CN117012308A

CN117012308A - Material screening method, device and system

Info

Publication number: CN117012308A
Application number: CN202310693331.7A
Authority: CN
Inventors: 何宇星; 许晋诚
Original assignee: Parsini Perception Technology Zhangjiagang Co ltd
Current assignee: Parsini Perception Technology Zhangjiagang Co ltd
Priority date: 2023-06-13
Filing date: 2023-06-13
Publication date: 2023-11-07

Abstract

The embodiment of the application belongs to the technical field of material screening, and relates to a material screening method, which comprises the following steps: acquiring touch demand of a target material to be selected; matching the touch demand with a touch database to obtain a touch demand matched material; the matched material is used as the target material. The application also provides a material screening device and a material screening system. The technical scheme adopted by the application can reduce the input standard of material screening and improve the applicable range of material screening.

Description

Material screening method, device and system

Technical Field

The present application relates to the field of material screening technologies, and in particular, to a material screening method, device, and system.

Background

Existing automatic screening of materials is often implemented based on a materials database. The material database typically records the names and corresponding properties of the various types of materials.

However, as consumer and market demands for products increase, the screening requirements for materials become more complex, such as: the product design party proposes to screen out the material which meets the requirements of moderate roughness, fast heat dissipation and moderate softness, the above requirements often do not have accurate information about material parameters, and for the above requirements of consumers, the screening of the material can not be realized generally based on the existing material database, so that the input standard of the requirement of material screening is improved intangibly, and the application range of material screening is limited.

Disclosure of Invention

The embodiment of the application aims to provide a material screening method, a device and a system, which are used for reducing the input standard of material screening and improving the application range of material screening.

In a first aspect, an embodiment of the present application provides a material screening method, which adopts the following technical scheme:

a method of screening a material, the method comprising the steps of:

acquiring touch demand of a target material to be selected;

matching the touch demand with a touch database to obtain a matching material matched with the touch demand; the touch database is a database constructed based on materials and corresponding touch data;

and taking the matching material as the target material.

Further, before the touch demand of the target material to be selected is obtained, the method further includes the following steps:

acquiring touch data based on the existing material acquired by the touch data acquisition device;

and taking the touch data of the existing material as the touch requirement of the target material to be selected.

presenting a prompt to a user regarding a canonical representation of the touch demand;

The haptic demand is generated in response to information entered by a user for the prompt.

Further, before the matching of the touch demand with the touch database, the method further comprises the following steps:

and solving a standard expression of the touch demand corresponding to the touch data.

Further, when the criteria are expressed as material property parameters; after the standard expression of the touch demand corresponding to the touch data is obtained, the method further comprises the following steps:

judging whether a plurality of parameters related to the same property exist in the material property parameters;

if a plurality of parameters exist, judging whether the preset merging conditions are met;

if the preset combination condition is met, combining a plurality of parameters;

if the combination condition does not accord with the preset combination condition, a plurality of parameters under the character are ignored, and a prompt is sent out.

Further, the matching the touch demand with the touch database to obtain a matching material matched with the touch demand comprises the following steps:

initially matching the touch demand with the touch database;

judging whether the matching material is obtained or not;

if the corresponding matching material is not obtained, re-matching is carried out; the re-matching comprises the following method steps: correcting the touch demand according to a preset rule; matching the corrected touch demand with the touch database;

And repeating the step of judging whether the matching material and the re-matching are obtained or not until a preset termination condition is met.

In a second aspect, embodiments of the present application provide a material screening apparatus, the apparatus comprising:

the demand acquisition module is used for acquiring the touch demand of the target material to be selected;

the demand matching module is used for matching the touch demand with a touch database to obtain a touch demand matched material; the touch database is a database constructed based on materials and corresponding touch data;

and the material determining module is used for taking the matched material as the target material.

In a third aspect, embodiments of the present application provide a material screening system, the system comprising: the system comprises a platform, an actuator, a first sensor and a controller;

the platform is used for placing the existing materials;

the controller is respectively in communication connection with the actuator and the first sensor;

the controller is used for sending corresponding operation instructions to the actuator based on the existing material information and/or the touch data category so as to instruct the actuator to execute target operations on the existing material; acquiring sensing data under a target operation acquired by the first sensor; analyzing the sensing data to obtain touch data corresponding to the existing material information; storing the existing material information and the corresponding tactile sensation data; and implementing the material screening method of any one of the above.

In a fourth aspect, an embodiment of the present application provides a controller comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the steps of any one of the material screening methods described above when the computer program is executed.

In a fifth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the material screening method of any of the above.

Compared with the prior art, the embodiment of the application has the following main beneficial effects:

according to the embodiment of the application, the touch demand of the target material to be selected is obtained; the touch demand is matched with the touch database to obtain a material matched with the touch demand, so that target materials with higher matching degree with the touch demand can be automatically and efficiently screened out according to the touch demand of the material, and compared with the matching based on the traditional material database, the material screening can be performed from the material touch angle, the input standard of the material screening is reduced, and the applicable range of the material screening is improved.

Drawings

In order to more clearly illustrate the solution of the present application, a brief description will be given below of the drawings required for the description of the embodiments of the present application, it being apparent that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained from these drawings without the exercise of inventive effort for a person of ordinary skill in the art.

FIG. 1 is an exemplary system architecture diagram in which the present application may be applied;

FIG. 2 is a schematic structural view of another embodiment of a tactile database-based material selection system of the present application;

FIG. 3 is a schematic flow chart of one embodiment of a material screening method of the present application;

FIG. 4 is a schematic structural view of one embodiment of a tactile database-based material selection device of the present application;

FIG. 5 is a schematic diagram of an embodiment of a computer device of the present application.

Detailed Description

Unless defined otherwise, 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 belongs; the terminology used in the description of the applications herein 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 description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In order to make the person skilled in the art better understand the solution of the present application, the technical solution of the embodiment of the present application will be clearly and completely described below with reference to the accompanying drawings.

As shown in fig. 1, fig. 1 is an exemplary system architecture diagram to which the present application may be applied.

The system architecture 100 may include terminal devices 101, 102, 103, a network 104, and a server 105; the network 104 is used as a medium to provide communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

The user may interact with the server 105 via the network 104 using the terminal devices 101, 102, 103 to receive or send messages or the like. Various communication client applications, such as a web browser application, a shopping class application, a search class application, an instant messaging tool, a mailbox client, social platform software, etc., may be installed on the terminal devices 101, 102, 103.

The terminal devices 101, 102, 103 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablet computers, electronic book readers, MP3 players (Moving Picture Experts Group Audio Layer III, dynamic video expert compression standard audio plane 3), MP4 (Moving Picture Experts Group Audio Layer IV, dynamic video expert compression standard audio plane 4) players, laptop and desktop computers, and the like.

The server 105 may be a server providing various services, such as a background server providing support for pages displayed on the terminal devices 101, 102, 103.

It should be noted that the material screening method provided in the embodiment of the present application generally comprisesServer/terminal deviceThe apparatus for material screening is, in turn, generally arranged toServer/terminal deviceIs a kind of medium.

It should be understood that the number of terminal devices, networks and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.

Fig. 2 is a schematic structural diagram of another embodiment of a material screening system according to an embodiment of the present application.

In another embodiment, a system according to an embodiment of the present application may include a tactile data acquisition device comprising: a first sensor 110, an actuator 120, a platform 130, and a controller 140.

First sensor 110

The first sensor 110 may be, but is not limited to being: force/moment sensors (e.g., two-or multi-dimensional pressure sensors, tactile first sensors), temperature sensors, or image sensors, as well as any other sensor that can collect corresponding sensed data as desired.

Actuator 120

Actuator 120 may be, but is not limited to: XYZ platform and other similar executing mechanisms constructed by linear motors or linear modules; pneumatic, hydraulic, etc. or actuators constructed in a pneumatic, hydraulic, etc. transmission manner; or a robot, etc., wherein the robot may be various types of robots such as: a four-axis manipulator, a six-axis manipulator and the like are connected in series or in parallel. Alternatively, the actuator may further include a bracket having a structure to fix the first sensor 110 at a predetermined position; or the actuator may be a heater, such as: the existing material is heated, and the temperature change of the existing material is measured by using a first sensor (such as a temperature sensor), so that touch data and the like related to the heat transfer performance of the existing material are obtained.

In one embodiment, a first sensor 120 (e.g., force sensor) is secured to the end of the actuator 110; the actuator drives the first sensor to move, for example: driving the first sensor to move to a target position of the existing material to acquire touch data; or, the first sensor is driven to apply acting force (such as contact, pressing, friction, sliding and/or stretching) to the existing material, and the touch data related to the stress of the existing material is collected through the first sensor; or by the actuator 110 to fix the first sensor in a certain preset position for certain tactile data acquisition of existing material, etc.

Platform 130

A platform 130 for placing the existing material to be measured.

In particular, the platform may be, but is not limited to, a variety of supports including a work platform. The work platform can be provided with various clamps so as to fix the existing materials at preset positions of the platform in various needed modes, such as: the existing materials are fixed in a mode of tiling, generating a certain stretching amount and/or bending amount and the like.

Controller 140

A controller 140, in one embodiment, for implementing the tactile sensation data acquisition method described in the following embodiments; in another embodiment, the controller 140 is further configured to implement the material screening method described in the following embodiments, so that the tactile data collecting apparatus can be used as the material screening system according to the embodiment of the present application.

The controller 130 may be communicatively coupled to the actuator 110 and the first sensor 120 by wired or wireless means. The communication connection according to the embodiments of the present application may refer to a communication connection through a wired or wireless manner. The wireless connection mode can be, but is not limited to, 3G/4G/5G connection, wiFi connection, bluetooth connection, wiMAX connection, zigbee connection, UWB (ultra wideband) connection, and other now known or future developed wireless connection modes.

It should be noted that, the controller 140 according to the embodiment of the present application may refer to a controller of the present material screening system, and may also refer to a controller of the actuator and/or the first sensor, etc., and for convenience of understanding, the embodiment of the present application is collectively referred to as a controller. The above controllers may be integrated into a single controller, or may be integrated into respective modules or devices, which is not limited by the present application.

The controller in the embodiment of the application can be, but is not limited to: a computer terminal (Personal Computer, PC); industrial control computer terminals (Industrial Personal Computer, IPC); a mobile terminal; a server; the system comprises a terminal and a server, and is realized through interaction between the terminal and the server; a programmable logic controller (Programmable Logic Controller, PLC); field programmable gate arrays (Field-Programmable Gate Array, FPGA); a Digital signal processor (Digital SignalProcesser, DSP) or a micro control unit (Microcontroller unit, MCU). The controller generates program instructions according to a program fixed in advance in combination with data or the like acquired by an external actuator, the first sensor or the like. For specific limitations on the controller, reference may be made to the limitations of the material screening method and the like in the following examples.

The method can be applied to a computer device shown in fig. 5, and the computer device can be a terminal or a server. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs (Content Delivery Network, content delivery networks), basic cloud computing services such as big data and artificial intelligent platforms. The terminal may be, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart stereo, a smart watch, etc. The terminal and the server may be directly or indirectly connected through wired or wireless communication, and the present application is not limited herein.

As further shown in FIG. 2, in an alternative embodiment, the tactile data acquisition device of the present application may further comprise: a second sensor 150.

Second sensor 150

A second sensor 150 for acquiring observation data of the existing material and transmitting the observation data to the controller 140.

The second sensor 150 is communicatively coupled to the controller 140.

Specifically, the second sensor 150 may be, but is not limited to: an image sensor and a laser sensor.

Based on the image data or the like of the existing material acquired by the second sensor 150, the controller may generate a corresponding operation instruction based on the image data or the like.

It should be noted that the material screening method provided by the embodiment of the applicationGenerally as shown in figure 1Server/terminal End deviceThe method comprises the steps of carrying out a first treatment on the surface of the Or the controller 140 shown in fig. 2, and accordingly, the apparatus for material screening is generally provided in the apparatus shown in fig. 1Server/terminal deviceThe method comprises the steps of carrying out a first treatment on the surface of the Or in the controller 140 shown in fig. 2.

As shown in fig. 3, fig. 3 is a schematic flow chart of one embodiment of the material screening method of the present application. The embodiment of the application provides a material screening method, which comprises the following method steps:

step 210 obtains the touch demand of the target material to be selected.

In particular, the haptic demand described above may include, but is not limited to: tactile character description and/or tactile character parameters. In one embodiment, the haptic demand may be a haptic characterization about the haptic sensation, such as: the roughness is moderate, the heat dissipation is fast, the softness is moderate, etc. requirements are met; in another embodiment, it may also be the expression of specific trait parameters relating to feel: such as: roughness = 0.5, etc.

In one embodiment, the controller obtains the touch demand directly input by the user or the touch demand obtained after some processing is performed on the user input information from the memory or the server according to a preset address; or by some sensors to obtain touch demand data, etc.

In one embodiment, the controller may send a prompt form to the display regarding a canonical representation of the touch demand; in response to information entered by a user for the prompt content in the prompt form, a canonical representation of the touch demand is generated.

In one embodiment, the controller may obtain a text demand input by a user, match the text demand with a property parameter of a material, thereby obtaining a material property parameter corresponding to the demand, and use the material property parameter as a touch demand. The embodiments will be described in further detail later.

Step 220, matching the touch demand with a touch database to obtain a matching material matched with the touch demand; the tactile sensation database is a database constructed based on materials and corresponding tactile sensation data.

In one embodiment, the controller obtains a pre-built tactile sensation database from a memory or server according to a preset address; and matching the acquired touch demand with touch data representing the touch demand in a touch database to obtain matched touch data, and screening to obtain materials corresponding to the matched touch data.

The type of tactile data may be set as desired, and in one embodiment, the tactile data may be, but is not limited to: roughness, texture features, softness, viscosity or heat transfer properties.

In one embodiment, the touch database may build a touch database for the names of the materials and corresponding touch data; in addition, the tactile sensation database can be constructed based on characteristic expressions (such as pictures, prices, manufacturers, etc.) of materials or combination of characteristic expressions and names, etc. and corresponding tactile sensation data. It should be noted that, in the tactile sensation database, each tactile sensation data may correspond to one or more materials; each material may also correspond to one or more tactile data and are within the scope of the present application.

In one embodiment, the tactile data content in the tactile database may be a specific trait parameter of the material, or a combination of the trait parameter and a textual representation, or the like.

Illustratively, as shown in Table 1, table 1 is a partial truncation of the tactile sensation database in one embodiment.

TABLE 1

It will be appreciated that in general, the more types of tactile data in the tactile database described above, the finer the classification, the more widely the material screening method will be used.

Step 230 targets the matching material.

In one embodiment, before step 210 obtains the touch demand of the target material to be selected, the method may further include the following steps:

step 240 obtains tactile sensation data based on the existing material collected by the tactile sensation data collection device.

The following examples will be described in further detail with respect to a method of acquiring tactile data based on an existing material acquired by the tactile data acquisition means.

Step 250 takes the touch data of the existing material as the touch demand of the target material to be selected.

Illustratively, in some cases, the product designer may feel that an existing product is good to the touch, want to use that type of material, but may not know the specific type of material or want to find an alternative material for some reason (e.g., that the material is expensive or scarce), may collect touch data associated with that existing material, and match the touch data of the existing material in the touch database, thereby matching the most likely material to be used or the material that has the most similar touch to that existing material.

According to the embodiment of the application, the touch data of the existing material is acquired based on the touch data acquisition device, and the touch data is used as the touch requirement of the material to be selected, so that other materials with the performance matched with that of the existing material can be obtained in a matching way, the universality of material selection is improved, and the application of material selection is wider.

step 340 presents a prompt to the user regarding the specification of the touch demand.

In one embodiment, the controller acquires a pre-generated and stored prompt list related to the specification expression of the touch demand from the memory or the server according to a preset address, and options related to the standard expression of the touch data are pre-given in the list so as to allow an operator to input corresponding information or to check target information.

Step 350 generates a touch sensitive demand in response to information entered by the user for the hint table.

In one embodiment, the controller extracts touch demand data corresponding to the material in the hint table based on user input, thereby obtaining the touch demand.

Illustratively, as shown in Table 2, table 2 is a partial screenshot of a hint table expressed in relation to a specification of tactile data. Taking touch data as roughness as an example, the controller may send a prompt table of the canonical expression shown in table 2 to the touch display, in response to a selection input by the user for a prompt given in the prompt table, such as: and selecting the roughness to be smooth, and correspondingly obtaining the characteristic parameter to be less than 0.5, so as to generate the touch demand with the roughness less than 0.5.

TABLE 2

It should be noted that the tactile sensation database and the prompt of the specification expression can be two parts which are stored independently; in addition, the two components can be integrated together, and the protection scope of the application is also provided.

According to the method, the standard expression of the related touch data can be obtained, so that the database matching can be conveniently carried out subsequently.

In one embodiment, before matching the touch demand with the touch database, step 220 may further comprise the following method steps:

step 260 finds a standard representation of the touch demand versus the touch data.

Specifically, the standard expression of the touch demand corresponding to the touch data in the touch database such as the material property parameter may be obtained based on the method of matching the demand table or based on the method such as artificial intelligence.

For example, in the case that the user cannot accurately understand the character parameters of various materials in the touch sensing database, the touch sensing requirement can be input by using an expression mode familiar to the user, for example, if the user cannot accurately understand the meaning of heat transfer degree, the method can be used for inputting: is easy to conduct heat.

In a preferred embodiment, a preset matching model may be adopted, and user input information is used as input of the model, and standard expression related to touch demand is output, so that the application range and efficiency of the screening method can be improved.

It should be noted that, the preset matching model in the above method is based on a training sample summarized manually, so that adjustment needs to be performed in time according to actual situations, for example, in the early stage, a situation that more inputs do not have corresponding matching touch data can occur, and the inputs and the corresponding touch data can be added into the training sample in time, so that matching accuracy of the matching model is continuously improved.

In one embodiment, a series of demand tables corresponding to user input information and tactile data of the tactile database may be constructed and stored in advance, and these correspondence may be one-to-one or one-to-many.

For example: (easy heat conduction) correspondence (heat transfer degree > 1.2)

(surface is finer) correspondence (roughness < 0.5)

(the surface is hard and slippery) corresponding to (hardness >1.2, roughness < 0.2)

(soft and fine surface) corresponds (hardness <0.5, roughness < 0.2).

Based on the above embodiments, a series of inputs from the user are matched through the demand form to obtain a standard representation (e.g., each character parameter) of the corresponding tactile data. If a certain input of the user cannot be inquired in the corresponding requirement list, the input is ignored temporarily, and an administrator is reminded to add the input to the requirement list in time.

It should be noted that, the corresponding rule of the demand table in the above method is established based on the manual summary manner, so that the demand table needs to be adjusted in time according to the actual situation, for example, in the demand table or in the initial stage of establishment, a situation that more inputs do not have corresponding matching touch data occurs, and the inputs and the corresponding touch data can be added into the demand table in time.

According to the embodiment of the application, under the condition that a user cannot accurately understand the character parameters of various materials in the touch sense database, the touch sense requirement is input by using the expression mode familiar to the user, and the expression of the touch sense requirement is not required to be adjusted without wasting more time, so that the universality and the high efficiency of the application of the method of the embodiment of the application are improved.

Further, in one embodiment, when the criteria for tactile data are expressed as material property parameters; step 260, after determining the standard expression of the touch demand corresponding to the touch data, may further include the following method steps:

step 270 pre-processes the material property parameters.

Further, in one embodiment, the preprocessing of the material property parameters of step 270 may specifically include the following method steps:

Step 271 determines whether there are multiple parameters in the material property parameters that relate to the same property.

Illustratively, based on the above embodiments, based on the user input of the requirements of "hard and slippery surface" and "soft and fine surface", a plurality of parameters concerning roughness behavior, such as: (roughness < 0.3) and (roughness < 0.2).

If there are multiple parameters in step 272, it is determined whether the preset merging condition is met.

The preset merging conditions can be set arbitrarily according to the needs, and the preset merging conditions can be exemplified by that a plurality of parameters under the same property are not contradicted.

If the step 273 meets the preset merging condition, merging the plurality of parameters.

Illustratively, for (roughness < 0.3) and (roughness < 0.2) can be combined to get (roughness < 0.2); for (roughness > 0.3) and (roughness > 0.2) can be combined to give (roughness > 0.3).

If the preset merging condition is not met, step 274 ignores the parameters under the property and sends out a prompt.

Illustratively, a number of roughness-related parameters contradict, such as: (roughness > 0.3) and (roughness < 0.2) occur simultaneously, the trait parameter is deleted from the touch demand and a reminder is sent to the user.

The embodiment of the application can obtain the query condition of the touch database through the above process, and the corresponding material meeting the condition can be queried by inputting the query condition into the database query software.

In one embodiment, step 220 of matching the touch demand with the touch database may specifically include the steps of:

step 221 initially matches the touch demand with a touch database.

Step 222 determines whether a matching material is obtained.

If the corresponding matching material is not obtained in step 223, the re-matching may specifically include the following steps: correcting the touch demand according to a preset rule; and matching the corrected touch demand with a touch database.

Step 224 is repeated to determine whether a matching material is obtained and re-match is made until a predetermined termination condition is met, such as: obtaining the corresponding matching material.

For example, the haptic demand may be entered: (heat transfer >1.2, hardness >1.2, roughness > 1.1) the touch demand is corrected if no result is found, and then the following steps are carried out simultaneously:

(heat transfer >1.1, hardness >1.2, roughness > 1.1), (heat transfer >1.2, hardness >1.1, roughness > 1.1), (heat transfer >1.2, hardness >1.2, roughness > 1.0);

In one embodiment, the queried results may be displayed together. If no corresponding result exists, the requirement of the query condition is further reduced until the result is queried.

In the embodiment of the application, under the condition that the corresponding material cannot be obtained by matching with the touch demand through initial matching, the touch demand is corrected, so that the corrected touch demand is matched with the touch database to obtain the matching material close to the touch demand, and the applicability of the material screening method can be improved.

In one embodiment, prior to step 240, the method steps may further include:

step 300 is based on tactile data of the existing material collected by the tactile data collection means.

For tactile data acquisition means, see the above embodiments.

In one embodiment, step 300 may comprise the following method steps:

step 310 sends corresponding operation instructions to the actuator based on the existing material information and/or the tactile data categories to instruct the actuator to perform a plurality of different target operations on the existing material.

It should be noted that different existing materials and/or tactile data often require an actuator to apply a corresponding target operation to the existing material, and thus, a corresponding operation instruction needs to be generated. Such as: the roughness needs to perform sliding operation corresponding to the existing material; softness requires pressing operations on existing materials; the heat transfer performance requires a corresponding heating operation to be performed on the existing material.

In addition, for the collection of the same type of tactile data for each object, it is necessary to correspond to different target operations, such as: for data collection of roughness of an object, it is generally required to perform a plurality of different sliding operations on an existing material at different starting positions, trajectories and/or directions, etc., where the operation instructions often include a plurality of sub-operation instructions, the plurality of sub-operation instructions are stored according to a preset rule, and the controller sequentially sends the plurality of sub-operation instructions to an executor according to a preset manner, for example: the controller may send a plurality of sub-operation instructions arranged in sequence to the executor at a time, or the controller may send only one sub-operation instruction at a time, and send the next sub-operation instruction after the executor completes execution of the sub-operation instruction, and so on.

In an alternative embodiment, the following method steps may be included before step 310:

step 350 obtains existing material information and/or tactile data categories.

In one embodiment, the controller may derive the existing material and/or tactile data category information based on manually entered information, such as: the existing material category and/or the tactile data category is entered manually.

In one embodiment, the controller may acquire observations of the existing material acquired by the second sensor.

For example, taking the second sensor as an image sensor, the controller may acquire image data (i.e., observation data) of the existing material collected and transmitted by the image sensor from the memory or the server according to a preset address.

Step 360 generates corresponding operational instructions based on the existing material information and/or the tactile data categories.

In one embodiment, a database of operation instructions corresponding to different existing material information and/or tactile data categories may be predefined and stored as needed, and the controller obtains the corresponding operation instructions based on the matching of the current existing material and/or tactile data categories.

In one embodiment, the controller may identify the existing material category based on the observed data, and match the corresponding operational instructions based on the pre-built database of existing materials and corresponding operational instructions described in the above embodiments.

Illustratively, based on the above examples, the controller analyzes the image data of the existing material to identify the type of the existing material (e.g., rubber).

In another embodiment, the controller may construct a preset instruction generation model (i.e., artificial intelligence model) in advance to directly output a corresponding operation instruction or the like in order to recognize an existing material class based on input observation data or based on the observation data.

In one embodiment, whereas each existing material may correspond to one or more tactile data categories, prior to step 360, the method steps of:

step 370 builds a database of existing material information and/or tactile data categories and corresponding operating instructions.

For example, a database corresponding to existing material information (such as existing material category or existing material image), touch sense data category and operation instruction can be constructed in advance, and the corresponding operation instruction can be obtained by matching the two information based on rubber and softness.

Step 320 acquires sensed data for each target operation acquired by the first sensor.

In one embodiment, the controller obtains the sensed data collected by the first sensor under the target operation of the actuator on the existing material.

Step 330 parses the sensed data to obtain tactile data for the existing material.

In one embodiment, the controller analyzes the current tactile data corresponding to the existing material based on the acquired sensed data acquired by the first sensor.

Step 340 stores the existing material and the corresponding tactile data.

In one embodiment, the controller may define separate storage spaces for each different category of tactile data in advance, respectively, to define a matching table of tactile data categories and operation instructions, storage addresses, etc.; the controller performs matching based on the current touch data, thereby obtaining a corresponding storage address, and stores the storage data to a corresponding storage space based on the storage address.

Further, in one embodiment, a plurality of storage units may be further divided into storage space of each touch sense data category, and each touch sense data and corresponding existing material information (e.g., existing material name and/or image information, etc.) may be sequentially stored in each storage unit. Therefore, the corresponding touch data can be obtained by matching the follow-up information based on the existing material information; and corresponding existing materials can also be matched based on the touch data.

According to the embodiment of the application, the touch data types are defined in advance through the method, and the touch data acquisition method is standardized, so that a plurality of touch data corresponding to the existing materials can be obtained based on the method, and the subsequent comprehensive utilization of the existing materials based on the touch database of the existing materials is facilitated.

In one embodiment, step 330 may specifically include the following method steps:

step 331 obtains initial tactile sensation data corresponding to each target operation based on the sensed data for each target operation.

Step 332 normalizes the initial tactile sensation data based on the standard value.

Step 333 obtains initial tactile sensation data for a plurality of different target operations, and averages the plurality of initial tactile sensation data to obtain tactile sensation data.

According to the embodiment of the application, the initial touch data corresponding to each target operation is obtained by carrying out normalization processing on the sensing data under each target operation. The normalization process makes the initial tactile data no longer an abstract number, but has the practical meaning of being compared with standard materials, so that the user of the data is more easily accepted and used. In addition, various locations of a portion of the material may have slightly different tactile sensations, and thus averaging the initial tactile data for a plurality of different target operations to yield the final tactile data for the existing material may more accurately reflect the overall tactile characteristics of the material.

Illustratively, taking the touch data as the roughness of the existing material as an example, the touch data acquisition method may include:

Step 310 sends a sliding operation instruction to the actuator based on the existing material information and/or the tactile data category to instruct the actuator to perform a plurality of different sliding operations on the existing material; wherein the vertical force in the plurality of different sliding operations remains unchanged.

In an embodiment, taking an actuator as an example of a manipulator, the existing material to be tested can be horizontally placed on the platform, a force sensor can be arranged at the tail end of the manipulator, the controller sends an operation instruction to the manipulator, and the actuator drives the force sensor to execute different sliding operations on the existing material, for example: the mechanical arm is indicated to slide at different initial positions of the material to be tested according to different tracks and/or directions, and the force applied by the actuator is adjusted based on the force feedback data in the vertical direction acquired by the force sensor, so that the vertical direction force in the process that the actuator performs a plurality of different sliding operations on the existing material is kept unchanged. Under different sliding operations, only if the same vertical force is kept, the obtained roughness can be provided with the same force standard, and the subsequent average value of the roughness under a plurality of sliding operations is meaningful.

The term "vertical" generally refers to a direction perpendicular to the platform, and is generally referenced to the platform because the surface of the material may be shaped differently; in some cases, if the material surface is flat, it may also refer to a force in a perpendicular direction perpendicular to the material surface.

For example, each sub-operation instruction may include: force magnitude, such as: (0, 5) represents the Z-axis direction 5N, the other directions being 0N; displacement, speed/angular velocity and acceleration/angular acceleration of each joint of the manipulator, etc. (thereby enabling the manipulator to slide on the surface of the existing material according to preset trajectories and forces).

In one embodiment, the controller obtains from the memory or the server, according to a preset address, N data in total, feedback signals (i.e. sensed data) S1, S2, S3, st over time, measured and transmitted by the tactile first sensor under a certain operating instruction.

step 331 obtains an initial roughness corresponding to each target operation based on the sensed data under each target operation.

The roughness obtained under this measurement can be characterized by the standard deviation of the sequence of sensed data, which can be realized specifically based on the following formula:

wherein raw_roughness is initial roughness; s is S _i Is the sensed data over time.

Step 332 normalizes the initial roughness based on the standard value.

The value can be normalized to a standard value R, so that a measurement formula of roughness can be obtained:

wherein roughness is roughness; r is the raw_roughess value of the standard material.

The standard material may be selected according to different industries, in an embodiment, a material that is relatively common in the industry may be selected as the standard material, in addition to other materials may be selected as the standard material according to requirements, and in an embodiment, a raw_roughess value of the standard material may be measured based on the related method described in the embodiments of the present application.

Step 333 obtains initial roughness for a plurality of different target operations, and averages the plurality of initial roughness to obtain roughness.

In one embodiment, according to the above embodiment, when the manipulator is instructed to perform different sliding operations on different trajectories and directions at different starting positions of the existing material to be tested based on the operation instruction, the "initial touch data under multiple different target operations" is the initial touch data under multiple different positions of the existing material to be tested. Such as: initial tactile data may be collected for one position per actuation (which may refer to the position of a line formed by the actuation path, or the position of one or more points randomly collected under the actuation path).

Based on the steps, the roughness of the existing material measured under each target operation is obtained; and (3) averaging the plurality of roughnesses, thereby finally obtaining the roughness of the existing material.

Step 340 stores the existing material and the corresponding roughness.

According to the embodiment of the application, the existing material and the corresponding roughness information can be acquired through the steps of the method.

Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored in a computer-readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a nonvolatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a random access Memory (Random Access Memory, RAM).

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.

With further reference to fig. 4, as an implementation of the method shown in fig. 3 described above, the present application provides an embodiment of a tactile data acquisition device, which corresponds to the method embodiment shown in fig. 3, and which is particularly applicable to various controllers.

As shown in fig. 4, a material screening apparatus 500 according to an embodiment of the present application includes:

a demand acquisition module 501, configured to acquire a touch demand of a target material to be selected;

the demand matching module 502 is configured to match the touch demand with the touch database to obtain a material with matched touch demand; the touch database is a database constructed based on materials and corresponding touch data;

a material determination module 503, configured to take the matched material as a target material.

In one embodiment, the material screening apparatus 500 further comprises:

the data acquisition module is used for acquiring touch data of the existing material acquired by the touch data acquisition device;

and the demand determining module is used for taking the touch data of the existing material as the touch demand of the target material to be selected.

In one embodiment, the material screening apparatus 500 further comprises:

the prompt display module is used for displaying prompts related to specification expression of touch requirements to a user;

And the demand generation module is used for responding to the information input by the user aiming at the prompt and generating touch demand.

In one embodiment, the material screening apparatus 500 further comprises:

and the standard solving module is used for solving the standard expression of the touch data corresponding to the touch demand.

Further, in one embodiment, when the criteria are expressed as material property parameters; the material screening apparatus 500 further includes:

and the pretreatment module is used for carrying out pretreatment on the material property parameters.

Further, in one embodiment, the preprocessing module includes:

the parameter judging submodule is used for judging whether a plurality of parameters related to the same property exist in the material property parameters;

the merging judgment sub-module is used for judging whether the preset merging conditions are met if a plurality of parameters exist;

the parameter merging sub-module is used for merging a plurality of parameters if the parameters meet preset merging conditions;

and the parameter neglecting sub-module is used for neglecting a plurality of parameters under the property and sending a prompt if the parameters do not accord with the preset merging condition.

In one embodiment, the demand matching module 502 includes:

the initial matching sub-module is used for initially matching the touch demand with the touch database;

the matching judging sub-module is used for judging whether the matching material is obtained or not;

The re-matching sub-module is used for carrying out re-matching if the corresponding matching material is not obtained; the re-matching comprises the following method steps: correcting the touch demand according to a preset rule; matching the corrected touch demand with a touch database;

and the repeated execution sub-module is used for repeatedly executing the steps of judging whether the matched material is obtained and re-matching until the corresponding matched material is obtained.

Referring specifically to fig. 5, in order to solve the above technical problem, an embodiment of the present application further provides a controller (taking the computer device 6 as an example).

The computer device 6 comprises a memory 61, a processor 62, a network interface 63 communicatively connected to each other via a system bus. It is noted that only computer device 6 having components 61-63 is shown in the figures, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the computer device herein is a device capable of automatically performing numerical calculations and/or information processing in accordance with predetermined or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASICs), programmable gate arrays (fields-Programmable Gate Array, FPGAs), digital processors (Digital Signal Processor, DSPs), embedded devices, etc.

The computer equipment can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The computer equipment can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.

The memory 61 includes at least one type of readable storage media including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), 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 storage 61 may be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal memory unit of the computer device 6 and an external memory device. In this embodiment, the memory 61 is typically used to store an operating system and various types of application software installed on the computer device 6, such as program codes of a material screening method. Further, the memory 61 may be used to temporarily store various types of data that have been output or are to be output.

The processor 62 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor, or other data processing chip in some embodiments. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is configured to execute the program code stored in the memory 61 or process data, such as program code for executing a material screening method.

The network interface 63 may comprise a wireless network interface or a wired network interface, which network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.

The present application also provides another embodiment, namely, a computer-readable storage medium storing a material screening program executable by at least one processor to cause the at least one processor to perform the steps of a material screening method as described above.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.

It is apparent that the above-described embodiments are only some embodiments of the present application, but not all embodiments, and the preferred embodiments of the present application are shown in the drawings, which do not limit the scope of the patent claims. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the scope of the application.

Claims

1. A method of screening a material, the method comprising the steps of:

acquiring touch demand of a target material to be selected;

And taking the matching material as the target material.

2. The material screening method according to claim 1, further comprising the steps of, before the obtaining of the touch demand of the target material to be selected:

3. The material screening method according to claim 1, further comprising the steps of, before the obtaining of the touch demand of the target material to be selected:

4. A material screening method according to any one of claims 1 to 3, further comprising the method step, prior to said matching of said tactile demand with a tactile database, of:

5. The material screening method according to claim 4, wherein when the criteria are expressed as material property parameters; after the standard expression of the touch demand corresponding to the touch data is obtained, the method further comprises the following steps:

6. A material screening method according to any one of claims 1 to 3, wherein said matching of said touch demand with a touch database to obtain a matching material matching said touch demand comprises the method steps of:

initially matching the touch demand with the touch database;

judging whether the matching material is obtained or not;

7. A material screening apparatus, the apparatus comprising:

8. A material screening system, the system comprising: the system comprises a platform, an actuator, a first sensor and a controller;

the platform is used for placing the existing materials;

the controller is used for sending corresponding operation instructions to the actuator based on the existing material information and/or the touch data category so as to instruct the actuator to execute target operations on the existing material; acquiring sensing data under a target operation acquired by the first sensor; analyzing the sensing data to obtain touch data corresponding to the existing material information; storing the existing material information and the corresponding tactile sensation data; and to implement the material screening method of any one of claims 1 to 6.

9. A controller comprising a memory and a processor, the memory having a computer program stored therein, the processor, when executing the computer program, effecting the steps of the material screening method of any one of claims 1 to 6.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the material screening method of any one of claims 1 to 6.