Operation management method and system of treading driving module and piano

Abstract

The invention relates to the technical field of intelligent pianos, in particular to an operation management method and system of a treading driving module and a piano, the operation management method is applied to a pedal system, and the method comprises the following steps: obtaining a measured movement distance of the treading driving module in a first time period, the measured movement distance being associated with a timestamp; an expected moving distance is determined according to an analog signal input into the treading driving module, and the expected moving distance is also associated with a timestamp; calculating a first deviation distance according to the measured movement distance and the expected movement distance; determining a risk management index of the treading driving module according to the first deviation degree and the auxiliary parameter; and selecting an operation suggestion in the second time period according to the risk management index. According to the invention, the power consumption and risk of the pedal motor in the intelligent piano in long-time operation can be reduced, on the other hand, the requirement on the performance of the pedal motor is reduced, and the implementation cost of the intelligent piano is reduced.

Description

Technical Field

[0001] This invention relates to the field of drive technology, specifically to a method and system for operating and managing a pedal drive module, and a piano. Background Technology

[0002] During piano performance, users usually need to coordinate their hands and feet to play a complete piece of music. However, for some players who are not tall enough (especially children) or have mobility issues, it is not easy for their feet to reach the piano pedals.

[0003] To address this, existing technology involves adding an auxiliary pedal to the piano pedals to provide a higher and more forward pedal contact surface (specifically, the auxiliary pedal extends the original pedal system via levers). Users can adjust the height and angle of this device for more freedom of pedal control.

[0004] For example, patent application CN210200298U discloses a piano auxiliary pedal, which includes a base with a lower fixed frame, a footrest with an upper fixed frame, a two-pronged bracket connecting the upper and lower fixed frames, and a drive assembly disposed on the upper fixed frame and connected to the fork-shaped brackets. The lower fixed frame and the two side walls of the lower fixed frame are respectively provided with guide grooves, which can ensure the accurate installation position of the upper guide groove during their respective installation. A first mounting shaft connecting the drive assembly and the upper end of the fork-shaped bracket is inserted through the guide groove, and a second mounting shaft is inserted through the guide groove and fixed to the drive assembly.

[0005] For example, patent application CN212256876U discloses a piano auxiliary pedal, including a footboard and three extended pedals. The footboard is horizontally positioned, with an adjustment mechanism at its lower end for adjusting its height. A connecting part is vertically positioned at the rear end of the upper end of the footboard. The three extended pedals are respectively positioned along the front-back direction and spaced apart horizontally, with their rear ends movably connected to the connecting part. A connecting rod assembly corresponding to each of the three extended pedals is provided vertically through the footboard. The upper end of the connecting rod assembly has two mounting areas spaced apart front-back. One of the two mounting areas is detachably fitted with a contact that contacts the lower end of the corresponding extended pedal. The lower end of the connecting rod assembly is connected to a pedal via a universal joint. A rebound component connects the connecting rod assembly and the footboard. However, this type of piano auxiliary pedal based on lever extension still has some drawbacks in use: 1) It may change the feel of the pedal. For example, the player may feel that the pedal travel (depth of pressing down) is longer or shorter, the resistance is lighter or heavier, and it cannot fully reproduce the precise feedback of the original piano pedal; 2) Poor versatility. For example, for some special models of upright pianos, the pedal area has a unique shape and narrow space, which may make it impossible to install the auxiliary pedals securely or at all.

[0006] 3) It may affect the structure of the piano itself. For example, when installing on a grand piano, if the assembly or auxiliary pedals are not designed properly, the base may slightly press on the piano body or pedal linkage, which may have an adverse effect on the piano. Summary of the Invention

[0007] The purpose of this invention is to provide an operation management method and system for the pedal drive module of a pedal system, which can partially solve or alleviate the above-mentioned deficiencies in the prior art. It can provide an external pedal solution that has less impact on the structure of the piano body and is closer to the real pedal feel of a piano. Furthermore, it can improve the safety and stability of the pedal system under long-term operation through operation management.

[0008] To solve the aforementioned technical problems, the present invention specifically adopts the following technical solution: A first aspect of the present invention provides an operation management method for a pedal drive module, the operation management method being applied to a pedal system, the pedal system comprising: an external unit and an additional unit, the additional unit being mounted on a piano, the external unit comprising an external pedal module, the additional unit comprising a pedal drive module, the pedal drive module being used to press the corresponding piano pedal according to pedal data, the pedal data comprising: a pedal value, and the pedal value being associated with a timestamp, the pedal data being used to generate an analog signal; correspondingly, the method comprising the steps of: S101, Obtain the measured movement distance of the pedal drive module in the first time period, and the measured movement distance is associated with a timestamp; S102, the desired movement distance is determined based on the analog signal input to the pedal drive module, and the desired movement distance is also associated with the timestamp; S103, calculate the first deviation distance based on the measured moving distance and the expected moving distance; S104, determine the risk management indicators of the pedaling drive module based on the first deviation degree and auxiliary parameters, wherein the auxiliary parameters are defined according to one or more of the following auxiliary information: The timestamp of the deviation distance, the operating temperature of the pedal drive module, and the operating time of the pedal drive module; S105, Select operational recommendations for the second time period based on the risk management indicators. The operational recommendations include: continue operation, suspend operation, or terminate operation.

[0009] In some embodiments, S105 includes the step of: S1051, obtain the simulated pressure in the second time period according to the external data source, the simulated pressure is defined by the expected pedal value and pedal duration in the second time period; wherein, the external data source is obtained through the music score database, and the external data source records the standard pedal value of at least one note node; S1052, The risk management indicators are modified using simulated pressure to obtain new risk management indicators; wherein, when the simulated pressure is greater than a preset pressure threshold, the risk management indicators are improved to generate the new risk management indicators. S1053, Select the operational recommendations based on the new risk management indicators.

[0010] In some embodiments, S1051 includes: Obtain at least one pedal value and the pedal duration during the second time period based on the external data source; Calculate the pedal change rate based on the pedal value and the pedal duration; Determine whether the pedal value is greater than a preset third pedal threshold; if so, identify the pedal value as the target pedal value. The simulated pressure is defined based on the number of target pedal values ​​and the rate of change of the pedal. In some embodiments, S104 includes: S1041, determine the first risk level based on the first deviation distance; S1042, Determine the second risk level based on the auxiliary parameters; S1043, Generate risk management indicators based on the first risk level and the second risk level.

[0011] In some embodiments, S1042 includes: Obtain a second deviation distance adjacent to the first deviation distance, wherein the second deviation distance refers to the deviation distance generated before and / or after the first deviation distance; The second risk level is determined by using a preset mapping relationship and the second deviation distance.

[0012] In some embodiments, S1042 includes: A second risk level is generated based on the operating temperature and / or the operating time.

[0013] In some embodiments, the steps further include: S106, determine whether the pedal value is greater than a preset first pedal threshold; If the result of the judgment in S106 is yes, then execute: S107, the pedal value is marked as a type of pedal value; S108, generate the analog signal based on the analog pedal value, wherein the analog pedal value includes: a type of pedal value.

[0014] In some embodiments, the steps further include: S109, determine whether the pedal value is greater than a preset second pedal threshold; If the result of S106 is negative and the result of S109 is positive, then execute: S110, the pedal value is marked as a type II pedal value; S111, determine whether the duration of the second type of foot pedal value is less than the set duration; If so, the second type of pedal value is updated to the simulated pedal value.

[0015] This invention also provides an operation management system for a pedal drive module, which is applied to a pedal system. The pedal system includes an external unit and an attachment unit. The attachment unit is mounted on a piano. The external unit includes an external pedal module, and the attachment unit includes a pedal drive module. The pedal drive module is used to press the corresponding piano pedal according to pedal data. The pedal data includes a pedal value, and the pedal value is associated with a timestamp. The pedal data is used to generate an analog signal. Correspondingly, the system includes: The measurement module is used to obtain the measured movement distance of the pedal drive module in the first time period, and the measured movement distance is associated with a timestamp; The simulation module is used to determine the desired movement distance based on the analog signal input to the pedal drive module, and the desired movement distance is also associated with the timestamp; The distance calculation module is used to calculate a first deviation distance based on the measured movement distance and the expected movement distance; A risk determination module is used to determine the risk management indicators of the stamping drive module based on the first deviation degree and auxiliary parameters, wherein the auxiliary parameters are defined according to one or more of the following auxiliary information: The timestamp of the deviation distance, the operating temperature of the pedal drive module, and the operating time of the pedal drive module; The operation suggestion selection module is used to select operation suggestions for the second time period based on the risk management indicators. The operation suggestions include: continue operation, pause operation, or suspend operation.

[0016] The present invention also provides a piano, the piano comprising: a pedal system, the pedal system comprising: an external unit and an additional unit, the additional unit being disposed on the piano, the external unit comprising an external pedal module, the additional unit comprising a pedal drive module, the pedal drive module being used to press the corresponding piano pedal according to pedal data, the pedal data comprising: a pedal value, and the pedal value being associated with a timestamp, the pedal data being used to generate an analog signal; and an operation management system for the pedal drive module, the operation management system comprising: The measurement module is used to obtain the measured movement distance of the pedal drive module in the first time period, and the measured movement distance is associated with a timestamp; The simulation module is used to determine the desired movement distance based on the analog signal input to the pedal drive module, and the desired movement distance is also associated with the timestamp; The distance calculation module is used to calculate a first deviation distance based on the measured movement distance and the expected movement distance; A risk determination module is used to determine the risk management indicators of the stamping drive module based on the first deviation degree and auxiliary parameters, wherein the auxiliary parameters are defined according to one or more of the following auxiliary information: The timestamp of the deviation distance, the operating temperature of the pedal drive module, and the operating time of the pedal drive module; The operation suggestion selection module is used to select operation suggestions for the second time period based on the risk management indicators. The operation suggestions include: continue operation, pause operation, or suspend operation.

[0017] Beneficial technical effects: First, in contrast to the traditional technical approach (i.e., the auxiliary pedal device directly contacts the actual piano pedal for direct force transmission, which is a purely mechanical linkage method), this invention provides a non-contact mechatronics control architecture of "sensing-transmission-execution". This architecture converts the user's pedaling action into an electrical signal, which is then remotely driven by an independent execution unit. This achieves a fundamental leap from "purely mechanical linkage" to "electrified separation operation" (i.e., the external pedal and the actual pedal are completely mechanically independent and rely solely on electrical signals for linkage control).

[0018] Furthermore, based on the non-contact mechatronics control architecture of "sensing-transmission-execution", this invention provides an operation management method to improve the stability of the mechatronics control architecture during long-term operation.

[0019] It is important to note that the piano's main frame is made of wood and contains flammable materials such as felt. The applicant has observed that if the motor malfunctions due to prolonged operation, such as stalling or short circuits, it could lead to overheating and potentially a fire. This risk is particularly amplified when used in conjunction with a smart piano, which may integrate complex electronic drive modules.

[0020] In response, this invention first provides an operation management method for addressing the long-term operational risks of pedal motors. This method comprehensively determines the operational risks (such as risk management indicators) of the motor by integrating the distance error of the motor (such as the first deviation distance) and auxiliary parameters (such as operating temperature or operating time). When the operational risk is slightly high, it is recommended to suspend or stop the operation of the motor to avoid safety issues.

[0021] Furthermore, this scheme, which comprehensively determines operational risks based on distance error and auxiliary parameters, can to some extent accommodate minor defects in motor operation (such as small distance deviations), avoiding excessive sensitivity (i.e., avoiding alarms that are too frequent), which could interfere with the user's practice rhythm and negatively impact the user experience.

[0022] Furthermore, in order to avoid the expansion of potential risks while reducing response sensitivity, risk management indicators can be adjusted by taking into account the predicted operating conditions (i.e., simulated pressure) in the next period.

[0023] Furthermore, in order to reduce the losses and power consumption pressure of the motor during long-term operation, a restrictive analog signal recommendation scheme is also provided, that is, to preferably recommend effective data in order to reduce the working pressure of the motor to a certain extent. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0025] Figure 1 This is a flowchart illustrating the operation management method in an exemplary embodiment of the present invention; Figure 2 This is a partial flowchart of the operation management method in another exemplary embodiment of the present invention; Figure 3This is a partial flowchart illustrating the operation management method in another exemplary embodiment of the present invention; Figure 4 This is a schematic diagram of the module architecture of the operation management system in an exemplary embodiment of the present invention; Figure 5 This is a schematic diagram of the first structure of the foot pedal system in an exemplary embodiment of the present invention; Figure 6 This is a schematic diagram of the second structure of the foot pedal system in an exemplary embodiment of the present invention; Figure 7 This is a schematic diagram of the third structure of the foot pedal system in an exemplary embodiment of the present invention.

[0026] Reference numerals: 111, Mounting plate; 112, Mounting block; 113, External left pedal; 114, External middle pedal; 115, External right pedal; 211, Mounting bracket; 212, Pedal motor; 213, Connecting rod; 221, Base plate; 222, Linkage mechanism; 223, Shock-absorbing spring; 2221, Transmission link; 2222, Hinge support; 2223, Connecting bolt; 3, Piano pedal. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0028] In this document, suffixes such as "module," "part," or "unit" used to denote elements are used only for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "part," or "unit" may be used interchangeably.

[0029] In this document, the terms "upper," "lower," "inner," "outer," "front," "rear," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0032] In this article, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0033] As used in this specification, the term "about" typically means + / -5% of the value, more typically + / -4% of the value, more typically + / -3% of the value, more typically + / -2% of the value, even more typically + / -1% of the value, and even more typically + / -0.5% of the value.

[0034] In this specification, certain embodiments may be disclosed in a range-bound format. It should be understood that this "range-bound" description is merely for convenience and brevity and should not be construed as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered as having specifically disclosed all possible subranges and the individual numerical values ​​within those ranges. For example, a description of the range 1-6 should be considered as having specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., and the individual numbers within those ranges, such as 1, 2, 3, 4, 5, and 6. This rule applies regardless of the breadth of the range.

[0035] Example 1 It should be noted that traditional piano auxiliary pedal designs connect the auxiliary pedal directly to the actual piano pedal, essentially extending the height of the original pedal. In other words, traditional auxiliary pedals rely on direct contact between the auxiliary pedal and the actual piano pedal for direct force transmission.

[0036] In stark contrast, this invention provides an independent external pedal (or external unit, which is a separate module from the actual piano pedal) and, based on this completely independent external pedal, provides a motor-driven foot pedal system.

[0037] This motor-driven and relatively independent pedal system not only breaks through the limitations of piano models / types, but also reduces the difficulty of installation (for example, external units can be placed relatively flexibly without affecting the original real pedals or piano structure). On the other hand, it also helps to restore the real pedal feel and reduce the discomfort of users (such as performers) when switching between real pedals and external pedals.

[0038] The foot pedal system provided by the present invention includes: an external unit and an additional unit. The additional unit is disposed on the piano. The external unit includes an external pedal module. The additional unit includes a pedal drive module. The pedal drive module is used to pedal the corresponding piano pedal according to the pedal data.

[0039] The external unit, also known as the piano-assisted pedal, is equipped with sensors to collect pedaling data from at least one simulated pedal. The pedaling drive module may include a motor, which can act on the real pedal through a linkage transmission module to transfer and replicate the pedaling depth of the simulated pedal to the real pedal.

[0040] For example, in some embodiments, the pedal drive module may include 1-3 motors, each used to drive a different actual pedal.

[0041] Furthermore, in order to improve the safety and stability of the external pedal system, the present invention also provides an operation management method for a pedal drive module. The operation management method is applied to the pedal system, and the pedal data includes: pedal value, and the pedal value is associated with a timestamp. The pedal data is used to generate an analog signal; the analog signal is used to drive the pedal drive module to work, so as to drive the real piano pedal to perform pedaling actions.

[0042] In some embodiments, the pedal value can be the depth or force of the pedal being pressed, such as that it can be obtained by a position or force sensor (or, an external position sensor or force feedback sensor) located on an external pedal.

[0043] Correspondingly, see Figure 1 As shown, the method includes the following steps: S101, Obtain the measured movement distance of the pedal drive module in the first time period, and the measured movement distance is associated with a timestamp; For example, in some embodiments, the pedal drive module includes a pedal motor, or simply a motor, and the measured movement distance refers to the movement distance of the motor's output shaft, which can be measured by a position sensor. In other words, the measured movement distance refers to the actual movement distance.

[0044] S102, the desired movement distance is determined based on the analog signal input to the pedal drive module, and the desired movement distance is also associated with the timestamp; For example, in some embodiments, the analog signal can actually record multiple pedal values, which can be used to drive the pedal drive module to move a specific distance at a specific point in time.

[0045] In this embodiment, the expected movement distance refers to the distance that the output shaft of the pedal drive module, such as the motor, should move in response to an analog signal under normal operating conditions. Specifically, its normal operating conditions can refer to the state where the motor temperature is within a safe temperature range and the motor's operating error is within a set error range. For example, the normal operating conditions can be the operating conditions that meet the motor's factory test requirements. In other words, the normal operating conditions can be set or defined by the design engineer based on the actual application accuracy.

[0046] S103, calculate the first deviation distance based on the measured moving distance and the expected moving distance; The first deviation distance is the difference between the calculated actual distance traveled and the expected distance traveled.

[0047] S104, determine the risk management indicators of the pedaling drive module based on the first deviation degree and auxiliary parameters, wherein the auxiliary parameters are defined according to one or more of the following auxiliary information: The timestamp of the deviation distance, the operating temperature of the pedal drive module, and the operating time of the pedal drive module; S105, Select operational recommendations for the second time period based on the risk management indicators. The operational recommendations include: continue operation, suspend operation, or terminate operation.

[0048] For example, in some embodiments, when the operation suggestion is to pause or stop operation, an alarm signal can be issued to the user, such as suggesting that the user stop using the external pedal.

[0049] For example, in some embodiments, when the risk management indicator is within the first risk range, the motor can be considered to be operating in a relatively safe and stable state, and an operation recommendation to continue operation can be given; when the risk management indicator is within the second risk range, the motor may be considered to have a certain degree of deviation, or there may be a risk of failure, and it can be recommended to suspend operation; when the risk management indicator is within the third risk range, the motor may be considered to have too much deviation and needs to be stopped immediately (e.g., the machine can be shut down) to protect the motor.

[0050] In other words, the risk management indicators in this embodiment are mainly used to define the degree of risk during motor operation. This risk can be defined as the possible failures (such as stalling or short circuits) or deviations that may occur when the motor is running for a long time. Alternatively, it can be defined as the safety issues of the motor during long-term operation (such as the risk of overheating when it is stalled or short-circuited for a long time).

[0051] It is worth noting that the external foot pedal system in this invention is particularly effective in mitigating or reducing the operational risks associated with adapting it to an automated piano.

[0052] It is important to note that pianos contain a large amount of wood, felt, and varnish, all of which are flammable materials. The multiple motors operating for extended periods can also pose a risk of overheating. This is especially true for automated pianos (or smart pianos), which integrate other electronic drive modules in addition to the foot pedal motors (for example, each key may have its own independent electronic drive mechanism). The introduction of this motor-driven foot pedal system, combined with the existing electronic drive modules, may further increase the risk of overheating in the electronic system.

[0053] From another perspective, the operation management method provided in this embodiment can reduce the requirements for the performance of the configured motor, thereby reducing the implementation cost of the smart piano.

[0054] In some embodiments, see Figure 2 As shown, S105 includes the following steps: S1051, obtain the simulated pressure in the second time period according to the external data source. The simulated pressure is defined by the expected pedal value and pedal duration in the second time period. The external data source is obtained through a music score database and records the standard pedal value of at least one note node. That is to say, in this embodiment, the simulated pressure in the next time period can be predicted through the pre-stored music score database.

[0055] S1052, The risk management indicators are modified using simulated pressure to obtain new risk management indicators; wherein, when the simulated pressure is greater than a preset pressure threshold, the risk management indicators are improved to generate the new risk management indicators. For example, in some embodiments, when the simulated pressure exceeds a preset pressure threshold, the risk management indicator can be adjusted. For instance, the risk management indicator can be increased (i.e., boosted).

[0056] For example, in some embodiments, the specific increase value (or percentage) can be selected based on the magnitude of the simulated pressure; for example, the greater the simulated pressure, the greater the increase value or percentage.

[0057] S1053, Select the operational recommendations based on the new risk management indicators.

[0058] The analog pressure is mainly used to represent the amount of energy consumed by the foot pedal drive module when executing analog signals. The greater the energy consumption, the greater the corresponding analog pressure.

[0059] In this embodiment, future forecast data (i.e., predicted simulated pressure) is introduced to correct risk management indicators, which helps to reduce the responsiveness of risk management to a certain extent, such as by appropriately expanding the range of the first risk.

[0060] For example, if the current risk management index of the motor is slightly high (e.g., due to high temperature or large error), and continuous pedal pressure is required for a period of time, it is recommended to stop pedaling immediately to avoid escalating the danger. Conversely, if the risk management index is slightly high, but the pedal pressure will be very low for a period of time, and the pedal motor still has a chance to operate reasonably, it is recommended to continue operating the pedal motor to avoid affecting the user's playing continuity.

[0061] In other words, this embodiment is conducive to achieving a certain degree of balance between the contradiction between the motor's responsiveness and safety / stability by combining current risk management indicators and simulated pressure.

[0062] For example, in some embodiments, the greater the desired pedal value, the greater the power consumption at that moment, meaning the motor needs to output a relatively large force.

[0063] For example, in some embodiments, step S1051 includes: When the expected pedal value is greater than or equal to the third pedal threshold, the expected pedal value is marked as a third-class pedal value. If the duration of multiple three-category foot pedal thresholds exceeds a set time, then the corresponding multiple three-category foot pedal thresholds will be marked as power consumption calculation nodes; Calculate the expected power consumption of a power computing node (understandably, this can be predicted based on the specific motor specifications used). Simulated stress is generated based on the sum of multiple expected power consumptions.

[0064] For example, in some embodiments, simulated pressure can be characterized directly by the sum of expected power consumption.

[0065] For example, in some embodiments, a mapping table between expected power consumption and simulated pressure can be pre-set, such that each expected power consumption segment corresponds to a level of simulated pressure, and the higher the expected power consumption, the higher the level of simulated pressure. For example, in some embodiments, when at least two three-category pedal values ​​appear consecutively, they are considered to have appeared consecutively if the interval between them is less than a preset interval threshold. Correspondingly, when there are multiple consecutively appearing three-category pedal values, their duration is the time interval between the first and last three-category pedal value. For example, in some embodiments, the external data source is obtained through a music score database, and the external data source records at least one standard pedal value (or expected pedal value) for a note node, as well as the time label of the standard pedal value. Specifically, the external data source can be the standard pedal data corresponding to each piece of music score, which can be directly obtained or analyzed from existing performance materials or music theory rules.

[0066] Alternatively, in other embodiments, see Figure 3 As shown, S1051 includes: (1) Obtain at least one pedal value and the pedal duration during the second time period based on the external data source; For example, in some embodiments, a foot pedal value can be data at a specific moment.

[0067] For example, in some embodiments, a pedal value can also be data over a period of time. For instance, in some embodiments, a user may maintain the same pedaling force / depth for a period of time (such as a musical measure).

[0068] (2) Calculate the pedal change rate based on (multiple) pedal values ​​and the corresponding pedal duration; For example, the rate of change of pedal force over a certain period can be calculated based on the pedal value and pedaling duration. The rate of change of pedal force can be understood as the degree of fluctuation in pedaling force.

[0069] For example, depending on the style of the score or the performance style, users may choose different pedal techniques. Taking the flutter pedal as an example, in this technique, the user needs to quickly and shallowly flick the pedal with their ankle, pressing down and releasing it rapidly near the effective point (such as the first pedal threshold). This pedal technique can create a "vibrato"-like resonance effect, increasing the brightness and harmonics of the sound while avoiding harmonic confusion caused by continuous pedaling. It is widely used in fast, densely packed movements of Baroque and Classical music, as well as in clean jazz accompaniment. With this technique, the speed of pedal changes is often quite large.

[0070] (3) Determine whether the pedal value is greater than the preset third pedal threshold. If so, identify the pedal value as the target pedal value (or the three types of pedal values). (4) Define the simulated pressure based on the number of target pedal values ​​and the pedal change rate. For example, the larger the target pedal value and the greater the pedal change rate, the greater the simulated pressure.

[0071] For example, in some embodiments, when the selected pedal technique is represented as having a greater pedaling force and a faster rate of change in pedaling force, the defined simulated pressure is greater.

[0072] For example, in some embodiments, simulated pressure = a × number of target pedal values ​​+ b × pedal change rate. Here, a and b are preset weighting coefficients; for instance, in one example embodiment, a = 1 and b = 1.

[0073] Alternatively, it can be freely configured by the user.

[0074] In some embodiments, S104 includes: S1041, determine the first risk level based on the first deviation distance; S1042, Determine the second risk level based on the auxiliary parameters; S1043, Generate risk management indicators based on the first risk level and the second risk level.

[0075] For example, in some embodiments, a risk level mapping table is pre-set.

[0076] For example, at least one or a certain first deviation distance has a pre-set value for a first risk level. For example, the larger the first deviation distance, the greater the corresponding first risk level.

[0077] For example, in some embodiments, the risk management metric may be equal to the first risk level × λ1 + the second risk level × λ2. For example, in some embodiments, λ1=1, λ2=1. Alternatively, the values ​​of λ1 and λ2 can be adjusted by the user.

[0078] In some embodiments, S1042 includes: Obtain a second deviation distance adjacent to the first deviation distance, wherein the second deviation distance refers to the deviation distance generated before and / or after the first deviation distance; The second risk level is determined by using a preset mapping relationship and the second deviation distance.

[0079] For example, in some embodiments, the second risk level is higher when the second deviation distance is larger in the period preceding the first deviation distance.

[0080] For example, in some embodiments, the method for determining the second risk level based on the second deviation distance can be the same as the method for determining the first risk level based on the first deviation distance, and will not be described in detail here.

[0081] Alternatively, in some embodiments, when the motor experiences a sudden distance deviation at a certain moment, the second deviation distance in the next time period will be taken into account for comprehensive determination, so as to reduce the impact on the motor operation, such as avoiding too frequent pausing or stopping of the motor, which would reduce the user's practice experience.

[0082] For example, if the motor suddenly vibrates (i.e., shows a large deviation) only at a certain point in time, it may not necessarily need to be adjusted. In this case, it may be due to erroneous data caused by a collision or other reasons.

[0083] In some embodiments, S1042 includes: A second risk level is generated based on the operating temperature and / or the operating time.

[0084] For example, in some embodiments, the second risk level is relatively high if the current operating temperature is high or the operating time is long.

[0085] It is understood that the method of determining the second risk level using auxiliary parameters in this embodiment can be either user-input custom rules or a risk level mapping table set according to the motor's operating parameters before it leaves the factory. For example, a recommended value for the second risk level can be obtained for different operating temperature ranges and / or operating times.

[0086] In some embodiments, the steps further include: (1) Collect multiple first-risk levels under the first time period; (2) Obtain the similarity of the multiple first risk levels; For example, the higher the similarity, the more identical the first risk level, or the more identical the first risk level.

[0087] (3) When the similarity is greater than a preset similarity threshold and the average value of the first risk level is less than a preset risk threshold, proceed to step: (4) Generate correction values ​​based on multiple first deviation distances under the first time period, and correct the analog signal based on the correction values.

[0088] In other words, in this embodiment, when it is found that the pedal motor has a certain degree of fixed deviation during long-term operation (such as a difference of about ±5% between the actual movement distance and the expected movement distance), the fixed deviation can be corrected. For example, the correction value can be ±5%, that is, the actual pedal value can be corrected by ±5%, and a new analog signal can be formed based on the corrected data.

[0089] In some embodiments, the steps further include: S106, determine whether the pedal value is greater than a preset first pedal threshold; If the result of the judgment in S106 is yes, then execute: S107, the pedal value is marked as a type of pedal value; S108, generate the analog signal based on the analog pedal value, wherein the analog pedal value includes: a type of pedal value.

[0090] For example, in some embodiments, the first pedal threshold can be about 30% of the maximum pedal depth. In this embodiment, pedal values ​​greater than the first pedal threshold are marked as valid pedals, meaning that the pedal can only function relatively effectively at this pedal value.

[0091] For example, a piano usually has three pedals, such as the sustain pedal (which can be used to prolong the sound time), the soft pedal, and the gentle pedal (which can be used to shorten the hammer's striking distance and make the sound softer).

[0092] Each pedal can have a minimum physical effective travel (equivalent to the first pedal threshold in this embodiment), meaning it needs to be pressed to a certain depth before it can function. The first pedal threshold can be set according to the specifications of the piano or pedal.

[0093] In this embodiment, a restrictive signal simulation method (such as preferably transmitting a type of pedal value) is provided for this motor-driven external pedal system, which can reduce the performance requirements of the piano motor to a certain extent.

[0094] In some embodiments, the steps further include: S109, determine whether the pedal value is greater than a preset second pedal threshold; If the result of S106 is negative and the result of S109 is positive, then execute: S110, the pedal value is marked as a type II pedal value; S111, determine whether the duration of the second type of foot pedal value is less than the set duration; If so, the second type of pedal value is updated to the simulated pedal value.

[0095] For example, in some embodiments, when at least two Class II pedal thresholds occur consecutively, they are considered to occur consecutively if the interval between them is less than a preset interval threshold. Correspondingly, when there are multiple consecutively occurring Class II pedal values, their duration is the time interval between the first Class II pedal value and the last Class III pedal value. In some embodiments, if the pedal value is within the range of less than or equal to a first pedal threshold and greater than a second pedal threshold, the pedal value is marked as a Class II pedal value.

[0096] Furthermore, if the duration of the second type of pedal value is less than the set duration, it can be inferred that the user is playing a specific technique (such as vibrato, which is to quickly and lightly vibrate the pedal, causing the pedal to be pressed down and released rapidly within the vibrato range, creating a vibrato effect, which is widely used in fast and densely noteed movements in Baroque and Classical periods, as well as clean jazz accompaniment). In this case, the second type of pedal value is not filtered.

[0097] It should be understood that instead of filtering out the second type of pedal values ​​whose duration is less than the set duration, these values ​​are updated to the data source to be simulated. The degree of filtering of invalid pedal values ​​(i.e., pedal values ​​less than the first pedal threshold) can be limited by using dual thresholds (specifically, the first pedal threshold and the second pedal threshold) and the dimension of time.

[0098] Therefore, the restrictive pedal data recommendation scheme provided in this embodiment (such as prioritizing the transmission of a type of pedal value and a specific type of pedal value) can reduce the power consumption of the pedal motor during long-term operation, thereby reducing the operational risk of the pedal motor during long-term operation to a certain extent. At the same time, by recommending data in two dimensions of threshold and time, it can also avoid over-filtering of data, which could affect the continuity of the user's performance, such as preventing the effect of certain pedal techniques from being weakened or eliminated.

[0099] In some embodiments, the specific foot pedal threshold can be adaptively set according to different piano models or pedal specifications.

[0100] It is understood that the simulated foot pedal of the present invention can be applied to different application scenarios: 1) In home practice scenarios, such as when the practitioner is a child, they may not be able to reach the pedals due to their height. Especially when the practitioner is aiming to improve their skills or take exams, they may engage in long training sessions. The operation management method in this application can improve the operational safety and stability of the pedal system to a certain extent during long-term operation.

[0101] 2) In practice settings such as piano education and training rooms, different learners may be scheduled for training sessions throughout the day, meaning the motor also needs to remain running for extended periods. The operation management method described in this application helps reduce the risks associated with the motor during long-term operation.

[0102] Example 2 See Figure 4 This invention provides an operation and management system for a pedal drive module. The operation and management method is applied to a pedal system, which includes an external unit and an additional unit. The additional unit is mounted on a piano. The external unit includes an external pedal module, and the additional unit includes a pedal drive module. The pedal drive module is used to press the corresponding piano pedals according to pedal data. The pedal data includes pedal values, and the pedal values ​​are associated with timestamps. The pedal data is used to generate analog signals. Correspondingly, the system includes: Measurement module 101 is used to obtain the measured movement distance of the pedal drive module in the first time period, and the measured movement distance is associated with a timestamp; The simulation module 102 is used to determine the desired movement distance based on the analog signal input to the pedal drive module, and the desired movement distance is also associated with the timestamp; Distance calculation module 103 is used to calculate a first deviation distance based on the measured movement distance and the expected movement distance; The risk determination module 104 is used to determine the risk management indicators of the pedaling drive module based on the first deviation degree and auxiliary parameters, wherein the auxiliary parameters are defined according to one or more of the following auxiliary information: The timestamp of the deviation distance, the operating temperature of the pedal drive module, and the operating time of the pedal drive module; The operation suggestion selection module 105 is used to select operation suggestions for the second time period based on the risk management indicators. The operation suggestions include: continue operation, pause operation, or stop operation.

[0103] It is understood that the system in this embodiment of the invention can be used to implement the methods or steps in any of the above embodiments, and will not be repeated here.

[0104] Example 3 The present invention also provides a piano, the piano comprising: a pedal system, the pedal system comprising: an external unit and an additional unit, the additional unit being disposed on the piano, the external unit comprising an external pedal module, the additional unit comprising a pedal drive module, the pedal drive module being used to press the corresponding piano pedal according to pedal data, the pedal data comprising: a pedal value, and the pedal value being associated with a timestamp, the pedal data being used to generate an analog signal; and an operation management system for the pedal drive module, the operation management system comprising: The measurement module is used to obtain the measured movement distance of the pedal drive module in the first time period, and the measured movement distance is associated with a timestamp; The simulation module is used to determine the desired movement distance based on the analog signal input to the pedal drive module, and the desired movement distance is also associated with the timestamp; The distance calculation module is used to calculate a first deviation distance based on the measured movement distance and the expected movement distance; A risk determination module is used to determine the risk management indicators of the stamping drive module based on the first deviation degree and auxiliary parameters, wherein the auxiliary parameters are defined according to one or more of the following auxiliary information: The timestamp of the deviation distance, the operating temperature of the pedal drive module, and the operating time of the pedal drive module; The operation suggestion selection module is used to select operation suggestions for the second time period based on the risk management indicators. The operation suggestions include: continue operation, pause operation, or suspend operation.

[0105] Example 4 Below, to more clearly illustrate the application scenarios of the present invention, an exemplary piano pedal system to which the present invention can be applied (see below) Figures 5-7 The following will be introduced: A piano pedal system includes an external unit, an additional unit, and a control unit. The external unit is independently installed outside the piano, and the additional unit is installed on the piano. Both the external unit and the additional unit are electrically connected to the control unit.

[0106] Specifically, the control unit uses a microcontroller unit (MCU), which can be set independently or integrated into an external unit or added-on unit.

[0107] The external unit includes an external pedal module and a data acquisition module. The external pedal module includes at least one external pedal. The data acquisition module is used to collect the pedaling data of the external pedal. The control unit is used to control the installation unit to press the corresponding piano pedal according to the pedaling data.

[0108] The external pedal module also includes a mounting plate 111 and a mounting block 112 fixedly connected to the top of the mounting plate 111. The external pedal includes an external left pedal 113, an external middle pedal 114 and an external right pedal 115 that are hinged side by side to one side of the mounting block 112.

[0109] In some embodiments, buffer springs are connected between the external left pedal 113, the external middle pedal 114, and the external right pedal 115 and the mounting plate 111. The buffer springs not only buffer the user's stepping force on the external pedals to prevent collision between the external pedals and the mounting plate 111, but also help the external pedals return to their original position after the user releases the stepping force.

[0110] The data acquisition module includes an external position sensor, which is electrically connected to the control unit. The external position sensor is used to collect the pedal height data of the external left pedal 113 and the external right pedal 115 (in other embodiments of the present invention, it is also referred to as pedal value or pedal value). The control unit controls the mounting unit to press the corresponding piano pedal 3 down to the corresponding height based on the pedal height data.

[0111] Alternatively, in some embodiments, the data acquisition module may include a force feedback sensor instead, which is used to acquire the user's pedaling force (also referred to as pedaling value or pedaling value).

[0112] Although both upright and grand pianos include three pedals (left, center, and right), only the left pedal (soft pedal) and the right pedal (sustain pedal) actually require grayscale control; the center pedal only needs to be controlled by switching it on and off. Therefore, in this embodiment, the addition unit includes two pedal drive modules, which are respectively set for the left and right pedals of the piano, to operate the left and right pedals according to the pedal height data of the external left pedal 113 and the external right pedal 115.

[0113] The pedal drive module includes a mounting bracket 211 and a pedal motor 212. The mounting bracket 211 is fixedly connected to the piano, and the pedal motor 212 is vertically fixedly connected to the mounting bracket 211 and electrically connected to the control unit. The pedal motor 212 is a linear motor, including a stator and a mover. The stator is cylindrical, and the mover is vertically slidably inserted into the stator. The stator is fixedly connected to the mounting bracket 211. The bottom end of the mover is connected to the corresponding piano pedal 3, driving the corresponding piano pedal 3 to move downwards to achieve pedal operation.

[0114] This embodiment abandons the traditional drive method of rotary motor + gear set / screw mechanism, and adopts a linear motor as the pedal motor 212. The stator and mover of the linear motor directly generate thrust through magnetic field interaction, so that the mover slides vertically in the stator without any intermediate mechanical reversal or deceleration. This modification eliminates the periodic noise and transmission backlash caused by gear meshing or screw friction. Therefore, when the pedal drive module presses the corresponding piano pedal according to the pedal height data, the mover can remain silent and respond sensitively during high-frequency reciprocating motion in the stator, reducing the response time from tens of milliseconds to sub-milliseconds.

[0115] A connecting rod 213 is coaxially fixed to the top of the mover, and a position sensor is fixedly connected to the top of the connecting rod 213. The position sensor is electrically connected to the control unit. The position sensor is used to detect the movement distance of the mover. If the detection result shows that the movement distance of the mover is the same as the pedal height data, the control unit controls the pedal motor 212 to turn off, stopping the pedaling of the piano pedal 3.

[0116] In this embodiment, the external position sensor and the added position sensor can employ proximity switches (such as inductive or capacitive non-contact switches) or oscillating switches (also known as lever limit switches or micro switches) to achieve a position detection accuracy of ±0.1mm: 1) The system can accurately reproduce the formation details of the user's pedaling action, achieving delicate control over pedal effects such as sustain and soft tones; 2) The pedaling drive response of the added unit is highly synchronized with the user's operation, enhancing the realism and realism of the performance. Furthermore, in this embodiment, the added position sensor is directly fixed to the top of the mover via the connecting rod 213. Compared to external or separate sensors, this integrated transmission + sensing structure not only shortens the signal transmission path and reduces wiring complexity but also avoids response lag and data drift caused by component misalignment or secondary installation errors, ensuring detection efficiency and accuracy.

[0117] In some embodiments, the height sensor, external position sensor, and additional position sensor may also employ a high-resolution linear encoder.

[0118] In some embodiments, the external position sensor and the added position sensor can be replaced by a force feedback sensor, or a combination of both can be used.

[0119] In some embodiments, the mounting unit further includes two linkage transmission modules, which are configured one-to-one with the pedal drive module. The linkage transmission module is connected between the output end of the pedal drive module and the corresponding piano pedal 3.

[0120] Specifically, the linkage transmission module includes a base plate 221 and a linkage mechanism 222 mounted on the base plate 221. The linkage mechanism 222 includes a transmission link 2221, a hinge support 2222, and a connecting bolt 2223. The hinge support 2222 is fixedly connected to the top of the base plate 221, and the non-end of the transmission link 2221 is hinged to the hinge support 2222. One end of the transmission link 2221 is fixedly connected to the bottom end of the linear guide rod via the connecting bolt 2223, and the other end of the transmission link 2221 is fixedly connected to the corresponding piano pedal 3 via the connecting bolt 2223.

[0121] The pedal motor 212 is used to drive one end of the transmission link 2221 to move upward, so that the other end of the transmission link 2221 drives the corresponding piano pedal 3 to move downward, thereby realizing the pressing of the piano pedal 3.

[0122] In some embodiments, the linkage transmission module further includes a damping spring 223, which is connected between the transmission link 2221 and the base plate 221, and is located between the hinge support 2222 and the piano pedal 3. The damping spring 223 not only buffers the force applied to the piano pedal 3 by the transmission link 2221 to prevent excessive force from causing structural collision damage, but also assists the transmission link 2221 in resetting after the force applied to the piano pedal 3 by the transmission link 2221 has ended.

[0123] In some embodiments, the transmission link 2221 has a square cross-section. A flange plate is fixedly connected to the bottom end of the linear guide rod. A square hole is opened on the flange plate. The end of the transmission link 2221 away from the piano pedal 3 is inserted into the square hole, and the transmission link 2221 is fixedly connected to the flange plate with bolts. The size of the square hole matches the cross-sectional size of the transmission link 2221, that is, the inner wall of the square hole is clearance-fitted with the outer wall of the transmission link 2221, which limits the transmission link 2221 and prevents it from rotating during use, thereby ensuring the accuracy of force transmission.

[0124] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a computer terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0126] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for operating and managing a pedal-driven module, characterized in that, The operation management method is applied to a foot pedal system, which includes an external unit and an additional unit. The additional unit is mounted on the piano. The external unit includes an external pedal module, and the additional unit includes a pedal drive module. The pedal drive module is used to press the corresponding piano pedal according to pedal data. The pedal data includes a pedal value, and the pedal value is associated with a timestamp. The pedal data is used to generate an analog signal. Correspondingly, the method includes the following steps: S101, Obtain the measured movement distance of the pedal drive module in the first time period, and the measured movement distance is associated with a timestamp; S102, the desired movement distance is determined based on the analog signal input to the pedal drive module, and the desired movement distance is also associated with the timestamp; S103, calculate the first deviation distance based on the measured moving distance and the expected moving distance; S104, determine the risk management indicators of the pedaling drive module based on the first deviation degree and auxiliary parameters, wherein the auxiliary parameters are defined according to one or more of the following auxiliary information: The timestamp of the deviation distance, the operating temperature of the pedal drive module, and the operating time of the pedal drive module; S105, Select operational recommendations for the second time period based on the risk management indicators. The operational recommendations include: continue operation, suspend operation, or terminate operation.

2. The method according to claim 1, characterized in that, S105 includes the following steps: S1051, obtain the simulated pressure in the second time period according to the external data source, the simulated pressure is defined by the expected pedal value and pedal duration in the second time period; wherein, the external data source is obtained through the music score database, and the external data source records the standard pedal value of at least one note node; S1052, The risk management indicators are modified using simulated pressure to obtain new risk management indicators; wherein, when the simulated pressure is greater than a preset pressure threshold, the risk management indicators are improved to generate the new risk management indicators. S1053, Select the operational recommendations based on the new risk management indicators.

3. The method according to claim 2, characterized in that, S1051 includes: Obtain at least one pedal value and the pedal duration during the second time period based on the external data source; Calculate the pedal change rate based on the pedal value and the pedal duration; Determine whether the pedal value is greater than a preset third pedal threshold; if so, identify the pedal value as the target pedal value. The simulated pressure is defined based on the number of target pedal values ​​and the rate of change of the pedal.

4. The method according to claim 1, characterized in that, S104 includes: S1041, determine the first risk level based on the first deviation distance; S1042, Determine the second risk level based on the auxiliary parameters; S1043, Generate risk management indicators based on the first risk level and the second risk level.

5. The method according to claim 4, characterized in that, S1042 includes: Obtain a second deviation distance adjacent to the first deviation distance, wherein the second deviation distance refers to the deviation distance generated before and / or after the first deviation distance; The second risk level is determined by using a preset mapping relationship and the second deviation distance.

6. The method according to claim 4, characterized in that, S1042 includes: A second risk level is generated based on the operating temperature and / or the operating time.

7. The method according to claim 1, characterized in that, It also includes the following steps: S106, determine whether the pedal value is greater than a preset first pedal threshold; If the result of the judgment in S106 is yes, then execute: S107, the pedal value is marked as a type of pedal value; S108, generate the analog signal based on the analog pedal value, wherein the analog pedal value includes: a type of pedal value.

8. The method according to claim 7, characterized in that, It also includes the following steps: S109, determine whether the pedal value is greater than a preset second pedal threshold; If the result of S106 is negative and the result of S109 is positive, then execute: S110, the pedal value is marked as a type II pedal value; S111, determine whether the duration of the second type of foot pedal value is less than the set duration; If so, the second type of pedal value is updated to the simulated pedal value.

9. An operation management system for a pedal-driven module, characterized in that, The operation and management system is applied to the foot pedal system, which includes an external unit and an additional unit. The additional unit is installed on the piano. The external unit includes an external pedal module, and the additional unit includes a pedal drive module. The pedal drive module is used to press the corresponding piano pedals according to the pressing data. The pressing data includes a pedal value, and the pedal value is associated with a timestamp. The pressing data is used to generate analog signals. Correspondingly, the system includes: The measurement module is used to obtain the measured movement distance of the pedal drive module in the first time period, and the measured movement distance is associated with a timestamp; The simulation module is used to determine the desired movement distance based on the analog signal input to the pedal drive module, and the desired movement distance is also associated with the timestamp; The distance calculation module is used to calculate a first deviation distance based on the measured movement distance and the expected movement distance; A risk determination module is used to determine the risk management indicators of the stamping drive module based on the first deviation degree and auxiliary parameters, wherein the auxiliary parameters are defined according to one or more of the following auxiliary information: The timestamp of the deviation distance, the operating temperature of the pedal drive module, and the operating time of the pedal drive module; The operation suggestion selection module is used to select operation suggestions for the second time period based on the risk management indicators. The operation suggestions include: continue operation, pause operation, or suspend operation.

10. A piano, characterized in that, The piano includes a foot pedal system, which comprises an external unit and an additional unit. The additional unit is mounted on the piano. The external unit includes an external pedal module, and the additional unit includes a pedal drive module. The pedal drive module is used to press the corresponding piano pedals according to pedal data. The pedal data includes pedal values, which are associated with timestamps. The pedal data is used to generate analog signals. The system also includes an operation management system for the pedal drive module, which includes: The measurement module is used to obtain the measured movement distance of the pedal drive module in the first time period, and the measured movement distance is associated with a timestamp; The simulation module is used to determine the desired movement distance based on the analog signal input to the pedal drive module, and the desired movement distance is also associated with the timestamp; The distance calculation module is used to calculate a first deviation distance based on the measured movement distance and the expected movement distance; A risk determination module is used to determine the risk management indicators of the stamping drive module based on the first deviation degree and auxiliary parameters, wherein the auxiliary parameters are defined according to one or more of the following auxiliary information: The timestamp of the deviation distance, the operating temperature of the pedal drive module, and the operating time of the pedal drive module; The operation suggestion selection module is used to select operation suggestions for the second time period based on the risk management indicators. The operation suggestions include: continue operation, pause operation, or suspend operation.

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