A low-power control method and device based on an array of force / tactile sensors

Abstract

This application relates to a low-power control method and apparatus based on an array-type force / tactile sensor. The array-type force / tactile sensor includes a control unit and multiple sensing units communicatively connected thereto. The method includes: determining whether the array-type force / tactile sensor meets a sleep condition; when the array-type force / tactile sensor meets the sleep condition, setting a portion of the sensing units among the multiple sensing units as standard power consumption units and setting the remaining sensing units as low-power consumption units; determining whether any standard power consumption unit has reached a trigger condition; when the standard power consumption unit has reached the trigger condition, acquiring the position information and / or quantity information of the standard power consumption units that have reached the trigger condition; generating a wake-up command based on the position information and / or quantity information, so as to adjust at least some of the low-power units to standard power consumption units through the wake-up command. The technical solution adopted in this application can effectively reduce the overall power consumption of the array-type force / tactile sensor.

Description

Technical Field

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

[0002] An array-type force / tactile sensor refers to a type of sensor that uses multiple sensing units arranged in an array or near-array to perceive force distribution information at multiple points based on the detection information from these multiple sensing units. These sensors typically have a control unit that communicates with the chip of each sensing unit, enabling the control unit to collect and process the detection information from the sensing units.

[0003] However, because array-type force / tactile sensors have multiple sensing units with small gaps between them, and the control unit performs a lot of calculations and processes with complex algorithms, array-type force / tactile sensors consume a lot of power, which in turn leads to high surface temperatures. This can easily pose potential safety risks or performance damage risks to the object being detected. At the same time, excessively high temperatures can also have a direct and adverse effect on the lifespan and performance of the array-type force / tactile sensor itself.

[0004] It is evident that effectively reducing the power consumption of array-type force / tactile sensors has become a pressing technical problem. Summary of the Invention

[0005] The purpose of this application is to provide a low-power control method and device based on an array-type force / tactile sensor to solve the technical problem of high power consumption of existing array-type force / tactile sensors.

[0006] In a first aspect, embodiments of this application provide a low-power control method based on an array-type force / tactile sensor. The array-type force / tactile sensor includes a control unit and multiple sensing units communicatively connected to the control unit. The sensing units are used to detect tactile signals. The method includes:

[0007] Determine whether the array-type force / tactile sensor meets the sleep conditions;

[0008] When it is determined that the array-type force / tactile sensor meets the sleep condition, a portion of the multiple sensing units are set as standard power consumption units, and the remaining multiple sensing units are set as low power consumption units.

[0009] Determine whether any of the standard power consumption units have reached the trigger condition;

[0010] When it is determined that a standard power consumption unit has reached the trigger condition, the location information and / or quantity information of the standard power consumption unit that has reached the trigger condition are obtained;

[0011] A wake-up command is generated based on the location information and / or the quantity information, so as to adjust at least some of the low-power units to the standard power units through the wake-up command.

[0012] Optionally, determining whether the array-type force / tactile sensor meets the sleep conditions includes the following steps:

[0013] Acquire the first tactile signals detected by the multiple sensing units;

[0014] Based on the acquired first tactile signal, determine whether the array-type force / tactile sensor meets the sleep condition;

[0015] And / or, determining whether any of the standard power consumption units have reached the trigger condition includes the following steps:

[0016] Acquire the second tactile signal detected by each of the standard power consumption units;

[0017] Based on the acquired second tactile signal, it is determined whether the standard power consumption unit has reached the trigger condition.

[0018] Optionally, generating a wake-up command based on the location information and / or the quantity information, so as to adjust at least some of the low-power units to the standard power units via the wake-up command, includes the following steps:

[0019] The first wake-up position is calculated based on the location information. The first wake-up position is the position of the low-power unit within a first preset area around the standard power unit that has reached the trigger condition.

[0020] A first wake-up command is generated based on the first wake-up position, so as to adjust the low-power unit located at the first wake-up position to the standard power unit through the first wake-up command.

[0021] Optionally, generating a wake-up command based on the location information and / or the quantity information, so as to adjust at least some of the low-power units to the standard power units via the wake-up command, includes the following steps:

[0022] Calculate the trigger ratio of the standard power consumption unit that meets the trigger condition out of all the sensing units based on the quantity information;

[0023] A second wake-up command is generated based on the trigger ratio value, so as to adjust at least a portion of the low-power units to the standard power units through the second wake-up command.

[0024] Optionally, generating a second wake-up command based on the trigger ratio value, so as to adjust at least a portion of the low-power units to the standard power units via the second wake-up command, includes the following steps:

[0025] Compare the trigger ratio value with the preset ratio value;

[0026] When the trigger ratio value reaches the preset ratio value, a second full wake-up instruction is generated to adjust all the low-power units to the standard power units through the second full wake-up instruction;

[0027] When the trigger ratio value does not reach the preset ratio value, a second part of the wake-up instruction is generated to adjust a portion of the low-power units to the standard power units.

[0028] Optionally, the step of adjusting the low-power unit of the wake-up instruction section to the standard power unit specifically includes:

[0029] The low-power unit located at the second wake-up position is adjusted to the standard power unit by the second wake-up instruction. The second wake-up position is the position of the low-power unit in the second preset area around the standard power unit that has reached the trigger condition. The second wake-up position is calculated based on the position information.

[0030] Alternatively, the second part of the wake-up instruction can be used to adjust an appropriate number of the low-power units to the standard power units, the appropriate number being calculated based on the trigger ratio value, and the appropriate number being proportional to the trigger ratio value.

[0031] Optionally, the method further includes the following steps:

[0032] Obtain the arrangement position of the multiple sensing units;

[0033] Based on the arrangement position, the plurality of sensing units are divided into at least two sensing unit modules;

[0034] For each of the aforementioned sensing unit modules, the locations of all the sensing units are defined as monitoring points or sleep points, and the monitoring points on the same sensing unit module are more distributed in representative points of the sensing unit module than the sleep points. The monitoring points are the locations of the standard power consumption units, and the sleep points are the locations of the low power consumption units.

[0035] Alternatively, based on the acquired first tactile signal, the positions of the multiple sensing units are defined as monitoring points and sleep points, such that the sensing units at the monitoring points have more of the first tactile signal distributed than the sensing units at the sleep points, and the monitoring points are the locations of the standard power consumption units and the sleep points are the locations of the low power consumption units.

[0036] Alternatively, obtain information on the distribution of tactile signals;

[0037] Based on the tactile signal distribution information, the locations of the multiple sensing units are defined as monitoring points and sleep points, such that the sensing units at the monitoring points have more of the first tactile signal distributed than the sensing units at the sleep points. The monitoring points are the locations of the standard power consumption units, and the sleep points are the locations of the low power consumption units.

[0038] Optionally, the method further includes the following steps:

[0039] Determine whether the array-type force / tactile sensor meets the standby conditions;

[0040] When the array-type force / tactile sensor is determined to meet the standby conditions, the main frequency of the control unit is reduced.

[0041] After reducing the main frequency of the control unit, the third tactile signals detected by multiple sensing units are acquired;

[0042] Based on the acquired third tactile signal, determine whether the array-type force / tactile sensor meets the working conditions;

[0043] When the array-type force / tactile sensor is determined to meet the working conditions, the main frequency of the control unit is increased.

[0044] Optionally, the method further includes the following steps:

[0045] Determine whether the array-type force / tactile sensor meets the low-frequency communication requirements;

[0046] When it is determined that the array-type force / tactile sensor meets the low-frequency communication conditions, the communication frequency between the control unit and the sensing unit is reduced.

[0047] After reducing the communication frequency between the control unit and the sensing unit, multiple fourth tactile signals detected by the sensing units are acquired.

[0048] Based on the acquired fourth tactile signal, determine whether the array-type force / tactile sensor meets the high-frequency communication requirements;

[0049] When it is determined that the array-type force / tactile sensor meets the high-frequency communication conditions, the communication frequency between the control unit and the sensing unit is increased.

[0050] Secondly, embodiments of this application also provide a low-power control device based on an array-type force / tactile sensor, the control device comprising:

[0051] The sleep condition determination module is used to determine whether the array-type force / tactile sensor meets the sleep condition;

[0052] A low-power setting module is used to set a portion of the multiple sensing units as standard power units and the remaining sensing units as low-power units when it is determined that the array force / tactile sensor meets the sleep condition.

[0053] The trigger condition determination module is used to determine whether any of the standard power consumption units have reached the trigger condition;

[0054] The trigger information acquisition module is used to acquire the location information and / or quantity information of the standard power consumption unit that has reached the trigger condition when it is determined that the standard power consumption unit has reached the trigger condition.

[0055] A wake-up command generation module is used to generate a wake-up command based on the location information and / or the quantity information, so as to adjust at least some of the low-power units to the standard power units through the wake-up command.

[0056] Compared with the prior art, the embodiments of this application have the following main advantages:

[0057] The low-power control method based on an array-type force / tactile sensor in this application embodiment determines whether the array-type force / tactile sensor meets the sleep condition. When the sleep condition is met, some sensing units are set as standard power consumption units and the remaining sensing units are set as low-power consumption units, which can effectively reduce the overall power consumption of the array-type force / tactile sensor. Furthermore, by determining whether any standard power consumption units have reached the trigger condition, when such a condition is met, the location information and / or quantity information of the standard power consumption units that have reached the trigger condition are obtained. A wake-up command is generated based on the location information and / or quantity information to adjust at least some low-power consumption units to standard power consumption units. This allows for timely and accurate adjustment of at least some low-power units to standard power consumption units, thereby ensuring the normal operation of the array-type force / tactile sensor as much as possible and avoiding the impact of setting low-power units on the accuracy of the array-type force / tactile sensor in detecting tactile signals. Therefore, the low-power control method based on an array-type force / tactile sensor in this application embodiment can effectively reduce the overall power consumption of the array-type force / tactile sensor while ensuring its normal operation as much as possible. Attached Figure Description

[0058] 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.

[0059] Figure 1 This is a structural block diagram of a low-power control system provided in an embodiment of this application;

[0060] Figure 2 A flowchart illustrating a low-power control method provided in one embodiment of this application;

[0061] Figure 3 for Figure 2 A schematic diagram of the specific flow of step S100 of the control method shown;

[0062] Figure 4 for Figure 2 A schematic diagram of the specific flow of step S300 of the control method shown;

[0063] Figure 5 for Figure 2 A schematic diagram of the specific flow of step S500 of the control method shown.

[0064] Figure 6 for Figure 2 Another specific flowchart of step S500 of the control method shown;

[0065] Figure 7 for Figure 6 A detailed flowchart of step S520 is shown below;

[0066] Figure 8 for Figure 2 A schematic diagram of the specific process of step S000 of the control method shown;

[0067] Figure 9 for Figure 2 Another specific flowchart of step S000 of the control method shown;

[0068] Figure 10 for Figure 2 A schematic diagram of the specific process of step S600 of the control method shown.

[0069] Figure 11 for Figure 2 A schematic diagram of the specific process of step S700 of the control method shown.

[0070] Figure 12This is a schematic diagram of the arrangement of multiple sensing units of an array-type force / tactile sensor provided in an embodiment of this application;

[0071] Figure 13 This is a schematic diagram of the structure of a low-power control device provided in an embodiment of this application;

[0072] Figure 14 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application.

[0073] Figure label:

[0074] 1. Low-power control system; 100. Array-type force / tactile sensor; 110. Standard power consumption unit; 120. Low-power unit; 200. Controller; 300. Low-power control device; 310. Sleep condition judgment module; 320. Low-power setting module; 330. Trigger condition judgment module; 340. Trigger information acquisition module; 350. Wake-up command generation module; 400. Computer equipment; 410. Memory; 420. Processor; 430. Network interface. Detailed Implementation

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] Please see Figure 1 This application provides a low-power control system 1 based on an array-type force / tactile sensor. The control system 1 includes an array-type force / tactile sensor 100 and a controller 200. The controller 200 is used to execute the low-power control method based on the array-type force / tactile sensor described below. The array-type force / tactile sensor 100 includes a control unit and multiple sensing units communicatively connected to the control unit. The sensing units are used to detect tactile signals. The control unit is used to calculate force / tactile information based on the tactile signals detected by the multiple sensing units. The force / tactile information includes one or more of the following: force magnitude, force direction, force application point location, force quantity, object surface deformation information, texture information, hardness / softness, temperature information, and mass distribution. The tactile signals may be, for example, magnetic field strength, Hall voltage, etc.

[0080] It should be noted that the controller 200 can be either the control unit of the array-type force / tactile sensor or other existing controllers. For example, the controller can be, but is not limited to:

[0081] Computer terminal (Personal Computer, PC); Industrial Personal Computer (IPC); Mobile terminal; Server; System including terminal and server, implemented through interaction between terminal and server; Programmable Logic Controller (PLC); Field-Programmable Gate Array (FPGA); Digital Signal Processor (DSP) or Microcontroller unit (controller), etc.

[0082] Please see Figure 2 This application provides a low-power control method based on an array-type force / tactile sensor. The array-type force / tactile sensor includes a control unit and multiple sensing units communicatively connected to the control unit. The sensing units are used to detect tactile signals. The control method includes:

[0083] S100: Determine whether the array-type force / tactile sensor meets the sleep conditions;

[0084] S200. When it is determined that the array force / tactile sensor meets the sleep condition, a portion of the multiple sensing units are set as standard power consumption units, and the remaining sensing units are set as low power consumption units.

[0085] S300: Determine whether any of the standard power consumption units have reached the trigger condition;

[0086] S400: When it is determined that a standard power consumption unit has reached the trigger condition, the location information and / or quantity information of the standard power consumption unit that has reached the trigger condition are obtained.

[0087] S500: Generate a wake-up command based on the location information and / or the quantity information, so as to adjust at least some of the low-power units to the standard power units through the wake-up command.

[0088] in:

[0089] For example, step S100 can be implemented by either determining whether the controller receives a sleep command input by the user or sent by the host computer, and determining that the array force / tactile sensor meets the sleep conditions when a sleep command is received; or by determining whether the tactile signal (or its change value) detected by the sensing unit does not exceed a first preset value, and determining that the array force / tactile sensor meets the sleep conditions when it does not exceed the first preset value. Since the sleep command is necessarily generated based on actual needs, and the tactile signal (or its change value) not exceeding the first preset value indicates that the tactile signal (or its change value) is relatively small, it indicates that there is a high probability that the array force / tactile sensor does not actually need to accurately detect the tactile signal at this time. Therefore, step S200 can be executed only when it is as close as possible to actual needs to reduce the power consumption of the array force / tactile sensor.

[0090] In step S200, setting the sensing unit as the standard power consumption unit means setting the power consumption of the sensing unit to maintain normal operation; setting the sensing unit as the low power consumption unit means reducing the power consumption of the sensing unit to be lower than the power consumption of the sensing unit maintaining normal operation. It should be noted that, to successfully complete tactile signal detection, the sensing units maintaining normal operation all have three functions: analog signal acquisition, analog-to-digital signal conversion, and digital communication. Therefore, for example, the sensing unit can be set as a low power consumption unit by adjusting it to retain only the digital communication function, while the standard power consumption unit can maintain its normal operation state by fully possessing all three functions: analog signal acquisition, analog-to-digital signal conversion, and digital communication. Since the power consumption required to implement the analog signal acquisition function accounts for the majority of the power consumption of the sensing unit, setting some of the sensing units as low power consumption units in this way can effectively reduce the overall power consumption of multiple sensing units, thereby effectively reducing the power consumption of the array-type force / tactile sensor. In this embodiment of the application, the state in which the array-type force / tactile sensor is in a state where some of the sensing units are the standard power consumption units and the rest of the sensing units are the low power consumption units is referred to as the sleep state.

[0091] For example, step S300 can be implemented in two ways: either by detecting whether the controller receives a trigger command input by the user or sent by the host computer, and considering that all or a specific area of ​​the standard power consumption units have reached the trigger condition when the trigger command is detected, thus determining that some of the standard power consumption units have reached the trigger condition; or by determining whether the tactile signal (or its change value) detected by each of the standard power consumption units reaches a second preset value, and considering that the standard power consumption units that have reached the second preset value have reached the trigger condition, thus determining whether any of the standard power consumption units have reached the trigger condition. Since the trigger command is necessarily generated according to actual needs, and "the tactile signal (or its change value) detected by the standard power consumption unit reaches the second preset value" indicates that the tactile signal or its change value detected by the standard power consumption unit is relatively large, indicating that the standard power consumption unit that has reached the trigger condition and the surrounding low power consumption units are more likely to accurately detect the tactile signal. Therefore, steps S400 and S500 are executed only when the actual detection needs are closely matched, so that at least some of the low power consumption units are adjusted to the standard power consumption units.

[0092] The quantity information mentioned in steps S400 and S500 refers to the number of standard power consumption units that have reached the trigger condition, and the position information refers to the position of the standard power consumption unit that has reached the trigger condition on the surface of the array-type force / tactile sensor where the sensing units are arranged.

[0093] The low-power control method based on an array-type force / tactile sensor in this application embodiment determines whether the array-type force / tactile sensor meets a sleep condition. When the sleep condition is met, some of the sensing units are set as standard power consumption units and the remaining sensing units are set as low-power consumption units, which can effectively reduce the overall power consumption of the array-type force / tactile sensor. Furthermore, by determining whether any of the standard power consumption units have reached a trigger condition, when the trigger condition is reached, the location information and / or quantity information of the standard power consumption units that have reached the trigger condition is obtained. A wake-up command is generated based on the location information and / or the quantity information to adjust at least some of the low-power units to the standard power consumption units. This method can adjust at least some of the low-power units to the standard power consumption units in a timely and accurate manner, thereby ensuring the normal operation of the array-type force / tactile sensor as much as possible and avoiding the impact on the accuracy of the array-type force / tactile sensor in detecting tactile signals due to the setting of the low-power units. Therefore, the low-power control method based on the array-type force / tactile sensor in this application embodiment can effectively reduce the overall power consumption of the array-type force / tactile sensor while ensuring its normal operation as much as possible.

[0094] In one embodiment, in order to ensure that steps S100 and S200 of the control method can be executed smoothly, step S200 further includes: when it is determined that the array force / tactile sensor does not meet the sleep condition, re-execute steps S100 and S200.

[0095] In one embodiment, in order to ensure that steps S300 and S400 of the control method can be executed smoothly, step S400 further includes: when it is determined that no standard power consumption unit has reached the trigger condition, re-execute steps S300 and S400.

[0096] Please see Figure 3 In one embodiment, step S100 includes the following steps:

[0097] S110. Acquire the first tactile signal detected by the plurality of the sensing units;

[0098] S120. Determine whether the array-type force / tactile sensor meets the sleep conditions based on the acquired first tactile signal.

[0099] In step S110, the first tactile signal can be either a single tactile signal detected by each of the multiple sensing units of the array-type force / tactile sensor at a first specific detection time, or multiple tactile signals detected by each of the multiple sensing units within a first specific detection time period. The first specific detection time and the first specific detection time period can be set according to the specific needs of obtaining the first tactile signal by executing step S110. Step S120 can be implemented by determining whether the array-type force / tactile sensor meets the sleep condition by judging whether the value of the obtained first tactile signal does not exceed a first preset value; or by judging whether the array-type force / tactile sensor meets the sleep condition by judging whether the first actual change value generated by the obtained first tactile signal within a first preset time period does not exceed a first preset change value.

[0100] Please see Figure 4 In one embodiment, step S300 includes the following steps:

[0101] S310, Acquire the second tactile signal detected by each of the standard power consumption units;

[0102] S320. Determine whether the standard power consumption unit has reached the trigger condition based on the acquired second tactile signal.

[0103] In step S310, the second tactile signal can refer to either a single tactile signal detected by each of the standard power consumption units at a second specific detection time, or multiple tactile signals detected by each of the standard power consumption units within a second specific detection time period. Furthermore, the specific value of the tactile signal detected by a single standard power consumption unit may be zero. The second specific detection time and the second specific detection time period can be set according to the specific needs of obtaining the second tactile signal in step S310. Step S320 can be implemented by determining whether a standard power consumption unit has reached a trigger condition by judging whether the value of the obtained second tactile signal reaches a second preset value; or by determining whether a standard power consumption unit has reached a trigger condition by judging whether the second actual change value generated by the obtained second tactile signal within a second preset time period reaches a second preset change value.

[0104] Please see Figure 5 In one embodiment, step S500 includes the following steps:

[0105] S510. Calculate the first wake-up position based on the position information. The first wake-up position is the position of the low-power unit in the first preset area around all the standard power units that have reached the trigger condition.

[0106] S520. Generate a first wake-up command based on the first wake-up position, so as to adjust the low-power unit located at the first wake-up position to the standard power unit through the first wake-up command.

[0107] It should be noted that the aforementioned first preset region is a specific region pre-defined for the standard power consumption unit, and it is set according to the specific needs of the array-type force / tactile sensor to accurately detect tactile signals. For example, the first preset region can be defined as the area within a first preset radius around all the standard power consumption units that have reached the trigger condition, based on the specific needs of the array-type force / tactile sensor to accurately detect tactile signals.

[0108] Understandably, in this embodiment, the positions of low-power units within a first preset area surrounding all standard power units that have reached the trigger condition are calculated based on the position information. Then, the first wake-up command adjusts these low-power units to standard power units. This ensures that the first wake-up command only adjusts the low-power units within the first preset area surrounding the standard power units that have reached the trigger condition, and does not adjust the low-power units outside the first preset area to standard power units. This ensures that all standard power units of the array-type force / tactile sensor after step S500 can basically meet the actual needs of accurately detecting tactile signals, while also retaining a certain number of low-power units to the maximum extent, so that the overall power consumption of the array-type force / tactile sensor can still be maintained at a relatively small value (relative to all the low-power units being adjusted to the standard power units).

[0109] Please see Figure 6 In one embodiment, step S500 includes the following steps:

[0110] S510. Calculate the trigger ratio of the standard power consumption unit that meets the trigger condition to all the sensing units based on the quantity information.

[0111] S520. Generate a second wake-up instruction based on the trigger ratio value, so as to adjust at least a portion of the low-power units to the standard power units through the second wake-up instruction.

[0112] Understandably, in this embodiment, by generating the second wake-up command based on the trigger ratio value, the second wake-up command can be directly related to the trigger ratio value. This makes the number of low-power units adjusted by the second wake-up command also related to the trigger ratio value. In other words, the number of low-power units adjusted by the second wake-up command is related to the number of standard power units that meet the trigger condition. This ensures that the number of low-power units adjusted by the second wake-up command is close to the actual needs of the array force / tactile sensor for accurately detecting tactile signals. It also prevents excessive low-power units from being adjusted to standard power units, thus increasing unnecessary power consumption, and avoids the undesirable situation where only a small number of low-power units are adjusted to standard power units, which still fails to meet the requirements for accurately detecting tactile signals.

[0113] Specifically, in one embodiment, please refer to Figure 7 Step S520 includes the following steps:

[0114] S521. Compare the trigger ratio value with the preset ratio value;

[0115] S522. When the trigger ratio value reaches the preset ratio value, a second full wake-up instruction is generated to adjust all the low-power units to the standard power units through the second full wake-up instruction.

[0116] S523. When the trigger ratio value does not reach the preset ratio value, a second part of the wake-up instruction is generated to adjust part of the low-power unit to the standard power unit through the second part of the wake-up instruction.

[0117] It should be noted that the second full wake-up command and the second partial wake-up command are essentially the same as the second wake-up command. They are distinguished only by the fact that they are used to adjust all the low-power units and a portion of the low-power units to the standard power units, respectively. The preset ratio value refers to a pre-set ratio greater than 0 and less than 1, set according to the specific needs of the array-type force / tactile sensor in detecting tactile signals. For example, it can be set by repeatedly statistically analyzing the proportion of sensing units that can acquire tactile signals when the array-type force / tactile sensor effectively detects tactile signals in actual use environments.

[0118] Understandably, in this embodiment, the generation of the second full wake-up command or the second partial wake-up command is determined by comparing the trigger ratio value with the preset ratio value, so as to adjust all or part of the low-power units to the standard power units accordingly. Thus, by simply judging the values, the number of low-power units adjusted in step S520 basically meets the actual needs of the array force / tactile sensor to accurately detect tactile signals. This avoids both excessive low-power units being adjusted to standard power units, thus increasing unnecessary power consumption, and the undesirable situation where adjusting only part of the low-power units to standard power units still fails to meet the requirements for accurate tactile signal detection.

[0119] More specifically, in some embodiments, the preset ratio value is set to be less than or equal to 20%.

[0120] More specifically, in one embodiment, step S523, adjusting the low-power unit to the standard power unit via the second wake-up instruction, specifically includes:

[0121] The second part of the wake-up command adjusts the low-power unit located at the second wake-up position to the standard power unit. The second wake-up position is the position of the low-power unit in the second preset area around the standard power unit that has reached the trigger condition. The second wake-up position is calculated based on the position information.

[0122] It should be noted that the aforementioned second preset area is a specific area pre-set for the standard power consumption unit. It is set according to the specific needs of the array-type force / tactile sensor to accurately detect tactile signals. The size of the second preset area may be equal to or different from the size of the aforementioned first preset area.

[0123] Understandably, in this embodiment, during the execution of step S523 to adjust some low-power units to standard power units via the second part of the wake-up command, the positions of low-power units within a second preset area surrounding all standard power units that have reached the trigger condition are calculated based on the position information. Then, the second part of the wake-up command adjusts these low-power units to standard power units, so that the second part of the wake-up command only adjusts the low-power units within the second preset area surrounding the standard power units that have reached the trigger condition, and does not adjust the low-power units outside the second preset area to standard power units. This ensures that all standard power units of the array-type force / tactile sensor after executing step S523 can basically meet the actual needs of accurately detecting tactile signals, while also retaining a certain number of low-power units to the maximum extent, so that the overall power consumption of the array-type force / tactile sensor can still be maintained at a relatively small value (relative to adjusting the low-power units outside the second preset area to standard power units).

[0124] More specifically, in one embodiment, step S523, adjusting the low-power unit to the standard power unit via the second wake-up instruction, specifically includes:

[0125] The second part of the wake-up instruction adjusts an appropriate number of the low-power units to the standard power units. The appropriate number is calculated based on the trigger ratio value and is proportional to the trigger ratio value.

[0126] Understandably, in this embodiment, during the execution of step S523 to adjust some low-power units to standard power units via the second part of the wake-up instruction, a suitable number proportional to the trigger ratio value is calculated based on the trigger ratio value. This suitable number of low-power units is then adjusted to standard power units via the second part of the wake-up instruction. This ensures that the number of standard power units adjusted from the low-power units matches the number of standard power units that meet the trigger condition, thus better meeting the actual needs of the array-type force / tactile sensor for accurate detection of tactile signals. It also retains a certain number of low-power units to the maximum extent, resulting in a lower overall power consumption of the array-type force / tactile sensor.

[0127] Please see Figure 8 and Figure 12In one embodiment, the low-power control method based on an array-type force / tactile sensor further includes step S000, which specifically includes the following steps:

[0128] S010. Obtain the arrangement position of the multiple sensing units;

[0129] S020. Divide the plurality of sensing units into at least two sensing unit modules according to the arrangement position;

[0130] S030. For each of the aforementioned sensing unit modules, the locations of all the sensing units are defined as monitoring points or sleep points, and the monitoring points on the same sensing unit module are more distributed in representative points of the sensing unit module than the sleep points. The monitoring points are the locations of the standard power consumption unit 110, and the sleep points are the locations of the low power consumption unit 120.

[0131] The “arrangement position” obtained in step S010 refers to the distribution position of the multiple sensing units on its mounting surface. It can be obtained by the user manually inputting the corresponding position information, or it can be calculated based on the first tactile signal detected by all the sensing units.

[0132] The sensing unit module described in steps S020 and S030 may be a single sensing unit, or it may be composed of two or more sensing units. The number of sensing units included in each sensing unit module may be equal or unequal. In other words, when performing step S020, multiple sensing units can be evenly divided into multiple sensing unit modules according to the arrangement position, or multiple sensing units can be non-uniformly divided into multiple sensing unit modules according to the arrangement position.

[0133] In step S030, "defining the location of all the sensing units of each sensing unit module as a monitoring point or a sleep point" means: for a sensing unit module consisting of only a single sensing unit, the location of that sensing unit is defined as a monitoring point or a sleep point; while for a sensing unit module consisting of two or more sensing units, the location of each of the sensing units in a portion of the sensing units is defined as a monitoring point, and the location of each of the sensing units in the other portion of the sensing units is defined as a sleep point. In step S030, the "representative point" refers to the geometric center or vertex of the geometric shape (e.g., circle, ellipse, and regular polygon) that the sensing unit module roughly presents to the outside. In step S030, "making the monitoring points on the same sensing unit module more distributed on the representative points of the sensing unit module than the sleep points" means that the monitoring points on the same sensing unit module are more distributed on the geometric center or vertex than the sleep points, so that the sensing unit located at the monitoring point (i.e., standard power consumption unit 110) can detect more tactile signals than the sensing unit located at the sleep point (i.e., low power consumption unit 120).

[0134] Understandably, in this embodiment, since the monitoring point is the location of the standard power consumption unit 110 and the sleep point is the location of the low power consumption unit 120, even after the array force / tactile sensor enters a sleep state (i.e., after setting the low power consumption unit), it may still detect tactile signals through the standard power consumption unit 110 located at the monitoring point. Furthermore, since the standard power consumption unit 110 located at the monitoring point can detect more tactile signals than the low power consumption unit 120 located at the sleep point, the method provided in this embodiment can relatively reduce the occurrence of missed tactile signal detection after "setting the low power consumption unit" on the array force / tactile sensor, thereby reducing the adverse effects of "setting the low power consumption unit" on the detection of tactile signals by the array force / tactile sensor.

[0135] It should be noted that step S000 can be set before step S100, so that the monitoring point and the sleep point can be determined before the sleep condition is determined, that is, the positions of the standard power consumption unit 110 and the low power consumption unit 120 are determined in advance; or step S000 can be set between step S100 and step S200, so that the sleep condition is determined first and then the monitoring point and the sleep point are set, and then step S200 is executed to set the standard power consumption unit 110 and the low power consumption unit 120 according to the monitoring point and the sleep point.

[0136] Specifically, in one embodiment, step S020 includes: uniformly dividing the plurality of sensing units into at least two sensing unit modules according to the arrangement position.

[0137] Understandably, in this embodiment, by uniformly dividing the sensing unit module, the distribution of the monitoring points and the sleep points can be made more uniform and regular, thereby making the distribution of the standard power consumption unit and the low power consumption unit more uniform and regular. This is to further reduce the adverse effects of "setting the low power consumption unit" on the detection of tactile signals by the array force / tactile sensor, and to facilitate the execution of steps S400-S500 to adjust at least some of the low power consumption units to the standard power consumption unit according to the position information and / or the quantity information when it is determined that the standard power consumption unit has reached the trigger condition.

[0138] In one embodiment, step S000 includes:

[0139] Based on the acquired first tactile signal, the positions of the multiple sensing units are defined as monitoring points and sleep points, such that the sensing units at the monitoring points have more of the first tactile signal than the sensing units at the sleep points. The monitoring points are the locations of the standard power consumption units, and the sleep points are the locations of the low power consumption units.

[0140] Specifically, defining the positions of the multiple sensing units as monitoring points and sleep points based on the acquired first tactile signal includes:

[0141] The tactile signal distribution information is calculated based on the acquired first tactile signal;

[0142] Based on the tactile signal distribution information, the locations of the multiple sensing units are defined as the monitoring point and the sleep point.

[0143] It should be noted that the tactile signal distribution information refers to the distribution information of the first tactile signal calculated based on the acquired first tactile signal at the arrangement positions of the multiple sensing units. Thus, the tactile signal distribution information can be used to set the monitoring point and the sleep point so that the sensing unit at the monitoring point (i.e., the standard power consumption unit) has more of the first tactile signal distributed than the sensing unit at the sleep point (i.e., the low power consumption unit).

[0144] Understandably, in this embodiment, since the standard power consumption unit has more of the first tactile signal distributed than the low power consumption unit, the method provided in this embodiment can relatively reduce the occurrence of missed tactile signal detection after "setting the low power consumption unit" on the array force / tactile sensor, thereby reducing the adverse effect of "setting the low power consumption unit" on the array force / tactile sensor's detection of tactile signals.

[0145] Please see Figure 9 In one embodiment, step S000 includes:

[0146] S010, Obtain tactile signal distribution information;

[0147] S020. Based on the tactile signal distribution information, the positions of the multiple sensing units are defined as monitoring points and sleep points, so that the sensing units at the monitoring points have more of the first tactile signal distributed than the sensing units at the sleep points. The monitoring point is the location of the standard power consumption unit, and the sleep point is the location of the low power consumption unit.

[0148] The tactile signal distribution information refers to the distribution information of all tactile signals detected by the multiple sensing units or the first tactile signal detected before step S010, at the arrangement positions of the multiple sensing units. The tactile signal distribution information can be obtained by the user manually inputting the corresponding position information or by the host computer sending the corresponding position information, or it can be calculated after obtaining the first tactile signals detected by the multiple sensing units in step S110.

[0149] Understandably, in this embodiment, the sensing unit at the monitoring point has more of the first tactile signal distributed than the sensing unit at the sleep point. That is, the standard power unit has more of the first tactile signal distributed than the low power unit. Therefore, using the method provided in this embodiment can relatively reduce the occurrence of missed tactile signal detection after "setting the low power unit" on the array force / tactile sensor, thereby reducing the adverse effect of "setting the low power unit" on the array force / tactile sensor's detection of tactile signals.

[0150] Please see Figure 10 In one embodiment, the low-power control method based on an array-type force / tactile sensor further includes step S600, which includes the following steps:

[0151] S610. Determine whether the array-type force / tactile sensor meets the standby conditions;

[0152] S620. When it is determined that the array-type force / tactile sensor meets the standby conditions, the main frequency of the control unit is reduced;

[0153] S630. After reducing the main frequency of the control unit, acquire the third tactile signals detected by the multiple sensing units;

[0154] S640. Determine whether the array-type force / tactile sensor meets the working conditions based on the acquired third tactile signal.

[0155] S650. When it is determined that the array-type force / tactile sensor meets the working conditions, the main frequency of the control unit is increased.

[0156] It should be noted that step S600 can be executed before any of steps S100-S500, or after any of steps S100-S500, or it can be included in steps S100-S500. This application embodiment does not limit it.

[0157] The standby condition in step S610 can be either a standby command received by the controller from the user or a standby command sent by the host computer, or a judgment condition directly set based on the magnitude of the first tactile signal, such as "the value of the first tactile signal obtained in step S110 does not exceed a third preset value" or "the third actual change value generated by the first tactile signal in step S110 within a third preset time does not exceed a third preset change value". It should be noted that the third preset value may or may not be equal to the first preset value; the third preset time may or may not be equal to the first preset time; and the third preset change value may or may not be equal to the first preset change value. That is, the standby condition may or may not be the same as the sleep condition described above. Since the standby command is necessarily generated based on actual needs, and "the value of the first tactile signal does not exceed the third preset value" or "the third actual change value does not exceed the third preset change value" indicates that the first tactile signal (or its actual change value) is relatively small, it means that the control unit does not need to perform high-intensity calculation processing at this time, so step S620 can be executed to reduce the main frequency of the control unit after the standby condition is reached, thereby reducing the overall power consumption of the array force / tactile sensor.

[0158] For example, the specific method for reducing the main frequency of the control unit in step S620 can be achieved by modifying the frequency division coefficient of the clock management register in the control unit.

[0159] The third tactile signal acquired in step S630 is essentially the tactile signal detected by the multiple sensing units after step S620. It should be noted that if step S600 is executed before step S100, the third tactile signal may be identical to the first tactile signal.

[0160] The working conditions of step S640 refer to judgment conditions directly set based on the magnitude of the third tactile signal, such as "the value of the acquired third tactile signal reaches a fourth preset value" or "the actual change value generated by the acquired third tactile signal within a fourth preset time period reaches a fourth preset change value". It should be noted that the fourth preset value may or may not be equal to the aforementioned third preset value; the fourth preset time may or may not be equal to the aforementioned third preset time; and the fourth preset change value may or may not be equal to the aforementioned third preset change value. That is, the working conditions may correspond to the aforementioned standby conditions, or they may not be related. Since "the value of the third tactile signal reaches a fourth preset value" or "the actual change value reaches a fourth preset change value" indicates that the third tactile signal (or its actual change value) is relatively large, it suggests that the control unit is likely to require high-intensity calculation processing. Therefore, step S650 can be executed to increase the main frequency of the control unit, allowing the control unit to return to normal operation.

[0161] In one embodiment, the control unit is an MCU. After executing step S620 to reduce the main frequency of the control unit, the main frequency of the control unit can be set to 240MHz; after executing step S650 to increase the main frequency of the control unit, the main frequency of the control unit can be set to 600MHz.

[0162] In one embodiment, in order to ensure that the above steps S610 and S620 can be executed smoothly, step S620 further includes: when it is determined that the array force / tactile sensor does not meet the standby conditions, re-execute steps S610 and S620.

[0163] In one embodiment, to ensure that the above steps S630-S650 can be executed smoothly, step S650 further includes: if it is determined that the array force / tactile sensor does not meet the working conditions, steps S630-S650 are re-executed.

[0164] Please see Figure 11 In one embodiment, the low-power control method based on an array-type force / tactile sensor further includes step S700, which includes the following steps:

[0165] S710. Determine whether the array-type force / tactile sensor meets the low-frequency communication requirements;

[0166] S720. When it is determined that the array-type force / tactile sensor meets the low-frequency communication conditions, the communication frequency between the control unit and the sensing unit is reduced.

[0167] S730. After reducing the communication frequency between the control unit and the sensing unit, acquire the fourth tactile signals detected by the multiple sensing units.

[0168] S740. Determine whether the array-type force / tactile sensor meets the high-frequency communication conditions based on the acquired fourth tactile signal.

[0169] S750. When it is determined that the array-type force / tactile sensor meets the high-frequency communication conditions, the communication frequency between the control unit and the sensing unit is increased.

[0170] It should be noted that step S700 can be executed before any of steps S100-S600, or after any of steps S100-S600, or it can be included in steps S100-S600. This application embodiment does not limit it.

[0171] The low-frequency communication condition in step S710 can be either a low-frequency communication command input by the user or a low-frequency communication command sent by the host computer, or a judgment condition directly set based on the magnitude of the first tactile signal, such as "the value of the first tactile signal obtained in step S110 does not exceed a fifth preset value" or "the fifth actual change value generated by the first tactile signal in step S110 within a fifth preset time does not exceed a fifth preset change value". It should be noted that the fifth preset value may or may not be equal to the third preset value; the fifth preset time may or may not be equal to the third preset time; and the fifth preset change value may or may not be equal to the third preset change value. That is, the low-frequency communication condition may or may not be the same as the standby condition described above. Since low-frequency communication commands are necessarily generated based on actual needs, and "the value of the first tactile signal does not exceed the fifth preset value" or "the fifth actual change value does not exceed the fifth preset change value" indicates that the first tactile signal (or its actual change value) is relatively small, it indicates that the communication frequency of the control unit and the sensing unit does not need to be very high at this time. Therefore, step S720 can be executed to reduce the communication frequency of the control unit and the sensing unit after the low-frequency communication condition is reached, thereby reducing the overall power consumption of the array force / tactile sensor.

[0172] In step S720, "reducing the communication frequency of the communication connection between the control unit and the sensing unit" specifically means reducing the communication frequency of the communication connection between the control unit and all the sensing units, or reducing the communication frequency of the communication connection between the control unit and some of the sensing units.

[0173] The fourth tactile signal acquired in step S730 is essentially the tactile signal detected by the multiple sensing units after step S720. It should be noted that if step S700 is executed before step S100, the fourth tactile signal may be the same as the first tactile signal; if step S700 is executed before step S600, or if steps S700 and S600 are executed synchronously, the fourth tactile signal may be the same as the third tactile signal.

[0174] The high-frequency communication condition in step S740 refers to judgment conditions directly set based on the magnitude of the fourth tactile signal, such as "the value of the acquired fourth tactile signal reaches a sixth preset value" or "the sixth actual change value generated by the acquired fourth tactile signal within a sixth preset time period reaches a sixth preset change value." It should be noted that the sixth preset value may or may not be equal to the aforementioned fifth preset value; the sixth preset time period may or may not be equal to the aforementioned fifth preset time period; and the sixth preset change value may or may not be equal to the aforementioned fifth preset change value. That is, the high-frequency communication condition may correspond to the aforementioned low-frequency communication condition, or they may not be related. Since high-frequency commands are necessarily generated based on actual needs, and "the value of the fourth tactile signal reaches the sixth preset value" or "the sixth actual change value reaches the sixth preset change value" indicates that the fourth tactile signal (or its actual change value) is relatively large, it indicates that there is a high probability that the communication frequency between the control unit and the sensing unit needs to be higher at this time. Therefore, step S750 can be executed to increase the communication frequency between the control unit and the sensing unit, so that the control unit can restore the normal communication state with the sensing unit.

[0175] In one embodiment, in order to ensure that the above steps S710 and S720 can be executed smoothly, step S720 further includes: when it is determined that the array force / tactile sensor does not meet the low-frequency communication conditions, step S710 and step S720 are re-executed.

[0176] In one embodiment, to ensure that the above steps S730-S750 can be executed smoothly, step S750 further includes: when it is determined that the array-type force / tactile sensor does not meet the high-frequency communication conditions, steps S730-S750 are re-executed.

[0177] In addition, it should be noted that in the embodiments of this application, the three power reduction steps S600, S700 and S100-S500 can be executed simultaneously or in different execution orders; all three power reduction steps can be executed, or only one or two of them can be executed.

[0178] As an implementation of the above method, this application embodiment also provides a low-power control device based on an array-type force / tactile sensor. This control device embodiment corresponds to the control method embodiment described above, and the control device can be specifically applied to the controller described in this application embodiment.

[0179] Please see Figure 13 In one embodiment, the control device 300 includes:

[0180] The sleep condition determination module 310 is used to determine whether the array-type force / tactile sensor meets the sleep condition.

[0181] The low-power setting module 320 is used to set a portion of the multiple sensing units as standard power units and the remaining sensing units as low-power units when it is determined that the array force / tactile sensor meets the sleep condition.

[0182] Trigger condition determination module 330 is used to determine whether the standard power consumption unit has reached the trigger condition;

[0183] The trigger information acquisition module 340 is used to acquire the location information and / or quantity information of the standard power consumption unit that has reached the trigger condition when it is determined that the standard power consumption unit has reached the trigger condition.

[0184] The wake-up command generation module 350 is used to generate a wake-up command based on the location information and / or the quantity information, so as to adjust at least some of the low-power units to the standard power units through the wake-up command.

[0185] In one embodiment, the hibernation condition determination module 310 includes:

[0186] The first tactile signal submodule is used to acquire the first tactile signal detected by the multiple sensing units;

[0187] The sleep condition determination submodule is used to determine whether the array-type force / tactile sensor meets the sleep condition based on the acquired first tactile signal.

[0188] In one embodiment, the trigger condition determination module 330 includes:

[0189] The second tactile signal submodule is used to acquire the second tactile signal detected by each of the standard power consumption units;

[0190] The trigger condition determination submodule is used to determine whether the standard power consumption unit has reached the trigger condition based on the acquired second tactile signal.

[0191] In one embodiment, the wake-up command generation module 350 includes:

[0192] The location information calculation submodule is used to calculate the first wake-up position based on the location information. The first wake-up position is the position of the low power unit in a first preset area around the standard power unit that has reached the trigger condition.

[0193] The first instruction generation submodule is used to generate a first wake-up instruction based on the first wake-up position, so as to adjust the low-power unit located at the first wake-up position to the standard power unit through the first wake-up instruction.

[0194] In another embodiment, the wake-up command generation module 350 includes:

[0195] The quantity information calculation submodule is used to calculate the trigger ratio of the standard power consumption unit that meets the trigger condition to all the sensing units based on the quantity information.

[0196] The second instruction generation submodule is used to generate a second wake-up instruction based on the trigger ratio value, so as to adjust at least a portion of the low-power units to the standard power units through the second wake-up instruction.

[0197] Specifically, in one embodiment, the second instruction generation submodule includes:

[0198] The numerical comparison submodule is used to compare the trigger ratio value with the preset ratio value;

[0199] The All Wake-Up Instruction Submodule is used to generate a second All Wake-Up Instruction when the trigger ratio value reaches the preset ratio value, so as to adjust all the low-power units to the standard power units through the second All Wake-Up Instruction.

[0200] A partial wake-up instruction submodule is used to generate a second partial wake-up instruction when the trigger ratio value does not reach the preset ratio value, so as to adjust a portion of the low-power units to the standard power units through the second partial wake-up instruction.

[0201] In one embodiment, the control device further includes:

[0202] The arrangement position acquisition module is used to acquire the arrangement position of the multiple sensing units;

[0203] A sensing unit segmentation module is used to segment multiple sensing units into at least two sensing unit modules according to the arrangement position.

[0204] The monitoring point definition module is used to define the locations of all the sensing units of each sensing unit module as monitoring points or sleep points, and to make the monitoring points on the same sensing unit module more distributed in representative points of the sensing unit module than the sleep points. The monitoring points are the locations of the standard power consumption units, and the sleep points are the locations of the low power consumption units.

[0205] In one embodiment, the control device further includes:

[0206] The distribution information acquisition module is used to acquire tactile signal distribution information;

[0207] The sleep point definition module is used to define the positions of multiple sensing units as monitoring points and sleep points according to the tactile signal distribution information, so that the sensing units at the monitoring point positions have more of the first tactile signal distributed than the sensing units at the sleep point positions, and the monitoring point is the location of the standard power consumption unit, and the sleep point is the location of the low power consumption unit.

[0208] In one embodiment, the control device further includes:

[0209] The standby condition determination module is used to determine whether the array-type force / tactile sensor meets the standby conditions;

[0210] The main frequency reduction module is used to reduce the main frequency of the control unit when it is determined that the array force / tactile sensor meets the standby conditions;

[0211] The third tactile signal module is used to acquire the third tactile signals detected by multiple sensing units after reducing the main frequency of the control unit;

[0212] The working condition judgment module is used to determine whether the array-type force / tactile sensor meets the working conditions based on the acquired third tactile signal.

[0213] The main frequency adjustment module is used to increase the main frequency of the control unit when it is determined that the array-type force / tactile sensor meets the working conditions.

[0214] In one embodiment, the control device further includes:

[0215] A low-frequency communication judgment module is used to determine whether the array-type force / tactile sensor meets the low-frequency communication conditions;

[0216] A communication frequency reduction module is used to reduce the communication frequency between the control unit and the sensing unit when it is determined that the array force / tactile sensor meets the low-frequency communication conditions.

[0217] The fourth tactile signal module is used to acquire multiple fourth tactile signals detected by the sensing units after reducing the communication frequency between the control unit and the sensing unit.

[0218] A high-frequency communication judgment module is used to determine whether the array-type force / tactile sensor meets the high-frequency communication conditions based on the acquired fourth tactile signal.

[0219] The communication frequency adjustment module is used to increase the communication frequency between the control unit and the sensing unit when it is determined that the array force / tactile sensor meets the high-frequency communication conditions.

[0220] Please see Figure 14 This application also provides a computer device 400. Figure 14 This is a basic structural block diagram of one embodiment of the computer device 400 of this application.

[0221] The computer device 400 can be a terminal or a server. 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.

[0222] The computer device 400 includes a memory 410, a processor 420, and a network interface 430 that are interconnected via a system bus. It should be noted that only the computer device 400 with components 410-430 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 400 described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions. 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.

[0223] The memory 410 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 410 may be an internal storage unit of the computer device 400, such as the hard disk or memory of the computer device 400. In other embodiments, the memory 410 may also be an external storage device of the computer device 400, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. Of course, the memory 410 may also include both internal storage units and external storage devices of the computer device 400. In this embodiment, the memory 410 is typically used to store the operating system and various application software installed on the computer device 400, such as program code for a low-power control method based on an array-type force / tactile sensor. Furthermore, the memory 410 can also be used to temporarily store various types of data that have been output or will be output.

[0224] In some embodiments, the processor 420 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 420 is typically used to control the overall operation of the computer device 400. In this embodiment, the processor 420 is used to run program code stored in the memory 410 or process data, for example, to run program code for a low-power control method based on an array of force / tactile sensors.

[0225] The network interface 430 may include a wireless network interface or a wired network interface, which is typically used to establish communication connections between the computer device 400 and other electronic devices.

[0226] This application also provides a computer-readable storage medium storing a control program for the low-power control method based on an array-type force / tactile sensor. The control program for the low-power control method based on an array-type force / tactile sensor can be executed by at least one processor to cause the at least one processor to perform the steps of the low-power control method based on an array-type force / tactile sensor as described above.

[0227] 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 based on an array-type force / tactile sensor, wherein the array-type force / tactile sensor includes a control unit and a plurality of sensing units communicatively connected to the control unit, the sensing units being used to detect tactile signals, characterized in that, The method includes: Determine whether the array-type force / tactile sensor meets the sleep conditions; When it is determined that the array-type force / tactile sensor meets the sleep condition, a portion of the multiple sensing units are set as standard power consumption units, and the remaining multiple sensing units are set as low power consumption units. Determine whether any of the standard power consumption units have reached the trigger condition; When it is determined that a standard power consumption unit has reached the trigger condition, the location information and / or quantity information of the standard power consumption unit that has reached the trigger condition are obtained; A wake-up command is generated based on the location information and / or the quantity information, so as to adjust at least some of the low-power units to the standard power units through the wake-up command.

2. The low-power control method according to claim 1, characterized in that, Determining whether the array-type force / tactile sensor meets the sleep conditions includes the following steps: Acquire the first tactile signals detected by the multiple sensing units; Based on the acquired first tactile signal, determine whether the array-type force / tactile sensor meets the sleep condition; And / or, determining whether any of the standard power consumption units have reached the trigger condition includes the following steps: Acquire the second tactile signal detected by each of the standard power consumption units; Based on the acquired second tactile signal, it is determined whether the standard power consumption unit has reached the trigger condition.

3. The low-power control method according to claim 1, characterized in that, The step of generating a wake-up command based on the location information and / or the quantity information, so as to adjust at least a portion of the low-power units to the standard power units through the wake-up command, includes the following steps: The first wake-up position is calculated based on the location information. The first wake-up position is the position of the low-power unit within a first preset area around the standard power unit that has reached the trigger condition. A first wake-up command is generated based on the first wake-up position, so as to adjust the low-power unit located at the first wake-up position to the standard power unit through the first wake-up command.

4. The low-power control method according to claim 1, characterized in that, The step of generating a wake-up command based on the location information and / or the quantity information, so as to adjust at least a portion of the low-power units to the standard power units through the wake-up command, includes the following steps: Calculate the trigger ratio of the standard power consumption unit that meets the trigger condition out of all the sensing units based on the quantity information; A second wake-up command is generated based on the trigger ratio value, so as to adjust at least a portion of the low-power units to the standard power units through the second wake-up command.

5. The low-power control method according to claim 4, characterized in that, The step of generating a second wake-up command based on the trigger ratio value, so as to adjust at least a portion of the low-power units to the standard power units through the second wake-up command, includes the following steps: Compare the trigger ratio value with the preset ratio value; When the trigger ratio value reaches the preset ratio value, a second full wake-up instruction is generated to adjust all the low-power units to the standard power units through the second full wake-up instruction; When the trigger ratio value does not reach the preset ratio value, a second part of the wake-up instruction is generated to adjust a portion of the low-power units to the standard power units.

6. The low-power control method according to claim 5, characterized in that, The adjustment of the low-power unit to the standard power unit via the second part of the wake-up instruction specifically includes: The low-power unit located at the second wake-up position is adjusted to the standard power unit by the second wake-up instruction. The second wake-up position is the position of the low-power unit in the second preset area around the standard power unit that has reached the trigger condition. The second wake-up position is calculated based on the position information. Alternatively, the second part of the wake-up instruction can be used to adjust an appropriate number of the low-power units to the standard power units, the appropriate number being calculated based on the trigger ratio value, and the appropriate number being proportional to the trigger ratio value.

7. The low-power control method according to claim 1, characterized in that, It also includes the following steps: Obtain the arrangement position of the multiple sensing units; Based on the arrangement position, the plurality of sensing units are divided into at least two sensing unit modules; For each of the aforementioned sensing unit modules, the locations of all the sensing units are defined as monitoring points or sleep points, and the monitoring points on the same sensing unit module are more distributed in representative points of the sensing unit module than the sleep points. The monitoring points are the locations of the standard power consumption units, and the sleep points are the locations of the low power consumption units. Alternatively, based on the acquired first tactile signal, the positions of the multiple sensing units are defined as monitoring points and sleep points, such that the sensing units at the monitoring points have more of the first tactile signal distributed than the sensing units at the sleep points, and the monitoring points are the locations of the standard power consumption units and the sleep points are the locations of the low power consumption units. Alternatively, obtain information on the distribution of tactile signals; Based on the tactile signal distribution information, the locations of the multiple sensing units are defined as monitoring points and sleep points, such that the sensing units at the monitoring points have more of the first tactile signal distributed than the sensing units at the sleep points. The monitoring points are the locations of the standard power consumption units, and the sleep points are the locations of the low power consumption units.

8. The low-power control method according to claim 1, characterized in that, It also includes the following steps: Determine whether the array-type force / tactile sensor meets the standby conditions; When the array-type force / tactile sensor is determined to meet the standby conditions, the main frequency of the control unit is reduced. After reducing the main frequency of the control unit, the third tactile signals detected by multiple sensing units are acquired; Based on the acquired third tactile signal, determine whether the array-type force / tactile sensor meets the working conditions; When the array-type force / tactile sensor is determined to meet the working conditions, the main frequency of the control unit is increased.

9. The low-power control method according to claim 1, characterized in that, It also includes the following steps: Determine whether the array-type force / tactile sensor meets the low-frequency communication requirements; When it is determined that the array-type force / tactile sensor meets the low-frequency communication conditions, the communication frequency between the control unit and the sensing unit is reduced. After reducing the communication frequency between the control unit and the sensing unit, multiple fourth tactile signals detected by the sensing units are acquired. Based on the acquired fourth tactile signal, determine whether the array-type force / tactile sensor meets the high-frequency communication requirements; When it is determined that the array-type force / tactile sensor meets the high-frequency communication conditions, the communication frequency between the control unit and the sensing unit is increased.

10. A low-power control device based on an array of force / tactile sensors, characterized in that, The control device includes: The sleep condition determination module is used to determine whether the array-type force / tactile sensor meets the sleep condition; A low-power setting module is used to set a portion of the multiple sensing units as standard power units and the remaining sensing units as low-power units when it is determined that the array force / tactile sensor meets the sleep condition. The trigger condition determination module is used to determine whether any of the standard power consumption units have reached the trigger condition; The trigger information acquisition module is used to acquire the location information and / or quantity information of the standard power consumption unit that has reached the trigger condition when it is determined that the standard power consumption unit has reached the trigger condition. A wake-up command generation module is used to generate a wake-up command based on the location information and / or the quantity information, so as to adjust at least some of the low-power units to the standard power units through the wake-up command.

Images