Fishing vessel electric motor somatosensory control method and system based on user posture

Abstract

This invention provides a user-posture-based motion control method and system for fishing reel motors. The method includes: acquiring the user's current posture parameters and corresponding parameter feature values ​​when holding the fishing reel within a preset time window using a posture sensor built into the reel; identifying the fishing reel's usage scenario based on the parameter feature values ​​to obtain the target scenario where the reel is currently located, and identifying the reel's movement direction based on the posture parameters to obtain the target movement direction of the fishing rod; the target movement direction includes upward lifting, downward descent, and remaining stationary; when the target movement direction is downward descent, determining the line reeling control parameters for the current usage scenario based on the target scenario and current posture parameters, and executing the motor line reeling action based on the line reeling control parameters; when the target movement direction is stationary, gradually reducing the motor output based on a preset smooth attenuation strategy until the motor smoothly shuts off. This invention enhances the user's fishing experience.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a motion-sensing control method and system for fishing reel motors based on user posture. Background Technology

[0002] With the development of recreational fishing and the intelligent upgrading of fishing equipment, electric fishing reels are gradually gaining popularity among fishing enthusiasts due to their functions such as automatic line reeling and assisting in fighting fish. Traditional electric fishing reel control mainly relies on users manually operating physical buttons, levers, or turning a handwheel to trigger the motor. For example, users need to press the line reel button to keep the motor running, or rely on the rotation speed of the handwheel to linearly control the motor speed.

[0003] However, the control methods of existing electric fishing reels still rely primarily on manual operation during actual fishing. Users need to control the motor's start / stop and line reeling parameters through buttons and gear adjustments. They cannot achieve adaptive control based on the actions during fishing, and users still need to coordinate the lifting of the rod and motor operation, resulting in poor operational coordination. At the same time, the motor control strategies of existing electric fishing reels are relatively simple, failing to effectively differentiate between different usage scenarios and adapting to the actual needs of different scenarios such as landing fish and attracting fish, thus affecting the user's fishing experience. Summary of the Invention

[0004] This invention provides a motion-sensing control method and system for fishing reel motors based on user posture, which solves the problem of poor operational coordination of existing electric fishing reels, enriches motor control strategies, and can adapt to the actual needs of different scenarios such as catching fish and attracting fish, thereby improving the user's fishing experience.

[0005] In a first aspect, the present invention provides a motion-sensing control method for a fishing reel motor based on user posture, comprising: Based on the attitude sensor built into the fishing reel, the current attitude parameters and corresponding parameter feature values ​​of the user holding the fishing reel are obtained within a preset time window. Based on the parameter feature values, the fishing reel usage scenario is identified to obtain the target scenario where the fishing reel is currently located. Based on the attitude parameters, the fishing reel movement direction is identified to obtain the target movement direction of the fishing rod. The target movement direction includes lifting upwards, falling downwards, and remaining stationary. When the target's movement direction is downward, the current usage scenario's line reel control parameters are determined based on the target scenario and the current attitude parameters, and the motor's line reel action is executed based on the line reel control parameters. When the target motion direction is stationary, the motor output is gradually reduced based on a preset smooth attenuation strategy until the motor smoothly shuts down.

[0006] Secondly, the present invention also provides a user posture-based fishing reel motor motion sensing control system, applied to the user posture-based fishing reel motor motion sensing control method as described in the first aspect; the user posture-based fishing reel motor motion sensing control system includes: The attitude data acquisition module is used to acquire the current attitude parameters and corresponding parameter feature values ​​of the user holding the fishing reel within a preset time window based on the attitude sensor built into the fishing reel. The scene and motion direction recognition module is used to identify the fishing reel usage scene based on the parameter feature values ​​to obtain the target scene where the fishing reel is currently located, and to identify the fishing reel motion direction based on the attitude parameters to obtain the target motion direction of the fishing rod; the target motion direction includes lifting upwards, falling downwards, and remaining stationary; The fallback and reel-in control module is used to determine the reel-in control parameters for the current usage scenario based on the target scenario and the current attitude parameters when the target's movement direction is a downward fallback direction, and to execute the motor reel-in action based on the reel-in control parameters. The static smooth shutdown module is used to gradually reduce the motor output until the motor smoothly shuts down when the target motion direction is stationary, based on a preset smooth attenuation strategy.

[0007] Thirdly, the present invention also provides an electronic device, comprising: a memory for storing computer software programs; and a processor for reading and executing the computer software programs, thereby realizing the user posture-based motion control method for fishing reel motors as described above.

[0008] Fourthly, the present invention also provides a non-transitory computer-readable storage medium storing a computer software program, which, when executed by a processor, implements the above-described user-gesture-based motion control method for fishing reel motors.

[0009] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the user-gesture-based motion control method for fishing reel motors as described above.

[0010] The user posture-based motion control method for fishing reel motors provided in this invention acquires the user's current posture parameters and corresponding parameter feature values ​​when holding the fishing reel within a preset time window using a posture sensor built into the fishing reel. This data supports the identification of the fishing reel's usage scenario to determine the target scenario. Simultaneously, based on the posture parameters, it identifies the target movement direction of the fishing rod (upward lifting, downward falling, or remaining stationary). This achieves precise perception of user actions and usage scenarios during fishing, breaking away from the traditional mode of electric fishing reels relying on manual operation to trigger the motor. The method also collaboratively determines the target movement direction and target scenario. When the target's movement direction is downward, the system determines the appropriate line-reeling control parameters based on the target scene and current posture parameters, and drives the motor to perform the line-reeling action. When the target's movement direction is stationary, the system gradually reduces the motor output until it stops through a preset smooth attenuation strategy. This achieves adaptive linkage between motor control and the user's fishing actions and actual usage scenarios, eliminating the need for the user to simultaneously lift the rod and operate the motor. This effectively solves the problem of poor coordination in existing electric fishing reels. At the same time, by combining scene recognition and posture parameters to determine control parameters, the system enriches the motor control strategy, enabling it to adapt to the actual needs of different scenarios such as landing fish and attracting fish, thereby improving the user's fishing experience. Attached Figure Description

[0011] Figure 1 This is a flowchart illustrating the user posture-based motion control method for fishing reel motors provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of the user posture-based motion control system for fishing reel motors provided in an embodiment of the present invention; Figure 3 An embodiment diagram of the electronic device provided in this invention; Figure 4 An embodiment diagram of a computer-readable storage medium provided in accordance with the present invention. Detailed Implementation

[0012] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0013] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0014] In the description of this invention, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this invention is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed herein.

[0015] See Figure 1 , Figure 1 This is a flowchart illustrating the user-gesture-based motion control method for fishing reel motors provided by the present invention. In this embodiment, the execution entity of the user-gesture-based motion control method for fishing reel motors is a motion control system. Therefore, the user-gesture-based motion control method for fishing reel motors includes: Step 10: Based on the attitude sensor built into the fishing reel, acquire the current attitude parameters and corresponding parameter feature values ​​of the user holding the fishing reel within a preset time window.

[0016] Optionally, the motion control system uses the fishing reel's built-in attitude sensors to collect data on the fishing reel's spatial attitude during fishing operations within a preset time window, obtaining current attitude parameters. The attitude sensors include sensing modules such as a three-axis angular velocity sensor and a three-axis accelerometer, capable of detecting changes in the fishing reel's spatial attitude, enabling accurate detection of the reel's pitch angle, angular velocity, and angular acceleration data. The preset time window refers to a fixed time interval pre-set by the motion control system for the attitude sensors to continuously collect attitude data. The duration of this time interval can be set according to actual fishing needs, such as a range of 0.5 seconds to 1 second. Current attitude parameters include pitch angle data, pitch direction angular velocity data, and pitch direction angular acceleration data. The pitch angle data is the real-time data of the angle the fishing reel rotates around the pitch direction in space; the pitch direction angular velocity data is the real-time data of the speed of rotation of the fishing reel in the pitch direction; and the pitch direction angular acceleration data is the real-time data of the acceleration and deceleration characteristics of the fishing reel's rotation in the pitch direction.

[0017] Optionally, after obtaining the current attitude parameters, the motion control system performs statistical analysis on the three types of current attitude parameters through a preset time window to obtain parameter characteristic values. These parameter characteristic values ​​include the average pitch angle, the average pitch angular velocity, the variance of the pitch angular velocity, and the peak pitch angular acceleration. The average pitch angle is the arithmetic mean of all pitch angle data within the preset time window; the average pitch angular velocity is the arithmetic mean of all pitch angular velocity data within the preset time window; the variance of the pitch angular velocity is the statistical value of the dispersion of all pitch angular velocity data within the preset time window; and the peak pitch angular acceleration is the maximum value among all pitch angular acceleration data within the preset time window.

[0018] In one embodiment, a preset time window is set to a duration of 1 second. The motion control system controls the attitude sensor built into the fishing reel to continuously collect pitch angle data, pitch angular velocity data, and pitch angular acceleration data within this 1-second time window, collecting a total of 100 sets of continuous raw current attitude parameters. Then, the arithmetic mean of these 100 sets of pitch angle data is calculated to obtain the average pitch angle. The arithmetic mean and dispersion calculation are performed on the 100 sets of pitch angular velocity data to obtain the average pitch angular velocity and pitch angular velocity variance. The maximum value is selected from the 100 sets of pitch angular acceleration data to obtain the peak pitch angular acceleration. Finally, the characteristic values ​​of the four types of parameters within this time window are obtained.

[0019] Step 20: Identify the fishing reel usage scenario based on parameter feature values ​​to obtain the target scenario where the fishing reel is currently located, and identify the fishing reel movement direction based on attitude parameters to obtain the target movement direction of the fishing rod; the target movement direction includes lifting upwards, falling downwards, and remaining stationary.

[0020] Optionally, the motion control system performs logical judgment based on parameter feature values ​​and pre-set scene recognition rules to determine the current target scene. This target scene includes only two categories: fish-attracting scenes and fish-retrieving scenes, as described in step 201. Simultaneously, the motion control system analyzes the pitch angular velocity and pitch angular acceleration data in the collected current attitude parameters in real time to determine the target movement direction of the fishing reel and rod. This target movement direction includes upward pulling, downward falling, and remaining stationary, as described in steps 202 to 204.

[0021] Step 30: When the target's movement direction is downward and falling, determine the reel-in control parameters for the current usage scenario based on the target scene and current attitude parameters, and execute the motor reel-in action based on the reel-in control parameters.

[0022] Optionally, after obtaining the target's movement direction, the motion control system determines the line-reeling control parameters that match the current target scene and current posture parameters based on the current target scene and current posture parameters, according to the pre-set scenario-based motor control strategy, through logical mapping relationship, only when the target's movement direction is downward. This is as described in steps 301 to 303. After the line-reeling control parameters are determined, a line-reeling command is sent to the motor of the fishing reel, and the motor executes the corresponding line-reeling action according to the line-reeling control parameters.

[0023] Step 40: When the target motion direction is to remain stationary, the motor output is gradually reduced based on a preset smooth attenuation strategy until the motor smoothly shuts down.

[0024] Optionally, after obtaining the target motion direction, the motion control system will only invoke the pre-set smooth attenuation strategy when the target motion direction is stationary. According to the control logic of the strategy, the output torque and output speed of the motor will be gradually reduced so that the output value of the motor will decrease continuously and smoothly until the output torque and output speed of the motor drop to zero, thereby achieving a smooth shutdown of the motor, as described in steps 401 to 404.

[0025] Optionally, after the motion control system obtains the target movement direction, when it determines that the target movement direction is upward pulling, it does not output any line reel control command to the motor, so that the spool remains in its current state and does not participate in active line reeling. The fishing line is released naturally with the rod lifting action, simulating the fish escaping effect to avoid interference with the motor output when the user lifts the fishing rod.

[0026] This invention utilizes a built-in attitude sensor to acquire the user's current attitude parameters and corresponding parameter feature values ​​when holding the fishing reel within a preset time window. This data supports the identification of the fishing reel's usage scenario to determine the target scenario. Simultaneously, based on the attitude parameters, it identifies the target movement direction of the fishing rod (upward pull, downward fall, or stationary), achieving precise perception of user actions and usage scenarios during fishing. This breaks away from the traditional electric fishing reel's reliance on manual operation to trigger the motor. Based on the identified target movement direction and target scenario, a collaborative judgment is made. When the target movement direction is downward fall... When the line is lowered, the system determines the appropriate line control parameters based on the target scene and current posture parameters, and drives the motor to perform the line reeling action. When the target movement direction is stationary, the motor output is gradually reduced until it stops through a preset smooth attenuation strategy. This achieves adaptive linkage between motor control and user fishing actions and actual usage scenarios, eliminating the need for the user to simultaneously lift the rod and operate the motor. This effectively solves the problem of poor coordination in existing electric fishing reels. At the same time, by combining scene recognition and posture parameters to determine control parameters, the system enriches the motor control strategy, enabling it to adapt to the actual needs of different scenarios such as landing fish and attracting fish, thereby improving the user's fishing experience.

[0027] Optionally, in step 201, the target scene is obtained by comparing the average pitch angle, the average pitch angular velocity, the variance of pitch angular velocity, and the peak pitch angular acceleration with a preset scene judgment threshold.

[0028] Optionally, the scene judgment thresholds include a lower limit for the fish-attracting pitch angle threshold, an upper limit for the fish-attracting pitch angle threshold, a fish-catching pitch angle threshold, a fish-attracting angular velocity threshold, a fish-attracting variance threshold, a fish-attracting angular acceleration threshold, a fish-catching variance threshold, and a fish-catching angular acceleration threshold. The motion-sensing control system compares the four types of parameter characteristic values ​​with the corresponding scene judgment thresholds one by one, based on the pre-stored scene judgment thresholds and the average pitch angle, average pitch angular velocity, variance of pitch angular velocity, and peak pitch angular acceleration. It then performs logical judgment according to the preset scene judgment rules to ultimately determine the target scene currently in which the fishing vessel is located. Among them, the lower limit of the fish-attracting pitch angle threshold is the minimum allowable average pitch angle value in the fish-attracting scenario; the upper limit of the fish-attracting pitch angle threshold is the maximum allowable average pitch angle value in the fish-attracting scenario; the fish-retrieving pitch angle threshold is the minimum average pitch angle value that must be achieved in the fish-retrieving scenario; the fish-attracting angular velocity threshold is the maximum allowable average pitch angular velocity value in the fish-attracting scenario; the fish-attracting variance threshold is the maximum allowable variance of pitch angular velocity in the fish-attracting scenario; the fish-attracting angular acceleration threshold is the maximum allowable peak pitch angular acceleration value in the fish-attracting scenario; the fish-retrieving variance threshold is the minimum pitch angular velocity variance value that must be achieved in the fish-retrieving scenario; and the fish-retrieving angular acceleration threshold is the minimum peak pitch angular acceleration value that must be achieved in the fish-retrieving scenario. Optionally, the rule for determining the fish-attracting scenario is as follows: when the average pitch angle value is between the lower limit and the upper limit of the fish-attracting pitch angle threshold, and the average pitch direction angular velocity value is less than the fish-attracting angular velocity threshold, and the pitch direction angular velocity variance value is less than the fish-attracting variance threshold, and the pitch direction angular acceleration peak value is less than the fish-attracting angular acceleration threshold, the motion sensing control system determines that the target scenario currently occupied by the fishing vessel is a fish-attracting scenario.

[0029] The rules for determining the fishing scene are as follows: when the average pitch angle is greater than the fishing pitch angle threshold, or the pitch angular velocity variance is greater than the fishing variance threshold, or the peak pitch angular acceleration is greater than the fishing angular acceleration threshold, the motion control system determines that the target scene where the fishing vessel is currently located is the fishing scene.

[0030] In one embodiment, it is assumed that the lower limit of the fish-attracting pitch angle threshold is -10 degrees, the upper limit of the fish-attracting pitch angle threshold is 0 degrees, the fish-catching pitch angle threshold is 5 degrees, the fish-attracting angular velocity threshold is 5 degrees / second, and the fish-attracting variance threshold is 2 (degrees / second). 2 The angular acceleration threshold for attracting fish is 10 degrees per second. 2 The variance threshold for fish catch is 8 (degrees / second). 2 The threshold for the angled acceleration is 20 degrees per second. 2 The obtained parameter characteristics are: average pitch angle of -3 degrees, average pitch angular velocity of 2 degrees / second, and variance of pitch angular velocity of 1 degree / second.2 The peak pitch angular acceleration is 5 degrees per second. 2 .

[0031] The above-mentioned parameter characteristic values ​​of the motion sensing control system are compared one by one with the corresponding scene judgment thresholds: the average pitch angle of -3 degrees is between the lower limit of the fish-attracting pitch angle threshold of -10 degrees and the upper limit of the fish-attracting pitch angle threshold of 0 degrees; the average pitch direction angular velocity of 2 degrees / second is less than the fish-attracting angular velocity threshold of 5 degrees / second; the variance of the pitch direction angular velocity is 1 (degree / second). 2 Less than the fish attraction variance threshold of 2 (degrees / second) 2 Peak pitch angular acceleration: 5 degrees / second 2 Less than the fish-attracting angle acceleration threshold of 10 degrees / second 2 All the conditions for determining a fish-luring scenario are met; therefore, the current target scenario is determined to be a fish-luring scenario.

[0032] Assume another set of parameter characteristics are: average pitch angle of 2 degrees, average pitch angular velocity of 8 degrees / second, and variance of pitch angular velocity of 9 degrees / second. 2 The peak pitch angular acceleration is 15 degrees per second. 2 .

[0033] After comparing the parameter feature values ​​with the threshold for judging the fish-catching scenario, it was found that the variance of the pitch direction angular velocity was 9 (degrees / second). 2 The variance threshold for fish catch is greater than 8 degrees per second. 2 If the requirement of "one of multiple conditions being met" is met in the rule for determining the fishing scene, then the current target scene is determined to be the fishing scene.

[0034] Optionally, the processes of steps 202 to 204 include: Step 202: Based on the pitch direction angular velocity data and pitch direction angular acceleration data in the attitude parameters, compare them with the preset stationary angular velocity threshold and stationary angular acceleration threshold. If the pitch direction angular velocity data is greater than the stationary angular velocity threshold, then determine that the target motion direction of the fishing reel and fishing rod is upward lifting.

[0035] Optionally, the motion control system compares the real-time pitch angular velocity data with the static angular velocity threshold and the static angular acceleration threshold that are pre-stored in the system. If the motion control system determines that the pitch angular velocity data is greater than the static angular velocity threshold, it directly determines that the target movement direction of the fishing reel and rod is upward.

[0036] Among them, the stationary angular velocity threshold refers to the critical value of the pitch direction angular velocity used to determine whether the fishing reel and fishing rod are in motion. It is a fixed value greater than zero and is the standard for distinguishing between the rotation and stationary angular velocity of the fishing reel and fishing rod. The stationary angular acceleration threshold refers to the critical value of the pitch direction angular acceleration used to determine whether the fishing reel and fishing rod are in motion. It is also a fixed value greater than zero and is the standard for distinguishing between the accelerated motion and stationary angular acceleration of the fishing reel and fishing rod.

[0037] In one embodiment, it is assumed that the rest angular velocity threshold is 3 degrees / second and the rest angular acceleration threshold is 5 degrees / second. 2 The motion control system retrieves pitch angular velocity data of 6 degrees / second. This data is compared with the stationary angular velocity threshold of 3 degrees / second. It is determined that 6 degrees / second is greater than 3 degrees / second, and the target movement direction of the fishing reel and rod is directly determined to be upward lifting.

[0038] Step 203: If the pitch direction angular velocity data is less than the negative value of the stationary angular velocity threshold, then the target motion direction of the fishing reel and rod is determined to be downward.

[0039] Optionally, if the pitch direction angular velocity data obtained by the motion control system is less than the negative value of the stationary angular velocity threshold, then the target motion direction of the fishing reel and rod is directly determined to be downward.

[0040] Continuing with the above embodiment, the threshold for stationary angular velocity is 3 degrees / second, with a negative value of -3 degrees / second, and the threshold for stationary angular acceleration is 5 degrees / second. 2 If the motion control system determines in step 202 that the pitch direction angular velocity data is -4 degrees / second, which is not greater than the stationary angular velocity threshold of 3 degrees / second, then it will execute this step to determine that -4 degrees / second is less than the negative value of the stationary angular velocity threshold of -3 degrees / second, and directly determine that the target movement direction of the fishing reel and rod is downward.

[0041] Step 204: If the absolute value of the pitch direction angular velocity data is less than or equal to the stationary angular velocity threshold, and the absolute value of the pitch direction angular acceleration data is less than or equal to the preset stationary angular acceleration threshold, then the target motion direction of the fishing reel and rod is determined to remain stationary.

[0042] Optionally, after steps 202 and 203, if the motion control system obtains a pitch direction angular velocity data value that is neither greater than nor less than the negative value of the stationary angular velocity threshold, it first calculates the absolute value of the pitch direction angular velocity data and compares this absolute value with the stationary angular velocity threshold to determine if it is less than or equal to the threshold. Then, it calculates the absolute value of the pitch direction angular acceleration data and compares this absolute value with the stationary angular acceleration threshold to determine if it is less than or equal to the threshold. If both comparisons result in a positive value (i.e., the absolute value of the pitch direction angular velocity data is less than or equal to the stationary angular velocity threshold, and the absolute value of the pitch direction angular acceleration data is less than or equal to the stationary angular acceleration threshold), then the target motion direction of the fishing reel and rod is determined to be stationary.

[0043] Continuing with the above embodiment, the rest angular velocity threshold is 3 degrees / second, and the rest angular acceleration threshold is 5 degrees / second. 2 In steps 202 and 203, the motion control system determines that the pitch angular velocity data is 1 degree / second, which is neither greater than 3 degrees / second nor less than -3 degrees / second, and then executes this determination step. First, the absolute value of the pitch angular velocity data is calculated to be 1 degree / second, and it is determined that 1 degree / second is less than the stationary angular velocity threshold of 3 degrees / second; then, the pitch angular acceleration data is retrieved and determined to be 2 degrees / second. 2 Calculate its absolute value as 2 (degrees per second). 2 Determine 2 (degrees / second) 2 Less than the rest angular acceleration threshold of 5 degrees per second. 2 If both conditions are met, the motion control system determines that the target direction of movement for the fishing reel and rod is to remain stationary.

[0044] Based on the original attitude parameters collected by the built-in attitude sensor of the fishing reel, this invention achieves real-time and automatic perception of the direction of the fishing rod movement during the user's fishing without the need for manual intervention. This breaks the traditional operation mode of electric fishing reels that relies on manual judgment of the movement direction and manual triggering of the motor. At the same time, by determining the stationary motion state through dual threshold judgment of angular velocity and angular acceleration, it effectively avoids misjudgment of the movement direction caused by single shaking or slight attitude changes, thus improving the accuracy and stability of movement direction recognition.

[0045] Optionally, the processes of steps 301 to 303 include: Step 301: If the target scene is a fish-attracting scene, the bait state is judged based on the current posture parameters to obtain the bait judgment result; the bait judgment result includes the bait-on-bottom state and the bait-off-bottom state.

[0046] Optionally, after the motion control system identifies the target scene as a fish-attracting scene, it comprehensively analyzes the change patterns and numerical characteristics of the two types of data based on the pitch angular velocity data and pitch angular acceleration data in the current attitude parameters, combined with the inherent motion characteristics of the bait state, to determine the actual state of the bait in the water and obtain the bait judgment result. The bait judgment result includes two categories: bait on the bottom and bait off the bottom. The bait on the bottom state refers to the state in which the bait is in contact with the bottom of the water and its position is relatively fixed, while the bait off the bottom state refers to the state in which the bait is not in contact with the bottom of the water and can swim freely.

[0047] Specifically, the criteria for determining the bait's bottom-feeding state are as follows: the motion control system detects pitch angular velocity data corresponding to a downward fall in the current attitude parameters, and the subsequent pitch angular acceleration data rapidly decreases to an extremely low level and remains stable, while the change in pitch angle data shows a significantly limited characteristic. The criteria for determining the bait's off-bottom state are as follows: the motion control system detects pitch angular velocity data corresponding to a downward fall in the current attitude parameters, and the pitch angular acceleration data maintains a continuous non-zero value change, while the change in pitch angle data shows no significant limited characteristic, and the overall change in attitude parameters exhibits a continuous and smooth pattern. Simultaneously, during the analysis process, the motion control system continuously monitors the changes in the current attitude parameters, preventing judgments based on a single instantaneous data point and avoiding misjudgments of the bait's state caused by slight rod vibrations, thus ensuring the accuracy of the bait judgment results.

[0048] In one embodiment, the motion control system determines that the target scene is a fish-attracting scene, retrieves the collected current posture parameters, detects that the pitch angular velocity data is -5 degrees / second, corresponding to the fishing rod falling downwards, and then the pitch angular velocity data decays rapidly, while the pitch angular acceleration data decreases from 10 (degrees / second). 2 Reduced to 1 degree / second 2 Within a certain range and remaining stable, the range of pitch angle data narrowed from ±3 degrees to ±0.5 degrees, showing obvious restricted characteristics. Based on this, the motion control system determined that the bait was in a state of sticking to the bottom.

[0049] Step 302: Based on the bait judgment result and the preset motor control strategy, a matching analysis is performed to obtain the line reeling control parameters under the fish-attracting scenario.

[0050] Optionally, after obtaining the bait judgment result, the motion control system retrieves a preset motor control strategy from the system storage module. This motor control strategy refers to the motor reeling parameter control rules pre-set by the motion control system for different usage scenarios and different bait states, including the numerical settings and matching relationships of reeling speed and output torque. The bait judgment result is precisely matched and analyzed with the motor control strategy. Based on the reeling control rules set in the motor control strategy for bait-on-the-bottom and bait-off-the-bottom states in the fish-attracting scenario, the unique reeling control parameters corresponding to the current bait judgment result are determined. These reeling control parameters are the motor's set reeling operating parameters, primarily including two types of parameters: motor output torque and spool reeling speed.

[0051] Specifically, the control rules for the bait-on-the-bottom state in the fish-attracting scenario are as follows: match a low value of motor output torque and a low value of spool reel speed, and keep the reeling action continuous; the control rules for the bait-off-the-bottom state in the fish-attracting scenario are as follows: match a higher value of spool reel speed than in the bait-on-the-bottom state, dynamically adjust the motor output torque according to the pitch angular velocity data, keep the overall reeling rhythm synchronized with the fishing rod action, and the overall value of motor output torque in the fish-attracting scenario is lower than that in the fish-reeling scenario.

[0052] Continuing with the above embodiments, in the preset motor control strategy, the line retrieval control rules corresponding to the bait-on-bottom state in the fish-attracting scenario are: motor output torque 2 N·m, spool retrieval speed 1 m / s, continuous retrieval; the line retrieval control rules corresponding to the bait-off-bottom state are: spool retrieval speed 3 m / s, motor output torque dynamically adjusted according to pitch direction angular velocity data, with an adjustment range of 2 to 4 N·m.

[0053] If the bait judgment result is that the bait is stuck to the bottom, the motion control system will match the result with the motor control strategy and determine the line retrieval control parameters for the fish-attracting scenario as follows: motor output torque 2 N·m, spool line retrieval speed 1 m / s, and continuous line retrieval.

[0054] Step 303: If the target scenario is a fish-catching scenario, then the current attitude parameters are analyzed in conjunction with the motor control strategy to obtain the line-reeling control parameters for the fish-catching scenario.

[0055] Optionally, if the motion control system identifies the target scene as a fish-catching scenario, it will perform quantitative analysis on the pitch angular velocity and pitch angular acceleration data in the current attitude parameters, combined with the line-reeling control rules set for the fish-catching scenario in the motor control strategy, to determine the line-reeling control parameters for the fish-catching scenario. The control rules for the fish-catching scenario in the motor control strategy are as follows: the motor output torque in the line-reeling control parameters is jointly determined by the pitch angular velocity and pitch angular acceleration data; the larger the values ​​of these two types of data, the higher the value of the motor output torque. The spool line reeling speed is positively correlated with the pitch angular velocity data; the larger the value of the pitch angular velocity data, the higher the spool line reeling speed. Simultaneously, to ensure the safety of fish control, the motor control strategy sets maximum thresholds for both the motor output torque and the spool line reeling speed for the fish-catching scenario, ensuring that the values ​​of the line-reeling control parameters obtained from the quantitative analysis do not exceed these maximum thresholds. It is also important to note that during the quantitative analysis process, the line reel control parameters are dynamically calculated based on the real-time values ​​of the current posture parameters to ensure that the line reel control parameters are matched with the speed and amplitude of the fishing rod's downward descent, so as to achieve precise coordination between the motor's line reel action and the fish-catching operation.

[0056] Continuing with the above embodiment, the motion control system determines that the target scene is a fish-catching scene, and retrieves the preset motor control strategy. The control rules for the fish-catching scene are as follows: motor output torque = 0.5 × absolute value of pitch angular velocity + 0.3 × absolute value of pitch angular acceleration, spool reel speed = 0.2 × absolute value of pitch angular velocity, the maximum threshold for motor output torque is 20 N·m, and the maximum threshold for spool reel speed is 8 m / s. Simultaneously, the pitch angular velocity data retrieved from the current attitude parameters is -10 degrees / second, and the pitch angular acceleration data is 20 degrees / second. 2 .

[0057] The motion control system underwent quantitative analysis: the motor output torque = 0.5 × 10 + 0.3 × 20 = 11 N·m, which did not exceed the maximum threshold of 20 N·m; the spool reel speed = 0.2 × 10 = 2 m / s, which did not exceed the maximum threshold of 8 m / s. The final reel control parameters for the fish-catching scenario were determined to be: motor output torque 11 N·m, and spool reel speed 2 m / s.

[0058] Based on a preset motor control strategy, this invention establishes a multi-level and precise system for determining line retrieval control parameters by using current attitude parameters, target scene, and bait state as key inputs for parameter matching. This system enables scenario-based and refined differentiation of motor control strategies, breaking away from the traditional single motor control mode of electric fishing reels. It achieves real-time adaptive matching between line retrieval control parameters and user fishing actions and actual fishing scene without requiring manual adjustment of line retrieval parameters by the user.

[0059] Optionally, the processes of steps 401 to 404 include: Step 401: Based on the moment the smooth shutdown trigger command is issued, obtain the current output torque value and the current output speed value of the fishing reel motor, and determine the current output torque value as the smooth attenuation start torque value and the current output speed value as the smooth attenuation start speed value.

[0060] Optionally, after the motion control system determines that the target movement direction of the fishing reel and rod is stationary, it issues a smooth shutdown trigger command, which is a control command sent to the fishing reel motor to initiate the smooth decay shutdown process. At the same time, the motion control system collects the current output torque value and the current output speed value of the fishing reel motor in real time. The current output torque value of the fishing reel motor refers to the actual torque value output by the fishing reel motor when performing the line reeling action at the time the command is issued, which is the core parameter of the motor's output power; the current output speed value of the fishing reel motor refers to the actual speed value of the fishing reel motor driving the spool to reel in the line at the time the command is issued, which is the core parameter determining the spool's line reeling speed.

[0061] Optionally, the motion control system directly determines the current output torque value of the fishing reel motor as the smooth attenuation starting torque value and the current output speed value of the fishing reel motor as the smooth attenuation starting speed value. The smooth attenuation starting torque value refers to the initial value of torque attenuation in the smooth attenuation shutdown process of the motor, which is the starting reference for the gradual decrease of torque; the smooth attenuation starting speed value refers to the initial value of speed attenuation in the smooth attenuation shutdown process of the motor, which is the starting reference for the gradual decrease of speed.

[0062] In one embodiment, the motion control system determines that the fishing reel and rod remain stationary and issues a smooth shutdown trigger command at a certain moment. At the same time, it collects the current output torque value of the fishing reel motor at that moment as 10 N·m and the current output speed value of the fishing reel motor as 5 rpm. The motion control system directly determines 10 N·m as the smooth attenuation starting torque value and 5 rpm as the smooth attenuation starting speed value.

[0063] Step 402: Based on the total duration of smooth shutdown and the control cycle time interval of the smooth shutdown strategy, determine the total number of decay steps required for the smooth shutdown process, and divide the smooth shutdown starting torque value and smooth shutdown starting speed value based on the total number of decay steps to obtain multiple consecutive linear decay time segments; each linear decay time segment corresponds to a control cycle time interval.

[0064] Optionally, the motion control system retrieves the total smooth shutdown duration and control cycle time interval from the preset smooth decay strategy in the system storage module. The total smooth shutdown duration refers to the total time elapsed from receiving the smooth shutdown trigger command to the complete cessation of operation of the fishing reel motor, a preset, fixed time value. The control cycle time interval refers to the time interval between single adjustments to the fishing reel motor output parameters by the motion control system, also a fixed time value. Then, the total decay steps required for the smooth shutdown process are calculated. The total decay steps refer to the total number of times the motor output torque and speed are adjusted step-by-step during the smooth decay shutdown process. The calculation algorithm is: the total decay steps equal the total smooth shutdown duration divided by the control cycle time interval, with the result rounded to a positive integer to ensure that the total decay steps match the overall shutdown duration and single adjustment interval. Finally, based on the calculated total decay steps, the motion control system divides the entire smooth decay shutdown process into multiple consecutive linear decay time segments. Each linear decay time segment is a continuous and non-overlapping time interval with a duration equal to the time interval of a single control cycle. The duration of each linear decay time segment is exactly the same as the time interval of a single control cycle, the total number of linear decay time segments is exactly equal to the total decay steps, and the linear decay time segments are connected continuously in chronological order without any time gaps.

[0065] Continuing with the above embodiment, assuming the motion control system retrieves a preset smooth shutdown duration of 2 seconds and a control cycle time interval of 0.2 seconds; the total decay steps are calculated to be 2 seconds divided by 0.2 seconds, which equals 10 steps; then the motion control system divides the 2-second smooth shutdown duration into 10 consecutive linear decay time segments, each with a duration of 0.2 seconds, and the 10 segments are connected consecutively in chronological order to form a complete 2-second smooth shutdown duration.

[0066] Step 403: Based on the smooth attenuation starting torque value and the preset minimum holding torque of the motor, determine the total torque difference value to be eliminated. Based on the total torque difference value and the smooth attenuation starting speed value, calculate the torque single-step decrease amount and speed single-step decrease amount within a single control cycle.

[0067] Optionally, the motion control system retrieves a preset minimum holding torque for the motor from the system storage module. This minimum holding torque refers to the minimum torque output value allowed by the motion control system during the attenuation process to avoid sudden drops in motor output that could cause a sudden change in line tension. It is a fixed value greater than zero, and the motor output torque will eventually drop to this value after attenuation. The total torque difference to be eliminated is then determined through subtraction. This total torque difference is equal to the initial torque value of smooth attenuation minus the minimum holding torque for the motor. This value represents the total amount of torque that needs to be gradually reduced during the smooth shutdown process. Finally, the single-step torque reduction and single-step speed reduction within a single control cycle are obtained by division. The single-step torque reduction refers to the fixed value by which the output torque of the fishing reel motor needs to decrease linearly within a single control cycle time interval. Its calculation algorithm is: the single-step torque reduction equals the total torque difference to be eliminated divided by the total number of attenuation steps. The single-step speed reduction refers to the fixed value by which the output speed of the fishing reel motor needs to decrease linearly within a single control cycle time interval. Its calculation algorithm is: the single-step speed reduction equals the smooth attenuation starting speed value divided by the total number of attenuation steps. Since the motor output speed eventually drops to zero, the smooth attenuation starting speed value is directly used as the total reduction value.

[0068] Continuing with the above embodiment, the motion control system retrieves the preset minimum holding torque of the motor as 1 N·m, the known smooth decay starting torque value as 10 N·m, the smooth decay starting speed value as 5 rpm, and the total decay steps as 10 steps; firstly, the total torque difference to be eliminated is calculated as 10 N·m minus 1 N·m equals 9 N·m; then, the torque single-step decrease is calculated as 9 N·m divided by 10 steps equals 0.9 N·m / step, and the speed single-step decrease is calculated as 5 rpm divided by 10 steps equals 0.5 rpm / step.

[0069] Step 404: Execute and iterate the motor signal based on the single-step decrease in torque and the single-step decrease in speed to complete the smooth shutdown of the motor.

[0070] Optionally, the motion control system uses the single-step decrease in torque and the single-step decrease in speed as the core adjustment basis to execute the output and iterative operation of the fishing reel motor control signal, and finally completes the smooth shutdown of the motor, as in steps 4041 to 4043.

[0071] The embodiments of the present invention make the motor shutdown action highly compatible with the user's fishing operation stop state, which solves the problem that the traditional electric fishing reel shutdown method is abrupt and easily affects the fishing process. It also makes the entire operation process of motion fishing, from triggering, execution to shutdown, form a seamless whole, improving the user experience and technical practicality of electric fishing reels.

[0072] Optionally, the processes of steps 4041 to 4043 include: Step 4041: Based on the remaining output torque and remaining output speed of the motor at the end of the previous control cycle, and combined with the values ​​of single-step torque reduction and single-step speed reduction, the target output torque value and target output speed value of the current control cycle are obtained; wherein, in the first control cycle, the remaining output torque value of the motor at the end of the previous control cycle is the smooth decay starting torque value, and the remaining output speed value of the motor at the end of the previous control cycle is the smooth decay starting speed value.

[0073] Optionally, at the start of each control cycle, the motion-sensing control system first retrieves the remaining output torque and remaining output speed of the motor at the end of the previous control cycle. The remaining output torque refers to the actual torque output by the fishing reel motor at the end of the previous control cycle, serving as the baseline value for torque attenuation in the current control cycle; the remaining output speed refers to the actual output speed of the fishing reel motor at the end of the previous control cycle, serving as the baseline value for speed attenuation in the current control cycle. The retrieved remaining output torque from the previous control cycle is subtracted from the single-step torque reduction amount to obtain the target output torque value for the current control cycle; the retrieved remaining output speed from the previous control cycle is subtracted from the single-step speed reduction amount to obtain the target output speed value for the current control cycle. The target output torque value for the current control cycle refers to the target motor torque output value set by the motion-sensing control system for the current control cycle; the target output speed value for the current control cycle refers to the target motor speed output value set by the motion-sensing control system for the current control cycle.

[0074] Furthermore, the motion control system sets exclusive numerical benchmark rules for the first control cycle: when the first control cycle starts, the smooth decay starting torque value is directly used as the motor's remaining output torque value at the end of the previous control cycle, and the smooth decay starting speed value is directly used as the motor's remaining output speed value at the end of the previous control cycle. Then, the target output torque value and target output speed value for the first control cycle are obtained according to the above subtraction operation rules.

[0075] In one embodiment, the torque decreases in a single step by 0.9 N·m / step, the speed decreases in a single step by 0.5 rpm / step, the smooth decay starting torque is 10 N·m, and the smooth decay starting speed is 5 rpm. When executing the first control cycle, based on the remaining motor output torque of 10 N·m and remaining output speed of 5 rpm at the end of the previous control cycle, the target output torque value for the current control cycle is calculated as 10 N·m - 0.9 N·m = 9.1 N·m, and the target output speed value for the current control cycle is calculated as 5 rpm - 0.5 rpm = 4.5 rpm. When executing the second control cycle, based on the remaining motor output torque of 9.1 N·m and remaining output speed of 4.5 rpm at the end of the previous control cycle, the target output torque value for the current control cycle is calculated as 9.1 N·m - 0.9 N·m = 8.2 N·m, and the target output speed value for the current control cycle is calculated as 4.5 rpm - 0.5 rpm = 4 rpm.

[0076] Step 4042: Based on the target output torque value and target output speed value of the current control cycle, a pulse width modulation drive signal is generated and sent to the drive circuit of the fishing reel motor. Based on the end signal of the current control cycle, the target output torque value of the current control cycle is updated to the motor's remaining output torque value at the end of the previous control cycle of the next control cycle, and the target output speed value of the current control cycle is updated to the motor's remaining output speed value at the end of the previous control cycle of the next control cycle. This process is repeated until both the target output torque value and the target output speed value of the current control cycle reach the preset motor stop state, and a motor stop signal is obtained.

[0077] Optionally, after obtaining the target output torque and target output speed values ​​for the current control cycle, the motion control system generates a pulse width modulation (PWM) drive signal based on these two values ​​and sends the generated PWM drive signal to the drive circuit of the fishing reel motor. Upon receiving the signal, the drive circuit drives the fishing reel motor to operate according to the target output torque and target output speed values ​​for the current control cycle. When the linear decay time segment of the current control cycle ends, the motion control system receives the end signal of the current control cycle and immediately performs parameter iterative updates. Specifically, it directly updates the target output torque value of the current control cycle to the remaining output torque value of the motor at the end of the previous control cycle in the next control cycle, and directly updates the target output speed value of the current control cycle to the remaining output speed value of the motor at the end of the previous control cycle in the next control cycle. After completing the parameter update, the motion control system repeats all operations of step 4041 and this step, entering the workflow of the next control cycle. The iterative process continues until the motion control system determines that both the target output torque and target output speed values ​​of the current control cycle have reached the preset motor stop state. The current control cycle end signal refers to a timing signal generated based on a preset control cycle time interval, marking the end of the current control cycle. The motor stop state refers to the preset output parameter threshold state of the motion control system, marking that the fishing reel motor can stop working. Specifically, it refers to the value state where the target output torque value drops to the minimum holding torque of the motor and the target output speed value drops to zero. When the motor stop state is reached, the motion control system immediately generates a motor stop signal.

[0078] Continuing with the above embodiment, the minimum holding torque of the motor is known to be 1 N·m. The motor's stopped state is defined as a target output torque of 1 N·m and a target output speed of 0 rpm. The control cycle time interval is 0.2 seconds. In the first control cycle, a pulse width modulation drive signal corresponding to the target output torque of 9.1 N·m and the speed of 4.5 rpm is generated and sent to the drive circuit. The motor operates according to these parameters. After 0.2 seconds, an end signal is received, and 9.1 N·m and 4.5 rpm are updated as the remaining output parameters for the next control cycle, entering the second control cycle. This iterative operation is repeated until the tenth control cycle. When the current control cycle's target output torque is calculated to be 1 N·m and the target output speed to be 0 rpm, the preset motor stopped state is reached, and the motion control system immediately generates a motor stop signal.

[0079] Step 4043 involves cutting off the active drive torque output of the fishing reel motor and marking the control state of the fishing reel motor as completely shut down, thus completing the smooth shutdown of the motor.

[0080] Optionally, after generating a motor stop signal, the motion-sensing control system immediately sends a torque cut-off command to the drive circuit of the fishing reel motor based on this signal. Upon receiving the torque cut-off command, the drive circuit immediately cuts off the active drive torque output of the fishing reel motor, so that the fishing reel motor no longer outputs any active torque power, only maintaining the minimum holding torque to avoid sudden changes in line tension. At this time, the spool of the fishing reel motor no longer performs active line reeling. After completing the active drive torque cut-off, the motion-sensing control system updates the control state of the fishing reel motor, marking it directly from the attenuated working state to the completely shut-off state. Here, the torque cut-off command refers to the control command issued by the motion-sensing control system to the drive circuit to cut off the active drive torque output of the fishing reel motor; the completely shut-off state refers to the working state set by the motion-sensing control system for the fishing reel motor, marking the completion of the entire smooth shutdown process. After this state is marked, the motion-sensing control system no longer sends any line reeling-related drive signals to the motor drive circuit until it receives a new motor start command, thus completing the entire process of the fishing reel motor from attenuated working to complete shutdown, achieving a smooth shutdown of the motor.

[0081] Continuing with the above embodiment, after the motion control system generates a motor stop signal in the tenth control cycle, it sends a torque cut-off command to the motor drive circuit based on the signal. Upon receiving the command, the drive circuit immediately cuts off the active drive torque output of the fishing reel motor, and the motor only maintains a minimum holding torque of 1 N·m, and the spool stops actively reeling in the line. Subsequently, the motion control system marks the control state of the fishing reel motor from the decaying working state to the completely shut-off state, and no longer sends any line reeling drive signal. The smooth shutdown process of the fishing reel motor is now complete.

[0082] This invention combines the smooth attenuation start value, single-step decrease amount, and control cycle depth to make the motor's attenuation process quantifiable and controllable, ensuring the consistency of the attenuation rhythm and the controllability of the shutdown process, thereby improving the technical practicality of the electric fishing reel and the user experience.

[0083] Furthermore, the user posture-based fishing reel motor motion control system provided by the present invention will be described below. The user posture-based fishing reel motor motion control system described below can be referred to in correspondence with the user posture-based fishing reel motor motion control method described above.

[0084] Optional, refer to Figure 2 , Figure 2 This is a schematic diagram of the user posture-based motion sensing control system for fishing reel motors provided by the present invention. The user posture-based motion sensing control system for fishing reel motors includes: The attitude data acquisition module 210 is used to acquire the current attitude parameters and corresponding parameter feature values ​​of the user holding the fishing reel within a preset time window based on the attitude sensor built into the fishing reel. The scene and motion direction recognition module 220 is used to identify the fishing reel usage scene based on parameter feature values ​​to obtain the target scene where the fishing reel is currently located, and to identify the fishing reel motion direction based on attitude parameters to obtain the target motion direction of the fishing rod; the target motion direction includes lifting upwards, falling downwards, and remaining stationary; The fallback and take-up control module 230 is used to determine the take-up control parameters under the current usage scenario based on the target scenario and the current attitude parameters when the target movement direction is downward fallback direction, and to execute the motor take-up action based on the take-up control parameters; The static smooth shutdown module 240 is used to gradually reduce the motor output until the motor smoothly shuts down when the target motion direction is stationary, based on a preset smooth attenuation strategy.

[0085] This invention utilizes a built-in attitude sensor to acquire the user's current attitude parameters and corresponding parameter feature values ​​when holding the fishing reel within a preset time window. This data supports the identification of the fishing reel's usage scenario to determine the target scenario. Simultaneously, based on the attitude parameters, it identifies the target movement direction of the fishing rod (upward pull, downward fall, or stationary), achieving precise perception of user actions and usage scenarios during fishing. This breaks away from the traditional electric fishing reel's reliance on manual operation to trigger the motor. Based on the identified target movement direction and target scenario, a collaborative judgment is made. When the target movement direction is downward fall... When the line is lowered, the system determines the appropriate line control parameters based on the target scene and current posture parameters, and drives the motor to perform the line reeling action. When the target movement direction is stationary, the motor output is gradually reduced until it stops through a preset smooth attenuation strategy. This achieves adaptive linkage between motor control and user fishing actions and actual usage scenarios, eliminating the need for the user to simultaneously lift the rod and operate the motor. This effectively solves the problem of poor coordination in existing electric fishing reels. At the same time, by combining scene recognition and posture parameters to determine control parameters, the system enriches the motor control strategy, enabling it to adapt to the actual needs of different scenarios such as landing fish and attracting fish, thereby improving the user's fishing experience.

[0086] Please see Figure 3 , Figure 3 An embodiment diagram of an electronic device provided in accordance with the present invention. For example... Figure 3 As shown, this embodiment of the invention provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, it performs the following steps: Based on the attitude sensor built into the fishing reel, the current attitude parameters and corresponding parameter feature values ​​of the user holding the fishing reel are obtained within a preset time window. Based on parameter feature values, the fishing reel usage scenario is identified to obtain the target scenario in which the fishing reel is currently located. Based on attitude parameters, the fishing reel movement direction is identified to obtain the target movement direction of the fishing rod. The target movement direction includes lifting upwards, lowering downwards, and remaining stationary. When the target's movement direction is downward and falling, the reel-in control parameters for the current usage scenario are determined based on the target scene and current attitude parameters, and the motor reel-in action is executed based on the reel-in control parameters. When the target motion direction is stationary, the motor output is gradually reduced based on a preset smooth decay strategy until the motor smoothly shuts down.

[0087] Please see Figure 4 , Figure 4 An embodiment diagram of a computer-readable storage medium provided in accordance with an embodiment of the present invention is shown. Figure 4 As shown, this embodiment provides a computer-readable storage medium 400 on which a computer program 311 is stored. When the computer program 311 is executed by a processor, it performs the following steps: Based on the attitude sensor built into the fishing reel, the current attitude parameters and corresponding parameter feature values ​​of the user holding the fishing reel are obtained within a preset time window. Based on parameter feature values, the fishing reel usage scenario is identified to obtain the target scenario in which the fishing reel is currently located. Based on attitude parameters, the fishing reel movement direction is identified to obtain the target movement direction of the fishing rod. The target movement direction includes lifting upwards, lowering downwards, and remaining stationary. When the target's movement direction is downward and falling, the reel-in control parameters for the current usage scenario are determined based on the target scene and current attitude parameters, and the motor reel-in action is executed based on the reel-in control parameters. When the target motion direction is stationary, the motor output is gradually reduced based on a preset smooth decay strategy until the motor smoothly shuts down.

[0088] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the user-gesture-based motion control method for fishing reel motors provided by the above methods, the method comprising: Based on the attitude sensor built into the fishing reel, the current attitude parameters and corresponding parameter feature values ​​of the user holding the fishing reel are obtained within a preset time window. Based on parameter feature values, the fishing reel usage scenario is identified to obtain the target scenario in which the fishing reel is currently located. Based on attitude parameters, the fishing reel movement direction is identified to obtain the target movement direction of the fishing rod. The target movement direction includes lifting upwards, lowering downwards, and remaining stationary. When the target's movement direction is downward and falling, the reel-in control parameters for the current usage scenario are determined based on the target scene and current attitude parameters, and the motor reel-in action is executed based on the reel-in control parameters. When the target motion direction is stationary, the motor output is gradually reduced based on a preset smooth decay strategy until the motor smoothly shuts down.

[0089] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0090] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A user-gesture-based motion control method for fishing reel motors, characterized in that, include: Based on the attitude sensor built into the fishing reel, the current attitude parameters and corresponding parameter feature values ​​of the user holding the fishing reel are obtained within a preset time window. Based on the parameter feature values, the fishing reel usage scenario is identified to obtain the target scenario where the fishing reel is currently located. Based on the attitude parameters, the fishing reel movement direction is identified to obtain the target movement direction of the fishing rod. The target movement direction includes lifting upwards, falling downwards, and remaining stationary. When the target's movement direction is downward, the current usage scenario's line reel control parameters are determined based on the target scenario and the current attitude parameters, and the motor's line reel action is executed based on the line reel control parameters. When the target motion direction is stationary, the motor output is gradually reduced based on a preset smooth attenuation strategy until the motor smoothly shuts down.

2. The user posture-based motion control method for fishing reel motors according to claim 1, characterized in that, The current attitude parameters include pitch angle data, pitch angular velocity data, and pitch angular acceleration data; the parameter characteristic values ​​include the average pitch angle, the average pitch angular velocity, the variance of the pitch angular velocity, and the peak pitch angular acceleration.

3. The user posture-based motion control method for fishing reel motors according to claim 2, characterized in that, The target scenarios include fish-attracting scenarios or fish-catching scenarios; The process of identifying the fishing vessel's usage scenario based on the parameter feature values ​​to obtain the target scenario in which the fishing vessel is currently located includes: The target scene is obtained by comparing the average pitch angle, average pitch angular velocity, variance of pitch angular velocity, and peak pitch angular acceleration with a preset scene judgment threshold.

4. The user posture-based motion control method for fishing reel motors according to claim 2, characterized in that, The step of identifying the fishing reel's motion direction based on the attitude parameters to obtain the target motion direction of the fishing reel and rod includes: Based on the pitch angular velocity data and pitch angular acceleration data in the attitude parameters, and in combination with the preset stationary angular velocity threshold and stationary angular acceleration threshold, if the pitch angular velocity data is greater than the stationary angular velocity threshold, then the target motion direction of the fishing reel and rod is determined to be upward lifting. If the pitch direction angular velocity data is less than the negative value of the stationary angular velocity threshold, then the target motion direction of the fishing reel and rod is determined to be downward descent. If the absolute value of the pitch direction angular velocity data is less than or equal to the stationary angular velocity threshold, and the absolute value of the pitch direction angular acceleration data is less than or equal to the preset stationary angular acceleration threshold, then the target motion direction of the fishing reel and rod is determined to remain stationary.

5. The user posture-based motion control method for fishing reel motors according to claim 1, characterized in that, The step of determining the line take-up control parameters for the current usage scenario based on the target scenario and the current attitude parameters includes: If the target scene is a fish-attracting scene, the bait state is determined based on the current posture parameters to obtain the bait judgment result; the bait judgment result includes the bait-on-bottom state and the bait-off-bottom state. Based on the bait judgment result and the preset motor control strategy, a matching analysis is performed to obtain the line retrieval control parameters under the fish-attracting scenario. If the target scenario is a fish-catching scenario, then the current attitude parameters are analyzed in conjunction with the motor control strategy to obtain the line-reeling control parameters for the fish-catching scenario.

6. The user posture-based motion control method for fishing reel motors according to claim 1, characterized in that, The method of gradually reducing motor output based on a preset smooth attenuation strategy until the motor smoothly shuts down includes: The current output torque value and current output speed value of the fishing reel motor are obtained based on the time of issuance of the smooth shutdown trigger command, and the current output torque value is determined as the smooth attenuation start torque value and the current output speed value is determined as the smooth attenuation start speed value. Based on the total smooth shutdown duration and control cycle time interval of the smooth decay strategy, the total number of decay steps required for the smooth shutdown process is determined, and the smooth decay starting torque value and the smooth decay starting speed value are divided based on the total number of decay steps to obtain multiple consecutive linear decay time segments; each linear decay time segment corresponds to a control cycle time interval. Based on the smooth attenuation starting torque value and the preset minimum holding torque of the motor, the total torque difference value to be eliminated is determined. Based on the total torque difference value and the smooth attenuation starting speed value, and the total attenuation step value, the torque single-step decrease amount and speed single-step decrease amount within a single control cycle are calculated respectively. The motor signal is executed and iterated based on the single-step decrease in torque and the single-step decrease in speed to achieve a smooth motor shutdown.

7. The user posture-based motion control method for fishing reel motors according to claim 1, characterized in that, The execution and iteration of motor signals based on the single-step decrease in torque and the single-step decrease in speed to achieve smooth motor shutdown includes: Based on the remaining output torque and remaining output speed of the motor at the end of the previous control cycle, and combined with the single-step decrease in torque and the single-step decrease in speed, the target output torque and target output speed values ​​for the current control cycle are obtained. In the first control cycle, the remaining output torque value of the motor at the end of the previous control cycle is the smooth attenuation starting torque value, and the remaining output speed value of the motor at the end of the previous control cycle is the smooth attenuation starting speed value. Based on the target output torque and target output speed values ​​of the current control cycle, a pulse width modulation drive signal is generated and sent to the drive circuit of the fishing reel motor. Based on the end signal of the current control cycle, the target output torque value of the current control cycle is updated to the motor's remaining output torque value at the end of the previous control cycle of the next control cycle, and the target output speed value of the current control cycle is updated to the motor's remaining output speed value at the end of the previous control cycle of the next control cycle. This process is repeated until both the target output torque value and the target output speed value of the current control cycle reach the preset motor stop state, and a motor stop signal is obtained. Based on the active drive torque output of the cut-off fishing reel motor, the control state of the fishing reel motor is marked as a completely shut-off state, thus completing the smooth shutdown of the motor.

8. A user-gesture-based motion-sensing control system for fishing reel motors, characterized in that, The method for haptic control of a fishing reel motor based on user posture, as described in any one of claims 1 to 7, is applied; the haptic control system for the fishing reel motor based on user posture includes: The attitude data acquisition module is used to acquire the current attitude parameters and corresponding parameter feature values ​​of the user holding the fishing reel within a preset time window based on the attitude sensor built into the fishing reel. The scene and motion direction recognition module is used to identify the fishing reel usage scene based on the parameter feature values ​​to obtain the target scene where the fishing reel is currently located, and to identify the fishing reel motion direction based on the attitude parameters to obtain the target motion direction of the fishing rod; the target motion direction includes lifting upwards, falling downwards, and remaining stationary; The fallback and reel-in control module is used to determine the reel-in control parameters for the current usage scenario based on the target scenario and the current attitude parameters when the target's movement direction is a downward fallback direction, and to execute the motor reel-in action based on the reel-in control parameters. The static smooth shutdown module is used to gradually reduce the motor output until the motor smoothly shuts down when the target motion direction is stationary, based on a preset smooth attenuation strategy.

9. An electronic device, characterized in that, include: Memory, used to store computer software programs; A processor is configured to read and execute the computer software program, wherein when the processor executes the computer software program, it implements the user posture-based motion control method for fishing reel motors as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that, The storage medium stores a computer software program, which, when executed by a processor, implements the user posture-based motion control method for fishing reel motors as described in any one of claims 1 to 7.

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