Acceleration sensor control method and related equipment thereof
By establishing the coordinate system mapping function and target identification of the acceleration sensor, the algorithm misfit caused by changes in the sensor placement state is solved, and efficient mapping confirmation and development efficiency are achieved.
Patent Information
- Application Number
- CN202411510337.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2025-02-28
AI Technical Summary
The existing acceleration sensor mapping process is complex and error-prone, resulting in the problem of algorithm misfit. The algorithm needs to be redeveloped every time the hardware or structural design changes, which is wasted resources and has high risks.
By determining the basic placement state of the target acceleration sensor, it establishes its corresponding coordinate system mapping function, including the coordinate axis mapping relationship and identification with the basic state under different placement states. When the sensor placement state changes, the target identification is determined based on the current state, and the corresponding mapping relationship is activated to make the sensor coordinate axis settings consistent with the mapping.
Simple mapping confirmation of acceleration sensors is realized, development efficiency is improved, and algorithm problems and product development risks are reduced due to mapping errors.
Smart Images
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Abstract
Description
Technical Field
[0001] The present application belongs to the field of equipment control, and in particular, relates to an acceleration sensor control method and related equipment. Background Art
[0002] With the rapid development of science and technology, wearable devices are becoming more and more popular in daily life and sports. People often wear bracelets or watches to monitor their daily activities. These devices rely on various sensors, among which accelerometers play a vital role. They are the basic components for realizing functions such as step counting, calorie calculation, and exercise recognition. Without such sensors, wearable devices cannot realize these rich functions.
[0003] In practical applications, the algorithms corresponding to each device need to accurately analyze and calculate the data provided by the accelerometer. However, in the later changes of hardware or structural design, the placement of the accelerometer may change, such as from the front to the back, or from upright to sideways. These changes directly lead to the incompatibility of the algorithm. If the algorithm is redeveloped for each change, it is obviously unreasonable and a waste of resources.
[0004] Therefore, the commonly used method is to map the basic algorithm placement method to the placement of the acceleration sensor to ensure that a set of algorithms can be compatible with different structures or hardware. However, if mapping is required for each modification, it may cause mapping errors due to the operator's unfamiliarity or misunderstanding, which in turn may cause algorithm errors and have a negative impact on product development. Summary of the invention
[0005] The object of the present invention is to provide an acceleration sensor control method, aiming to solve the problem that the existing acceleration sensor mapping process is relatively complex and prone to errors.
[0006] A first aspect of an embodiment of the present application provides an acceleration sensor control method, including:
[0007] Determine the basic placement state of the target acceleration sensor;
[0008] Establishing a coordinate system mapping function corresponding to the target acceleration sensor, wherein the coordinate system mapping function includes a mapping relationship between the target acceleration sensor in different placement states and each coordinate axis of the basic placement state and a corresponding identifier of each placement state;
[0009] When the placement state of the target acceleration sensor changes, determining the corresponding target identifier based on the current placement state of the target acceleration sensor;
[0010] The mapping relationship corresponding to the target identifier is activated based on the coordinate system mapping function, so that the coordinate axis setting of the target acceleration sensor is consistent with the mapping relationship.
[0011] Based on the acceleration sensor control method provided in the first aspect of the embodiment of the present application, optionally, the target acceleration sensor is a three-axis acceleration sensor that follows the right-hand rule in the X, Y, and Z axis directions.
[0012] Based on the acceleration sensor control method provided in the first aspect of the embodiment of the present application, optionally, the different placement states include a total of eight different placement states.
[0013] Based on the acceleration sensor control method provided by the first aspect of the embodiment of the present application, optionally, before determining the corresponding target identifier based on the current placement state of the target acceleration sensor, the method further includes:
[0014] The current placement state of the target acceleration sensor is determined based on the one-foot position of the target acceleration sensor and the right-hand rule.
[0015] Based on the acceleration sensor control method provided by the first aspect of the embodiment of the present application, optionally, before determining the current placement state of the target acceleration sensor based on the foot position of the target acceleration sensor, the method further includes:
[0016] Use the visual sensor to obtain the position of the target accelerometer.
[0017] Based on the acceleration sensor control method provided in the first aspect of the embodiment of the present application, optionally, the method further includes:
[0018] Determine whether the X, Y, and Z axis directions of the target acceleration sensor conform to the right-hand rule;
[0019] If the X, Y, and Z axis directions of the target acceleration sensor conform to the right-hand rule, then executing the step of determining the corresponding target identifier based on the current placement state of the target acceleration sensor when the placement state of the target acceleration sensor changes;
[0020] If the X, Y, and Z axis directions of the target acceleration sensor do not conform to the right-hand rule, a manual adjustment prompt is triggered.
[0021] Based on the acceleration sensor control method provided in the first aspect of the embodiment of the present application, optionally, the acceleration sensor is a six-axis acceleration sensor or a nine-axis acceleration sensor.
[0022] A second aspect of an embodiment of the present application provides an acceleration sensor control device, including:
[0023] A determination unit, used to determine a basic placement state of a target acceleration sensor;
[0024] An establishing unit, used to establish a coordinate system mapping function corresponding to the target acceleration sensor, wherein the coordinate system mapping function includes a mapping relationship between the target acceleration sensor in different placement states and each coordinate axis of the basic placement state and a corresponding identifier of each placement state;
[0025] A target identification determination unit, configured to determine a corresponding target identification based on a current placement state of the target acceleration sensor when the placement state of the target acceleration sensor changes;
[0026] An activation unit is used to activate the mapping relationship corresponding to the target identifier based on the coordinate system mapping function, so that the coordinate axis setting of the target acceleration sensor is consistent with the mapping relationship.
[0027] Based on the acceleration sensor control device provided in the second aspect of the embodiment of the present application, optionally, the X, Y, and Z axis directions of the target acceleration sensor are three-axis acceleration sensors that follow the right-hand rule.
[0028] Based on the acceleration sensor control device provided in the second aspect of the embodiment of the present application, optionally, the different placement states include a total of eight different placement states.
[0029] Based on the acceleration sensor control device provided in the second aspect of the embodiment of the present application, optionally, the target identification determination unit is also used to: determine the current placement state of the target acceleration sensor based on the one-foot position of the target acceleration sensor and the right-hand rule
[0030] Based on the acceleration sensor control device provided in the second aspect of the embodiment of the present application, optionally, the target identification determination unit is also used to: obtain the position of one foot of the target acceleration sensor using a visual sensor.
[0031] Based on the acceleration sensor control device provided by the second aspect of the embodiment of the present application, optionally, the device further includes: a judgment unit, the judgment unit being used to: judge whether the X, Y, and Z axis directions of the target acceleration sensor conform to the right-hand rule;
[0032] If the X, Y, and Z axis directions of the target acceleration sensor meet the right-hand rule, a target identification determination unit is triggered;
[0033] If the X, Y, and Z axis directions of the target acceleration sensor do not conform to the right-hand rule, a manual adjustment prompt is triggered.
[0034] Based on the acceleration sensor control device provided in the second aspect of the embodiment of the present application, optionally, the acceleration sensor is a six-axis acceleration sensor or a nine-axis acceleration sensor.
[0035] A third aspect of an embodiment of the present application provides an acceleration sensor control device, including:
[0036] CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply;
[0037] The memory is a short-term storage memory or a persistent storage memory;
[0038] The central processing unit is configured to communicate with the memory and execute instruction operations in the memory on the device to perform a method as described in any one of the first aspects of the embodiments of the present application.
[0039] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, including instructions, which, when executed on a computer, enable the computer to execute a method as described in any one of the first aspects of the embodiment of the present application.
[0040] A fifth aspect of the embodiments of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute a method as described in any one of the first aspects of the embodiments of the present application.
[0041] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: The present application provides an acceleration sensor control method, including: determining the basic placement state of the target acceleration sensor; establishing a coordinate system mapping function corresponding to the target acceleration sensor, the coordinate system mapping function including the mapping relationship between the target acceleration sensor in different placement states and each coordinate axis of the basic placement state and the corresponding identification of each placement state; when the placement state of the target acceleration sensor changes, the corresponding target identification is determined based on the current placement state of the target acceleration sensor; based on the coordinate system mapping function, the mapping relationship corresponding to the target identification is activated so that the coordinate axis setting of the target acceleration sensor is consistent with the mapping relationship. Through this method, the correct mapping can be achieved by simply confirming the placement position of the sensor. This method not only improves development efficiency, but also greatly reduces algorithm problems and product development risks caused by mapping errors. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. It is understood that the drawings provided in this section are only used to better understand the present solution and do not constitute a limitation of the present application.
[0043] Figure 1 A schematic flow chart of an embodiment of the acceleration sensor control method provided in the present application.
[0044] Figure 2 A schematic diagram of the acceleration sensor provided in this application.
[0045] Figure 3 This is another flowchart of an acceleration sensor control method embodiment provided in the present application.
[0046] Figure 4 A schematic diagram of the right-hand rule provided in this application.
[0047] Figure 5 A schematic diagram of eight placement postures of the three-axis acceleration sensor provided in this application in a space system.
[0048] Figure 6 This is a schematic diagram of the method function provided by this application
[0049] Figure 7 A structural schematic diagram of an acceleration sensor control device embodiment provided in this application.
[0050] Figure 8 This is another structural schematic diagram of an acceleration sensor control device embodiment provided in the present application. DETAILED DESCRIPTION
[0051] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application are clearly and completely described below. Obviously, the described embodiments are only embodiments of a part of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should belong to the scope of protection of the present application. At the same time, for the sake of clarity and simplicity, the description of well-known functions and structures is omitted in the following description.
[0052] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0053] With the rapid development of science and technology, wearable devices are becoming more and more popular in daily life and sports. People often wear bracelets or watches to monitor their daily activities. These devices rely on various sensors, among which accelerometers play a vital role. They are the basic components for realizing functions such as step counting, calorie calculation, and exercise recognition. Without such sensors, wearable devices cannot realize these rich functions.
[0054] In practical applications, the algorithms corresponding to each device need to accurately analyze and calculate the data provided by the accelerometer. However, in the later changes of hardware or structural design, the placement of the accelerometer may change, such as from the front to the back, or from upright to sideways. These changes directly lead to the incompatibility of the algorithm. If the algorithm is redeveloped for each change, it is obviously unreasonable and a waste of resources.
[0055] Therefore, the commonly used method is to map the basic algorithm placement method to the placement of the acceleration sensor to ensure that a set of algorithms can be compatible with different structures or hardware. However, if mapping is required for each modification, it may cause mapping errors due to the operator's unfamiliarity or misunderstanding, which in turn may cause algorithm errors and have a negative impact on product development.
[0056] To solve the above problems, please refer to Figure 1 An embodiment of the acceleration sensor control method provided in the present application includes: steps 101 to 105.
[0057] 101. Determine the basic placement status of the target acceleration sensor.
[0058] Specifically determine the basic placement state of the target acceleration sensor, in which the directions of the xyz axes of the target acceleration sensor are consistent with the actual situation. That is, the data output by the target acceleration sensor is consistent with the actual acceleration direction. If the target acceleration sensor is used in this placement state, there is no need to perform operations such as mapping and adjusting the output value of the acceleration sensor. Figure 2 This is a schematic diagram of a three-axis sensor, where S00 represents a specific pin position of the sensor, which is used as a flag in the chip to indicate the placement of the chip. Starting from pin S00, the pin numbers gradually increase in a counterclockwise direction. This design can not only help users quickly identify the pin number of the chip, but also quickly determine the placement direction of the chip. For users, this pin number is very important, because without this label, it will be difficult to determine the pin position of the chip, let alone accurately determine the axis direction of the three-axis sensor.
[0059] The output value of the target acceleration sensor in the basic placement position is consistent with the actual acceleration value it receives, and there is no directional deviation. Therefore, if the acceleration sensor is used in this basic placement state, no adjustment is required. However, the target acceleration sensor is often adjusted according to the device's posture during use, such as changing from the front to the back, etc. At this time, if the target acceleration sensor is used according to the original function, the sensor function needs to be adjusted, otherwise the obtained sensor output value will have a wrong direction.
[0060] 102. Establish a coordinate system mapping function corresponding to the target acceleration sensor.
[0061] A coordinate system mapping function corresponding to the target acceleration sensor is established, wherein the coordinate system mapping function includes a mapping relationship between each coordinate axis of the target acceleration sensor in different placement states and a basic placement state, and a corresponding identifier of each placement state. The coordinate system mapping function is a corresponding relationship in which the XYZ axis parameters are corrected to be consistent with the actual situation in different states. For example, if the front side is changed to the back side, the XY value rotates accordingly, and the Z value becomes a negative value, which is consistent with the actual situation.
[0062] In the actual implementation process, the coordinate system mapping function should include the mapping relationship between each coordinate axis corresponding to a variety of different placement states, so as to meet the actual use requirements of the sensor. In order to facilitate the call, it is necessary to set the corresponding identifiers of different placement states respectively, so as to automatically convert the acceleration data from the current state to the coordinate system consistent with the basic placement state when the sensor placement state changes.
[0063] 103. Determine a corresponding target identifier based on a current placement state of the target acceleration sensor.
[0064] Specifically, when the placement state of the target accelerometer changes, the corresponding target identifier is determined based on the current placement state of the target accelerometer. If the current placement state is a non-basic placement state, the identifier corresponding to the current placement state must be found in the coordinate system mapping function according to the current placement state. In the actual implementation process, the current placement state of the target accelerometer can be determined by the position of the first foot. In the actual implementation process, the developer can determine it by eye based on the actual situation and enter the label, or the system can confirm it through other devices, or determine it based on other development parameters, such as the developer pre-setting the front and back of the device. The current placement state of the target accelerometer is determined based on the relationship between the rule and the installation position of the accelerometer. It should be noted that this step is often implemented in the development process, that is, in the development process, the developer determines the current placement state of the accelerometer and maps it based on this method to complete the entire control algorithm development process for the device. The specifics are not limited here.
[0065] 104. Activate a mapping relationship corresponding to the target identifier based on the coordinate system mapping function.
[0066] When the placement state of the target acceleration sensor changes, the corresponding target identifier is determined based on the current placement state of the target acceleration sensor; the mapping relationship corresponding to the target identifier is activated based on the coordinate system mapping function, so that the coordinate axis setting of the target acceleration sensor is consistent with the mapping relationship. That is, the output value of the target acceleration sensor in the XYZ axis direction is mapped, and the mapping relationship is stored in the coordinate system mapping function, so that the value output by the target acceleration sensor is consistent with the actual situation, which meets the use requirements of the subsequent algorithm.
[0067] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: The present application provides an acceleration sensor control method, including: determining the basic placement state of the target acceleration sensor; establishing a coordinate system mapping function corresponding to the target acceleration sensor, the coordinate system mapping function including the mapping relationship between the target acceleration sensor in different placement states and each coordinate axis of the basic placement state and the corresponding identification of each placement state; when the placement state of the target acceleration sensor changes, the corresponding target identification is determined based on the current placement state of the target acceleration sensor; based on the coordinate system mapping function, the mapping relationship corresponding to the target identification is activated so that the coordinate axis setting of the target acceleration sensor is consistent with the mapping relationship. Through this method, the correct mapping can be achieved by simply confirming the placement position of the sensor. This method not only improves development efficiency, but also greatly reduces algorithm problems and product development risks caused by mapping errors.
[0068] To facilitate the use of this method in actual implementation, this application also provides a more detailed embodiment that can be optionally implemented, please refer to Figure 3 , an embodiment of the present application includes: step 301-step 307.
[0069] 301. Determine the basic placement state of the target acceleration sensor.
[0070] 302. Establish a coordinate system mapping function corresponding to the target acceleration sensor.
[0071] Specifically, in the actual implementation process, the above steps 301 to 302 are the same as the above Figure 1 Steps 101 to 102 in the corresponding embodiment are similar, and specific reference may be made to the aforementioned content. In the actual implementation process, steps 301 to 302 may be executed in any order, and are not limited here. The established coordinate system mapping function may also include a mapping function corresponding to the basic placement state.
[0072] This embodiment is described by taking a total of eight placement states as examples. It should be emphasized that this solution is applied to a three-axis acceleration sensor that follows the right-hand rule in the X, Y, and Z axis directions. The right-hand rule means using the right hand, pointing the thumb in the positive direction of the Z axis, and the other fingers around the Z axis to form a semi-closed shape, with the lower joint part pointing in the positive direction of the X axis and the fingertips pointing in the positive direction of the Y axis. Figure 4 As shown, this is a schematic diagram of the right-hand spiral rule, and the X, Y and Z axes are distributed as described above.
[0073] The distribution of the X, Y, and Z axes of the three-axis accelerometer satisfies the right-hand screw law. Therefore, the distribution of the three axes can form eight situations in the space system. These eight situations can represent all the placements of the three-axis accelerometer on the PCB. Figure 5 There are eight ways to represent the three-axis acceleration sensor in the space system, including:
[0074] (1) X = X, Y = Y, Z = Z;
[0075] (2)X=-Y,Y=X,Z=Z,
[0076] (3)X=-X,Y=-Y,Z=Z,
[0077] (4)X=Y,Y=-X,Z=Z,
[0078] (5)X=-Y,Y=-X,Z=-Z,
[0079] (6)X=X,Y=-Y,Z=-Z,
[0080] (7)X=-X,Y=Y,Z=-Z,
[0081] (8)X=Y,Y=X,Z=-Z,
[0082] There are 8 cases in total. It is understandable that different mapping functions can be set for different acceleration sensor cases, which are not specifically limited here.
[0083] 303. Determine whether the X, Y, and Z axis directions of the target acceleration sensor conform to the right-hand rule.
[0084] Specifically, the system determines whether the X, Y, and Z axis directions of the adjusted target acceleration sensor conform to the right-hand rule. If they conform to the right-hand rule, it means that there is a function matching the current situation in the pre-packaged mapping function, and the judgment and adjustment can be performed, and step 305 is executed. If it does not conform to the right-hand rule, it means that there may not be a function matching the current situation in the pre-packaged mapping function, and manual adjustment is required, and step 304 is executed, and subsequent steps such as 305 are not executed. Specifically, whether the X, Y, and Z axis directions of the target acceleration sensor conform to the right-hand rule can be determined based on the model of the target acceleration sensor, system parameters, etc., which are not specifically limited here.
[0085] 304. Triggering a manual adjustment prompt.
[0086] Specifically, if the X, Y, and Z axis directions of the target acceleration sensor do not conform to the right-hand rule, step 304 is executed to trigger a manual adjustment prompt to remind the developer to manually debug the accelerometer sensor and adjust its specific numerical correspondence. It can be understood that this step is only set for the situation where the mapping function cannot be matched. If there are additional settings for this situation in the mapping function, it can also be executed according to the additional settings. There is no specific limitation here.
[0087] 305. Use the visual sensor to obtain the position of the target acceleration sensor.
[0088] Specifically, the target accelerometer has a pin position, which is used as a flag in the chip to tell the user where to place the chip. Starting from the pin, the pins increase counterclockwise, so that the pin number of the chip can be known and the placement of the chip can be quickly known. In the actual implementation process, the position of the pin of the target accelerometer can be obtained through a visual sensor to support the implementation of subsequent steps. It is understandable that the position of the pin can also be determined by the staff, and the specifics are not limited here.
[0089] 306. Determine a current placement state of the target acceleration sensor based on a foot position of the target acceleration sensor and the right-hand rule.
[0090] Specifically, the current placement state of the target acceleration sensor is determined based on the one-foot position of the target acceleration sensor and the right-hand rule. Different one-foot positions correspond to different placement states, and the corresponding relationship is unique. Based on the one-foot position and the right-hand rule, the unique current placement state can be confirmed.
[0091] 307. Activate the mapping relationship corresponding to the target identifier based on the coordinate system mapping function.
[0092] Specifically, the mapping relationship corresponding to the target identifier is activated based on the coordinate system mapping function, so that the value output by the sensor is consistent with the actual force condition, thereby supporting subsequent processes.
[0093] It can be understood that this embodiment only describes the use process of a three-axis acceleration sensor. In the actual implementation process, a six-axis acceleration sensor or a nine-axis acceleration sensor can also be used. It is only necessary to write a corresponding mapping function for its placement state. No specific limitation is made here.
[0094] In actual implementation, this solution can be designed as a function to realize data transmission and mapping through the function. Figure 6 shows how to implement this function. Specifically, S60 represents the raw data directly obtained from the triaxial sensor, while S61 is a key parameter whose value depends on the physical installation position of the triaxial sensor. Figure 3 In the code, the corresponding code (any one from 1 to 8) can be found according to the actual placement of the sensor. Once the code is determined, the switch statement (i.e. S62) in the code is used to select it. Each code has and only has one unique mapping corresponding to it. S63 means when the code is selected Figure 3When the first coordinate system is passed into the function as a parameter, the corresponding mapping operation will be performed. S64 is the entrance of the algorithm, and the algorithm is directly called through the mapping result, so as to ensure the universality of the algorithm and is not affected by the placement position of the three-axis sensor. It is worth noting that S64 can be any algorithm function and is not fixed. From the above technical scheme, it can be seen that the embodiment of the present application has the following advantages: the present application provides an acceleration sensor control method, including: determining the basic placement state of the target acceleration sensor; establishing a coordinate system mapping function corresponding to the target acceleration sensor, the coordinate system mapping function includes the mapping relationship between the target acceleration sensor and each coordinate axis of the basic placement state under different placement states and the corresponding identification of each placement state; when the placement state of the target acceleration sensor changes, the corresponding target identification is determined based on the current placement state of the target acceleration sensor; based on the coordinate system mapping function, the mapping relationship corresponding to the target identification is activated, so that the coordinate axis setting of the target acceleration sensor is consistent with the mapping relationship. Through this method, it is only necessary to simply confirm the placement position of the sensor to achieve correct mapping. This method not only improves development efficiency, but also greatly reduces algorithm problems and product development risks caused by mapping errors.
[0095] The above content describes the acceleration sensor control method provided by the present application. To support the implementation of the above embodiment, the present application also provides an acceleration sensor control device, see Figure 7 , an embodiment of the acceleration sensor control device of the present application includes:
[0096] A determination unit 701 is used to determine a basic placement state of a target acceleration sensor;
[0097] An establishing unit 702 is used to establish a coordinate system mapping function corresponding to the target acceleration sensor, wherein the coordinate system mapping function includes a mapping relationship between the target acceleration sensor in different placement states and each coordinate axis of the basic placement state and a corresponding identifier of each placement state;
[0098] A target identification determination unit 703, configured to determine a corresponding target identification based on the current placement state of the target acceleration sensor when the placement state of the target acceleration sensor changes;
[0099] The activation unit 704 is used to activate the mapping relationship corresponding to the target identifier based on the coordinate system mapping function, so that the coordinate axis setting of the target acceleration sensor is consistent with the mapping relationship.
[0100] In this embodiment, the process performed by each unit is the same as the above Figure 1 , Figure 3 The method flow described in the corresponding embodiment is similar and will not be repeated here.
[0101] Optionally, the target acceleration sensor is a three-axis acceleration sensor that follows the right-hand rule in the X, Y, and Z axis directions.
[0102] Optionally, the different placement states include a total of eight different placement states.
[0103] Optionally, the target identification determination unit 703 is further configured to: determine the current placement state of the target acceleration sensor based on the one-foot position of the target acceleration sensor and the right-hand rule.
[0104] Optionally, the target identification determination unit 703 is further configured to: obtain a foot position of a target acceleration sensor using a visual sensor.
[0105] Optionally, the device further includes: a judgment unit, the judgment unit being used to: judge whether the target acceleration sensor complies with the right-hand rule;
[0106] If the X, Y, and Z axis directions of the target acceleration sensor meet the right-hand rule, a target identification determination unit is triggered;
[0107] If the X, Y, and Z axis directions of the target acceleration sensor do not conform to the right-hand rule, a manual adjustment prompt is triggered.
[0108] Optionally, the acceleration sensor is a six-axis acceleration sensor or a nine-axis acceleration sensor.
[0109] Figure 8 It is a structural diagram of an acceleration sensor control device provided in an embodiment of the present application. The acceleration sensor control device 800 may include one or more central processing units (CPU) 801 and a memory 805. The memory 805 stores one or more application programs or data.
[0110] In this embodiment, the specific functional module division in the central processing unit 801 can be the same as the above Figure 7 The functional module division method of each unit described in is similar and will not be repeated here.
[0111] The memory 805 may be a volatile storage or a persistent storage. The program stored in the memory 805 may include one or more modules, each of which may include a series of instruction operations on the server. Furthermore, the central processor 801 may be configured to communicate with the memory 805 and execute a series of instruction operations in the memory 805 on the acceleration sensor control device 800.
[0112] The acceleration sensor control device 800 may further include one or more power supplies 802 , one or more wired or wireless network interfaces 803 , one or more input / output interfaces 808 , and the like.
[0113] The CPU 801 can execute the aforementioned Figure 1 or Figure 3 The operations performed by the acceleration sensor control method in the illustrated embodiment will not be described in detail herein.
[0114] An embodiment of the present application further provides a computer storage medium, which is used to store computer software instructions used for the above-mentioned acceleration sensor control method, including a program designed for executing the acceleration sensor control method.
[0115] The acceleration sensor control method can be as described above Figure 1 or Figure 3 The acceleration sensor control method described in .
[0116] The present application also provides a computer program product, which includes computer software instructions, which can be loaded by a processor to implement the above Figure 1 Figure 2 The process of any one of the acceleration sensor control methods.
[0117] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the equivalent transformation of the circuit, the division of the unit, is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.
[0118] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.
[0119] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.
[0120] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. A method for controlling an acceleration sensor, characterized in that: include: Determine the basic placement state of the target acceleration sensor; Establishing a coordinate system mapping function corresponding to the target acceleration sensor, wherein the coordinate system mapping function includes a mapping relationship between the target acceleration sensor in different placement states and each coordinate axis of the basic placement state and a corresponding identifier of each placement state; When the placement state of the target acceleration sensor changes, determining the corresponding target identifier based on the current placement state of the target acceleration sensor; The mapping relationship corresponding to the target identifier is activated based on the coordinate system mapping function, so that the coordinate axis setting of the target acceleration sensor is consistent with the mapping relationship.
2. The acceleration sensor control method according to claim 1, characterized in that: The target acceleration sensor is a three-axis acceleration sensor that follows the right-hand rule in the X, Y, and Z axis directions.
3. The acceleration sensor control method according to claim 1, characterized in that: The different placement states include a total of eight different placement states.
4. The acceleration sensor control method according to claim 1, characterized in that: Before determining the corresponding target identifier based on the current placement state of the target acceleration sensor, the method further includes: The current placement state of the target acceleration sensor is determined based on the one-foot position of the target acceleration sensor and the right-hand rule.
5. The acceleration sensor control method according to claim 4, characterized in that: Before determining the current placement state of the target acceleration sensor based on the position of one foot of the target acceleration sensor, the method further includes: Use the visual sensor to obtain the position of the target accelerometer.
6. The acceleration sensor control method according to claim 1, characterized in that: The method further comprises: Determine whether the X, Y, and Z axis directions of the target acceleration sensor conform to the right-hand rule; If the X, Y, and Z axis directions of the target acceleration sensor conform to the right-hand rule, then executing the step of determining the corresponding target identifier based on the current placement state of the target acceleration sensor when the placement state of the target acceleration sensor changes; If the X, Y, and Z axis directions of the target acceleration sensor do not conform to the right-hand rule, a manual adjustment prompt is triggered.
7. The acceleration sensor control method according to claim 1, characterized in that: The acceleration sensor is a six-axis acceleration sensor or a nine-axis acceleration sensor.
8. An acceleration sensor control device, characterized in that: include: A determination unit, used to determine a basic placement state of a target acceleration sensor; An establishing unit, used to establish a coordinate system mapping function corresponding to the target acceleration sensor, wherein the coordinate system mapping function includes a mapping relationship between the target acceleration sensor in different placement states and each coordinate axis of the basic placement state and a corresponding identifier of each placement state; A target identification determination unit, configured to determine a corresponding target identification based on a current placement state of the target acceleration sensor when the placement state of the target acceleration sensor changes; An activation unit is used to activate the mapping relationship corresponding to the target identifier based on the coordinate system mapping function, so that the coordinate axis setting of the target acceleration sensor is consistent with the mapping relationship.
9. An acceleration sensor control device, characterized in that: include: CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply; The memory is a short-term storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory, and execute instructions in the memory on the device to perform the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The method comprises instructions, which, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 7.