CN117664207A

CN117664207A - Self-capacitance data compensation method and device, sensor, chip and electronic equipment

Info

Publication number: CN117664207A
Application number: CN202311676173.0A
Authority: CN
Inventors: 高红玉; 程涛; 徐周
Original assignee: Shanghai Awinic Technology Co Ltd
Current assignee: Shanghai Awinic Technology Co Ltd
Priority date: 2023-12-07
Filing date: 2023-12-07
Publication date: 2024-03-08

Abstract

The application relates to the technical field of capacitance detection, and discloses a self-capacitance data compensation method, a self-capacitance data compensation device, a sensor, a chip and electronic equipment, wherein the self-capacitance data compensation method comprises the following steps: and acquiring mutual capacitance data between the detection channels and the driving channels and self-capacitance data corresponding to the detection channels under different detection environments, wherein the mutual capacitance data is the sum of the mutual capacitance data between the detection channels and the driving channels. And determining compensation data according to the mutual capacitance data and the self-capacitance data. And compensating the current self-capacitance data of each detection channel based on the compensation data and the mutual capacitance data between the current detection channel and the driving channel to obtain the target self-capacitance data of each detection channel. By considering the overall change of the parasitic capacitance between each detection channel and the driving electrode and the relationship between the parasitic capacitance of each detection channel to the ground, the influence of the change of the environmental capacitance on the judgment of the human body approach condition or the touch condition can be reduced, and the accuracy of the capacitive sensor is improved.

Description

Self-capacitance data compensation method and device, sensor, chip and electronic equipment

Technical Field

The present disclosure relates to the field of capacitance detection technologies, and in particular, to a self-capacitance data compensation method, a self-capacitance data compensation device, a sensor, a chip, and an electronic device.

Background

Capacitive SENSORs are commonly used in proximity SENSORs (SAR SENSOR), touch detection, in-ear detection, and the like. The self-capacitance detection method or the mutual capacitance detection method can be adopted for different application scenes. The self-capacitance detection method is to apply an excitation voltage to a measurement pin to detect the capacitance between the pin and the ground, and the mutual capacitance detection method is to apply an excitation voltage to a transmitting electrode to detect the capacitance between the transmitting electrode and a receiving electrode.

For example, in a human body proximity or touch detection scenario, in order to detect only capacitance caused by human body proximity or touch, a capacitive sensor needs to counteract the influence of the environment in which the electronic device is located on the capacitance to be detected through appropriate calibration. However, as the environmental capacitance changes with the changes of factors such as temperature, humidity and atmospheric pressure, for the calibrated capacitive sensor, if the environmental capacitance changes, the calibration result also changes, so that the judgment of the capacitive sensor on the human body approach condition or the touch condition can be affected, that is, the detection accuracy of the capacitive sensor is affected.

Disclosure of Invention

In order to solve the problem that the existing capacitive sensor can influence the judgment of human body approach when the environmental capacitance changes, the application provides a self-capacitance data compensation method, a device, a sensor, a chip and electronic equipment.

In a first aspect, the present application provides a method for compensating self-capacitance data, for a capacitive sensor, the capacitive sensor including a plurality of detection channels and at least one driving channel;

the compensation method of the self-capacitance data comprises the following steps:

acquiring mutual capacitance data between the detection channels and the driving channels and self-capacitance data corresponding to the detection channels under different detection environments, wherein the mutual capacitance data is the sum of parasitic capacitances between the detection channels and the driving channels;

determining compensation data according to the mutual capacitance data and the self-capacitance data;

and compensating the current self-capacitance data of each detection channel based on the compensation data and the mutual capacitance data between the current detection channel and the driving channel to obtain the target self-capacitance data of each detection channel.

In the application, the compensation data are determined according to the mutual capacitance data and the self-capacitance data so as to combine the mutual capacitance sum between each detection channel and the driving electrode, compensate the self-capacitance to the ground of each detection channel in real time, reduce the influence of the change of the environmental capacitance on the judgment of the human body approach condition, and improve the detection precision of the capacitive sensor.

On the other hand, obtaining mutual capacitance data between the detection channels and the driving channels and self-capacitance data corresponding to the detection channels under different detection environments includes:

acquiring first mutual capacitance data between each detection channel and each driving channel and first self-capacitance data corresponding to each detection channel in a first detection environment;

acquiring second mutual capacitance data between each detection channel and each driving channel and second self-capacitance data corresponding to each detection channel in a second detection environment;

determining compensation data based on the mutual capacitance data and the self-capacitance data, comprising:

determining mutual capacitance difference data based on the first mutual capacitance data and the second mutual capacitance data, and determining self capacitance difference data based on the first self capacitance data and the second self capacitance data;

and determining compensation data according to the self-capacitance difference data and the mutual capacitance difference data.

On the other hand, compensating the current self-capacitance data of each detection channel based on the compensation data and the mutual capacitance data between the current detection channel and the driving channel to obtain target self-capacitance data of each detection channel, including:

determining mutual capacitance change data according to the mutual capacitance data between the current detection channel and the driving channel and the first mutual capacitance data;

Determining first target compensation data according to the compensation data and the mutual capacitance change data;

and determining target self-capacitance data of each detection channel according to the current self-capacitance data of each detection channel and the first target compensation data.

On the other hand, determining compensation data from the mutual capacitance data and the self-capacitance data includes:

acquiring a nonlinear mapping relation between mutual capacitance data and self-capacitance data;

and determining compensation data according to the nonlinear mapping relation.

On the other hand, acquiring the nonlinear mapping relationship between the mutual capacitance data and the self-capacitance data includes:

performing polynomial fitting processing on the mutual capacitance data and the self-capacitance data to obtain a fitted polynomial, wherein the fitted polynomial is used for reflecting a nonlinear mapping relation between the mutual capacitance data and the self-capacitance data;

determining compensation data according to the nonlinear mapping relation, including:

coefficients of at least one non-constant term of the fitted polynomial are determined as compensation data.

Determining first mutual capacitance data from the mutual capacitance data; the first mutual capacitance data are obtained under a first detection environment;

determining second target compensation data according to the compensation data and the mutual capacitance change data;

and determining target self-capacitance data of each detection channel according to the current self-capacitance data of each detection channel and the second target compensation data.

On the other hand, the polynomial includes a first non-constant term and a second non-constant term, the first non-constant term and the second non-constant term being different in degree;

determining coefficients of at least one non-constant term of the fitted polynomial as compensation data, comprising:

taking coefficients of a first non-constant term in the fitted polynomial as first compensation data, and taking coefficients of a second non-constant term in the fitted polynomial as second compensation data;

determining second target compensation data according to the compensation data and the mutual capacitance change data, including:

determining first sub-target compensation data according to the first compensation data and the mutual capacitance change data;

determining second sub-target compensation data according to the second compensation data and the mutual capacitance change data;

Determining third sub-target compensation data according to the second compensation data, the mutual capacitance change data and the first mutual capacitance data;

and determining second target compensation data according to the first sub-target compensation data, the second sub-target compensation data and the third sub-target compensation data.

On the other hand, any two detection environments in different detection environments are different in temperature interval;

for any one of different detection environments, acquiring a first linear mapping relation between mutual capacitance data and temperature in any one detection environment, and determining third compensation data of a temperature interval corresponding to any one detection environment based on the first linear mapping relation;

acquiring a second linear mapping relation between self-capacitance data and temperature in any one detection environment, and determining fourth compensation data of a temperature interval corresponding to any one detection environment based on the second linear mapping relation;

determining compensation data of the current temperature interval according to the third compensation data and the fourth compensation data;

and integrating the compensation coefficients of the temperature intervals to obtain the compensation coefficients.

On the other hand, obtaining a first linear mapping relation between mutual capacitance data and temperature in any one detection environment, determining third compensation data of a temperature interval corresponding to any one detection environment based on the first linear mapping relation, including:

Performing polynomial fitting processing on mutual capacitance data and temperature in any detection environment to obtain a fitted first polynomial, wherein the fitted first polynomial is used for reflecting a linear mapping relation between the mutual capacitance data and the temperature;

taking non-constant term coefficients in the first polynomial as third compensation data;

acquiring a second linear mapping relation between self-capacitance data and temperature in any one detection environment, and determining fourth compensation data of a temperature interval corresponding to any one detection environment based on the second linear mapping relation, wherein the method comprises the following steps:

performing polynomial fitting processing on self-capacitance data and temperature in any detection environment to obtain a fitted second polynomial, wherein the fitted second polynomial is used for reflecting a linear mapping relation between the self-capacitance data and the temperature;

and taking the non-constant term coefficient of the second polynomial as fourth compensation data.

determining a compensation coefficient of a temperature interval where current mutual capacitance data are located as target compensation data;

determining third target compensation data according to the target compensation data and the mutual capacitance change data;

and determining target self-capacitance data of each detection channel according to the current self-capacitance data of each detection channel and the third target compensation data.

On the other hand, obtaining mutual capacitance data between the detection channel and the driving channel under different detection environments includes:

in each detection environment, controlling the capacitive sensor to be in an unsensed state, controlling the capacitive sensor to be in a mutual capacitance working mode, and obtaining parasitic capacitance between each detection channel and each driving channel;

and determining mutual capacitance data between the detection channels and the driving channels according to parasitic capacitance between each detection channel and each driving channel.

On the other hand, obtaining self-capacitance data corresponding to each detection channel under different detection environments includes:

and controlling the capacitive sensor to switch from the mutual capacitance working mode to the self-capacitance working mode, controlling the voltage on the driving channel to be equal to the voltage on the detection channel, and obtaining the parasitic capacitance of each detection channel to the ground to obtain the self-capacitance data corresponding to each detection channel.

In a second aspect, the present application provides a self-capacitance data compensation device, the self-capacitance data compensation device being applied to a capacitive sensor, the capacitive sensor including a plurality of detection channels and at least one drive channel;

the compensation device for self-capacitance data includes:

the acquisition module is used for acquiring mutual capacitance data between the detection channels and the driving channels and self-capacitance data corresponding to each detection channel under different detection environments; the mutual capacitance data is the sum of parasitic capacitances between each detection channel and each driving channel;

the determining module is used for determining compensation data according to the mutual capacitance data and the self-capacitance data;

the compensation module is used for compensating the current self-capacitance data of each detection channel based on the compensation data and the current mutual capacitance data to obtain target self-capacitance data of each detection channel.

On the other hand, the acquisition module is used for acquiring first mutual capacitance data between each detection channel and each driving channel and first self-capacitance data corresponding to each detection channel in a first detection environment;

the device is also used for acquiring second mutual capacitance data between each detection channel and each driving channel and second self-capacitance data corresponding to each detection channel in a second detection environment;

The determining module is used for determining mutual capacitance difference value data based on the first mutual capacitance data and the second mutual capacitance data and determining self capacitance difference value data based on the first self capacitance data and the second self capacitance data;

On the other hand, the compensation module is used for determining mutual capacitance change data according to the mutual capacitance data between the current detection channel and the driving channel and the first mutual capacitance data;

In another aspect, a determination module includes:

the first acquisition sub-module is used for acquiring a nonlinear mapping relation between the mutual capacitance data and the self-capacitance data;

and the first determining submodule is used for determining compensation data according to the nonlinear mapping relation.

On the other hand, the first obtaining submodule is used for carrying out polynomial fitting processing on the mutual capacitance data and the self-capacitance data to obtain a fitted polynomial, and the fitted polynomial is used for reflecting a nonlinear mapping relation between the mutual capacitance data and the self-capacitance data;

A first determination sub-module for determining coefficients of at least one non-constant term of the fitted polynomial as compensation data.

In another aspect, a compensation module includes:

the second determining submodule is used for determining first mutual capacitance data from the mutual capacitance data; the first mutual capacitance data are obtained under a first detection environment;

the third determining submodule is used for determining mutual capacitance change data according to the mutual capacitance data between the current detection channel and the driving channel and the first mutual capacitance data;

a fourth determining sub-module, configured to determine second target compensation data according to the compensation data and the mutual capacitance change data;

and the fifth determining submodule is used for determining target self-capacitance data of each detection channel according to the current self-capacitance data of each detection channel and the second target compensation data.

the first determining submodule is used for taking coefficients of a first non-constant term in the fitted polynomial as first compensation data and taking coefficients of a second non-constant term in the fitted polynomial as second compensation data;

A fourth determining sub-module, configured to determine first sub-target compensation data according to the first compensation data and the mutual capacitance change data;

a determination module, comprising:

the second acquisition sub-module is used for acquiring a first linear mapping relation between mutual capacitance data and temperature in any one detection environment according to any one detection environment in different detection environments, and determining third compensation data of any one detection environment corresponding to a temperature interval based on the first linear mapping relation;

the third acquisition sub-module is used for acquiring a second linear mapping relation between self-capacitance data and temperature in any one detection environment, and determining fourth compensation data of a temperature interval corresponding to any one detection environment based on the second linear mapping relation;

A sixth determining submodule, configured to determine compensation data of the current temperature interval according to the third compensation data and the fourth compensation data;

and the integration sub-module is used for integrating the compensation coefficients of the temperature intervals to obtain the compensation coefficients.

On the other hand, the second obtaining submodule is used for carrying out polynomial fitting processing on mutual capacitance data and temperature in any one detection environment to obtain a fitted first polynomial, and the fitted first polynomial is used for reflecting a linear mapping relation between the mutual capacitance data and the temperature;

the third acquisition submodule is used for carrying out polynomial fitting treatment on self-capacitance data and temperature in any detection environment to obtain a fitted second polynomial, and the fitted second polynomial is used for reflecting a linear mapping relation between the self-capacitance data and the temperature;

On the other hand, the compensation module is used for determining the compensation coefficient of the temperature interval where the current mutual capacitance data is located as target compensation data;

On the other hand, the acquisition module is used for controlling the capacitive sensor to be in an unsensed state and controlling the capacitive sensor to be in a mutual capacitance working mode in each detection environment, so as to acquire parasitic capacitance between each detection channel and each driving channel;

And on the other hand, the acquisition module is used for controlling the capacitive sensor to switch from the mutual capacitance working mode to the self-capacitance working mode, controlling the voltage on the driving channel to be equal to the voltage on the detection channel, and acquiring the parasitic capacitance of each detection channel to the ground to obtain the self-capacitance data corresponding to each detection channel.

In a third aspect, the present application provides a capacitive sensor comprising:

The control module is used for controlling the capacitive sensor to implement the self-capacitance data compensation method according to any one of claims 1 to 12;

the multi-path selection module is used for selecting the states of all channels in the capacitive sensor based on the control instruction of the control module;

at least one drive channel;

and a plurality of detection channels, wherein parasitic capacitance is arranged between each detection channel and each driving channel, and each detection channel forms parasitic capacitance in pairs.

In another aspect, the capacitive sensor further comprises:

the analog front-end module is connected with the multipath selection module and is used for outputting voltage proportional to the input capacitance;

the offset compensation module is connected with the analog front end module and is used for outputting voltage proportional to the second parasitic capacitance on the detection channel;

the analog-to-digital conversion module is connected with the offset compensation module, and is used for converting the output voltage of the analog front end module into a digital code and outputting the digital code to the digital processing module;

the digital processing module is connected with the analog-to-digital conversion module, and is used for receiving the digital codes and transmitting the digital codes to the registering module;

And the register module is connected with the digital processing module.

In a fourth aspect, the present application provides a chip comprising circuitry for performing the above-described method of compensating self-capacitance data.

In a fifth aspect, the present application provides an electronic device, which includes the above chip.

Drawings

FIG. 1 is a schematic diagram of a capacitive sensor;

FIG. 2 is a schematic diagram of a multi-channel capacitive sensor;

FIG. 3 is a schematic view of a portion of a sensor;

fig. 4 is a flow chart of a self-capacitance data compensation method according to an embodiment of the present application;

FIG. 5 is a flow chart of another method for compensating self-capacitance data according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of another multi-channel capacitive sensor according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a self-capacitance data compensation device according to an embodiment of the present application.

Detailed Description

Illustrative embodiments of the present application include, but are not limited to, a capacitance compensation method for self-capacitance data and a capacitive sensor.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a capacitive sensor. The capacitive sensor may include: the device comprises a measuring element, an Analog Front End (AFE), an offset compensation module, an analog-to-digital conversion module (Analog to Digital, ADC), a digital processing module, a register, a logic control module, a plurality of sensing pins and a Multiplexer (MUX). The measuring element is usually a conductive area on a printed circuit board or a flexible material, the analog front end module is used for outputting a voltage proportional to an input capacitance, and the analog-to-digital conversion module ADC is used for converting an analog input voltage from the AFE into a digital code and outputting the digital code to the digital processing module. The digital processing unit is used for processing the digital codes acquired from the analog-to-digital conversion module ADC and sending the results to the register. The registers include memory mapped hardware registers used by a central processing unit (Central Processing Unit, CPU) to configure the capacitive sensor or used by the capacitive sensor to report information to the CPU. The logic control module is used for controlling the parameter configuration of each module in the capacitive sensor and can control the detection pin state of the capacitive sensor. The multiplexer is used for selecting the state of the chip sensing pin.

In some alternative embodiments, the capacitive sensor may further comprise a plurality of detection channels and a reference channel. Referring to fig. 2, fig. 2 is a schematic structural diagram of a multi-channel capacitive sensor. The multi-channel capacitive sensor may include a plurality of detection channels CSn (n=1, 2,3 …) and a reference channel CR. The parasitic capacitance of the detection channel to ground may be denoted as Cxn (n=1, 2,3 …), and the parasitic capacitance of the reference channel to ground may be denoted as Cref.

As described above, for example, in a human body approach scene, the environmental capacitance may change with changes in factors such as temperature, humidity, and atmospheric pressure, which may affect the determination of the human body approach condition or the touch condition, resulting in lower detection accuracy of the capacitive sensor.

In order to solve the above-mentioned problems, in some alternative embodiments, the parasitic capacitance of each detection channel to the ground may be compensated based on the change value of the parasitic capacitance of the reference channel to the ground and a fixed compensation coefficient, so as to reduce the influence of the change of the environmental capacitance on the determination of the human body proximity or touch condition, and improve the detection accuracy of the capacitive sensor. The specific compensation mode is as follows:

When no human body approaches or touches, an initial value Cref0 of the parasitic capacitance Cref of the reference channel to ground is obtained. When the environment changes, i.e. the temperature and humidity change, the change value of the parasitic capacitance Cref of the reference channel to ground can be denoted as Δcref. Assuming that the amount of change in the parasitic capacitance of the reference channel is proportional to the detection channel, the compensated parasitic capacitance of the detection channel to ground, cxn, can be noted as Cxn'. In actual processing, the parasitic capacitance of the compensated detection channel to ground may be embodied as follows:

Cxn’＝Cxn+k*△Cref

wherein Cxn' may represent the parasitic capacitance of the compensated detection channel to ground, cxn may represent the parasitic capacitance of the detection channel to ground before compensation, Δcref may represent the change value of the parasitic capacitance of the reference channel to ground when the environment changes, k may represent the proportionality coefficient of the change of the parasitic capacitance of the detection channel to the change of the parasitic capacitance of the reference channel, which coefficient may be a fixed value or a set of data. Typically, if only the influence of temperature is considered, k may be set to a piecewise coefficient that varies with temperature.

For better compensation, the reference channel usually needs to be close to the measurement channel, and the wiring material connected to the reference channel needs to be consistent, so that the temperature coefficient of the parasitic capacitance Cref of the reference channel to the ground is close to the parasitic capacitance Cxn of the detection channel to the ground before compensation. In addition, the size of the parasitic capacitance Cref of the reference channel to ground needs to be unchanged when a human body or other electrical conductor is in proximity. Referring to fig. 3, fig. 3 is a schematic view of a portion of a sensor. Wherein the detection channel comprises a measurement element and a trace, and the reference channel has only a trace.

The parasitic capacitance compensation method is adopted to perform parasitic compensation on the multi-channel capacitive sensor comprising the structures shown in fig. 2 and 3, namely when parasitic compensation is performed on a plurality of detection channels through capacitance change of one reference channel, inconsistent compensation effects of all detection channels can be caused, poor compensation effects can be caused, and the accuracy of the multi-channel capacitive sensor can not be obviously improved.

In order to solve the above problems, the present application provides a compensation method for self-capacitance data. The compensation method of the self-capacitance data may include: acquiring mutual capacitance data between a detection channel and a driving channel and self-capacitance data corresponding to each detection channel under different detection environments; the mutual capacitance data is the sum of mutual capacitance data between each detection channel and each drive channel. And determining compensation data according to the mutual capacitance data and the self-capacitance data. And compensating the current self-capacitance data of each detection channel based on the compensation data and the mutual capacitance data between the current detection channel and the driving channel to obtain the target self-capacitance data of each detection channel.

According to the compensation method, the compensation data are determined according to the mutual capacitance data and the self-capacitance data so as to combine the parasitic capacitance sum between each detection channel and the driving electrode to respectively compensate the self-capacitance of each detection channel to the ground, and it can be understood that the compensation effect can be improved by considering the relation between the parasitic capacitance of each detection channel to the ground and the overall change of the parasitic capacitance between each detection channel and the driving electrode, the influence of the change of the environmental capacitance on the judgment of the human body approach condition or the touch condition can be effectively reduced, and therefore the accuracy of the multichannel capacitive sensor can be effectively improved.

The method of compensating the self-capacitance data will be described in detail. Referring to fig. 4, fig. 4 is a flow chart of a self-capacitance data compensation method according to an embodiment of the present application, and the self-capacitance data compensation method can be used for a capacitive sensor. Wherein the capacitive sensor may comprise a plurality of detection channels and at least one drive channel.

As shown in fig. 4, the compensation method of the self-capacitance data may include:

s401: and acquiring mutual capacitance data between the detection channels and the driving channels and self-capacitance data corresponding to the detection channels under different detection environments.

In this embodiment of the present application, the mutual capacitance data between the detection channels and the driving channels may be a sum of parasitic capacitances between each detection channel and each driving channel. The self-capacitance data corresponding to each detection channel may be a parasitic capacitance of each detection channel to ground.

In this embodiment of the present application, under each detection environment, the capacitive sensor may be controlled to be in an unsensed state, that is, no human body approaches or touches, and each detection environment may perform one detection process or may perform multiple detection processes. The primary detection process may include controlling the capacitive sensor in a mutual capacitance mode of operation for a first detection process and controlling the capacitive sensor in a self capacitance mode of operation for a second detection process. For example, the detection process may be performed once in the detection environment 1, and the detection environment 1 may be the environment temperature "x1" and the environment humidity "y1". The detection process is performed once in the detection environment 2, and the detection environment 2 may be an environment temperature "x2" and an environment humidity "y2". The first detection process may configure each detection channel as a receiving end RX through a multiplexing module, and each driving channel as a transmitting end TX.

In some alternative embodiments, in each detection process of each detection environment, the capacitive sensor may be controlled to be in an unsensed state, that is, no human body approaches or touches, and may be controlled to be in a mutual capacitance working mode, so as to obtain parasitic capacitances between each detection channel and each driving channel. And the mutual capacitance data between the detection channels and the driving channels can be determined according to the sum of the parasitic capacitance data between each detection channel and each driving channel.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a multi-channel capacitive sensor according to an embodiment of the present application, which includes a plurality of detection channels and a driving channel. In some alternative embodiments, for the multi-channel capacitive sensor shown in fig. 5 that includes multiple detection channels and one drive channel, parasitic capacitances between the multiple detection channels and the drive channel may be added up each time during a detection process to obtain mutual capacitance data between the detection channel and the drive channel during the current detection process. The parasitic capacitance between each detection channel and the driving channel is directly added, so that the data processing amount can be reduced, the processing resources are saved, and the processing efficiency is improved.

In some alternative embodiments, when the multi-channel capacitive sensor includes n detection channels and one driving channel, in the first detection process of each detection process, the parasitic capacitance Cm11 between the detection channel CS1 and the driving channel CD1, the parasitic capacitance Cm2 between the detection channel CS2 and the driving channel CD1, and the parasitic capacitance Cm3 … between the detection channel CS3 and the driving channel CD1, the parasitic capacitance Cmn between the detection channel CSn and the driving channel CD1 may be acquired. Then, the parasitic capacitance between each of the n detection channels and the driving channel can be directly added to obtain the mutual capacitance between the detection channel and the driving channel. Alternatively, the mutual capacitance between the detection channel and the drive channel may be embodied as follows:

Cm＝Cm1+Cm2+…+Cmn。

wherein Cm can be expressed as the mutual capacitance between the detection channel and the drive channel.

Referring to fig. 6, fig. 6 is a schematic structural diagram of another multi-channel capacitive sensor according to an embodiment of the present application, which includes a plurality of detection channels and a plurality of driving channels. In some alternative embodiments, for the multi-channel capacitive sensor shown in fig. 6 that includes a plurality of detection channels and a plurality of drive channels, parasitic data between each detection channel and any one of the plurality of drive channels may be added in each detection process to obtain mutual capacitance data between each detection channel and any one of the drive channels in the current detection process. In this way, mutual capacitance data between each detection channel and each driving channel in the current detection process can be obtained. Then, according to the preset weight of each driving channel, the mutual capacitance data between each detection channel and any driving channel can be added to obtain the mutual capacitance data between the detection channel and the driving channel in the current detection processing. For example, the preset weight of each driving channel is multiplied by the mutual capacitance data between the driving channel and each detection channel, and then added to obtain the mutual capacitance data between the detection channel and the driving channel in the current detection process. The preset weights of the driving channels may be all different, may be partially different, or may be all the same. When the preset weights of each driving channel are all different, the preset weights of the driving channels may be an equipotential sequence, or other data sets with a linear relationship, which is not specifically limited in the embodiment of the present application. By multiplying the preset weight of each driving channel by the mutual capacitance data between the driving channel and each detection channel and then adding the multiplied weights, the accuracy of the determined mutual capacitance data can be improved, the compensation effect can be improved, and the accuracy of the multichannel capacitive sensor can be improved.

In some alternative embodiments, when the multi-channel capacitive sensor includes n1 detection channels and n2 driving channels, in the first detection process in the first detection environment, the parasitic capacitance Cm11 between the detection channel CS1 and the driving channel CD1, and the parasitic capacitance Cm21 … between the detection channel CS2 and the driving channel CD1, the parasitic capacitance Cmn1 between the detection channel CSn and the driving channel CD1 may be acquired. Further, the parasitic capacitance Cm12 between the detection channel CS1 and the driving channel CD2, the parasitic capacitance Cm22 … between the detection channel CS2 and the driving channel CD2, the parasitic capacitance Cm1n2 between the detection channel CS1 and the driving channel CDn2, and the parasitic capacitance Cm2n2 … between the detection channel CS2 and the driving channel CDn2, the parasitic capacitance Cm1n2 between the detection channel CSn1 and the driving channel CDn2, are obtained.

Then, the mutual capacitances between the n1 detection channels and each driving channel can be added to obtain the mutual capacitance between the detection channels and the driving channels. Alternatively, the mutual capacitance between the detection channel and the drive channel may be embodied as follows:

Cm＝Cm11+Cm21+…+Cmn11+Cm21+Cm22…+Cmn12+…+Cmn11+Cmn12…+Cmn1n2。

the preset weight of each driving channel can be multiplied by the mutual capacitance between the driving channel and each detection channel and then added to obtain the mutual capacitance between the detection channel and the driving channel. The mutual capacitance between the n1 detection channels and any one driving channel is obtained by multiplying and adding the mutual capacitance according to the preset weight of each driving channel. Alternatively, the mutual capacitance between the detection channel and the drive channel may be embodied as follows:

Cm＝β1(Cm11+Cm21+…+Cmn11)+β2(Cm12+Cm22+…+Cmn12)+…+

βn(Cm1n2+Cm2n2+…+Cmn1n2)

Wherein β1, β … βn may represent a preset weight of the drive channel.

In the embodiment of the present application, in each detection processing of each detection environment, the capacitive sensor may be controlled to switch from the mutual capacitance working mode to the self-capacitance working mode, and the voltage on the driving channel is controlled to be equal to the voltage on the detection channel, so as to obtain the parasitic capacitance of each detection channel to the ground, and obtain the self-capacitance data corresponding to each detection channel.

In some alternative embodiments, in each detection process, after determining mutual capacitance data between the detection channel and the driving channel in the first detection process, the operation mode of the capacitive sensor may be switched to a self-capacitance operation mode, and the voltage on the driving channel is made to coincide with the detection channel, and the parasitic capacitance Cxn (n=1, 2,3, …) of each detection channel to the ground is sequentially obtained, so as to obtain the parasitic capacitance of each detection channel to the ground in the second detection process.

In the case of a change in the environment, that is, a change in temperature or humidity, step S401 may be repeated to obtain mutual capacitance data and self-capacitance data under different detection environments. In the first detection environment, for example, in the first detection environment, the parasitic capacitance between the detection channels obtained by performing the first detection processing on the capacitive sensor in the mutual capacitance operation mode and the driving channel may be denoted as a mutual capacitance initial value cm_i, and the parasitic capacitance to ground of each detection channel obtained by performing the second detection processing on the capacitive sensor in the self-capacitance mode may be denoted as a self-capacitance initial value cxn_i of each detection channel. By detecting the mutual capacitance data and the self-capacitance data under each detection environment, rich mutual capacitance data and self-capacitance data can be obtained, the accuracy of the follow-up determination of compensation data can be improved, the compensation effect can be improved, and the accuracy of the multichannel capacitive sensor can be improved.

S402: and determining compensation data according to the mutual capacitance data and the self-capacitance data.

In the embodiment of the application, the mutual capacitance data under two detection environments can be determined from the mutual capacitance data obtained under different detection environments, and the self-capacitance data under two detection environments can be determined from the self-capacitance data obtained under different detection environments. Then, the difference value of the mutual capacitance data under the two detection environments and the difference value of the self capacitance data under the two detection environments can be respectively determined, and the ratio of the two can be determined as compensation data.

In some alternative embodiments, the mutual capacitance data obtained in the first detection environment may be determined from the mutual capacitance data obtained in the different detection environments, for example, the mutual capacitance data obtained in the first detection environment, and the self-capacitance data obtained in the first detection environment may be determined from the self-capacitance data obtained in the different detection environments, for example, the self-capacitance data obtained in the first detection environment. Mutual capacitance data obtained in the t-th detection environment are determined from mutual capacitance data obtained from different detection environments, and self-capacitance data obtained in the t-th detection environment are determined from self-capacitance data obtained from different detection environments. And then, determining compensation data according to the difference value between the mutual capacitance data obtained in the t detection environment and the mutual capacitance data obtained in the first detection environment and the difference value between the self-capacitance data obtained in the t detection environment and the self-capacitance data obtained in the first detection environment.

Alternatively, the mutual capacitance data obtained in the t-th detection environment may be determined from the mutual capacitance data obtained in the different detection environments, and the self-capacitance data obtained in the t-th detection environment may be determined from the self-capacitance data obtained in the different detection environments. And determining mutual capacitance data obtained in the (t+1) th detection environment from mutual capacitance data obtained in different detection environments, and determining self capacitance data obtained in the (t+1) th detection environment from self capacitance data obtained in different detection environments. And then, determining compensation data according to the difference value between the mutual capacitance data obtained in the t+1th detection environment and the mutual capacitance data obtained in the t detection environment and the difference value between the self capacitance data obtained in the t+1th detection environment and the self capacitance data obtained in the t detection environment.

In some alternative embodiments, first mutual capacitance data between each detection channel and each driving channel in the first detection environment may be obtained, and first self-capacitance data corresponding to each detection channel may be obtained. When the environment changes, for example, from the first detection environment to the second detection environment, second mutual capacitance data between each detection channel and each driving channel under the second detection environment can be obtained, and second self-capacitance data corresponding to each detection channel can be obtained. Then, mutual capacitance difference data may be determined based on the first mutual capacitance data and the second mutual capacitance data, self capacitance difference data may be determined based on the first self capacitance data and the second self capacitance data, and compensation data may be determined from the self capacitance difference data and the mutual capacitance difference data. The first mutual capacitance data may be mutual capacitance data obtained in the first detection environment, the second mutual capacitance data may be mutual capacitance data obtained in the current detection environment, the first self capacitance data may be self capacitance data obtained in the first detection environment, and the second self capacitance data may be self capacitance data obtained in the current detection environment. The mutual capacitance difference data may be a difference between the second mutual capacitance data and the first mutual capacitance data, and the self capacitance difference data may be a difference between the second self capacitance data and the first self capacitance data. Alternatively, the specific expression form of the compensation data may be:

Wherein α may represent compensation data, that is, a proportionality coefficient between a variation amount of self capacitance and a variation amount of mutual capacitance, cxn_t may represent self capacitance data obtained in a current detection environment, that is, second self capacitance data, cxn_i may represent self capacitance data obtained in a first detection environment, that is, first self capacitance data, cm_t may represent mutual capacitance data obtained in the current detection environment, that is, second mutual capacitance data, and cm_i may represent mutual capacitance data obtained in the first detection environment, that is, first mutual capacitance data.

The change of the environment can cause the self capacitance of each detection channel to the ground and the mutual capacitance between each detection channel and each driving channel, but the relationship between the self capacitance and the mutual capacitance is not necessarily linear, and the above-described mode of determining the difference value of the mutual capacitance data under two detection environments and the difference value of the self capacitance data under two detection environments and determining the ratio of the two as compensation data is adopted, so that the compensation effect cannot meet the actual requirement. Based on this, in some alternative embodiments, a nonlinear mapping relationship between mutual capacitance data and self-capacitance data under different detection environments may be obtained, and then the compensation coefficient may be determined based on the nonlinear mapping relationship. For example, polynomial fitting processing may be performed on mutual capacitance data and self-capacitance data obtained in each detection environment, so as to obtain a fitted polynomial. The fitted polynomial can be used for reflecting a nonlinear mapping relationship between mutual capacitance data and self-capacitance data, the independent variable of the fitted polynomial can be the mutual capacitance data, and the dependent variable of the fitted polynomial can be the self-capacitance data. Coefficients of at least one non-constant term of the fitted polynomial may then be determined as compensation data.

In some alternative embodiments, the degree of the fitted polynomial is typically not more than 2 in order to reduce the data throughput. The following description will take a quadratic polynomial as an example.

Optionally, quadratic polynomial fitting processing can be performed on mutual capacitance data and self-capacitance data obtained in different detection environments, so as to obtain quadratic polynomials as shown below:

Cxn＝a+b·Cm+c·Cm ²

the first term coefficient b and the second term coefficient c can then be determined as compensation data, i.e. a proportionality coefficient between the amount of change in self capacitance and the amount of change in mutual capacitance.

Considering that the influence of temperature on the multi-channel capacitive sensor is dominant, under different detection environments, continuous cyclic high and low temperatures can be applied to the multi-channel capacitive sensor, and the self-capacitance Cxn of each detection channel to the ground and the mutual capacitance Cm between each detection channel and each driving channel in the multi-channel capacitive sensor in one temperature interval under each detection environment are recorded. Then, curves of Cxn and Cm of the multichannel capacitive sensor along with temperature change can be recorded respectively, linear fitting is carried out in different temperature intervals respectively, and coefficients of linear fitting of each temperature interval Cxn and Cm are used as compensation data of the temperature interval, namely, a proportionality coefficient between the change amount of self capacitance and the change amount of mutual capacitance.

In some alternative embodiments, the temperature interval in which any two of the multiple detection processes are located may be different. In general, the temperature range in which the detection process is performed in the plurality of detection processes is not more than 3.

In some optional embodiments, for any one of different detection environments, a first linear mapping relationship between mutual capacitance data and temperature in the detection environment is obtained, and third compensation data of a temperature interval corresponding to the detection environment is determined based on the first linear mapping relationship. And meanwhile, a second linear mapping relation between self-capacitance data and temperature in the detection environment can be obtained, and fourth compensation data of a temperature interval corresponding to the detection environment is determined based on the second linear mapping relation. Then, the compensation number of the current temperature interval can be determined according to the third compensation data and the fourth compensation data, and the compensation coefficients of the temperature intervals are integrated to obtain the compensation coefficients.

Optionally, polynomial fitting processing may be performed on the mutual capacitance data and the temperature in the detection environment, so as to obtain a fitted first polynomial. The fitted first polynomial may be used to reflect a linear mapping between mutual capacitance data and temperature. Then, the non-constant term coefficients in the first polynomial may be used as third compensation data. Similarly, polynomial fitting processing can be performed on the self-capacitance data and the temperature in the detection environment, and a fitted second polynomial is obtained. The fitted second polynomial may be used to reflect a linear mapping between self-capacitance data and temperature. Then, the non-constant term coefficients in the second polynomial may be used as fourth compensation data. And then the compensation number of the current temperature interval can be determined according to the ratio of the third compensation data to the fourth compensation data, and the compensation coefficients of the temperature intervals are integrated to obtain the compensation coefficients.

S403: and compensating the current self-capacitance data of each detection channel based on the compensation data and the mutual capacitance data between the current detection channel and the driving channel to obtain the target self-capacitance data of each detection channel.

In this embodiment of the present application, the current mutual capacitance data may be a sum of mutual capacitances between each detection channel and the driving channel obtained in the current detection environment, and the current self-capacitance data may be a parasitic capacitance to ground of each detection channel obtained in the current detection environment.

In this embodiment of the present application, when the environment changes, detection processing may be performed once again, to obtain current parasitic capacitances between each detection channel and each driving channel of the capacitive sensor, and add the current parasitic capacitances between each detection channel and each driving channel, to obtain mutual capacitance data of the current detection channel and the driving channel. Meanwhile, parasitic capacitance of each detection channel of the capacitive sensor to the ground can be obtained.

In some alternative embodiments, after the current parasitic capacitance between each detection channel and each driving channel of the capacitive sensor is obtained, the current parasitic capacitance between each detection channel and each driving channel may be directly added to obtain mutual capacitance data between the current detection channel and the driving channel, that is, new mutual capacitance data cm_t'. And then, the current self-capacitance data of each detection channel can be respectively compensated based on the new mutual capacitance data and the compensation coefficient to obtain the target self-capacitance data of each detection channel.

In some alternative embodiments, the current self-capacitance data for each detection channel may be compensated for in the following manner:

Cxn’＝Cxn-α(Cm-Cxn_i)

wherein Cxn' may represent the target self-capacitance data of each detection channel, α may represent the compensation data, cxn may represent the current self-capacitance data of each detection channel, and cxn_i may represent the self-capacitance data of each detection channel in the first detection environment. In actual detection, the influence of environmental changes on the self-capacitance of each detection channel can be reduced by using the compensation coefficient and the mutual capacitance between each detection channel and the driving channel and compensating the self-capacitance of each detection channel.

In some alternative embodiments, the present self-capacitance data of each detection channel may also be compensated for in the following manner:

Cxn’＝Cxn-b(Cm_t’-Cm_i)-c(Cm_t’-Cxn_i) ² -2c(Cm_t’-Cm_i)Cm_i

wherein Cxn 'may represent the target self-capacitance data of each detection channel, b, c may represent the compensation data, cxn may represent the current self-capacitance data of each detection channel, cm_t' may represent the mutual capacitance data between the current detection channel and the driving channel, cm_i may represent the mutual capacitance data between the detection channel and the driving channel in the first detection environment, and cxn_i may represent the self-capacitance data of each detection channel in the first detection environment.

By utilizing the compensation coefficient and the mutual capacitance between each detection channel and the driving channel and compensating the self capacitance of each detection channel, the influence of environmental change on the self capacitance of each detection channel can be reduced, and the trend of the mutual capacitance between the detection channel and the driving channel along with the environmental change for the long-distance detection channel is more in accordance with the change rule of the parasitic capacitance between the detection channel and the ground.

By adopting the self-capacitance data compensation method provided by the embodiment of the application, the compensation data is determined according to the mutual capacitance data and the self-capacitance data obtained by each detection processing under the condition that no human body approaches or touches, so that the mutual capacitance sum between each detection channel and the driving electrode is combined, the self-capacitance to ground of each detection channel is compensated in real time, and the false triggering condition caused by the change of the environmental capacitance to the capacitive sensor can be reduced. And by respectively compensating the self capacitance to the ground of each detection channel, the compensation effect can be improved by considering the influence of the overall change of the parasitic capacitance between each detection channel and the driving electrode on the parasitic capacitance to the ground of each detection channel, the influence of the change of the environmental capacitance on the judgment of the human body approach condition or the touch condition can be effectively reduced, and the accuracy of the multi-channel capacitive touch sensor is improved.

A specific embodiment of a compensation device for self-capacitance data is described below. Referring to fig. 7, fig. 7 is a schematic structural diagram of a self-capacitance data compensation device according to an embodiment of the present application. The self-capacitance data compensation device can be applied to a multi-channel capacitive sensor, wherein the capacitive sensor comprises a plurality of detection channels and at least one driving channel;

the compensation means for self-capacitance data may include:

the acquisition module 701 is configured to acquire mutual capacitance data between the detection channels and the driving channels and self-capacitance data corresponding to each detection channel in different detection environments; the mutual capacitance data is the sum of parasitic capacitances between each detection channel and each driving channel;

a determining module 702, configured to determine compensation data according to the mutual capacitance data and the self-capacitance data;

the compensation module 703 is configured to compensate the current self-capacitance data of each detection channel based on the compensation data and the current mutual capacitance data, so as to obtain target self-capacitance data of each detection channel.

In some optional embodiments, the acquiring module is configured to acquire, in a first detection environment, first mutual capacitance data between each detection channel and each driving channel, and first self-capacitance data corresponding to each detection channel;

In some optional embodiments, the compensation module is configured to determine mutual capacitance change data according to the mutual capacitance data between the current detection channel and the driving channel and the first mutual capacitance data;

In some alternative embodiments, the determining module includes:

In some optional embodiments, the first obtaining submodule is configured to perform polynomial fitting processing on the mutual capacitance data and the self-capacitance data to obtain a fitted polynomial, where the fitted polynomial is used to reflect a nonlinear mapping relationship between the mutual capacitance data and the self-capacitance data;

In some alternative embodiments, the compensation module includes:

In some alternative embodiments, the polynomial includes a first non-constant term and a second non-constant term, the first non-constant term and the second non-constant term being different in degree;

In some alternative embodiments, any two of the different detection environments are in different temperature intervals;

a determination module, comprising:

In some optional embodiments, the second obtaining submodule is configured to perform polynomial fitting processing on mutual capacitance data and temperature in any one detection environment to obtain a fitted first polynomial, where the fitted first polynomial is used to reflect a linear mapping relationship between the mutual capacitance data and the temperature;

In some optional embodiments, the compensation module is configured to determine, as target compensation data, a compensation coefficient of a temperature interval in which the current mutual capacitance data is located;

In some optional embodiments, the acquiring module is configured to control the capacitive sensor to be in an unsensed state, control the capacitive sensor to be in a mutual capacitance working mode, and acquire parasitic capacitances between each detection channel and each driving channel in each detection environment;

In some optional embodiments, the acquiring module is configured to control the capacitive sensor to switch from the mutual capacitance working mode to the self-capacitance working mode, and control the voltage on the driving channel to be equal to the voltage on the detecting channel, so as to acquire parasitic capacitance of each detecting channel to ground, and obtain self-capacitance data corresponding to each detecting channel.

The present embodiment is an apparatus embodiment corresponding to the above-described method embodiment, and can be implemented in cooperation with the method embodiment. The related technical details mentioned in the method embodiment are still valid in this embodiment, and in order to reduce repetition, details are not repeated here. Accordingly, the related technical details mentioned in the present embodiment may also be applied in the method embodiment.

The embodiment of the application provides a capacitive sensor, as shown in fig. 5 and 6, the capacitive sensor may include: and the analog front-end module is connected with the multipath selection module and is used for outputting voltage proportional to the input capacitance. And the offset compensation module is connected with the analog front end module and is used for outputting voltage proportional to the second parasitic capacitance on the detection channel. The analog-to-digital conversion module is connected with the offset compensation module and is used for converting the output voltage of the analog front-end module into a digital code and outputting the digital code to the digital processing module. The digital processing module is connected with the analog-to-digital conversion module and is used for receiving the digital codes and transmitting the digital codes to the registering module. The register module is connected with the digital processing module. The control module is connected with the registering module and is used for controlling the capacitive sensor to implement the self-capacitance data compensation method; the multi-channel selection module is used for selecting the states of all channels in the multi-channel capacitive sensor based on the control instruction of the control module. At least one of the drive channels. And a plurality of detection channels, wherein parasitic capacitance is formed between each detection channel and each driving channel, and each detection channel pair forms parasitic capacitance.

The present embodiment is a sensor implementation corresponding to the above-described method implementation, and may be implemented in conjunction with the method implementation. The related technical details mentioned in the method implementation manner are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the related technical details mentioned in the present embodiment can also be applied in the method implementation.

The embodiment of the application provides a chip, which can comprise a circuit for executing the self-capacitance data compensation method.

The present embodiment is a chip implementation corresponding to the above method implementation, and may be implemented in cooperation with the method implementation. The related technical details mentioned in the method implementation manner are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the related technical details mentioned in the present embodiment can also be applied in the method implementation.

The embodiment of the application provides electronic equipment, which can comprise the chip.

The electronic device mentioned in the present application is described below. It will be appreciated that the electronic device may be any electronic device comprising the self-capacitance compensation means and/or the capacitive sensor described above. But are not limited to: a cell phone (including folding screen cell phones and tablet cell phones), a tablet computer, a desktop (desktop), a handheld computer, a notebook (laptop), an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook, a personal digital assistant (personal digital assistant tablet (portable android device, PAD), a personal digital process (personal digital assistant, PDA), a handheld device with wireless communication capabilities, a computing device, a vehicle-mounted device, or a wearable device, a Virtual Reality (VR) terminal device, an augmented reality (augmented reality, AR) terminal equipment, wireless terminals in industrial control (industrial control), wireless terminals in unmanned (self driving), wireless terminals in remote medical (remote media), wireless terminals in smart grid (smart grid), wireless terminals in transportation safety (transportation safety), wireless terminals in smart city (smart city), mobile terminals or fixed terminals such as wireless terminals in smart home (smart home), and electronic devices with data transmission synchronization requirements such as charger.

It should be noted that in the examples and descriptions of this patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

While the present application has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the present application.

Claims

1. A method of compensating self-capacitance data for a capacitive sensor, the capacitive sensor comprising a plurality of detection channels and at least one drive channel; the method comprises the following steps:

and compensating the current self-capacitance data of each detection channel based on the compensation data and the current mutual capacitance data between the detection channel and the driving channel, so as to obtain the target self-capacitance data of each detection channel.

2. The method according to claim 1, wherein obtaining mutual capacitance data between the detection channel and the driving channel and self-capacitance data corresponding to each detection channel under different detection environments includes:

the determining compensation data according to the mutual capacitance data and the self-capacitance data comprises the following steps:

and determining the compensation data according to the self-capacitance difference data and the mutual capacitance difference data.

3. The method of claim 2, wherein compensating the current self-capacitance data of each detection channel based on the compensation data and the mutual capacitance data between the current detection channel and the driving channel to obtain the target self-capacitance data of each detection channel, comprises:

determining mutual capacitance change data according to the current mutual capacitance data between the detection channel and the driving channel and the first mutual capacitance data;

4. The method of claim 1, wherein said determining compensation data from said mutual capacitance data and said self-capacitance data comprises:

acquiring a nonlinear mapping relation between the mutual capacitance data and the self-capacitance data;

and determining the compensation data according to the nonlinear mapping relation.

5. The method of claim 4, wherein the obtaining the nonlinear mapping between the mutual capacitance data and the self-capacitance data comprises:

the determining the compensation data according to the nonlinear mapping relation comprises the following steps:

and determining coefficients of at least one non-constant term of the fitted polynomial as the compensation data.

6. The method of claim 5, wherein compensating the current self-capacitance data of each detection channel based on the compensation data and the mutual capacitance data between the current detection channel and the driving channel to obtain the target self-capacitance data of each detection channel, comprising:

7. The method of claim 6, wherein the polynomial includes a first non-constant term and a second non-constant term, the first non-constant term and the second non-constant term being different in degree;

the determining coefficients of at least one non-constant term of the fitted polynomial as the compensation data comprises:

taking coefficients of the first non-constant term in the fitted polynomial as first compensation data and taking coefficients of the second non-constant term in the fitted polynomial as second compensation data;

the determining second target compensation data according to the compensation data and the mutual capacitance change data comprises the following steps:

and determining the second target compensation data according to the first sub-target compensation data, the second sub-target compensation data and the third sub-target compensation data.

8. The method of claim 1, wherein any two of the different detection environments are in different temperature intervals;

for any one of the different detection environments, acquiring a first linear mapping relation between the mutual capacitance data and the temperature in the any one detection environment, and determining third compensation data of a temperature interval corresponding to the any one detection environment based on the first linear mapping relation;

acquiring a second linear mapping relation between the self-capacitance data and the temperature in any one detection environment, and determining fourth compensation data of a temperature interval corresponding to the any one detection environment based on the second linear mapping relation;

9. The method of claim 8, wherein the obtaining the first linear mapping relationship between the mutual capacitance data and the temperature in the any one of the detection environments, and determining the third compensation data of the temperature interval corresponding to the any one of the detection environments based on the first linear mapping relationship, comprises:

performing polynomial fitting processing on the mutual capacitance data and the temperature in any detection environment to obtain a fitted first polynomial, wherein the fitted first polynomial is used for reflecting a linear mapping relation between the mutual capacitance data and the temperature;

taking non-constant term coefficients in the first polynomial as the third compensation data;

the obtaining the second linear mapping relation between the self-capacitance data and the temperature in the arbitrary detection environment, and determining fourth compensation data of a temperature interval corresponding to the arbitrary detection environment based on the second linear mapping relation includes:

Performing polynomial fitting processing on the self-capacitance data and the temperature in any detection environment to obtain a fitted second polynomial, wherein the fitted second polynomial is used for reflecting a linear mapping relation between the self-capacitance data and the temperature;

and taking non-constant term coefficients of the second polynomial as the fourth compensation data.

10. The method of claim 9, wherein compensating the current self-capacitance data of each detection channel based on the compensation data and the mutual capacitance data between the current detection channel and the driving channel to obtain the target self-capacitance data of each detection channel, comprises:

determining a compensation coefficient of a temperature interval where the current mutual capacitance data is located as target compensation data;

11. The method of claim 1, wherein the acquiring mutual capacitance data between the detection channel and the drive channel under different detection environments comprises:

and determining mutual capacitance data between the detection channels and the driving channels according to parasitic capacitance between the detection channels and the driving channels.

12. The method of claim 11, wherein obtaining self-capacitance data corresponding to each of the detection channels under different detection environments comprises:

and controlling the capacitive sensor to switch from the mutual capacitance working mode to the self-capacitance working mode, controlling the voltage on the driving channel to be equal to the voltage on the detection channel, and obtaining parasitic capacitance of each detection channel to the ground to obtain self-capacitance data corresponding to each detection channel.

13. A self-capacitance data compensation device, wherein the self-capacitance data compensation device is applied to a capacitive sensor, and the capacitive sensor comprises a plurality of detection channels and at least one driving channel;

the compensation device of self-capacitance data includes:

the acquisition module is used for acquiring mutual capacitance data between the detection channels and the driving channels and self-capacitance data corresponding to the detection channels under different detection environments; the mutual capacitance data is the sum of parasitic capacitances between each detection channel and each driving channel;

and the compensation module is used for compensating the current self-capacitance data of each detection channel based on the compensation data and the current mutual capacitance data to obtain target self-capacitance data of each detection channel.

14. A capacitive sensor, comprising:

a control module for controlling the capacitive sensor to implement the method of compensating for self-capacitance data according to any one of claims 1 to 12;

At least one of the drive channels;

and a plurality of detection channels, wherein parasitic capacitance is arranged between each detection channel and each driving channel, and each detection channel pair forms parasitic capacitance.

15. A chip comprising circuitry for performing the method of compensating for self-capacitance data according to any of claims 1-12.

16. An electronic device comprising a chip having the capacitive sensor of any one of claims 1-12 formed therein.