CN-122016122-A - Haptic pressure switch and continuous pressure measurement fusion method and system

CN122016122ACN 122016122 ACN122016122 ACN 122016122ACN-122016122-A

Abstract

The invention is applicable to the technical field of tactile sensors and provides a method and a system for fusing tactile pressure switch and continuous pressure measurement, wherein the method comprises the steps of firstly, obtaining a tactile channel signal and establishing a tactile channel reference value, wherein the tactile channel signal comprises a tactile capacitance signal and a tactile resistance signal, and establishing a tactile capacitance reference value corresponding to the tactile capacitance signal and a tactile resistance reference value corresponding to the tactile resistance signal one by one; the method comprises the steps of a first step of constructing a touch pressure index based on a touch channel signal and a touch channel reference value, a second step of constructing a hysteresis threshold based on the touch pressure index and carrying out hysteresis judgment to output switching value, a third step of acquiring a continuous pressure channel signal and converting the touch pressure index to obtain continuous pressure and converting the touch pressure index to obtain touch equivalent pressure, and a third step of realizing dynamic hysteresis to restrain shaking rebound, improving switching stability consistency residual error and triggering recharging correction, and having self-diagnosis and self-correction capabilities, thereby improving accuracy and user experience.

Inventors

HUANG WEICONG
FENG JIAJUN
CHEN ZHIZHONG
MAI JIEQUAN
WU SHENYU
GUO QUANSEN

Assignees

广东天泓新材料科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260215

Claims (10)

1. A method of fusing a tactile pressure switch with a continuous pressure measurement, the method comprising the steps of: step one, obtaining a tactile channel signal and establishing a tactile channel reference value, wherein the tactile channel signal comprises a tactile capacitance signal and a tactile resistance signal, and the tactile capacitance reference value and the tactile resistance reference value which correspond to the tactile capacitance signal and the tactile resistance signal are established one by one; constructing a tactile pressure index based on the tactile channel signal and the tactile channel reference value; Constructing a hysteresis threshold based on the tactile pressure index and performing hysteresis judgment to output switching value; Step four, obtaining a continuous pressure channel signal, converting the continuous pressure channel signal to obtain continuous pressure, and converting the tactile pressure index to obtain tactile equivalent pressure; fifthly, constructing the reliability of a touch channel and the reliability of a continuous pressure channel, and carrying out dynamic weighted fusion on the continuous pressure and the equivalent touch pressure based on the reliability of the touch channel and the reliability of the continuous pressure channel to obtain fusion pressure; Step six, consistency verification is carried out on the continuous pressure and the touch equivalent pressure, and recharging correction is triggered when the consistency does not meet preset conditions, wherein the recharging correction is used for updating at least one parameter, and the parameter comprises one or more of the touch capacitance reference value, the touch resistance reference value, a continuous pressure channel zero point, continuous pressure channel gain, touch channel reliability and continuous pressure channel reliability; And step seven, outputting the switching value and the fusion pressure.
2. The method of claim 1, wherein the method further comprises: Extracting a direction-consistent effective component from the haptic channel signal in a second step, the direction-consistent effective component comprising: And (3) with 。
3. The method of claim 2, further comprising constructing a haptic pressure index according to equation 1; Equation 1: Wherein, the method comprises the steps of, For the haptic pressure index to be the same, For the haptic capacitance signal to be present, For the haptic capacitance reference value, For the haptic resistance signal to be present, For the haptic resistance reference value, For the coefficient of contribution of the capacitance, The gain is normalized for the capacitance and is then calculated, Is an index of the non-linearity of the resistance, For retaining the effective component in accordance with the direction of compression.
4. The method of claim 1, wherein the hysteresis threshold comprises a press threshold calculated according to equation 2 and a release threshold calculated according to equation 3; Equation 2: Equation 3: Wherein, the method comprises the steps of, For the said depression of the threshold value, As a result of the release threshold value, Is the center of the threshold value, and the control unit is used for controlling the control unit to control the control unit, And (3) with Are all the expansion coefficients of the threshold value, A short window fluctuation scale that is the tactile pressure index; When (when) Time of day When (when) Time of day , wherein, Is the switching value.
5. The method of claim 4, wherein the short window fluctuation scale of the haptic pressure index is calculated from the haptic pressure index over a sliding time window, and wherein the short window fluctuation scale of the haptic pressure index is one of a median absolute deviation, a standard deviation after extremum removal, and a fractional difference after extremum removal.
6. The method of claim 1, wherein the haptic equivalent pressure is derived from the haptic pressure index through a monotonic scaling model, the monotonic scaling model being one of a calibrated look-up table, a piecewise linear model, and a parameterized monotonic function model.
7. The method of claim 1, further comprising calculating the fusion pressure according to equation 4; Equation 4: And (2) and Wherein, the method comprises the steps of, In order to achieve the said fusion pressure, In order for the continuous pressure to be the same, For the haptic equivalent pressure to be the same, The reliability of the continuous pressure channel, For the haptic channel reliability degree, Is a fusion weight.
8. The method of claim 1, wherein the continuous pressure channel reliability and the haptic channel reliability are each determined jointly by at least any two of a saturation indicator, a short-term noise indicator, a drift rate indicator, and a consistency residual indicator, and monotonically decrease as the corresponding indicator deteriorates.
9. The method of claim 1, further comprising the step of using a consistency residual for the consistency check, wherein the consistency residual is calculated according to formula 5; Equation 5: Wherein, the method comprises the steps of, For the said consistency residual error to be present, For the haptic equivalent pressure to be the same, Is an extremely small positive number; When (when) Triggering the recharging correction when the recharging correction is performed, wherein, Is a consistency threshold.
10. A tactile pressure switch and continuous pressure measurement fusion system, the system comprising: A haptic sensor for outputting a haptic capacitance signal and a haptic resistance signal and for establishing a haptic capacitance reference value and a haptic resistance reference value; The continuous pressure sensing unit is one of piezoelectric type and capacitive type and is used for outputting a continuous pressure channel signal and converting the continuous pressure channel signal into continuous pressure; a signal conditioning and fusion algorithm unit for performing the method of any one of claims 1 to 9 and outputting the switching value and the fusion pressure.

Description

Haptic pressure switch and continuous pressure measurement fusion method and system Technical Field The invention belongs to the technical field of tactile sensors, and particularly relates to a method and a system for fusing a tactile pressure switch and continuous pressure measurement. Background In a complex contact environment, a single pressure switch is easy to be triggered by mistake due to jitter, rebound, noise drift and poor contact, a single continuous pressure channel is easy to be distorted during impact, temperature drift, zero drift or saturation, and reliability self-determination is lacked; If the stable switching value and the reliable continuous pressure can be output in the same contact at the same time, and the self-checking and the self-correction can be realized when the two channels contradict, the reliability and the engineering suitability can be improved. Disclosure of Invention In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a method and a system for fusing a tactile pressure switch and continuous pressure measurement, which aims to solve the problems of low accuracy and poor user experience caused by the fact that the prior art cannot provide an effective method for fusing a tactile pressure switch and continuous pressure measurement. In one aspect, the present invention provides a haptic pressure switch and continuous pressure measurement fusion method comprising the steps of: step one, obtaining a tactile channel signal and establishing a tactile channel reference value, wherein the tactile channel signal comprises a tactile capacitance signal and a tactile resistance signal, and the tactile capacitance reference value and the tactile resistance reference value which correspond to the tactile capacitance signal and the tactile resistance signal are established one by one; constructing a tactile pressure index based on the tactile channel signal and the tactile channel reference value; Constructing a hysteresis threshold based on the tactile pressure index and performing hysteresis judgment to output switching value; Step four, obtaining a continuous pressure channel signal, converting the continuous pressure channel signal to obtain continuous pressure, and converting the tactile pressure index to obtain tactile equivalent pressure; fifthly, constructing the reliability of a touch channel and the reliability of a continuous pressure channel, and carrying out dynamic weighted fusion on the continuous pressure and the equivalent touch pressure based on the reliability of the touch channel and the reliability of the continuous pressure channel to obtain fusion pressure; Step six, consistency verification is carried out on the continuous pressure and the touch equivalent pressure, and recharging correction is triggered when the consistency does not meet preset conditions, wherein the recharging correction is used for updating at least one parameter, and the parameter comprises one or more of the touch capacitance reference value, the touch resistance reference value, a continuous pressure channel zero point, continuous pressure channel gain, touch channel reliability and continuous pressure channel reliability; And step seven, outputting the switching value and the fusion pressure. The method of the invention, wherein the method further comprises the steps of: Extracting a direction-consistent effective component from the haptic channel signal in a second step, the direction-consistent effective component comprising: And (3) with 。 The method of the present invention, wherein the method further comprises constructing a haptic pressure index according to equation 1; Equation 1: Wherein, the method comprises the steps of, For the haptic pressure index to be the same,For the haptic capacitance signal to be present,For the haptic capacitance reference value,For the haptic resistance signal to be present,For the haptic resistance reference value,For the coefficient of contribution of the capacitance,The gain is normalized for the capacitance and is then calculated,Is an index of the non-linearity of the resistance,For retaining the effective component in accordance with the direction of compression. The method comprises the steps of pressing a threshold value and a release threshold value, wherein the pressing threshold value is calculated according to a formula 2, and the release threshold value is calculated according to a formula 3; Equation 2: Equation 3: Wherein, the method comprises the steps of, For the said depression of the threshold value,As a result of the release threshold value,Is the center of the threshold value, and the control unit is used for controlling the control unit to control the control unit,And (3) withAre all the expansion coefficients of the threshold value,A short window fluctuation scale that is the tactile pressure index; When (when) Time of dayWhen (when)Time of day, wherein,Is the switching value.