METHOD AND ASSOCIATED DEVICE FOR DETECTING THE ANGLE OF TURN OF A FOLDABLE DEVICE

Abstract

The present disclosure relates to a method for detecting the rotation angle of a foldable device, wherein the foldable device comprises a first movable element and a second movable element rotatably connected to each other by a connecting element. The method includes detecting a first rotational speed of the first movable element and a second rotational speed of the second movable element. The method further includes determining whether the difference between the first rotational speed and the second rotational speed exceeds a first difference threshold. Furthermore, if the difference between the first rotational speed and the second rotational speed exceeds the first difference threshold, the method includes determining a rotation angle between the first movable element and the second movable element based on the first and second rotational speeds.According to an embodiment of the present disclosure, the rotation angle is calculated when the rotational speed difference of the two moving elements meets a threshold condition, so that, with an unchanged opening and closing angle between the two moving elements, a rotation angle caused by zero-point displacement and sensitivity deviation of the sensor is avoided within a certain error range, thereby improving the accuracy of the opening and closing angle and the user experience of the foldable device.

Description

AREA OF INVENTION

[0001] The embodiments described in the present disclosure relate generally to the field of electronic devices and relate in particular to a method and an associated device for detecting a rotation angle of a foldable device. STATE OF THE ART

[0002] With increasing user demands for portability and interactivity in devices, foldable devices have shown significant growth in recent years and are likely to remain a key topic in the field of electronic devices in the future. A foldable device can include, for example, a mobile phone, a tablet computer, or similar devices with a foldable screen.

[0003] Compared to conventional devices, a foldable device often has multiple states; for example, a foldable mobile phone can be fully open, half-open, or closed, with the screen display differing depending on the state. To ensure a good user experience, it is necessary to accurately determine the state of the foldable device, especially its opening and closing angles. REVELATION OF THE INVENTION

[0004] The embodiments of the present disclosure provide a method and an associated device for detecting a rotation angle of a foldable device.

[0005] According to a first aspect of the present disclosure, a method for detecting the rotation angle of a foldable device is provided, wherein the foldable device comprises a first movable element and a second movable element rotatably connected to each other by a connecting element. The method includes determining a first rotational speed of the movable element and a second rotational speed of the second movable element. The method further comprises determining whether the difference between the first rotational speed and the second rotational speed exceeds a first difference threshold.Furthermore, in response to the fact that the difference between the first rotational speed and the second rotational speed exceeds the first difference threshold, the procedure includes determining an angle of rotation between the first moving element and the second moving element based on the first rotational speed and the second rotational speed.

[0006] According to a second aspect of the present disclosure, a device for detecting the rotation angle of a foldable device is provided, wherein the foldable device comprises a first movable element and a second movable element rotatably connected to each other via a connecting element. The device includes a rotation speed detection module configured to obtain a first rotation speed of the first movable element and a second rotation speed of the second movable element. The device further includes a difference comparison module configured to determine whether the difference between the first rotation speed and the second rotation speed exceeds a first difference threshold.The device also includes a rotation angle detection module which is configured, in response to the fact that the difference between the first rotational speed and the second rotational speed is greater than the first difference threshold, to determine a rotation angle between the first moving element and the second moving element based on the first rotational speed and the second rotational speed.

[0007] According to a third aspect of the present disclosure, a control unit is provided. The control unit comprises at least one processor. The control unit further comprises a memory coupled to the at least one processor and in which instructions are stored, wherein the instructions, when executed by the at least one processor, cause the control unit to execute a method provided according to the first aspect.

[0008] In a fourth aspect of the present disclosure, a foldable device is provided. The foldable device comprises a first movable element and a second movable element rotatably connected to each other by a connecting element. The foldable device further comprises a first gyroscope arranged in the first movable element and a second gyroscope arranged in the second movable element. The foldable device further comprises a first accelerometer arranged in the first movable element and a second accelerometer arranged in the second movable element. The foldable device further comprises a magnetic sensor arranged in the first movable element and a permanent magnet arranged in the second movable element. In addition, the foldable device further comprises a control unit, which is provided according to the third aspect.

[0009] According to a fifth aspect of the present disclosure, a machine program product is provided which includes a machine program, wherein the machine program is executed by a processor to execute a procedure provided according to the first aspect.

[0010] According to a sixth aspect of the disclosure, a machine-readable storage medium is provided. Machine-executable instructions are stored on the machine-readable storage medium, and these instructions are executed by a processor to implement a method provided according to the first aspect of this disclosure.

[0011] It should be understood that the content described in the disclosure of the invention is neither intended to define the essential or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will be readily understood from the following description. DESCRIPTION OF THE FIGURES

[0012] The aforementioned and other features, advantages, and aspects of various embodiments of the present disclosure are clarified by the following detailed description in conjunction with the figures. In the figures, identical or similar reference numerals denote identical or similar elements, whereby: Fig. Figure 1 shows a schematic representation of a foldable device in which some embodiments of the present disclosure can be implemented; Fig. Figure 2A shows a schematic representation of a foldable device according to some embodiments of the present disclosure; Fig. Figure 2B shows a schematic representation of another foldable device according to some embodiments of the present disclosure; Fig. Figure 3 shows a flowchart of a method for detecting a rotation angle of a foldable device according to some embodiments of the present disclosure; Fig. Figure 4 shows a schematic representation of a process for determining a rotation angle of a foldable device according to some embodiments of the present disclosure; Fig. Figure 5 shows a schematic representation of a process for determining an angle of a foldable device according to some embodiments of the present disclosure; Fig. Figure 6 shows a schematic representation of a process for deactivating a gyroscope according to some embodiments of the present disclosure; Fig. Figure 7 shows a block diagram of a device for detecting a rotation angle of a foldable device according to some embodiments of the present disclosure; and Fig. Figure 8 shows a schematic block diagram of a control unit according to some embodiments of the present disclosure.

[0013] In all figures, the same or similar reference symbols stand for the same or similar elements. DETAILED DESCRIPTION OF THE EXECUTION FORMS

[0014] The embodiments of this disclosure are described in more detail below with reference to the figures. Although some embodiments of this disclosure are illustrated in the figures, it is understood that this disclosure can be implemented in various forms and should not be interpreted as being limited to the embodiments presented here. Rather, these embodiments are provided to enable a thorough and complete understanding of this disclosure. It should be understood that the figures and embodiments of this disclosure serve only as examples and are not intended to limit the scope of protection of the disclosure.

[0015] In the description of the embodiments of this disclosure, the term "comprise" and similar terms should be understood as encompassing in an open sense, i.e., "comprise but not be limited to." The term "based on" should be understood as "at least partially based on." The terms "an embodiment" or "this embodiment" should be understood as "at least one embodiment." The terms "first," "second," etc., may refer to different or the same objects. Further explicit and implicit definitions may be included below.

[0016] As described above, accurately identifying the state of a foldable device is crucial for ensuring a positive user experience. Determining the state of the foldable device requires measuring its opening and closing angles. To achieve this, a sensor is placed in each of the two moving parts of the device. These sensors each detect the rotation angle of the two moving parts. However, due to zero-point shifts and sensitivity variations between the two sensors, it's possible that the device may not be in the correct position even though the opening and closing angles between the moving parts have not changed (i.e., the device may not be in the correct position).(the rotation angles of the two moving elements should be completely identical), different rotation angles of the two moving elements are detected, which in turn leads to a change in the opening and closing angle and thus causes an error in the opening and closing angle.

[0017] For this purpose, the embodiments of the present disclosure provide a method for detecting the rotation angle of a foldable device. By detecting the rotational speeds of the two movable elements and evaluating the difference in their rotational speeds against a threshold, a rotation angle between the two movable elements is determined based on their rotational speeds if the difference exceeds the threshold value.In this way, the rotation angle is calculated when the rotation speed difference of the two moving elements meets a threshold condition, so that with an unchanged opening and closing angle between the two moving elements, a rotation angle caused by zero point shift and sensitivity deviation of the sensor is avoided within a certain error range, thereby improving the accuracy of the opening and closing angle as well as the user experience of the foldable device.

[0018] Fig. Figure 1 shows a schematic representation of a foldable device 100 in which some embodiments of the present disclosure can be implemented. In some embodiments, the foldable device 100 comprises a movable element 102 (also referred to as the first movable element), a movable element 104 (also referred to as the second movable element), and a connecting element 106, wherein the movable element 102 and the movable element 104 are connected to each other and rotatable via the connecting element 106. With reference to Fig. 1. The movable element 102 and the movable element 104 are connected to each other via their short sides, the opening and closing angle between the movable element 102 and the movable element 104 being 180 degrees when the foldable device 100 is fully open, and the opening and closing angle between the movable element 102 and the movable element 104 being 0 degrees when the foldable device 100 is closed. It should be understood that, within the scope of this disclosure, the opening and closing angle denotes the angle formed at a given time between the plane of the movable element 102 and the plane of the movable element 104, while the rotation angle denotes the angle of change of the angle between the plane of the movable element 102 and the plane of the movable element 104 from one time to another.

[0019] In some embodiments, the foldable device 100 comprises a foldable mobile phone with a connection across its short sides, wherein the front of the movable element 102 and the front of the movable element 104 each comprise a first and a second element of the main screen of the foldable mobile phone, and wherein the rear of the movable element 102 may further comprise a secondary screen of the foldable mobile phone. When the foldable mobile phone is fully open or half-open, the display is on the main screen; when the foldable mobile phone is fully closed, the display is on the secondary screen. Thus, the display status of the foldable mobile phone is determined based on the opening and closing angle of the foldable mobile phone. In some embodiments, the connecting element 106 is configured as a hinge structure.

[0020] In some embodiments, a sensor 108 and a sensor 110 are arranged in the movable element 102 and the movable element 104, respectively, wherein the sensor 108 serves to detect the rotational speed of the movable element 102 (also referred to as the first rotational speed), and the sensor 110 serves to detect the rotational speed of the movable element 104 (also referred to as the second rotational speed). Subsequently, the sensor 108 and the sensor 110 each transmit the rotational speed of the movable element 102 and the rotational speed of the movable element 104 to a control unit 112 arranged in the movable element 102.It should be understood that this embodiment is merely an example and that the control unit 112 may also be provided in the movable element 104 within the scope of the present disclosure, or may be provided in both the movable element 102 and the movable element 104.

[0021] The control unit 112 comprises a rotational speed receiver unit 114, a differential comparison unit 116, and a rotation angle calculation unit 118. The rotational speed receiver unit 114 receives the rotational speed of the moving element 102 and the rotational speed of the moving element 104 from the sensor 108 and the sensor 110. Based on the rotational speed of the moving element 102 and the rotational speed of the moving element 104, the differential comparison unit 116 determines a rotational speed difference and compares this rotational speed difference with a differential threshold value (which can be referred to as the first differential threshold value).If the difference in rotational speed is greater than the difference threshold, the rotation angle calculation unit 118 calculates the angle of rotation between the moving element 102 and the moving element 104 based on the rotational speed of the moving element 102 and the rotational speed of the moving element 104.

[0022] In this embodiment, the rotational speed of the movable element 102 and the rotational speed of the movable element 104 are detected, and a threshold assessment of the rotational speed difference between the movable element 102 and the movable element 104 is performed; if the difference is greater than the difference threshold, a rotation angle between the movable element 102 and the movable element 104 is determined based on the rotational speed of the movable element 102 and the rotational speed of the movable element 104.This procedure calculates the rotation angle when the rotation speed difference between the moving element 102 and the moving element 104 meets a threshold condition, so that, with an unchanged opening and closing angle between the moving element 102 and the moving element 104, a rotation angle caused by zero point shift and sensitivity deviation of the sensor 108 and the sensor 110 is avoided within a certain error range, thereby improving the accuracy of the opening and closing angle and the user experience of the foldable device 100.

[0023] It should be understood that the architecture and functions of the foldable device 100 are described for illustrative purposes only and do not imply any limitation of the scope of this disclosure. The embodiments described in this disclosure may also be applied to other foldable devices with different structures and / or functions, for example, the device described in Fig. 2A shown foldable device 200A as well as on the one in Fig. 2B shows a foldable device 200B.

[0024] Fig. Figure 2A shows a schematic representation of a foldable device 200A according to some embodiments of the present disclosure. In some embodiments, the foldable device 200A comprises a movable element 202A (also referred to as the first movable element), a movable element 204A (also referred to as the second movable element), and a connecting element 206A, wherein the movable element 202A and the movable element 204A are each connected to one another along their long sides. In some embodiments, the foldable device 200A is a foldable mobile phone in an embodiment with a connection along the long sides.

[0025] Fig. Figure 2B shows a schematic representation of another foldable device 200B according to some embodiments of the present disclosure. In some embodiments, the foldable device 200B comprises a movable element 202B, a movable element 204B, and a movable element 206B, wherein the movable element 202B and the movable element 204B are connected to each other and rotatable via a connecting element 208B, and wherein the movable element 204B and the movable element 206B are connected to each other and rotatable via a connecting element 210B. A connection exists between the movable element 202B and the movable element 204B, as well as between the movable element 204B and the movable element 206B, along their long sides.

[0026] When determining the angle of rotation between movable element 202B and movable element 204B, movable element 202B can be considered the first movable element and movable element 204B the second movable element, so that the angle of rotation between movable element 202B and movable element 204B can be determined using the method described in the present disclosure. Similarly, when determining the angle of rotation between movable element 204B and movable element 206B, movable element 204B can be considered the first movable element and movable element 206B the second movable element, so that the angle of rotation between movable element 204B and movable element 206B can be determined using the method described in the present disclosure.Therefore, the number of movable elements of the foldable device in the present disclosure can be two, three, or more. The angle of rotation between any two adjacent movable elements of the foldable device can be calculated using the disclosed method.

[0027] The processes described below are based on the exemplary embodiments of the present disclosure with reference to Fig. 3 to Fig. 8 is described in detail. To facilitate understanding, the specific data mentioned in the following description are exemplary and are not intended to limit the scope of protection afforded by this disclosure. It should be understood that the embodiments described below may include additional actions not shown and / or omit actions shown, and that the scope of this disclosure is not limited in this respect.

[0028] Fig. Figure 3 shows a flowchart of a method 300 for detecting a rotation angle of a foldable device according to some embodiments of the present disclosure. In some embodiments, the method comprises Fig. Figure 1 shows a foldable device 100 comprising a movable element 102 (also referred to as the first movable element) rotatably connected via the connecting element 106 and a movable element 104 (also referred to as the second movable element), wherein the method 300 can be executed by the control unit 112. It should be understood that although the method 300 is described below assuming that the control unit 112 is the executing unit, it can also be executed by other devices. Furthermore, the method 300 may include additional actions not shown and / or omit actions shown, and the scope of this disclosure is not limited in this respect.

[0029] In 302, a first rotational speed of the first moving element and a second rotational speed of the second moving element are obtained. In some embodiments, the rotational speed of the moving element 102 (also referred to as the first rotational speed) and the rotational speed of the moving element 104 (also referred to as the second rotational speed) are each detected by means of the sensor 108 arranged in the moving element 102 and by means of the sensor 110 arranged in the moving element 104. Subsequently, the control unit 112 receives the rotational speed of the moving element 102 and the rotational speed of the moving element 104 from the sensor 108 and the sensor 110.

[0030] At 304, a determination is made as to whether the difference between the first rotational speed and the second rotational speed exceeds a first difference threshold. In some embodiments, after obtaining the rotational speed of the moving element 102 and the rotational speed of the moving element 104, the control unit 112 calculates the rotational speed difference between the moving element 102 and the moving element 104 and compares this rotational speed difference with a predefined difference threshold (also referred to as the first difference threshold) to determine whether the difference is greater than the difference threshold.

[0031] In 306, if the difference between the first rotational speed and the second rotational speed exceeds the first difference threshold, a rotation angle between the first and second moving elements is determined based on these two values. In some embodiments, after determining that the rotational speed difference between moving element 102 and moving element 104 is greater than the difference threshold, the control unit 112 calculates the rotation angle between moving element 102 and moving element 104 based on the rotational speed of moving element 102 and the rotational speed of moving element 104.In some embodiments, the angle of rotation between the moving element 102 and the moving element 104 is the sum of the angle of rotation executed by the moving element 102 and the angle of rotation executed by the moving element 104. In some embodiments, if the difference in rotational speed between the moving element 102 and the moving element 104 is found to be below the difference threshold, the control unit 112 determines that the angle of rotation was caused by a zero-point shift and a sensitivity deviation between the sensor 108 and the sensor 110, but the opening and closing angles between the moving element 102 and the moving element 104 have not actually changed; in this case, the control unit 112 determines that no angle of rotation exists.

[0032] In the embodiments described in this disclosure, a rotation angle between the two moving elements is determined by detecting their rotational speeds and evaluating the difference in their rotational speeds against a threshold value. When the difference exceeds a threshold value, the rotation angle is calculated. This ensures that, with an unchanged opening and closing angle between the two moving elements, rotation angles caused by zero-point shift and sensor sensitivity deviation are avoided within a certain error range. This improves the accuracy of the opening and closing angles and enhances the user experience of the foldable device.

[0033] In some embodiments, with reference to Fig. 1. When the rotational speed difference between the moving element 102 and the moving element 104 is determined to be below the difference threshold, the control unit 112 further compares the rotational speed difference between the moving element 102 and the moving element 104 with a further difference threshold (also referred to as the second difference threshold) and the first derivative of the rotational speed difference (also referred to as the rate of change) with a derivative threshold (also referred to as the rate of change threshold). If the rotational speed difference between the moving element 102 and the moving element 104 is below the further difference threshold or the first derivative of the rotational speed difference is below the derivative threshold, it is determined that the rotation angle of the foldable device 100 is equal to 0 (i.e., that there is no rotation angle).

[0034] It should be understood that the further difference threshold (second difference threshold) is less than or equal to the previously mentioned difference threshold (first difference threshold). This approach allows it to be directly determined that the angle of rotation is equal to 0 (i.e., zero) when the difference in rotational speed between the moving element 102 and the moving element 104 is very small or when the rate of change of the difference in rotational speed is very low.(that the opening and closing angle between the moving element 102 and the moving element 104 is not adjusted), so that in this case the rotational speed of the moving element 102 and the moving element 104 is filtered out, thereby avoiding a deviation of the opening and closing angle between the moving element 102 and the moving element 104 as a result of the zero point shift and the sensitivity deviation between the sensor 108 and the sensor 110, and improving the accuracy of the opening and closing angle.

[0035] Fig. Figure 4 shows a schematic representation of a process 400 for determining a rotation angle of a foldable device according to some embodiments of the present disclosure. In some embodiments, the process shown in Fig. In the foldable device 100 shown in Figure 1, process 400 is performed by the control unit 112. It should be understood that although process 400 is described below under the assumption that the control unit 112 is the executing unit, it can also be performed by other devices. Furthermore, process 400 may include additional actions not shown and / or omit actions shown, and the scope of this disclosure is not limited in this respect.

[0036] In some embodiments, the sensor 108 in the moving element 102 comprises a gyroscope 1 (also referred to as the first gyroscope), and the sensor 110 in the moving element 104 comprises a gyroscope 2 (also referred to as the second gyroscope), wherein the gyroscope 1 serves to detect the angular velocity 402 of the moving element 102 (also referred to as the first angular velocity), and the gyroscope 2 serves to detect the angular velocity 404 of the moving element 104 (also referred to as the second angular velocity).

[0037] Under ideal conditions, gyroscope 1 and gyroscope 2 are two gyroscopes with completely identical parameter properties; however, under real conditions, gyroscope 1 and gyroscope 2 often exhibit a zero-point shift and a difference in sensitivity, with this difference leading to a deviation in the angular velocity of the foldable device 100 in motion and thus to an error in the opening and closing angles of the foldable device 100. For example, the opening and closing angles of the foldable device 100 are theoretically always 0 when the foldable device 100 is in the closed state (where the opening and closing angles are 0) and the entire device rotates at a certain angular velocity (for example, 100 degrees / second).

[0038] However, due to the zero-point shift and the sensitivity deviation between gyroscope 1 and gyroscope 2, there is a deviation in the angular velocities between the angular velocity 402 detected by gyroscope 1 (e.g., 100.3 degrees / second) and the angular velocity 404 detected by gyroscope 2 (e.g., 100.5 degrees / second), i.e., for example, a deviation of 0.2 degrees / second, whereby this angular velocity deviation causes an error in the calculated opening and closing angle of the foldable device 100 (e.g., an increase in the opening and closing angle of 0.2 degrees per second).

[0039] With reference to Fig. 4: To avoid an error in the opening and closing angle of the foldable device 100 caused by zero-point shift and sensitivity deviation between gyroscope 1 and gyroscope 2, the control unit 112 receives the angular velocity 402 and the angular velocity 404, then calculates the angular velocity difference 408 between the angular velocity 402 and the angular velocity 404 and compares the angular velocity difference 408 with the difference threshold 406 (also called the second difference threshold), whereby the threshold comparison result 410 is obtained and entered into the latch 424.Simultaneously, the control unit 112 calculates the first derivative 414 of the angular velocity difference 408 (also referred to as the rate of change) and compares the first derivative 414 with the derivative threshold 412 (also referred to as the rate of change threshold), obtaining the threshold comparison result 416 and entering it into the latch 424. The control unit 112 also compares the angular velocity difference 408 with the difference threshold 418 (also referred to as the first difference threshold), obtaining the threshold comparison result 420 and entering it into the inverter 422; and after negation by the inverter 422, the result is entered into the latch 424.

[0040] When the control unit 112 determines via the latch 424 that the angular velocity difference 408 is below the difference threshold 406 and the first derivative 414 is below the derivative threshold 412, the rotation angle between the moving element 102 and the moving element 104 is set to 0 (i.e.(the opening and closing angle between the moving element 102 and the moving element 104 is not adjusted); if the control unit 112 determines by the latch 424 that the angular velocity difference 408 is above the difference threshold 418, an adaptation signal 426 is generated, so that, in the case of an existing adaptation signal 426, the control unit 112 calculates the rotation angle between the moving element 102 and the moving element 104 based on the angular velocity 402 and the angular velocity 404 (where this rotation angle is used to adjust the opening and closing angle between the moving element 102 and the moving element 104).

[0041] For example, the difference threshold 406 can be set to 0.3 degrees / second, the difference threshold 418 to 2 degrees / second, and the derivative threshold 412 to 0.1 degrees / second. 2be set; and if the control unit 112 determines that the angular velocity difference 408 is less than 0.3 degrees / second and the first derivative 414 is less than 0.1 degrees / second 2 This indicates that the angular velocity difference 408 was not caused by normal opening or closing of the foldable device 100 by the user, but is due to a zero-point shift and a sensitivity deviation between gyroscope 1 and gyroscope 2; in this case, the opening and closing angle between the moving element 102 and the moving element 104 has not actually changed (i.e., the rotation angle should be 0), so the control unit 112 directly determines that the rotation angle is 0, thus avoiding the influence of the zero-point shift and the sensitivity deviation between gyroscope 1 and gyroscope 2 on the opening and closing angle.

[0042] If the control unit 112 determines that the angular velocity difference 408 is greater than 2 degrees / second, this indicates that the angular velocity difference 408 was caused by normal opening or closing of the foldable device 100 by the user; in this case, the opening and closing angle between the moving element 102 and the moving element 104 has actually changed, so that based on the angular velocity 402 and the angular velocity 404, the corresponding angle of change, i.e., the angle of rotation, is calculated, and then the changed opening and closing angle is calculated based on this angle of rotation.

[0043] In some embodiments, the control unit 112 can use the gyroscope 1 to determine the time interval in which the movable element 102 performs a rotational movement (also referred to as the first time interval), and use the gyroscope 2 to determine the time interval in which the movable element 104 performs a rotational movement (also referred to as the second time interval). The control unit 112 can then integrate the angular velocity 402 over the first time interval in which the movable element 102 performs a rotational movement to obtain the angle of rotation of the movable element 102 (also referred to as the first angle of rotation), and integrate the angular velocity 404 over the second time interval in which the movable element 104 performs a rotational movement to obtain the angle of rotation of the movable element 104 (also referred to as the second angle of rotation).Furthermore, the control unit 112 determines the angle of rotation between moving element 102 and moving element 104 based on the sum of the angles of rotation of moving element 102 and moving element 104. It should be understood that the angular velocity is the result of differentiating the angle of rotation with respect to time, so that by integrating the measured angular velocity, the angle of rotation between moving element 102 and moving element 104 can be calculated. In this way, the cost of calculating the angle of rotation can be reduced.

[0044] In some embodiments, the gyroscope 1 or the gyroscope 2 may exhibit a deviation in angular velocity. For example, the angular velocity detected by the gyroscope 1 and the gyroscope 2 may not be zero, even though the foldable device 100 is at rest. As time progresses, the control unit 112 integrates a rotation angle based on the deviation in angular velocity, with the calculated rotation angle increasing over time. In reality, however, the rotation angle of the foldable device 100 is always zero.

[0045] To compensate for the deviation of gyroscope 1 and gyroscope 2, sensor 108 in the moving element 102 further includes an accelerometer 1 (also referred to as the first accelerometer), and sensor 110 in the moving element 104 further includes an accelerometer 2 (also referred to as the second accelerometer). Using accelerometer 1 and accelerometer 2, the control unit 112 can determine whether the moving element 102 and the moving element 104 are in a resting state. If the moving element 102 and the moving element 104 are in a resting state, the control unit 112 receives an angular velocity compensation value for gyroscope 1 (also referred to as the first compensation value) and an angular velocity compensation value for gyroscope 2 (also referred to as the second compensation value).The control unit 112 then corrects the angular velocity detected by gyroscope 1 (also referred to as first angular velocity) using the angular velocity compensation value of gyroscope 1, and the angular velocity detected by gyroscope 2 (also referred to as second angular velocity) using the angular velocity compensation value of gyroscope 2.

[0046] This procedure allows the angular velocity detected by gyroscope 1 and gyroscope 2 to be corrected by means of the angular velocity compensation values ​​when the foldable device 100 is at rest in the event of an angular velocity deviation of gyroscope 1 and gyroscope 2, thereby improving the accuracy of the angular velocity of the moving element 102 and the moving element 104 and consequently increasing the accuracy of the rotation angle.

[0047] In some embodiments, the control unit 112 uses the accelerometer 1 to determine whether the moving element 102 is at rest; and if the moving element 102 is at rest, the gyroscope 1 detects the angular velocity of the moving element 102 at several time points. The control unit 112 then calculates the mean of the several angular velocities and uses this mean as the angular velocity compensation value of the gyroscope 1. It should be understood that the actual angular velocity is 0 when the moving element 102 is at rest, and that the angular velocity of the moving element 102 detected by the gyroscope 1 in this case essentially corresponds to a different angular velocity.

[0048] Similarly, the control unit 112 uses the accelerometer 2 to determine whether the moving element 104 is at rest; and if the moving element 104 is at rest, the gyroscope 2 measures the angular velocity of the moving element 104 at several points in time. The control unit 112 then calculates the average of these angular velocities and uses this average as the angular velocity compensation value for the gyroscope 2. In this way, deviations in angular velocity can be detected at multiple points in time, and an angular velocity compensation value can be determined based on these deviations, thereby increasing the accuracy of the angular velocity compensation value.

[0049] In some embodiments, the movable element 102 contains the gyroscope 1, the accelerometer 1, and a magnetic sensor, while the movable element 104 contains the gyroscope 2, the accelerometer 2, and a permanent magnet. The gyroscope 1 and the gyroscope 2 serve to detect the angular velocity of the movable element 102 and the angular velocity of the movable element 104, respectively. Based on the angular velocity of the movable element 102 and the angular velocity of the movable element 104, the control unit 112 can determine the angle of rotation between the movable element 102 and the movable element 104, and consequently, the opening and closing angles.The accelerometer 1 and the accelerometer 2 can detect the acceleration of the moving element 102 and the acceleration of the moving element 104, respectively. Based on the acceleration of the moving element 102 and the acceleration of the moving element 104, the control unit 112 can determine the opening and closing angle between the moving element 102 and the moving element 104 (also referred to as the first angle). Based on the permanent magnet, the magnetometer can detect the magnetic field strength, and based on this magnetic field strength, the control unit 112 can determine the opening and closing angle between the moving element 102 and the moving element 104 (also referred to as the second angle).

[0050] It should be understood that in the case of the magnetic sensor, the detected magnetic field strength is at its maximum when the foldable device 100 is in a fully closed state, and at its minimum when the foldable device 100 is in a fully open state, so that the opening and closing angle determined by the magnetic sensor is more accurate the closer the state is to the closed state, and the error of the opening and closing angle determined by the magnetic sensor is greater the closer the state is to the fully open state.

[0051] It should be understood that accelerometer 1 and accelerometer 2 can only detect acceleration in the direction of gravity when the device is at rest; when the foldable device 100 lies flat on a table surface or at a small angle to the table surface, accelerometer 1 and accelerometer 2 can detect a relatively accurate acceleration in the direction of gravity, so that the opening and closing angles determined on the basis of accelerometer 1 and accelerometer 2 are relatively accurate in this case. The more perpendicular the connecting element 106 of the foldable device 100 (or...The further the axis of rotation of the movable element 102 and the movable element 104) is positioned towards the table surface, the lower the acceleration in the direction of gravity detected by the accelerometer 1 and the accelerometer 2, and the greater the error of the opening and closing angle determined on the basis of the accelerometer 1 and the accelerometer 2.

[0052] It should be understood that determining an accurate opening and closing angle using accelerometer 1, accelerometer 2, or the magnetic sensor is difficult when the angle between the direction of connecting element 106 and the horizontal plane is close to 90 degrees, or when the opening and closing angle between moving element 102 and moving element 104 is too large. Therefore, it is necessary to combine gyroscope 1 and gyroscope 2 to determine an accurate opening and closing angle. Furthermore, because gyroscope 1 and gyroscope 2 detect the angular velocity of moving element 102 and moving element 104, respectively, a higher degree of accuracy in determining the opening and closing angle is achieved in a motion scenario using gyroscope 1 and gyroscope 2.

[0053] Therefore, the accuracy of the opening and closing angles determined by various sensors varies depending on the state of the foldable device 100. Based on this, the control unit 112 can determine the state of the foldable device 100. Subsequently, based on the state of the foldable device 100, the control unit 112 selects either the opening and closing angle determined by the magnetic sensor, the opening and closing angle determined by the accelerometer, or the rotation angle determined by the gyroscope to determine the final opening and closing angle of the foldable device 100. In this way, the most suitable sensor for the current state can be selected depending on the state of the foldable device 100, thereby improving the accuracy of the opening and closing angle of the foldable device 100 in different states.

[0054] In some embodiments, the control unit 112 determines the opening and closing angle of the foldable device 100 as the angle determined by the accelerometer when it is determined that the foldable device 100 is in a resting state and the angle between the connecting element 106 and the horizontal plane is below a certain angular threshold. If the control unit 112 determines that the foldable device 100 is in a closed state, the angle of the foldable device 100 is set as the angle determined by the magnetic sensor. If the control unit 112 determines that the foldable device 100 is in a moving state, the opening and closing angle of the foldable device 100 is determined based on the rotation angle determined by the magnetic sensor.

[0055] In some embodiments, the control unit 112 can determine the opening and closing angles of the foldable device 100 based on the rotation angle. When the foldable device 100 is in a moving state, the opening and closing angles are detected at the moment the foldable device 100 transitions from the resting state to the moving state, and the rotation angle of the foldable device 100 traversed during the moving state is calculated. Based on the sum or difference of the opening and closing angles at the time of the transition to the moving state and the rotation angle traversed, the current opening and closing angles of the foldable device 100 are calculated.

[0056] Fig. Figure 5 shows a schematic representation of a process 500 for determining an angle of a foldable device according to some embodiments of the present disclosure. In some embodiments, the process shown in Figure 500 can be used to determine the angle of a foldable device according to some embodiments of the present disclosure. Fig. In the example environment 100 shown in Figure 1, process 500 is executed by the control unit 112. It should be understood that although process 500 is described below under the assumption that the control unit 112 is the executing unit, it can also be executed by other devices. Furthermore, process 500 may include additional processes not shown and / or omit processes shown, and the scope of this disclosure is not limited in this respect.

[0057] In some embodiments, two gyroscopes 502, two accelerometers 510, and a magnetic sensor 516 are arranged in each of the movable element 102 and the movable element 104. The two gyroscopes 502 serve to detect the angular velocity of the movable element 102 and the movable element 104, and the two accelerometers 510 serve to determine whether the movable element 102 and the movable element 104 are at rest in order to determine the opening and closing angles based on the acceleration of the movable element 102 and the movable element 104. The magnetic sensor 516 serves to determine the magnetic field strength when the foldable device 100 is closed in order to determine the opening and closing angles between the movable element 102 and the movable element 104 based on the magnetic field strength.

[0058] When the movable element 102 and the movable element 104 are at rest, the control unit 112 performs angular velocity compensation for the angular velocities detected by the two gyroscopes 502 using an offset compensator 504. In some embodiments, the control unit 112 uses the two accelerometers 510 to determine whether the movable element 102 and the movable element 104 are at rest and, in the rest state, compensates the angular velocities detected by the two gyroscopes 502 using a predefined compensation value. The control unit 112 then processes the compensated angular velocities based on an online retrim algorithm 506.

[0059] In the online adaptation algorithm 506, the control unit 112 calculates the difference between the two compensated angular velocities and compares this difference with an input threshold (also called the first difference threshold) and an output threshold (also called the second difference threshold), as well as the first derivative of this difference (also called the rate of change) with an input rate of change threshold (also called the rate of change threshold). Furthermore, the control unit 112 performs a logical evaluation via a latch to determine whether the angular velocity should undergo integration processing to generate a rotation angle.If it is determined that the angular velocity is to be integrated, the control unit 112 integrates the angular velocity using an angle calculation algorithm 508 to calculate the rotation angle between the moving element 102 and the moving element 104. If no integration processing of the angular velocity is required, the control unit 112 determines the rotation angle directly with the value 0. The specific steps of the threshold comparison within the online adaptation algorithm 506 have already been described in detail in the embodiments mentioned above and are therefore not explained again in this embodiment.

[0060] With further reference to Fig. 5. The control unit 112 selects an opening and closing angle based on the state of the foldable device 100 using an angle fusion algorithm 512. This selection is based on either the opening and closing angle determined by the two accelerometers 510, the opening and closing angle determined by the magnetic sensor 516, or the opening and closing angle determined by the two gyroscopes 502 (where this opening and closing angle is determined based on the rotation angle), in order to obtain an opening and closing angle output result 514. The specific process by which the control unit 112 selects an opening and closing angle based on the state of the foldable device has already been described in detail in the above embodiments and is therefore not explained again in this embodiment.Furthermore, the control unit 112 controls the foldable device 100 into an energy-saving mode 520 when the state of the foldable device 100 meets certain conditions; in this energy-saving mode, the two gyroscopes 502 are switched off.

[0061] Since the power consumption of the gyroscopes is relatively high compared to that of the magnetic sensor and the accelerometers, a permanently switched-on gyroscope would increase the energy load of the foldable device 100. Therefore, in some embodiments, the control unit 112 can deactivate gyroscope 1 and gyroscope 2 when the foldable device 100 is in a resting or closed state and when several opening and closing angles of the foldable device 100 remain stable at several time points (i.e., the degree of scatter satisfies a scattering condition). And when the foldable device 100 is in a moving state, gyroscope 1 and gyroscope 2 are activated.In this way, in a non-moving state of the foldable device 100, the opening and closing angles can be determined by the magnetic sensor and the accelerometers, while in a moving state the gyroscope is additionally used to determine the opening and closing angle, so that while maintaining the accuracy of the opening and closing angle, the use of the gyroscopes can be reduced and thus the energy load of the foldable device 100 can be reduced.

[0062] Fig. Figure 6 shows a schematic representation of a process 600 for deactivating a gyroscope according to some embodiments of the present disclosure. In some embodiments, the process shown in Figure 600 can be described as follows: Fig. In the foldable device 100 shown in Figure 1, process 600 is performed by the control unit 112. It should be understood that although process 600 is described below under the assumption that the control unit 112 is the executing unit, it can also be performed by other devices. Furthermore, process 600 may include additional actions not shown and / or omit actions shown, and the scope of this disclosure is not limited in this respect.

[0063] In some embodiments, the control unit 112 determines several previous opening and closing angles 602 of the foldable device 100 at different times and, based on these previous opening and closing angles 604, calculates the variance 606 and the mean value 608 of the angles. Furthermore, the control unit 112 determines the state 612 of the foldable device 100 (including rest state and movement state) using the two acceleration sensors 610. Furthermore, the control unit 112 determines the current opening and closing angle 604 using the angle fusion algorithm 512 described above. Subsequently, based on an evaluation mode 614, the control unit 112 determines whether the variance 606 and the mean 608 satisfy a scattering condition, whether the state 612 is a rest state, or whether the current opening and closing angle 602 lies within an angular range that corresponds to the closed state of the foldable device 100.If the control unit 112 detects that at least one of the aforementioned conditions is met, it switches to energy saving mode 616, which turns off the gyroscopes.

[0064] Fig. Figure 7 shows a block diagram of a device 700 for detecting the rotation angle of a foldable device according to some embodiments of the present disclosure, wherein the foldable device comprises a first movable element and a second movable element rotatably connected to each other via a connecting element. The device 700 includes a module for obtaining the rotational speed 702, which is configured to detect a first rotational speed of the first movable element and a second rotational speed of the second movable element. The device 700 further includes a differential comparison module 704, which is configured to determine whether the difference between the first rotational speed and the second rotational speed exceeds a first differential threshold.The device 700 also includes a rotation angle determination module 706 which is configured, in response to the fact that the difference between the first rotational speed and the second rotational speed is greater than the first difference threshold, to determine a rotation angle between the first moving element and the second moving element based on the first rotational speed and the second rotational speed.

[0065] In some embodiments, the device 700 further comprises a module for determining the absence of an angle of rotation, which is configured to determine that no angle of rotation exists in response to the fact that the difference between the first rotational speed and the second rotational speed is below the first difference threshold.

[0066] In some embodiments, the module for determining the absence of a rotation angle is further configured to determine that no rotation angle is present in response to the fact that the difference between the first rotational speed and the second rotational speed is below a second difference threshold and / or that the rate of change of the difference between the first rotational speed and the second rotational speed is below a rate of change threshold, wherein the second difference threshold is less than or equal to the first difference threshold.

[0067] In some embodiments, a first gyroscope is arranged in the first movable element and a second gyroscope is arranged in the second movable element, wherein the first rotational speed comprises a first angular velocity obtained by the first gyroscope and the second rotational speed comprises a second angular velocity obtained by the second gyroscope, and wherein the rotation angle determination module 706 is further configured to determine a first time interval corresponding to the first angular velocity and a second time interval corresponding to the second angular velocity; to determine a first rotation angle based on the first angular velocity and the first time interval, and a second rotation angle based on the second angular velocity and the second time interval; and to determine the rotation angle based on the first rotation angle and the second rotation angle.

[0068] In some embodiments, a first accelerometer is arranged in the first movable element and a second accelerometer is arranged in the second movable element, and the device 700 further comprises the following: a module for determining the rest state, which is configured to determine, by means of the first accelerometer and the second accelerometer, whether the first movable element and the second movable element are in a rest state; a module for obtaining compensation values, which is configured, in the case that the first movable element and the second movable element are in a rest state, to obtain a first compensation value for the first gyroscope and a second compensation value for the second gyroscope;as well as a module for adjusting the angular velocity, which is configured to adjust the first angular velocity and the second angular velocity based on the first compensation value and the second compensation value.

[0069] In some embodiments, the device 700 further comprises a module for determining the first compensation value, which is configured, in the case that the first moving element is in a rest state, to obtain several angular velocities of the first moving element at several times by means of the first gyroscope; and to determine the first compensation value based on the mean of the several angular velocities.

[0070] In some embodiments, the first movable element comprises a first gyroscope, a first accelerometer, and a magnetic sensor, and the second movable element comprises a second gyroscope, a second accelerometer, and a permanent magnet, wherein the first rotational speed is detected by the first gyroscope and the second rotational speed is obtained by the second gyroscope, and wherein the device 700 further comprises: a first angle determination module configured to determine a first angle between the first movable element and the second movable element using the first accelerometer and the second accelerometer; a second angle detection module configured to determine a second angle between the first movable element and the second movable element using the magnetic sensor and the permanent magnet;as well as an angle determination module that is configured to determine the angle of the foldable device based on the state of the foldable device and on at least one of the following values ​​- the first angle, the second angle and the rotation angle.;

[0071] In some embodiments, the angle determination module is further configured to determine the angle of the foldable device as the first angle in the case that the foldable device is in a rest state and the angle between the connecting element and the horizontal plane is below an angle threshold; to determine the angle of the foldable device as the second angle in the case that the foldable device is in a closed state; and to determine the angle of the foldable device based on the rotation angle in the case that the foldable device is in a moving state.

[0072] In some embodiments, the angle detection module is further configured, in the case that the foldable device is in a state of motion, to obtain the angle of the foldable device at a first time point in time, wherein the first time point in time is the time at which the foldable device enters the state of motion; and to determine the angle of the foldable device based on the angle of the first time point in time and the rotation angle.

[0073] In some embodiments, the device 700 further comprises a deactivation module configured to deactivate the first gyroscope and the second gyroscope in the event that the foldable device is in a resting state or in a closed state, or in the event that the degree of dispersion of several angles of the foldable device satisfies a dispersion condition; or an activation module configured to activate the first gyroscope and the second gyroscope in the event that the foldable device is in a moving state.

[0074] It is understood that the device 700 of the present disclosure can realize at least one of the many advantages that can be realized by the methods or processes described above. For example, by detecting the rotational speeds of the two moving elements and evaluating the difference in the rotational speeds of the two moving elements against a threshold value, the device 700 can determine an angle of rotation between the two moving elements based on the rotational speeds of the two moving elements.In this way, the rotation angle is calculated when the rotation speed difference of the two moving elements meets a threshold condition, so that with an unchanged opening and closing angle between the two moving elements, a rotation angle caused by zero point shift and sensitivity deviation of the sensor is avoided within a certain error range, thereby improving the accuracy of the opening and closing angle as well as the user experience of the foldable device.

[0075] Fig. Figure 8 shows a schematic block diagram of a control unit 800, which can be used to implement an embodiment of the present disclosure. In some embodiments, the control unit 800 serves to implement the function described in Fig. 1. Control unit 112 of the foldable device 100 shown. As in Fig.As shown in Figure 8, the control unit 800 comprises a processor 801, which can execute various suitable actions and processing operations according to machine program instructions stored in a read-only memory (ROM) 802 and loaded into a random-access memory (RAM) 803. The RAM 803 can also store various programs and data required for the operation of the control unit 800. The processor 801, the ROM 802, and the RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0076] All operations and processes described above, such as procedure 300, operation 400, operation 500, and operation 600, can be executed by the processor 801. In some embodiments, for example, procedure 300, operation 400, operation 500, and operation 600 can be implemented as a machine software program physically contained on a machine-readable medium. In some embodiments, the machine program can be loaded and / or installed, in whole or in part, onto the control unit 800 via the ROM 802. When the machine program is loaded into the RAM 803 and executed by the processor 801, one or more actions of procedure 300, operation 400, operation 500, and operation 600 described above can be performed.

[0077] The present disclosure may be a method, a device, a system, and / or a machine program product. The machine program product may comprise a machine-readable storage medium containing machine-readable program instructions for executing the various aspects of the present disclosure.

[0078] A machine-readable storage medium can be a physical device capable of storing and retaining instructions used by an instruction-executing device. The machine-readable storage medium can be, for example, but not exclusively, an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, or a suitable combination of the foregoing. More specific examples (non-exhaustive list) of machine-readable storage media include: random-access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random-access memory (SRAM), and any suitable combination of the above. The machine-readable storage media used here are not to be interpreted per se as transient signals, such as...Radio waves or other freely propagating electromagnetic waves, electromagnetic waves that propagate through a waveguide or other transmission medium (e.g., light pulses traveling through a fiber optic cable), or electrical signals transmitted through wires.

[0079] The machine-readable program instructions described here can be downloaded from a machine-readable storage medium to various computing / processing devices or to an external machine or storage device via a network, such as the internet, a local area network (LAN), a wide area network (WAN), and / or a wireless network. The network may include copper cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway machines, and / or edge servers. A network adapter card or network interface in each computing / processing device receives machine-readable program instructions from the network and forwards them for storage on a machine-readable storage medium within that specific computing / processing device.

[0080] The machine program instructions for executing operations within the scope of this disclosure may be assembly instructions, ISA (Instruction Set Architecture) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as C or similar languages. The machine-readable program instructions may be executed entirely on a user machine, partially on a user machine, as a standalone software package, partially on a user machine and partially on a remote machine, or entirely on a remote machine or server.If the machine is remote, it can be connected to a user machine via any type of network—including a local area network (LAN) or a wide area network (WAN)—or it can be connected to an external machine (for example, via an internet service provider over the internet). In some embodiments, the electronic circuit, such as a programmable logic circuit, a field-programmable gate array (FPGA), or a programmable logic array (PLA), can be adapted by using state information from machine-readable program instructions, and the electronic circuit can execute the machine-readable program instructions to implement any aspect of the present disclosure.

[0081] The aspects of the present disclosure have been described herein with reference to flowcharts and / or block diagrams of processes, devices (systems), and machine program products according to embodiments of the present disclosure. It is understood that each block of the flowcharts and / or block diagrams, as well as combinations of blocks in the flowcharts and / or block diagrams, can be implemented by machine-readable program instructions.

[0082] These machine-readable program instructions can be provided to a processing unit of a general-purpose machine, an application-specific machine, or any other programmable data processing device, thereby creating a machine such that, when executed by the processing unit of the machine or other programmable data processing device, the instructions generate means for implementing the functions / actions specified in the flowchart and / or block diagram.These machine-readable program instructions can also be stored in a machine-readable storage medium, wherein the instructions cause a machine, a programmable data processing device and / or other device to function in a certain manner, such that the machine-readable medium in which the instructions are stored comprises a product containing instructions that implement various aspects of the functions / actions specified in one or more blocks of the flowcharts and / or block diagrams.

[0083] Machine-readable program instructions can also be loaded into a machine, other programmable data processing device, or other device, which causes a series of operations to be performed on a machine, other programmable data processing device, or other device to create a machine-implemented process, such that the instructions executed on the machine, other programmable data processing device, or other device implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0084] The flowcharts and block diagrams in the figures show architectures, functions, and operations that can be implemented in systems, processes, and machine program products according to several embodiments of the present disclosure. In this context, each block in a flowchart or block diagram can represent a part of a module, program segment, or instruction, wherein this part of a module, program segment, or instruction contains one or more executable instructions for implementing the specified logical functions. In some alternative implementations, the functions specified in the blocks can also be executed in a different order than shown in the figures. For example, two consecutive blocks can be executed essentially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved.It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented by an application-specific hardware-based system that performs the specified function or action, or by a combination of application-specific hardware and machine instructions.

[0085] The embodiments of the present disclosure have already been described above, the description of which serves for illustration purposes, is not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be obvious to those skilled in the art without deviating from the scope and spirit of the described embodiments. The terminology used herein has been chosen to best explain the principles, practical applications, or technical improvements of the technology available on the market for the embodiments, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

[1] Method (300) for detecting a rotation angle of a foldable device, wherein the foldable device comprises a first movable element and a second movable element rotatably connected to each other via a connecting element, comprising: Obtain (302) a first rotational speed of the first moving element and a second rotational speed of the second moving element; Determine (304) whether the difference between the first rotational speed and the second rotational speed is above a first difference threshold; and In response to the fact that the difference between the first rotational speed and the second rotational speed is greater than the first difference threshold, determine (306) an angle of rotation between the first movable element and the second movable element based on the first rotational speed and the second rotational speed. [2] Method (300) according to claim 1, further comprising: In response to the fact that the difference between the first rotational speed and the second rotational speed is below the first difference threshold, determine that there is no angle of rotation. [3] Method (300) according to claim 1, wherein determining that there is no angle of rotation comprises: In response to the fact that the difference between the first rotational speed and the second rotational speed is below a second difference threshold and / or that the rate of change of the difference between the first rotational speed and the second rotational speed is below a rate of change threshold, determine that there is no rotation angle, where the second difference threshold is less than or equal to the first difference threshold. [4] Method (300) according to any one of claims 1 to 3, wherein a first gyroscope is arranged in the first movable element and a second gyroscope is arranged in the second movable element, wherein the first rotational speed comprises a first angular velocity detected by the first gyroscope and the second rotational speed comprises a second angular velocity detected by the second gyroscope, and wherein determining (306) an angle of rotation between the first movable element and the second movable element based on the first rotational speed and the second rotational speed comprises the following: Determining a first time interval corresponding to the first angular velocity, as well as a second time interval corresponding to the second angular velocity; Determining a first rotation angle based on the first angular velocity and the first time interval, and determining a second rotation angle based on the second angular velocity and the second time interval; and Determining the rotation angle based on the first rotation angle and the second rotation angle. [5] Method (300) according to claim 4, wherein a first acceleration sensor is provided in the first movable element and a second acceleration sensor is provided in the second movable element, and wherein the method further comprises: Determine whether the first moving element and the second moving element are in a state of rest, using the first accelerometer and the second accelerometer; In response to the fact that the first moving element and the second moving element are in the resting state, a first compensation value is acquired for the first gyroscope and a second compensation value for the second gyroscope; and Adjusting the first angular velocity and the second angular velocity based on the first compensation value and the second compensation value. [6] Method (300) according to claim 5, wherein the method for determining the first compensation value comprises the following: Obtaining multiple angular velocities of the first moving element at multiple time points using the first gyroscope while the first moving element is at rest; and Determining the first compensation value based on the mean of the multiple angular velocities. [7] Method (300) according to claim 1, wherein a first gyroscope, a first accelerometer and a magnetometer are provided in the first movable element and a second gyroscope, a second accelerometer and a permanent magnet are arranged in the second movable element, wherein the first rotational speed is detected by means of the first gyroscope and the second rotational speed is detected by means of the second gyroscope, and wherein the method further comprises: Determining a first angle between the first movable element and the second moving element by means of the first accelerometer and of the second accelerometer; Determining a second angle between the first movable element and the second movable element by means of the magnetic sensor and the permanent magnet; and Determining an angle of the foldable device based on the state of the foldable device as well as at least one of the first angle, the second angle and the rotation angle. [8] Method (300) according to claim 7, wherein determining an angle of the foldable device based on the state of the foldable device as well as one of the first angle, the second angle and the rotation angle comprises the following: If the foldable device is in a resting state and the angle between the connecting element and the horizontal plane is below an angle threshold, determine the angle of the foldable device as the first angle; When the foldable device is in a closed state, determine the angle of the foldable device as the second angle; and When the foldable device is in a state of motion, determine the angle of the foldable device based on the rotation angle. [9] Method (300) according to claim 8, wherein determining the angle of the foldable device based on the rotation angle when the foldable device is in a state of motion comprises: When the foldable device is in the moving state, maintaining the angle of the foldable device at a first time point, where the first time point is the time at which the foldable device enters the moving state; and Determining the angle of the foldable device based on the angle of the first time point and the rotation angle. [10] Method (300) according to claim 8, further comprising: Deactivating the first and second gyroscopes when the foldable device is in the resting or closed state, or when the dispersion of several angles of the foldable device satisfies a dispersion condition; or Activating the first and second gyroscopes in response to the foldable device being in a state of motion. [11] Device (700) for detecting a rotation angle of a foldable device, wherein the foldable device comprises a first movable element and a second movable element rotatably connected to each other via a connecting element, comprising: a rotational speed detection module (702) configured to obtain a first rotational speed of the first moving element as well as a second rotational speed of the second moving element; a difference comparison module (704) configured to determine whether the difference between the first rotational speed and the second rotational speed exceeds a first difference threshold; and a rotation angle detection module (706) configured to determine, in response to the fact that the difference between the first rotational speed and the second rotational speed is greater than the first difference threshold, a rotation angle between the first moving element and the second moving element based on the first rotational speed and the second rotational speed. [12] Control unit, comprising: at least one processor; and a memory coupled to the at least one processor and in which instructions are stored, wherein the instructions, when executed by the at least one processor, cause the control unit to execute a method according to one of claims 1 to 10. [13] Foldable device comprising: a first movable element and a second movable element, which are rotatably connected to each other via a connecting element; a first gyroscope, which is arranged in the first movable element, and a second gyroscope located in the second movable element; a first acceleration sensor located in the first moving element and a second acceleration sensor located in the second moving element; a magnetic sensor arranged in the first moving element, and a permanent magnet arranged in the second moving element; and a control unit according to claim 12. [14] Computer program product comprising a computer program wherein the computer program, when executed by a processor, implements a method according to any one of claims 1 to 10.

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