WO2024002191A1 - 运动状态确定方法、装置、电子设备和可读存储介质 - Google Patents
运动状态确定方法、装置、电子设备和可读存储介质 Download PDFInfo
- Publication number
- WO2024002191A1 WO2024002191A1 PCT/CN2023/103362 CN2023103362W WO2024002191A1 WO 2024002191 A1 WO2024002191 A1 WO 2024002191A1 CN 2023103362 W CN2023103362 W CN 2023103362W WO 2024002191 A1 WO2024002191 A1 WO 2024002191A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- value
- coordinate axis
- electronic device
- spatial
- motion
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 99
- 230000001133 acceleration Effects 0.000 claims abstract description 115
- 230000005484 gravity Effects 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 3
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 12
- 239000000969 carrier Substances 0.000 description 11
- 238000004364 calculation method Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000000354 decomposition reaction Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000699670 Mus sp. Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/003—Kinematic accelerometers, i.e. measuring acceleration in relation to an external reference frame, e.g. Ferratis accelerometers
Definitions
- This application belongs to the field of artificial intelligence technology, and specifically relates to a motion state determination method, device, electronic equipment and readable storage medium.
- electronic devices can automatically identify the travel scene the user is in, and intelligently push some messages to the user according to the travel scene, adjust some parameters of the electronic device, etc., to provide users with more convenience. For example, in a scenario where a user is flying on an airplane, the electronic device that the user carries at all times can detect that the user is currently in a flying airplane and can turn off some functions in the electronic device to reduce the power consumption of the electronic device and extend the battery life.
- the purpose of the embodiments of the present application is to provide a motion state determination method that can solve the problem that the method for detecting the motion state of a moving carrier is not universal.
- embodiments of the present application provide a method for determining a motion state, which method includes: acquiring the motion acceleration of an electronic device; acquiring the three-dimensional spatial values of the motion acceleration in different directions in the geographical environment; and according to the motion acceleration The three-dimensional space values in different directions in the geographical environment and the target parameters corresponding to the target carrier where the electronic device is located determine the motion state of the target carrier.
- inventions of the present application provide a device for determining a motion state.
- the device includes: a first acquisition module for acquiring the motion acceleration of an electronic device; and a second acquisition module for acquiring the motion acceleration in a geographical environment. three-dimensional space values in different directions; first A determination module configured to determine the motion state of the target carrier based on the three-dimensional spatial values of the motion acceleration in different directions in the geographical environment and the target parameters corresponding to the target carrier where the electronic device is located.
- inventions of the present application provide an electronic device.
- the electronic device includes a processor and a memory.
- the memory stores programs or instructions that can be run on the processor.
- the programs or instructions are processed by the processor.
- the processor is executed, the steps of the method described in the first aspect are implemented.
- embodiments of the present application provide a readable storage medium.
- Programs or instructions are stored on the readable storage medium.
- the steps of the method described in the first aspect are implemented. .
- inventions of the present application provide a chip.
- the chip includes a processor and a communication interface.
- the communication interface is coupled to the processor.
- the processor is used to run programs or instructions to implement the first aspect. the method described.
- embodiments of the present application provide a computer program product, the program product is stored in a storage medium, and the program product is executed by at least one processor to implement the method as described in the first aspect.
- embodiments of the present application provide an electronic device configured to perform the method described in the first aspect.
- the motion acceleration of the electronic device is first obtained, and then combined with the different directions of the geographical environment, the motion acceleration is decomposed into various directions. , and then determine the motion state of the target carrier based on the three-dimensional space values in each direction and combined with the target parameters corresponding to the target carrier.
- the motion state of the carrier can be determined by obtaining corresponding parameters based on different carriers, making the method for detecting the motion state of the moving carrier universal; on this basis, The motion acceleration of the electronic device is decomposed into the direction of the geographical environment for calculation, so that the motion of the electronic device relative to the geographical environment can be obtained, eliminating some interference factors, and thus determining the motion state with high accuracy.
- Figure 1 is a flow chart of a motion state determination method according to an embodiment of the present application.
- Figures 2 to 4 are schematic diagrams illustrating the motion state determination method according to the embodiment of the present application.
- Figure 6 is one of the schematic diagrams of the hardware structure of the electronic device according to the embodiment of the present application.
- FIG. 7 is a second schematic diagram of the hardware structure of the electronic device according to the embodiment of the present application.
- the execution subject of the motion state determination method provided by the embodiment of the present application may be the motion state determination device provided by the embodiment of the present application, or an electronic device integrating the motion state determination device, wherein the motion state determination device may adopt hardware or software. way to achieve.
- the application scenario of this application is that the user carries the electronic device in a moving carrier.
- the moving carriers are cars, high-speed rails, airplanes, elevators, etc.
- the motion state of the moving carrier is determined based on the corresponding data generated in the electronic device in the moving carrier when a sudden change occurs in the moving carrier. For example, the moving carrier starts to move from a standstill, thereby determining the accelerated motion state of the moving carrier based on the acceleration data detected by the electronic device. Further, according to the motion state of the motion carrier, the travel scene where the user is currently located is identified. Therefore, in this application, a method that can determine the motion state of a moving carrier is proposed.
- the motion acceleration of the electronic device is first obtained.
- the motion acceleration of the electronic device in real time. Instead, it is combined with some ticket information, time information, navigation information, etc. in the electronic device, and uses the effective content therein to determine the user's movement.
- the motion acceleration of the electronic device may be in a travel scene, so that the motion acceleration of the electronic device is obtained only during the period when the user may be in a travel scene, and the motion state of the motion carrier is determined based on the motion acceleration, thereby accurately identifying the travel scene the user is in.
- the process of identifying the travel scene in which the user is located combined with the movement rules, first determine the acceleration state (or take-off state, etc.) of the moving carrier, and then determine the deceleration state (or landing state, etc.) of the moving carrier.
- Step 120 Obtain the three-dimensional spatial values of motion acceleration in different directions in the geographical environment.
- the acquired motion acceleration of the electronic device is directional, and the direction is based on the placement position of the electronic device as a reference.
- the original value of motion acceleration collected by the sensor of the electronic device can only reflect changes in the motion state of the electronic device itself, but cannot reflect changes in the motion state of the external carrier on which the electronic device is located.
- the car accelerates, and the electronic device accelerates along with the car.
- the motion acceleration collected by the sensor can reflect: the acceleration of the electronic device in the direction in which its top extends, and the vertical acceleration of the electronic device in the direction in which its top extends. ,etc. But it doesn't reflect how the car accelerates.
- the electronic device shaking in the car may produce motion acceleration. Therefore, it is not possible to accurately determine that the car is accelerating solely through the acceleration of the electronic device.
- the motion acceleration is decomposed into various directions based on several different directions in the geographical environment.
- the motion acceleration collected by the sensor of the electronic device can be converted
- the analysis is carried out in the direction of the geographical environment, and the direction of the geographical environment is fixed, so that interfering factors such as the placement of electronic equipment and the shaking of electronic equipment can be eliminated.
- Step 130 Determine the motion state of the target carrier based on the three-dimensional spatial values of the motion acceleration in different directions in the geographical environment and the target parameters corresponding to the target carrier where the electronic device is located.
- the motion states determined in this embodiment include acceleration motion state, deceleration motion state, take-off motion state, landing motion state, ascending motion state, descending motion state, starting motion state, parking motion state, and so on.
- a motion carrier corresponds to a parameter set combine.
- determining the motion state of a car when determining the motion state of a car, it corresponds to a parameter set; when determining the motion state of an airplane, it corresponds to a parameter set.
- the target parameter of this step is a parameter set.
- the parameter set of a motion carrier can be further divided into: one state corresponds to a set of parameters.
- the acceleration state of a car corresponds to a set of parameters; another example, the deceleration state of a car corresponds to a set of parameters.
- a motion carrier and a corresponding motion state are regarded as a task, and a task corresponds to a set of parameters.
- the target parameter of this step is a set of parameters.
- multiple sets of parameters corresponding to all motion states of a motion carrier constitute the parameter set of the motion carrier.
- a unified formula is used, the three-dimensional space value and the target parameter are used as input, and the output result is obtained through formula calculation.
- w 1 , w 2 , w 3 , and b are a set of parameters in the formula, such as target parameters, f1 to f9 are used to represent the input three-dimensional space values, and result t is used to represent the output result.
- the output result may be a numerical value. According to the numerical range to which the numerical value belongs and the corresponding relationship between the numerical range and the motion state, the motion state of the motion carrier (such as the target carrier) is determined.
- the motion state of the carrier can be determined by obtaining corresponding parameters based on different carriers, making the method for detecting the motion state of the moving carrier universal; on this basis, The motion acceleration of the electronic device is decomposed into the direction of the geographical environment for calculation, so that the motion of the electronic device relative to the geographical environment can be obtained, eliminating some interference factors, and thus determining the motion state with high accuracy.
- a first coordinate system is established, in which any point on the screen of the electronic device 201 is used as the coordinate origin O1 , and the direction perpendicular to the screen is the Z-axis (the first coordinate axis) , parallel to the short side of the screen is the X-axis (the second coordinate axis), and parallel to the long side of the screen is the Y-axis (the third coordinate axis).
- the posture of the electronic device is used as a reference to decompose the motion acceleration to obtain each spatial value.
- each spatial value is decomposed in different directions in the geographical environment to obtain different spatial values in each geographical environment.
- the subspace value in the direction can be used to convert the motion acceleration of the electronic device into the geographical environment, and the motion state of the electronic device relative to the geographical environment can be determined, and then the motion state of the moving carrier where the electronic device is located can be accurately determined.
- this embodiment can achieve a more refined decomposition effect to ensure high accuracy in determining the state in this embodiment.
- step A3 includes:
- a second coordinate system is established based on the directions of the magnetic field in the geographical environment, that is, the four directions of southeast, northwest, and southeast, and the direction of gravity in the geographical environment.
- the coordinate origins of the first coordinate system and the second coordinate system can be made to coincide.
- Sub-step B2 Obtain the projection of the first spatial value on the fourth coordinate axis, the projection of the first spatial value on the fifth coordinate axis, the projection of the first spatial value on the sixth coordinate axis, and the projection of the second spatial value on Projection on the fourth coordinate axis, projection of the second space value on the fifth coordinate axis, projection of the second space value on the sixth coordinate axis, projection of the third space value on the fourth coordinate axis, third space The projection of the value on the fifth coordinate axis, and the projection of the third space value on the sixth coordinate axis.
- the projection of the first spatial value (the spatial value of the motion acceleration on the Z axis) on the E axis is Z E
- the second spatial value the spatial value of the motion acceleration on the X axis
- the projection on the E-axis is X E
- the projection of the third spatial value (the spatial value of motion acceleration on the Y-axis) on the E-axis is Y E .
- nine eigenfactors are constructed to represent these nine projections.
- f1 is used to represent X E
- f2 is used to represent Y E
- f3 is used to represent Z E
- f4 is used to represent X N
- f5 is used to represent Y N
- f6 is used to represent Z N
- f7 is used to represent X G
- f8 is used to represent Y G
- f9 is used to represent Z G .
- (f1+f2+f3) is used to represent the spatial value of motion acceleration on the E-axis
- (f4+f5+f6) is used to represent the spatial value of motion acceleration on the N-axis
- (f7+f8+f9) is used Yu represents the spatial value of motion acceleration on the G axis.
- the values in the first coordinate system established based on the electronic device are converted to the second coordinate system established based on the geographical environment, so that the final decomposed motion acceleration can be realized.
- the motion acceleration to be obtained integrates environmental factors such as gravity and magnetic field, so that the violent and regular motion state of the motion carrier during the motion can be accurately determined, and the travel scene in which the user is located can be accurately identified.
- step 120 includes:
- Sub-step C1 Obtain the gravity acceleration value and magnetic field sensor value of the electronic device.
- g 1 , g 2 , and g 3 are respectively used to represent the spatial values of the gravity acceleration value in the three directions of XYZ in the first coordinate system.
- Sub-step C2 Obtain the three-dimensional spatial values of motion acceleration in different directions in the geographical environment based on the gravity acceleration value and magnetic field sensor value of the electronic device.
- 1, 2, and 3 are respectively used to represent the three directions of XYZ in the first coordinate system.
- the method before step 130, the method further includes:
- Step D1 Determine the target parameters corresponding to the target carrier based on the motion data of the target carrier and combined with the output second target value.
- w 1 , w 2 , w 3 , and b are parameters in the formula, and a group of w 1 , w 2 , w 3 , and b are parameters corresponding to a task.
- the parameters corresponding to the task need to be determined in advance for the task.
- the target carrier determines the target parameters corresponding to the target motion state of the target carrier.
- the electronic device ensures that the electronic device is located in the target carrier, control the movement of the target carrier to enter the target motion state, obtain the motion acceleration while the target carrier is in the target motion state, and decompose it to obtain the corresponding nine characteristic factors.
- the characteristic factors are input into a unified formula, and an output result is preset at the same time, and the target parameters in the formula are finally obtained.
- multiple sets of data can be input to adjust the target parameters to obtain the final target parameters.
- the second target value may be a value greater than a certain threshold, such as greater than one. Specifically, the second target value is "1.5".
- the motion data in this step includes motion acceleration.
- x a , x b , and x c are all used to represent simplified known quantities.
- the squared distance of each sample can be calculated and finally summed, see Formula 2:
- M equal to zero is an ideal state, that is, when M equals zero, the determined target parameters are optimal.
- M considering noise and other interference factors, it is almost impossible for M to be zero. Therefore, it is necessary to find the minimum value of M, that is, the smaller M, the more accurate the target parameters.
- the optimal target parameters can be obtained.
- a method for determining target parameters is provided.
- the target parameters can be solved only through a small number of sets of original motion data, so that the method of determining target parameters is relatively simple and can be used for different motion carriers. Versatility.
- step 130 includes:
- Sub-step E1 Output the first target value according to the three-dimensional space values of the motion acceleration in different directions in the geographical environment and the target parameters corresponding to the target carrier where the electronic device is located.
- f1 to f9 based on the motion acceleration and related data corresponding to time t, f1 to f9 can be obtained.
- the preset condition is related to the second target value.
- the preset condition is: greater than one.
- the first target value is greater than one, it is determined that the target carrier is in a certain motion state, such as the target motion state in the previous embodiment.
- 1.369>1 determines that the target carrier is in a certain state of motion. Or, if the first target value is less than or equal to 1, it is determined that the target carrier is not in such a motion state.
- At least one first target value can be output to determine the motion state of the target carrier based on the at least one first target value.
- the target parameters and the data obtained in real time are input into a unified formula, and the first target value is output, so as to determine the motion state of the target carrier based on the first target value.
- step E1 includes:
- Sub-step F1 Within a preset time period, output at least two first target values.
- Sub-step F2 Determine the motion state of the target carrier based on at least two first target values.
- the instantaneous results at a certain moment can only reflect the motion state of a moment, and the motion state of the motion carrier usually lasts for a period of time. time, therefore, in order to accurately determine the motion state of the target carrier, at least two first target values can be output continuously.
- t0/T first target values need to be output within t0.
- a minimum first target value is determined, so as to determine the motion state of the target carrier based on the minimum first target value.
- the carrier is in some state of motion.
- the output result of a period of time is used as a reference to determine the motion state of the target carrier, thereby avoiding the determination of the motion state by only referring to the output result at a certain time, and thus avoiding the determination of the wrong motion state due to the contingency of the result. , improving the accuracy of this embodiment for determining the motion state of the moving carrier.
- the purpose of this application is to provide a method for determining the motion state of the carrier on which the user is riding based on an electronic device, so as to identify the travel scene in which the user is located.
- this method is suitable for the acceleration and deceleration process when taking a car, the lifting process when taking an elevator, the starting and stopping process when taking a high-speed rail, the takeoff and landing process when taking an airplane, etc.
- This application constructs nine characteristic factors from the original sensor data in electronic equipment through specific calculation methods, and combines the characteristic factors to construct a unified formula for determining the motion state of the moving carrier. When applied to different moving carriers, only Just fine-tune the parameters of the formula. It can be seen that compared with the existing technology, this application does not need to collect a large amount of data for specific scenarios. At the same time, it uses sensor data in a unified manner and has a unified calculation formula, which has high versatility.
- the execution subject may be a motion state determination device.
- the motion state determination device performing the motion state determination method is used as an example to illustrate the motion state determination device provided by the embodiment of the present application.
- the second acquisition module 20 is used to acquire the three-dimensional spatial values of motion acceleration in different directions in the geographical environment;
- the first determination module 30 is used to determine the motion state of the target carrier based on the three-dimensional spatial values of the motion acceleration in different directions in the geographical environment and the target parameters corresponding to the target carrier where the electronic device is located.
- the motion state of the carrier can be determined by simply obtaining corresponding parameters according to different carriers, making the method for detecting the motion state of the moving carrier universal; on this basis, the motion acceleration of the electronic device is decomposed By performing calculations in the direction of the geographical environment, the movement of the electronic device relative to the geographical environment can be obtained, eliminating some interference factors, and thus determining the movement state with high accuracy.
- the second acquisition module 20 includes:
- An establishment unit is configured to establish a first coordinate system based on the attitude information of the electronic device.
- the first coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis that are perpendicular to each other.
- the first coordinate axis is vertical. on the screen of an electronic device;
- the first acquisition unit is used to respectively acquire the first spatial value of the motion acceleration on the first coordinate axis, the second spatial value on the second coordinate axis, and the third spatial value on the third coordinate axis;
- the second acquisition unit is used to respectively acquire the first subspace value of the first spatial value in different directions in the geographical environment, the second subspace value of the second spatial value in different directions in the geographical environment, and the third spatial value in Third subspace values in different directions in the geographical environment.
- the second acquisition unit includes:
- the second coordinate system includes the fourth, fifth and sixth coordinate axes that are perpendicular to each other.
- the fourth The coordinate axis is parallel to the direction of gravity in the geographical environment
- the fifth coordinate axis is parallel to the north-south direction in the geographical environment
- the sixth coordinate axis is parallel to the east-west direction in the geographical environment;
- Obtaining subunits used to respectively obtain the projection of the first spatial value on the fourth coordinate axis, the projection of the first spatial value on the fifth coordinate axis, the projection of the first spatial value on the sixth coordinate axis, and the second space
- the second acquisition module 20 includes:
- the third acquisition unit is used to acquire the gravity acceleration value and the magnetic field sensor value of the electronic device
- the fourth acquisition unit is used to acquire three-dimensional spatial values of motion acceleration in different directions in the geographical environment based on the gravity acceleration value of the electronic device and the magnetic field sensor value.
- the first determination module 30 includes:
- the output unit is used to output the first target value according to the three-dimensional space values of the motion acceleration in different directions in the geographical environment and the target parameters corresponding to the target carrier where the electronic device is located;
- the determining unit is used to determine the motion state of the target carrier according to the first target value.
- the device also includes:
- the second determination module is used to determine the target parameters corresponding to the target carrier based on the motion data of the target carrier and combined with the output second target value.
- the motion state determining device in the embodiment of the present application may be an electronic device or a component in the electronic device, such as an integrated circuit or chip.
- the electronic device may be a terminal or other devices other than the terminal.
- the electronic device can be a mobile phone, a tablet computer, a notebook computer, a handheld computer, a vehicle-mounted electronic device, a mobile internet device (Mobile Internet Device, MID), or augmented reality (AR)/virtual reality (VR).
- the motion state determination device in the embodiment of the present application may be a device with an action system.
- the action system can be an Android action system, an ios action system, or other possible action systems, which are not specifically limited in the embodiments of this application.
- the motion state determination device provided by the embodiments of the present application can implement various processes implemented by the above method embodiments. To avoid repetition, they will not be described again here.
- this embodiment of the present application also provides an electronic device 100, including a processor 101, a memory 102, and programs or instructions stored on the memory 102 and executable on the processor 101.
- the program or instruction When the program or instruction is executed by the processor 101, it implements each step of any of the above motion state determination method embodiments and can achieve the same technical effect. To avoid duplication, it will not be described again here.
- the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.
- FIG. 7 is a schematic diagram of the hardware structure of an electronic device that implements an embodiment of the present application.
- the electronic device 1000 includes but is not limited to: radio frequency unit 1001, network module 1002, audio output unit 1003, input unit 1004, sensor 1005, display unit 1006, user input unit 1007, interface unit 1008, memory 1009, processor 1010, etc. part.
- the electronic device 1000 may also include a power supply (such as a battery) that supplies power to various components.
- the power supply may be logically connected to the processor 1010 through a power management system, thereby managing charging, discharging, and function through the power management system. Consumption management and other functions.
- the structure of the electronic device shown does not constitute a limitation on the electronic device.
- the electronic device may include more or fewer components than shown in the figure, or some components may be combined or arranged differently, which will not be described again here.
- the motion acceleration of the electronic device is first obtained, and then combined with the different directions of the geographical environment, the motion acceleration is decomposed into various directions. , and then determine the motion state of the target carrier based on the three-dimensional space values in each direction and combined with the target parameters corresponding to the target carrier.
- the processor 1010 is further configured to establish a first coordinate system based on the posture information of the electronic device.
- the first coordinate system includes a first coordinate axis, a second coordinate axis and a second coordinate axis that are perpendicular to each other.
- the third coordinate axis, the first coordinate axis is perpendicular to the screen of the electronic device; obtain the first spatial value of the motion acceleration on the first coordinate axis and the second spatial value of the motion acceleration on the second coordinate axis.
- Spatial value, the third spatial value on the third coordinate axis respectively obtain the first subspace value of the first spatial value in different directions in the geographical environment, and the second spatial value in different directions in the geographical environment.
- the processor 1010 is further configured to establish a second coordinate system based on the coordinate origin of the first coordinate system.
- the second coordinate system includes a fourth coordinate axis and a fifth coordinate axis that are perpendicular to each other.
- axis and a sixth coordinate axis the fourth coordinate axis is parallel to the direction of gravity in the geographical environment, the fifth coordinate axis is parallel to the north-south direction in the geographical environment, and the sixth coordinate axis is parallel to the east-west direction in the geographical environment Direction; respectively obtain the projection of the first spatial value on the fourth coordinate axis, the projection of the first spatial value on the fifth coordinate axis, and the projection of the first spatial value on the sixth coordinate
- the projection on the axis, the projection of the second spatial value on the fourth coordinate axis, the projection of the second spatial value on the fifth coordinate axis, the projection of the second spatial value on the sixth coordinate axis Projection on the coordinate axes, the above-mentioned
- the processor 1010 is also configured to obtain the gravitational acceleration value and the magnetic field sensor value of the electronic device; and obtain the motion acceleration in different directions in the geographical environment according to the gravitational acceleration value and the magnetic field sensor value of the electronic device. three-dimensional space value on.
- the processor 1010 is also configured to output a first target value according to the three-dimensional spatial values of the motion acceleration in different directions in the geographical environment and the target parameters corresponding to the target carrier where the electronic device is located; According to the first target value, the motion state of the target carrier is determined.
- the processor 1010 is further configured to determine the target parameter corresponding to the target carrier based on the motion data of the target carrier and combined with the output second target value.
- the purpose of this application is to provide a method for determining the motion state of the carrier on which the user is riding based on an electronic device, so as to identify the travel scene in which the user is located.
- this method is suitable for the acceleration and deceleration process when taking a car, the lifting process when taking an elevator, the starting and stopping process when taking a high-speed rail, the takeoff and landing process when taking an airplane, etc.
- This application constructs nine characteristic factors from the original sensor data in electronic equipment through specific calculation methods, and combines the characteristic factors to construct a unified formula for determining the motion state of the moving carrier. When applied to different moving carriers, only Just fine-tune the parameters of the formula. It can be seen that compared with the existing technology, this application does not need to collect a large amount of data for specific scenarios. At the same time, it uses sensor data in a unified manner and has a unified calculation formula, which has high versatility.
- the input unit 1004 may include a graphics processor (Graphics Processing Unit, GPU) 10041 and a microphone 10042.
- the graphics processor 10041 is responsible for the image capture device in the video image capture mode or the image capture mode. (such as a camera) to process the image data of still pictures or video images.
- the display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
- the user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072 .
- Touch panel 10071 also known as touch screen.
- the touch panel 10071 may include two parts: a touch detection device and a touch controller.
- Other input devices 10072 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and action sticks, which will not be described again here.
- Memory 1009 may be used to store software programs as well as various data, including but not limited to application programs and action systems.
- the processor 1010 can integrate an application processor and a modem processor.
- the application processor mainly processes action systems, user pages, application programs, etc.
- the modem processor mainly processes wireless communications. It will be appreciated that the modem processor described above may also so as not to be integrated into the processor 1010.
- Memory 1009 may be used to store software programs as well as various data.
- the memory 1009 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, Image playback function, etc.) etc.
- memory 1009 may include volatile memory or nonvolatile memory, or memory 1009 may include both volatile and nonvolatile memory.
- non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory.
- Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synch link DRAM) , SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DRRAM).
- RAM Random Access Memory
- SRAM static random access memory
- DRAM dynamic random access memory
- synchronous dynamic random access memory Synchronous DRAM, SDRAM
- Double data rate synchronous dynamic random access memory Double Data Rate SDRAM, DDRSDRAM
- enhanced SDRAM synchronous dynamic random access memory
- Synch link DRAM synchronous link dynamic random access memory
- SLDRAM direct memory bus random access memory
- Direct Rambus RAM Direct Rambus RAM
- the processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, where the application processor mainly handles operations related to the operating system, user interface, application programs, etc., Modem processors mainly process wireless communication signals, such as baseband processors. It can be understood that the above modem processor may not be integrated into the processor 1010.
- Embodiments of the present application also provide a readable storage medium.
- Programs or instructions are stored on the readable storage medium.
- the program or instructions are executed by a processor, each process of the above motion state determination method embodiment is implemented, and can achieve The same technical effects are not repeated here to avoid repetition.
- the processor is the processor in the electronic device described in the above embodiment.
- the readable storage medium includes computer readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disk or optical disk, etc.
- An embodiment of the present application further provides a chip.
- the chip includes a processor and a communication interface.
- the communication interface is coupled to the processor.
- the processor is used to run programs or instructions to implement the above embodiments of the motion state determination method. various processes and can achieve the same technical effect, in order to avoid duplication Again, I won’t go into details here.
- chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-a-chip or system-on-a-chip.
- Embodiments of the present application provide a computer program product.
- the program product is stored in a storage medium.
- the program product is executed by at least one processor to implement each process of the above motion state determination method embodiment, and can achieve the same technology. The effect will not be described here to avoid repetition.
- the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
- the technical solution of the present application can be embodied in the form of a computer software product that is essentially or contributes to the existing technology.
- the computer software product is stored in a storage medium (such as ROM/RAM, disk , optical disk), including several instructions to cause a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of this application.
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Navigation (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
本申请公开了一种运动状态确定方法、装置、电子设备和可读存储介质,属于人工智能技术领域。其中,所述方法包括:获取电子设备的运动加速度;获取所述运动加速度在地理环境中不同方向上的三维空间值;根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,确定所述目标载体的运动状态。
Description
相关申请的交叉引用
本申请要求在2022年06月29日提交中国专利局、申请号为202210753982.6、名称为“运动状态确定方法、装置、电子设备和可读存储介质”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本申请属于人工智能技术领域,具体涉及一种运动状态确定方法、装置、电子设备和可读存储介质。
目前,在一些应用场景中,电子设备可以自动识别用户所处的出行场景,以根据出行场景,智能为用户推送一些消息、调整电子设备的一些参数,等等,以为用户提供更多便利。例如,在用户乘坐飞机的场景中,用户随时携带的电子设备可以检测出用户当前处于正在飞行的飞机中,从而可以关闭电子设备中的一些功能,以降低电子设备的功耗,延长续航时长。
在现有技术中,针对不同的运动载体,需要通过不同的模型来判断该运动载体当前所处的运动状态,另外,也需要对不同的模型进行训练。
可见,在现有技术中,不同运动载体的运动状态需要利用不同模型进行计算,导致用于检测运动载体的运动状态的方法不具备通用性。
概述
本申请实施例的目的是提供一种运动状态确定方法,能够解决用于检测运动载体的运动状态的方法不具备通用性的问题。
第一方面,本申请实施例提供了一种运动状态确定方法,该方法包括:获取电子设备的运动加速度;获取所述运动加速度在地理环境中不同方向上的三维空间值;根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,确定所述目标载体的运动状态。
第二方面,本申请实施例提供了一种运动状态确定装置,该装置包括:第一获取模块,用于获取电子设备的运动加速度;第二获取模块,用于获取所述运动加速度在地理环境中不同方向上的三维空间值;第一
确定模块,用于根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,确定所述目标载体的运动状态。
第三方面,本申请实施例提供了一种电子设备,该电子设备包括处理器和存储器,所述存储器存储可在所述处理器上运行的程序或指令,所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤。
第四方面,本申请实施例提供了一种可读存储介质,所述可读存储介质上存储程序或指令,所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤。
第五方面,本申请实施例提供了一种芯片,所述芯片包括处理器和通信接口,所述通信接口和所述处理器耦合,所述处理器用于运行程序或指令,实现如第一方面所述的方法。
第六方面,本申请实施例提供一种计算机程序产品,该程序产品被存储在存储介质中,该程序产品被至少一个处理器执行以实现如第一方面所述的方法。
第七方面,本申请实施例提供了一种电子设备,该电子设备被配置成用于执行如第一方面所述的方法。
这样,在本申请的实施例中,在确定电子设备所处的目标载体的运动状态的情况下,首先获取电子设备的运动加速度,再结合地理环境的不同方向,将运动加速度分解至各个方向上,再根据各个方向上的三维空间值,结合与目标载体对应的目标参数,确定目标载体的运动状态。可见,在本申请的实施例中,只需要根据不同的载体获取对应的参数,即可确定载体的运动状态,使得用于检测运动载体的运动状态的方法具有通用性;在此基础上,将电子设备的运动加速度分解至地理环境方向上进行计算,从而可以得到电子设备相对于地理环境的运动情况,排除了一些干扰因素,进而高确定运动状态的准确率。
图1是本申请实施例的运动状态确定方法的流程图;
图2至图4是本申请实施例的运动状态确定方法的说明示意图;
图5是本申请实施例的运动状态确定装置的框图;
图6是本申请实施例的电子设备的硬件结构示意图之一;
图7是本申请实施例的电子设备的硬件结构示意图之二。
详细描述
下面将结合本申请实施例的附图,对本申请实施例的技术方案进行清楚地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请的实施例,本领域普通技术人员获得的所有其他实施例,都属于本申请保护的范围。
本申请的说明书和权利要求书的术语“第一”、“第二”等是用于区别类似的对象,而不用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施,且“第一”、“第二”等所区分的对象通常为一类,并不限定对象的个数,例如第一对象可以是一个,也可以是多个。此外,说明书以及权利要求中“和/或”表示所连接对象的至少其中之一,字符“/”,一般表示前后关联对象是一种“或”的关系。
本申请实施例提供的运动状态确定方法,其执行主体可以是本申请实施例提供的运动状态确定装置,或者集成了该运动状态确定装置的电子设备,其中该运动状态确定装置可以采用硬件或软件的方式实现。
下面结合附图,通过具体的实施例及其应用场景对本申请实施例提供的运动状态确定方法进行详细地说明。
图1示出了本申请一个实施例的运动状态确定方法的流程图,以该方法应用于电子设备进行举例,包括:
步骤110:获取电子设备的运动加速度。
本申请的应用场景如,用户携带电子设备处于运动载体中。
例如,运动载体为汽车、高铁、飞机、电梯等。
在本申请中,根据运动载体发生急剧变化时,导致运动载体中的电子设备中产生相应的数据,来确定运动载体的运动状态。例如,运动载体由静止开始运动,从而根据电子设备检测到的加速数据,确定运动载体的加速运动状态。进一步地,根据运动载体的运动状态,识别出用户当前所处的出行场景。因此,在本申请中,提出了一种可以确定运动载体的运动状态的方法。
例如,确定汽车的加速状态、减速状态;又如,确定飞机的起飞状态、降落状态;又如,确定电梯的上升状态,下降状态;又如,确定高铁的起步状态、停车状态。
对应地,在该步骤中,首先获取电子设备的运动加速度。
可选地,在实现本实施例的过程中,无需实时地获取电子设备的运动加速度,而是结合电子设备中的一些票务信息、时间信息、导航信息等等,利用其中的有效内容,判断用户可能处于出行场景中,从而仅在用户可能处于出行场景的时段内,获取电子设备的运动加速度,并根据运动加速度来确定运动载体的运动状态,进而准确识别出用户所处的出行场景。
可选地,在识别用户所处的出行场景的过程中,结合运动规律,首先确定运动载体的加速状态(或者起飞状态等),再确定运动载体的减速状态(或者降落状态等)。
步骤120:获取运动加速度在地理环境中不同方向上的三维空间值。
通常,获取到的电子设备的运动加速度是具有方向性的,而方向是以电子设备的摆放位置为参考。
例如,以电子设备的顶部所延伸的方向作为参考。
即,电子设备的传感器采集的运动加速度的原始值只能反映出电子设备本身的运动状态的变化,并不能反映出电子设备所处的外部载体的运动状态的变化。
例如,用户坐在汽车里面,汽车加速,电子设备随汽车一起加速,传感器采集到的运动加速度可以反映出:电子设备沿其顶部延伸的方向加速、电子设备沿其顶部延伸的方向的垂直方向加速、等等。但并不能反映出汽车是如何加速的。而且,在一种情况下,即使汽车没有加速运动,电子设备在汽车里晃动也可能产生运动加速度。因此,仅通过电子设备的运动加速度并不能准确地确定出汽车在做加速运动。
因此,在该步骤中,在获取到电子设备的运动加速度后,基于地理环境中的几个不同方向,将运动加速度分解至各个方向上,这样,可以将电子设备的传感器采集到的运动加速度转换至地理环境的方向上进行分析,而地理环境的方向是固定的,从而可以排除电子设备的摆放位置、电子设备晃动等干扰因素。
步骤130:根据运动加速度在地理环境中不同方向上的三维空间值,以及与电子设备所处的目标载体对应的目标参数,确定目标载体的运动状态。
可选地,本实施例确定的运动状态包括加速运动状态、减速运动状态、起飞运动状态、降落运动状态、上升运动状态、下降运动状态、起步运动状态、停车运动状态,等等。
在该步骤中,在确定运动状态的情况下,一种运动载体对应一个参数集
合。
例如,在确定汽车的运动状态时,对应一个参数集合;在确定飞机的运动状态时,对应一个参数集合。
对应地,该步骤的目标参数为一个参数集合。
进一步地,在确定运动状态时,可采用是否为某种运动状态的方式,以得到“是”或者“否”的结果。对应地,一种运动载体的参数集合可以继续划分为:一种状态对应一组参数。
例如,汽车的加速状态对应一组参数;又如,汽车的减速状态对应一组参数。
其中,将一种运动载体,对应的一种运动状态,作为一个任务,一个任务对应一组参数。该步骤的目标参数为一组参数。
对应地,一种运动载体所有的运动状态对应的多组参数,组成该运动载体的参数集合。
可选地,在该步骤中,利用统一的公式,将三维空间值和目标参数作为输入,通过公式计算得到输出结果。
例如,统一公式为:
resultt=w1*|f1+f2+f3|+w2*|f4+f5+f6|+w3*|f7+f8+f9|+b
resultt=w1*|f1+f2+f3|+w2*|f4+f5+f6|+w3*|f7+f8+f9|+b
其中,在该公式中,w1、w2、w3、b为公式中的一组参数,如目标参数,f1~f9用于表示输入的三维空间值,resultt用于表示输出的结果,输出的结果可以是一个数值,根据该数值所属的数值范围,以及数值范围与运动状态的对应关系,确定运动载体(如目标载体)的运动状态。
其中,该公式适用于各个运动载体、以及各个运动载体的各个运动状态,只是针对不同的运动载体的不同运动状态,需要更新公式中的参数。
这样,在本申请的实施例中,在确定电子设备所处的目标载体的运动状态的情况下,首先获取电子设备的运动加速度,再结合地理环境的不同方向,将运动加速度分解至各个方向上,再根据各个方向上的三维空间值,结合与目标载体对应的目标参数,确定目标载体的运动状态。可见,在本申请的实施例中,只需要根据不同的载体获取对应的参数,即可确定载体的运动状态,使得用于检测运动载体的运动状态的方法具有通用性;在此基础上,将电子设备的运动加速度分解至地理环境方向上进行计算,从而可以得到电子设备相对于地理环境的运动情况,排除了一些干扰因素,进而高确定运动状态的准确率。
在本申请另一个实施例的运动状态确定方法的流程中,步骤120,包括:
子步骤A1:基于电子设备的姿态信息,建立第一坐标系,第一坐标系包括两两之间相互垂直的第一坐标轴、第二坐标轴和第三坐标轴,第一坐标轴垂直于电子设备的屏幕。
参见图2,基于电子设备201的姿态信息,建立第一坐标系,其中,以电子设备201的屏幕上的任一点作为坐标原点O1,垂直于屏幕的方向为Z轴(第一坐标轴),平行于屏幕短边为X轴(第二坐标轴),平行于屏幕长边为Y轴(第三坐标轴)。
子步骤A2:分别获取运动加速度在第一坐标轴上的第一空间值、在第二坐标轴的第二空间值、在第三坐标轴上的第三空间值。
参见图3,图示第一坐标系301上各个坐标轴的长度,用于表示运动加速度在各个坐标轴上的空间值。
子步骤A3:分别获取第一空间值在地理环境中不同方向上的第一子空间值、第二空间值在地理环境中不同方向上的第二子空间值、第三空间值在地理环境中不同方向上的第三子空间值。
其中,首先基于电子设备的姿态,对运动加速度进行分解,以确定不同方向上的子加速度,然后,以地理环境中的不同方向为参考,将子加速度进行分解。
在本实施例中,以电子设备姿态作为参考,对运动加速度进行分解,以得到各个空间值,再针对各个空间值,分别在地理环境中的不同方向进行分解,得到不同空间值在各个地理环境方向上的子空间值,从而将电子设备的运动加速度转换至地理环境中,可以确定电子设备相对于地理环境的运动状态,进而可以准确确定电子设备所处运动载体的运动状态。而本实施例相比于直接将运动加速度分解在地理环境方向上,可以达到更加精细地分解效果,以确保本实施例确定状态的高准确率。
在本申请另一个实施例的运动状态确定方法的流程中,步骤A3,包括:
子步骤B1:基于第一坐标系的坐标原点,建立第二坐标系,第二坐标系包括两两之间相互垂直的第四坐标轴、第五坐标轴和第六坐标轴,第四坐标轴平行于地理环境中的重力方向,第五坐标轴平行于地理环境中的南北方向,第六坐标轴平行于地理环境中的东西方向。
在该步骤中,结合地理环境中的磁场方向,即东南西北四个方向,以及地理环境中的重力方向,建立第二坐标系。
其中,参见图4,在第二坐标系401中,第四坐标轴(G轴)平行于地理环境中的重力方向,可以是以远离地心向上为正方向,第五坐标轴(N轴)平行于地理环境中的南北方向,可以是以指向北方向为正方向,第六坐标轴(E轴)平行于地理环境中的东西方向,可以是以指向东方向为正方向。
在该步骤中,为了便于将运动加速度在第一坐标系中的各个空间值分解在第二坐标系中,可使得第一坐标系与第二坐标系的坐标原点重合。
子步骤B2:分别获取第一空间值在第四坐标轴上的投影、第一空间值在第五坐标轴上的投影、第一空间值在第六坐标轴上的投影、第二空间值在第四坐标轴上的投影、第二空间值在第五坐标轴上的投影、第二空间值在第六坐标轴上的投影、第三空间值在第四坐标轴上的投影、第三空间值在第五坐标轴上的投影、第三空间值在第六坐标轴上的投影。
参见图4,以E轴为例,第一空间值(运动加速度在Z轴上的空间值)在E轴上的投影为ZE、第二空间值(运动加速度在X轴上的空间值)在E轴上的投影为XE、第三空间值(运动加速度在Y轴上的空间值)在E轴上的投影为YE。以此类推,可以分别得到:第一空间值(运动加速度在Z轴上的空间值)在N轴上的投影为ZN、第二空间值(运动加速度在X轴上的空间值)在N轴上的投影为XN、第三空间值(运动加速度在Y轴上的空间值)在N轴上的投影为YN;第一空间值(运动加速度在Z轴上的空间值)在G轴上的投影为ZG、第二空间值(运动加速度在X轴上的空间值)在G轴上的投影为XG、第三空间值(运动加速度在Y轴上的空间值)在G轴上的投影为YG。
其中,第一子空间值包括ZE、ZN、ZG;第二子空间值包括XE、XN、XG;第三子空间值包括YE、YN、YG。
可选地,构建九项特征因子来表示这九个投影。
例如,f1用于表示XE、f2用于表示YE、f3用于表示ZE、f4用于表示XN、f5用于表示YN、f6用于表示ZN、f7用于表示XG、f8用于表示YG、f9用于表示ZG。
其中,(f1+f2+f3)用于表示运动加速度在E轴上的空间值,(f4+f5+f6)用于表示运动加速度在N轴上的空间值,(f7+f8+f9)用于表示运动加速度在G轴上的空间值。
在本实施例中,将基于电子设备建立的第一坐标系上的值,转换到基于地理环境建立的第二坐标系上,从而使得最终分解后的运动加速度,可以体
现在地理环境的不同方向中,即将获取的运动加速度融合了重力、磁场等环境因素,从而可以准确确定运动载体在运动过程出现的剧烈且有规律的运动状态,进而准确识别用户所处的出行场景。
在本申请另一个实施例的运动状态确定方法的流程中,步骤120,包括:
子步骤C1:获取电子设备的重力加速度值和磁场传感器值。
在该步骤中,重力加速度值为:Gravity=[g1,g2,g3]。其中,g1,g2,g3分别用于表示重力加速度值在第一坐标系中的XYZ三个方向上的空间值。
磁场传感器值为:Magnetic=[m1,m2,m3]。其中,m1,m2,m3分别用于表示磁场传感器值在第一坐标系中的XYZ三个方向上的空间值。
子步骤C2:根据电子设备的重力加速度值和磁场传感器值,获取运动加速度在地理环境中不同方向上的三维空间值。
在该步骤中,根据重力加速度值和磁场传感器值,得到磁场与重力场相互关联因式:r1=m2g3-m3g2、r2=m3g1-m1g3、r3=m1g2-m2g1。
进一步地,计算归一化因子,得到:
在该步骤中,运动加速度为:LinearAcceleration=[a1,a2,a3]。其中,1,2,3分别用于表示第一坐标系中的XYZ三个方向。
进一步地,结合上一实施例中的九项特征因子,得到:
f1=a1*r1*rnom;
f2=a2*r2*rnom;
f3=a3*r3*rnom;
f4=a1*g1*gnom;
f5=a2*g2*gnom;
f6=a3*g3*gnom;
f7=a1*(f5*f3-f6*f2);
f8=a2*(f6*f1-f4*f3);
f9=a3*(f4*f2-f5*f1)。
f1=a1*r1*rnom;
f2=a2*r2*rnom;
f3=a3*r3*rnom;
f4=a1*g1*gnom;
f5=a2*g2*gnom;
f6=a3*g3*gnom;
f7=a1*(f5*f3-f6*f2);
f8=a2*(f6*f1-f4*f3);
f9=a3*(f4*f2-f5*f1)。
在本实施例中,提供了一种根据重力场与磁场之间的关系,对运动加速度进行分解的方法。本实施例以地理环境中的重力方向、东西方向和南北方向建立坐标系,结合重力场与磁场之间的关系,可确保对运动加速度分解的
准确性,以确保后续对运动状态确定的准确性。
在本申请另一个实施例的运动状态确定方法的流程中,在步骤130之前,该方法还包括:
步骤D1:根据目标载体的运动数据,结合输出的第二目标值,确定与目标载体对应的目标参数。
基于前述实施例可知,用于确定运动状态的统一公式为:
resultt=w1*|f1+f2+f3|+w2*|f4+f5+f6|+w3*|f7+f8+f9|+b
resultt=w1*|f1+f2+f3|+w2*|f4+f5+f6|+w3*|f7+f8+f9|+b
其中,w1、w2、w3、b为公式中参数,一组w1、w2、w3、b为一个任务对应的参数。
因此,本实施例需要针对任务,预先确定该任务对应的参数。
可选地,以目标载体为例,确定目标载体的目标运动状态对应的目标参数。
首先,确保电子设备位于目标载体内,控制目标载体进行运动,以进入目标运动状态,在目标载体处于目标运动状态期间,获取运动加速度,并将其分解后得到对应的九项特征因子,将九项特征因子输入统一公式,同时预设一个输出结果,最终得到公式中的目标参数。其中,可在目标载体处于目标运动状态期间,输入多组数据,以对目标参数进行调整,以得到最终的目标参数。
其中,预设的输出结果为第二目标值。
例如,第二目标值可以是一个大于某阈值的值,如大于一,具体地,第二目标值为“1.5”。
其中,该步骤中的运动数据包括运动加速度。
可选地,因f1至f9是可以计算出来的,默认为是已知量,从而统一公式可以简化为公式一:
resultt=w1*xa+w2*xb+w3*xc+b
resultt=w1*xa+w2*xb+w3*xc+b
其中,在公式一中,xa、xb、xc均用于表示简化后的已知量。
对应地,在确定目标参数的过程中,获取几个样本,如表1:
表1
可选地,在确定目标参数的过程中,可以将每个样本求平方距离最后取和,参见公式二:
在公式二中,M为零是一个理想状态,即当M为零时,确定的目标参数为最优。但考虑到噪声等干扰因素,M几乎不可能为零,因此,需要求得M的极小值,即M越小,目标参数越准确。
可选地,利用多元函数极值求解M的极小值,其中,只需要求偏导等于零的时候即可取得极值,因此参见如下偏导等式:
进一步地,联立上述偏导等式,即可求得最优的目标参数。
例如,基于飞机的起飞状态对应的任务,确定(w1,w2,w3,b)对应为(0.01,0.8,0.008,-0.125)。
在本实施例中,提供了一种用于确定目标参数的方法,只需要通过少量的几组原始运动数据即可求解目标参数,从而使得确定目标参数的方法较为简单,针对不同的运动载体具有通用性。
在本申请另一个实施例的运动状态确定方法的流程中,步骤130,包括:
子步骤E1:根据运动加速度在地理环境中不同方向上的三维空间值,以及与电子设备所处的目标载体对应的目标参数,输出第一目标值。
子步骤E2:根据第一目标值,确定目标载体的运动状态。
在本实施例,基于t时刻对应的运动加速度及相关数据,可以得到f1至f9。
例如,在t时刻,获取到的运动加速度及相关数据为:
Gravity=[-0.911,7.428,6.337];
Magnetic=[36.12,-7.2,-16.26];
LinearAcceleration=[-2.807,-3.491,4.980]。
Gravity=[-0.911,7.428,6.337];
Magnetic=[36.12,-7.2,-16.26];
LinearAcceleration=[-2.807,-3.491,4.980]。
进一步地,得到:
f1=0.5496623573047321;
f2=2.254748110867247;
f3=3.8658867186836443;
f4=0.27343499384301195;
f5=2.5571499274418077;
f6=3.5339786008565772;
f7=48.53164023810418,;
f8=10.459337710514484;
f9=4.1472040748411905。
f1=0.5496623573047321;
f2=2.254748110867247;
f3=3.8658867186836443;
f4=0.27343499384301195;
f5=2.5571499274418077;
f6=3.5339786008565772;
f7=48.53164023810418,;
f8=10.459337710514484;
f9=4.1472040748411905。
进一步地,根据f1至f9,由统一公式输出第一目标值,得到resultt=1.369。
可选地,根据第一目标值,结合预设条件,确定目标载体是否处于某种运动状态。
可选地,结合上一实施例,预设条件与第二目标值有关,例如,预设条件为:大于一。对应地,在第一目标值大于一的情况下,确定目标载体处于某种运动状态,如上一实施例中的目标运动状态。
例如,1.369>1,确定目标载体处于某种运动状态。或者,若第一目标值小于或者等于1,确定目标载体不处于该种运动状态。
可选地,基于上述方法,可以输出至少一个第一目标值,以根据至少一个第一目标值,来确定目标载体的运动状态
在本实施例中,结合目标参数和实时获取到的数据输入统一公式中,输出第一目标值,以根据第一目标值确定目标载体的运动状态。
在本申请另一个实施例的运动状态确定方法的流程中,步骤E1,包括:
子步骤F1:在预设时长内,输出至少两个第一目标值。
子步骤F2:根据至少两个第一目标值,确定目标载体的运动状态。
基于上一实施例,提出了用于输出某时刻的瞬时结果的方法,而在实际应用中,某时刻的瞬时结果仅能够体现出一瞬间的运动状态,而运动载体的运动状态通常会持续一段时间,因此,为了准确确定目标载体的运动状态,可连续输出至少两个第一目标值。
例如,设定一个预设时长t0,设定一个周期T,则在t0内,需要输出t0/T个第一目标值。
进一步地,基于输出的至少两个第一目标值,确定最小的第一目标值,以根据最小的第一目标值,确定目标载体的运动状态。
其中,对应的模型公式为:
例如,在1s内,输出的十个第一目标值为:[1.369,1.546,2.014,1.258,1.354,1.689,1.952,2.235,1.478,1.112],则model=1.112,1.112>1,从而确定目标载体处于某种运动状态。
在本实施例中,以一段时长的输出结果作为参考,来确定目标载体的运动状态,从而避免仅参考某时刻的输出结果来确定运动状态,进而避免因结果的偶然性导致确定了错误的运动状态,提高了本实施例用于确定运动载体的运动状态的准确率。
综上,本申请的目的在于提供一种基于电子设备来确定用户所乘载体的运动状态的方法,从而用于识别出用户所处的出行场景。例如,本方法适用于坐汽车时的加速减速过程、坐电梯时候的升降过程、坐高铁时候的起步停车过程、坐飞机时候的起飞降落过程等。本申请将电子设备中的传感器原始数据通过特定计算方法构造了九项特征因子,并结合特征因子,构建了统一的公式用于确定运动载体的运动状态,其中应用于不同的运动载体时,只需要微调公式的参数即可。可见,相比于现有技术,本申请不需要针对特定场景采集大量数据,同时统一利用传感器数据,以及具有统一的计算公式,具有较高的通用性。
本申请实施例提供的运动状态确定方法,执行主体可以为运动状态确定装置。本申请实施例中以运动状态确定装置执行运动状态确定方法为例,说明本申请实施例提供的运动状态确定装置。
图5示出了本申请另一个实施例的运动状态确定装置的框图,该装置包括:
第一获取模块10,用于获取电子设备的运动加速度;
第二获取模块20,用于获取运动加速度在地理环境中不同方向上的三维空间值;
第一确定模块30,用于根据运动加速度在地理环境中不同方向上的三维空间值,以及与电子设备所处的目标载体对应的目标参数,确定目标载体的运动状态。
这样,在本申请的实施例中,在确定电子设备所处的目标载体的运动状态的情况下,首先获取电子设备的运动加速度,再结合地理环境的不同方向,将运动加速度分解至各个方向上,再根据各个方向上的三维空间值,结合与目标载体对应的目标参数,确定目标载体的运动状态。可见,在本申请的实
施例中,只需要根据不同的载体获取对应的参数,即可确定载体的运动状态,使得用于检测运动载体的运动状态的方法具有通用性;在此基础上,将电子设备的运动加速度分解至地理环境方向上进行计算,从而可以得到电子设备相对于地理环境的运动情况,排除了一些干扰因素,进而高确定运动状态的准确率。
可选地,第二获取模块20,包括:
建立单元,用于基于电子设备的姿态信息,建立第一坐标系,第一坐标系包括两两之间相互垂直的第一坐标轴、第二坐标轴和第三坐标轴,第一坐标轴垂直于电子设备的屏幕;
第一获取单元,用于分别获取运动加速度在第一坐标轴上的第一空间值、在第二坐标轴的第二空间值、在第三坐标轴上的第三空间值;
第二获取单元,用于分别获取第一空间值在地理环境中不同方向上的第一子空间值、第二空间值在地理环境中不同方向上的第二子空间值、第三空间值在地理环境中不同方向上的第三子空间值。
可选地,第二获取单元,包括:
建立子单元,用于基于第一坐标系的坐标原点,建立第二坐标系,第二坐标系包括两两之间相互垂直的第四坐标轴、第五坐标轴和第六坐标轴,第四坐标轴平行于地理环境中的重力方向,第五坐标轴平行于地理环境中的南北方向,第六坐标轴平行于地理环境中的东西方向;
获取子单元,用于分别获取第一空间值在第四坐标轴上的投影、第一空间值在第五坐标轴上的投影、第一空间值在第六坐标轴上的投影、第二空间值在第四坐标轴上的投影、第二空间值在第五坐标轴上的投影、第二空间值在第六坐标轴上的投影、第三空间值在第四坐标轴上的投影、第三空间值在第五坐标轴上的投影、第三空间值在第六坐标轴上的投影。
可选地,第二获取模块20,包括:
第三获取单元,用于获取电子设备的重力加速度值和磁场传感器值;
第四获取单元,用于根据电子设备的重力加速度值和磁场传感器值,获取运动加速度在地理环境中不同方向上的三维空间值。
可选地,第一确定模块30,包括:
输出单元,用于根据运动加速度在地理环境中不同方向上的三维空间值,以及与电子设备所处的目标载体对应的目标参数,输出第一目标值;
确定单元,用于根据第一目标值,确定目标载体的运动状态。
可选地,该装置还包括:
第二确定模块,用于根据目标载体的运动数据,结合输出的第二目标值,确定与目标载体对应的目标参数。
本申请实施例中的运动状态确定装置可以是电子设备,也可以是电子设备中的部件,例如集成电路或芯片。该电子设备可以是终端,也可以为除终端之外的其他设备。示例性的,电子设备可以为手机、平板电脑、笔记本电脑、掌上电脑、车载电子设备、移动上网装置(Mobile Internet Device,MID)、增强现实(augmented reality,AR)/虚拟现实(virtual reality,VR)设备、机器人、可穿戴设备、超级移动个人计算机(ultra-mobile personal computer,UMPC)、上网本或者个人数字助理(personal digital assistant,PDA)等,还可以为服务器、网络附属存储器(Network Attached Storage,NAS)、个人计算机(personal computer,PC)、电视机(television,TV)、柜员机或者自助机等,本申请实施例不作具体限定。
本申请实施例的运动状态确定装置可以为具有动作***的装置。该动作***可以为安卓(Android)动作***,可以为ios动作***,还可以为其他可能的动作***,本申请实施例不作具体限定。
本申请实施例提供的运动状态确定装置能够实现上述方法实施例实现的各个过程,为避免重复,这里不再赘述。
可选地,如图6所示,本申请实施例还提供一种电子设备100,包括处理器101,存储器102,存储在存储器102上并可在所述处理器101上运行的程序或指令,该程序或指令被处理器101执行时实现上述任一运动状态确定方法实施例的各个步骤,且能达到相同的技术效果,为避免重复,这里不再赘述。
需要说明的是,本申请实施例的电子设备包括上述所述的移动电子设备和非移动电子设备。
图7为实现本申请实施例的一种电子设备的硬件结构示意图。
该电子设备1000包括但不限于:射频单元1001、网络模块1002、音频输出单元1003、输入单元1004、传感器1005、显示单元1006、用户输入单元1007、接口单元1008、存储器1009、以及处理器1010等部件。
本领域技术人员可以理解,电子设备1000还可以包括给各个部件供电的电源(比如电池),电源可以通过电源管理***与处理器1010逻辑相连,从而通过电源管理***实现管理充电、放电、以及功耗管理等功能。图7中
示出的电子设备结构并不构成对电子设备的限定,电子设备可以包括比图示更多或更少的部件,或者组合某些部件,或者不同的部件布置,在此不再赘述。
其中,处理器1010,用于获取电子设备的运动加速度;获取所述运动加速度在地理环境中不同方向上的三维空间值;根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,确定所述目标载体的运动状态。
这样,在本申请的实施例中,在确定电子设备所处的目标载体的运动状态的情况下,首先获取电子设备的运动加速度,再结合地理环境的不同方向,将运动加速度分解至各个方向上,再根据各个方向上的三维空间值,结合与目标载体对应的目标参数,确定目标载体的运动状态。可见,在本申请的实施例中,只需要根据不同的载体获取对应的参数,即可确定载体的运动状态,使得用于检测运动载体的运动状态的方法具有通用性;在此基础上,将电子设备的运动加速度分解至地理环境方向上进行计算,从而可以得到电子设备相对于地理环境的运动情况,排除了一些干扰因素,进而高确定运动状态的准确率。
可选地,处理器1010,还用于基于所述电子设备的姿态信息,建立第一坐标系,所述第一坐标系包括两两之间相互垂直的第一坐标轴、第二坐标轴和第三坐标轴,所述第一坐标轴垂直于所述电子设备的屏幕;分别获取所述运动加速度在所述第一坐标轴上的第一空间值、在所述第二坐标轴的第二空间值、在所述第三坐标轴上的第三空间值;分别获取所述第一空间值在地理环境中不同方向上的第一子空间值、所述第二空间值在地理环境中不同方向上的第二子空间值、所述第三空间值在地理环境中不同方向上的第三子空间值。
可选地,处理器1010,还用于基于所述第一坐标系的坐标原点,建立第二坐标系,所述第二坐标系包括两两之间相互垂直的第四坐标轴、第五坐标轴和第六坐标轴,所述第四坐标轴平行于地理环境中的重力方向,所述第五坐标轴平行于地理环境中的南北方向,所述第六坐标轴平行于地理环境中的东西方向;分别获取所述第一空间值在所述第四坐标轴上的投影、所述第一空间值在所述第五坐标轴上的投影、所述第一空间值在所述第六坐标轴上的投影、所述第二空间值在所述第四坐标轴上的投影、所述第二空间值在所述第五坐标轴上的投影、所述第二空间值在所述第六坐标轴上的投影、所述第
三空间值在所述第四坐标轴上的投影、所述第三空间值在所述第五坐标轴上的投影、所述第三空间值在所述第六坐标轴上的投影。
可选地,处理器1010,还用于获取所述电子设备的重力加速度值和磁场传感器值;根据所述电子设备的重力加速度值和磁场传感器值,获取所述运动加速度在地理环境中不同方向上的三维空间值。
可选地,处理器1010,还用于根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,输出第一目标值;根据所述第一目标值,确定所述目标载体的运动状态。
可选地,处理器1010,还用于根据所述目标载体的运动数据,结合输出的第二目标值,确定与所述目标载体对应的所述目标参数。
综上,本申请的目的在于提供一种基于电子设备来确定用户所乘载体的运动状态的方法,从而用于识别出用户所处的出行场景。例如,本方法适用于坐汽车时的加速减速过程、坐电梯时候的升降过程、坐高铁时候的起步停车过程、坐飞机时候的起飞降落过程等。本申请将电子设备中的传感器原始数据通过特定计算方法构造了九项特征因子,并结合特征因子,构建了统一的公式用于确定运动载体的运动状态,其中应用于不同的运动载体时,只需要微调公式的参数即可。可见,相比于现有技术,本申请不需要针对特定场景采集大量数据,同时统一利用传感器数据,以及具有统一的计算公式,具有较高的通用性。
应理解的是,本申请实施例中,输入单元1004可以包括图形处理器(Graphics Processing Unit,GPU)10041和麦克风10042,图形处理器10041对在视频图像捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频图像的图像数据进行处理。显示单元1006可包括显示面板10061,可以采用液晶显示器、有机发光二极管等形式来配置显示面板10061。用户输入单元1007包括触控面板10071以及其他输入设备10072中的至少一种。触控面板10071,也称为触摸屏。触控面板10071可包括触摸检测装置和触摸控制器两个部分。其他输入设备10072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、动作杆,在此不再赘述。存储器1009可用于存储软件程序以及各种数据,包括但不限于应用程序和动作***。处理器1010可集成应用处理器和调制解调处理器,其中,应用处理器主要处理动作***、用户页面和应用程序等,调制解调处理器主要处理无线通信。可以理解的是,上述调制解调处理器也可
以不集成到处理器1010中。
存储器1009可用于存储软件程序以及各种数据。存储器1009可主要包括存储程序或指令的第一存储区和存储数据的第二存储区,其中,第一存储区可存储操作***、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外,存储器1009可以包括易失性存储器或非易失性存储器,或者,存储器1009可以包括易失性和非易失性存储器两者。其中,非易失性存储器可以是只读存储器(Read-Only Memory,ROM)、可编程只读存储器(Programmable ROM,PROM)、可擦除可编程只读存储器(Erasable PROM,EPROM)、电可擦除可编程只读存储器(Electrically EPROM,EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory,RAM),静态随机存取存储器(Static RAM,SRAM)、动态随机存取存储器(Dynamic RAM,DRAM)、同步动态随机存取存储器(Synchronous DRAM,SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM,DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM,ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM,SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM,DRRAM)。本申请实施例中的存储器1009包括但不限于这些和任意其它适合类型的存储器。
处理器1010可包括一个或多个处理单元;可选的,处理器1010集成应用处理器和调制解调处理器,其中,应用处理器主要处理涉及操作***、用户界面和应用程序等的操作,调制解调处理器主要处理无线通信信号,如基带处理器。可以理解的是,上述调制解调处理器也可以不集成到处理器1010中。
本申请实施例还提供一种可读存储介质,所述可读存储介质上存储有程序或指令,该程序或指令被处理器执行时实现上述运动状态确定方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。
其中,所述处理器为上述实施例中所述的电子设备中的处理器。所述可读存储介质,包括计算机可读存储介质,如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。
本申请实施例另提供了一种芯片,所述芯片包括处理器和通信接口,所述通信接口和所述处理器耦合,所述处理器用于运行程序或指令,实现上述运动状态确定方法实施例的各个过程,且能达到相同的技术效果,为避免重
复,这里不再赘述。
应理解,本申请实施例提到的芯片还可以称为***级芯片、***芯片、芯片***或片上***芯片等。
本申请实施例提供一种计算机程序产品,该程序产品被存储在存储介质中,该程序产品被至少一个处理器执行以实现如上述运动状态确定方法实施例的各个过程,且能达到相同的技术效果,为避免重复,这里不再赘述。
需要说明的是,在本文中,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外,需要指出的是,本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能,还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能,例如,可以按不同于所描述的次序来执行所描述的方法,并且还可以添加、省去、或组合各种步骤。另外,参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述,本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现,当然也可以通过硬件,但很多情况下前者是更佳的实施方式。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来,该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中,包括若干指令用以使得一台终端(可以是手机,计算机,服务器,或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述,但是本申请并不局限于上述的具体实施方式,上述的具体实施方式仅仅是示意性的,而不是限制性的,本领域的普通技术人员在本申请的启示下,在不脱离本申请宗旨和权利要求所保护的范围情况下,还可做出很多形式,均属于本申请的保护之内。
Claims (17)
- 一种运动状态确定方法,其中,所述方法包括:获取电子设备的运动加速度;获取所述运动加速度在地理环境中不同方向上的三维空间值;根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,确定所述目标载体的运动状态。
- 根据权利要求1所述的方法,其中,所述获取所述运动加速度在地理环境中不同方向上的三维空间值,包括:基于所述电子设备的姿态信息,建立第一坐标系,所述第一坐标系包括两两之间相互垂直的第一坐标轴、第二坐标轴和第三坐标轴,所述第一坐标轴垂直于所述电子设备的屏幕;分别获取所述运动加速度在所述第一坐标轴上的第一空间值、在所述第二坐标轴的第二空间值、在所述第三坐标轴上的第三空间值;分别获取所述第一空间值在地理环境中不同方向上的第一子空间值、所述第二空间值在地理环境中不同方向上的第二子空间值、所述第三空间值在地理环境中不同方向上的第三子空间值。
- 根据权利要求2所述的方法,其中,所述分别获取所述第一空间值在地理环境中不同方向上的第一子空间值、所述第二空间值在地理环境中不同方向上的第二子空间值、所述第三空间值在地理环境中不同方向上的第三子空间值,包括:基于所述第一坐标系的坐标原点,建立第二坐标系,所述第二坐标系包括两两之间相互垂直的第四坐标轴、第五坐标轴和第六坐标轴,所述第四坐标轴平行于地理环境中的重力方向,所述第五坐标轴平行于地理环境中的南北方向,所述第六坐标轴平行于地理环境中的东西方向;分别获取所述第一空间值在所述第四坐标轴上的投影、所述第一空间值在所述第五坐标轴上的投影、所述第一空间值在所述第六坐标轴上的投影、所述第二空间值在所述第四坐标轴上的投影、所述第二空间值在所述第五坐标轴上的投影、所述第二空间值在所述第六坐标轴上的投影、所述第三空间值在所述第四坐标轴上的投影、所述第三空间值在所述第五坐标轴上的投影、所述第三空间值在所述第六坐标轴上的投影。
- 根据权利要求1所述的方法,其中,所述获取所述运动加速度在地理环境中不同方向上的三维空间值,包括:获取所述电子设备的重力加速度值和磁场传感器值;根据所述电子设备的重力加速度值和磁场传感器值,获取所述运动加速度在地理环境中不同方向上的三维空间值。
- 根据权利要求1所述的方法,其中,所述根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,确定所述目标载体的运动状态,包括:根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,输出第一目标值;根据所述第一目标值,确定所述目标载体的运动状态。
- 根据权利要求1所述的方法,其中,所述根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,确定所述目标载体的运动状态之前,所述方法还包括:根据所述目标载体的运动数据,结合输出的第二目标值,确定与所述目标载体对应的所述目标参数。
- 一种运动状态确定装置,其中,所述装置包括:第一获取模块,用于获取电子设备的运动加速度;第二获取模块,用于获取所述运动加速度在地理环境中不同方向上的三维空间值;第一确定模块,用于根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,确定所述目标载体的运动状态。
- 根据权利要求7所述的装置,其中,所述第二获取模块,包括:建立单元,用于基于所述电子设备的姿态信息,建立第一坐标系,所述第一坐标系包括两两之间相互垂直的第一坐标轴、第二坐标轴和第三坐标轴,所述第一坐标轴垂直于所述电子设备的屏幕;第一获取单元,用于分别获取所述运动加速度在所述第一坐标轴上的第一空间值、在所述第二坐标轴的第二空间值、在所述第三坐标轴上的第三空间值;第二获取单元,用于分别获取所述第一空间值在地理环境中不同方向上的第一子空间值、所述第二空间值在地理环境中不同方向上的第二子空间值、所述第三空间值在地理环境中不同方向上的第三子空间值。
- 根据权利要求8所述的装置,其中,所述第二获取单元,包括:建立子单元,用于基于所述第一坐标系的坐标原点,建立第二坐标系,所述第二坐标系包括两两之间相互垂直的第四坐标轴、第五坐标轴和第六坐标轴,所述第四坐标轴平行于地理环境中的重力方向,所述第五坐标轴平行于地理环境中的南北方向,所述第六坐标轴平行于地理环境中的东西方向;获取子单元,用于分别获取所述第一空间值在所述第四坐标轴上的投影、所述第一空间值在所述第五坐标轴上的投影、所述第一空间值在所述第六坐标轴上的投影、所述第二空间值在所述第四坐标轴上的投影、所述第二空间值在所述第五坐标轴上的投影、所述第二空间值在所述第六坐标轴上的 投影、所述第三空间值在所述第四坐标轴上的投影、所述第三空间值在所述第五坐标轴上的投影、所述第三空间值在所述第六坐标轴上的投影。
- 根据权利要求7所述的装置,其中,所述第二获取模块,包括:第三获取单元,用于获取所述电子设备的重力加速度值和磁场传感器值;第四获取单元,用于根据所述电子设备的重力加速度值和磁场传感器值,获取所述运动加速度在地理环境中不同方向上的三维空间值。
- 根据权利要求7所述的装置,其中,所述第一确定模块,包括:输出单元,用于根据所述运动加速度在地理环境中不同方向上的三维空间值,以及与所述电子设备所处的目标载体对应的目标参数,输出第一目标值;确定单元,用于根据所述第一目标值,确定所述目标载体的运动状态。
- 根据权利要求7所述的装置,其中,所述装置还包括:第二确定模块,用于根据所述目标载体的运动数据,结合输出的第二目标值,确定与所述目标载体对应的所述目标参数。
- 一种电子设备,其中,包括处理器和存储器,所述存储器存储可在所述处理器上运行的程序或指令,所述程序或指令被所述处理器执行时实现如权利要求1~6任一项所述的运动状态确定方法的步骤。
- 一种可读存储介质,其中,所述可读存储介质上存储程序或指令,所述程序或指令被处理器执行时实现如权利要求1~6任一项所述的运动状态确定方法的步骤。
- 一种芯片,其中,所述芯片包括处理器和通信接口,所述通信接口 和所述处理器耦合,所述处理器用于运行程序或指令,实现如权利要求1~6任一项所述的运动状态确定方法的步骤。
- 一种计算机程序产品,其中,所述程序产品被存储在非瞬态的存储介质中,所述程序产品被至少一个处理器执行以实现如权利要求1~6任一项所述的运动状态确定方法的步骤。
- 一种电子设备,其中,所述电子设备被配置成用于执行如权利要求1~6任一项所述的运动状态确定方法的步骤。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210753982.6A CN115112124A (zh) | 2022-06-29 | 2022-06-29 | 运动状态确定方法、装置、电子设备和可读存储介质 |
CN202210753982.6 | 2022-06-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2024002191A1 true WO2024002191A1 (zh) | 2024-01-04 |
Family
ID=83331411
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2023/103362 WO2024002191A1 (zh) | 2022-06-29 | 2023-06-28 | 运动状态确定方法、装置、电子设备和可读存储介质 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN115112124A (zh) |
WO (1) | WO2024002191A1 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115112124A (zh) * | 2022-06-29 | 2022-09-27 | 维沃移动通信(深圳)有限公司 | 运动状态确定方法、装置、电子设备和可读存储介质 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103414825A (zh) * | 2013-08-15 | 2013-11-27 | 惠州Tcl移动通信有限公司 | 基于传感器组的情景模式切换方法及其移动终端 |
CN105472096A (zh) * | 2014-05-27 | 2016-04-06 | 小米科技有限责任公司 | 终端设备控制方法及装置 |
CN110972112A (zh) * | 2019-12-10 | 2020-04-07 | Oppo广东移动通信有限公司 | 地铁运行方向的确定方法、装置、终端及存储介质 |
CN110960222A (zh) * | 2019-12-17 | 2020-04-07 | 心核心科技(北京)有限公司 | 一种运动类型检测方法及装置 |
CN115112124A (zh) * | 2022-06-29 | 2022-09-27 | 维沃移动通信(深圳)有限公司 | 运动状态确定方法、装置、电子设备和可读存储介质 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106033612B (zh) * | 2015-03-09 | 2019-06-04 | 杭州海康威视数字技术股份有限公司 | 一种目标跟踪方法、装置和*** |
WO2017032335A1 (en) * | 2015-08-26 | 2017-03-02 | Zhejiang Dahua Technology Co., Ltd. | Methods and systems for traffic monitoring |
CN110264741B (zh) * | 2018-03-12 | 2021-09-17 | 深圳鼎然信息科技有限公司 | 基于运动传感器的路况检测方法、装置、设备及介质 |
CN112337043A (zh) * | 2020-10-20 | 2021-02-09 | 随机漫步(上海)体育科技有限公司 | 运动识别的方法和装置、运动评价的方法和装置以及哑铃 |
CN114385012B (zh) * | 2022-01-17 | 2023-06-30 | 维沃移动通信有限公司 | 运动的识别方法、装置、电子设备和可读存储介质 |
-
2022
- 2022-06-29 CN CN202210753982.6A patent/CN115112124A/zh active Pending
-
2023
- 2023-06-28 WO PCT/CN2023/103362 patent/WO2024002191A1/zh unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103414825A (zh) * | 2013-08-15 | 2013-11-27 | 惠州Tcl移动通信有限公司 | 基于传感器组的情景模式切换方法及其移动终端 |
CN105472096A (zh) * | 2014-05-27 | 2016-04-06 | 小米科技有限责任公司 | 终端设备控制方法及装置 |
CN110972112A (zh) * | 2019-12-10 | 2020-04-07 | Oppo广东移动通信有限公司 | 地铁运行方向的确定方法、装置、终端及存储介质 |
CN110960222A (zh) * | 2019-12-17 | 2020-04-07 | 心核心科技(北京)有限公司 | 一种运动类型检测方法及装置 |
CN115112124A (zh) * | 2022-06-29 | 2022-09-27 | 维沃移动通信(深圳)有限公司 | 运动状态确定方法、装置、电子设备和可读存储介质 |
Also Published As
Publication number | Publication date |
---|---|
CN115112124A (zh) | 2022-09-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10449673B2 (en) | Enhanced configuration and control of robots | |
WO2020140772A1 (zh) | 一种人脸检测方法、装置、设备以及存储介质 | |
US10755425B2 (en) | Automatic tuning of image signal processors using reference images in image processing environments | |
DE102018130115B4 (de) | Vorrichtung und Verfahren zur kontextbasierten Unterdrückung und Verstärkung von Akustiksignalen in akustischen Umgebungen | |
US11366528B2 (en) | Gesture movement recognition method, apparatus, and device | |
WO2015058650A1 (en) | Systems and methods for image processing | |
US10685666B2 (en) | Automatic gain adjustment for improved wake word recognition in audio systems | |
WO2024002191A1 (zh) | 运动状态确定方法、装置、电子设备和可读存储介质 | |
US20190043177A1 (en) | Hybrid tone mapping for consistent tone reproduction of scenes in camera systems | |
CN113426117B (zh) | 虚拟相机拍摄参数获取方法、装置、电子设备和存储介质 | |
US20190045169A1 (en) | Maximizing efficiency of flight optical depth sensors in computing environments | |
Zhao et al. | Web-based interactive drone control using hand gesture | |
WO2024055748A1 (zh) | 一种头部姿态估计方法、装置、设备以及存储介质 | |
WO2021016875A1 (zh) | 飞行器的降落方法、无人飞行器及计算机可读存储介质 | |
WO2023025204A1 (zh) | 远程控制方法、装置及第一、第二控制端 | |
JP6991525B1 (ja) | ウェイポイント高さ座標設定方法及び管理サーバ、情報処理システム、プログラム | |
CN108829329A (zh) | 一种操作对象展示方法、装置和可读介质 | |
US20220166917A1 (en) | Information processing apparatus, information processing method, and program | |
CN114285114A (zh) | 一种充电控制方法、装置、电子设备和存储介质 | |
CN111124185B (zh) | 设备的控制方法、装置、服务器和存储介质 | |
CN113360031A (zh) | 显示方法、装置、电子设备和存储介质 | |
US20230333922A1 (en) | Connected Devices Smart Clipboard | |
CN112748746B (zh) | 获取飞行器的飞行信息的方法、装置、设备及存储介质 | |
WO2022113482A1 (ja) | 情報処理装置、方法およびプログラム | |
WO2023109385A1 (zh) | 图标点击的检测方法、装置、设备及存储介质 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 23830362 Country of ref document: EP Kind code of ref document: A1 |