-off-hand state, wherein the flight simulator maintains inertial force during the period during which the control stick is determined to be in the non-off-hand state.

8. The handoff detection method of claim 1, wherein, The axial output of the control stick is determined based on the position of the control stick relative to its centering position.

9. The method for detecting hand loss according to claim 1, characterized in that, When the axial output associated with the control stick is used as the sample data, the detection of noise data associated with the sample data is determined based on the change in the axial output associated with the control stick. Furthermore, when the position of the control stick is used as the sample data, the detection of noise data associated with the sample data is determined based on the change in the position of the control stick.

10. The handoff detection method of claim 1, wherein, The method for detecting hand-off detection also includes: When the flight simulator is in autopilot mode or auto-calibration mode, the pressure sensor on the control stick determines whether the control stick is in a hands-free state.

11. A computer device, characterized in that, The computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method according to any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on a computer device, cause the computer device to perform the method according to any one of claims 1 to 10.

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