技术领域technical field
本发明属于计算机技术人工智能领域和电子皮肤领域，特别涉及一种柔性电阻式点阵式压力检测系统、方法和装置。The invention belongs to the field of artificial intelligence of computer technology and the field of electronic skin, and particularly relates to a flexible resistive lattice pressure detection system, method and device.
背景技术Background technique
随着柔性电子技术的不断发展，能够实现大面积曲面分布压力测量的柔性传感器逐渐成熟，在生物医疗、机器人以及人际交互接口等领域得以应用。为了进一步扩展柔性压力传感器的应用范围，其测量精度和分辨率等性能参数需要进一步提高，除了在传感器的敏感材料、制备技术等方面进行提高之外，还需要在其测量技术方面进行进一步的研究。为了在制造成本和精度、可靠性之间获取平衡，基于机器学习的智能检测技术有望在不增加传感器物理复杂程度的前提下获取更好的测量精度和分辨率，对加速柔性传感器的实际应用具有重要的意义。With the continuous development of flexible electronic technology, flexible sensors that can realize pressure measurement of large-area surface distribution are gradually mature, and can be applied in fields such as biomedicine, robotics, and human interaction interfaces. In order to further expand the application range of flexible pressure sensors, its measurement accuracy and resolution and other performance parameters need to be further improved. In addition to improving the sensor's sensitive materials, preparation technology, etc., it is also necessary to carry out further research in its measurement technology. . In order to achieve a balance between manufacturing cost and accuracy and reliability, the intelligent detection technology based on machine learning is expected to obtain better measurement accuracy and resolution without increasing the physical complexity of the sensor, which is of great significance for accelerating the practical application of flexible sensors. Significance.
发明内容SUMMARY OF THE INVENTION
为了克服上述现有技术的缺点，本发明的目的在于提供一种柔性电阻式点阵式压力检测系统、方法和装置。In order to overcome the above disadvantages of the prior art, the purpose of the present invention is to provide a flexible resistive lattice pressure detection system, method and device.
为了实现上述目的，本发明采用的技术方案是：In order to achieve the above object, the technical scheme adopted in the present invention is:
第一方面，本发明提供了一种柔性电阻式点阵式压力检测系统，包括：In a first aspect, the present invention provides a flexible resistive lattice pressure detection system, comprising:
柔性敏感单元点阵，柔性敏感单元点阵被填埋到基体材料中，柔性敏感单元可以被填埋到不同的位置和深度；Flexible sensitive cell lattice, the flexible sensitive cell lattice is buried in the base material, and the flexible sensitive cell can be buried to different positions and depths;
传感器数据采集模块，传感器数据采集模块与所有的柔性敏感单元连接，将柔性敏感单元的电阻变化转变为电压信号，并对电压信号进行模拟-数字变换，之后将经过模拟-数字变换的电压信号发送给受力点坐标检测模块；Sensor data acquisition module, the sensor data acquisition module is connected with all flexible sensitive units, converts the resistance change of the flexible sensitive unit into a voltage signal, performs analog-digital conversion on the voltage signal, and then sends the analog-digital converted voltage signal. To the force point coordinate detection module;
受力点坐标检测模块接收到传感器数据采集模块发送的电压信号后，通过预先训练的压力位置检测模型得到受力点的坐标和力值；After receiving the voltage signal sent by the sensor data acquisition module, the force point coordinate detection module obtains the coordinates and force value of the force point through the pre-trained pressure position detection model;
标定装置，标定装置用于完成柔性敏感单元点阵的标定，获取用于压力位置检测模型的训练数据。The calibration device is used to complete the calibration of the flexible sensitive unit lattice and obtain the training data for the pressure position detection model.
第二方面，本发明提供了一种柔性电阻式点阵式压力检测方法，包括：In a second aspect, the present invention provides a flexible resistive lattice pressure detection method, comprising:
获取柔性敏感单元点阵中各个柔性敏感单元的输出电压；Obtain the output voltage of each flexible sensitive unit in the flexible sensitive unit lattice;
在获取柔性敏感单元输出电压的同时，也获取单元对应的结构信息；While obtaining the output voltage of the flexible sensitive unit, the corresponding structural information of the unit is also obtained;
将获取到的输出电压和结构信息输入至预先训练的压力位置检测模型中，得到受力点的位置和对应的力值。Input the obtained output voltage and structure information into the pre-trained pressure position detection model to obtain the position of the force point and the corresponding force value.
在一些实施例中，上述方法包括：In some embodiments, the above method includes:
由柔性电阻式点阵式压力检测系统的传感器数据采集模块获取M×N个柔性敏感单元的输出电压，其中M和N分别为柔性敏感单元阵列的行、列数；The output voltages of M×N flexible sensitive units are acquired by the sensor data acquisition module of the flexible resistive lattice pressure detection system, where M and N are the number of rows and columns of the flexible sensitive unit array respectively;
在获取柔性敏感单元输出电压的同时也获取单元对应的结构信息；While obtaining the output voltage of the flexible sensitive unit, the corresponding structural information of the unit is also obtained;
将获取到的输出电压和结构信息输入至柔性电阻式点阵式压力检测系统的受力点坐标检测模块中，得到受力点的位置和对应的力值。Input the obtained output voltage and structure information into the force point coordinate detection module of the flexible resistive lattice pressure detection system to obtain the position of the force point and the corresponding force value.
在一些实施例中，结构信息包括以下任意一项或任意多项的组合：In some embodiments, the structural information includes any one or a combination of any of the following:
所述的M×N个柔性敏感单元对应的行和列；the rows and columns corresponding to the M×N flexible sensitive units;
所述的M×N个柔性敏感单元对应的填埋深度；the depth of burial corresponding to the M×N flexible sensitive units;
所述的M×N个柔性敏感单元中的任意两个柔性敏感单元对应的距离；the distance corresponding to any two flexible sensitive units in the M×N flexible sensitive units;
所述的M×N个柔性敏感单元基于预设规则的顺序信息。The M×N flexible sensitive units are based on sequence information of preset rules.
在一些实施例中，压力位置检测模型通过如下方式训练得到：In some embodiments, the pressure location detection model is trained as follows:
获取训练样本集合，训练样本包括M×N个柔性敏感单元对应的输出电压、结构信息以及与结构信息对应的受力点的位置和力值；Obtain a training sample set, where the training samples include output voltages corresponding to the M×N flexible sensitive units, structural information, and the positions and force values of the force-bearing points corresponding to the structural information;
将柔性敏感单元的输出电压和结构信息作为压力位置检测模型的输入，将与敏感单元的结构信息对应的受力点的位置和力值作为期望的输出，利用机器学习的方法训练得到压力位置检测模型。The output voltage and structural information of the flexible sensitive unit are used as the input of the pressure position detection model, and the position and force value of the force point corresponding to the structural information of the sensitive unit are used as the expected output, and the pressure position detection is obtained by training with the method of machine learning. Model.
在一些实施例中，敏感单元结构信息对应的受力点的位置和力值通过如下步骤得到：In some embodiments, the position and force value of the force-bearing point corresponding to the structural information of the sensitive unit are obtained by the following steps:
使用柔性电阻式点阵式压力检测系统的标定装置在柔性敏感单元点阵的已知位置施加预设的压力，由柔性电阻式点阵式压力检测系统的传感器数据采集模块得到在该受载条件下M×N个敏感单元对应的电压值和位置信息，已知位置包括任意柔性传感单元所在的位置和/或点阵上的任意位置；Use the calibration device of the flexible resistive lattice pressure detection system to apply a preset pressure at the known position of the flexible sensitive unit lattice, and obtain the load condition from the sensor data acquisition module of the flexible resistive lattice pressure detection system. The voltage value and position information corresponding to the next M×N sensitive units, the known position includes the position of any flexible sensing unit and/or any position on the lattice;
变换压力施加位置或力值大小，得到不同的M×N个敏感单元对应的电压值和位置信息。Change the pressure application position or force value to obtain the voltage value and position information corresponding to different M×N sensitive units.
在一些实施例中，压力位置检测模型的类型为卷积神经网络或RNN。In some embodiments, the type of pressure location detection model is a convolutional neural network or RNN.
第三方面，本发明提供了一种柔性电阻式点阵式压力检测装置，包括：In a third aspect, the present invention provides a flexible resistive lattice pressure detection device, comprising:
输出电压采集单元，被配置成用于获取柔性敏感单元点阵中各个柔性敏感单元的输出电压；an output voltage acquisition unit, configured to acquire the output voltage of each flexible sensitive unit in the flexible sensitive unit lattice;
结构信息采集单元，被配置成用于在获取柔性敏感单元输出电压的同时，也获取单元对应的结构信息；The structure information acquisition unit is configured to acquire the structure information corresponding to the unit while acquiring the output voltage of the flexible sensitive unit;
受力位置力值单元，被配置成用于将获取到的输出电压和结构信息输入至预先训练的压力位置检测模型中，得到受力点的位置和对应的力值。The force-bearing position force value unit is configured to input the obtained output voltage and structural information into the pre-trained pressure position detection model, so as to obtain the position of the force-bearing point and the corresponding force value.
在一些实施例中，上述装置包括：In some embodiments, the above apparatus includes:
由柔性电阻式点阵式压力检测系统的传感器数据采集模块获取M×N个柔性敏感单元的输出电压，其中M和N分别为柔性敏感单元阵列的行、列数；The output voltages of M×N flexible sensitive units are acquired by the sensor data acquisition module of the flexible resistive lattice pressure detection system, where M and N are the number of rows and columns of the flexible sensitive unit array respectively;
在获取柔性敏感单元输出电压的同时也获取单元对应的结构信息；While obtaining the output voltage of the flexible sensitive unit, the corresponding structural information of the unit is also obtained;
将获取到的输出电压和结构信息输入至柔性电阻式点阵式压力检测系统的受力点坐标检测模块中，得到受力点的位置和对应的力值。Input the obtained output voltage and structure information into the force point coordinate detection module of the flexible resistive lattice pressure detection system to obtain the position of the force point and the corresponding force value.
在一些实施例中，结构信息包括以下任意一项或任意多项的组合：In some embodiments, the structural information includes any one or a combination of any of the following:
所述的M×N个柔性敏感单元对应的行和列；the rows and columns corresponding to the M×N flexible sensitive units;
所述的M×N个柔性敏感单元对应的填埋深度；the depth of burial corresponding to the M×N flexible sensitive units;
所述的M×N个柔性敏感单元中的任意两个柔性敏感单元对应的距离；the distance corresponding to any two flexible sensitive units in the M×N flexible sensitive units;
所述的M×N个柔性敏感单元基于预设规则的顺序信息。The M×N flexible sensitive units are based on sequence information of preset rules.
在一些实施例中，压力位置检测模型通过如下方式训练得到：In some embodiments, the pressure location detection model is trained as follows:
获取训练样本集合，训练样本包括M×N个柔性敏感单元对应的输出电压、结构信息以及与结构信息对应的受力点的位置和力值；Obtain a training sample set, where the training samples include output voltages corresponding to the M×N flexible sensitive units, structural information, and the positions and force values of the force-bearing points corresponding to the structural information;
将柔性敏感单元的输出电压和结构信息作为压力位置检测模型的输入，将与敏感单元的结构信息对应的受力点的位置和力值作为期望的输出，利用机器学习的方法训练得到压力位置检测模型。The output voltage and structural information of the flexible sensitive unit are used as the input of the pressure position detection model, and the position and force value of the force point corresponding to the structural information of the sensitive unit are used as the expected output, and the pressure position detection is obtained by training with the method of machine learning. Model.
在一些实施例中，敏感单元结构信息对应的受力点的位置和力值通过如下步骤得到：In some embodiments, the position and force value of the force-bearing point corresponding to the structural information of the sensitive unit are obtained by the following steps:
使用柔性电阻式点阵式压力检测系统的标定装置在柔性敏感单元点阵的已知位置施加预设的压力，由柔性电阻式点阵式压力检测系统的传感器数据采集模块得到在该受载条件下M×N个敏感单元对应的电压值和位置信息，已知位置包括任意柔性传感单元所在的位置和/或点阵上的任意位置；Use the calibration device of the flexible resistive lattice pressure detection system to apply a preset pressure at the known position of the flexible sensitive unit lattice, and obtain the load condition from the sensor data acquisition module of the flexible resistive lattice pressure detection system. The voltage value and position information corresponding to the next M×N sensitive units, the known position includes the position of any flexible sensing unit and/or any position on the lattice;
变换压力施加位置或力值大小，得到不同的M×N个敏感单元对应的电压值和位置信息。Change the pressure application position or force value to obtain the voltage value and position information corresponding to different M×N sensitive units.
在一些实施例中，压力位置检测模型的类型为卷积神经网络或RNN。In some embodiments, the type of pressure location detection model is a convolutional neural network or RNN.
第四方面，本发明提供了一种电子设备，包括：In a fourth aspect, the present invention provides an electronic device, comprising:
一个或多个处理器；one or more processors;
存储装置，其上存储有一个或多个程序，当一个或多个程序被一个或多个处理器执行，使得一个或多个处理器实现本发明实施例中任意的方法。A storage device, on which one or more programs are stored, when the one or more programs are executed by one or more processors, the one or more processors implement any method in the embodiments of the present invention.
第五方面，本发明提供了一种计算机可读介质，其上存储有计算机程序，其中，该程序被处理器执行时实现本发明实施例中任意的方法。In a fifth aspect, the present invention provides a computer-readable medium on which a computer program is stored, wherein, when the program is executed by a processor, any method in the embodiments of the present invention is implemented.
第六方面，本发明提供了一种电子皮肤，包括如本发明实施例中的柔性电阻式点阵式压力检测系统和/或实现本发明实施例中任意的方法。In a sixth aspect, the present invention provides an electronic skin, including the flexible resistive lattice pressure detection system in the embodiments of the present invention and/or implementing any method in the embodiments of the present invention.
本发明提供的柔性电阻式点阵式压力检测系统、方法和装置，通过获取柔性敏感单元点阵中各个柔性敏感单元的输出电压，并在获取柔性敏感单元输出电压的同时，也获取单元对应的结构信息，然后将获取到的输出电压和结构信息输入至预先训练的压力位置检测模型中，得到受力点的位置和对应的力值，从而提高获取受力点的位置和对应的力值的效率和精度，相对于通过公式计算受力点的位置和对应的力值这种方法，本发明提供的方法基于实际材料特性和具体的制造参数，自动地提供了相应的补偿。The flexible resistive lattice pressure detection system, method and device provided by the present invention obtain the output voltage of each flexible sensitive unit in the flexible sensitive unit lattice, and at the same time obtain the output voltage of the flexible sensitive unit, also obtain the corresponding unit's output voltage. structure information, and then input the obtained output voltage and structure information into the pre-trained pressure position detection model to obtain the position of the force point and the corresponding force value, thereby improving the ability to obtain the position of the force point and the corresponding force value. Compared with the method of calculating the position of the force point and the corresponding force value by formula, the method provided by the present invention automatically provides corresponding compensation based on actual material properties and specific manufacturing parameters.
附图说明Description of drawings
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:
图1是本发明的柔性电阻式点阵式压力检测系统的系统架构图。FIG. 1 is a system architecture diagram of the flexible resistive lattice pressure detection system of the present invention.
图2是根据本发明的柔性电阻式点阵式压力检测方法的一个实施例的流程图。FIG. 2 is a flow chart of an embodiment of a flexible resistive dot matrix pressure detection method according to the present invention.
图3是根据本发明的柔性电阻式点阵式压力检测方法的一个实施例的流程图。FIG. 3 is a flow chart of an embodiment of a flexible resistive dot matrix pressure detection method according to the present invention.
图4是根据本发明的柔性电阻式点阵式压力检测方法方法和装置相关的模型的又一个实施例的流程图。FIG. 4 is a flow chart of another embodiment of the model related to the flexible resistive lattice pressure detection method and device according to the present invention.
图5是根据本发明的柔性电阻式点阵式压力检测装置的一个实施例的结构示意图。FIG. 5 is a schematic structural diagram of an embodiment of a flexible resistive dot matrix pressure detection device according to the present invention.
图6是适于用来实现本发明实施例的计算机系统的结构示意图。FIG. 6 is a schematic structural diagram of a computer system suitable for implementing an embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
需要说明的是，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be noted that the term "and/or" in this document is only an association relationship to describe associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, and A exists at the same time and B, there are three cases of B alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.
图1示出了本发明的柔性电阻式点阵式压力检测系统的实施例的系统架构图100。FIG. 1 shows a system architecture diagram 100 of an embodiment of the flexible resistive lattice pressure detection system of the present invention.
如图1所示，系统架构100可以包括柔性敏感单元点阵101、传感器数据采集模块102、受力点坐标检测模块103和标定装置104。在这里，系统架构100是一种电子皮肤。As shown in FIG. 1 , the system architecture 100 may include a flexible sensitive unit lattice 101 , a sensor data acquisition module 102 , a force point coordinate detection module 103 and a calibration device 104 . Here, the system architecture 100 is an electronic skin.
柔性敏感单元点阵101被填埋到基体材料中，柔性敏感单元点阵101中的柔性敏感单元可以被填埋到不同的位置和深度。The flexible sensitive cell lattice 101 is buried in the base material, and the flexible sensitive cells in the flexible sensitive cell lattice 101 can be buried in different positions and depths.
传感器数据采集模块102与柔性敏感单元点阵101中的所有的柔性敏感单元连接，将柔性敏感单元的电阻变化转变为电压信号，并对电压信号进行模拟-数字变换，之后将经过模拟-数字变换的电压信号发送给受力点坐标检测模块103。The sensor data acquisition module 102 is connected to all flexible sensitive units in the flexible sensitive unit lattice 101, converts the resistance change of the flexible sensitive unit into a voltage signal, and performs analog-digital conversion on the voltage signal, and then undergoes analog-digital conversion. The voltage signal is sent to the force point coordinate detection module 103 .
需要指出的是，传感器数据采集模块102可以是相对于系统架构100独立的模块，也可以是与系统架构100集成在一起的模块。在传感器数据采集模块102与系统架构100集成在一起时，传感器数据采集模块102是系统架构100这个电子皮肤的一部分。It should be noted that the sensor data acquisition module 102 may be an independent module relative to the system architecture 100 , or may be a module integrated with the system architecture 100 . When the sensor data acquisition module 102 is integrated with the system architecture 100 , the sensor data acquisition module 102 is part of the electronic skin of the system architecture 100 .
受力点坐标检测模块103接收到传感器数据采集模块102发送的电压信号后，通过预先训练的压力位置检测模型得到受力点的坐标和力值。After receiving the voltage signal sent by the sensor data acquisition module 102, the force-bearing point coordinate detection module 103 obtains the coordinates and force value of the force-bearing point through the pre-trained pressure position detection model.
需要指出的是，受力点坐标检测模块103可以是相对于系统架构100独立的模块，也可以是与系统架构100集成在一起的模块。在受力点坐标检测模块103与系统架构100集成在一起时，受力点坐标检测模块103是系统架构100这个电子皮肤的一部分。It should be noted that the force point coordinate detection module 103 may be an independent module relative to the system architecture 100 , or may be a module integrated with the system architecture 100 . When the force point coordinate detection module 103 is integrated with the system architecture 100 , the force point coordinate detection module 103 is a part of the electronic skin of the system architecture 100 .
标定装置104用于完成柔性敏感单元点阵101的标定，获取用于压力位置检测模型的训练数据。The calibration device 104 is used to complete the calibration of the flexible sensitive unit lattice 101 and obtain training data for the pressure position detection model.
需要指出的是，标定装置104可以是相对于系统架构100独立的模块，也可以是与系统架构100集成在一起的模块。在标定装置104与系统架构100集成在一起时，标定装置104是系统架构100这个电子皮肤的一部分。It should be noted that the calibration device 104 may be an independent module relative to the system architecture 100 , or may be a module integrated with the system architecture 100 . When the calibration device 104 is integrated with the system architecture 100 , the calibration device 104 is part of the electronic skin of the system architecture 100 .
应该理解，图1中的柔性敏感单元点阵、传感器数据采集模块、受力点坐标检测模块和标定装置的数目仅仅是示意性的。根据实现需要，可以具有任意数目的柔性敏感单元点阵、传感器数据采集模块、受力点坐标检测模块和标定装置。It should be understood that the numbers of the flexible sensitive unit lattice, the sensor data acquisition module, the force point coordinate detection module and the calibration device in FIG. 1 are only illustrative. According to implementation requirements, it can have any number of flexible sensitive unit lattices, sensor data acquisition modules, force point coordinate detection modules and calibration devices.
继续参考图2，示出了根据本发明的柔性电阻式点阵式压力检测方法的一个实施例的流程200。柔性电阻式点阵式压力检测方法，包括以下步骤：Continuing to refer to FIG. 2 , a flow 200 of an embodiment of the flexible resistive lattice pressure detection method according to the present invention is shown. The flexible resistive lattice pressure detection method includes the following steps:
步骤201，获取柔性敏感单元点阵中各个柔性敏感单元的输出电压。Step 201: Obtain the output voltage of each flexible sensitive unit in the flexible sensitive unit lattice.
在本实施例中，步骤201对应的执行主体(例如图1所示的传感器数据采集模块102、或系统架构100集成或连接的处理器)可以通过有线连接或无线连接的方式从柔性敏感单元点阵中各个柔性敏感单元获取输出电压，即将获取到的柔性敏感单元的电阻变化转变为电压信号，并对电压信号进行模拟-数字变换，之后将经过模拟-数字变换的电压信号发送给受力点坐标检测模块。In this embodiment, the execution subject corresponding to step 201 (for example, the sensor data acquisition module 102 shown in FIG. 1 , or the processor integrated or connected to the system architecture 100 ) can be connected from the flexible sensitive unit through a wired connection or a wireless connection. Each flexible sensitive unit in the array obtains the output voltage, that is, converts the acquired resistance change of the flexible sensitive unit into a voltage signal, performs analog-digital conversion on the voltage signal, and then sends the analog-digital converted voltage signal to the force point. Coordinate detection module.
步骤202，在获取柔性敏感单元输出电压的同时，也获取单元对应的结构信息。In step 202, while acquiring the output voltage of the flexible sensitive unit, the structure information corresponding to the unit is also acquired.
在本实施例中，步骤202对应的执行主体(例如图1所示的传感器数据采集模块102、或系统架构100集成或连接的处理器)可以通过有线连接或无线连接的方式，在获取柔性敏感单元输出电压的同时，也获取单元对应的结构信息。In this embodiment, the execution subject corresponding to step 202 (for example, the sensor data acquisition module 102 shown in FIG. 1 , or the processor integrated or connected to the system architecture 100 ) can be wired or wirelessly connected to acquire flexibility and sensitivity. While the unit outputs the voltage, the corresponding structural information of the unit is also obtained.
在本实施例的一些可选的实现方式中，结构信息包括以下任意一项或任意多项的组合：In some optional implementations of this embodiment, the structure information includes any one or a combination of any of the following:
M×N个柔性敏感单元对应的行和列；The rows and columns corresponding to M×N flexible sensitive units;
M×N个柔性敏感单元对应的填埋深度；The burial depth corresponding to M×N flexible sensitive units;
M×N个柔性敏感单元中的任意两个柔性敏感单元对应的距离；The distance corresponding to any two flexible sensitive units in the M×N flexible sensitive units;
M×N个柔性敏感单元基于预设规则的顺序信息；Order information of M×N flexible sensitive units based on preset rules;
其中，M和N分别为柔性敏感单元阵列的行、列数。Among them, M and N are the number of rows and columns of the flexible sensitive cell array, respectively.
步骤203，将获取到的输出电压和结构信息输入至预先训练的压力位置检测模型中，得到受力点的位置和对应的力值。Step 203 , input the obtained output voltage and structure information into the pre-trained pressure position detection model to obtain the position of the force bearing point and the corresponding force value.
在本实施例中，步骤203对应的执行主体(例如图1所示的受力点坐标检测模块103、或系统架构100集成或连接的处理器)可以通过有线连接或无线连接的方式，将获取到的输出电压和结构信息输入至预先训练的压力位置检测模型中，得到受力点的位置和对应的力值。In this embodiment, the execution subject corresponding to step 203 (for example, the force point coordinate detection module 103 shown in FIG. 1 , or the processor integrated or connected to the system architecture 100 ) can obtain the The obtained output voltage and structure information are input into the pre-trained pressure position detection model to obtain the position of the force point and the corresponding force value.
在本实施例的一些可选的实现方式中，由系统架构100中的传感器数据采集模块102获取M×N个柔性敏感单元的输出电压，其中M和N分别为柔性敏感单元阵列的行、列数；In some optional implementations of this embodiment, the sensor data acquisition module 102 in the system architecture 100 acquires the output voltages of M×N flexible sensitive units, where M and N are the rows and columns of the flexible sensitive unit array, respectively number;
在获取柔性敏感单元输出电压的同时也获取单元对应的结构信息；While obtaining the output voltage of the flexible sensitive unit, the corresponding structural information of the unit is also obtained;
将获取到的输出电压和结构信息输入至系统架构100中的受力点坐标检测模块103中，得到受力点的位置和对应的力值。The obtained output voltage and structural information are input into the force-bearing point coordinate detection module 103 in the system architecture 100 to obtain the position of the force-bearing point and the corresponding force value.
在本实施例中，压力位置检测模型通过如下方式训练得到：In this embodiment, the pressure position detection model is obtained by training in the following manner:
获取训练样本集合，训练样本包括M×N个柔性敏感单元对应的输出电压、结构信息以及与结构信息对应的受力点的位置和力值；Obtain a training sample set, where the training samples include output voltages corresponding to the M×N flexible sensitive units, structural information, and the positions and force values of the force-bearing points corresponding to the structural information;
将柔性敏感单元的输出电压和结构信息作为压力位置检测模型的输入，将与敏感单元的结构信息对应的受力点的位置和力值作为期望的输出，利用机器学习的方法训练得到压力位置检测模型。The output voltage and structural information of the flexible sensitive unit are used as the input of the pressure position detection model, and the position and force value of the force point corresponding to the structural information of the sensitive unit are used as the expected output, and the pressure position detection is obtained by training with the method of machine learning. Model.
在本实施例的一些可选的实现方式中，压力位置检测模型的类型为卷积神经网络或RNN。In some optional implementations of this embodiment, the type of the pressure position detection model is a convolutional neural network or RNN.
继续参考图3，图3是根据本发明的柔性电阻式点阵式压力检测方法的一个实施例的流程图。Continuing to refer to FIG. 3 , FIG. 3 is a flow chart of an embodiment of a flexible resistive dot matrix pressure detection method according to the present invention.
柔性电阻式点阵式压力检测方法，包括以下步骤：The flexible resistive lattice pressure detection method includes the following steps:
步骤301，由柔性电阻式点阵式压力检测系统的传感器数据采集模块获取M×N个柔性敏感单元的输出电压，其中M和N分别为柔性敏感单元阵列的行、列数。Step 301 , the sensor data acquisition module of the flexible resistive lattice pressure detection system acquires the output voltages of M×N flexible sensitive units, where M and N are the number of rows and columns of the flexible sensitive unit array, respectively.
在本实施例中，步骤301对应的执行主体(图1所示的传感器数据采集模块102)可以通过有线连接或无线连接的方式从柔性敏感单元点阵中各个柔性敏感单元获取输出电压，即将获取到的柔性敏感单元的电阻变化转变为电压信号，并对电压信号进行模拟-数字变换，之后将经过模拟-数字变换的电压信号发送给受力点坐标检测模块。在这里，柔性敏感单元点阵为M×N的柔性敏感单元阵列，其中M和N分别为柔性敏感单元阵列的行、列数。In this embodiment, the execution body corresponding to step 301 (the sensor data acquisition module 102 shown in FIG. 1 ) can obtain the output voltage from each flexible sensitive unit in the flexible sensitive unit lattice through wired connection or wireless connection, and will be about to obtain the output voltage. The resistance change of the obtained flexible sensitive unit is converted into a voltage signal, and the analog-digital conversion is performed on the voltage signal, and then the analog-digital converted voltage signal is sent to the force point coordinate detection module. Here, the flexible sensing unit lattice is an M×N flexible sensing unit array, where M and N are the number of rows and columns of the flexible sensing unit array, respectively.
步骤302，在获取柔性敏感单元输出电压的同时也获取单元对应的结构信息。In step 302, while acquiring the output voltage of the flexible sensitive unit, the structure information corresponding to the unit is also acquired.
在本实施例中，步骤302对应的执行主体(图1所示的传感器数据采集模块102)可以通过有线连接或无线连接的方式，在获取柔性敏感单元输出电压的同时，也获取单元对应的结构信息。In this embodiment, the execution body corresponding to step 302 (the sensor data acquisition module 102 shown in FIG. 1 ) can acquire the output voltage of the flexible sensitive unit by means of wired connection or wireless connection, and also acquire the corresponding structure of the unit information.
步骤303，将获取到的输出电压和结构信息输入至柔性电阻式点阵式压力检测系统的受力点坐标检测模块中，得到受力点的位置和对应的力值。Step 303 , input the obtained output voltage and structure information into the force point coordinate detection module of the flexible resistive lattice pressure detection system to obtain the position of the force point and the corresponding force value.
在本实施例中，步骤203对应的执行主体(图1所示的受力点坐标检测模块103)可以通过有线连接或无线连接的方式，将获取到的输出电压和结构信息输入至柔性电阻式点阵式压力检测系统的受力点坐标检测模块中，得到受力点的位置和对应的力值。In this embodiment, the execution body corresponding to step 203 (the force point coordinate detection module 103 shown in FIG. 1 ) can input the acquired output voltage and structure information to the flexible resistive type through wired connection or wireless connection. In the force point coordinate detection module of the lattice pressure detection system, the position of the force point and the corresponding force value are obtained.
从图3中可以看出，与图2所示的实施例不同的是，本实施例突出了柔性电阻式点阵式压力检测方法基于柔性电阻式点阵式压力检测系统的实现步骤。从而使得柔性电阻式点阵式压力检测方法更加具体和准确。相应的，图3所示的实施例作为对与图2所示的实施例的具体化实施，与图2所示的实施例的可选方式或实施例也适用于图3所示的实施例。It can be seen from FIG. 3 that, different from the embodiment shown in FIG. 2 , this embodiment highlights the implementation steps of the flexible resistive lattice pressure detection method based on the flexible resistive lattice pressure detection system. Thus, the flexible resistive lattice pressure detection method is more specific and accurate. Correspondingly, the embodiment shown in FIG. 3 is a concrete implementation of the embodiment shown in FIG. 2 , and alternatives or embodiments of the embodiment shown in FIG. 2 are also applicable to the embodiment shown in FIG. 3 . .
本发明实施例提供的柔性电阻式点阵式压力检测系统、方法和装置，通过获取柔性敏感单元点阵中各个柔性敏感单元的输出电压，并在获取柔性敏感单元输出电压的同时，也获取单元对应的结构信息，然后将获取到的输出电压和结构信息输入至预先训练的压力位置检测模型中，得到受力点的位置和对应的力值，从而提高获取受力点的位置和对应的力值的效率和精度，相对于通过公式计算受力点的位置和对应的力值这种方法，本发明实施例提供的方法基于实际材料特性和具体的制造参数，自动地提供了相应的补偿。The flexible resistive lattice pressure detection system, method and device provided by the embodiments of the present invention obtain the output voltage of each flexible sensitive unit in the flexible sensitive unit lattice, and obtain the output voltage of the flexible sensitive unit while obtaining the output voltage of the flexible sensitive unit. Corresponding structure information, and then input the obtained output voltage and structure information into the pre-trained pressure position detection model to obtain the position of the force point and the corresponding force value, so as to improve the acquisition of the position of the force point and the corresponding force Compared with the method of calculating the position of the force point and the corresponding force value by formula, the method provided by the embodiment of the present invention automatically provides corresponding compensation based on actual material properties and specific manufacturing parameters.
进一步参考图4，其示出了根据本发明的柔性电阻式点阵式压力检测方法和装置方法和装置相关的模型的一个训练方法的实施例的流程400。该的流程400，包括以下步骤：Referring further to FIG. 4 , it shows a flow 400 of an embodiment of a training method for the flexible resistive lattice pressure detection method and device method and device-related model according to the present invention. The process 400 includes the following steps:
步骤401，获取训练样本集合，训练样本包括M×N个柔性敏感单元对应的输出电压、结构信息以及与结构信息对应的受力点的位置和力值。Step 401 , acquiring a training sample set, where the training samples include output voltages corresponding to M×N flexible sensitive units, structural information, and positions and force values of force-bearing points corresponding to the structural information.
在本实施例中，压力位置检测模型的执行主体(例如图1所示的受力点坐标检测模块103或与之对应的处理器)可以通过有线连接方式或者无线连接的方式从存储有样本数据的存储服务器中获取训练样本集合，也可以在标定模式下，按照预先设定的训练程序，通过标定装置104和传感器数据采集模块102实时地获取训练样本集合。在这里，训练样本包括M×N个柔性敏感单元对应的输出电压、结构信息以及与结构信息对应的受力点的位置和力值。In this embodiment, the execution body of the pressure position detection model (for example, the force point coordinate detection module 103 shown in FIG. 1 or the processor corresponding to it) can store sample data through wired connection or wireless connection. The training sample set is obtained from the storage server of the device, or the training sample set can be obtained in real time through the calibration device 104 and the sensor data acquisition module 102 according to a preset training program in the calibration mode. Here, the training samples include the output voltages corresponding to the M×N flexible sensitive units, the structural information, and the positions and force values of the force-bearing points corresponding to the structural information.
步骤402，将柔性敏感单元的输出电压和结构信息作为压力位置检测模型的输入，将与敏感单元的结构信息对应的受力点的位置和力值作为期望的输出，利用机器学习的方法训练得到压力位置检测模型。In step 402, the output voltage and structural information of the flexible sensitive unit are used as the input of the pressure position detection model, and the position and force value of the force point corresponding to the structural information of the sensitive unit are used as the expected output, and the result is obtained by training with a machine learning method. Pressure position detection model.
在本实施例的一些可选方式中，压力位置检测模型的类型为CNN或RNN。In some optional manners of this embodiment, the type of the pressure position detection model is CNN or RNN.
在本实施例中，上述执行主体可以从样本数据集合中选取样本数据，执行如下训练步骤：In this embodiment, the above-mentioned execution body may select sample data from the sample data set, and perform the following training steps:
首先，将选取的每一个样本数据中的输出电压和结构信息经过预处理后作为初始卷积神经网络的输入，将与敏感单元的结构信息对应的受力点的位置和力值作为期望输出，对初始卷积神经网络进行训练，得到与样本数据对应的受力点的位置和力值的预测值。接着，基于预设损失函数，确定预设损失函数的损失值是否达到预设目标值。在响应于确定预设损失函数的损失值达到预设目标值时，可以确定初始神经网络训练完成，并将训练完成的初始神经网络确定为压力位置检测模型。在这里，预设损失函数可以用于表征受力点的位置和力值的预测值与受力点的位置和力值的实际值之间的差异。First, the output voltage and structural information in each selected sample data are preprocessed as the input of the initial convolutional neural network, and the position and force value of the force point corresponding to the structural information of the sensitive unit are used as the expected output. The initial convolutional neural network is trained to obtain the predicted value of the position and force value of the force point corresponding to the sample data. Next, based on the preset loss function, it is determined whether the loss value of the preset loss function reaches the preset target value. In response to determining that the loss value of the preset loss function reaches the preset target value, it may be determined that the initial neural network training is completed, and the trained initial neural network is determined as the pressure position detection model. Here, a preset loss function can be used to characterize the difference between the predicted value of the position and force value of the force bearing point and the actual value of the position and force value of the force bearing point.
上述执行主体在响应于确定预设损失函数的损失值未达到预设目标值时，调整初始卷积神经网络的参数，以及从上述训练样本集合中重新选取样本或增加样本规模，将调整后的初始卷积神经网络作为初始卷积神经网络，继续执行上述训练步骤。在这里，调整初始卷积神经网络的参数例如可以调整初始卷积神经网络的卷积层的数目、卷积核的大小。In response to determining that the loss value of the preset loss function does not reach the preset target value, the above-mentioned executive body adjusts the parameters of the initial convolutional neural network, and re-selects samples from the above-mentioned training sample set or increases the sample size, and the adjusted Initial Convolutional Neural Network As the initial convolutional neural network, the above training steps are continued. Here, by adjusting the parameters of the initial convolutional neural network, for example, the number of convolutional layers and the size of the convolutional kernel of the initial convolutional neural network can be adjusted.
在这里，预处理不是必需的。Here, preprocessing is not necessary.
从图4中可以看出，与图2所示的实施例不同的是，本实施例突出了柔性电阻式点阵式压力检测方法和装置中压力位置检测模型的训练步骤。从而使得柔性电阻式点阵式压力检测的方法和装置更加准确。It can be seen from FIG. 4 that, different from the embodiment shown in FIG. 2 , this embodiment highlights the training steps of the flexible resistive lattice pressure detection method and the pressure position detection model in the device. Therefore, the method and device for flexible resistive lattice pressure detection are more accurate.
进一步参考图5，作为对上述图4所示方法的实现，本发明提供了柔性电阻式点阵式压力检测装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于各种设备中。Further referring to FIG. 5 , as an implementation of the method shown in FIG. 4 above, the present invention provides an embodiment of a flexible resistive lattice pressure detection device, which corresponds to the method embodiment shown in FIG. 2 , Specifically, the device can be applied to various devices.
如图5所示，本实施例的柔性电阻式点阵式压力检测装置500包括：As shown in FIG. 5 , the flexible resistive lattice pressure detection device 500 of this embodiment includes:
输出电压采集单元501，被配置成用于获取柔性敏感单元点阵中各个柔性敏感单元的输出电压；The output voltage acquisition unit 501 is configured to acquire the output voltage of each flexible sensitive unit in the flexible sensitive unit lattice;
结构信息采集单元502，被配置成用于在获取柔性敏感单元输出电压的同时，也获取单元对应的结构信息；The structure information acquisition unit 502 is configured to acquire the structure information corresponding to the unit while acquiring the output voltage of the flexible sensitive unit;
受力位置力值单元503，被配置成用于将获取到的输出电压和结构信息输入至预先训练的压力位置检测模型中，得到受力点的位置和对应的力值。The force-bearing position force value unit 503 is configured to input the obtained output voltage and structural information into the pre-trained pressure position detection model, so as to obtain the position of the force-bearing point and the corresponding force value.
在本实施例中，柔性电阻式点阵式压力检测装置500中：输出电压采集单元501、结构信息采集单元502和受力位置力值单元503的具体处理及其带来的有益效果可参看图2对应实施例中的步骤201、步骤202和步骤203的实现方式的相关描述，在此不再赘述。In this embodiment, in the flexible resistive lattice pressure detection device 500: the specific processing of the output voltage acquisition unit 501, the structural information acquisition unit 502, and the force value unit 503 at the force position and the beneficial effects brought by them can be seen in Fig. 2 corresponds to the relevant description of the implementation manner of step 201, step 202, and step 203 in the embodiment, which is not repeated here.
下面参考图6，其示出了适于用来实现本发明实施例的电子设备(例如图1所示的服务器)的计算机系统600的结构示意图。图6示出的电子设备仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。Referring next to FIG. 6 , it shows a schematic structural diagram of a computer system 600 suitable for implementing an electronic device (eg, the server shown in FIG. 1 ) according to an embodiment of the present invention. The electronic device shown in FIG. 6 is only an example, and should not impose any limitation on the function and scope of use of the embodiments of the present invention.
如图6所示，计算机系统600包括中央处理单元(CPU)601，其可以根据存储在只读存储器(ROM)602中的程序或者从存储部分608加载到随机访问存储器(RAM)603中的程序而执行各种适当的动作和处理。在RAM 603中，还存储有系统600操作所需的各种程序和数据。CPU 601、ROM 602以及RAM 603通过总线604彼此相连。输入/输出(I/O)接口605也连接至总线604。As shown in FIG. 6, a computer system 600 includes a central processing unit (CPU) 601, which can be loaded into a random access memory (RAM) 603 according to a program stored in a read only memory (ROM) 602 or a program from a storage section 608 Instead, various appropriate actions and processes are performed. In the RAM 603, various programs and data necessary for the operation of the system 600 are also stored. The CPU 601 , the ROM 602 , and the RAM 603 are connected to each other through a bus 604 . An input/output (I/O) interface 605 is also connected to bus 604 .
以下部件连接至I/O接口605：包括键盘、鼠标等的输入部分606；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分607；包括硬盘等的存储部分608；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分609。通信部分609经由诸如因特网的网络执行通信处理。驱动器610也根据需要连接至I/O接口605。可拆卸介质611，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器610上，以便于从其上读出的计算机程序根据需要被安装入存储部分608。The following components are connected to the I/O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc. ; and a communication section 609 including a network interface card such as a LAN card, a modem, and the like. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I/O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分609从网络上被下载和安装，和/或从可拆卸介质611被安装。在该计算机程序被中央处理单元(CPU)601执行时，执行本发明的方法中限定的上述功能。需要说明的是，本发明该的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本发明中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本发明中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network via the communication portion 609 and/or installed from the removable medium 611 . When the computer program is executed by the central processing unit (CPU) 601, the above-described functions defined in the method of the present invention are performed. It should be noted that the computer-readable medium of the present invention may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
可以以一种或多种程序设计语言或其组合来编写用于执行本发明的操作的计算机程序代码，该程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如”C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).
附图中的流程图和框图，图示了按照本发明各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.
描述于本发明实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为：一种处理器包括：输出电压采集单元、结构信息采集单元和受力位置力值单元。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定，例如，输出电压采集单元还可以被描述为“被配置成用于获取柔性敏感单元点阵中各个柔性敏感单元的输出电压”的单元。The units involved in the embodiments of the present invention may be implemented in a software manner, and may also be implemented in a hardware manner. The described unit can also be set in the processor, for example, it can be described as: a processor includes: an output voltage acquisition unit, a structure information acquisition unit and a force position force value unit. Among them, the names of these units do not constitute a limitation of the unit itself in some cases, for example, the output voltage acquisition unit can also be described as "configured to acquire the data of each flexible sensitive unit in the flexible sensitive unit lattice output voltage" unit.
作为另一方面，本发明还提供了一种计算机可读介质，该计算机可读介质可以是上述实施例中描述的电子设备中所包含的；也可以是单独存在，而未装配入该电子设备中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该电子设备执行时，使得该电子设备：获取柔性敏感单元点阵中各个柔性敏感单元的输出电压；在获取柔性敏感单元输出电压的同时，也获取单元对应的结构信息；将获取到的输出电压和结构信息输入至预先训练的压力位置检测模型中，得到受力点的位置和对应的力值。As another aspect, the present invention also provides a computer-readable medium. The computer-readable medium may be included in the electronic device described in the above embodiments; it may also exist alone without being assembled into the electronic device. middle. The computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device: acquires the output voltage of each flexible sensitive unit in the flexible sensitive unit lattice; When the sensitive unit outputs the voltage, it also obtains the corresponding structural information of the unit; the obtained output voltage and structural information are input into the pre-trained pressure position detection model to obtain the position of the force point and the corresponding force value.
以上描述仅为本发明的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本发明中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本发明中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。The above description is only a preferred embodiment of the present invention and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, and should also cover, without departing from the above-mentioned inventive concept, the above-mentioned technical features or Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above features with the technical features disclosed in the present invention (but not limited to) having similar functions.
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| CN201910346210.9ACN110044525A (en) | 2019-04-26 | 2019-04-26 | A kind of flexible resistive dot matrix pressure detecting system, method and apparatus |
| Application Number | Priority Date | Filing Date | Title |
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| CN201910346210.9ACN110044525A (en) | 2019-04-26 | 2019-04-26 | A kind of flexible resistive dot matrix pressure detecting system, method and apparatus |
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| CN110044525Atrue CN110044525A (en) | 2019-07-23 |
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| CN201910346210.9APendingCN110044525A (en) | 2019-04-26 | 2019-04-26 | A kind of flexible resistive dot matrix pressure detecting system, method and apparatus |
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