A low-power control method, device and equipment of a force / tactile sensor

Abstract

The embodiment of the application belongs to the technical field of force sensor control, and relates to a low-power consumption control method of a force / tactile sensor. The method comprises the following steps: obtaining current force-related information; judging whether the force / tactile sensor is in a sleep state based on the current force-related information; if it is judged that the force / tactile sensor is in the sleep state, taking a preset sleep working frequency of the force / tactile sensor as a current working frequency according to a preset scheme; if it is judged that the force / tactile sensor is not in the sleep state, obtaining current temperature information corresponding to the force / tactile sensor; and generating the current working frequency of the force / tactile sensor based on the current temperature information. The application also relates to related devices, equipment and computer storage media. The technical scheme adopted by the application can effectively reduce the control power consumption of the force / tactile sensor comprising multiple sensing units.

Description

Technical Field

[0001] This application relates to the field of force sensor control technology, and in particular to a low-power control method, apparatus and device for a force / tactile sensor. Background Technology

[0002] Currently, high-performance array-type force / tactile sensors often include a large number of sensing units (e.g., more than 40). With so many sensing units operating simultaneously in a small space, especially at high sensitivity settings, heat accumulates rapidly, resulting in very high temperatures (e.g., 60-90 degrees Celsius). Furthermore, the large number of sensing units leads to high overall power consumption, which places higher demands on the overall battery life of the device.

[0003] However, there are still many unsatisfactory aspects in existing methods for reducing power consumption in force / tactile sensors that include a large number of sensing units. Summary of the Invention

[0004] The purpose of this application is to provide a low-power control method, apparatus, and device for force / tactile sensors, so as to effectively reduce the power consumption of force / tactile sensors including multiple sensing units.

[0005] In a first aspect, embodiments of this application provide a low-power control method for a force / tactile sensor, employing the technical solution described below:

[0006] A low-power control method for a force / tactile sensor, the method comprising the following steps:

[0007] Obtain current force-related information;

[0008] Based on the current force-related information, determine whether the force / tactile sensor is in a sleep state;

[0009] If it is determined to be in a sleep state, the current working frequency is set to the preset sleep working frequency of the force / touch sensor according to the preset scheme.

[0010] If it is determined that the device is not in sleep mode, the current temperature information corresponding to the force / touch sensor is obtained.

[0011] Based on the current temperature information, the current operating frequency of the force / tactile sensor is generated.

[0012] Furthermore, if it is determined that the device is in a sleep state, the current operating frequency is set according to a preset scheme using the preset sleep operating frequency of the force / touch sensor. This specifically includes the following steps:

[0013] If it is determined to be in a sleep state, and the same preset interval is maintained for the determination result, the preset sleep working frequency of the force / touch sensor is used as the current working frequency.

[0014] Furthermore, when the current force-related information consists of multiple current force-related information items, determining whether the force / tactile sensor is in a sleep state based on the current force-related information specifically includes the following steps:

[0015] Extract the maximum force-related information from among the multiple current force-related information;

[0016] The maximum force-related information is compared with the preset sleep threshold force-related information to obtain a judgment result on whether the force / tactile sensor is in sleep state.

[0017] Furthermore, the step of generating the current operating frequency of the force / tactile sensor based on the current temperature information specifically includes the following steps;

[0018] Determine whether the current temperature information is within the preset normal temperature range;

[0019] If it is determined that the temperature is within the normal range, the standard operating frequency of the force / touch sensor shall be used as the current operating frequency.

[0020] Furthermore, the following steps are also included:

[0021] If it is determined that the temperature is not within the normal temperature range, a prompt will be sent asking whether to use the standard operating frequency.

[0022] In response to the adoption of the standard operating frequency, the standard operating frequency is used as the current operating frequency.

[0023] Furthermore, the following steps are also included:

[0024] In response to a response that the standard operating frequency is not used, the standard operating frequency is reduced, and the reduced standard operating frequency is used as the standard operating frequency. The steps of acquiring current force-related information, determining whether the force / tactile sensor is in a sleep state based on the current force-related information, generating sleep operating frequency parameters for the force / tactile sensor if it is determined to be in a sleep state, acquiring current temperature information corresponding to the force / tactile sensor if it is determined not to be in a sleep state, determining whether the current temperature information is within a preset normal temperature range, generating a standard operating frequency for the force / tactile sensor if it is determined to be within the normal temperature range, using the standard operating frequency as the current operating frequency in response to a response that the standard operating frequency is used, and reducing the standard operating frequency in response to a response that the standard operating frequency is not used, and using the reduced standard operating frequency as the standard operating frequency, are repeated until a termination condition is met.

[0025] Furthermore, the following steps are also included:

[0026] If it is determined that the temperature is not within the normal temperature range, obtain the specified temperature parameters for the force / tactile sensor.

[0027] Determine if the current temperature is within the range of the specified temperature parameters;

[0028] If the temperature parameters are determined to be within the specified range, the standard operating frequency shall be used as the current operating frequency.

[0029] Furthermore, the following steps are also included:

[0030] If the temperature is determined to be outside the specified temperature range, the standard operating frequency is reduced, and the reduced standard operating frequency is used as the standard operating frequency. The process of obtaining current force-related information, determining whether the force / tactile sensor is in sleep mode based on the current force-related information, generating sleep operating frequency parameters for the force / tactile sensor if it is in sleep mode, obtaining current temperature information corresponding to the force / tactile sensor if it is not in sleep mode, determining whether the current temperature information is within a preset normal temperature range, generating a standard operating frequency for the force / tactile sensor if it is within the normal temperature range, obtaining the specified temperature parameters for the force / tactile sensor if it is outside the normal temperature range, determining whether the current temperature is within the specified temperature range, using the standard operating frequency as the current operating frequency if it is within the specified temperature range, and reducing the standard operating frequency if it is outside the specified temperature range, continues until the termination condition is met.

[0031] Furthermore, before acquiring the current force-related information and after determining whether the force / tactile sensor is in a sleep state based on the current force-related information, the following steps are also included;

[0032] The current force-related information is filtered to obtain the filtered current force-related information.

[0033] Secondly, embodiments of this application provide a low-power control device for a force / tactile sensor, the device comprising:

[0034] The information acquisition module is used to acquire information related to the current force.

[0035] The sleep detection module is used to determine whether the force / tactile sensor is in sleep mode based on the current force-related information.

[0036] The first generation module is used to determine that if it is in a sleep state, use the sleep operating frequency of the force / touch sensor as the current operating frequency.

[0037] The temperature acquisition module is used to acquire the current temperature information corresponding to the force / touch sensor if it is determined that the sensor is not in a sleep state.

[0038] The second generation module is used to generate the current operating frequency of the force / tactile sensor based on the current temperature information.

[0039] Thirdly, embodiments of this application provide a low-power control system for a force / tactile sensor, the system including a force / tactile sensor, a temperature sensor, and a controller; the force / tactile sensor includes multiple sensing units;

[0040] The controller is communicatively connected to the force / tactile sensor and the temperature measuring device, respectively.

[0041] Force / tactile sensor, used to collect current sensing information;

[0042] The temperature sensor is used to collect the current temperature information;

[0043] The controller is configured to generate the current force-related information based on the current sensing information; acquire the current force-related information; determine whether the force / tactile sensor is in a sleep state based on the current force-related information; if it is determined to be in a sleep state, use the preset sleep operating frequency of the force / tactile sensor as the current operating frequency according to a preset scheme; if it is determined not to be in a sleep state, acquire the current temperature information corresponding to the force / tactile sensor; and generate the current operating frequency of the force / tactile sensor based on the current temperature information.

[0044] Fourthly, embodiments of this application provide a controller, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the low-power control method for the force / tactile sensor described in any of the above claims.

[0045] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the low-power control method for the force / tactile sensor described in any of the preceding claims.

[0046] Compared with the prior art, the embodiments of this application have the following main advantages:

[0047] This embodiment of the application determines whether the force / tactile sensor is in a sleep state based on current force-related information. If it is determined to be in a sleep state, the current operating frequency is set to a preset sleep operating frequency of the force / tactile sensor according to a preset scheme. If it is determined that the force / tactile sensor is not in a sleep state, the current operating frequency of the force / tactile sensor is generated by combining the current temperature information corresponding to the force / tactile sensor. By combining the determination of the current operating frequency of the force / tactile sensor from the perspectives of whether the force / tactile sensor is in a sleep state and the temperature information of the force / tactile sensor, the control power consumption of a force / tactile sensor including multiple sensing units is effectively reduced. Attached Figure Description

[0048] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is an exemplary system architecture diagram in which this application can be applied.

[0050] Figure 2 This is a flowchart illustrating an embodiment of the surface force solution method based on flexible bodies according to this application;

[0051] Figure 3 This is a schematic diagram of the structure of one embodiment of the surface force solving device based on flexible bodies of this application;

[0052] Figure 4 This is a schematic diagram of the structure of one embodiment of the computer device of this application. Detailed Implementation

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0054] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0055] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0056] like Figure 1 As shown, Figure 1 This is an exemplary system architecture diagram in which this application can be applied.

[0057] This application provides a system 100, which includes a force / tactile sensor 110, a temperature controller 120, and a controller 130. The force / tactile sensor includes multiple sensing units.

[0058] The controller 130 is connected to the force / touch sensor 110 and the temperature measuring device 120 via wired or wireless means.

[0059] In this embodiment, the force / tactile sensor (hereinafter referred to as "sensor") refers to an array-type force sensor and / or tactile sensor. An array-type force / tactile sensor includes multiple sensing units arranged in an array, thereby enabling the perception of force distribution information at multiple points. Typically, each sensing unit includes a data acquisition unit and a sensing unit arranged correspondingly to each other. The data acquisition unit is used to acquire force / tactile related signals; the sensing unit is used to generate force-related information such as sensing information based on the acquired signals.

[0060] Specifically, force sensors can be, but are not limited to, one-dimensional or multi-dimensional force sensors used to measure pressure or three-dimensional force data, etc.

[0061] Tactile sensors measure information related to contact forces with objects. This contact force information includes, but is not limited to, array-based multidimensional contact force information, surface deformation information, temperature information, and texture information. The contact surface between the tactile sensor and the object is typically flexible and has good resilience. The implementation of a tactile sensor includes a flexible contact surface, sensing circuitry, computing devices, and algorithms for parsing contact force information. Compared to traditional force sensors, tactile sensors can more sensitively perceive various forces from multiple dimensions; for example, they can detect dense tangential frictional forces. Tactile sensors can be applied in various fields as needed. For example, tactile sensors can be placed in grasping actuators such as dexterous hands to measure contact force information while working with the dexterous hand to achieve grasping functions, thus enabling the grasping of objects of different shapes and softness.

[0062] Specifically, force / tactile sensors can employ different measuring devices depending on the actual situation. For example, electrodes, magnetic sources, or pressure-sensitive materials can be embedded within the flexible body. For instance, the displacement of some nodes in the flexible body can be calculated by measuring changes in resistance, voltage, and magnetic field signals generated by the internal materials due to deformation; or the displacement information of the flexible body can be directly measured using a node displacement measuring device (e.g., an optical measuring device) (i.e., identifying the position information of nodes at two preset times using an image sensor, and calculating the node displacement information based on the position information at the two times).

[0063] Temperature sensor 120 is used to measure temperature information from force / tactile sensor 110.

[0064] Specifically, the temperature sensor 120 can be set at the position corresponding to the force / touch sensor 110 as needed to measure the temperature information of the force / touch sensor 110.

[0065] In an alternative embodiment, as described above, the force / tactile sensor 110 includes multiple sensing units, each of which may be equipped with a temperature sensor. For example, the sensing element may be a chip, and the temperature sensor may be integrated on the chip.

[0066] The controller is used to perform the steps of the low-power control method for the force / tactile sensor described in the embodiments of this application.

[0067] The surface force solution method based on flexible bodies provided in this invention can be applied to computer terminals (PCs); industrial personal computers (IPCs); mobile terminals; servers; systems including terminals and servers, implemented through interaction between terminals and servers; programmable logic controllers (PLCs); field-programmable gate arrays (FPGAs); digital signal processors (DSPs) or microcontroller units (MCUs) and similar controllers. The controller generates program instructions based on a pre-set program and / or current sensing information and current temperature information collected by sensing units and temperature sensors. Specifically, it can be applied to, for example... Figure 4 The computer equipment shown.

[0068] It should be noted that the controller described in the embodiments of this application can be set up separately or partially integrated into the sensing unit, temperature sensor and other devices, and both are within the scope of protection of this application.

[0069] like Figure 2 As shown, Figure 2 This is a flowchart illustrating an embodiment of the low-power control method for the force / tactile sensor of this application.

[0070] Based on the system described in the above embodiments, this application provides a low-power control method for a force / tactile sensor, which is generally executed by a controller. The aforementioned low-power control method based on a force / tactile sensor may include the following steps:

[0071] Step 210: Obtain current force-related information.

[0072] Step 220 determines whether the force / tactile sensor is in a sleep state based on the current force-related information.

[0073] If step 230 determines that the device is in a sleep state, the current operating frequency is set to the preset sleep operating frequency of the force / touch sensor according to the preset scheme.

[0074] If step 240 determines that the device is not in a sleep state, obtain the current temperature information corresponding to the force / tactile sensor.

[0075] Step 250 generates the current operating frequency of the force / tactile sensor based on the current temperature information.

[0076] This embodiment of the application determines whether the force / tactile sensor is in a sleep state based on current force-related information. If it is determined to be in a sleep state, the current operating frequency is set to a preset sleep operating frequency of the force / tactile sensor according to a preset scheme. If it is determined that the force / tactile sensor is not in a sleep state, the current operating frequency of the force / tactile sensor is generated by combining the current temperature information corresponding to the force / tactile sensor. By combining the determination of the current operating frequency of the force / tactile sensor from the perspectives of whether the force / tactile sensor is in a sleep state and the temperature information of the force / tactile sensor, the control power consumption of the force / tactile sensor is effectively reduced.

[0077] To facilitate understanding, the above methods and steps will be explained in further detail below.

[0078] Step 210: Obtain current force-related information on the object's surface.

[0079] Specifically, the aforementioned force-related information can be specific force values ​​or information after some preprocessing, or it can be intermediate or initial sensing information collected by force / tactile sensors to determine the force value. This current force-related information can be obtained directly from force / tactile sensor measurements, or it can be ultimately calculated by the controller based on the intermediate information collected by the force / tactile sensors.

[0080] The aforementioned current force-related information can be multiple current distributed force-related information corresponding to sensing information collected by multiple sensing units, or resultant force-related information obtained from sensing information collected by multiple sensing units, etc., all of which fall within the scope of protection of this application.

[0081] In one embodiment, the controller retrieves current force-related information from a memory or server at a preset address, either at the current time or within the current preset time period.

[0082] In an optional embodiment, the following method steps may be included before step 210:

[0083] Acquire the current sensing information corresponding to multiple sensing units.

[0084] In one embodiment, the controller retrieves current sensing information (such as displacement information or changes in signals such as resistance, voltage, and magnetic field) from a memory or server at multiple locations collected by multiple sensing units according to a preset address.

[0085] The current force information is obtained based on the current sensing information.

[0086] Specifically, it can be based on static equilibrium equations, neural network models, etc. For example, taking static equilibrium equations as an example, the current force-related information corresponding to the current sensing information can be obtained based on displacement information and stiffness matrix.

[0087] For example, taking a force / touch sensor with 40 sensing units as an example, the 40 sensing units can collect the current sensing information of the corresponding 40 positions. Then, based on the 40 current sensing information, the controller can obtain the current force-related information of the 40 different positions corresponding to the 40 current sensing information based on a preset algorithm.

[0088] Based on the above method steps, the embodiments of this application can obtain current force-related information based on the sensing information measured by multiple sensing units.

[0089] In an optional embodiment, after step 210 and before step 220, the following method steps may also be included:

[0090] Step 260 filters the current force-related information to obtain filtered current force-related information.

[0091] Specifically, various existing or future filtering methods can be used, such as moving average filtering and exponentially weighted moving average filtering.

[0092] This application embodiment filters the current force-related information to prevent interference from causing abnormal changes in force data, thereby affecting the change in operating frequency.

[0093] Step 220 determines whether the force / tactile sensor is in a sleep state based on the current force-related information.

[0094] In an optional embodiment, step 220, based on the current force-related information, determines whether the force / tactile sensor is within the sleep range, specifically including the following method steps:

[0095] Step 221 extracts the maximum force-related information from the current force-related information of multiple sensing units.

[0096] Based on the previous embodiments, the maximum force-related information can be extracted from the multiple current force-related information obtained above.

[0097] Step 222 compares the maximum force-related information with the preset threshold force-related information.

[0098] The maximum force-related information is compared with a preset threshold force-related information, which is regarded as the standard force-related information (e.g., 0.5N).

[0099] The standard force information is usually set based on the minimum value of the actual measured force range. That is, when the force is less than or equal to the standard force value, the sensor is considered to be in a dormant state.

[0100] Step 223: If the maximum force-related information is less than or equal to the threshold force-related information, the force / tactile sensor is considered to be in the sleep range.

[0101] In this embodiment, the maximum force-related information is compared with a preset threshold force-related information. If the maximum force-related information is less than or equal to the threshold force-related information, the sensor is considered to be in a sleep state.

[0102] If step 230 determines that the device is in a sleep state, the current operating frequency is set to the preset sleep operating frequency of the force / touch sensor according to the preset scheme.

[0103] It should be noted that the preset scheme of this application embodiment can be arbitrarily set as needed. For example, once it is determined that the device is in a sleep state, the preset sleep operating frequency of the force / tactile sensor is used as the current operating frequency; or, in one embodiment, step 230 may also include the following method steps:

[0104] If step 231 determines that the device is in a sleep state and maintains the same preset interval for the determination result, the preset sleep working frequency of the force / touch sensor is used as the current working frequency.

[0105] For example, when the system is first determined to be in a sleep state, a counter can be started. When the counter count decreases to 0, and the current determination result is the same each time during this period, indicating that the system is in a sleep state, the sleep operation frequency can be started.

[0106] This application embodiment determines that the device is in a sleep state and only starts the sleep operation frequency after maintaining the same determination result at a preset interval. This reduces false triggering, prevents repeated jittering, and makes it more reliable.

[0107] In this embodiment of the application, if it is determined that the sensor is in a sleep state, the controller can obtain the preset sleep working frequency parameter from the memory or server according to the preset address, and send the working frequency parameter to multiple sensing units respectively, so as to instruct the multiple sensing units to perform data acquisition and other work at a lower preset sleep frequency, such as 15 Hz.

[0108] This application embodiment extracts the maximum force-related information from the current force-related information of multiple sensing units, compares the maximum force-related information with a preset threshold force-related information, and generates sleep operating frequency parameters for multiple sensing units if the maximum force-related information is less than or equal to the threshold force-related information. This allows the sensor to operate at a lower operating frequency when in sleep mode, thereby effectively reducing the power consumption of the sensor.

[0109] If step 240 determines that the device is not in a sleep state, obtain the current temperature information corresponding to the force / tactile sensor.

[0110] In an optional embodiment, before step 240 determines that the temperature is not within the sleep range and obtains the current temperature information corresponding to multiple sensing units, the following method steps may also be included:

[0111] Step 270: Obtain multiple current initial temperature information corresponding to multiple sensing units.

[0112] In one embodiment, the controller retrieves the current temperature information collected by the temperature sensor corresponding to each sensing unit from a memory or server according to a preset address. Each sensing unit corresponds to one current initial temperature, thus multiple sensing units correspond to multiple current initial temperature information sets.

[0113] Step 280 calculates the current temperature information based on multiple current initial temperature information.

[0114] In one embodiment, the controller can select the maximum value among multiple current initial temperature information and use the maximum value as the current temperature information. By using the maximum value as the current temperature information, the corresponding operating frequency can be generated whenever the temperature of any sensing unit meets the condition. In another embodiment, the controller can average the multiple current initial temperature information to obtain average temperature information and use the average temperature information as the current temperature information. This can fully consider the temperature sensing of multiple sensing units and reduce false triggering caused by excessively high individual temperatures.

[0115] In this embodiment of the application, based on the previous embodiments, if it is determined that the sensor is not in a sleep state, for example, the maximum force-related information is greater than the threshold force-related information, then the controller further obtains the current temperature information corresponding to multiple sensing units.

[0116] Step 250 generates the current operating frequency of the force / tactile sensor based on the current temperature information.

[0117] In an optional embodiment, step 250 generates the current operating frequency of the force / tactile sensor based on the current temperature information, which may specifically include the following method steps:

[0118] Step 252 determines whether the current temperature information is within the preset normal temperature range.

[0119] Step 253 If it is determined that the temperature is within the normal temperature threshold range, obtain the standard operating frequency of multiple sensing units.

[0120] For example, a preset temperature threshold can be set, such as 30 degrees Celsius. If the current temperature is within the range of 30 degrees Celsius, it can be considered to be within the preset temperature range.

[0121] In this embodiment, the current temperature information is compared with a preset normal temperature threshold. If the comparison result is that the current temperature information is within the normal temperature threshold range, the preset operating frequency parameters of multiple sensing units are obtained.

[0122] In an optional embodiment, after step 252 determines whether the current temperature information is within a preset normal temperature range, step 250 may further include the following method steps:

[0123] If step 254 determines that the temperature is outside the normal range, send a prompt asking whether to use the standard operating frequency.

[0124] Specifically, the above selection prompts can be in various forms such as images, text, and sound.

[0125] For example, a selection prompt can be sent to the monitor to be displayed to the staff. For instance, the prompt could read: "The current temperature has exceeded the temperature threshold range. Please confirm whether you are operating at the preset normal working frequency."

[0126] In step 256, in response to the selection of the standard operating frequency, the standard operating frequency is sent.

[0127] Continuing with the example above, in response to the worker pressing the "Yes" selection button, it is considered to accept the operation based on the preset normal working frequency. Therefore, the controller can obtain the pre-stored normal working frequency and send it to each sensing unit.

[0128] In this embodiment of the application, since different sensing units have different requirements for the working range in actual situations, even if the temperature is higher than the preset temperature range, the working frequency may not be adjusted immediately. Instead, a prompt can be sent to the staff to indicate whether to reduce the working frequency.

[0129] In response to the answer that the standard operating frequency is not selected, step 258 lowers the standard operating frequency and uses the lowered standard operating frequency as the new standard operating frequency. The above steps are repeated until the termination condition is met (e.g., determining that the current temperature is within the normal temperature range or receiving a response that the standard operating frequency is selected).

[0130] Specifically, the standard operating frequency can be reduced by a preset amount each time. For example, if the standard operating frequency is 100 Hz, it can be reduced by 10 Hz each time, such as reducing it to 90 Hz the first time. Sensing information is collected based on this operating frequency, and so on, until a response is received indicating that a certain standard operating frequency has been selected.

[0131] In an optional embodiment, after step 252 determines whether the current temperature information is within a preset normal temperature range, step 250 may further include the following method steps:

[0132] If step 255 determines that the temperature is not within the normal temperature range, obtain the specified temperature parameters corresponding to the sensing unit.

[0133] In this embodiment, the temperature parameters corresponding to different sensing units can be dynamically adjusted according to the application scenario.

[0134] Step 257 determines whether the current temperature meets the range of the specified temperature parameters.

[0135] Step 259: If the temperature range meets the specifications, obtain the standard operating frequencies of multiple sensing units.

[0136] Step 261 If it is determined that the specified temperature parameters are not met, the standard operating frequency is reduced, and the reduced standard operating frequency is used as the new standard operating frequency.

[0137] Repeat steps 255 to 261 above until the termination condition is met (e.g., determining that the current temperature is within the normal temperature range or receiving a response to select the standard operating frequency).

[0138] In this embodiment, the current temperature is determined to be within the range of the specified temperature parameters of the sensing unit. If the specified temperature parameters are met, the standard operating frequency of multiple sensing units is obtained. If the specified temperature parameters are not met, the standard operating frequency is reduced, and the reduced standard operating frequency is used as the new standard operating frequency. The above steps are repeated until the termination condition is met. In this way, a suitable operating frequency for the sensing unit can be automatically generated according to the actual situation, thereby automatically realizing low power consumption control.

[0139] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0140] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0141] Further reference Figure 4 As a response to the above Figure 2 The implementation of the method shown in this application provides an embodiment of a low-power control device for a force / tactile sensor, which is similar to... Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to a controller.

[0142] like Figure 4 As shown, the low-power control device 400 for the force / tactile sensor described in this application embodiment includes:

[0143] Information acquisition module 410 is used to acquire current force-related information;

[0144] The sleep determination module 420 is used to determine whether the force / tactile sensor is in sleep mode based on the current force-related information.

[0145] The first generation module 430 is used to determine that it is in a sleep state and use the sleep working frequency of the force / touch sensor as the current working frequency according to a preset scheme.

[0146] Temperature acquisition module 440 is used to acquire the current temperature information corresponding to the force / touch sensor if it is determined that the sensor is not in a sleep state.

[0147] The second generation module 450 is used to generate the current operating frequency of the force / tactile sensor based on the current temperature information.

[0148] In an optional embodiment, the first generation module 430 may include:

[0149] The first generation submodule is used to determine if the device is in a sleep state and maintain the same preset interval for the determination result, using the preset sleep working frequency of the force / tactile sensor as the current working frequency.

[0150] In an optional embodiment, the sleep determination module 420 may include:

[0151] The information extraction submodule is used to extract the maximum force-related information from among multiple current force-related information.

[0152] The result judgment submodule is used to compare the maximum force-related information with the preset sleep threshold force-related information to obtain a judgment result on whether the force / tactile sensor is in sleep state.

[0153] In an optional embodiment, the second generation module 450 may include:

[0154] Determine whether the current temperature information is within the preset normal temperature range;

[0155] If it is determined that the temperature is within the normal range, the standard operating frequency of the force / touch sensor shall be used as the current operating frequency.

[0156] In an optional embodiment, the low-power control device 400 for the force / tactile sensor may further include:

[0157] The prompt sending module is used to send a prompt on whether to use the standard operating frequency if it is determined that the temperature is not within the normal temperature range.

[0158] A frequency determination module is configured to, in response to a response adopting the standard operating frequency, use the standard operating frequency as the current operating frequency.

[0159] In an optional embodiment, the low-power control device 400 for the force / tactile sensor may further include:

[0160] The first repetition module is configured to, in response to a response that the standard operating frequency is not adopted, reduce the standard operating frequency and use the reduced standard operating frequency as the standard operating frequency to repeatedly execute the steps of: acquiring current force-related information; determining whether the force / tactile sensor is in a sleep state based on the current force-related information; if it is determined to be in a sleep state, generating sleep operating frequency parameters for the force / tactile sensor; if it is determined not to be in a sleep state, acquiring the current temperature information corresponding to the force / tactile sensor; determining whether the current temperature information is within a preset normal temperature range; if it is determined to be within the normal temperature range, generating a standard operating frequency for the force / tactile sensor; in response to a response that the standard operating frequency is adopted, using the standard operating frequency as the current operating frequency; in response to a response that the standard operating frequency is not adopted, reducing the standard operating frequency and using the reduced standard operating frequency as the standard operating frequency, until a termination condition is met.

[0161] In an optional embodiment, the low-power control device 400 for the force / tactile sensor may further include:

[0162] The specification acquisition module is used to acquire the specification temperature parameters of the force / touch sensor if it is determined that the temperature is not within the normal temperature range.

[0163] The range determination module is used to determine whether the current temperature is within the range of the specified temperature parameters;

[0164] The frequency determination module is used to determine the current operating frequency based on the standard operating frequency if the temperature parameter is within the specified range.

[0165] In an optional embodiment, the low-power control device 400 for the force / tactile sensor may further include:

[0166] The second repeating module is used to repeatedly execute the following steps if it is determined that the current force-related information is not within the specified temperature parameters: If the current force-related information is not within the specified temperature parameters, reduce the standard operating frequency and use the reduced standard operating frequency as the standard operating frequency; based on the current force-related information, determine whether the force / tactile sensor is in a sleep state; if it is in a sleep state, generate sleep operating frequency parameters for the force / tactile sensor; if it is not in a sleep state, acquire the current temperature information corresponding to the force / tactile sensor; determine whether the current temperature information is within a preset normal temperature range; if it is within the normal temperature range, generate the standard operating frequency for the force / tactile sensor; if it is not within the normal temperature range, acquire the specified temperature parameters corresponding to the force / tactile sensor; determine whether the current temperature is within the specified temperature parameters; if it is within the specified temperature parameters, use the standard operating frequency as the current operating frequency; if it is not within the specified temperature parameters, reduce the standard operating frequency and use the reduced standard operating frequency as the standard operating frequency, until a termination condition is met.

[0167] In an optional embodiment, the low-power control device 400 for the force / tactile sensor may further include:

[0168] The information filtering module is used to filter the current force-related information to obtain the filtered current force-related information.

[0169] To address the aforementioned technical problems, embodiments of this application also provide a method such as... Figure 4 The computer equipment shown.

[0170] The computer device can be a terminal or a server.

[0171] The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, etc., but is not limited to these. The terminal and server can be directly or indirectly connected via wired or wireless communication, which is not limited herein.

[0172] The computer device 6 includes a memory 61, a processor 62, and a network interface 63 that are interconnected via a system bus. It should be noted that only the computer device 6 with components 61-63 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components can be implemented alternatively. Those skilled in the art will understand that the computer device described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0173] The memory 61 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as the hard disk or memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 6. Of course, the memory 61 may also include both the internal storage unit and its external storage device of the computer device 6. In this embodiment, the memory 61 is typically used to store the operating system and various application software installed on the computer device 6, such as the program code of a low-power control method for force / tactile sensors. In addition, the memory 61 can also be used to temporarily store various types of data that have been output or will be output.

[0174] In some embodiments, the processor 62 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is used to run program code stored in the memory 61 or process data, such as program code for a low-power control method for a force / tactile sensor.

[0175] The network interface 63 may include a wireless network interface or a wired network interface, which is typically used to establish communication connections between the computer device 6 and other electronic devices.

[0176] This application also provides another embodiment, namely, providing a computer-readable storage medium storing a low-power control program for a force / tactile sensor, the low-power control program for the force / tactile sensor being executable by at least one processor to cause the at least one processor to perform the steps of the low-power control method for the force / tactile sensor as described above.

[0177] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0178] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A low-power control method for a force / tactile sensor, wherein the force / tactile sensor comprises multiple sensing units, characterized in that, The method includes the following steps: Obtain current force-related information; Based on the current force-related information, determine whether the force / tactile sensor is in a sleep state; If it is determined to be in a sleep state, the current working frequency is set to the preset sleep working frequency of the force / touch sensor according to the preset scheme. If it is determined that the device is not in sleep mode, the current temperature information corresponding to the force / touch sensor is obtained. Based on the current temperature information, the current operating frequency of the force / tactile sensor is generated.

2. The low-power control method for the force / tactile sensor according to claim 1, characterized in that, If it is determined that the system is in a sleep state, the current operating frequency is set to the preset sleep operating frequency of the force / tactile sensor according to a preset scheme. This specifically includes the following steps: If it is determined to be in a sleep state, and the same preset interval is maintained for the determination result, the preset sleep working frequency of the force / touch sensor is used as the current working frequency.

3. The low-power control method for the force / tactile sensor according to claim 1 or 2, characterized in that, When the current force-related information consists of multiple current force-related information items, determining whether the force / tactile sensor is in a sleep state based on the current force-related information specifically includes the following steps: Extract the maximum force-related information from among the multiple current force-related information; The maximum force-related information is compared with the preset sleep threshold force-related information to obtain a judgment result on whether the force / tactile sensor is in sleep state.

4. The low-power control method for the force / tactile sensor according to claim 1 or 2, characterized in that, The step of generating the current operating frequency of the force / tactile sensor based on the current temperature information specifically includes the following steps; Determine whether the current temperature information is within the preset normal temperature range; If it is determined that the temperature is within the normal range, the standard operating frequency of the force / touch sensor shall be used as the current operating frequency.

5. The low-power control method for the force / tactile sensor according to claim 4, characterized in that, It also includes the following steps: If it is determined that the temperature is not within the normal temperature range, a prompt will be sent asking whether to use the standard operating frequency. In response to the adoption of the standard operating frequency, the standard operating frequency is used as the current operating frequency.

6. The low-power control method for the force / tactile sensor according to claim 5, characterized in that, It also includes the following steps: In response to a request not to use the standard operating frequency, the standard operating frequency is reduced, and the reduced standard operating frequency is used as the standard operating frequency to repeatedly perform the process of obtaining current force-related information. Based on the current force-related information, determine whether the force / tactile sensor is in a sleep state; if it is in a sleep state, generate the sleep operating frequency parameters of the force / tactile sensor; if it is not in a sleep state, obtain the current temperature information corresponding to the force / tactile sensor. The process involves determining whether the current temperature information is within a preset normal temperature range; if it is within the normal temperature range, generating a standard operating frequency for the force / tactile sensor; responding to a response that the standard operating frequency is adopted, using the standard operating frequency as the current operating frequency; and responding to a response that the standard operating frequency is not adopted, reducing the standard operating frequency and using the reduced standard operating frequency as the standard operating frequency, until a termination condition is met.

7. The low-power control method for the force / tactile sensor according to claim 4, characterized in that, It also includes the following steps: If it is determined that the temperature is not within the normal temperature range, obtain the specified temperature parameters for the force / tactile sensor. Determine if the current temperature is within the range of the specified temperature parameters; If the temperature parameters are determined to be within the specified range, the standard operating frequency shall be used as the current operating frequency.

8. The low-power control method for the force / tactile sensor according to claim 7, characterized in that, It also includes the following steps: If it is determined that the temperature is not within the specified range, the standard operating frequency is reduced, and the reduced standard operating frequency is used as the standard operating frequency to repeat the process of obtaining current force-related information. Based on the current force-related information, determine whether the force / tactile sensor is in a sleep state; if it is in a sleep state, generate the sleep operating frequency parameters of the force / tactile sensor; if it is not in a sleep state, obtain the current temperature information corresponding to the force / tactile sensor. Determine whether the current temperature information is within a preset normal temperature range; if it is determined to be within the normal temperature range, generate the standard operating frequency of the force / tactile sensor; If it is determined that the temperature is not within the normal temperature range, obtain the specified temperature parameters corresponding to the force / tactile sensor; determine whether the current temperature is within the range of the specified temperature parameters; if it is determined that the temperature is within the range of the specified temperature parameters, use the standard operating frequency as the current operating frequency. If it is determined that the temperature is not within the specified range, the standard operating frequency is reduced, and the reduced standard operating frequency is used as the standard operating frequency, until the termination condition is met.

9. The low-power control method for the force / tactile sensor according to claim 1 or 2, characterized in that, Before acquiring the current force-related information; after determining whether the force / tactile sensor is in a sleep state based on the current force-related information, the following steps are also included; The current force-related information is filtered to obtain the filtered current force-related information.

10. A low-power control device for a force / tactile sensor, characterized in that, The device includes: The information acquisition module is used to acquire information related to the current force. The sleep detection module is used to determine whether the force / tactile sensor is in sleep mode based on the current force-related information. The first generation module is used to determine that if it is in a sleep state, use the sleep operating frequency of the force / touch sensor as the current operating frequency. The temperature acquisition module is used to acquire the current temperature information corresponding to the force / touch sensor if it is determined that the sensor is not in a sleep state. The second generation module is used to generate the current operating frequency of the force / tactile sensor based on the current temperature information.

Images