Tactile pressure switch and continuous pressure measurement fusion method and system

Abstract

The invention is suitable for the technical field of tactile sensors, and provides a tactile pressure switch and continuous pressure measurement fusion method and system, and the method comprises the steps: 1, obtaining tactile channel signals, and building a tactile channel reference value, the tactile channel signals comprise a tactile capacitance signal and a tactile resistance signal, establishing a tactile capacitance reference value corresponding to the tactile capacitance signal and a tactile resistance reference value corresponding to the tactile resistance signal one by one; step 2, constructing a tactile pressure index based on the tactile channel signal and the tactile channel reference value; 3, constructing a hysteresis threshold value based on the tactile pressure index, and carrying out hysteresis judgment to output a switching value; 4, acquiring a continuous pressure channel signal, converting the continuous pressure channel signal to obtain continuous pressure, and converting the tactile pressure index to obtain tactile equivalent pressure; according to the invention, jitter springback is suppressed by dynamic hysteresis, the stability and consistency of the switch are improved, recharge correction is triggered by residual errors, and the self-diagnosis and self-correction capability is provided, so that the precision is improved, and the user experience is improved.

Description

Technical Field

[0001] This invention belongs to the field of tactile sensor technology, and in particular relates to a method and system for integrating tactile pressure switch and continuous pressure measurement. Background Technology

[0002] In complex contact environments, single pressure switches are prone to false triggering due to jitter, rebound, noise drift, and poor contact; single continuous pressure channels are prone to distortion under impact, temperature drift, zero-point drift, or saturation, and lack "self-judgment of reliability".

[0003] If a stable switching quantity and a reliable continuous pressure can be output simultaneously within the same contact point, and if the two channels can self-verify and self-correct when they conflict, reliability and engineering adaptability will be improved. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method and system for fusing tactile pressure switch and continuous pressure measurement, which aims to solve the problems of low accuracy and poor user experience caused by the inability of the prior art to provide an effective method for fusing tactile pressure switch and continuous pressure measurement.

[0005] On one hand, the present invention provides a method for integrating a tactile pressure switch with continuous pressure measurement, the method comprising the following steps:

[0006] Step 1: Acquire tactile channel signals and establish tactile channel reference values. The tactile channel signals include tactile capacitance signals and tactile resistance signals. Establish tactile capacitance reference values ​​corresponding to the tactile capacitance signals and tactile resistance reference values ​​corresponding to the tactile resistance signals. The tactile channel reference values ​​include the tactile capacitance reference values ​​and the tactile resistance reference values.

[0007] Step 2: Construct a tactile pressure index based on the tactile channel signal and the tactile channel reference value;

[0008] Step 3: Construct a hysteresis threshold based on the tactile pressure index and perform hysteresis determination to output a switching quantity;

[0009] Step 4: Acquire the continuous pressure channel signal and convert it into continuous pressure, and convert the tactile pressure index into tactile equivalent pressure;

[0010] Step 5: Construct the reliability of the tactile channel and the reliability of the continuous pressure channel, and dynamically weight and fuse the continuous pressure and the tactile equivalent pressure based on the reliability of the tactile channel and the reliability of the continuous pressure channel to obtain the fused pressure;

[0011] Step 6: Perform a consistency check between the continuous pressure and the tactile equivalent pressure. If the consistency does not meet the preset conditions, trigger a backfeed correction. The backfeed correction is used to update at least one parameter, which includes: the tactile capacitance reference value, the tactile resistance reference value, the continuous pressure channel zero point, the continuous pressure channel gain, the tactile channel reliability, and the continuous pressure channel reliability, or one or more of these parameters.

[0012] Step 7: Output the switching quantity and the fusion pressure.

[0013] The method of the present invention, wherein the method further comprises:

[0014] In step two, the directionally consistent effective components are extracted from the tactile channel signal. These directionally consistent effective components include: and .

[0015] The method described in this invention further includes: constructing a tactile pressure index according to Formula 1;

[0016] Formula 1: ;in, The tactile pressure index is mentioned above. This refers to the tactile capacitance signal. This is the reference value for the tactile capacitance. The tactile resistance signal, The reference value for the tactile resistance is... The capacitance contribution coefficient. For capacitor normalized gain, The nonlinearity of the resistance is represented by the index. Used to retain the effective component that is consistent with the direction of compression.

[0017] The method of the present invention, wherein the hysteresis threshold includes: a press threshold and a release threshold, wherein the press threshold is calculated according to formula 2 and the release threshold is calculated according to formula 3;

[0018] Formula 2: ;Formula 3: ;in, The pressed threshold, The release threshold is... As the threshold center, and All are threshold expansion coefficients. The short-window fluctuation scale of the tactile pressure index;

[0019] when hour ,when hour ,in, The switching quantity is the aforementioned quantity.

[0020] In the method described in this invention, the short-window fluctuation scale of the tactile pressure index is calculated from the tactile pressure index within a sliding time window, and the short-window fluctuation scale of the tactile pressure index is one of the median absolute deviation, the standard deviation after removing extreme values, and the quantile difference after removing extreme values.

[0021] In the method described in this invention, the tactile equivalent pressure is obtained from the tactile pressure index through a monotonic conversion model, wherein the monotonic conversion model is one of a calibration lookup table, a piecewise linear model, or a parameterized monotonic function model.

[0022] The method of the present invention further includes: calculating the fusion pressure according to formula 4;

[0023] Formula 4: ,and ;in, For the fusion pressure, For the continuous pressure, The tactile equivalent pressure, The reliability of the continuous pressure channel For the reliability of the tactile channel, For weight fusion.

[0024] In the method of the present invention, the reliability of the continuous pressure channel and the reliability of the tactile channel are determined by at least two of the following indices: saturation index, short-time noise index, drift rate index and consistency residual index, and decrease monotonically when the corresponding index deteriorates.

[0025] The method described in this invention further includes: the consistency verification uses a consistency residual, which is calculated according to formula 5;

[0026] Formula 5: ;in, For the consistency residual, The tactile equivalent pressure, It is a very small positive number;

[0027] when The backfilling correction is triggered at a certain time, wherein, This is the consistency threshold.

[0028] On the other hand, the present invention provides a system integrating a tactile pressure switch and continuous pressure measurement, the system comprising:

[0029] A tactile sensor is used to output tactile capacitance and tactile resistance signals, and to establish tactile capacitance and tactile resistance reference values.

[0030] The continuous pressure sensing unit, which is either piezoelectric or capacitive, is used to output a continuous pressure channel signal and convert it into continuous pressure.

[0031] The signal conditioning and fusion algorithm unit is used to execute the method described in any one of claims 1 to 9 and output switching quantity and fusion pressure.

[0032] The beneficial effects of this invention are as follows: Step 1: Acquire tactile channel signals and establish tactile channel reference values. The tactile channel signals include tactile capacitance signals and tactile resistance signals. Establish tactile capacitance reference values ​​corresponding to the tactile capacitance signals and tactile resistance reference values ​​corresponding to the tactile resistance signals. Step 2: Construct a tactile pressure index based on the tactile channel signals and tactile channel reference values. Step 3: Construct a hysteresis threshold based on the tactile pressure index and perform hysteresis determination to output a switching quantity. Step 4: Acquire continuous pressure channel signals and convert them into continuous pressure, and convert the tactile pressure index into tactile equivalent pressure. Step 5: Construct tactile channel reliability and continuous pressure channel reliability, and dynamically weight and fuse the continuous pressure and tactile equivalent pressure based on the tactile channel reliability and continuous pressure channel reliability to obtain a fused pressure. Step 6: Perform consistency verification on the continuous pressure and tactile equivalent pressure. Trigger a backfeed correction when the consistency does not meet the preset conditions. Step 7: Output a switching quantity and fused pressure. It achieves dynamic hysteresis suppression of jitter and bounce, improves switching stability and consistency, triggers residual backflow correction, and has self-diagnostic and self-correcting capabilities, thereby improving accuracy and ultimately enhancing the user experience. Attached Figure Description

[0033] Figure 1 This is a flowchart illustrating the implementation of the tactile pressure switch and continuous pressure measurement fusion method provided in Embodiment 1 of the present invention.

[0034] Figure 2 This is a schematic diagram of the tactile pressure switch and continuous pressure measurement fusion system provided in Embodiment 2 of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0036] The specific implementation of the present invention will be described in detail below with reference to specific embodiments:

[0037] Example 1:

[0038] Figure 1 The implementation flow of the tactile pressure switch and continuous pressure measurement fusion method provided in Embodiment 1 of the present invention is shown. For ease of explanation, only the parts related to the embodiments of the present invention are shown, and are described in detail below:

[0039] In step S101, tactile channel signals are acquired and tactile channel reference values ​​are established. The tactile channel signals include tactile capacitance signals and tactile resistance signals. Tactile capacitance reference values ​​corresponding to tactile capacitance signals and tactile resistance reference values ​​corresponding to tactile resistance signals are established one by one.

[0040] In embodiments of the present invention, the tactile channel reference values ​​include: tactile capacitance reference values ​​and tactile resistance reference values.

[0041] In step S102, a tactile pressure index is constructed based on the tactile channel signal and the tactile channel reference value;

[0042] In embodiments of the present invention, the method further includes:

[0043] In step S102, the directionally consistent effective components are extracted from the tactile channel signal. The directionally consistent effective components include: and Used to suppress reverse noise and drift.

[0044] The method also includes: constructing a tactile pressure index according to Formula 1;

[0045] Formula 1: ;in, The tactile pressure index. This is a tactile capacitance signal. This is the reference value for tactile capacitance. This is a tactile resistance signal. This is the reference value for tactile resistance. The capacitance contribution factor (with a value between 0 and 1). The capacitor normalized gain (greater than 0). The nonlinearity index of the resistor (greater than 0). Used to retain the effective component that is consistent with the direction of compression.

[0046] In step S103, a hysteresis threshold is constructed based on the tactile pressure index and a hysteresis determination is performed to output a switching quantity;

[0047] In an embodiment of the present invention, the hysteresis threshold includes a press threshold and a release threshold, wherein the press threshold is calculated according to Formula 2 and the release threshold is calculated according to Formula 3.

[0048] Formula 2: ;Formula 3: ;in, To press the threshold, To release the threshold, As the threshold center, and All are threshold expansion coefficients. This is the short-window fluctuation scale for the tactile pressure index;

[0049] when hour ,when hour ,in, For switching signals; the higher the noise, the wider the hysteresis band and the better the jitter resistance; the lower the noise, the narrower the hysteresis band and the higher the sensitivity.

[0050] Furthermore, the short-window fluctuation scale of the tactile pressure index is calculated from the tactile pressure index within the sliding time window, and the short-window fluctuation scale of the tactile pressure index is one of the following: median absolute deviation, standard deviation after removing extreme values, and quantile difference after removing extreme values.

[0051] In step S104, the continuous pressure channel signal is acquired and the continuous pressure is calculated, and the tactile pressure index is converted into the tactile equivalent pressure.

[0052] In an embodiment of the present invention, the tactile equivalent pressure is obtained by the tactile pressure index through a monotonic conversion model, which is one of the following: calibration lookup table, piecewise linear model, or parameterized monotonic function model.

[0053] Furthermore, the continuous pressure is calculated according to Formula 6: Formula 6: ;in, The raw signal (such as voltage / charge / count) for a continuous pressure channel. For continuous pressure channel gain (proportional coefficient). Continuous pressure channel zero point (offset when there is no pressure).

[0054] In step S105, the reliability of the tactile channel and the reliability of the continuous pressure channel are constructed, and the continuous pressure and the tactile equivalent pressure are dynamically weighted and fused based on the reliability of the tactile channel and the reliability of the continuous pressure channel to obtain the fused pressure;

[0055] In an embodiment of the present invention, the method further includes: calculating the fusion pressure according to Formula 4;

[0056] Formula 4: ,and ;in, To integrate pressure, For continuous pressure, For tactile equivalent pressure, Continuous pressure path reliability For the reliability of the tactile channel, The fusion weight (values ​​range from 0 to 1); the weight is determined by the reliability, abnormal channels are automatically downweighted to suppress single-channel distortion and pollution output.

[0057] Furthermore, the reliability of the continuous pressure channel and the reliability of the tactile channel are determined by at least two of the following indices: saturation index, short-time noise index, drift rate index, and consistency residual index, and decrease monotonically as the corresponding indices deteriorate.

[0058] In step S106, the consistency between continuous pressure and tactile equivalent pressure is checked, and if the consistency does not meet the preset conditions, a backflow correction is triggered.

[0059] In an embodiment of the present invention, the backfeed correction is used to update at least one parameter, which includes one or more of the following: tactile capacitance reference value, tactile resistance reference value, continuous pressure channel zero point, continuous pressure channel gain, tactile channel reliability, and continuous pressure channel reliability.

[0060] Furthermore, the method also includes: consistency verification uses consistency residuals, which are calculated according to formula 5;

[0061] Formula 5: ;in, For consistent residuals, For tactile equivalent pressure, It is a very small positive number (used to avoid the denominator being 0);

[0062] when Time-triggered re-feedback correction, among which, A consistency threshold is set (used to determine whether consistency meets preset conditions); dimensionless residuals are used to adapt to different ranges; over-limit triggering recharge enables self-diagnosis and self-recovery, improving long-term stability.

[0063] In step S107, the output switch quantity and fusion pressure are displayed.

[0064] In an embodiment of the present invention, the following steps are performed: Step 1: Acquire tactile channel signals and establish tactile channel reference values. The tactile channel signals include tactile capacitance signals and tactile resistance signals. Establish tactile capacitance reference values ​​corresponding to the tactile capacitance signals and tactile resistance reference values ​​corresponding to the tactile resistance signals. Step 2: Construct a tactile pressure index based on the tactile channel signals and tactile channel reference values. Step 3: Construct a hysteresis threshold based on the tactile pressure index and perform hysteresis determination to output a switching quantity. Step 4: Acquire continuous pressure channel signals and convert them into continuous pressure. Convert the tactile pressure index into tactile equivalent pressure. Step 5: Construct tactile channel reliability and continuous pressure channel reliability. Dynamically weight and fuse the continuous pressure and tactile equivalent pressure based on the tactile channel reliability and continuous pressure channel reliability to obtain a fused pressure. Step 6: Perform consistency verification on the continuous pressure and tactile equivalent pressure. Trigger a backfeed correction when the consistency does not meet a preset condition. Step 7: Output a switching quantity and fused pressure. It achieves dynamic hysteresis suppression of jitter and bounce, improves switching stability and consistency, triggers residual backflow correction, and has self-diagnostic and self-correcting capabilities, thereby improving accuracy and ultimately enhancing the user experience.

[0065] Example 2:

[0066] Figure 2 The structure of the tactile pressure switch and continuous pressure measurement fusion system provided in Embodiment 2 of the present invention is shown. For ease of explanation, only the parts related to the embodiments of the present invention are shown, including:

[0067] The tactile sensor 201 is used to output tactile capacitance signals and tactile resistance signals, and to establish tactile capacitance reference values ​​and tactile resistance reference values;

[0068] The continuous pressure sensing unit 202 is either piezoelectric or capacitive and is used to output a continuous pressure channel signal and convert it into continuous pressure.

[0069] Signal conditioning and fusion algorithm unit 203 is used to perform the above-described functions. Figure 1 The method steps S101 to S107.

[0070] In this embodiment of the invention, each unit of the tactile pressure switch and continuous pressure measurement fusion system can be implemented by corresponding hardware or software units. Each unit can be an independent hardware or software unit, or it can be integrated into a hardware or software unit. This is not intended to limit the invention.

[0071] Example 3:

[0072] Embodiment 3 of the present invention provides a non-volatile computer-readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, executing the instructions described above. Figure 1 The method steps S101 to S107.

[0073] As an example, non-volatile storage media can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) as an external cache memory. By way of explanation, RAM can be obtained in many forms such as synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The memory components or memories disclosed in the operating environment described herein are intended to include one or more of these and / or any other suitable types of memory.

[0074] Example 4:

[0075] Embodiment 4 of the present invention provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions, which, when executed by a processor, cause the processor to perform the tactile pressure switch and continuous pressure measurement fusion method described in the above embodiment. For example, performing the above-described... Figure 1 The method steps S101 to S107.

[0076] The embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0077] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general-purpose hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can exist in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer electronic device (which may be a personal computer, server, or network electronic device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0078] The contents already described herein in this specification and accompanying drawings include examples of methods and systems capable of providing tactile pressure switches and continuous pressure measurement fusion. Of course, it is not possible to describe every conceivable combination of elements and / or methods for the purpose of describing the various features of this disclosure, but it will be appreciated that many other combinations and substitutions of the disclosed features are possible. Therefore, it will be apparent that various modifications can be made to this disclosure without departing from the scope or spirit of this disclosure. Furthermore, or in alternatives, other embodiments of this disclosure may become apparent from consideration of this specification and accompanying drawings and from practice of this disclosure as presented herein. It is intended that the examples presented in this specification and accompanying drawings be considered illustrative rather than limiting in all respects. Although specific terminology is used herein, it is used in a general and descriptive sense and is not intended for limiting purposes.

Claims

1. A method for integrating a tactile pressure switch with continuous pressure measurement, characterized in that, The method includes the following steps: Step 1: Acquire tactile channel signals and establish tactile channel reference values. The tactile channel signals include tactile capacitance signals and tactile resistance signals. Establish tactile capacitance reference values ​​corresponding to the tactile capacitance signals and tactile resistance reference values ​​corresponding to the tactile resistance signals. The tactile channel reference values ​​include the tactile capacitance reference values ​​and the tactile resistance reference values. Step 2: Construct a tactile pressure index based on the tactile channel signal and the tactile channel reference value; Step 3: Construct a hysteresis threshold based on the tactile pressure index and perform hysteresis determination to output a switching quantity; Step 4: Acquire the continuous pressure channel signal and convert it into continuous pressure, and convert the tactile pressure index into tactile equivalent pressure; Step 5: Construct the reliability of the tactile channel and the reliability of the continuous pressure channel, and dynamically weight and fuse the continuous pressure and the tactile equivalent pressure based on the reliability of the tactile channel and the reliability of the continuous pressure channel to obtain the fused pressure; Step 6: Perform a consistency check between the continuous pressure and the tactile equivalent pressure. If the consistency does not meet the preset conditions, trigger a backfeed correction. The backfeed correction is used to update at least one parameter, which includes: the tactile capacitance reference value, the tactile resistance reference value, the continuous pressure channel zero point, the continuous pressure channel gain, the tactile channel reliability, and the continuous pressure channel reliability, or one or more of these parameters. Step 7: Output the switching quantity and the fusion pressure.

2. The method as described in claim 1, characterized in that, The method further includes: In step two, the directionally consistent effective components are extracted from the tactile channel signal. These directionally consistent effective components include: and .

3. The method as described in claim 2, characterized in that, The method further includes: constructing a tactile pressure index according to Formula 1; Formula 1: ;in, The tactile pressure index is mentioned above. This refers to the tactile capacitance signal. This is the reference value for the tactile capacitance. The tactile resistance signal, The reference value for the tactile resistance is... The capacitance contribution coefficient. For capacitor normalized gain, The nonlinearity of the resistance is represented by the index. Used to retain the effective component that is consistent with the direction of compression.

4. The method as described in claim 1, characterized in that, The hysteresis threshold includes a press threshold and a release threshold, wherein the press threshold is calculated according to Formula 2 and the release threshold is calculated according to Formula 3; Formula 2: ;Formula 3: ;in, The pressed threshold, The release threshold is... As the threshold center, and All are threshold expansion coefficients. The short-window fluctuation scale of the tactile pressure index; when hour ,when hour ,in, The switching quantity is the aforementioned quantity.

5. The method as described in claim 4, characterized in that, The short-window fluctuation scale of the tactile pressure index is calculated from the tactile pressure index within a sliding time window, and the short-window fluctuation scale of the tactile pressure index is one of the following: median absolute deviation, standard deviation after removing extreme values, and quantile difference after removing extreme values.

6. The method as described in claim 1, characterized in that, The tactile equivalent pressure is obtained from the tactile pressure index through a monotonic conversion model, which is one of the following: calibration lookup table, piecewise linear model, or parameterized monotonic function model.

7. The method as described in claim 1, characterized in that, The method further includes: calculating the fusion pressure according to Formula 4; Formula 4: ,and ;in, For the fusion pressure, For the continuous pressure, The tactile equivalent pressure, The reliability of the continuous pressure channel For the reliability of the tactile channel, For weight fusion.

8. The method as described in claim 1, characterized in that, The reliability of the continuous pressure channel and the reliability of the tactile channel are each determined by at least two of the following indices: saturation index, short-time noise index, drift rate index, and consistency residual index, and decrease monotonically as the corresponding indices deteriorate.

9. The method as described in claim 1, characterized in that, The method further includes: the consistency check uses a consistency residual, which is calculated according to formula 5; Formula 5: ;in, For the consistency residual, The tactile equivalent pressure, It is a very small positive number; when The backfilling correction is triggered at a certain time, wherein, This is the consistency threshold.

10. A system integrating a tactile pressure switch and continuous pressure measurement, characterized in that, The system includes: A tactile sensor is used to output tactile capacitance and tactile resistance signals, and to establish tactile capacitance and tactile resistance reference values. The continuous pressure sensing unit, which is either piezoelectric or capacitive, is used to output a continuous pressure channel signal and convert it into continuous pressure. The signal conditioning and fusion algorithm unit is used to execute the method described in any one of claims 1 to 9 and output switching quantity and fusion pressure.

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