CN111475441B - Identification head control method, control system and readable storage medium - Google Patents
Identification head control method, control system and readable storage medium Download PDFInfo
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- CN111475441B CN111475441B CN201910068798.6A CN201910068798A CN111475441B CN 111475441 B CN111475441 B CN 111475441B CN 201910068798 A CN201910068798 A CN 201910068798A CN 111475441 B CN111475441 B CN 111475441B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/382—Information transfer, e.g. on bus using universal interface adapter
- G06F13/385—Information transfer, e.g. on bus using universal interface adapter for adaptation of a particular data processing system to different peripheral devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4063—Device-to-bus coupling
- G06F13/4068—Electrical coupling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/61—Installation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/14—Direct-mode setup
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application discloses a recognition head control method, a control system and a readable storage medium, wherein the method comprises the following steps: detecting the power supply mode of the identification head; judging whether the power supply mode is a wired power supply mode or not; if yes, adopting a wired transmission mode to transmit data; if not, adopting a wireless transmission mode to transmit data. According to the identification head control method, the identification head control system and the storage medium provided by the application, after the identification head is inserted into the battery, a user can directly judge that the system is in a wireless transmission mode, and directly judge that the system is in a wired mode when a data line is inserted, so that the process of selecting functions of a user in a burning host is reduced, and the experience of the user is improved. In addition, the application increases the judgment of current voltage and data transmission during judgment, and increases the accuracy of mode judgment and switching.
Description
Technical Field
The present application relates to the field of device control, and more particularly, to an identification head control method, an identification head control system, and a storage medium.
Background
Consumable chips for printers (laser printers, inkjet printers or multifunctional integrated machines) which store information about printing consumable cartridges (ink cartridges, cartridge, etc.), the main functions of which are for identification and recording of usage status.
The chip often needs to be put into the main body for power-on operation after programming, and when the batch programming operation of the chip is performed, an independent chip programming system needs to be designed, and the system generally consists of a host and a programming head (also called an identification head and a test head). The host is used for storing data or programs, and the test head comprises a probe and is used for programming the data or programs sent by the host into the chip. The chip is generally designed with a programming end point, and when the probe of the programming head contacts the programming point of the chip, data or programs can be programmed into the chip.
However, at present, the identification head and the host in the burning device are connected through a data line, and wired transmission is adopted. Because of the existence of the data line, the recording is often inconvenient in the recording process, and the recording heads are required to be frequently plugged and unplugged under the condition that a plurality of recording heads with different types exist. How to use wireless transmission mode to burn data is urgent to be solved.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present application proposes an identification head control method, an identification head control system and a storage medium.
In order to achieve the above object, the technical scheme of the present application is as follows:
the first aspect of the application discloses a recognition head control method, which comprises the following steps:
detecting the power supply mode of the identification head;
judging whether the power supply mode is a wired power supply mode or not;
if yes, adopting a wired transmission mode to transmit data; if not, adopting a wireless transmission mode to transmit data.
In this scheme, detect the identification head power supply mode specifically includes:
detecting the voltage and/or current of the power supply to obtain a detection value;
if the detection value of the voltage and/or the current is in the preset range of the wired transmission mode, determining the detection value as a wired power supply mode;
and if the detection value of the voltage and/or the current is in the range preset by the wireless transmission mode, determining the wireless power supply mode.
In this scheme, detect the identification head power supply mode specifically includes:
in the power-on mode, detecting whether the data interface has external data transmission or not;
if the external data transmission exists, determining a wired power supply mode; if no external data is transmitted, the wireless power supply mode is determined.
In this scheme, after the data transmission is performed by adopting the wireless transmission mode, the method further includes:
performing wireless pairing and performing wireless connection with the identification host;
and transmitting the device identification information of the device to the identification host.
In this scheme, still include:
when the wireless transmission mode is adopted for data transmission, receiving an instruction for switching the wired transmission mode;
detecting whether the data transmitted by the wire exists in the wire transmission mode;
if yes, switching to a wired transmission mode; if not, alarming and reminding are carried out.
The second aspect of the present application also provides an identification head control system, comprising: the device comprises a memory and a processor, wherein the memory comprises an identification head control method program, and the identification head control method program realizes the following steps when being executed by the processor:
detecting the power supply mode of the identification head;
judging whether the power supply mode is a wired power supply mode or not;
if yes, adopting a wired transmission mode to transmit data; if not, adopting a wireless transmission mode to transmit data.
In this scheme, detect the identification head power supply mode specifically includes:
detecting the voltage and/or current of the power supply to obtain a detection value;
if the detection value of the voltage and/or the current is in the preset range of the wired transmission mode, determining the detection value as a wired power supply mode;
and if the detection value of the voltage and/or the current is in the range preset by the wireless transmission mode, determining the wireless power supply mode.
In this scheme, detect the identification head power supply mode specifically includes:
in the power-on mode, detecting whether the data interface has external data transmission or not;
if the external data transmission exists, determining a wired power supply mode; if no external data is transmitted, the wireless power supply mode is determined.
In this scheme, after the data transmission is performed by adopting the wireless transmission mode, the method further includes:
performing wireless pairing and performing wireless connection with the identification host;
and transmitting the device identification information of the device to the identification host.
A third aspect of the present application discloses a computer-readable storage medium, in which a head control method program is included, which, when executed by a processor, implements the steps of the head control method according to any one of the above.
According to the identification head control method, the identification head control system and the storage medium provided by the application, after the identification head is inserted into the battery, a user can directly judge that the system is in a wireless transmission mode, and directly judge that the system is in a wired mode when a data line is inserted, so that the process of selecting functions of a user in a burning host is reduced, and the experience of the user is improved. In addition, the application increases the judgment of current voltage and data transmission during judgment, and increases the accuracy of mode judgment and switching.
Drawings
FIG. 1 is a schematic diagram showing a structure of a prior art recording apparatus;
FIG. 2 shows a schematic diagram of the structure of the identification head of the present application;
FIG. 3 is a flow chart of a method of identification head control of the present application;
fig. 4 shows a schematic diagram of an identification head control system according to the present application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
Fig. 1 shows a schematic diagram of a prior art burning apparatus.
As shown in fig. 1, the recording device of the present application includes a recording host 21 and an identification head 22, and further includes a recording point card 23 for storing the recording times (the recording point card may be set as a peripheral device or may be set inside the recording host). The burning host is used for storing data or programs, and the test head comprises a probe and is used for burning the data or programs sent by the host into the chip. The chip is generally designed with a programming end point, and when the probe of the programming head contacts the programming point of the chip, data or programs can be programmed into the chip. The recording host and the identification head of the recording device shown in fig. 1 are connected by a data line, that is, a wired manner is adopted for data communication and recording.
Fig. 2 shows a schematic structural diagram of the identification head of the present application.
As shown in fig. 2, the battery module 221 is inserted into the identification head 22, and the identification head is preset with a data interface and/or a power interface. When a data interface is employed, the battery module may be plugged into the data interface to provide identification head power. When a power interface is used, the battery module can be plugged into the power interface to supply power. The power interface and the data interface can be set according to actual needs by a person skilled in the art, and can be set independently or can be set in a combined mode.
Fig. 3 shows a flow chart of a method of controlling an identification head according to the present application.
As shown in fig. 3, a first aspect of the present application discloses a method for controlling an identification head, including:
s302, detecting the power supply mode of the identification head;
s304, judging whether the power supply mode is a wired power supply mode or not;
s306, if yes, adopting a wired transmission mode to perform data transmission; if not, adopting a wireless transmission mode to transmit data.
It should be noted that, the identification head or the burning host determines the power supply mode of the identification head, and then selects different data transmission modes according to the power supply mode. If the user inserts the battery module into the identification head, the identification head can identify that the user will burn and transmit data in a wireless transmission mode. If the user inserts the data line into the identification head and connects to the burning host, the data burning and transmission will be performed by wired mode. The wireless transmission mode includes: one or more of Bluetooth, RF, infrared, radio frequency and zigbee can be adopted to perform data transmission in other wireless manners, which are within the scope of the present application.
According to an embodiment of the present application, the detecting the power supply mode of the identification head specifically includes:
detecting the voltage and/or current of the power supply to obtain a detection value;
if the detection value of the voltage and/or the current is in the preset range of the wired transmission mode, determining the detection value as a wired power supply mode;
and if the detection value of the voltage and/or the current is in the range preset by the wireless transmission mode, determining the wireless power supply mode.
When the power supply mode is detected, the detection module in the identification head can detect the voltage or the current, and can determine the data transmission mode according to the current or the voltage. Often, the voltage of the MCU in the identification head is lower, and a 5v or 3v processor is often adopted, and the voltage of 12v and 5v can be used for the power supply end of the burning identification device. Therefore, the power supply mode of the identification head can be determined by detecting the magnitude of the current or the voltage. For example, when a wired transmission mode is adopted, the voltage provided by the burning device to the identification head is about 5v, so that the wired transmission mode is adopted when the preset voltage range is set to be 4.7-5.3 v; when wireless transmission is adopted, a battery module is adopted for power supply, and the voltage range can be set to be 1.5-4.5v. When the voltage of the detected power supply is 3v, determining a wireless transmission mode; when the voltage of the detected power supply is 5v, the wired transmission mode is determined. Those skilled in the art can also detect the transmission mode according to the current range, and the application is not repeated.
According to an embodiment of the present application, the detecting the power supply mode of the identification head specifically includes:
in the power-on mode, detecting whether the data interface has external data transmission or not;
if the external data transmission exists, determining a wired power supply mode; if no external data is transmitted, the wireless power supply mode is determined.
It should be noted that, the present application not only can select the power supply mode by the power supply mode, but also can judge by the data transmission of the data interface. Because the wire transmission mode is adopted for power supply and data transmission, data transmission can be generated in the data interface, and high-low level data signals can be generated; and when the battery module is used for supplying power, no data signal exists at the data interface. By detecting whether a data signal is present it is possible to determine what transmission mode is used. In the power-on mode, detecting whether the data interface has external data transmission or not; if the external data transmission exists, determining a wired power supply mode; if no external data is transmitted, the wireless power supply mode is determined.
According to an embodiment of the present application, after the data transmission is performed by adopting the wireless transmission manner, the method further includes: performing wireless pairing and performing wireless connection with the identification host; and transmitting the device identification information of the device to the identification host.
After the wireless transmission mode is determined, the identification head can be directly in wireless pairing with the identification host to complete wireless connection with the identification host due to the supply of power. And then the self equipment identification information is sent to the identification host, so that the identification host can conveniently manage the identification head. The identification heads are designed for different types of chips separately, so that a plurality of identification heads exist, and each identification head corresponds to different equipment identification information.
Preferably, the method further comprises: identifying the host to receive the function information and the model information; inquiring the equipment identification information of the paired identification heads; if the function information is matched with the model information, sending data to an identification head; and if the two types of information are not matched, alarming is carried out.
It should be noted that, when the user uses, the user can choose to identify the light management series chip mode. After the function information and the model information are received, the identification host queries the identification information of the paired identification head to see whether the identification function of the light management series chip can be met, and if so, data connection is established with the identification head; if not, a warning message is sent to remind the user that the function cannot be met.
According to an embodiment of the present application, further comprising:
when the wireless transmission mode is adopted for data transmission, receiving an instruction for switching the wired transmission mode;
detecting whether the data transmitted by the wire exists in the wire transmission mode;
if yes, switching to a wired transmission mode; if not, alarming and reminding are carried out.
After the identification head is inserted into the battery module, data transmission can be performed by a wireless transmission mode or by a wired transmission mode. Of course, in this case, it is necessary to additionally provide a data line interface in the battery or the identification head. When adopting a wireless transmission mode to carry out data transmission, a user selects a wired mode for transmission at the identification host, and receives an instruction of switching a wired transmission mode; detecting whether the data transmitted by the wire exists in the wire transmission mode; if yes, switching to a wired transmission mode; if not, alarming and reminding are carried out.
Fig. 4 shows a block diagram of an identification head control system of the present application.
As shown in fig. 4, the second aspect of the present application further provides an identification head control system, the system comprising: a memory 41, a processor 42, the memory including a recognition head control method program, which when executed by the processor, implements the steps of:
detecting the power supply mode of the identification head;
judging whether the power supply mode is a wired power supply mode or not;
if yes, adopting a wired transmission mode to transmit data; if not, adopting a wireless transmission mode to transmit data.
It should be noted that, the identification head or the burning host determines the power supply mode of the identification head, and then selects different data transmission modes according to the power supply mode. If the user inserts the battery module into the identification head, the identification head can identify that the user will burn and transmit data in a wireless transmission mode. If the user inserts the data line into the identification head and connects to the burning host, the data burning and transmission will be performed by wired mode. The wireless transmission mode includes: one or more of Bluetooth, RF, infrared, radio frequency and zigbee can be adopted to perform data transmission in other wireless manners, which are within the scope of the present application.
According to an embodiment of the present application, the detecting the power supply mode of the identification head specifically includes:
detecting the voltage and/or current of the power supply to obtain a detection value;
if the detection value of the voltage and/or the current is in the preset range of the wired transmission mode, determining the detection value as a wired power supply mode;
and if the detection value of the voltage and/or the current is in the range preset by the wireless transmission mode, determining the wireless power supply mode.
When the power supply mode is detected, the detection module in the identification head can detect the voltage or the current, and can determine the data transmission mode according to the current or the voltage. Often, the voltage of the MCU in the identification head is lower, and a 5v or 3v processor is often adopted, and the voltage of 12v and 5v can be used for the power supply end of the burning identification device. Therefore, the power supply mode of the identification head can be determined by detecting the magnitude of the current or the voltage. For example, when a wired transmission mode is adopted, the voltage provided by the burning device to the identification head is about 5v, so that the wired transmission mode is adopted when the preset voltage range is set to be 4.7-5.3 v; when wireless transmission is adopted, a battery module is adopted for power supply, and the voltage range can be set to be 1.5-4.5v. When the voltage of the detected power supply is 3v, determining a wireless transmission mode; when the voltage of the detected power supply is 5v, the wired transmission mode is determined. Those skilled in the art can also detect the transmission mode according to the current range, and the application is not repeated.
According to an embodiment of the present application, the detecting the power supply mode of the identification head specifically includes:
in the power-on mode, detecting whether the data interface has external data transmission or not;
if the external data transmission exists, determining a wired power supply mode; if no external data is transmitted, the wireless power supply mode is determined.
It should be noted that, the present application not only can select the power supply mode by the power supply mode, but also can judge by the data transmission of the data interface. Because the wire transmission mode is adopted for power supply and data transmission, data transmission can be generated in the data interface, and high-low level data signals can be generated; and when the battery module is used for supplying power, no data signal exists at the data interface. By detecting whether a data signal is present it is possible to determine what transmission mode is used. In the power-on mode, detecting whether the data interface has external data transmission or not; if the external data transmission exists, determining a wired power supply mode; if no external data is transmitted, the wireless power supply mode is determined.
According to an embodiment of the present application, after the data transmission is performed by adopting the wireless transmission manner, the method further includes: performing wireless pairing and performing wireless connection with the identification host; and transmitting the device identification information of the device to the identification host.
After the wireless transmission mode is determined, the identification head can be directly in wireless pairing with the identification host to complete wireless connection with the identification host due to the supply of power. And then the self equipment identification information is sent to the identification host, so that the identification host can conveniently manage the identification head. The identification heads are designed for different types of chips separately, so that a plurality of identification heads exist, and each identification head corresponds to different equipment identification information.
Preferably, the method further comprises: identifying the host to receive the function information and the model information; inquiring the equipment identification information of the paired identification heads; if the function information is matched with the model information, sending data to an identification head; and if the two types of information are not matched, alarming is carried out.
It should be noted that, when the user uses, the user can choose to identify the light management series chip mode. After the function information and the model information are received, the identification host queries the identification information of the paired identification head to see whether the identification function of the light management series chip can be met, and if so, data connection is established with the identification head; if not, a warning message is sent to remind the user that the function cannot be met.
According to an embodiment of the present application, further comprising:
when the wireless transmission mode is adopted for data transmission, receiving an instruction for switching the wired transmission mode;
detecting whether the data transmitted by the wire exists in the wire transmission mode;
if yes, switching to a wired transmission mode; if not, alarming and reminding are carried out.
After the identification head is inserted into the battery module, data transmission can be performed by a wireless transmission mode or by a wired transmission mode. Of course, in this case, it is necessary to additionally provide a data line interface in the battery or the identification head. When adopting a wireless transmission mode to carry out data transmission, a user selects a wired mode for transmission at the identification host, and receives an instruction of switching a wired transmission mode; detecting whether the data transmitted by the wire exists in the wire transmission mode; if yes, switching to a wired transmission mode; if not, alarming and reminding are carried out.
A third aspect of the present application discloses a computer-readable storage medium, in which a head control method program is included, which, when executed by a processor, implements the steps of the head control method according to any one of the above.
According to the identification head control method, the identification head control system and the storage medium provided by the application, after the identification head is inserted into the battery, a user can directly judge that the system is in a wireless transmission mode, and directly judge that the system is in a wired mode when a data line is inserted, so that the process of selecting functions of a user in a burning host is reduced, and the experience of the user is improved. In addition, the application increases the judgment of current voltage and data transmission during judgment, and increases the accuracy of mode judgment and switching.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present application may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (5)
1. An identification head control method, characterized by comprising:
detecting the power supply mode of the identification head;
judging whether the power supply mode is a wired power supply mode or not;
if yes, adopting a wired transmission mode to transmit data; if not, adopting a wireless transmission mode to transmit data;
after the data transmission is performed by adopting the wireless transmission mode, the method further comprises the following steps:
performing wireless pairing and performing wireless connection with the identification host;
transmitting the self equipment identification information to an identification host;
further comprises:
when the wireless transmission mode is adopted for data transmission, receiving an instruction for switching the wired transmission mode;
detecting whether the data transmitted by the wire exists in the wire transmission mode;
if yes, switching to a wired transmission mode; if not, alarming and reminding are carried out;
the detecting the power supply mode of the identification head power supply specifically comprises the following steps:
detecting the voltage and/or current of the power supply to obtain a detection value;
if the detection value of the voltage and/or the current is in the preset range of the wired transmission mode, determining the detection value as a wired power supply mode;
and if the detection value of the voltage and/or the current is in the range preset by the wireless transmission mode, determining the wireless power supply mode.
2. The method for controlling an identification head according to claim 1, wherein the detecting the power supply mode of the identification head specifically includes:
in the power-on mode, detecting whether the data interface has external data transmission or not;
if the external data transmission exists, determining a wired power supply mode; if no external data is transmitted, the wireless power supply mode is determined.
3. An identification head control system, the system comprising: the device comprises a memory and a processor, wherein the memory comprises an identification head control method program, and the identification head control method program realizes the following steps when being executed by the processor:
detecting the power supply mode of the identification head;
judging whether the power supply mode is a wired power supply mode or not;
if yes, adopting a wired transmission mode to transmit data; if not, adopting a wireless transmission mode to transmit data;
after the data transmission is performed by adopting the wireless transmission mode, the method further comprises the following steps:
performing wireless pairing and performing wireless connection with the identification host;
transmitting the self equipment identification information to an identification host;
further comprises:
when the wireless transmission mode is adopted for data transmission, receiving an instruction for switching the wired transmission mode;
detecting whether the data transmitted by the wire exists in the wire transmission mode;
if yes, switching to a wired transmission mode; if not, alarming and reminding are carried out;
the detecting the power supply mode of the identification head power supply specifically comprises the following steps:
detecting the voltage and/or current of the power supply to obtain a detection value;
if the detection value of the voltage and/or the current is in the preset range of the wired transmission mode, determining the detection value as a wired power supply mode;
and if the detection value of the voltage and/or the current is in the range preset by the wireless transmission mode, determining the wireless power supply mode.
4. A recognition head control system according to claim 3, wherein said detecting the power supply mode of the recognition head specifically comprises:
in the power-on mode, detecting whether the data interface has external data transmission or not;
if the external data transmission exists, determining a wired power supply mode; if no external data is transmitted, the wireless power supply mode is determined.
5. A computer-readable storage medium, characterized in that a head control method program is included in the computer-readable storage medium, which, when executed by a processor, implements the steps of the head control method according to any one of claims 1 to 2.
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