Bionic skin temperature control method, device and system

Abstract

The invention relates to a bionic skin temperature control method, device and system, bionic skin comprises a first temperature sampling layer and a heating layer, and the method comprises the steps that first heating power corresponding to the heating layer is determined according to a set temperature value of the bionic skin; controlling the heating layer to heat according to the first heating power; acquiring a temperature value acquired by the first temperature sampling layer to determine the temperature value as a first temperature value; determining a first temperature difference value between the set temperature value and a first temperature value; under the condition that the first temperature difference value is larger than a preset temperature value, a control parameter is determined according to the first temperature difference value; the heating power corresponding to the heating layer is adjusted according to the control parameters, and second heating power is obtained; and controlling the heating layer to heat according to the second heating power.

Description

Technical Field

[0001] This disclosure relates to the field of temperature control technology, and more specifically, to a biomimetic skin temperature control method, device, and system. Background Technology

[0002] There is an increasing demand for equipment that simulates uniform temperature heating, such as in robots, embody intelligence, and wearable products. Current uniform temperature heating technologies include PI heating films, FPC heating films, silicone heating films, and metal inner layer water bath heating.

[0003] In the existing technology, the equipment simulation temperature uniform heating control has the following problems: low temperature control accuracy, which affects the equipment simulation temperature uniformity effect. Summary of the Invention

[0004] One objective of this invention is to provide a new technical solution for a biomimetic skin temperature control method.

[0005] According to a first aspect of the present invention, a method for controlling the temperature of bionic skin is provided, the bionic skin comprising a first temperature sampling layer and a heating layer, wherein the method comprises: The first heating power corresponding to the heating layer is determined based on the set temperature value of the bionic skin. The heating layer is controlled to heat according to the first heating power; Obtain the temperature value collected by the first temperature sampling layer to determine the first temperature value; Determine the first temperature difference between the set temperature value and the first temperature value; If the first temperature difference is greater than the preset temperature value, the control parameters are determined based on the first temperature difference. The heating power corresponding to the heating layer is adjusted according to the control parameters to obtain the second heating power; The heating layer is heated according to the second heating power.

[0006] Optionally, determining the control parameters based on the first temperature difference includes: The first temperature difference is input into the set control parameter prediction model to obtain the control parameters.

[0007] Optionally, the set control parameter prediction model is trained based on a training sample set, wherein each sample in the training sample set includes a temperature difference and a corresponding control parameter.

[0008] Optionally, the control parameter is a PID parameter.

[0009] Optionally, the bionic skin further includes a second temperature sampling layer, wherein the method further includes: Obtain the second temperature value collected by the second temperature sampling layer; The second temperature difference between the second temperature value and the set temperature value is used to determine whether the heating layer has malfunctioned.

[0010] Optionally, the first temperature sampling layer includes multiple temperature sensors, wherein acquiring the temperature values ​​collected by the first temperature sampling layer to determine the first temperature value includes: Acquire the temperature values ​​collected by each temperature sensor; The average temperature value is determined based on the temperature values ​​collected by each temperature sensor and used as the first temperature value.

[0011] Optionally, the method further includes: displaying the temperature values ​​corresponding to each sampling point of the first temperature sampling layer.

[0012] According to a second aspect of the present invention, a bionic skin temperature control device is provided, the bionic skin comprising a first temperature sampling layer and a heating layer, wherein the device comprises: The first heating power determination module is used to determine the first heating power corresponding to the heating layer based on the set temperature value of the bionic skin. The control module is used to control the heating layer to heat according to the first heating power; The acquisition module is used to acquire the temperature value collected by the first temperature sampling layer in order to determine the first temperature value; The first temperature value determination module is used to determine the first temperature difference between the set temperature value and the first temperature value. The control parameter determination module is used to determine control parameters based on the first temperature difference when the first temperature difference is greater than a preset temperature value. The second heating power determination module is used to adjust the heating power corresponding to the heating layer according to the control parameters to obtain the second heating power; The control module is used to control the heating of the heating layer according to the second heating power.

[0013] According to a third aspect of the present invention, a biomimetic skin temperature control device is provided, comprising a memory and a processor, the memory storing a computer program for controlling the processor to operate in order to perform the method according to any one of the first aspects.

[0014] According to a fourth aspect of the present invention, a bionic skin temperature control system is provided, comprising: a bionic skin temperature control device as provided in the second or third aspect, and bionic skin, wherein... The bionic skin includes a first temperature sampling layer and a heating layer, and the bionic skin temperature control device is electrically connected to the bionic skin.

[0015] The bionic skin temperature control method disclosed herein determines a first heating power corresponding to the heating layer based on the set temperature value of the bionic skin, controls the heating layer to heat according to the first heating power, obtains a first temperature value collected by a first temperature sampling layer, determines a first temperature difference between the set temperature value and the first temperature value, and if the first temperature difference is greater than the preset temperature value, determines a control parameter based on the first temperature difference, adjusts the heating power corresponding to the heating layer according to the control parameter to obtain a second heating power, and controls the heating layer to heat according to the second heating power, thereby realizing the rapid and accurate adjustment of the temperature value of the bionic skin to the set temperature value.

[0016] The features and advantages of the embodiments of this specification will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of this specification and, together with their description, serve to explain the principles of these embodiments.

[0018] Figure 1 This is a schematic flowchart of a biomimetic skin temperature control method according to an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of a bionic skin temperature control device according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of a bionic skin temperature control device according to an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of a biomimetic skin temperature control system according to an embodiment of the present invention. Detailed Implementation

[0022] Various exemplary embodiments of this specification will now be described in detail with reference to the accompanying drawings.

[0023] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the embodiments of this specification or their application or use.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0025] To address the aforementioned technical problems, this disclosure provides a bionic skin temperature control method. Based on a set temperature value for the bionic skin, a first heating power corresponding to the heating layer is determined. The heating layer is then heated according to the first heating power. A first temperature value collected by a first temperature sampling layer is obtained. A first temperature difference between the set temperature value and the first temperature value is determined. If the first temperature difference is greater than a preset temperature value, control parameters are determined based on the first temperature difference. The heating power corresponding to the heating layer is adjusted according to the control parameters to obtain a second heating power. The heating layer is then heated according to the second heating power, thereby enabling the bionic skin temperature value to be quickly and accurately adjusted to the set temperature value.

[0026] One embodiment of the present invention provides a biomimetic skin temperature control method.

[0027] The bionic skin consists of a first temperature sampling layer and a heating layer.

[0028] according to Figure 1 As shown, the bionic skin temperature control method of this embodiment includes the following steps S110 to S140.

[0029] Step S110: Determine the first heating power corresponding to the heating layer based on the set temperature value of the bionic skin.

[0030] The heating layer provides heat to maintain the bionic skin at a set temperature. The heating layer can use flexible electric heating film, carbon fiber heating wire, or PTC (positive temperature coefficient) thermistors as heating elements. These materials all have advantages such as high heating efficiency, fast response speed, and good safety.

[0031] In some embodiments, the heating layer includes a temperature equalization layer and a heating layer. The temperature equalization layer is used to transfer the heat generated by the heating layer and to provide insulation, thereby achieving a uniform temperature distribution on the bionic skin with an irregular curved surface. Specifically, the heating layer includes a first temperature equalization layer, a heating layer, and a second temperature equalization layer stacked sequentially, with a temperature sampling layer attached to the first temperature equalization layer. When the bionic skin is in close contact with the design model, the second temperature equalization layer is also in close contact with the design model.

[0032] In some embodiments, the heating layer includes a heating substrate. The heating substrate can be formed by alternately stacking a conductive metal layer (such as copper foil, silver paste, etc.) and a ceramic insulating layer (such as alumina, aluminum nitride, etc.). Alternatively, a composite material such as carbon nanotubes or graphene can be used to form the heating substrate. This allows the heating layer to achieve its heating effect when energized.

[0033] In some embodiments, the heating layer includes a substrate and heating circuitry disposed on the substrate. Thus, through the synergistic operation of the substrate and the heating circuitry, a heating system that combines high-efficiency heating, precise temperature control, and long-term reliability can be constructed. The substrate is formed of graphene material. Graphene material can generate heat when energized, and the heating circuitry arranged on it can transfer the heat of the substrate to different areas. The heating circuitry has a serpentine structure, a racetrack-shaped structure, a stepped structure, or a corrugated structure.

[0034] In some embodiments, the bionic skin is attached to a design model, and the base is made of a flexible material so that it can better fit the design model with irregular curved surfaces.

[0035] Taking a head model as an example, a graphene multilayer structure homogeneous heating film with heating circuitry is designed based on the irregular facial contours of the head model to serve as the heating layer. A low-voltage (e.g., 5V) power supply and a closed-loop temperature control circuit can achieve a temperature difference of less than ±0.5℃. This homogeneous temperature effect refers to simulating the comfortable, static environment of human skin, where heat dissipation and heating are naturally balanced without the need for body temperature regulation mechanisms. The closed-loop temperature control circuit described here can be referenced in the section on adjusting the heating power of the heating layer.

[0036] The first and second heat equalization layers are used to enhance heat diffusion and achieve heat uniformity. These layers can rapidly absorb heat generated by the heating layer through their high thermal conductivity (such as graphite sheets, metal foils, or phase change materials), and then diffuse the heat laterally along the bionic skin through uniformly distributed heat conduction paths within the layers. This avoids localized overheating, reduces the temperature difference between heat source and non-heat source areas, and improves the overall temperature uniformity of the bionic skin.

[0037] In some embodiments, the first and second heat spreaders can be made of the same material, such as graphene, to achieve double-layer heat diffusion.

[0038] In some embodiments, the first and second temperature-equalizing layers are made of flexible materials so that they can better conform to the design model with irregular curved surfaces.

[0039] Step S120: Control the heating layer to heat according to the first heating power.

[0040] When the heating layer includes a uniform temperature layer and a heating layer, step S120 specifically includes: controlling the heating layer to heat according to the first heating power.

[0041] Step S130: Obtain the temperature value collected by the first temperature sampling layer to determine the first temperature value.

[0042] The first temperature sampling layer is used to collect the actual temperature value of the heating layer.

[0043] In some embodiments, the first temperature sampling layer includes multiple temperature sensors. The temperature sensors may be NTC sensors. Arranging multiple temperature sensors in an array can enhance the detection range and improve detection accuracy.

[0044] In some embodiments, the actual temperature value collected by the first temperature sampling layer is obtained through multiple sampling circuits. The number of sampling circuits is determined based on the number of temperature sensors set in the first temperature sampling layer, which enables parallel acquisition of the actual temperature value and improves timeliness.

[0045] Step S140: Determine the first temperature difference between the set temperature value and the first temperature value.

[0046] Step S150: If the first temperature difference is greater than the preset temperature value, determine the control parameters based on the first temperature difference.

[0047] The control parameters are PID control parameters, which are used to determine the adjusted heating power.

[0048] The first temperature difference is input into the set control parameter prediction model to obtain the control parameters. By combining the AI ​​model with traditional PID control, the control parameters are automatically adjusted, while improving the accuracy of the control parameters.

[0049] The established control parameter prediction model is trained based on a training sample set. The training sample set includes a large number of training samples. Each sample in the training sample set includes a temperature difference value and its corresponding control parameter. Each sample is input into the control parameter prediction model to be trained, obtaining the output information for each sample, which is the predicted control parameter value for that sample. Based on the predicted control parameter values ​​for each sample and the control parameters included in each sample, the prediction accuracy of the control parameter prediction model is determined. If the prediction accuracy of the control parameter prediction model does not meet the preset requirements, the model is further trained, i.e., the parameters of the control parameter prediction model are adjusted, until the prediction accuracy of the control parameter prediction model reaches the preset requirements.

[0050] Step S160: Adjust the heating power corresponding to the heating layer according to the control parameters to obtain the second heating power.

[0051] Step S170: Control the heating layer to heat according to the second heating power.

[0052] This allows for dynamic optimization of temperature control parameters based on the PID algorithm, achieving uniform temperature closed-loop control and ensuring that the actual temperature value collected by the temperature sampling layer remains at the set temperature value.

[0053] In some embodiments, a second temperature sampling layer is disposed between the heating layer and the temperature equalization layer. The method further includes: acquiring a second temperature value collected by the second temperature sampling layer; and determining whether the heating layer has malfunctioned based on a second temperature difference between the second temperature value and a set temperature value.

[0054] Because the second temperature sampling layer is in close contact with the heating layer, the temperature value collected by the second temperature sampling layer is the actual temperature value of the heating layer. When heating the heating layer based on a determined heating power, if the heating layer does not malfunction, theoretically the temperature difference between the second temperature value collected by the second temperature sampling layer and the set temperature value will be less than or equal to the preset temperature value. If the heating layer malfunctions, the temperature difference between the second temperature value collected by the second temperature sampling layer and the set temperature value will be greater than the preset temperature value. This allows for real-time detection of the heating layer.

[0055] The second temperature sampling layer includes multiple temperature sensors. These temperature sensors can be NTC sensors. The array arrangement of these multiple temperature sensors enhances the detection range and improves detection accuracy.

[0056] The actual temperature value collected by the second temperature sampling layer is obtained by setting up multiple sampling circuits. The number of sampling circuits is determined based on the number of temperature sensors set up in the second temperature sampling layer, which can realize parallel acquisition of temperature values ​​and improve timeliness.

[0057] In some embodiments, the method further includes: displaying the temperature values ​​corresponding to each sampling point of the first temperature sampling layer. This allows the temperature values ​​corresponding to each sampling point to be visualized.

[0058] One embodiment of the present invention provides a bionic skin temperature control device. The bionic skin includes a first temperature sampling layer and a heating layer. Figure 2 As shown, the bionic skin temperature control device includes a first heating power determination module 210, a control module 220, an acquisition module 230, a first temperature value determination module 240, a PID control parameter determination module 250, and a second heating power determination module 260.

[0059] The first heating power determination module 210 is used to determine the first heating power corresponding to the heating layer based on the set temperature value of the bionic skin.

[0060] The control module 220 is used to control the heating of the heating layer according to the first heating power.

[0061] The acquisition module 230 is used to acquire the temperature value collected by the first temperature sampling layer in order to determine the first temperature value.

[0062] The first temperature value determination module 240 is used to determine the first temperature difference between the set temperature value and the first temperature value.

[0063] The control parameter determination module 250 is used to determine control parameters based on the first temperature difference when the first temperature difference is greater than the preset temperature value.

[0064] The second heating power determination module 260 is used to adjust the heating power corresponding to the heating layer according to the control parameters to obtain the second heating power.

[0065] The control module 220 is also used to control the heating of the heating layer according to the second heating power.

[0066] In some embodiments, the control parameter determination module 250 is used to input the first temperature difference value into a set control parameter prediction model to obtain control parameters.

[0067] The control parameter prediction model is trained based on a training sample set, where each sample in the training sample set includes a temperature difference and the corresponding control parameter.

[0068] In some embodiments, the heating layer includes a temperature equalization layer and a heating layer. The control module 220 is configured to control the heating layer to heat according to a first heating power. The control module 220 is also configured to control the heating layer to heat according to a second heating power.

[0069] In some embodiments, a second temperature sampling layer is disposed between the heating layer and the heat spreader layer. The device also includes a second temperature value determination module and a heating layer fault determination module.

[0070] The second temperature value determination module is used to obtain the second temperature value collected by the second temperature sampling layer.

[0071] The heating layer fault determination module is used to determine whether the heating layer has malfunctioned based on the second temperature difference between the second temperature value and the set temperature value.

[0072] In some embodiments, the first temperature sampling layer includes a plurality of temperature sensors arranged in an array.

[0073] In some embodiments, the device further includes a display module. The display module is used to display the temperature values ​​corresponding to each sampling point of the first temperature sampling layer.

[0074] One embodiment of the present invention provides a biomimetic skin temperature control device. According to... Figure 3 As shown, the bionic skin temperature control device includes a memory 320 and a processor 310. The memory 320 stores a computer program that controls the processor 310 to operate and execute the bionic skin temperature control method provided according to any of the above embodiments.

[0075] The processor 310 is used to execute computer instructions, which can be written using instruction sets of architectures such as x86, Arm, RISC, MIPS, and SSE. The memory 320 includes, for example, ROM (Read-Only Memory), RAM (Random Access Memory), and non-volatile memory such as hard disks, etc., and is not limited here.

[0076] One embodiment of the present invention provides a device wearing comfort parameter detection system. According to... Figure 4 As shown, the device's wearing comfort parameter detection system includes: a bionic skin temperature control device and a bionic skin as provided in the above embodiment. The bionic skin includes a first temperature sampling layer and a heating layer. The bionic skin temperature control device is electrically connected to the bionic skin.

[0077] In this embodiment, the bionic skin is attached to a design model. The design model is equipped with a wearable device. The wearable device can be any of the following: VR glasses, a watch, a bracelet, or a ring. The bionic skin is attached to the design model, and the design model is equipped with the wearable device. The design model can be a model simulating any part of the human body, such as a head model or a hand model.

[0078] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0079] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0080] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0081] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from computer-readable program instructions. These electronic circuits can execute computer-readable program instructions to implement various aspects of the present invention.

[0082] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0083] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0084] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0085] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0086] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A biomimetic skin temperature control method, characterized in that, The bionic skin includes a first temperature sampling layer and a heating layer, wherein the method includes: The first heating power corresponding to the heating layer is determined based on the set temperature value of the bionic skin. The heating layer is controlled to heat according to the first heating power; Obtain the temperature value collected by the first temperature sampling layer to determine the first temperature value; Determine the first temperature difference between the set temperature value and the first temperature value; If the first temperature difference is greater than the preset temperature value, the control parameters are determined based on the first temperature difference. The heating power corresponding to the heating layer is adjusted according to the control parameters to obtain the second heating power; The heating layer is heated according to the second heating power.

2. The method according to claim 1, characterized in that, The step of determining the control parameters based on the first temperature difference includes: The first temperature difference is input into the set control parameter prediction model to obtain the control parameters.

3. The method according to claim 2, characterized in that, The established control parameter prediction model is trained based on a training sample set, wherein each sample in the training sample set includes a temperature difference and a corresponding control parameter.

4. The method according to claim 1, characterized in that, The control parameters are PID parameters.

5. The method according to claim 4, characterized in that, The bionic skin further includes a second temperature sampling layer, wherein the method further includes: Obtain the second temperature value collected by the second temperature sampling layer; The second temperature difference between the second temperature value and the set temperature value is used to determine whether the heating layer has malfunctioned.

6. The method according to claim 1, characterized in that, The first temperature sampling layer includes multiple temperature sensors, wherein acquiring the temperature values ​​collected by the first temperature sampling layer to determine a first temperature value includes: Acquire the temperature values ​​collected by each temperature sensor; The average temperature value is determined based on the temperature values ​​collected by each temperature sensor and used as the first temperature value.

7. The method according to claim 6, characterized in that, The method further includes: displaying the temperature values ​​corresponding to each sampling point of the first temperature sampling layer.

8. A biomimetic skin temperature control device, characterized in that, The bionic skin includes a first temperature sampling layer and a heating layer, wherein the device includes: The first heating power determination module is used to determine the first heating power corresponding to the heating layer based on the set temperature value of the bionic skin. The control module is used to control the heating layer to heat according to the first heating power; The acquisition module is used to acquire the first temperature value collected by the first temperature sampling layer; The first temperature value determination module is used to determine the first temperature difference between the set temperature value and the first temperature value. The control parameter determination module is used to determine control parameters based on the first temperature difference when the first temperature difference is greater than a preset temperature value. The second heating power determination module is used to adjust the heating power corresponding to the heating layer according to the control parameters to obtain the second heating power; The control module is used to control the heating of the heating layer according to the second heating power.

9. A biomimetic skin temperature control device, characterized in that, It includes a memory and a processor, the memory storing a computer program for controlling the processor to operate in order to perform the method according to any one of claims 1 to 7.

10. A biomimetic skin temperature control system, characterized in that, include: The bionic skin temperature control device and bionic skin as described in claim 8 or 9, wherein, The bionic skin includes a first temperature sampling layer and a heating layer, and the bionic skin temperature control device is electrically connected to the bionic skin.

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