Motion parameter determination method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of communication interaction, in particular to a motion parameter determination method and device, electronic equipment and a storage medium. The invention provides a motion parameter determination method, which is applied to first equipment and comprises the following steps: determining a reference moment for detecting a motion parameter; based on the Bluetooth communication connection with the second equipment, receiving a plurality of measurement signals sent by the second equipment, and respectively determining a phase measurement value of each measurement signal and a corresponding receiving moment; and determining a motion parameter with the second equipment based on the reference moment, the phase measurement value of each measurement signal and the corresponding receiving moment. According to the invention, the interference of a single frequency point can be effectively avoided, the effectiveness and reliability of motion parameter determination can be improved, detection is carried out through unidirectional transmission, the air interface occupation time can be effectively reduced, the detection time can be shortened, and the motion parameter determination efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of communication interaction technology, and in particular to a motion parameter determination method, a motion parameter determination device, an electronic device and a computer-readable storage medium. Background Art

[0002] Smart devices play an increasingly important role in modern life, and they need to be able to transmit data and measure the environment at the same time. Wireless communication systems have solved the problem of data transmission very well, but environmental measurements usually need to rely on dedicated sensors. For example, radar is usually used for distance measurement, and multi-antenna radar or inertial measurement unit (IMU) can be used for angle measurement. However, adding these additional sensors will inevitably lead to an increase in system cost.

[0003] Therefore, how to utilize the inherent hardware capabilities of existing wireless communication systems to solve environmental perception problems has become an important topic. Summary of the invention

[0004] To overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides a method for determining motion parameters, which is applied to a first device, and the method includes: determining a reference time for detecting motion parameters; based on a Bluetooth communication connection with a second device, receiving multiple measurement signals sent by the second device, and respectively determining a phase measurement value of each measurement signal received and a corresponding reception time; based on the reference time, the phase measurement value of each measurement signal and the corresponding reception time, determining the motion parameters between the second device and the second device, wherein the motion parameters include at least one of the following: target distance, target speed, target acceleration.

[0005] In some embodiments, based on a reference time, a phase measurement value of each measurement signal and a corresponding reception time, the motion parameters between the second device are determined, including: in the process of receiving multiple measurement signals, determining the relative motion state between the second device; in response to the motion state between the second device being a relative stationary state, determining that the target acceleration between the second device is zero.

[0006] In some embodiments, based on a reference moment, a phase measurement value of each measurement signal and a corresponding reception moment, determining motion parameters between the second device also includes: based on a reference moment, two adjacent phase measurement values ​​and a corresponding reception moment, determining a target speed between the second device, wherein the signal frequencies corresponding to the two adjacent phase measurement values ​​are the same.

[0007] In some embodiments, based on a reference time, a phase measurement value of each measurement signal and a corresponding reception time, determining motion parameters between the second device also includes: based on a reference time, a first number of phase measurement values ​​and a corresponding reception time, determining a target distance and / or target speed between the second device, wherein the signal frequencies corresponding to the first number of measurement signals are not completely the same.

[0008] In some embodiments, based on a reference time, a phase measurement value of each measurement signal and a corresponding reception time, determining the motion parameters between the second device also includes: in response to the motion state between the second device being a relative motion state, determining the target distance, target speed and target acceleration between the second device based on the reference time, a second number of phase measurement values ​​and the corresponding reception time, wherein the signal frequencies corresponding to the second number of measurement signals are not completely the same.

[0009] In some embodiments, a reception time interval between a measurement signal and a previous measurement signal is less than or equal to a reception time interval between a measurement signal and a next measurement signal.

[0010] In a second aspect, the present disclosure also provides a method for determining motion parameters, which is applied to a third device that is communicatively connected to a first device, and the method includes: determining a reference time for detecting motion parameters; receiving multiple phase measurement values ​​sent by the first device and a receiving time corresponding to each phase measurement value, wherein the multiple phase measurement values ​​and the receiving time corresponding to each phase measurement value are determined by the first device based on a Bluetooth communication connection between the first device and the second device, and receiving multiple measurement signals sent by the second device; determining the motion parameters between the first device and the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding receiving time, wherein the motion parameters include at least one of the following: target distance, target speed, target acceleration; and sending the motion parameters to the first device.

[0011] In the third aspect, the present disclosure also provides a motion parameter determination device, which is applied to a first device, and the device includes: a first determination module, used to determine a reference time for detecting the motion parameters; a first processing module, used to receive multiple measurement signals sent by the second device based on a Bluetooth communication connection between the second device, and respectively determine the phase measurement value of each measurement signal received and the corresponding reception time; a second processing module, used to determine the motion parameters between the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding reception time, wherein the motion parameters include at least one of the following: target distance, target speed, target acceleration.

[0012] In a fourth aspect, the present disclosure also provides a motion parameter determination device, which is applied to a third device that is communicatively connected to a target device, and the device includes: a second determination module, used to determine a reference time for detecting motion parameters; a receiving module, used to receive multiple phase measurement values ​​sent by the first device and a receiving time corresponding to each phase measurement value, wherein the multiple phase measurement values ​​and the receiving time corresponding to each phase measurement value are determined by the first device based on a Bluetooth communication connection between the first device and the second device, and receiving multiple measurement signals sent by the second device; a third processing module, used to determine the motion parameters between the first device and the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding receiving time, wherein the motion parameters include at least one of the following: target distance, target speed, target acceleration; a sending module, used to send the motion parameters to the first device.

[0013] In a fifth aspect, the present disclosure further provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the motion parameter determination method provided in any of the above aspects by executing the computer instructions.

[0014] In a sixth aspect, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the motion parameter determination method provided in any of the above aspects.

[0015] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0016] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: According to the motion parameter determination method provided by the present disclosure, the first device determines the motion parameters between the first device and the second device based on the one-way signal transmission between the first device and the second device, based on the phase measurement values ​​of the received multiple measurement signals and the corresponding receiving time, which can effectively avoid the interference of a single frequency point and improve the effectiveness and reliability of the motion parameter determination. Moreover, in the process of determining the motion parameters, the first device does not need to send the signal frequency to the second device according to the signal frequency corresponding to the received measurement signal, which can effectively reduce the air interface occupancy time and shorten the detection time, thereby effectively improving the efficiency of the motion parameter determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0018] Figure 1 is a flow chart of a method for determining motion parameters according to an exemplary embodiment of the disclosure;

[0019] Figure 2 is a timing diagram of signal transmission according to an exemplary embodiment of the disclosure;

[0020] Figure 3 is a flowchart of another method for determining motion parameters according to an exemplary embodiment of the disclosure;

[0021] Figure 4 is a schematic diagram of device interaction according to an exemplary embodiment of the disclosure;

[0022] Figure 5 is a schematic diagram of an architecture of a measurement system according to an exemplary embodiment of the disclosure;

[0023] Figure 6 is a flowchart of another method for determining motion parameters according to an exemplary embodiment of the disclosure;

[0024] Figure 7 is another device interaction schematic diagram according to an exemplary embodiment of the disclosure;

[0025] Figure 8 is a structural schematic diagram of a motion parameter determination device according to an exemplary embodiment of the disclosure;

[0026] Fig. 9 is a structural schematic diagram of another motion parameter determination device according to an exemplary embodiment of the disclosure;

[0027] Fig.10 The present invention is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0029] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0030] In the related technology, based on the channel sounding technology in the Bluetooth 6.0 standard, the distance between two devices can be determined by signal interaction, and then the motion parameters between the two devices can be determined when the distance estimation value is obtained. The motion parameters may include but are not limited to any one or more of the following: distance, speed, and acceleration.

[0031] However, in actual applications, distance measurement based on channel detection technology requires the assumption that the distance between the two devices remains approximately unchanged during all signal exchanges in a distance measurement process. However, for some fast-moving targets, the distance between their devices changes during the distance measurement process, which will lead to large errors in the distance measured by channel detection, and thus large errors in the estimated motion parameters such as speed, and low accuracy.

[0032] To solve the above problems, Figure 1 As shown, an exemplary embodiment of the present disclosure provides a motion parameter determination method, which is applied to a first device, and the method includes:

[0033] Step S110, determining a reference time for detecting motion parameters.

[0034] Since the relative motion state between the first device and the second device may change over time during the process of determining the motion parameters, a fixed moment is determined as a reference moment during the process of determining the motion parameters, so as to detect the relative motion state between the first device and the second device as a fixed reference point. The reference moment may be any instantaneous moment during the process of the first device determining the motion parameters, such as an intermediate moment when the first device determines the motion parameters, or a starting moment when the first device transmits a signal for the first time.

[0035] Step S120: Based on the Bluetooth communication connection with the second device, multiple measurement signals sent by the second device are received, and the phase measurement value and the corresponding receiving time of each measurement signal are respectively determined.

[0036] During the signal transmission process, the distance between the two devices performing the signal transmission can be determined based on the phase measurement value of the received signal. Therefore, based on the Bluetooth communication connection with the second device, signal transmission with the second device can be achieved, and then by receiving multiple measurement signals sent by the second device, the distance between it and the second device when each measurement signal is received can be determined.

[0037] Since the relative motion state between the first device and the second device is not fixed, the distance between the first device and the second device may be different at different times. Since the phase measurement value can reflect the distance between the two devices, in order to improve the accuracy of subsequent motion parameter determination, when the first device receives each measurement signal, it is necessary not only to determine the phase measurement value when each measurement signal is received, but also to determine the corresponding receiving time when each measurement signal is received, so as to clarify the receiving time of each measurement signal. Among them, the signal frequencies corresponding to the multiple measurement signals may be the same or not completely the same. If the corresponding signal frequencies of the multiple measurement signals are the same, the distance measurement error caused by factors such as signal propagation time measurement error or environmental interference can be reduced when the relative motion state parameter detection is performed subsequently. If the signal frequencies corresponding to the multiple measurement signals are not completely the same, the interference of a single frequency point can be effectively avoided when the relative motion state parameter detection is performed subsequently, and the effectiveness and reliability of motion parameter determination can be improved.

[0038] In some implementation scenarios, the process of the first device receiving the multiple measurement signals sent by the second device can be as follows: Figure 2 As shown. To facilitate the distinction between the first device and the second device, the first device is represented by B and the second device is represented by A. @f represents the signal frequency corresponding to the current signal transmission. T1 represents the receiving time when the first device receives the measurement signal with a signal frequency of f1. T2 represents the receiving time when the first device receives the measurement signal with a signal frequency of f2. T3 represents the receiving time when the first device receives the measurement signal with a signal frequency of f3.

[0039] Step S130, determining the motion parameters between the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding receiving time.

[0040] During the signal transmission process, the time required for the first device to receive the measurement signal sent by the second device depends on the distance between the first device and the second device. The phase measurement value can reflect the phase change of the signal during the transmission process. Since the relative motion state between the first device and the second device is unknown, when the signal is transmitted at a single signal frequency, the time required for the first device to receive the signal sent by the second device may be inconsistent with the time required for the second device to receive the signal sent by the first device. Therefore, in the case of consistent signal transmission speed, the motion parameters between the first device and the second device can be determined by establishing a relationship between multiple phase measurement values ​​and the reference time and the receiving time. Since the reference time is a fixed reference time, the relative motion state of the first device and the second device at the reference time can be determined based on the reference time, thereby determining the motion parameters between the first device and the second device. Among them, the motion parameters include at least one of the following: target distance, target speed, and target acceleration. The target distance can be the distance between the first device and the second device at the time corresponding to the reference time, the target speed can be the speed between the first device and the second device at the time corresponding to the reference time, and the target acceleration can be the acceleration between the first device and the second device at the time corresponding to the reference time.

[0041] According to the motion parameter determination method provided by the present disclosure, the first device determines the motion parameters between the first device and the second device based on the one-way signal transmission between the first device and the second device, based on the phase measurement values ​​of the received multiple measurement signals and the corresponding reception time, which can effectively avoid the interference of a single frequency point and improve the effectiveness and reliability of the motion parameter determination. In addition, in the process of determining the motion parameters, the first device does not need to send a signal frequency to the second device according to the signal frequency corresponding to the received measurement signal, which can effectively reduce the air interface occupancy time and shorten the detection time, thereby effectively improving the efficiency of the motion parameter determination.

[0042] In some examples, the determination process of the measurement signal can be as follows: A Indicates the instantaneous phase of the basic carrier when the second device starts to send the measurement signal. The basic carrier frequency is Then the mathematical expression of the basic carrier can be: Since θ A It is an unknown value. Therefore, in order to make the measurement process controllable and the second device can send a measurement signal that meets the expected signal frequency, the frequency is corrected. The basic carrier signal of the second device is mixed, and the processing process can be expressed by the following formula:

[0043]

[0044] Where c(t,f) is the modified carrier at the signal frequency f, that is, the measurement signal to be sent, which is usually generated by a digital circuit; Δθ A The phase deviation is controllable and can be adjusted according to the target signal frequency. But different.

[0045] In some other examples, the phase measurement value can be determined as follows: B Indicates the instantaneous phase of the basic carrier when the first device starts to receive the measurement signal. The basic carrier frequency is Then the expression of the basic carrier of the first device can be: Since θ B It is an unknown value. Therefore, in order to make the measurement process controllable and improve the reliability and accuracy of the phase measurement value, the frequency is corrected. The basic carrier of the first device is mixed, and the processing process can be expressed by the following formula:

[0046]

[0047] Δθ B The phase deviation is controllable and can be adjusted according to the target signal frequency. But different.

[0048] Combined with the measurement signal determined above, the measurement signal propagates through the distance D(t) between the second device and the first device, and the signal received by the first device is: Where D(t) represents the distance between the first device and the second device, and c is the speed of light. The signal expression obtained by the first device after mixing the received measurement signal is:

[0049]

[0050] The phase measurement value obtained by the first device at time T is: Among them, Δθ A (f) and Δθ B (f) is a known value, which may be known in advance before measurement or obtained through transmission via a data communication link.

[0051] In some embodiments, Figure 3 As shown, the above step S130 may include the following steps:

[0052] Step S131, in the process of receiving multiple measurement signals, determining the relative motion state with the second device.

[0053] Since the first device and the second device may move, the relative motion state between the first device and the second device may be static, uniform motion, or variable speed motion. In the case of static, the distance between the first device and the second device is kept at a constant value, and there is no speed and acceleration between the first device and the second device; in the case of uniform motion, the motion speed of the first device and the second device is a constant value, and there is no acceleration between the first device and the second device.

[0054] In one example, the relative motion state between the first device and the second device can be determined by first determining the relative motion state of each of the first device and the second device respectively, and then the first device determines the relative motion state between the first device and the second device according to the difference in the relative motion state between the first device and the second device.

[0055] In another example, the relative motion state between the first device and the second device may also be that the first device reads relevant relative motion state information of the second device based on the Bluetooth communication connection between the first device and the second device, and then determines the relative motion state between the first device and the second device in combination with its own operating state information.

[0056] Step S132: In response to the motion state between the second device and the second device being a relatively static state, determining that the target acceleration between the second device and the second device is zero.

[0057] When it is determined that the relative motion state between the first device and the second device is a relative static state, it indicates that the first device and the second device may be in a static state or a uniform motion state.

[0058] If it is determined that the first device and the second device are in a stationary state, it can be determined that the first device and the second device have not moved, and therefore, it can be determined that the target acceleration between the first device and the second device is zero. Similarly, when it is determined that the first device and the second device are in a uniform motion state, it can be determined that the motion speed between the first device and the second device is constant and the motion acceleration is zero, and therefore, it can be determined that the target acceleration between the first device and the second device is zero.

[0059] Through the method provided in this embodiment, in the process of determining the motion parameters, the relative motion state between the first device and the second device can be determined first, so that it can be simply and quickly determined whether there is acceleration between the first device and the second device, which facilitates the subsequent calculation of the motion parameters of the first device and the second device, effectively saving computing power and improving parameter detection efficiency.

[0060] In other embodiments, Figure 3 As shown, when the target acceleration is zero, the above step S130 may further include the following steps:

[0061] Step S133, determining a target speed with the second device based on the reference time, two adjacent phase measurement values ​​and the corresponding receiving time.

[0062] When the target acceleration is zero, it indicates that the motion state between the first device and the second device is a relative static state. It can be determined that the distance between the first device and the second device has not changed during the process of the first device receiving multiple measurement signals sent by the second device. Therefore, based on the expression of distance, speed and time, the target speed between the first device and the second device can be determined by clarifying the reference time, two adjacent phase measurement values ​​and the corresponding receiving time. The signal frequencies corresponding to the two adjacent phase measurement values ​​are the same.

[0063] Specifically, the expressions for distance, speed and time can be as follows:

[0064]

[0065] Wherein, T0 represents the reference time, D(T0) represents the distance between the first device and the second device at the reference time, v(T0) represents the speed between the first device and the second device at the reference time, and a(T0) represents the acceleration between the first device and the second device at the reference time.

[0066] Combining the above expressions of phase measurement value, the expression of deformed phase measurement value can be obtained as follows:

[0067]

[0068] Since the relative acceleration is 0, the following expression can be obtained by rearranging the above expression:

[0069]

[0070] In order to improve the efficiency of determining the target speed, the target speed between the first device and the second device can be determined by the above formula when the reference time, two adjacent phase measurement values ​​and the corresponding receiving time are clear. The relevant expression can be as follows:

[0071]

[0072] Wherein, f1 is the signal frequency corresponding to two adjacent phase measurement values.

[0073] In some other embodiments, Figure 3 As shown, when the target acceleration is zero, the above step S130 may further include the following steps:

[0074] Step S134: determining a target distance and / or a target speed with respect to a second device based on a reference time, the first number of phase measurement values, and a corresponding receiving time.

[0075] According to the above-mentioned deformed phase measurement value, in order to clarify the relationship between each motion parameter and the receiving time, we define Then we can get the following deformation:

[0076]

[0077] It can be determined that:

[0078]

[0079] Therefore, when the target acceleration is zero, The expression is simplified to:

[0080]

[0081] By using the above formula, when the first number of phase measurement values ​​and the corresponding receiving time are obtained, any one or more of the target distance and the target speed between the first device and the second device can be determined in combination with the determined reference time to meet the required measurement requirements. The signal frequencies corresponding to the first number of measurement signals are not completely the same to avoid interference from a single frequency point and improve the effectiveness and reliability of determining the relative motion parameters.

[0082] Through the exemplary embodiments of the present disclosure, when it is determined that the acceleration between the first device and the second device is zero, the relative motion parameters between the two devices are determined based on multiple phase measurement values ​​and corresponding receiving times, which can effectively reduce the estimation error and improve the calculation accuracy.

[0083] In some examples, the first number is at least greater than or equal to three, and the signal frequency is at least two, thereby ensuring the efficiency of determining the target speed and the target distance, saving measurement time, and reducing time cost.

[0084] In some optional application scenarios, when the target acceleration is zero, The expression is:

[0085]

[0086] At the frequency point f1, the signal transmission between the two devices is completed once. The first device measures the measurement signal received from the second device at time T1=T0 as phase

[0087]

[0088] After switching to the measurement frequency f2, another signal transmission is performed, and the first device measures the phase of the measurement signal received from A at time T2 = T0 + ΔT

[0089]

[0090] After switching to the measurement frequency f3, the signal is transmitted again. The first device measures the phase of the measurement signal received from A at time T3 = T0 + 2ΔT.

[0091]

[0092] Based on the above three measurements, the speed estimate can be obtained:

[0093]

[0094] It can be seen that the measurement can be completed by at least three non-completely identical measurement signals to determine the target distance and target speed between the two devices.

[0095] If the measurement ambiguity of v(T0) is: And assume that (f i -f j )<<f i , for example, f1 = 2404MHz, f2 = 2406MHz, f3 = 2408MHz, When the time interval between two adjacent receiving moments is ΔT=375us, the unambiguous speed measurement range error can reach ±83m / s.

[0096] Assuming that the signal-to-noise ratio is 5 degrees, when the time interval between two adjacent receiving moments is ΔT=100ms, the speed measurement error may be only about 0.052m / s. Therefore, the motion parameter determination method provided by the present disclosure can improve the determination accuracy.

[0097] In some examples, the smaller the time interval ΔT between two adjacent receiving moments is, the larger the difference between two adjacent candidate speeds (the speed corresponding to each phase measurement value is the candidate speed), and thus when screening through the possible value range, error interference can be reduced and the determination accuracy of the target speed can be improved. The larger the ΔT value is, the smaller the difference between two adjacent candidate speeds is, and thus when screening through the possible value range, it is easy to cause more interference items.

[0098] In some further embodiments, Figure 3 As shown, the above step S130 may also include the following steps:

[0099] Step S135, in response to the motion state with the second device being a relative motion state, determining the target distance, target speed and target acceleration with the second device based on the reference time, the second number of phase measurement values ​​and the corresponding receiving time.

[0100] Similarly, when it is determined that the motion state between the first device and the second device is a relative motion state, the target distance, target speed and target acceleration between the first device and the second device can be determined by combining the reference time, the second number of phase measurement values ​​and the corresponding receiving time with the following formula:

[0101]

[0102]

[0103] because is a cubic polynomial of two variables about variables T and f. Therefore, in order to ensure that the calculation process of the motion parameters can proceed smoothly, the second number is at least greater than or equal to four, and the signal frequency is at least two, thereby ensuring the efficiency of determining the motion parameters. In addition, the signal frequencies corresponding to the second number of measurement signals are not completely the same, thereby avoiding the interference of a single frequency point and improving the effectiveness and reliability of determining the relative motion parameters.

[0104] Through the embodiments of the present disclosure, the motion parameters are determined by fusing the phase measurement values ​​at multiple different moments before and after, which can effectively avoid the interfered frequency points, reduce errors and improve measurement accuracy.

[0105] In some embodiments, the reception time interval between a measurement signal and a previous measurement signal is less than or equal to the reception time interval between a measurement signal and a next measurement signal. Thus, in the process of determining the target speed, the value range of the target speed can be gradually narrowed, and the determination accuracy can be improved, thereby improving the accuracy and adaptability of the motion parameter determination method.

[0106] In some optional application scenarios, the measurement signal may be a single-tone signal. For example, the single-tone signal may include a Bluetooth signal or a ZigBee signal. When a single-tone signal is used for signal transmission, the required traffic is small, and narrowband transceiver capability can be used without the need for broadband signal transceiver, and the requirements for device hardware capability are low. In addition, the use of a single-tone signal for signal transmission can effectively reduce the difficulty of data acquisition, making the process of determining motion parameters more reliable and easy to implement.

[0107] In some optional implementation scenarios, such as Figure 4 As shown, the interactive process of determining the motion parameters between the first device and the second device can be as follows:

[0108] The first device determines a reference time for detecting the motion parameter.

[0109] The first device receives a plurality of measurement signals sent by the second device.

[0110] The first device determines the phase measurement value of each received measurement signal and the corresponding receiving time respectively.

[0111] The first device determines a target distance, a target speed and / or a target acceleration between the first device and the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding reception time.

[0112] The above-mentioned motion parameter determination method can effectively avoid interference from a single frequency point and improve the effectiveness and reliability of motion parameter determination. Moreover, in the process of determining the motion parameters, the second device only needs to transmit a measurement signal and use narrowband transceiver capabilities, without the need for broadband signal transceiver. The requirements for the hardware capabilities of the second device are relatively low, and ordinary Bluetooth devices can meet the requirements, which is practical and universal. The first device only needs to receive the measurement signal and does not need to send the measurement signal, which can effectively reduce the air interface occupancy time, reduce the power consumption of the first device, shorten the detection time, and help improve the efficiency of motion parameter determination.

[0113] Based on the same inventive concept, Figure 5 As shown, the present disclosure provides a measurement system 200, which may include two wireless frequency hopping devices. For ease of distinction, they are represented by a first device 210 and a second device 220, respectively. In the process of actual motion parameter measurement, the first device 210 is a tag device, and the second device 220 is a beacon device. The second device 220 can determine the motion parameters between itself and the second device 220 by sending multiple measurement signals to the first device 210, thereby effectively reducing the detection delay and improving the measurement efficiency during the measurement process.

[0114] Moreover, when there are multiple first devices 210, the second device 220 can send multiple measurement signals to the multiple first devices 210 by broadcasting, so that each first device 210 can determine the motion parameters between itself and the second device 220 based on the received multiple measurement signals, thereby not only meeting the need of each first device 210 to determine the motion parameters, but also reducing the power consumption of the second device 220 and improving the device performance.

[0115] Based on the same inventive concept, Figure 6 As shown, the present disclosure also provides another method for determining motion parameters, which is applied to a third device that is communicatively connected to the first device. The method may include:

[0116] Step S310, determining a reference time for detecting motion parameters.

[0117] Step S320: Receive multiple phase measurement values ​​sent by the first device and the receiving time corresponding to each phase measurement value.

[0118] In order to determine the relative motion state of the first device and the second device during the measurement process, multiple phase measurement values ​​sent by the first device and the receiving time corresponding to each phase measurement value are obtained from the first device, so as to determine the relative operating state change of the first device and the second device at different times through the received multiple phase measurement values ​​and the receiving time corresponding to each phase measurement value. Among them, the multiple phase measurement values ​​and the receiving time corresponding to each phase measurement value are determined by the first device receiving multiple measurement signals sent by the second device based on the Bluetooth communication connection between the first device and the second device.

[0119] Step S330, determining the motion parameters between the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding reception time.

[0120] The motion parameter includes at least one of the following: target distance, target speed, and target acceleration.

[0121] Step S340: sending the motion parameters to the first device.

[0122] According to the motion parameter determination method provided by the present invention, the motion parameters between the first device and the second device are determined by a third device, which can effectively save the computing power of the first device, reduce the power consumption and cost of the first device, thereby making the process of determining the motion parameters between the first device and the second device more convenient and efficient.

[0123] In some optional implementation scenarios, such as Figure 7 As shown, the interactive process of determining the motion parameters between the first device and the second device through the third device may be as follows:

[0124] The third device determines a reference time for detecting the motion parameter.

[0125] The first device receives a plurality of measurement signals sent by the second device.

[0126] The first device determines the phase measurement value of each received measurement signal and the corresponding receiving time respectively.

[0127] The first device will respectively determine the phase measurement value of each measurement signal received and the corresponding receiving time and send them to the third device.

[0128] The third device determines a target distance, a target speed and / or a target acceleration between the first device and the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding reception time.

[0129] The third device sends the determined target distance, target speed and / or target acceleration to the first device.

[0130] Through the above-mentioned method for determining motion parameters, the motion parameters between the first device and the second device can be determined by the third device, which can effectively save the computing power of the first device and reduce the power consumption of the first device.

[0131] In some other optional implementation scenarios, the operating parameter determination method provided by the present disclosure can be applied to an application scenario of searching for a Bluetooth headset using a mobile phone. The mobile phone is used as the first device and the Bluetooth headset is used as the second device. The mobile phone can detect the movement speed between it and the Bluetooth headset based on the Bluetooth communication connection between the Bluetooth headset and by receiving multiple measurement signals sent by the Bluetooth headset. For example, when the mobile phone is moving towards the headset, the mobile phone can measure a positive movement speed; if the mobile phone is moving away from the headset, the mobile phone will measure a negative movement speed. The user only needs to adjust the moving direction of the mobile phone so that the speed remains a positive value to find the lost Bluetooth headset.

[0132] In some other optional implementation scenarios, the operation parameter determination method provided by the present disclosure can be applied to the application scenario of navigation control of a sweeping robot. The base station serves as the first device, and the sweeping robot serves as the second device. When the sweeping robot needs to return to the base station, the base station and the sweeping robot can determine the target speed and target distance between the sweeping robot and the base station through the motion parameter determination method provided by the present disclosure, and then determine whether the sweeping robot is on the correct route to approach the base station, thereby controlling the sweeping robot to return to the base station smoothly.

[0133] Based on the same inventive concept, Figure 8 As shown, the present disclosure further provides a motion parameter determination device 400, which is applied to a first device. The device 400 may include:

[0134] A first determination module 410 is used to determine a reference time for detecting motion parameters;

[0135] The first processing module 420 is used to receive multiple measurement signals sent by the second device based on the Bluetooth communication connection with the second device, and respectively determine the phase measurement value and the corresponding receiving time of each measurement signal received;

[0136] The second processing module 430 is used to determine the motion parameters between the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding receiving time, wherein the motion parameters include at least one of the following: target distance, target speed, and target acceleration.

[0137] In some embodiments, the second processing module 430 includes: a first determination unit, used to determine the relative motion state between the second device and the second device during the process of receiving multiple measurement signals; a second determination unit, used to determine that the target acceleration between the second device is zero in response to the motion state between the second device and the second device being a relative static state.

[0138] In some embodiments, the second processing module 430 also includes: a third determination unit, used to determine the target speed between the second device based on a reference time, two adjacent phase measurement values ​​and a corresponding receiving time, wherein the signal frequencies corresponding to the two adjacent phase measurement values ​​are the same.

[0139] In some embodiments, the second processing module 430 also includes: a fourth determination unit, used to determine the target distance and / or target speed between the second device based on a reference time, the first number of phase measurement values ​​and the corresponding receiving time, wherein the signal frequencies corresponding to the first number of measurement signals are not completely the same.

[0140] In some embodiments, the second processing module 430 also includes: a fifth determination unit, which is used to determine the target distance, target speed and target acceleration between the second device based on the reference time, the second number of phase measurement values ​​and the corresponding receiving time in response to the motion state between the second device being a relative motion state, wherein the signal frequencies corresponding to the second number of measurement signals are not completely the same.

[0141] In some embodiments, a reception time interval between a measurement signal and a previous measurement signal is less than or equal to a reception time interval between a measurement signal and a next measurement signal.

[0142] Regarding the motion parameter determination device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0143] Based on the same inventive concept, Fig. 9 As shown, the present disclosure further provides a motion parameter determination device 500, which is applied to a third device that is communicatively connected to a target device. The device 500 may include:

[0144] A second determination module 510 is used to determine a reference time for detecting motion parameters;

[0145] A receiving module 520, configured to receive a plurality of phase measurement values ​​sent by the first device and a receiving time corresponding to each phase measurement value, wherein the plurality of phase measurement values ​​and the receiving time corresponding to each phase measurement value are determined by the first device receiving a plurality of measurement signals sent by the second device based on a Bluetooth communication connection between the first device and the second device;

[0146] The third processing module 530 is used to determine the motion parameter between the second device and the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding reception time, wherein the motion parameter includes at least one of the following: target distance, target speed, and target acceleration;

[0147] The sending module 540 is used to send the motion parameter to the first device.

[0148] Regarding the motion parameter determination device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0149] Based on the same inventive concept, Fig.10 As shown, an embodiment of the present disclosure provides an electronic device 600. The electronic device 600 includes a memory 610, a processor 620, and an input / output (I / O) interface 630. The memory 610 is used to store instructions. The processor 620 is used to call the instructions stored in the memory 610 to execute any one of the motion parameter determination methods provided by the implementation of the present disclosure. The processor 620 is connected to the memory 610 and the I / O interface 630, respectively, for example, through a bus system and / or other forms of connection mechanisms (not shown). The memory 610 can be used to store programs and data, including the program of the motion parameter determination method involved in the embodiment of the present disclosure. The processor 620 executes various functional applications and data processing of the electronic device 600 by running the program stored in the memory 610.

[0150] In the embodiment of the present disclosure, the processor 620 can be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA). The processor 620 can be a central processing unit (CPU) or one or a combination of other forms of processing units with data processing capabilities and / or instruction execution capabilities.

[0151] The memory 610 in the embodiment of the present disclosure may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.

[0152] In the embodiment of the present disclosure, the I / O interface 630 may be used to receive input instructions (such as digital or character information, and key signal input related to user settings and function control of the electronic device 300), and may also output various information to the outside (such as images or sounds). In the embodiment of the present disclosure, the I / O interface 330 may include one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a mouse, a joystick, a trackball, a microphone, a speaker, and a touch panel.

[0153] Based on the same inventive concept, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the motion parameter determination method of any of the aforementioned embodiments.

[0154] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0155] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0156] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0157] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only an example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. A method for determining motion parameters, applied to a first device, the method comprising: Determine a reference time for detecting motion parameters; Based on the Bluetooth communication connection with the second device, receiving multiple measurement signals sent by the second device, and respectively determining a phase measurement value and a corresponding reception time of each of the measurement signals received; Based on the reference time, the phase measurement value of each of the measurement signals and the corresponding reception time, the motion parameters between the second device and the second device are determined, wherein the motion parameters include at least one of the following: target distance, target speed, and target acceleration.

2. The method for determining motion parameters according to claim 1, wherein: The determining, based on the reference time, the phase measurement value of each of the measurement signals, and the corresponding reception time, a motion parameter between the second device and the second device includes: In the process of receiving the plurality of measurement signals, determining a motion state with the second device; In response to the motion state between the second device and the second device being a relatively static state, it is determined that the target acceleration between the second device and the second device is zero.

3. The method for determining motion parameters according to claim 2, wherein: The determining of the motion parameter between the second device and the second device based on the reference time, the phase measurement value of each of the measurement signals, and the corresponding reception time further includes: The target speed between the second device and the second device is determined based on the reference time, the two adjacent phase measurement values, and the corresponding receiving time, wherein the signal frequencies corresponding to the two adjacent phase measurement values ​​are the same.

4. The method for determining motion parameters according to claim 2, wherein: The determining of the motion parameter between the second device and the second device based on the reference time, the phase measurement value of each of the measurement signals, and the corresponding reception time further includes: The target distance and / or the target speed to the second device is determined based on the reference time, the first number of phase measurement values ​​and the corresponding reception time, wherein the signal frequencies corresponding to the first number of measurement signals are not completely the same.

5. The method for determining motion parameters according to any one of claims 2 to 4, wherein: The determining of the motion parameter between the second device and the second device based on the reference time, the phase measurement value of each of the measurement signals, and the corresponding reception time further includes: In response to the motion state between the second device being a relative motion state, the target distance, target speed and target acceleration between the second device are determined based on the reference time, the second number of phase measurement values ​​and the corresponding receiving time, wherein the signal frequencies corresponding to the second number of measurement signals are not completely the same.

6. The method for determining motion parameters according to claim 5, wherein: The receiving time interval between the measurement signal and a previous measurement signal is less than or equal to the receiving time interval between the measurement signal and a next measurement signal.

7. A method for determining motion parameters, applied to a third device in communication connection with a first device, the method comprising: Determine a reference time for detecting motion parameters; Receiving multiple phase measurement values ​​sent by the first device and a receiving time corresponding to each of the phase measurement values, wherein the multiple phase measurement values ​​and the receiving time corresponding to each of the phase measurement values ​​are determined by the first device receiving multiple measurement signals sent by the second device based on a Bluetooth communication connection between the first device and the second device; Determine a motion parameter between the second device and the second device based on the reference time, the phase measurement value of each of the measurement signals, and the corresponding reception time, wherein the motion parameter includes at least one of the following: target distance, target speed, and target acceleration; The motion parameters are sent to the first device.

8. A motion parameter determination device, applied to a first device, the device comprising: A first determination module, used to determine a reference time for detecting motion parameters; A first processing module, configured to receive a plurality of measurement signals sent by a second device based on a Bluetooth communication connection with the second device, and respectively determine a phase measurement value and a corresponding reception time of each of the measurement signals received; The second processing module is used to determine the motion parameters between the second device based on the reference time, the phase measurement value of each measurement signal and the corresponding receiving time, wherein the motion parameters include at least one of the following: target distance, target speed, and target acceleration.

9. A motion parameter determination device, applied to a third device communicating with a target device, the device comprising: A second determination module, used to determine a reference time for detecting motion parameters; A receiving module, configured to receive a plurality of phase measurement values ​​sent by a first device and a receiving time corresponding to each of the phase measurement values, wherein the plurality of phase measurement values ​​and the receiving time corresponding to each of the phase measurement values ​​are determined by the first device receiving a plurality of measurement signals sent by the second device based on a Bluetooth communication connection between the first device and the second device; a third processing module, configured to determine a motion parameter between the second device and the second device based on the reference time, the phase measurement value of each of the measurement signals, and the corresponding reception time, wherein the motion parameter includes at least one of the following: target distance, target speed, and target acceleration; A sending module is used to send the motion parameter to the first device.

10. An electronic device comprising: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the motion parameter determination method described in any one of claims 1 to 6 or the motion parameter determination method described in claim 7 by executing the computer instructions.

11. A computer-readable storage medium storing the following program, wherein the program is used to execute the motion parameter determination method according to any one of claims 1 to 6 or the motion parameter determination method according to claim 7.

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