Wrist-lifting detection method and wearable device

Abstract

This invention proposes a wrist-raising detection method and a wearable device. The method includes the following steps: continuously acquiring acceleration data from the accelerometer of the target device; for each acceleration data point, calculating the angle between the frontal direction of the device and the vertically upward direction; if the trend of the angle's change satisfies a preset wrist-raising trend, then a wrist-raising action is detected, wherein the preset wrist-raising trend is the trend of the angle's change during the wrist-raising action. By collecting acceleration data and calculating the angle with the vertically upward direction, the consistency between the screen display direction of the wearable device and the direction visible to the user can be determined. Furthermore, the wrist-raising action is detected based on whether the trend of the angle's change matches the trend during the wrist-raising action. Combining the angular change characteristics of the wrist-raising action for detection improves the accuracy of wrist-raising action detection.

Description

Technical Field

[0001] This invention relates to the field of wearable devices, and more particularly to a wrist-raising detection method and a wearable device. Background Technology

[0002] With the increasing popularity of wearable devices such as smart bracelets and smartwatches, raise-to-wake has become a standard feature for wrist-worn wearable devices in order to enhance the user experience.

[0003] However, current wrist-raising detection is usually based on motion threshold triggering, which has low detection accuracy and results in a large number of false and missed triggers of wrist-raising to wake the screen. Summary of the Invention

[0004] The main objective of this invention is to propose a wrist-raising detection method and wearable device, which aims to solve the problem of low accuracy in wrist-raising action detection in the prior art.

[0005] To achieve the above objectives, the present invention provides a wrist-raising detection method, the method comprising the following steps: Continuously acquire acceleration data from the accelerometer of the target device; For each acceleration data point, the angle between the front direction of the device and the vertically upward direction is calculated based on the acceleration data, wherein the front direction of the device is the screen display direction of the target device; If the trend of the angle change satisfies the preset wrist-raising trend, then a wrist-raising action is detected, wherein the preset wrist-raising trend is the trend of the angle change during the wrist-raising action.

[0006] Optionally, if the changing trend of the included angle satisfies a preset wrist-raising trend, then it is determined that a wrist-raising action has been detected, wherein the preset wrist-raising trend is the changing trend of the included angle during the wrist-raising action, including: Determine whether the changing trend of the included angle satisfies the angle decreasing trend; After the trend of the included angle changes satisfies the angle decreasing trend, it is determined whether the trend of the included angle changes satisfies the low angle maintenance trend. If the trend of the angle change satisfies the low angle maintenance trend, then the trend of the angle change is determined to satisfy the preset wrist raising trend.

[0007] Optionally, determining whether the trend of the angle change satisfies a decreasing angle trend includes: Among the angles included in the first-time sliding window, determine the first proportion of high angles, wherein the high angle is an angle greater than a first preset angle threshold; Determine whether the first proportion is greater than the first proportion threshold; If the first percentage is greater than the first percentage threshold, then wait until the first percentage is less than the second percentage threshold, wherein the second percentage threshold is less than the first percentage threshold; If the first proportion is detected to be less than the second proportion threshold, then it is determined that the change trend of the included angle satisfies the angle decreasing trend.

[0008] Optionally, determining whether the trend of the included angle change satisfies the low-angle maintenance trend includes: In the included angles of the second time sliding window, a second proportion of low included angles is determined, wherein the length of the second time sliding window is greater than the length of the first time sliding window, and the low included angle is an angle less than a second preset angle threshold, and the second preset angle threshold is less than the first preset angle threshold. Determine whether the second proportion is greater than the third proportion threshold. If the second proportion is greater than the third proportion threshold, then determine that the trend of the angle change satisfies the low angle maintenance trend.

[0009] Optionally, calculating the angle between the frontal direction of the device and the vertically upward direction based on the acceleration data includes: Obtain the triaxial acceleration of the acceleration sensor from the acceleration data, and calculate the vector magnitude of the triaxial acceleration; Obtain the Z-axis acceleration from the three-axis accelerations, and normalize the Z-axis acceleration based on the vector magnitude to obtain the Z-axis unit vector; The included angle is obtained by performing an inverse cosine calculation on the unit vector along the Z-axis.

[0010] Optionally, the method further includes: Continuously acquire gyroscope data from the target device; The motion state of the target device is determined based on the gyroscope data and the acceleration data. Determine whether the change in the motion state satisfies a preset state change. If the change in the motion state satisfies a preset state change, and the change trend of the included angle satisfies a preset wrist-raising trend, then it is determined that a wrist-raising action has been detected.

[0011] Optionally, determining whether the change in the motion state satisfies a preset state change includes: Determine whether the movement state is detected as a wrist-flipping state; After detecting that the movement state is a wrist flipping state, determine whether the movement state is a hand raising state; If the detected motion state is a raised hand state, then it is determined that the change in the motion state satisfies the preset state change.

[0012] Optionally, determining whether the movement state is detected as a wrist-flipping state includes: Calculate the angular velocity corresponding to the gyroscope data; Determine whether the angular velocity has crossed zero point and whether the angular velocity is greater than a preset angular velocity threshold; If the angular velocity crosses zero and is greater than a preset angular velocity threshold, then the motion state is determined to be a wrist-flipping state.

[0013] Optionally, determining whether the movement state is detected as a hand-raising state includes: Calculate the linear acceleration corresponding to the acceleration data; Determine whether the linear acceleration is greater than a preset acceleration threshold; If the linear acceleration is greater than the preset acceleration threshold, then the detected motion state is determined to be a hand-raising state.

[0014] To achieve the above objectives, the present invention also provides a wearable device, the wearable device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the wrist raise detection method as described above.

[0015] This invention proposes a wrist-raising detection method and wearable device, which continuously acquires acceleration data from the accelerometer of a target device. For each acceleration data point, the angle between the device's front direction and the vertically upward direction is calculated, where the front direction is the screen display direction of the target device. If the trend of the angle's change satisfies a preset wrist-raising trend, a wrist-raising action is detected, where the preset wrist-raising trend is the trend of the angle's change during the wrist-raising action. By collecting acceleration data and calculating the angle with the vertically upward direction, the consistency between the wearable device's screen display direction and the direction visible to the user can be determined. Furthermore, the wrist-raising action is detected based on whether the angle's change trend matches the trend during the wrist-raising action. Combining the angular change characteristics of the wrist-raising action for detection improves the accuracy of wrist-raising action detection. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the first embodiment of the wrist-raising detection method of the present invention; Figure 2 This is a detailed flowchart of the wrist-raising detection method of the present invention; Figure 3 This is a schematic diagram of the module structure of the wearable device of the present invention. Detailed Implementation

[0019] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0020] This invention provides a wrist-raising detection method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the wrist-raising detection method of the present invention. The method includes the following steps: Step S10: Continuously acquire acceleration data from the accelerometer of the target device; The target device is the device used in the wrist-raising detection method; the specific type of the target device can be set according to actual needs, such as wearable devices worn on the user's wrist, such as smartwatches and smart bracelets.

[0021] An accelerometer is installed inside the target device to generate acceleration data based on the movement of the target device. The specific type of accelerometer can be set according to actual needs, such as selecting the LSM6DSO motion sensor, which contains an accelerometer and a gyroscope.

[0022] The accelerometer continuously outputs acceleration data based on the motion of the target device, and the output frequency of the acceleration data can be set according to actual needs.

[0023] Step S20: For each acceleration data, calculate the angle between the front direction of the device and the vertical upward direction based on the acceleration data, wherein the front direction of the device is the screen display direction of the target device; The vertically upward direction is the opposite of the direction of gravity.

[0024] The front of the device is the direction in which the target device's screen is displayed. When the front of the device is pointed at the user's eyes, the user is looking directly at the target device's screen.

[0025] The angle between the front of the device and the vertical upward direction indicates whether the target device's screen is facing upward. The smaller the angle, the more upward the screen is, and the easier it is for the user to see the screen; the larger the angle, the more downward the screen is, and the harder it is for the user to see the screen.

[0026] Step S30: If the trend of the angle change satisfies the preset wrist-raising trend, then it is determined that a wrist-raising action has been detected, wherein the preset wrist-raising trend is the trend of the angle change during the wrist-raising action.

[0027] Understandably, the detection of wrist-raising motion specifically involves detecting the process of the screen transitioning from a non-visual state to a visible state through wrist raising. During this process, the movement trend of the target device exhibits certain characteristics. For example, when the wrist moves from a natural vertical downward position to a wrist-raising posture for viewing a watch, the angle changes as follows: when the wrist is naturally vertical downward, the angle is around 90°; after raising the wrist, the wrist rotates, causing the angle to decrease; and after stopping the wrist raising, a small angle is maintained, such as around 0°. Similarly, when the wrist moves from being placed on a table to a wrist-viewing posture, the angle changes as follows: when the wrist is placed on a table, the angle is around 45°; after raising the wrist, the wrist rotates, causing the angle to decrease; and after stopping the wrist raising, a small angle is maintained, such as around 0°.

[0028] A preset wrist-raising trend can be set in advance based on the characteristics of the wrist-raising action in a specific scenario. Then, when the trend of the angle change meets the corresponding preset wrist-raising trend, the occurrence of the wrist-raising action can be determined.

[0029] Once the wrist-raising action is confirmed, the corresponding operation can be performed, such as turning on the screen.

[0030] This embodiment collects acceleration data and calculates the angle with the vertical upward direction, enabling the determination of the consistency between the screen display direction of the wearable device and the direction that the user can see. Then, it detects the wrist raising action based on whether the trend of the angle change matches the trend of the wrist raising action. Combining the angle change characteristics of the wrist raising action for detection improves the accuracy of wrist raising action detection.

[0031] Further details will follow. Figure 3 In the second embodiment of the wrist-raising detection method of the present invention based on the first embodiment, step S30 includes the following steps: Step S31: Determine whether the changing trend of the included angle satisfies the angle decreasing trend; Step S32: After the trend of the angle change satisfies the angle decreasing trend, determine whether the trend of the angle change satisfies the low angle maintenance trend. If the trend of the angle change does not meet the decreasing trend of the angle, no additional operation will be performed; Step S33: If the trend of the angle change satisfies the low angle maintenance trend, then it is determined that the trend of the angle change satisfies the preset wrist raising trend.

[0032] If the trend of the angle change does not meet the requirement of maintaining the trend at low angles, no additional operation will be performed.

[0033] The downward trend in the angle indicates that the included angle is changing from large to small.

[0034] The trend of maintaining a low angle is to remain within the range corresponding to the low angle.

[0035] The detection of wrist-raising motion is to automatically trigger the screen to light up when the user raises their wrist to look at the screen. Therefore, the wrist-raising motion first changes from an angle where the screen cannot be seen to an angle where the screen can be seen, and stays at an angle where the screen can be seen so that the user can view the screen stably. Under the characteristics of this wrist-raising motion, this embodiment sets a preset wrist-raising trend that includes a downward trend in angle and a low-angle maintenance trend.

[0036] It should be noted that the trend of the angle change is a continuous detection process. The accelerometer continuously outputs acceleration data, and the corresponding angle is continuously determined based on the acceleration data, thereby determining the change and trend of the angle. The decreasing angle trend and the low-angle maintenance trend are determined sequentially. After detecting the decreasing angle trend, acceleration data is still continuously collected, and the low-angle maintenance trend is detected by combining the subsequently collected acceleration data.

[0037] If a downward trend in the angle is detected followed by a sustained low-angle trend, then the change in the included angle is determined to satisfy the preset wrist-raising trend. It should be noted that if other reverse trends are detected after a downward trend in the angle but before a sustained low-angle trend is detected, then the wrist-raising trend is considered to have disappeared, and the downward trend in the angle needs to be re-evaluated. Reverse trends include the detection of an upward trend in the angle, the detection of a stationary trend, etc.

[0038] Understandably, once the screen is on, there's no need to detect wrist raises. And once the screen is off, since the angle changes from when the screen is unviewable to when it is visible, wrist raise detection only needs to be triggered after the screen-viewable angle is met. Therefore, detection trigger conditions can be further set. These conditions can be configured based on actual needs, such as detecting a tilted target device, a motion terminal, or a screen that is off, and the angle being greater than an initial angle threshold. The specific value of the initial angle threshold can be set based on actual needs, such as 75°. Only when the detection trigger conditions are met is the trend of the angle change judged to meet the preset wrist raise trend. In other words, the overall judgment process for the wrist raise trend can include meeting the detection trigger conditions, meeting the angle decreasing trend, and meeting the low-angle maintenance trend. A timer starts after the detection trigger conditions are triggered. If a wrist raise is not determined after a preset time, the wrist raise detection exits until the next detection trigger condition is triggered.

[0039] Further, step S31 includes the following steps: Step S311: Among the angles included in the first time sliding window, determine the first proportion of high angles, wherein the high angle is an angle greater than a first preset angle threshold. Step S312: Determine whether the first proportion is greater than the first proportion threshold; Step S313: If the first proportion is greater than the first proportion threshold, then wait for the first proportion to be less than the second proportion threshold, wherein the second proportion threshold is less than the first proportion threshold. If the first proportion is less than or equal to the first proportion threshold, no additional operation is performed; Step S314: If the first proportion is detected to be less than the second proportion threshold, then it is determined that the change trend of the included angle satisfies the angle decreasing trend.

[0040] If the first proportion is greater than or equal to the second proportion threshold, no additional operation is performed.

[0041] The first-time sliding window contains multiple recently captured angles; the length of the first-time sliding window can be set according to actual needs, such as 21; taking 21 as an example, the angles contained in the first-time sliding window are [angle...]. n-20 , angle n-19 , ..., angle n-1 , angle n ], where angle n The angle determined from the acceleration data of the latest period, angle n-1 The angle is determined based on the acceleration data from the previous cycle, and so on; the sliding window is updated as acceleration data is collected.

[0042] The high angle indicator is difficult to meet the viewing requirements; the specific value of the first preset angle threshold can be set based on actual needs, such as 75°.

[0043] The first proportion is the percentage of the high-angle area among all the angles contained in the first-time sliding window; taking a first-time sliding window length of 21 as an example, the first proportion is:

[0044] Where B1 is the first proportion; N1 is the number of high angles in the first time sliding window.

[0045] The first ratio threshold indicates the high proportion of angles that appear when the viewing angle is too high to meet the requirements; the specific value of the first ratio threshold can be set according to actual needs, such as 80%.

[0046] When the proportion of the high angle is greater than the first proportion threshold, it is considered that the high angle occupies more proportion and the user is not looking at the screen. Therefore, wrist raise detection is triggered based on this. Then, the subsequent judgment of the second proportion threshold is performed.

[0047] The second proportional threshold indicates that the proportion of high angles has been significantly reduced. The specific second proportional threshold can be set based on actual needs, such as 50%.

[0048] When the high angle changes from being greater than the first proportional threshold to being less than the second proportional threshold, it indicates that the proportion of the high angle has decreased significantly. Therefore, the angle begins to turn towards a smaller angle, which indicates a decrease in angle. Thus, when the first proportion is less than the second proportional threshold, it can be determined that the trend of angle change satisfies the trend of angle decrease.

[0049] Further, step S33 includes the following steps: Step S331: Determine the second proportion of low angles among the angles included in the second time sliding window, wherein the length of the second time sliding window is greater than the length of the first time sliding window, and the low angle is an angle less than a second preset angle threshold, and the second preset angle threshold is less than the first preset angle threshold. Step S332: Determine whether the second proportion is greater than the third proportion threshold. If the second proportion is greater than the third proportion threshold, then determine that the change trend of the included angle satisfies the low angle maintenance trend.

[0050] If the second proportion is less than or equal to the third proportion threshold, no additional operation is performed.

[0051] The second time-sliding window contains multiple recently acquired angles; the length of the second time-sliding window can be set according to actual needs, such as 39; taking 39 as an example, the angles contained in the second time-sliding window include [angle] n-39 , angle n-38 , ..., angle n-1 , angle n The second time-sliding window updates as acceleration data is collected.

[0052] The second time sliding window is longer than the first time sliding window, resulting in a larger number of included angles within the second time sliding window. It is understood that the second percentage determination is used to identify the low-angle maintenance trend, and once the low-angle maintenance trend is determined, the wrist-raising action is confirmed. Therefore, in this embodiment, the length of the second time sliding window is set to be larger, allowing for verification of the low-angle maintenance trend through more included angles, thus avoiding false positives. Conversely, the first time sliding window is set to be smaller, enabling the capture of faster wrist-raising actions and timely triggering of the wrist-raising action detection process, thus avoiding missed detections.

[0053] The low angle indicator is the angle that meets the viewing requirements; the specific value of the second preset angle threshold can be set based on actual needs, such as 25°.

[0054] The second proportion is the percentage of the low angle among all the angles included in the second time sliding window; taking a second time sliding window length of 39 as an example, the second proportion is:

[0055] Where B2 is the second proportion; N2 is the number of low angles in the second time sliding window.

[0056] The third ratio threshold indicates the low angle ratio when the viewing angle meets the requirements; the specific value of the third ratio threshold can be set according to actual needs, such as 80%.

[0057] When the second proportion of the low angle is greater than the third proportion threshold, it is considered that the low angle occupies more proportion and the screen is in a state that can be viewed by the user. Therefore, it can be determined that the trend of the angle change satisfies the low angle maintenance trend.

[0058] Furthermore, in the third embodiment of the wrist-raising detection method of the present invention based on the first embodiment of the present invention, step S20 includes the following steps: Step S21: Obtain the triaxial acceleration of the acceleration sensor from the acceleration data, and calculate the vector magnitude of the triaxial acceleration; Step S22: Obtain the Z-axis acceleration from the three-axis acceleration, and normalize the Z-axis acceleration based on the vector magnitude to obtain the Z-axis unit vector; Step S23: Calculate the included angle by performing an inverse cosine calculation on the unit vector along the Z-axis.

[0059] Three-axis acceleration includes X-axis acceleration, Y-axis acceleration, and Z-axis acceleration. It can be understood that the three-axis acceleration data is determined based on the three axes of the accelerometer coordinate system. In the accelerometer, the plane formed by the X-axis and Y-axis is the plane where the target device's screen is located, and the Z-axis is perpendicular to the plane where the target device's screen is located. The display direction of the target device's screen is the Z-axis direction.

[0060] The vector magnitude indicates the acceleration after the synthesis of triaxial accelerations; the vector magnitudes are:

[0061] Where norm is the vector magnitude; a x The acceleration along the X-axis; a y The acceleration along the Y-axis; a z This is the acceleration along the Z-axis.

[0062] It is understandable that the calculation of the included angle only considers the direction and is independent of the length. Therefore, in this embodiment, the Z-axis acceleration is normalized based on the vector magnitude to obtain the Z-axis unit vector:

[0063] Among them, z now It is the unit vector along the Z-axis.

[0064] The Z-axis unit vector indicates the current direction of the Z-axis. It can be understood that when the screen display direction is exactly vertically upward, the corresponding triaxial acceleration is (0, 0, 1). The product of the Z-axis unit vector and the vertically upward Z-axis vector is the cosine of the included angle. Since the vertically upward Z-axis vector is 1, taking the inverse cosine of the Z-axis unit vector yields the corresponding included angle.

[0065] Where angle is the included angle.

[0066] In this embodiment, the angle between the front direction of the device and the vertical upward direction can be accurately obtained based on the acceleration data.

[0067] Furthermore, in the fourth embodiment of the wrist-raising detection method of the present invention based on the first embodiment, the method further includes the step of: Step S40: Continuously acquire gyroscope data from the target device; Step S50: Determine the motion state of the target device based on the gyroscope data and the acceleration data; Step S60: Determine whether the change in the motion state satisfies the preset state change. Step S70: If the change in the motion state satisfies a preset state change and the change trend of the included angle satisfies a preset wrist-raising trend, then it is determined that a wrist-raising action has been detected.

[0068] If the change in motion state does not meet the preset state change, no additional operation will be performed.

[0069] The gyroscope is installed inside the target device and generates gyroscope data based on the movement of the target device; the specific type of gyroscope can be set according to actual needs.

[0070] The gyroscope continuously outputs gyroscope data based on the motion of the target device, and the output frequency of the gyroscope data can be set according to actual needs.

[0071] Motion status indicates the change in the position of the target device in space.

[0072] It is understandable that the detection of wrist-raising motion specifically refers to the process of the screen changing from a non-visual state to a visible state through wrist raising. During this process, the motion state of the target device has certain characteristics. For example, when the wrist changes from a natural vertical downward motion to a posture for looking at a watch, a wrist-flipping + hand-raising motion event will occur. Similarly, when the wrist changes from a position on the table to a posture for looking at a watch, a wrist-flipping + hand-pulling motion event will occur.

[0073] Preset state changes can be set in advance based on the characteristics of wrist raising actions in specific scenarios. Then, when the preset state changes are met, the occurrence of wrist raising actions can be determined by combining the angle judgment.

[0074] In this embodiment, in addition to angle determination, gyroscope and acceleration data are combined to further detect the motion state of the target device. Only when both conditions are met is a wrist-raising action considered to have occurred. This avoids misjudgment of the angle due to accidental factors.

[0075] Further, step S60 includes the following steps: Step S61: Determine whether the movement state is detected as a wrist-flipping state; Step S62: After detecting that the movement state is a wrist flipping state, determine whether the movement state is a hand raising state. If the wrist-flipping motion is not detected, no additional operation will be performed. Step S63: If the detected motion state is a raised hand state, then it is determined that the change in the motion state satisfies the preset state change.

[0076] If the motion state is not detected as a raised hand state, no additional operation will be performed.

[0077] The wrist-flipping state is the state of wrist rotation. For example, when the arm is hanging naturally, the wrist-flipping state can be detected when the hand is rotated counterclockwise.

[0078] The raised hand state refers to the state in which the wrist moves towards the user. For example, if the arm hangs naturally, the raised hand state can be detected when the hand is raised to the chest.

[0079] When the screen is not visible to the user, the target device is often not facing the user and is far away. Therefore, when the user needs to view the target device, the relative angle and relative distance between the target device and the user need to be adjusted. Therefore, in this embodiment, the wrist-flipping state is set to detect the angle adjustment, and the hand-raising state is set to detect the distance, so as to accurately determine the wrist-raising action.

[0080] Further, step S61 includes the following steps: Step S611: Calculate the angular velocity corresponding to the gyroscope data; Step S612: Determine whether the angular velocity has crossed the zero point event and whether the angular velocity is greater than a preset angular velocity threshold. Step S613: If the angular velocity crosses zero point and the angular velocity is greater than a preset angular velocity threshold, then it is determined that the motion state is a wrist-flipping state.

[0081] If the angular velocity does not cross zero point, or if the angular velocity is less than or equal to a preset angular velocity threshold, no additional operation will be performed.

[0082] Angular velocity indicates the rotational state of the target device.

[0083] The method for determining angular velocity can be set based on actual needs, such as multiplying the raw data of the gyroscope with the sensitivity data.

[0084] A zero-point crossing event is when the sign of the angular velocity signal changes from positive to negative, or from negative to positive. This can be understood as follows: when the wrist rotates, the gyroscope outputs a positive or negative angular velocity signal based on the direction of rotation. When the wrist stops, the angular velocity decreases to 0, and due to inertia, the gyroscope's acceleration oscillates slightly near zero, thus generating a zero-point crossing event. In other words, a zero-point crossing event may occur when a wrist-flipping motion is performed.

[0085] In practical applications, slight wrist tremors or other hand movements may cause the angular velocity to cross zero. Therefore, in order to avoid misjudgment in these scenarios, this embodiment further combines the magnitude of the angular velocity to determine whether a wrist flipping state has occurred.

[0086] When a wrist flip occurs, the wrist rotation has a certain speed. Therefore, in this embodiment, a preset angular velocity threshold is set, and a wrist flip is only considered to be detected when the angular velocity is greater than the preset angular velocity threshold. It should be noted that the absolute value of the angular velocity is compared with the preset angular velocity threshold. The specific value of the preset angular velocity threshold can be set based on actual needs.

[0087] By combining a preset angular velocity threshold, it is possible to avoid misjudging the wrist-flipping state caused by slight vibrations.

[0088] Further, step S62 includes the following steps: Step S621: Calculate the linear acceleration corresponding to the acceleration data; Step S622: Determine whether the linear acceleration is greater than a preset acceleration threshold; Step S623: If the linear acceleration is greater than the preset acceleration threshold, then it is determined that the motion state is a hand-raising state.

[0089] If the linear acceleration is less than the preset acceleration threshold, no additional operation will be performed.

[0090] Linear acceleration is the acceleration data obtained after removing the gravitational component. It's understandable that the accelerometer is always affected by gravity; therefore, to avoid the influence of gravity on detection, the gravitational component needs to be removed. The gravitational components include:

[0091] Among them, g new The gravitational component determined from the latest acceleration data; g old The gravitational component determined from the previous acceleration data; acc current The data is acceleration data; α is a smoothing factor used to control the smoothness of the filter, and the specific value can be set according to actual needs.

[0092] Linear accelerations include:

[0093] Where acc_f is the linear acceleration.

[0094] The preset acceleration threshold indicates the minimum linear acceleration when the hand is raised; the specific value can be set according to actual needs.

[0095] After determining the wrist-raising state, if the detected linear acceleration is greater than the preset acceleration threshold, the distance between the detector and the user is determined, and therefore, the wrist-raising state is determined to have occurred.

[0096] When determining the specific state, a state machine can be used; for example, multiple states can be set in the state machine: 1. Idle state RS_IDLE: The state in which wrist raise detection has not been triggered; 2. Initial state RS_VERTICAL: When the included angle is detected to be greater than the initial angle threshold, proceed to the next state; 3. Wrist-flipping state RS_ROTATE: Performs wrist-flipping state detection. If wrist-flipping state is detected, proceeds to the next state. 4. Raise hand status RS_UP_ACCEL: Performs raise hand status detection. If raise hand status is detected, proceed to the next status. 5. Waiting for the included angle to be determined (RS_WAIT_39): If the trend of the included angle change meets the preset wrist-raising trend, then it is determined that a wrist-raising action has been detected.

[0097] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0098] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, 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 is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0099] Reference Figure 3 In terms of hardware structure, the wearable device may include components such as a communication module 10, a memory 20, and a processor 30. In the wearable device, the processor 30 is connected to both the memory 20 and the communication module 10. The memory 20 stores a computer program, which is executed by the processor 30. When the computer program is executed, it implements the steps of the above-described method embodiments.

[0100] The communication module 10 can connect to external communication devices via a network. The communication module 10 can receive requests from the external communication devices and can also send requests, instructions, and information to the external communication devices. The external communication devices can be other wearable devices, servers, or IoT devices, such as televisions, etc.

[0101] The memory 20 can be used to store software programs and various data. The memory 20 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as continuously acquiring acceleration data from the accelerometer of the target device), etc.; the data storage area may include a database, and may store data or information created based on system usage. Furthermore, the memory 20 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0102] The processor 30 is the control center of the wearable device. It connects various parts of the wearable device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 20, and by calling data stored in the memory 20, it performs various functions and processes data, thereby providing overall monitoring of the wearable device. The processor 30 may include one or more processing units; optionally, the processor 30 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 30.

[0103] although Figure 3 Not shown, but the wearable device described above may also include a circuit control module for connecting to a power source to ensure the normal operation of other components. Those skilled in the art will understand that... Figure 3 The wearable device structure shown does not constitute a limitation on the wearable device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0104] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0105] Although embodiments of the present invention have been shown and described above, the scope of protection of the present invention is not limited thereto. It is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, and substitutions to the above embodiments within the scope of the present invention, and such changes, modifications, and substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A wrist-raising detection method, characterized in that, The wrist-raising detection method includes: Continuously acquire acceleration data from the accelerometer of the target device; For each acceleration data point, the angle between the front direction of the device and the vertically upward direction is calculated based on the acceleration data, wherein the front direction of the device is the screen display direction of the target device; If the trend of the angle change satisfies the preset wrist-raising trend, then a wrist-raising action is detected, wherein the preset wrist-raising trend is the trend of the angle change during the wrist-raising action.

2. The wrist-raising detection method as described in claim 1, characterized in that, If the trend of the angle change satisfies a preset wrist-raising trend, then a wrist-raising action is determined to have been detected. The preset wrist-raising trend refers to the trend of the angle change during the wrist-raising action, which includes: Determine whether the changing trend of the included angle satisfies the angle decreasing trend; After the trend of the included angle changes satisfies the angle decreasing trend, it is determined whether the trend of the included angle changes satisfies the low angle maintenance trend. If the trend of the angle change satisfies the low angle maintenance trend, then the trend of the angle change is determined to satisfy the preset wrist raising trend.

3. The wrist-raising detection method as described in claim 2, characterized in that, The determination of whether the changing trend of the included angle satisfies the angle decreasing trend includes: Among the angles included in the first-time sliding window, determine the first proportion of high angles, wherein the high angle is an angle greater than a first preset angle threshold; Determine whether the first proportion is greater than the first proportion threshold; If the first percentage is greater than the first percentage threshold, then wait until the first percentage is less than the second percentage threshold, wherein the second percentage threshold is less than the first percentage threshold; If the first proportion is detected to be less than the second proportion threshold, then it is determined that the change trend of the included angle satisfies the angle decreasing trend.

4. The wrist-raising detection method as described in claim 3, characterized in that, The determination of whether the trend of the included angle meets the low-angle maintenance trend includes: In the included angles of the second time sliding window, a second proportion of low included angles is determined, wherein the length of the second time sliding window is greater than the length of the first time sliding window, and the low included angle is an angle less than a second preset angle threshold, and the second preset angle threshold is less than the first preset angle threshold. Determine whether the second proportion is greater than the third proportion threshold. If the second proportion is greater than the third proportion threshold, then determine that the trend of the angle change satisfies the low angle maintenance trend.

5. The wrist-raising detection method as described in claim 1, characterized in that, The calculation of the angle between the frontal direction and the vertically upward direction of the device based on the acceleration data includes: Obtain the triaxial acceleration of the acceleration sensor from the acceleration data, and calculate the vector magnitude of the triaxial acceleration; Obtain the Z-axis acceleration from the three-axis accelerations, and normalize the Z-axis acceleration based on the vector magnitude to obtain the Z-axis unit vector; The included angle is obtained by performing an inverse cosine calculation on the unit vector along the Z-axis.

6. The wrist-raising detection method as described in claim 1, characterized in that, The method further includes: Continuously acquire gyroscope data from the target device; The motion state of the target device is determined based on the gyroscope data and the acceleration data. Determine whether the change in the motion state satisfies a preset state change. If the change in the motion state satisfies a preset state change, and the change trend of the included angle satisfies a preset wrist-raising trend, then it is determined that a wrist-raising action has been detected.

7. The wrist-raising detection method as described in claim 6, characterized in that, The step of determining whether the change in the motion state satisfies the preset state change includes: Determine whether the movement state is detected as a wrist-flipping state; After detecting that the movement state is a wrist flipping state, determine whether the movement state is a hand raising state; If the detected motion state is a raised hand state, then it is determined that the change in the motion state satisfies the preset state change.

8. The wrist-raising detection method as described in claim 7, characterized in that, Determining whether the movement state is detected as a wrist-flipping state includes: Calculate the angular velocity corresponding to the gyroscope data; Determine whether the angular velocity has crossed zero point and whether the angular velocity is greater than a preset angular velocity threshold; If the angular velocity crosses zero and is greater than a preset angular velocity threshold, then the motion state is determined to be a wrist-flipping state.

9. The wrist-raising detection method as described in claim 7, characterized in that, Determining whether the movement state is detected as a hand-raising state includes: Calculate the linear acceleration corresponding to the acceleration data; Determine whether the linear acceleration is greater than a preset acceleration threshold; If the linear acceleration is greater than the preset acceleration threshold, then the detected motion state is determined to be a hand-raising state.

10. A wearable device, characterized in that, The wearable device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the wrist-raising detection method as described in any one of claims 1 to 9.

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