Method and device for processing sensor in resistance flexible fabric mode and medium

Abstract

The invention provides a sensor processing method and device for a resistance flexible fabric mode and a medium, and relates to the technical field of data processing.The method comprises the steps that a constant current source is applied to a resistance flexible fabric, and fabric voltage output by the resistance flexible fabric is obtained; determining a first fabric curvature change at the fabric bending part of the hose based on the fabric voltage of the resistance flexible fabric, and when the fabric bending part is subjected to circumferential deformation, determining the resistance flexible fabric in the hose based on the first fabric curvature change and a first sensor connection mode of the resistance flexible fabric in the hose; the second fabric curvature change of the hose in the second sensor connection mode is determined, and the target fabric change curvature during circumferential deformation is more accurately obtained based on the first fabric change curvature, the second fabric change curvature, the first accuracy rate and the second accuracy rate.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a method, equipment and medium for processing a sensor in the form of a resistive flexible fabric. Background Art

[0002] Agricultural haul hoses frequently bend during service. When bent to their limit, they can become kinked, a sharp, irreversible deformation smaller than their diameter. This irreversible deformation causes the hose's PU and polyester reinforcement layers to separate, leading to stress concentration in the outer covering and increased wear and leakage. Since hoses aren't constantly measured for bending radius during farm use to prevent kinking, existing technologies employ embedded sensors with external signal output terminals to provide real-time visibility of bending conditions and extend the hose's service life. For example, the paper "Design and Analysis of Flexible Strain Sensors Based on Woven Structures" published in the Journal of Sensor Technology, Vol. 21, No. 7, July 2008, demonstrates this approach. This approach integrates sensors with water hoses, directly embedding sensing elements within plain or twill woven fabrics to avoid post-processing damage to the mechanical properties of both the fabric and the hose. However, this approach also presents technical challenges: Only series or parallel resistor fabric sensors can be embedded within the woven fabric, and the accuracy of angle prediction for deformation types varies depending on the resistor fabric connection method. Summary of the Invention

[0003] In view of the above technical problems, the technical solution adopted by the present invention is: According to a first aspect of the present invention, a method for processing a sensor in the form of a resistive flexible fabric is provided, the method being used to detect a change in curvature of a hose in which the resistive flexible fabric is embedded, the method comprising the following steps: S110, applying a constant current source to the resistive flexible fabric to obtain an output fabric voltage of the resistive flexible fabric; S120, determining a first fabric curvature change at a fabric bend of the hose based on a fabric voltage of the resistive flexible fabric; S130, when the fabric bend is circumferentially deformed, determining a second fabric curvature change of the hose in a second sensor connection mode based on the first fabric curvature change and a first sensor connection mode of the resistive flexible fabric in the hose, wherein the sensor connection mode is a parallel connection mode or a series connection mode, and the first sensor connection mode is different from the second sensor connection mode; S140, obtaining a first accuracy rate of the parallel sensor connection mode and a second accuracy rate of the serial sensor connection mode; S150 , determining a target fabric change curvature based on the first fabric change curvature, the second fabric change curvature, the first accuracy rate, and the second accuracy rate.

[0004] According to a second aspect of the present invention, a non-transitory computer-readable storage medium is provided, in which a computer program is stored. The computer program is loaded and executed by a processor to implement the aforementioned method.

[0005] According to a third aspect of the present invention, an electronic device is provided, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned method when executing the computer program.

[0006] The present invention has at least the following beneficial effects: In summary, a constant current source is applied to the resistive flexible fabric, the output fabric voltage of the resistive flexible fabric is obtained, and the first fabric curvature change at the fabric bend of the hose is determined based on the fabric voltage of the resistive flexible fabric. When the fabric bend is a circumferential deformation, the second fabric curvature change of the hose in the second sensor connection mode is determined based on the first fabric curvature change and the first sensor connection mode of the resistive flexible fabric in the hose. Based on the first fabric change curvature, the second fabric change curvature, the first accuracy rate and the second accuracy rate, the target fabric change curvature during circumferential deformation is more accurately determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0008] Figure 1 A flowchart of a sensor processing method for resistive flexible fabric provided by an embodiment of the present invention; Figure 2 A schematic diagram of a series resistance fabric sensor provided by an embodiment of the present invention; Figure 3 A schematic diagram of a parallel resistance fabric sensor provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0009] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0010] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar tasks and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0011] The embodiment of the present invention provides a sensor processing method for a resistive flexible fabric, such as Figure 1 As shown, the method is used to detect the curvature change of a hose, wherein a resistive flexible fabric is embedded in the hose, and the method comprises the following steps: S110: Apply a constant current source to the resistive flexible fabric to obtain a fabric voltage outputted by the resistive flexible fabric. It can be understood that when bending occurs, the conductive yarn is strained, the resistance changes, and the fabric voltage changes.

[0012] S120: Determine a first fabric curvature change at a fabric bend of the hose based on the fabric voltage of the resistive flexible fabric. Those skilled in the art will appreciate that any prior art method for determining a first fabric curvature change based on fabric voltage falls within the scope of the present invention.

[0013] S130, when the fabric bend is circumferentially deformed, based on the first fabric curvature change and the first sensor connection mode of the resistive flexible fabric in the hose, determine a second fabric curvature change of the hose in a second sensor connection mode, wherein the sensor connection mode is a parallel or series connection mode, and the first sensor connection mode is different from the second sensor connection mode.

[0014] Specifically, if the first sensor connection method is a parallel resistance flexible fabric sensor, then the second sensor connection method is a series resistance flexible fabric sensor; if the first sensor connection method is a series resistance flexible fabric sensor, then the second sensor connection method is a parallel resistance flexible fabric sensor.

[0015] The series resistance flexible fabric sensor is as follows: the odd-numbered weft yarns of the woven fabric are conductive elastic yarns, the even-numbered weft yarns and all the warp yarns of the woven fabric are insulating elastic yarns, and the head and tail ends of the conductive elastic weft yarns are connected in series in sequence to form a continuous yarn. The parallel resistance fabric sensor is as follows: all the weft yarns and the first and nth warp yarns of the woven fabric are conductive elastic yarns, and the n-2 warp yarns except the first and nth warp yarns are insulating elastic yarns. The head or tail end of each conductive elastic weft yarn is connected to the first or nth warp yarn, and the number of warp yarns is n.

[0016] In one embodiment of the present invention, Figure 2 As shown, the parallel resistance fabric sensor has weft yarns in the horizontal direction and warp yarns in the vertical direction. The dotted lines represent conductive elastic yarns, while the solid lines represent insulating yarns. All weft yarns (i.e., W1 to Wm) and the first and nth warp yarns (i.e., J1 and Jn) of the woven fabric are conductive elastic yarns, while the remaining n-2 warp yarns (i.e., J2, J3, ..., Jn-1) are insulating elastic yarns. The leading or trailing end of each conductive elastic weft yarn is connected to the first warp yarn (i.e., J1) or the nth warp yarn (i.e., Jn), with a total of n warp yarns. This parallel resistance fabric sensor forms part of a fabric.

[0017] In one embodiment of the present invention, Figure 3 As shown in the figure, in a series-type resistive fabric sensor, the horizontal direction is weft yarn, and the vertical direction is warp yarn. The dotted lines represent conductive elastic yarns, while the solid lines represent insulating yarns. Wi represents the i-th weft yarn, where i ranges from 1 to m, and m is the number of weft yarns. Jj represents the j-th warp yarn, where j ranges from 1 to n, and n is the number of warp yarns. The odd-numbered weft yarns (i.e., W1, W3, W5, etc.) of the resistive fabric (i.e., W1, W3, W5, etc.) are conductive elastic yarns, while the even-numbered weft yarns (i.e., W2, W4, W6, etc.) of the resistive fabric (i.e., W2, W4, W6, etc.) are insulating elastic yarns. All warp yarns are insulating elastic yarns. The leading and trailing ends of each conductive elastic weft yarn are serially connected using a folded edge to form a continuous yarn.

[0018] Specifically, a parallel-type resistive fabric sensor comprises: all weft yarns of the resistive fabric are conductive elastic yarns; the first and nth warp yarns of the resistive fabric are conductive elastic yarns; and the n-2 warp yarns other than the first and nth warp yarns are insulating elastic yarns. The leading or trailing end of each conductive elastic weft yarn is closely connected to the first or nth conductive elastic warp yarn. In one embodiment of the present invention, the leading or trailing end of each conductive elastic weft yarn is bonded to the first or nth conductive elastic warp yarn using conductive adhesive.

[0019] S140 , obtaining a first accuracy rate of the parallel sensor connection mode and a second accuracy rate of the serial sensor connection mode.

[0020] S150 , determining a target fabric change curvature based on the first fabric change curvature, the second fabric change curvature, the first accuracy rate, and the second accuracy rate.

[0021] In summary, a constant current source is applied to the resistive flexible fabric, the output fabric voltage of the resistive flexible fabric is obtained, and the first fabric curvature change at the fabric bend of the hose is determined based on the fabric voltage of the resistive flexible fabric. When the fabric bend is a circumferential deformation, the second fabric curvature change of the hose in the second sensor connection mode is determined based on the first fabric curvature change and the first sensor connection mode of the resistive flexible fabric in the hose. Based on the first fabric change curvature, the second fabric change curvature, the first accuracy rate and the second accuracy rate, the target fabric change curvature during circumferential deformation is more accurately determined.

[0022] Specifically, the S150 also includes: S151, if the first sensor connection mode is parallel, the target fabric change curvature is equal to the weighted sum of the first fabric change curvature and the second fabric change curvature, and the weight ratio of the first fabric change curvature to the second fabric change curvature is equal to the ratio of the second accuracy rate to the first accuracy rate.

[0023] S152, if the first sensor connection mode is a series connection mode, the target fabric change curvature is equal to the weighted sum of the first fabric change curvature and the second fabric change curvature, and the weight ratio of the first fabric change curvature to the second fabric change curvature is equal to the ratio of the first accuracy rate to the second accuracy rate.

[0024] Specifically, S140 determines the first accuracy of the parallel sensor connection mode through the following steps: S141: When the target resistive flexible fabric sensor is a parallel resistive flexible fabric sensor, a plurality of predicted target parallel curvature changes a and the actual parallel curvature changes b corresponding to each predicted target parallel curvature change are obtained. Specifically, if a is within [bx, b+x], a is used as a first positive sample. The first accuracy is the ratio of the number of first positive samples to the number of target parallel curvature changes, where x is a first preset error threshold.

[0025] S142 : Determine a first accuracy rate of the parallel sensor connection mode based on a plurality of predicted target parallel curvature changes and an actual parallel curvature change corresponding to each predicted target parallel curvature change.

[0026] In S141, the predicted target parallel curvature change is obtained when the sensor of the target resistive flexible fabric is a parallel resistive flexible fabric sensor through the following steps: S200: Apply a constant current source to the target resistance flexible fabric to obtain a target output voltage of the target resistance flexible fabric. It can be understood that when bending occurs, the conductive yarn is strained, the resistance changes, and the target output voltage changes.

[0027] S300: Determine the initial series curvature change at the target bend of the hose based on the target output voltage of the target resistance flexible fabric. Those skilled in the art will appreciate that any prior art method for determining the initial series curvature change based on the target output voltage falls within the scope of the present invention.

[0028] S400: When the bend type at the target bend is radial single-point deformation, the initial series curvature change is used as the target series curvature change. It can be understood that a series-type resistive flexible fabric sensor is relatively more accurate in detecting radial single-point deformation, while a parallel-type resistive flexible fabric is relatively more accurate in detecting axial single-point deformation. Therefore, when the series-type resistive flexible fabric detects radial single-point deformation, the initial series curvature change is directly used as the target series curvature change.

[0029] At step S500, when the bend type at the target bend is axial unilateral deformation, an initial bend angle is determined based on the initial series curvature change, and a target series curvature change is determined based on the initial series curvature change and the axial series-parallel correction value corresponding to the initial bending angle. It will be appreciated that detection of axial unilateral deformation using a series-type resistive flexible fabric sensor is less accurate than detection of axial unilateral deformation using a parallel-type resistive flexible fabric sensor. Therefore, an axial series-parallel correction value corresponding to the initial bending angle is determined to compensate for the inherited series curvature change.

[0030] The target series curvature change is determined based on the initial series curvature change and the axis series correction value corresponding to the initial bending angle, specifically including: The target series curvature change is equal to the sum of the initial series curvature change and the axis series correction value corresponding to the initial bending angle.

[0031] In summary, when the sensor of the target resistive flexible fabric is a series resistive flexible fabric sensor, a constant current source is applied to the target resistive flexible fabric to obtain the target output voltage of the target resistive flexible fabric, and the initial series curvature change of the target bend of the hose is determined based on the target output voltage of the target resistive flexible fabric. When the bending type of the target bend is radial single-point deformation, the initial series curvature change is used as the target series curvature change. When the bending type of the target bend is axial unilateral deformation, the initial bending angle is determined based on the initial series curvature change. Based on the initial series curvature change and the axial series-parallel correction value corresponding to the initial bending angle, the target series curvature change is determined. Based on the type and bending angle of the resistive flexible fabric sensor, the accuracy of the target series curvature change is improved.

[0032] Specifically, in S500, the axis string correction value corresponding to the initial bending angle is determined through the following steps: S510. Obtain target training data, where the target training data includes a first axial curvature change list A1={A11, A12, …, A1g, …, A1m} and a second axial curvature change list A2={A21, A22, …, A2g, …, A2m}, where A1g is a curvature change determined by a voltage output by a constant current source applied to a first hose embedded with a parallel resistor flexible fabric at g real bending angles of axial unilateral deformation; A2g is a curvature change determined by a voltage output by a constant current source applied to a second hose embedded with a series resistor flexible fabric at g real bending angles of axial unilateral deformation. The value range of g is 1 to z, where z is the number of real bending angles.

[0033] S520 , obtaining a third axial curvature change list A0={A01, A02, …, A0g, …, A0m}, where the third axial curvature change A0g=A1g−A2g.

[0034] S530, set a target sliding window with a fixed bending angle. When only one target sliding window meets the preset smooth condition, the target sliding window is used as the smooth angle interval; when several adjacent target sliding windows all meet the preset smooth condition, the angles covered by the several adjacent target sliding windows are used as the smooth angle interval.

[0035] The target sliding window satisfies a preset stability condition, specifically: the average value of the third axial curvature change within the target sliding window is less than a preset stability threshold.

[0036] S530: Obtain an average value k0 of the third axial curvature changes of all real bending angles in the stable angle range.

[0037] S540: If the initial bending angle is in a stable angle range, the axis string correction value corresponding to the initial bending angle is k0.

[0038] Specifically, if there is more than one stable angle interval, the average value k0 of the third axial curvature changes of all real bending angles in the stable angle interval is calculated.

[0039] In summary, target training data is obtained, a list of third-axis curvature changes is obtained, and a target sliding window with a fixed bending angle is set. When only one target sliding window meets the preset stability condition, the target sliding window is used as the stable angle interval; when several adjacent target sliding windows all meet the preset stability condition, the angles covered by several adjacent target sliding windows are used as the stable angle interval, and the average value of the third-axis curvature changes of all real bending angles in the stable angle interval is obtained. If the initial bending angle is in the stable angle interval, the axial series-parallel correction value corresponding to the initial bending angle is k0. The difference between the series resistance flexible fabric sensor and the parallel resistance flexible fabric sensor under axial unilateral deformation is taken. When the difference is stable within a certain range, the difference is used as the compensation value to make the axial series-parallel correction value more accurate.

[0040] Furthermore, S540 further includes: when the initial bending angle is not in the stable angle interval and there is only one stable angle interval, executing the following steps: When the initial bending angle is smaller than the left endpoint of the stable angle range, the axis string correction value corresponding to the initial bending angle is the product of the first weight coefficient and k0, the first weight coefficient is equal to the quotient of the first target difference and the left endpoint, and the first target difference is the difference between the left endpoint and the initial bending angle.

[0041] When the initial bending angle is greater than the right endpoint of the stable angle range, the axis string correction value corresponding to the initial bending angle is the product of the second weight coefficient and k0, the second weight coefficient is equal to the quotient of the second target difference and the right endpoint, and the second target difference is the difference between the initial bending angle and the right endpoint.

[0042] Furthermore, S540 further includes: when the initial bending angle is not in the stable angle interval, and when the number of stable angle intervals exceeds one, executing the following steps: Calculate the distance between the initial bending angle and the left and right endpoints of each stable angle interval, and obtain the endpoint corresponding to the minimum distance as the target endpoint; Obtain the axis serial-parallel correction value corresponding to the initial bending angle. The axis serial-parallel correction value is the product of the third weight coefficient and k0. The third weight coefficient is equal to the quotient of the third target difference and the target endpoint. The third target difference is the absolute value of the difference between the initial bending angle and the target endpoint.

[0043] In summary, the weight is determined by the difference between the initial bending angle and the stable angle range, and the axis serial-parallel correction value is further determined to more accurately obtain the axis serial-parallel correction value when the initial bending angle is not in the stable angle range.

[0044] Specifically, in S140, the second accuracy of the serial sensor connection mode is determined through the following steps: S143 , when the sensor of the target resistive flexible fabric is a series resistive flexible fabric sensor, obtaining a plurality of predicted target series curvature changes c and a real series curvature change d corresponding to each predicted target series curvature change.

[0045] S144: Determine a second accuracy of the serial sensor connection based on the plurality of predicted target serial curvature changes and the actual serial curvature change corresponding to each predicted target serial curvature change. If c is within [dy, d + y], x is used as a second positive sample. The second accuracy is the ratio of the number of second positive samples to the number of target serial curvature changes, where y is a second preset error threshold.

[0046] In S143, the predicted target series curvature change is obtained when the sensor of the target resistive flexible fabric is a series resistive flexible fabric sensor through the following steps: S002 , applying a constant current source to the target resistance flexible fabric to obtain a specified output voltage of the target resistance flexible fabric.

[0047] S003 : Determine an initial parallel curvature change at a designated bend of the hose based on a designated output voltage of the target resistance flexible fabric.

[0048] S004: When the bending type of the designated bending position is axial single-point deformation, the initial parallel curvature change is used as the target parallel curvature change.

[0049] S005: When the bend type at the designated bend is radial unilateral deformation, an intermediate bend angle is determined based on the initial parallel curvature change, and a target parallel curvature change is determined based on the initial parallel curvature change and the radial-parallel-serial correction value corresponding to the intermediate bend angle. It will be appreciated that the detection of radial unilateral deformation by a parallel-type resistive flexible fabric sensor is less accurate than that by a series-type resistive flexible fabric sensor. Therefore, the initial associated curvature change is compensated for based on the radial-parallel-serial correction value corresponding to the intermediate bend angle to determine the target parallel curvature change.

[0050] The target parallel curvature change is determined based on the initial parallel curvature change and the radial-parallel-serial correction value corresponding to the intermediate bending angle, specifically including: The target parallel curvature change is equal to the sum of the initial parallel curvature change and the radial-parallel-serial correction value corresponding to the intermediate bending angle.

[0051] In summary, when the sensor of the target resistance flexible fabric is a parallel resistance flexible fabric sensor, a constant current source is applied to the target resistance flexible fabric to obtain the specified output voltage of the target resistance flexible fabric, and the initial parallel curvature change of the specified bend of the hose is determined based on the specified output voltage of the target resistance flexible fabric. When the bending type of the specified bend is axial single-point deformation, the initial parallel curvature change is used as the target parallel curvature change. When the bending type of the specified bend is radial unilateral deformation, the intermediate bending angle is determined based on the initial parallel curvature change. Based on the initial parallel curvature change and the radial-parallel correction value corresponding to the intermediate bending angle, the target parallel curvature change is determined. The present invention can more accurately obtain the target parallel curvature change under the parallel resistance flexible fabric sensor.

[0052] Specifically, in S005, the radial-parallel-serial correction value corresponding to the intermediate bending angle is determined through the following steps: S051. Obtain designated training data, where the designated training data includes a first radial curvature change list B1={B11, B12, …, B1g, …, B1m} and a second radial curvature change list B2={B21, B22, …, B2g, …, B2m}, where B1g is a curvature change determined by a voltage output by a constant current source applied to a first hose embedded with a parallel resistor flexible fabric at g real bending angles of radial unilateral deformation; and B2g is a curvature change determined by a voltage output by a constant current source applied to a second hose embedded with a series resistor flexible fabric at g real bending angles of radial unilateral deformation. The value range of g is 1 to z, where z is the number of real bending angles.

[0053] S052 , obtaining a third radial curvature change list B0 = {B01, B02, …, B0g, …, B0m}, where the third radial curvature change B0g = B2g − B1g.

[0054] S053, setting a designated sliding window with a fixed bending angle. When only one designated sliding window meets the preset smooth condition, the designated sliding window is used as the designated angle interval; when several adjacent designated sliding windows all meet the preset smooth condition, the angles covered by the several adjacent designated sliding windows are used as the designated angle interval.

[0055] Specifically, the designated sliding window satisfies a preset stationary condition, which is: an average value of the third radial curvature change within the designated sliding window is less than a preset threshold.

[0056] S054: Obtain an average value t0 of the third radial curvature changes of all real bending angles in the specified angle range.

[0057] S055: If the middle bending angle is within the specified angle range, the radial-parallel-serial correction value corresponding to the middle bending angle is t0.

[0058] In summary, designated training data is obtained, a list of third radial curvature changes is obtained, and a designated sliding window with a fixed bending angle is set. When only one designated sliding window meets the preset stability condition, the designated sliding window is used as the designated angle interval; when several adjacent designated sliding windows all meet the preset stability condition, the angles covered by the several adjacent designated sliding windows are used as the designated angle interval, and the average value t0 of the third radial curvature changes of all real bending angles in the specified angle interval is obtained. If the middle bending angle is in the specified angle interval, the radial-parallel-serial correction value corresponding to the middle bending angle is t0. The present invention uses the difference between the parallel resistance flexible fabric and the series resistance flexible fabric under radial unilateral deformation. When the difference is stable within a certain range, the difference is used as the compensation value, so that the radial-parallel-serial correction value is more accurate.

[0059] Furthermore, S055 further includes: when the intermediate bending angle is not within the specified angle range, and there is only one specified angle range, executing the following steps: When the middle bending angle is smaller than the left endpoint of the specified angle range, the radial-parallel correction value corresponding to the middle bending angle is the product of the first weight factor and t0, and the first weight factor is equal to the quotient of the first specified difference and the left endpoint, and the first specified difference is the difference between the left endpoint and the middle bending angle.

[0060] When the middle bending angle is greater than the right endpoint of the specified angle range, the radial-parallel correction value corresponding to the middle bending angle is the product of the second weight factor and t0, the second weight factor is equal to the quotient of the second specified difference and the right endpoint, and the second specified difference is the difference between the middle bending angle and the right endpoint.

[0061] Furthermore, S055 further includes: when the intermediate bending angle is not within the specified angle range, and the number of the specified angle ranges exceeds one, executing the following steps: Calculate the distance between the middle bending angle and the left and right endpoints of each specified angle interval, and obtain the endpoint corresponding to the minimum distance, which is the specified endpoint.

[0062] Obtain the radial-parallel-serial correction value corresponding to the intermediate bending angle. The radial-parallel-serial correction value is the product of the third weight factor and t0. The third weight factor is equal to the quotient of the third specified difference and the specified endpoint. The third specified difference is the absolute value of the difference between the intermediate bending angle and the specified endpoint.

[0063] In summary, the weight is determined by the difference between the intermediate bending angle and the specified angle range, so as to more accurately determine the radial-parallel-serial correction value.

[0064] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store a computer program related to a method in the method embodiment. The computer program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0065] An embodiment of the present invention further provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method provided in the above embodiment when executing the computer program.

[0066] An embodiment of the present invention further provides a computer program product comprising program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0067] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A method for processing a sensor in the form of a resistive flexible fabric, characterized in that: The method is used to detect a change in curvature of a hose in which a resistive flexible fabric is embedded, and the method comprises the following steps: S110, applying a constant current source to the resistive flexible fabric to obtain an output fabric voltage of the resistive flexible fabric; S120, determining a first fabric curvature change at a fabric bend of the hose based on a fabric voltage of the resistive flexible fabric; S130, when the fabric bend is circumferentially deformed, determining a second fabric curvature change of the hose in a second sensor connection mode based on the first fabric curvature change and a first sensor connection mode of the resistive flexible fabric in the hose, wherein the sensor connection mode is a parallel connection mode or a series connection mode, and the first sensor connection mode is different from the second sensor connection mode; S140, obtaining a first accuracy rate of the parallel sensor connection mode and a second accuracy rate of the serial sensor connection mode; S150 , determining a target fabric change curvature based on the first fabric change curvature, the second fabric change curvature, the first accuracy rate, and the second accuracy rate.

2. The sensor processing method for resistive flexible fabric according to claim 1, characterized in that: The S150 also includes: S151, if the first sensor connection mode is parallel, the target fabric change curvature is equal to the weighted sum of the first fabric change curvature and the second fabric change curvature, and the weight ratio of the first fabric change curvature to the second fabric change curvature is equal to the ratio of the second accuracy rate to the first accuracy rate; S152, if the first sensor connection mode is a series connection mode, the target fabric change curvature is equal to the weighted sum of the first fabric change curvature and the second fabric change curvature, and the weight ratio of the first fabric change curvature to the second fabric change curvature is equal to the ratio of the first accuracy rate to the second accuracy rate.

3. The sensor processing method for resistive flexible fabric according to claim 1, characterized in that: S140 determines the first accuracy of the parallel sensor connection mode through the following steps: S141, when the sensor of the target resistive flexible fabric is a parallel resistive flexible fabric sensor, obtaining a plurality of predicted target parallel curvature changes and an actual parallel curvature change corresponding to each predicted target parallel curvature change; S142 : Determine a first accuracy rate of the parallel sensor connection mode based on a plurality of predicted target parallel curvature changes and an actual parallel curvature change corresponding to each predicted target parallel curvature change.

4. The method for processing a resistive flexible fabric sensor according to claim 3, wherein: In S141, the predicted target parallel curvature change is obtained when the sensor of the target resistive flexible fabric is a parallel resistive flexible fabric sensor through the following steps: S200, applying a constant current source to the target resistance flexible fabric to obtain a target output voltage of the target resistance flexible fabric; S300 , determining an initial series curvature change at a target bend of the hose based on a target output voltage of the flexible fabric with a target resistance; S400, when the bending type of the target bending position is radial single-point deformation, taking the initial series curvature change as the target series curvature change; S500, when the bending type of the target bending position is axial unilateral deformation, determining the initial bending angle based on the initial series curvature change, and determining the target series curvature change based on the initial series curvature change and the axial series correction value corresponding to the initial bending angle.

5. The sensor processing method for resistive flexible fabric according to claim 1, characterized in that: In S140, the second accuracy of the serial sensor connection mode is determined by the following steps: S143, when the sensor of the target resistive flexible fabric is a series resistive flexible fabric sensor, obtaining a plurality of predicted target series curvature changes and a real series curvature change corresponding to each predicted target series curvature change; S144 , determining a second accuracy rate of the serial sensor connection mode based on a plurality of predicted target serial curvature changes and an actual serial curvature change corresponding to each predicted target serial curvature change.

6. The method for processing a resistive flexible fabric sensor according to claim 5, wherein: In S143, the predicted target series curvature change is obtained when the sensor of the target resistive flexible fabric is a series resistive flexible fabric sensor through the following steps: S002, applying a constant current source to the target resistance flexible fabric to obtain a specified output voltage of the target resistance flexible fabric; S003, determining an initial parallel curvature change at a designated bend of the hose based on a designated output voltage of the target resistance flexible fabric; S004, when the bending type of the designated bending position is axial single-point deformation, the initial parallel curvature change is used as the target parallel curvature change; S005, when the bending type of the designated bending point is radial unilateral deformation, determining the intermediate bending angle based on the initial parallel curvature change, and determining the target parallel curvature change based on the initial parallel curvature change and the radial-parallel correction value corresponding to the intermediate bending angle.

7. The method for processing a resistive flexible fabric sensor according to claim 1, wherein: The series resistive flexible fabric sensor is as follows: the odd-numbered weft yarns of the woven fabric are conductive elastic yarns, the even-numbered weft yarns and all the warp yarns of the woven fabric are insulating elastic yarns, and the head and tail ends of the conductive elastic weft yarns are connected in series in sequence to form a continuous yarn.

8. The method for processing a resistive flexible fabric sensor according to claim 1, wherein: The parallel resistance fabric sensor is as follows: all weft yarns and the first and nth warp yarns of the woven fabric are conductive elastic yarns, and the n-2 warp yarns except the first and nth warp yarns are insulating elastic yarns. The head end or tail end of each conductive elastic weft yarn is connected to the first or nth warp yarn, and the number of warp yarns is n.

9. A non-transitory computer-readable storage medium, characterized in that The storage medium stores a computer program, which is loaded and executed by a processor to implement the sensor processing method for resistive flexible fabric according to any one of claims 1 to 8.

10. An electronic device comprising: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the sensor processing method for resistive flexible fabrics as described in any one of claims 1 to 8 is implemented.

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