Rocker physical limit data collection method, device and computer readable storage medium

Abstract

This invention discloses a method, device, and computer-readable storage medium for acquiring physical limit data of a joystick. The method is applied to a joystick module with boundary detection functionality. The joystick module is equipped with a sensor component that outputs a limit trigger signal when the joystick cap deflects to its maximum physical travel. The acquisition method includes: in response to the limit trigger signal, acquiring the logical coordinate values ​​of the joystick component; calculating the deflection angle of the joystick component and the corresponding physical limit modulus based on the logical coordinate values; and updating the joystick physical boundary data set with the deflection angle and the physical limit modulus as physical limit data. This invention eliminates the data lag and deformation blind spots caused by purely software-estimated boundaries, providing an absolutely reliable and dynamically evolving underlying data foundation for adaptive output calibration throughout the joystick's entire lifecycle.

Description

Technical Field

[0001] This invention relates to the field of human-computer interaction technology, and in particular to a method, device, and computer-readable storage medium for acquiring physical limit data of a joystick. Background Technology

[0002] Currently, in the fields of gaming peripherals and precision control, the joystick, as a core three-dimensional input interaction device, is crucial for the stability and consistency of its output accuracy. To ensure that the joystick can accurately output a full-scale signal when pushed to the edge, traditional technologies typically employ static dead-zone truncation based on factory-preset parameters, or rely on a fixed geometric contour estimation model at the pure software level for boundary calibration.

[0003] However, when the above-mentioned general "static software estimation logic" is directly applied to joystick control scenarios with long-term, high-frequency physical collision attributes, it faces the problem of "scenario incompatibility" that is difficult to reconcile.

[0004] Specifically, the software estimation model relied upon by general-purpose technologies assumes that the mechanical motion boundary of the joystick always maintains an ideal, regular static geometric shape (such as a perfect circle). However, in real physical scenarios, joysticks inevitably suffer from component injection molding tolerances, assembly eccentricities, and, more critically, the progressive wear and irreversible deformation of physical limiting structures such as anti-wear rings and skirts caused by high-frequency use. This creates a serious underlying mismatch between the "static, idealized pure software estimation logic" and the "dynamic, irregular, and continuously evolving real physical state." This mismatch between logic and physics prevents the system from perceiving the absolute extreme value changes of the joystick at different lifecycles and in different orientations, leading to bidirectional control distortion: either the preset boundary is too large, preventing the actual operation from reaching full-scale output, or the forced setting of an excessively large compensation dead zone severely erodes the linear micro-operation feel of the central area.

[0005] Therefore, how to design a method for acquiring physical limit data of a joystick so that it can break free from the underlying logic constraints of "static software blind estimation" and objectively and adaptively capture and quantify the dynamic physical boundary evolution of the joystick throughout its entire life cycle has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] This application provides a method for acquiring physical limit data of a joystick, aiming to objectively and adaptively capture and quantify the dynamic physical boundary evolution of the joystick throughout its entire lifecycle.

[0007] To achieve the above objectives, embodiments of this application provide a method for acquiring physical limit data of a joystick, including:

[0008] An application is made to a joystick module with boundary detection functionality. The joystick module includes a joystick assembly and a sensor assembly. The sensor assembly is configured to output a limit trigger signal when the joystick cap of the joystick assembly is deflected to its maximum physical stroke. The acquisition method includes:

[0009] In response to the limit trigger signal, the logical coordinate value of the joystick assembly is obtained, wherein the limit trigger signal indicates that the joystick assembly has reached the physical limit boundary;

[0010] Based on the logical coordinate values, calculate the deflection angle of the joystick assembly and the corresponding physical limit modulus; and

[0011] The deflection angle and the physical limit modulus are used as physical limit data and updated to the joystick physical boundary data set.

[0012] In one embodiment, the logical coordinate values ​​include component coordinate values ​​of the joystick assembly in a first axis and a second axis that are perpendicular to each other;

[0013] Based on the logical coordinate values, the deflection angle of the joystick assembly and the corresponding physical limit modulus are calculated, including:

[0014] Based on the component coordinate values, a polar coordinate system transformation calculation is performed to convert the rectangular coordinate system vector formed by the component coordinate values ​​into a polar coordinate system vector;

[0015] The polar angle of the polar coordinate system vector is taken as the deflection angle, and the polar radius of the polar coordinate system vector is taken as the physical limit modulus.

[0016] In one embodiment, the sensor assembly includes a plurality of independent sensor bodies spaced apart along the circumferential direction of the rocker cap;

[0017] The deflection angle and the physical limit modulus are used as physical limit data and updated to the joystick physical boundary data set, including:

[0018] The deflection angle and physical limit modulus corresponding to the independent sensor body are used as measured physical limit data and updated to the joystick physical boundary data set.

[0019] Based on the measured physical limit data corresponding to the independent sensor body, calculate the non-triggered deflection angle and the corresponding non-triggered physical limit modulus.

[0020] The untriggered deflection angle and the corresponding untriggered physical limit modulus are used as fitted physical limit data and updated to the joystick physical boundary data set.

[0021] In one embodiment, based on the measured physical limit data corresponding to the independent sensor body, the calculation of the untriggered deflection angle and the corresponding untriggered physical limit modulus includes:

[0022] In the state of obtaining the measured physical limit data corresponding to the two adjacent independent sensor bodies, obtain the two reference deflection angles and two reference physical limit moduli corresponding to the two adjacent independent sensor bodies;

[0023] Based on the angular distribution ratio of the non-triggered deflection angle between the two reference deflection angles, interpolation calculation is performed on the two reference physical limit moduli to obtain the non-triggered physical limit moduli corresponding to the non-triggered deflection angle.

[0024] In one embodiment, based on the measured physical limit data corresponding to the independent sensor body, the calculation of the untriggered deflection angle and the corresponding untriggered physical limit modulus includes:

[0025] With multiple measured physical limit data corresponding to multiple independent sensor bodies obtained, a curve fitting algorithm is executed based on the multiple measured physical limit data to construct a mathematical fitting model characterizing the omnidirectional boundary of the joystick.

[0026] Obtain the preset deflection angle as the non-triggered deflection angle;

[0027] Substitute the non-triggered deflection angle into the mathematical fitting model to calculate the non-triggered physical limit modulus corresponding to the non-triggered deflection angle.

[0028] In one embodiment, the sensor assembly includes an annular sensor body arranged circumferentially along the rocker cap, and the limit trigger signal output by the annular sensor body is used to characterize the trigger state of the sensor assembly.

[0029] The deflection angle and the physical limit modulus are used as physical limit data to update the joystick physical boundary data set, including:

[0030] Establish a corresponding binding relationship between the polar radius and polar angle obtained from polar coordinate system conversion;

[0031] The polar angle and polar radius, which are bound together, are respectively used as the deflection angle and the physical limit modulus, and are updated to the joystick physical boundary data set.

[0032] In one embodiment, updating the joystick physical boundary data set with the deflection angle and the physical limit modulus as physical limit data further includes:

[0033] Read the historical physical limit modulus corresponding to the deflection angle from the set of physical boundary data of the joystick;

[0034] When the physical limit modulus is greater than the historical physical limit modulus, the physical limit modulus is used as the physical limit data and updated to the joystick physical boundary data set.

[0035] When the physical limit modulus is not greater than the historical physical limit modulus, the historical physical limit modulus in the joystick physical boundary data set is maintained.

[0036] In one embodiment, the acquisition method further includes, before updating the joystick physical boundary data set:

[0037] Obtain the update permission status corresponding to the deflection angle;

[0038] The physical limit data update operation is performed when the update permission status is characterized by one of the following states:

[0039] The power-on status of the device containing the joystick module;

[0040] The initial trigger state of the deflection angle after the device containing the joystick module is powered on;

[0041] The update interval of the physical limit data meets the preset time threshold.

[0042] To achieve the above objectives, this application also proposes a device for acquiring joystick physical limit data, including a memory, a processor, and a joystick physical limit data acquisition program stored in the memory and executable on the processor. When the processor executes the joystick physical limit data acquisition program, it implements the joystick physical limit data acquisition method as described in any of the above claims.

[0043] To achieve the above objectives, embodiments of this application also propose a computer-readable storage medium storing a program for acquiring joystick physical limit data. When the joystick physical limit data acquisition program is executed by a processor, it implements the joystick physical limit data acquisition method as described in any of the above claims.

[0044] This application instantaneously suspends the regular reading action to obtain the current logical coordinate value of the joystick in response to a hardware-level limit trigger signal output by the sensor when it is physically obstructed. This method utilizes a low-level hardware interrupt or step level mechanism to absolutely force alignment between the logical coordinate acquisition action and the actual physical contact event of the joystick on the time axis, completely eliminating the signal acquisition delay and data misalignment caused by pure software timed polling. Therefore, this application ensures that the acquired logical coordinate value objectively and with zero delay reflects the joystick's true mechanical limit spatial position at the moment of triggering.

[0045] Based on the absolute spatial position captured with zero latency, this application further calculates it into a deflection angle and a physical limit modulus. The deflection angle is used as an absolute addressing index, and the measured physical limit modulus is dynamically overwritten into the joystick's physical boundary data set in non-volatile memory. This mechanism utilizes the vector mapping relationship of polar coordinates to objectively solidify the mechanical travel attenuation and extreme value drift in a specific direction caused by initial manufacturing tolerances, environmental temperature and humidity effects, or long-term high-frequency use into a dynamic characteristic benchmark that accompanies the hardware's lifecycle. Furthermore, this application endows the system with adaptive perception capabilities for changes in the underlying physical state, providing the most advanced absolute reference for the upper-level external dead zone dynamic adjustment logic, fundamentally avoiding output distortion and deterioration of feel caused by long-term mismatch of software and hardware parameters. Attached Figure Description

[0046] 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. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0047] Figure 1 This is a module structure diagram of an embodiment of the joystick physical limit data acquisition device of the present invention;

[0048] Figure 2 A schematic diagram of the structure of the joystick module used in the joystick physical limit data acquisition method of the present invention;

[0049] Figure 3 for Figure 2 Side view of the joystick module shown;

[0050] Figure 4 for Figure 2 Exploded view of the joystick module shown;

[0051] Figure 5 This is a flowchart illustrating an embodiment of the method for acquiring physical limit data of a joystick according to the present invention.

[0052] Explanation of icon numbers:

[0053] 100. Joystick module; 10. Base; 11. Mounting part; 12. First notch; 13. Second notch; 20. Joystick assembly; 21. Joystick body; 22. Joystick cap; 221. Control lever body; 222. Skirt; 23. Joystick cable; 30. Sensor assembly; 31. Sensor body; 32. Sensor cable; 40. Elastic transmission component

[0054] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0055] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0056] It should be noted that when ordinal numbers such as "first" and "second" are mentioned in the embodiments of this application, they are only used to distinguish different objects and do not indicate a specific order or degree of importance, unless the context clearly specifies otherwise. Furthermore, the "connection" or "coupling" described in the embodiments of this application includes not only direct physical connections but also indirect connections or electrical / communication connections via an intermediate medium.

[0057] like Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of the joystick physical limit data acquisition device 1 in the hardware operating environment involved in the embodiment of the present invention.

[0058] The joystick physical limit data acquisition device 1 (hereinafter referred to as "the device") in this application embodiment can be physically manifested as, but is not limited to, a server (including cloud server, server cluster, edge computing node), high-performance workstation, personal computer (PC), mobile terminal, IoT gateway, or dedicated embedded processing device. The device is configured to execute the joystick physical limit data acquisition method provided in this application embodiment.

[0059] like Figure 1 As shown, the device may include a memory 11, a processor 12, a communication interface 13, and a system bus 14.

[0060] The memory 11 is used to store computer programs (or instructions) and data required for the operation of the device.

[0061] The memory 11 includes at least one type of readable storage medium. The readable storage medium includes non-volatile memory (NVM), such as solid-state drive (SSD), hard disk drive (HDD), flash memory, optical disk, or other magnetic / optical storage media; the readable storage medium may also include volatile memory, such as random access memory (RAM) or cache.

[0062] More importantly, the memory 11 stores the operating system, the database, and the acquisition program 10 for the joystick physical limit data involved in this application.

[0063] Processor 12 is the core of the device's operation and control center.

[0064] Specifically, processor 12 may be one or more central processing units (CPUs), microprocessors (MCUs), digital signal processors (DSPs), or field-programmable gate arrays (FPGAs). In embodiments involving artificial intelligence, big data processing, or image rendering, processor 12 may also include an artificial intelligence acceleration chip (such as an NPU, TPU) or a graphics processing unit (GPU) for performing parallel vector or tensor operations.

[0065] The processor 12 uses the system bus 14 to read the joystick physical limit data acquisition program 10 in the memory 11, and implements each step of the joystick physical limit data acquisition method provided in this application embodiment by parsing and executing the program instructions.

[0066] Communication interface 13 (or network interface) is used to enable communication and interaction between the device and other electronic devices (such as clients, third-party servers, and sensor nodes).

[0067] Specifically, the communication interface 13 may optionally include a wired interface (such as an Ethernet interface, fiber optic interface, or USB interface) or a wireless interface (such as a Wi-Fi module, cellular mobile communication module, Bluetooth module, or NFC module). This interface supports various standard communication protocols, including but not limited to TCP / IP, HTTP / HTTPS, UDP, MQTT, and RPC.

[0068] System bus 14 can be a Peripheral Component Interconnect Standard (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This bus is used to transfer instruction and data streams between processor 12, memory 11 and communication interface 13.

[0069] Optionally, the device 1 may also include a user interface (not shown) for human-computer interaction. The user interface may include a display unit (such as an LCD screen, OLED screen, or touch screen) and an input unit (such as a keyboard, mouse, or microphone).

[0070] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a physical limitation on the joystick physical limit data acquisition device 1. Depending on the specific application scenario, the device may include fewer or more components than shown, or combine certain components, or use different component arrangements.

[0071] exist Figure 1 In the operating environment shown, processor 12 calls the acquisition program 10 for the joystick physical limit data stored in memory 11 and is configured to perform the following operations:

[0072] In response to the limit trigger signal, the logical coordinate value of the joystick assembly is obtained, wherein the limit trigger signal indicates that the joystick assembly has reached the physical limit boundary;

[0073] Based on the logical coordinate values, calculate the deflection angle of the joystick assembly and the corresponding physical limit modulus; and

[0074] The deflection angle and the physical limit modulus are used as physical limit data and updated to the joystick physical boundary data set.

[0075] Furthermore, the processor 12 may also be configured to perform refined steps of the joystick physical limit data acquisition method in any of the following embodiments.

[0076] Based on the hardware architecture of the above-mentioned joystick physical limit data acquisition device, the present invention provides a joystick physical limit data acquisition method. The method is applied to a joystick module with boundary detection function. The joystick module includes a joystick assembly and a sensor assembly. The sensor assembly is configured to output a limit trigger signal when the joystick cap of the joystick assembly is deflected to the maximum physical stroke.

[0077] Please refer to Figures 2 to 4 The joystick module includes a base, a joystick assembly, and a sensor assembly. The joystick assembly 20 includes a joystick body 21 and a joystick cap 22. The joystick body 21 is mounted on the base 10, and the joystick cap 22 is mounted on the joystick body 21 and can deflect relative to the base 10. The sensor assembly 30 is disposed on at least one of the joystick cap 22 and the base 10.

[0078] Specifically, the base 10 is the basic support structure, providing a stable mounting point for the joystick body 21; while the joystick cap 22 is the force-bearing execution component that bears the user's physical operation, and can perform multi-directional three-dimensional spatial deflection relative to the base 10 with the joystick body 21 as the fulcrum under the action of external control force.

[0079] In this application, the sensor component 30 is a hardware-level spatial position detection unit. Its physical layout intersects or couples with the extreme deflection trajectory of the rocker cap 22 to form a signal sensing network with spatial constraint characteristics.

[0080] Furthermore, the sensor assembly 30 is triggered when the joystick cap 22 deflects to its maximum physical stroke and outputs a limit trigger signal, which indicates that the joystick assembly 20 has reached the physical limit boundary in the current deflection direction. During this execution, the sensor assembly 30 is configured as a mechanical boundary sensing node. When the joystick cap 22 deflects towards a specific angle under user operation and touches the physical displacement limit defined by a physical structure (such as the anti-wear ring of the outer housing 210 or the joystick's own limiting component), the corresponding interference part on the joystick cap 22 or the base 10 will directly act on the sensor assembly 30, using physical contact or stress transmission mechanism to force the sensor assembly 30 to close the electrical path or change its impedance, thereby instantaneously generating a step electrical signal as the limit trigger signal.

[0081] In this way, the joystick module 100 objectively and in real-time converts the actual mechanical obstruction state of the joystick in any deflection direction into a directly readable digital reference signal through underlying hardware sensors. This purely hardware-level boundary capture mechanism completely eliminates the blind spots of traditional software-based limit estimation, providing an absolutely reliable and zero-latency underlying data foundation for subsequent controllers to accurately scale joystick output values, adaptively and dynamically adjust dead zone boundaries, and eliminate mechanical wear and tolerance drift caused by long-term use.

[0082] In some embodiments, the joystick cap 22 includes a joystick body 221 and a skirt 222 connected to the bottom end of the joystick body 221.

[0083] The base 10 includes a mounting part 11 located on the underside of the skirt 222.

[0084] The sensor assembly 30 includes a sensor body 31, which is disposed on the mounting part 11. When the rocker cap 22 is deflected to the maximum physical stroke, the skirt 222 is located at the trigger position corresponding to the sensor assembly 30 and triggers the sensor assembly 30.

[0085] Specifically, the joystick 221, as the main body receiving external multi-directional operating forces, has a skirt 222 that smoothly transitions and extends from its bottom, presenting an outwardly expanding covering shape in three-dimensional space. Correspondingly, the mounting portion 11 formed on the base 10 is spatially constrained below the geometric projection plane of the skirt 222. Furthermore, based on the deflection motion characteristics of the joystick cap 22, the projected area of ​​the mounting portion 11 is larger than the projected area of ​​the skirt 222. Based on this, the sensor body 31 is disposed on the mounting portion 11, within the coverage area of ​​the downward movement trajectory of the edge of the skirt 222.

[0086] During this dynamic operation, when the joystick 221 is tilted and deflected under force, the edge of the skirt 222 will subsequently undergo a proximal displacement relative to the mounting portion 11. Once the joystick cap 22 deflects to the set maximum physical travel, a specific edge area of ​​the skirt 222 precisely engages the trigger position, using its downward rigid displacement to directly press against or physically interfere with the sensor body 31 located on the mounting portion 11, forcing the internal contacts of the sensor body 31 to close or change its deformation resistance.

[0087] Furthermore, the mounting part 11 is a mounting groove provided on the top of the base 10, and the mounting groove opens in the direction of the skirt 222; the sensor body 31 is disposed in the mounting groove.

[0088] Based on this, the mounting part 11 is specifically embodied as a groove-shaped structure with a recessed top of the base 10, the groove opening of which is spatially aligned with the bottom surface of the skirt 222, and the sensor body 31 is completely housed and positioned inside the mounting groove. Through the geometric limiting of the side wall of the mounting groove, not only is the degree of freedom of the sensor body 31 on the horizontal plane of the base 10 restricted, preventing it from slipping under high-frequency pressing; at the same time, the open design facing the skirt 222 allows the skirt 222 to cut into the groove space from above without obstruction for vertical or oblique interference when pressed down.

[0089] In some embodiments, the sensor body 31 is a contact sensor. This contact sensor, serving as the sensing end receiving displacement input, is configured to reverse its internal circuitry state upon receiving direct mechanical pressure applied to a solid surface. When the rocker cap 22 deflects to its maximum physical travel, the sensor body 31 utilizes the direct mechanical contact and compressive stress transmission between the bottom or side edge of the skirt 222 and its sensing surface to convert the physical pressure action in that specific direction into a real-time electrical signal conduction or impedance change.

[0090] Alternatively, the sensor body 31 can also be configured as an inductive sensor. Specifically, this inductive sensor, as a non-contact detection end, is concealed within the mounting portion 11 of the base 10. When the rocker cap 22 deflects close to its maximum physical stroke, the edge or lower surface of the skirt 222 approaches the surface of the inductive sensor in three-dimensional space. Utilizing physical mechanisms such as electromagnetic induction, capacitance distortion, or photoelectric shielding, the sensor captures the change in physical field distribution caused by the rapid reduction in spatial distance and instantly converts it into a jump in electrical signal.

[0091] Furthermore, the sensor body 31 is arranged in a ring shape, and it surrounds the skirt 222 circumferentially. Based on this, the sensor body 31 is constructed in three-dimensional space as a continuous closed or nearly closed ring topology, whose sensing surface geometrically completely encompasses all circumferential trajectories that the lower edge of the skirt 222 might fall into when the joystick cap 22 undergoes extreme deflection. When the joystick 221 is pushed to its mechanical physical limit position at any radial angle by an operating force, the corresponding circumferential edge of the skirt 222 can accurately fall within the sensing area of ​​the ring-shaped sensor body 31, applying local compressive stress through physical contact.

[0092] In some embodiments, the sensor body 31 is a thin-film pressure sensor.

[0093] In some embodiments, the sensor assembly 30 includes a plurality of independent sensor bodies 31, all of which are disposed on the mounting portion 11 and are arranged at intervals along the circumferential direction of the skirt 222.

[0094] Specifically, the sensor assembly 30 is discretized in three-dimensional space into several independent sensing nodes (e.g., four positive direction nodes or eight subdivided nodes evenly distributed along the circumference), and is fixedly configured on the mounting part 11 of the base 10. The overall array layout trajectory matches the circumferential geometric contour of the bottom edge of the skirt 222. When the rocker cap 22 is driven by an external operating force to deflect to a specific direction and reaches its maximum physical stroke, the edge of the skirt 222 will generate a downward limit displacement and precisely cut into the trigger position above one or two adjacent sensor bodies 31 corresponding to that direction.

[0095] During this operation, the rigid edge of the skirt 222 applies localized mechanical compressive stress to a specific sensor body 31 below, forcing the pressured independent sensor to close its contacts or change its electrical impedance. Through this discrete mechanical interference mechanism in the spatial dimension, the system can accurately determine the specific angle range at which the joystick reaches its physical limit based on the specific nodes or combinations of nodes triggered in these multiple independent sensor bodies 31 (e.g., a single node trigger is mapped to the positive direction limit, and simultaneous triggering of two adjacent nodes is mapped to the oblique angle limit). In this way, this discrete array layout reduces the manufacturing cost and assembly difficulty of a single continuous large-area sensor while achieving high-resolution, regional positioning and spatial state mapping of the joystick's full-circumference, multi-directional physical limit boundaries.

[0096] In some embodiments, the joystick module 100 further includes an elastic transmission member 40, which is disposed in a mounting groove and stacked over the upper side of the sensor body 31. When the skirt 222 is in the triggered position, the skirt 222 abuts against the elastic transmission member 40, and triggers the sensor body 31 through the elastic transmission member 40. Specifically, the elastic transmission member 40, as an intermediate force transmission medium, is embedded in the mounting groove at the top of the base 10, and completely covers and conforms to the upper side of the force-bearing surface of the bottom sensor body 31 in terms of spatial geometry. When the joystick 221 is deflected by an external thrust, causing the skirt 222 to press down and cut into the triggered position, the rigid bottom edge of the skirt 222 first makes physical contact with the upper surface of the elastic transmission member 40 and continuously applies a downward pressing axial force. During this interference process, the elastic transmission component 40 undergoes local compression deformation, transforming the concentrated, rigid compressive stress applied to the edge of the skirt 222 into a distributed flexible transmission force, and transmitting this deformation stress vertically downward to the sensor body 31 at the bottom, forcing electrical conduction or impedance change to occur inside it.

[0097] Furthermore, the elastic transmission component 40 is a silicone pad or a rubber pad.

[0098] In some embodiments, the top of the base 10 is further provided with a first notch 12 communicating with the mounting groove; the sensor assembly 30 also includes a sensor cable 32 connected to the sensor body 31, the sensor cable 32 extending outward from the first notch 12. Further, the bottom of the base 10 is provided with a second notch 13; the rocker body 21 includes a rocker cable 23 connected to the rocker body 21, the rocker cable 23 extending outward from the second notch 13; and the first notch 12 and the second notch 13 are located on the same side of the base 10.

[0099] In another embodiment, the sensor body 31 is disposed on the outer peripheral surface (not shown) of the joystick body 221; when the joystick cap 22 is at its maximum physical stroke, the sensor body 31 is located at the trigger position corresponding to the external limiting member, and the sensor assembly 30 is triggered by the external limiting member. Specifically, the joystick body 221, as a vertical columnar structure that receives external operating force, has its outer peripheral surface radially outward in three-dimensional space and moves synchronously with the joystick in tilting and circular deflection. Correspondingly, the sensor body 31 is directly attached or fixed to the outer peripheral sidewall of the joystick body 221, serving as a follow-up spatial detection outpost. In this structural system, the external limiting member (usually the wall of the limiting hole on the handle 200 for the joystick to pass through) constitutes the absolute physical boundary limiting the maximum deflection angle of the joystick body 221. When the joystick 221 is deflected in a specific direction by an external force, causing its tilt angle to reach the set maximum physical stroke, the sensor body 31 mounted on the corresponding outer peripheral surface of the joystick 221 enters the trigger position and directly interferes with and collides with the stationary external limiting member. Utilizing the reverse rigid blocking force and instantaneous mechanical compressive stress provided by the surface of the external limiting member, the sensor body 31 in the following state is forced to be compressed, thereby causing its internal electrical contacts to close or its impedance to change. In this embodiment, the structure and design of the sensor body 31 can refer to the aforementioned embodiment where the sensor body 31 is mounted on the base 10, and will not be repeated here.

[0100] Based on the structure of the above joystick module 100, such as Figure 5 As shown, the method for acquiring the physical limit data of the joystick in this invention includes the following steps:

[0101] S10. In response to the limit trigger signal, obtain the logical coordinate value of the joystick assembly, wherein the limit trigger signal indicates that the joystick assembly has reached the physical limit boundary.

[0102] Specifically, in step S10, the sensor assembly mounted within the joystick module acts as a hardware-level sensing node for the physical boundary. When the user pushes the joystick cap to deflect in any direction and is rigidly blocked by a physical structure (such as a housing limiting hole or a base anti-wear ring), the sensor assembly is triggered by physical interference and sends a step level or interrupt pulse to the microcontroller (MCU) as the limit trigger signal. Upon capturing this hardware-level trigger signal, the processor immediately suspends regular polling or synchronously reads the raw two-dimensional signal currently output by the underlying analog-to-digital converter (ADC) to obtain the current logical coordinate value of the joystick assembly. By utilizing the mechanism of underlying hardware sensor triggering rather than pure software timed polling, the system achieves absolute hardware-level synchronization between the acquisition of logical coordinate values ​​and the actual physical impact event on the time axis, eliminating signal acquisition delay errors and ensuring that the acquired logical coordinate values ​​objectively and accurately correspond to the joystick's true mechanical limit spatial position.

[0103] S20. Based on the logical coordinate values, calculate the deflection angle of the joystick assembly and the physical limit modulus corresponding to the deflection angle.

[0104] Specifically, in step S20, the processor performs spatial geometric calculations on the original logical coordinate values ​​obtained in step S10. Since the collected logical coordinate values ​​are usually represented as coupled components in a Cartesian coordinate system, the processor uses trigonometric functions and the Euclidean distance formula to deconstruct the logical coordinate values ​​into a direction dimension and an amplitude dimension. The calculated direction dimension is the deflection angle, representing the absolute orientation of the joystick actuator's current deviation from the center origin; the calculated amplitude dimension is the physical limit modulus, representing the actual maximum output stroke that the underlying hardware can achieve under this specific orientation due to mechanical obstruction. This calculation process vectorizes the user's intuitive physical actuator action, providing a standardized and decoupled front-end data source for subsequent precise angle-based mapping and calibration.

[0105] S30. The deflection angle and the physical limit modulus are used as physical limit data and updated to the joystick physical boundary data set.

[0106] Specifically, in step S30, the joystick physical boundary data set is a low-level hardware holographic mapping table pre-built and stored in non-volatile memory (such as EEPROM or Flash chip). The processor uses the deflection angle calculated in step S20 as the address index to write or overwrite the corresponding physical limit modulus in the corresponding storage node of the data set, thereby solidifying the physical limit data constituted by these two elements into a low-level hardware feature benchmark. Utilizing this real-time triggered dynamic update mechanism, the system can objectively record the mechanical travel attenuation and extreme value changes in a specific direction of the current joystick due to initial manufacturing tolerances or long-term use. Thus, this data set adaptively evolves with the actual physical state of the joystick, providing the most advanced and reliable low-level hardware absolute reference for upper-level control logic (such as adaptive adjustment of the outer dead zone or logic output normalization), avoiding output distortion caused by mismatch between software and hardware parameters.

[0107] As can be understood, this application instantaneously suspends the regular reading action to obtain the current logical coordinate value of the joystick in response to a hardware-level limit trigger signal output by the sensor when it is physically obstructed. This method utilizes underlying hardware-level interrupt or step level mechanisms to absolutely force alignment between the logical coordinate acquisition action and the actual physical contact event of the joystick on the time axis, completely eliminating the signal acquisition delay and data misalignment caused by pure software timed polling. Therefore, this application ensures that the acquired logical coordinate value objectively and with zero delay reflects the joystick's true mechanical limit spatial position at the moment of triggering.

[0108] Based on the absolute spatial position captured with zero latency, this application further calculates it into a deflection angle and a physical limit modulus. The deflection angle is used as an absolute addressing index, and the measured physical limit modulus is dynamically overwritten into the joystick's physical boundary data set in non-volatile memory. This mechanism utilizes the vector mapping relationship of polar coordinates to objectively solidify the mechanical travel attenuation and extreme value drift in a specific direction caused by initial manufacturing tolerances, environmental temperature and humidity effects, or long-term high-frequency use into a dynamic characteristic benchmark that accompanies the hardware's lifecycle. Furthermore, this application endows the system with adaptive perception capabilities for changes in the underlying physical state, providing the most advanced absolute reference for the upper-level external dead zone dynamic adjustment logic, fundamentally avoiding output distortion and deterioration of feel caused by long-term mismatch of software and hardware parameters.

[0109] In some embodiments, the logical coordinate values ​​include component coordinate values ​​of the joystick assembly in a first axis and a second axis that are perpendicular to each other. Specifically, in the underlying hardware architecture of the joystick module, it is typically configured with sensing elements (such as Hall sensors or potentiometers) that detect physical displacement along the X-axis (first axis) and Y-axis (second axis), respectively.

[0110] Based on the logical coordinate values, the deflection angle of the joystick assembly and the physical limit modulus corresponding to the deflection angle are calculated, including the following steps S21-S22:

[0111] S21. Perform polar coordinate system transformation calculation based on the component coordinate values ​​to convert the rectangular coordinate system vector formed by the component coordinate values ​​into a polar coordinate system vector.

[0112] Specifically, when the system obtains logical coordinate values, these values ​​are naturally represented in the data structure as two orthogonal component coordinate values ​​in a two-dimensional Cartesian coordinate system (such as the quantized X and Y values). For this data, the processor performs a polar coordinate system transformation calculation based on these component coordinate values. In this mathematical solution process, the processor uses inverse trigonometric functions (such as the four-quadrant arctangent function) to calculate the absolute azimuth angle of the Cartesian coordinate vector in the two-dimensional plane, and uses the Euclidean distance formula to calculate the absolute length of the straight line of the vector, thereby accurately converting the Cartesian coordinate vector composed of the component coordinate values ​​into a polar coordinate vector.

[0113] S22. The polar angle of the polar coordinate system vector is taken as the deflection angle, and the polar radius of the polar coordinate system vector is taken as the physical limit modulus.

[0114] Specifically, in step S22, the processor performs semantic mapping and state assignment from purely mathematical calculation parameters to physical control parameters. The polar angle of the polar coordinate vector, as an absolute geometric attribute representing the rotational orientation of the vector in the two-dimensional plane, is directly extracted and assigned as the deflection angle. Utilizing this dimensional mapping mechanism, the system precisely assigns physical operational meaning to the abstract mathematical angle, that is, objectively quantifies the absolute push position when the current joystick cap deviates from the mechanical zero position of the joystick center.

[0115] Meanwhile, the polar radius of the polar coordinate vector, as a geometric property representing the absolute straight-line distance from the origin to the endpoint, is directly extracted and assigned as the physical limit modulus. Utilizing this dimensional mapping mechanism, the system accurately quantifies the actual maximum effective stroke amplitude that the bottom-layer two-dimensional displacement sensor can output when the joystick control lever is constrained by the absolute physical obstruction of an external rigid structure (such as an anti-wear ring or a housing limiting hole) at the aforementioned specific deflection angle.

[0116] By independently deconstructing the polar angle and polar radius in polar coordinates into the deflection angle and physical limit modulus in actual physical operation, this application completes the parameterization and orthogonal decoupling expression of the joystick in the ultimate blocking state, providing standardized, intuitive and distortion-free underlying data support for the subsequent establishment of an omnidirectional boundary feature mapping library based on absolute angle as the addressing index.

[0117] In some embodiments, based on the structure of the sensor assembly including multiple independent sensor bodies spaced apart circumferentially along the joystick cap, the deflection angle and the physical limit modulus are used as physical limit data to update the joystick physical boundary data set, including steps S31 to S33:

[0118] S31. The deflection angle and physical limit modulus corresponding to the independent sensor body are used as measured physical limit data and updated to the rocker's physical boundary data set.

[0119] Specifically, in step S31, when the joystick cap is deflected by force and precisely presses against the independent sensor body at a specific orientation, the processor reads the deflection angle calculated at that instant and its corresponding physical limit modulus. Utilizing this physical interference mechanism, the system transforms the actual mechanical impact event into absolutely reliable underlying anchor point data and writes it as the measured physical limit data into non-volatile memory. In this way, the system establishes the absolute physical reference for the joystick at these specific discrete orientations.

[0120] S32. Based on the measured physical limit data corresponding to the independent sensor body, calculate the non-triggered deflection angle and the corresponding non-triggered physical limit modulus.

[0121] Specifically, in step S32, for the mechanical geometric gap between two adjacent independent sensor bodies (i.e., the blind zone where the hardware sensor cannot be directly triggered when the joystick deflects within this range), the processor defines the angle within this range as the non-triggered deflection angle. In this calculation process, the processor uses the discrete and determined measured physical limit data obtained in step S31 as mathematical boundary constraints. Through interpolation algorithms or geometric curve fitting mechanisms (such as Lagrange interpolation or specific polygon fitting), it constructs a continuous spatial evolution trend covering the aforementioned mechanical gap. Then, it uses algebraic operations to deconstruct the expected limit travel at the non-triggered deflection angle, i.e., the corresponding non-triggered physical limit modulus. Thus, the system transforms sparse hardware sensing signals into dense logical space vectors.

[0122] S33. The untriggered deflection angle and the corresponding untriggered physical limit modulus are used as fitted physical limit data and updated to the joystick physical boundary data set.

[0123] Specifically, the processor packages all global interpolation data obtained through mathematical deduction in step S32 into fitted physical limit data, and structurally integrates it with the aforementioned measured physical limit data into the joystick physical boundary data set. Utilizing the mathematical filling mechanism of this virtual data node, the system closes the geometric topological breakpoints caused by the underlying discrete hardware layout at the data level.

[0124] It is understandable that by adopting a composite approach of "discrete hardware sampling superimposed with global software fitting", this application is able to reconstruct a seamless physical limit boundary map covering the entire 360-degree cycle at the logical data level, under the premise of configuring only a small number of independent sensors at the physical level to control hardware costs and assembly complexity. This ensures that when the joystick is pushed to any small angle to the extreme value, the system can call up the precise corresponding physical reference benchmark.

[0125] In some embodiments, based on the measured physical limit data corresponding to the independent sensor body, the non-triggered deflection angle and the corresponding non-triggered physical limit modulus are calculated, including steps S321 to S322:

[0126] S321. In the state of obtaining the measured physical limit data corresponding to the two adjacent independent sensor bodies, obtain the two reference deflection angles and two reference physical limit moduli corresponding to the two adjacent independent sensor bodies.

[0127] Specifically, when the joystick cap deflects significantly or performs continuous circular movements along its maximum mechanical travel circumferential trajectory, two adjacent independent sensor bodies located in different specific orientations (such as mutually orthogonal 0-degree and 90-degree directions) will be physically triggered sequentially or simultaneously. After capturing this triggering state, the processor extracts the measured physical limit data generated by these two discrete sensing nodes and defines it as the boundary anchor points of the data interpolation interval. In this extraction process, the system uses the actual mechanical obstruction orientation corresponding to these two independent sensor bodies as the two reference deflection angles, and the absolute limit physical travel at that orientation as the two reference physical limit moduli. Using this data endpoint anchoring mechanism, the system establishes the absolute physical boundary constraints of the blind zone interval between adjacent sensors in mathematical space, thereby generating the start and end reference values ​​required for subsequent interpolation calculations.

[0128] S322. Based on the angular distribution ratio of the non-triggered deflection angle between the two reference deflection angles, perform interpolation calculation on the two reference physical limit moduli to obtain the non-triggered physical limit moduli corresponding to the non-triggered deflection angle.

[0129] Specifically, in step S322, the processor performs algebraic operations on any specific orientation (i.e., the untriggered deflection angle) within the two boundary anchor point intervals to calculate the angle difference between it and the two reference deflection angles, thereby quantifying the angle distribution ratio of the untriggered deflection angle throughout the entire interpolation interval. Based on this, the processor uses this angle distribution ratio as a weight allocation coefficient to perform a linear interpolation algorithm or a set nonlinear transition fitting algorithm to perform a weighted fusion calculation on the aforementioned two reference physical limit moduli.

[0130] By utilizing this mathematical interpolation and numerical approximation mechanism, the system transforms the physical obstruction changes between two discrete reference points into a continuous boundary evolution trend. Furthermore, without adding additional physical sensing nodes, it calculates the untriggered physical limit modulus objectively presented by mechanical shell interference at a specific blind zone angle. In this way, this application achieves a smooth transition and connection of data discontinuities between underlying discrete hardware sampling points, effectively ensuring the spatial continuity and integrity of the joystick physical boundary map generated by the system across the entire circumferential angle.

[0131] As a concrete example of algorithm and data flow verification, consider a joystick module with four independent sensor bodies evenly arranged on its base circumference at 0 degrees, 90 degrees, 180 degrees, and 270 degrees respectively. During step S321, after obtaining the measured physical limit data corresponding to two adjacent independent sensor bodies, acquire the two reference deflection angles and two reference physical limit moduli corresponding to the two adjacent independent sensor bodies.

[0132] Specifically, assuming the joystick deflects significantly to the upper right quadrant, it triggers the sensors at 0 degrees and 90 degrees respectively. The processor extracts the underlying data to obtain the first reference deflection angle. Its corresponding first reference physical limit modulus (Normalized or quantized values); simultaneously, the adjacent second reference deflection angle is obtained. Its corresponding second reference physical limit modulus .

[0133] When performing step S322, assume that the system currently needs to reconstruct the untriggered deflection angle. The processor first calculates the boundary data at that location. Angular distribution ratio within the blind zone The processor then executes a linear interpolation algorithm, substituting this ratio as a weighting coefficient into the formula. Perform algebraic operations to calculate the corresponding untriggered physical limit modulus. .

[0134] Utilizing this weighting mechanism based on linear spatial distance, the system performs a smooth transition calculation on the extreme values ​​of two discrete entity endpoints according to the degree of deviation of their actual angles. Thus, the system can operate without actually deploying hardware sensors. In terms of orientation, the limit boundary modulus data that conforms to the coherent physical form of the mechanical shell were objectively and accurately deduced, and the data reconstruction of the local sampling blind area was achieved with extremely low computing power.

[0135] In another embodiment, alternatively, based on the measured physical limit data corresponding to the independent sensor body, the untriggered deflection angle and the corresponding untriggered physical limit magnitude are calculated, including steps S323 to S325:

[0136] S323. After obtaining multiple measured physical limit data corresponding to multiple independent sensor bodies, a curve fitting algorithm is executed based on the multiple measured physical limit data to construct a mathematical fitting model characterizing the omnidirectional boundary of the joystick.

[0137] Specifically, in step S323, after the joystick completes one full rotation or a large-scale boundary calibration rotation, the processor extracts the measured physical limit data generated by all independent sensing nodes distributed at specific locations on the circumference of the base. Using this set of data points containing the actual obstruction angle and corresponding limiting modulus as the sample space for regression analysis, the processor executes a curve fitting algorithm (such as least squares fitting, higher-order polynomial fitting, or elliptic fitting). Utilizing this mathematical approximation mechanism, the system smoothly transforms the local, sparse mechanical obstruction extremes into continuous geometric equations describing the overall external limiting structure of the joystick (such as the anti-wear ring or shell), thereby abstracting a mathematical fitting model that can characterize the evolution trend of the full-cycle mechanical limiting profile. Thus, the system logically establishes a continuous reference system covering 360 degrees in all directions.

[0138] S324. Obtain the preset deflection angle as the non-triggered deflection angle.

[0139] Specifically, in step S324, in order to reconstruct a complete, dense, and blind-zone-free underlying physical boundary map, the system extracts discrete angular coordinates of un-deployed physical sensors in a polar coordinate system ranging from 0 to 360 degrees, based on a preset spatial sampling resolution (e.g., with a step size of 1 degree or 0.1 degrees). The processor extracts the specific orientation values ​​under this set step size and directly assigns them as the non-triggered deflection angle. Utilizing this step-size-based iterative software discretization mechanism, the system densely sets directional anchor points for the physical limit state to be deduced in an abstract two-dimensional space, preparing the numerical values ​​for subsequent continuous model discretization sampling.

[0140] S325. Substitute the untriggered deflection angle into the mathematical fitting model to calculate the untriggered physical limit modulus corresponding to the untriggered deflection angle.

[0141] Specifically, in step S325, the processor takes the single untriggered deflection angle obtained in step S324 as an independent variable parameter and inputs it into the mathematical fitting model (continuous geometric equation) constructed in step S323 to perform algebraic solution operations. Utilizing this model mapping and analytical derivation mechanism, the system can objectively and accurately calculate the expected mechanical housing interference amplitude that the joystick push rod will experience if pushed to its limit at the currently specified orientation, and determine the result of this function as the untriggered physical limit modulus.

[0142] It is understandable that by employing multi-point global curve fitting combined with dense resampling at preset angles, the system can not only automatically smooth out local data abrupt changes caused by individual sensor assembly tolerances, but also generate continuous and complete omnidirectional physical boundary maps of the joystick at an arbitrarily set high resolution at the software level. Thus, this solution significantly improves the global consistency and noise resistance of boundary data reconstruction without increasing the cost of underlying hardware or wiring complexity.

[0143] As a specific algorithm and data flow empirical study, this embodiment provides the following specific function fitting paths and application descriptions for the mathematical fitting models constructed in steps S323 to S325 above:

[0144] For example, the mathematical fitting model can be configured as an ellipse fitting function based on the least squares method. Specifically, considering that the basic physical contour of the rocker mechanical housing or anti-wear ring usually degenerates from a perfect circle to an elliptical shape with a certain eccentricity after injection molding and stress deformation, in step S323, the processor extracts the measured physical limit data (i.e., the discrete point set in polar coordinates) obtained when each independent sensor is triggered. ), and the geometric equation of an ellipse in polar coordinates Using the basic template, the least squares algorithm is used to solve for the major axis parameter 'a', minor axis parameter 'b', and geometric deflection phase angle that minimize the fitting error. Utilizing this geometric constraint mechanism, the system summarizes discrete impact extrema into continuous elliptical profiles with well-defined physical characteristics. Furthermore, during steps S324 and S325, the processor arbitrarily acquires the untriggered deflection angle... Assigning a value to the independent variable Substituting these parameters into the ellipse equation with the fixed parameters, the non-triggered physical limit modulus at that angle can be directly output through a single algebraic solution. .

[0145] Alternatively, in embodiments requiring higher local accuracy at the boundaries, the mathematical fitting model can also be configured as a Fourier series expansion function. Specifically, since the rocker cap is in all 360 degrees (i.e., 0 to...), The limiting deflection trajectory (in radians) objectively constitutes a continuous closed periodic geometric envelope in three-dimensional space. In step S323, the processor uses the truncated Fourier series formula... Frequency domain modeling is performed on the measured data point set. In this calculation process, the constant term... The fitting characterizes the average limiting radius (macro-roundness) of the rocker base, while the harmonic coefficients of each order ( This is then used to fit irregular uneven features caused by wear or tolerances in specific local areas. Utilizing this frequency domain orthogonal decomposition and superposition mechanism, the system can flexibly balance computational overhead and fitting accuracy with a set order k, reconstructing local mechanical deformation details with high fidelity while preserving the overall macroscopic contour characteristics of the joystick. Subsequently, in steps S324 and S325, the processor will assign specific untriggered deflection angles... By substituting the values ​​into the series polynomial and performing trigonometric function summation, the untriggered physical limit modulus, which takes into account both global physical trends and local error characteristics, can be accurately derived. .

[0146] In some embodiments, in a joystick module based on a ring sensor body (i.e., the sensor body is in a wake-up setting), the ring sensor body can only output a single Boolean trigger level at its hardware level (i.e., it only indicates whether the joystick hits an edge, and cannot independently resolve the specific pressure angle). Based on this hardware configuration, the deflection angle and the physical limit modulus are used as physical limit data and updated to the joystick physical boundary data set, including steps S33 to S34:

[0147] S33. Establish the corresponding binding relationship between the polar radius and polar angle obtained based on the polar coordinate system conversion.

[0148] Specifically, in step S33, since the underlying ring sensor cannot directly report orientation information, the processor, upon receiving the limit trigger signal representing the contact edge, simultaneously extracts the logical coordinate values ​​output by the underlying analog-to-digital converter and performs the polar coordinate system transformation calculation as disclosed in the aforementioned embodiments. After calculating the polar angle and polar radius values ​​at the current instant, the processor assigns the same timestamp to these two values ​​in the memory data structure, and forcibly associates and packages the spatial orientation attribute (polar angle) with its corresponding displacement amplitude attribute (polar radius) to establish the corresponding binding relationship. Utilizing this time-dimensional data spatiotemporal registration and dimension binding mechanism, the system successfully deconstructs monotonous hardware collision events into structured spatial vectors with precise orientation and quantitative characteristics, thereby compensating for the hardware deficiency of the ring sensor in angle resolution capability at the logical algorithm level.

[0149] S34. The polar angle and polar radius that are bound together are respectively used as the deflection angle and the physical limit modulus, and updated to the joystick physical boundary data set.

[0150] Specifically, in step S34, the processor performs semantic mapping and persistent storage operations on the mathematical vector pairs that have been bound together in step S33. The system assigns the extracted polar angle as the deflection angle representing the actual physical operation direction, and simultaneously assigns the bound polar radius as the physical limit modulus representing the mechanical extreme value in that specific direction. Subsequently, the processor uses the deflection angle as an absolute index to overwrite the corresponding physical limit modulus into the corresponding joystick physical boundary data set in the non-volatile memory.

[0151] It is understood that, in this embodiment, by employing a ring-shaped continuous sensor hardware superimposed with software-level coordinate transformation and forced binding methods, this application significantly reduces the complexity of internal wiring and assembly of the handle base at the physical level, while realizing a high-resolution, uninterrupted, and fully adaptive omnidirectional physical limit map acquisition and reconstruction mechanism for the joystick at the logical data level.

[0152] In some embodiments, updating the joystick physical boundary data set with the deflection angle and the physical limit modulus as physical limit data further includes steps S35 to S37:

[0153] S35. Read the historical physical limit modulus corresponding to the deflection angle from the set of physical boundary data of the joystick.

[0154] Specifically, in step S35, after obtaining the currently measured deflection angle and the corresponding physical limit modulus, the processor does not immediately perform a global overwrite operation. Instead, it uses the current deflection angle as an absolute addressing index to access the set of pre-stored joystick physical boundary data in the non-volatile memory; and extracts the previously recorded extreme radius value at the specific orientation from the corresponding node, directly assigning it as the historical physical limit modulus. Using this data retrieval mechanism, the system establishes a time-series reference benchmark for determining the current mechanical impact depth, providing a comparative basis for subsequent data filtering and extreme value selection.

[0155] S36. When the physical limit modulus is greater than the historical physical limit modulus, the physical limit modulus is used as the physical limit data and updated to the joystick physical boundary data set.

[0156] Specifically, in step S36, the processor performs a numerical comparison operation on the two parameters mentioned above. When it is determined that the currently acquired physical limit modulus is numerically significantly greater than the recalled historical physical limit modulus, it indicates that the actual physical displacement reached by the joystick cap at that specific deflection angle exceeds the limit boundary of the system's historical records (e.g., due to the initial break-in period of the mechanical structure leading to the release of assembly tolerances, or the user applying a larger physical thrust to overcome local damping interference). In response to this determination state, the processor writes the currently captured larger value as the latest physical limit data into the memory to replace the original data node. Utilizing this "one-way expansion" overwrite mechanism based on absolute maxima, the system can continuously and dynamically capture the true maximum mechanical envelope that the joystick can achieve during its actual service life.

[0157] S37. Under the condition that the physical limit modulus is not greater than the historical physical limit modulus, maintain the historical physical limit modulus in the joystick physical boundary data set.

[0158] Specifically, in step S37, when the processor determines that the currently acquired physical limit modulus is less than or equal to the historical physical limit modulus, it indicates that the current mechanical obstruction position has not broken through the known physical boundary extreme value (for example, the user's push rod force is insufficient to completely press the skirt to the limiting surface, or physical impurities such as dust temporarily fall into the gap inside the rocker base, causing the sensor to be prematurely triggered). In response to this determination state, the processor suspends or blocks the current data write stream from the bottom layer, keeping the original maximum value record in the non-volatile memory unchanged.

[0159] It is understood that in this embodiment, by combining the coordinated operation of steps S36 and S37, this application utilizes the maximum value preservation and noise filtering mechanism to prevent abnormal inward contraction of the underlying physical boundary map caused by fluctuations in the force of a single operation, unexpected slight interference, or temporary false triggering of the sensor. This ensures that the collected joystick physical boundary data set always represents the absolute extreme boundary attributes of the underlying hardware and maintains the high robustness of the reference benchmark.

[0160] In some embodiments, before updating the joystick physical boundary data set, the acquisition method of this application further includes steps S110 to S120:

[0161] S110. Obtain the update permission status corresponding to the deflection angle.

[0162] Specifically, in step S110, after calculating the current deflection angle and physical limit modulus, the processor does not immediately initiate a write request to the underlying memory. Instead, it introduces a pre-emptive control valve logic. The processor reads the global or local state machine flags currently configured for that specific orientation from the system memory to determine whether the specific orientation currently meets the system-level conditions for performing persistent storage, i.e., the update permission state.

[0163] S120. When the update permission state is characterized as one of the following states, the physical limit data update operation is performed.

[0164] Specifically, since the set of physical boundary data for the joystick is typically stored in non-volatile memory, and such physical storage media has an inherent maximum write / erase cycle lifespan limit, in order to avoid the system generating dense redundant write commands when the user frequently hits the boundary or pushes the joystick to its limit position for an extended period of time, the processor intercepts invalid repetitive data streams and only allows update commands when the system is in a specific time window or lifecycle node.

[0165] State 1: The device containing the joystick module is powered on.

[0166] Specifically, when hardware devices such as the controller are connected to power and execute the power-on reset and system initialization sequence, this time slice is identified as the power-on state. In this state, update operations are performed. The physical mechanism of this operation lies in utilizing the non-user operation gaps during the device's cold start phase to actively detect and load basic boundary data. The system allows the captured extreme trigger data to be forcibly written into the boundary set, thereby ensuring that the device has established the latest physical mapping base based on current objective mechanical and environmental benchmarks (such as structural micro-expansion and contraction caused by changes in ambient temperature and humidity) before entering high-load real-time interactive polling.

[0167] State 2: The first trigger state of the deflection angle after the device containing the joystick module is powered on.

[0168] Specifically, the processor maintains a trigger flag with an initial value of zero in volatile memory for each deflection angle or segment in all directions. When the device is powered on for the first time, and the joystick is pushed to a specific deflection angle and outputs a limit trigger signal, the corresponding flag flips, and this instant is defined as the first trigger state. Utilizing this single-pass mechanism, the system only captures and overwrites the first extreme value data in a single operation session of the joystick in that specific direction, while discarding and filtering data from subsequent continuous and repetitive mechanical impacts in the same direction. In this way, the mechanism effectively shields against the high-frequency invalid memory erases and writes caused by continuous pushing operations within a single game, greatly reducing hardware wear and tear.

[0169] State 3: The update interval of the physical limit data meets the preset time threshold.

[0170] Specifically, the processor is equipped with a hardware timer or system tick clock to record the absolute time elapsed since the last physical limit data was overwritten for any specific deflection angle, or the system runtime. When the accumulated time of this timer reaches or exceeds a preset long-term wear tracking period (such as several hours or days, i.e., the preset time threshold), the corresponding update permission state is reactivated. Utilizing this time window-based throttling sampling mechanism, the system can filter out second-level transient operation jitter at the physical level, and objectively capture and record the progressive mechanical wear evolution of the anti-wear ring or skirt caused by long-term high-frequency friction of the joystick over a macroscopic time span, thereby achieving long-term, low-frequency, and safe adaptive dynamic tracking of the underlying physical boundary.

[0171] Furthermore, this application embodiment also provides a computer-readable storage medium (or a non-volatile computer-readable storage medium) storing a computer program (or instructions). When the computer program is executed by a processor, it implements the various steps in the above-described method embodiment for acquiring the physical limit data of a joystick. The computer-readable storage medium may include any medium capable of storing program code, including but not limited to: read-only memory (ROM), random access memory (RAM), magnetic disk, optical disk, flash memory, hard disk (HDD), or solid-state drive (SSD). This storage medium may exist independently or be integrated into a processor or server.

[0172] The embodiments described herein may be provided as methods, systems, or computer program products. Therefore, this application may be implemented entirely in hardware, entirely in software, or a combination of hardware and software. Furthermore, this application may also be embodied as a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, optical storage, flash memory, etc.).

[0173] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this embodiment. It should be understood that each flow, block, and combination thereof in the flowchart illustrations and / or block diagrams can be implemented by computer program instructions. These instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device for execution, thereby producing a machine for implementing a specified function. Simultaneously, these instructions can also be stored in a computer-readable storage medium or loaded onto a computer device, causing the device to perform a series of operational steps to produce a computer-implemented process.

[0174] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. If such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for acquiring physical limit data of a joystick, characterized in that, An application is made to a joystick module with boundary detection functionality. The joystick module includes a joystick assembly and a sensor assembly. The sensor assembly is configured to output a limit trigger signal when the joystick cap of the joystick assembly is deflected to its maximum physical stroke. The acquisition method includes: In response to the limit trigger signal, the logical coordinate value of the joystick assembly is obtained, wherein the limit trigger signal indicates that the joystick assembly has reached the physical limit boundary; Based on the logical coordinate values, calculate the deflection angle of the joystick assembly and the corresponding physical limit modulus; and The deflection angle and the physical limit modulus are used as physical limit data and updated to the joystick physical boundary data set.

2. The method for acquiring physical limit data of a joystick as described in claim 1, characterized in that, The logical coordinate values ​​include the component coordinate values ​​of the joystick assembly in a first axis and a second axis that are perpendicular to each other. Based on the logical coordinate values, the deflection angle of the joystick assembly and the corresponding physical limit modulus are calculated, including: Based on the component coordinate values, a polar coordinate system transformation calculation is performed to convert the rectangular coordinate system vector formed by the component coordinate values ​​into a polar coordinate system vector; The polar angle of the polar coordinate system vector is taken as the deflection angle, and the polar radius of the polar coordinate system vector is taken as the physical limit modulus.

3. The method for acquiring physical limit data of a joystick as described in claim 1 or 2, characterized in that, The sensor assembly includes multiple independent sensor bodies spaced apart along the circumference of the rocker cap; The deflection angle and the physical limit modulus are used as physical limit data and updated to the joystick physical boundary data set, including: The deflection angle and physical limit modulus corresponding to the independent sensor body are used as measured physical limit data and updated to the joystick physical boundary data set. Based on the measured physical limit data corresponding to the independent sensor body, calculate the non-triggered deflection angle and the corresponding non-triggered physical limit modulus. The untriggered deflection angle and the corresponding untriggered physical limit modulus are used as fitted physical limit data and updated to the joystick physical boundary data set.

4. The method for acquiring physical limit data of a joystick as described in claim 3, characterized in that, Based on the measured physical limit data corresponding to the independent sensor body, the non-triggered deflection angle and the corresponding non-triggered physical limit modulus are calculated, including: In the state of obtaining the measured physical limit data corresponding to the two adjacent independent sensor bodies, obtain the two reference deflection angles and two reference physical limit moduli corresponding to the two adjacent independent sensor bodies; Based on the angular distribution ratio of the non-triggered deflection angle between the two reference deflection angles, interpolation calculation is performed on the two reference physical limit moduli to obtain the non-triggered physical limit moduli corresponding to the non-triggered deflection angle.

5. The method for acquiring physical limit data of a joystick as described in claim 3, characterized in that, Based on the measured physical limit data corresponding to the independent sensor body, the non-triggered deflection angle and the corresponding non-triggered physical limit modulus are calculated, including: With multiple measured physical limit data corresponding to multiple independent sensor bodies obtained, a curve fitting algorithm is executed based on the multiple measured physical limit data to construct a mathematical fitting model characterizing the omnidirectional boundary of the joystick. Obtain the preset deflection angle as the non-triggered deflection angle; Substitute the non-triggered deflection angle into the mathematical fitting model to calculate the non-triggered physical limit modulus corresponding to the non-triggered deflection angle.

6. The method for acquiring physical limit data of a joystick as described in claim 2, characterized in that, The sensor assembly includes an annular sensor body arranged circumferentially along the rocker cap, and the limit trigger signal output by the annular sensor body is used to characterize the trigger state of the sensor assembly. The deflection angle and the physical limit modulus are used as physical limit data to update the joystick physical boundary data set, including: Establish a corresponding binding relationship between the polar radius and polar angle obtained from polar coordinate system conversion; The polar angle and polar radius, which are bound together, are respectively used as the deflection angle and the physical limit modulus, and are updated to the joystick physical boundary data set.

7. The method for acquiring physical limit data of a joystick as described in claim 1, characterized in that, Updating the joystick physical boundary data set with the deflection angle and the physical limit modulus as physical limit data also includes: Read the historical physical limit modulus corresponding to the deflection angle from the set of physical boundary data of the joystick; When the physical limit modulus is greater than the historical physical limit modulus, the physical limit modulus is used as the physical limit data and updated to the joystick physical boundary data set. When the physical limit modulus is not greater than the historical physical limit modulus, the historical physical limit modulus in the joystick physical boundary data set is maintained.

8. The method for acquiring joystick physical limit data as described in any one of claims 1 to 7, characterized in that, Before updating the joystick physical boundary data set, the acquisition method further includes: Obtain the update permission status corresponding to the deflection angle; The physical limit data update operation is performed when the update permission status is characterized by one of the following states: The power-on status of the device containing the joystick module; The initial trigger state of the deflection angle after the device containing the joystick module is powered on; The update interval of the physical limit data meets the preset time threshold.

9. A device for acquiring physical limit data of a joystick, characterized in that, The device includes a memory, a processor, and a program for acquiring joystick physical limit data stored in the memory and executable on the processor. When the processor executes the program for acquiring joystick physical limit data, it implements the method for acquiring joystick physical limit data as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for acquiring joystick physical limit data, which, when executed by a processor, implements the joystick physical limit data acquisition method as described in any one of claims 1-8.

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