CN106525071A - Method and device for monitoring motion state - Google Patents
Method and device for monitoring motion state Download PDFInfo
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- CN106525071A CN106525071A CN201610945528.5A CN201610945528A CN106525071A CN 106525071 A CN106525071 A CN 106525071A CN 201610945528 A CN201610945528 A CN 201610945528A CN 106525071 A CN106525071 A CN 106525071A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P7/00—Measuring speed by integrating acceleration
Abstract
An embodiment of the invention discloses a method and a device for monitoring the motion state. The method comprises the steps that when a monitoring command is detected, the real-time horizontal speed of a terminal in the horizontal direction and the real-time vertical speed of the terminal in the direction of gravity are determined based on data acquired by a sensor; when the vertical speed is 0, the corresponding current horizontal speed and current timestamp are obtained in real time; motion state parameters are calculated and displayed in real time and comprise real-time step size which is the product of the corresponding current horizontal speed when the vertical speed is 0 and unit interval time, and the unit interval time is the difference between the current timestamp when the vertical speed is 0 and the next timestamp. According to the method and the device for monitoring the motion state, the dependence on the GPS is eliminated, the cost is reduced, the use universality is improved, errors are reduced, the step size is calculated and displayed in real time, and the user experience is optimized.
Description
Technical field
The present embodiments relate to computer software technology, more particularly to a kind of kinestate monitoring method and device.
Background technology
With the raising of technology, the monitoring technology of kinestate is also developed rapidly, and increasing user is liked in motion
Corresponding terminal is worn vigorously（Such as smart mobile phone, Intelligent bracelet, intelligent watch etc.）To monitor state parameter during motion.
The scheme being monitored to kinestate in prior art gathers phase typically all by gravity sensor and GPS
Data are answered, and is converted into the state parameter of user movement.
The defect of prior art is：On the one hand, it is relatively costly using GPS；On the other hand, limited by GPS location, can only
There is the moving situation of actual displacement in monitoring, therefore have using limiting with ground, for example, cannot just monitor fortune on a treadmill
Dynamic state；Another further aspect, GPS inherently have error, error can be caused bigger in the accumulation of computed range time error.
The content of the invention
The embodiment of the present invention provides a kind of kinestate monitoring method and device, to realize reduces cost, improves using logical
With property and the purpose of reduction error.
In a first aspect, a kind of kinestate monitoring method is embodiments provided, including：
When detecting Monitoring instruction, terminal real-time horizontal velocity in the horizontal direction is determined according to sensor acquisition data
And the real-time vertical speed on gravity direction；
Corresponding present level speed and current time stamp when vertical speed is 0 are obtained in real time；
Motion state parameterses are calculated and be shown in real time, and the motion state parameterses include real-time step-length, the real-time step-length
Corresponding present level speed and the product of unit gap time when being 0 for vertical speed, the unit gap time is vertical
The difference of corresponding current time stamp and future time stamp when speed is 0.
Second aspect, the embodiment of the present invention additionally provide a kind of kinestate monitoring device, including：
Determining module, for detecting during Monitoring instruction, determines terminal in the horizontal direction according to sensor acquisition data
Real-time horizontal velocity and gravity direction on real-time vertical speed；
Acquisition module, for obtaining corresponding present level speed and current time stamp when vertical speed is 0 in real time；
Display module is calculated, for motion state parameterses are calculated and be shown in real time, the motion state parameterses include in real time
Step-length, the real-time step-length corresponding present level speed and the product of unit gap time, list when being 0 for vertical speed
The difference of bit interval time corresponding current time stamp and future time stamp when being 0 for vertical speed.
The embodiment of the present invention by sensor acquisition data determine terminal real-time horizontal velocity in the horizontal direction and
Real-time vertical speed on gravity direction, obtains corresponding present level speed and current time stamp when vertical speed is 0 in real time,
The real-time step-length of motion state parameterses is calculated and be shown in real time, the real-time step-length corresponding present level speed when being 0 by vertical speed
Degree draws with being multiplied for unit gap time, broken away from the dependence to GPS, reduced cost, improve and use versatility, while
Error is also reduced, and realizes calculating and display to real-time step-length, optimize Consumer's Experience.
Description of the drawings
Fig. 1 is a kind of schematic flow sheet of kinestate monitoring method that the embodiment of the present invention one is provided；
The schematic diagram of the terminal velocity decomposited after removal people's movement velocity that Fig. 1 a are provided for the embodiment of the present invention one；
Fig. 2 is a kind of schematic flow sheet of kinestate monitoring method that the embodiment of the present invention two is provided；
Fig. 3 is a kind of schematic flow sheet of kinestate monitoring method that the embodiment of the present invention three is provided；
Fig. 3 a are view of the terminal of the offer of the embodiment of the present invention three in three-dimensional system of coordinate；
Fig. 3 b are view of the terminal of the offer of the embodiment of the present invention three in rectangular coordinate system；
Fig. 4 is a kind of schematic flow sheet of kinestate monitoring method that the embodiment of the present invention four is provided；
Fig. 5 is a kind of schematic flow sheet of kinestate monitoring method that the embodiment of the present invention five is provided；
Fig. 6 is a kind of schematic flow sheet of kinestate monitoring method that the embodiment of the present invention six is provided；
Fig. 7 is a kind of structural representation of kinestate monitoring device that the embodiment of the present invention seven is provided.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is a kind of schematic flow sheet of kinestate monitoring method that the embodiment of the present invention one is provided, and the present embodiment can
Suitable for situation about being monitored to kinestate, the method can be performed by kinestate monitoring device, and the device can be by
Hardware and/or software composition, and can typically be integrated in terminal, the terminal can be smart mobile phone, wearable device (such as intelligent handss
Ring, intelligent watch) etc., the combination of smart mobile phone and wearable device is can also be, i.e., by the sensor acquisition phase in wearable device
Answer data and carry out simple computation, carried out complex calculating and shown by smart mobile phone.
Wherein, the application principle of the method is, terminal is typically worn on hand by user when wearing terminal and being moved
Or be placed in pocket, but regardless of terminal is to be worn over, run or walk run when terminal all
A rule can be followed, that is, does pendular movement or class pendular movement, thus, the movement velocity of terminal just includes two parts,
A part is the speed that user runs, and another part is the speed swung relative to user by terminal, and through many experiments
It was found that, user run or walk run when acceleration be to pedal when, so when stepping in the horizontal direction
Substantially at the uniform velocity, therefore, if the real-time speed of people's motion can be tried to achieve according to the real-time speed of terminal, can just learn that people exists
Speed in this step.The schematic diagram of the terminal velocity decomposited after removal people's movement velocity as shown in Figure 1a, removes people's fortune
After speed when dynamic, it can be seen that terminal is 0 in the speed of wave minimum point T1, T3 and the peak T2 that waves, highest of waving
Two pause points of arms swing fore backward when point and the minimum point i.e. people that waves run, now terminal and people keep geo-stationary, terminal
Actual speed in vertical direction is 0, the movement velocity of actual speed in the horizontal direction i.e. for people, and when people steps
Waits be substantially at the uniform velocity, therefore with reference to the interval time that the adjacent upward velocity of Vertical Square twice is 0 in the horizontal direction（I.e. handss are put
The time for once making a move）, you can obtain real-time step-length when people moves.The method specifically includes as follows：
S110, when detecting Monitoring instruction, terminal Real-time Water in the horizontal direction is determined according to sensor acquisition data
Real-time vertical speed in flat speed and gravity direction.
Wherein, for the triggering mode that triggering generates Monitoring instruction can have various, for the wearable device of similar bracelet,
Can be the pressing operation to respective keys in bracelet, for the smart mobile phone with touch screen, can be to virtual key
Putting selection operation or slide being carried out according to predetermined manner, here is not limited.
Wherein, the sensor for using can include the 3-axis acceleration sensor of detection real time acceleration component, perceive weight
The sensor of force direction（Such as gyroscope etc.）, terminal can be accordingly changed and be integrated according to the data of sensor Real-time Collection
After calculating, real-time speed of the terminal in the horizontal direction with gravity direction is obtained.
Corresponding present level speed and current time stamp when S120, real-time acquisition vertical speed are 0.
Exemplarily, user is worn over terminal unit in wrist and after setting in motion, terminal does pendular movement or class clock
Pendular motion, the two end points i.e. terminal vertical speed that user waves are 0 point, then, when first time vertical speed is 0, obtain and work as
Front horizontal velocity V1 and current time stamp T1, when second vertical speed is 0, obtain present level speed V2 and current
Time stamp T 2, when third time vertical speed is 0, obtains present level speed V3 and current time stamp T3 ... works as n-th
When vertical speed is 0, present level speed Vn and current time stamp Tn are obtained.
S130, motion state parameterses are calculated and be shown in real time, the motion state parameterses include real-time step-length.It is described real-time
Step-length corresponding present level speed and product of unit gap time when being 0 for vertical speed, the unit gap time is
The difference of corresponding current time stamp and future time stamp when vertical speed is 0.
Specifically, the corresponding timestamp and horizontal velocity when being 0 for the vertical speed for obtaining first, as this is
The beginning of one step, is not also striden completely, therefore terminal can only carry out record data, and vertical speed is got when for the second time
For 0 when corresponding timestamp and during horizontal velocity, illustrate that the first step is stepped completely, now terminal can calculate the first step and step
Step-length, and show first step step-length；When third time gets the timestamp and horizontal velocity when vertical speed is 0, terminal
The step-length that second step is stepped can be calculated simultaneously, and first step step-length is updated to into second step step-length；... when n-th get it is vertical
During timestamp and horizontal velocity when straight speed is 0, terminal can calculate the step-length that the (n-1)th step is stepped simultaneously, and by n-th -2 step by step
It is step by step long that length is updated to (n-1)th.
Exemplarily, for the example in above-mentioned S120, when second vertical speed is 0, calculate first step step-length S1=
V1×（T2-T1）, and S1 is shown, when third time vertical speed is 0, calculating second step step-length S2=V2 ×（T3-T2）, and will
S1 is updated to S2, when n-th vertical speed is 0, calculates the (n-1)th long S step by stepn-1=Vn-1×（Tn-Tn-1）, and by Sn-2Update
For Sn-1。
The technical scheme of the present embodiment, determines terminal real-time level speed in the horizontal direction by sensor acquisition data
Real-time vertical speed on degree and gravity direction, obtains in real time when vertical speed is 0 corresponding present level speed and current
Timestamp, is calculated and be shown the real-time step-length of motion state parameterses in real time, and the real-time step-length is corresponding current when being 0 by vertical speed
Horizontal velocity is drawn with being multiplied for unit gap time, relative to the scheme that must measure distance in prior art using GPS,
The present embodiment has broken away from the dependence to GPS, reduces cost, improves and use versatility, while error is also reduced, and it is existing
The scheme of real-time step-length can be not shown in technology, the present embodiment realizes calculating and display to real-time step-length, be optimized
Consumer's Experience.
On the basis of above-mentioned technical proposal, preferably motion state parameterses are further optimized, specifically, the motion
State parameter also includes：Corresponding horizontal velocity when in real time horizontal velocity, real-time vertical speed, vertical speed are 0, currently run
Time, current total step number, any one or its combination in any currently run in distance and average step length；
Wherein, the current total step number is corresponding with the total quantity of unit gap time, and a unit interval is designated as
One step, the distance of having run is that all real-time step-length summations are drawn.
Specifically, real-time horizontal velocity is terminal actual speed in the horizontal plane；Vertical speed is terminal vertical in real time
Actual speed on direction；When vertical speed is 0 corresponding horizontal velocity i.e. user movement when each step speed；Currently run
Time can be obtained by the timer of terminal itself；Current total step number can be by obtaining to all unit gap temporal summations
Go out, average step length can be drawn divided by current total step number by distance has currently been run.Further, terminal can be by motion state parameterses reality
When be displayed in display interface.
Preferably, terminal can also practical situation determine the in real time motion state parameterses of reality and show after monitoring terminates
Motion state parameterses, for example, the motion state parameterses for showing in real time can be：Real-time horizontal velocity, real-time vertical speed, vertical
Any one in corresponding horizontal velocity and real-time step-length or its combination in any when speed is 0；Monitoring is shown after terminating
Motion state parameterses can be：It is current run time, current total step number, currently run distance and average step length in it is any
A kind of or its combination in any.Further, also motion state parameterses can be uploaded or is shared, and it is each with its good friend to user
Item motion state parameterses carry out ranking etc..
Embodiment two
A kind of schematic flow sheet of kinestate monitoring method that Fig. 2 is provided for the embodiment of the present invention two, the present embodiment exist
On the basis of above-described embodiment, preferably to it is described detect Monitoring instruction when, determine that terminal exists according to sensor acquisition data
The real-time vertical speed in real-time horizontal velocity and gravity direction in horizontal direction further optimizes, and specifically includes：
S210, when detecting Monitoring instruction, determine terminal in vertical coordinate system in X-axis according to sensor acquisition data
The 3rd acceleration on the second acceleration and Z axis in first acceleration, Y-axis, the vertical coordinate system with terminal center is
Origin, Z axis point to gravity direction.
Specifically, real-time acceleration of the terminal on three dimensions point can be determined according to the gathered data of sensor
Amount, then coordinate system conversion is carried out, real-time 3-axis acceleration component is transformed in vertical coordinate system, terminal is so obtained and is being hung down
The first acceleration on three axial directions, the second acceleration and the 3rd acceleration in straight coordinate system.
S220, according to the real-time horizontal velocity on the first acceleration and the second acceleration calculation horizontal direction, according to the 3rd
Real-time vertical speed in acceleration calculation vertical direction.
Specifically, the first acceleration, the second acceleration and the 3rd acceleration are all real-time, therefore by carrying out to which
Can be in the hope of corresponding horizontal velocity or real-time vertical speed in real time after integral operation.
The technical scheme of the present embodiment, determines acceleration of the terminal on three axle of vertical coordinate system by sensor acquisition data
Degree component, and after carrying out corresponding computing, obtain real-time in terminal real-time horizontal velocity in the horizontal direction and vertical direction
Vertical speed, relative to the scheme that must measure distance in prior art using GPS, the present embodiment broken away to GPS according to
Rely, reduce cost, improve and use versatility, while can not be in motion in also reducing error, and prior art
The scheme of real-time vertical speed and real-time horizontal velocity is obtained in monitoring process, real-time vertical speed and reality in the present embodiment, is obtained
When horizontal velocity can realize calculating and display to real-time step-length, optimize Consumer's Experience.
Embodiment three
A kind of schematic flow sheet of kinestate monitoring method that Fig. 3 is provided for the embodiment of the present invention three, the present embodiment exist
On the basis of the various embodiments described above, preferably to detecting during Monitoring instruction, determine that terminal is being hung down according to sensor acquisition data
The first acceleration, the second acceleration in Y-axis and the 3rd acceleration on Z axis in straight coordinate system in X-axis further optimizes,
Specifically include：
S310, when detecting Monitoring instruction, according to 3-axis acceleration sensor acquisition terminal in itself three-dimensional system of coordinate
Real time acceleration component on three axial directions, and gravity direction is determined according to the gathered data of gyro sensor.
Wherein, 3-axis acceleration sensor 3-axis acceleration sensor is to go to realize work based on the ultimate principle of acceleration
Make, with small volume and lightweight feature.Acceleration is a space vector, on the one hand, will accurately understand the kinestate of object,
The component on its three coordinate axess must be measured；On the other hand, do not known under the occasion of movement direction of object in advance, can made
Acceleration signal is detected with 3-axis acceleration sensor.
Wherein, gyro sensor be with the moment of momentum of high-speed rotator sensitivity housing relative inertness space around be orthogonal to from
The angular movement detection means of one of rotating shaft or two axle, plays said function using angular movement detection means made by other principles
Also referred to as gyroscope.Its operation principle is：For the rotary shaft of the object of high speed rotation, for the external force effect for changing its direction
Have the tendency of to be intended to vertical direction, and, in lateral inclination, gravity can be acted on rotating object to inclined direction is increased,
And axle just generates the motion shaken the head then to movement in vertical direction（The precession of the equinoxes is moved）.Therefore, the collection according to gyro sensor
Data, can obtain gravity direction, in conjunction with the position of terminal center, it is possible thereby to determine that Z axis point to the vertical of gravity direction
Coordinate system.
S320, the real time acceleration component of three axial directions for obtaining is merged into into real time acceleration, and according to gravity direction
Determine vertical coordinate system.
Wherein, in the three-dimensional system of coordinate of 3-axis acceleration sensor, Z axis are located at eventually perpendicular to end plane, X-axis and Y-axis
End institute is planar.It is determined that the angle of three axles and gravity direction after gravity direction, can be calculated respectively, 3-axis acceleration is sensed
The three-dimensional system of coordinate of device is converted to gravimetric(al) coordinates system.Exemplary, terminal is in the three-dimensional system of coordinate of 3-axis acceleration sensor
State as shown in Figure 3 a, wherein, g is gravity direction, and α is the angle of gravity direction and X-axis, and β is the folder of gravity direction and Y-axis
Angle, γ are the angles of gravity direction and Z axis, and the vertical coordinate system after conversion is as shown in Figure 3 b.
S330, real time acceleration is decomposed in vertical coordinate system, obtain terminal in vertical coordinate system in X-axis first
The 3rd acceleration on the second acceleration and Z axis in acceleration, Y-axis.
The technical scheme of the present embodiment, by the real time acceleration on three axle of 3-axis acceleration sensor acquisition terminal point
Amount, and gravity direction, then the real time acceleration component of three axial directions for obtaining are determined according to the gathered data of gyro sensor
Real time acceleration is merged into, and determines that vertical coordinate system realizes the conversion of coordinate system according to gravity direction, by real time acceleration point
Solution in vertical coordinate system, obtain first acceleration of the terminal in vertical coordinate system in X-axis, the second acceleration in Y-axis with
And the 3rd acceleration on Z axis.Relative to the scheme that must measure distance in prior art using GPS, the present embodiment is broken away from
Dependence to GPS, reduces cost, improves and use versatility, while error is also reduced, the first acceleration of calculating,
Second acceleration and the 3rd acceleration are used for the scheme for subsequently carrying out real-time step size computation, optimize Consumer's Experience.
Example IV
A kind of schematic flow sheet of kinestate monitoring method that Fig. 4 is provided for the embodiment of the present invention four, the present embodiment exist
On the basis of the various embodiments described above, preferably to according to the Real-time Water on the first acceleration and the second acceleration calculation horizontal direction
Flat speed, further optimizes according to the real-time vertical speed in the 3rd acceleration calculation vertical direction, specifically includes：
S410, the first acceleration and the second acceleration are merged, obtain the horizontal acceleration in horizontal direction.
S420, the real-time horizontal velocity that computing is obtained in horizontal direction is integrated to horizontal acceleration, is accelerated to the 3rd
Degree is integrated computing and obtains the real-time vertical speed in vertical direction.
Specifically, can be according to formulaTo calculate real-time horizontal velocity/in real time vertical
Speed, wherein, V0For initial velocity, tn to t (n+1) is speed from V0To the time of V, a is the value of real time acceleration, t1 and t2
Can be terminal according to computational accuracy or update the frequency of real-time speed to set.
Exemplary, it is assumed that the collection frequency road of 3-axis acceleration sensor is that 1000 real-time three axles of collection in 1 second add
Velocity component, then can be calculated 1000 horizontal accelerations a accordingly1、a2……a1000, and 1000 normal accelerations
（I.e. above-mentioned 3rd acceleration）a′1、a′2……a′1000, the time of tn to t (n+1) is 1 millisecond, and corresponding horizontal velocity is successively
For：
……
Corresponding vertical speed is followed successively by：
……
The technical scheme of the present embodiment, by the first acceleration and the second acceleration are merged, obtains in horizontal direction
Horizontal acceleration, then the real-time horizontal velocity that computing is obtained in horizontal direction is integrated to horizontal acceleration, accelerate to the 3rd
Degree is integrated the real-time vertical speed that computing is obtained in vertical direction, must be measured using GPS relative in prior art
The scheme of distance, the present embodiment have broken away from the dependence to GPS, reduce cost, improve and use versatility, while also reducing
Error, the real-time vertical speed and real-time horizontal velocity of calculating are used for the scheme for subsequently carrying out real-time step size computation, optimize use
Experience at family.
Embodiment five
A kind of schematic flow sheet of kinestate monitoring method that Fig. 5 is provided for the embodiment of the present invention five, the present embodiment exist
On the basis of the various embodiments described above, preferably before Monitoring instruction is detected, further increase：
S510, the first information is sent, first information is used to pointing out user to open monitoring when static to transport
The function of dynamic state.
Specifically, user after opening a terminal, terminal sends the first information, the form for sending the first information can
Being with word, picture, dynamic menu, specific music or voice.
S520, judge the variable quantity of 3-axis acceleration sensor gathered data in Preset Time whether less than predetermined threshold value.
Wherein it is possible to calculate real-time three axle in Preset Time according to the gathered data of 3-axis acceleration sensor accelerate
Degree component, and judge that its variable quantity, whether less than predetermined threshold value, is substantially at resting state less than explanation user during predetermined threshold value,
During more than predetermined threshold value, illustrate that user is not on resting state.
Further, due to when real-time speed is calculated, needing to use initial velocity V0If user is not from resting state
Setting in motion, some errors are might have, therefore, in order to improve the accuracy of monitoring kinestate, formally starting monitoring
Before kinestate, can be with display reminding information pointing out user from the beginning of resting state.
S530, if it is, send the second information, second information is used to point out user open prison
Survey the function of kinestate.
Wherein, the form for sending the second information can be with word, picture, dynamic menu, specific music or language
Sound.After it is determined that user is substantially at resting state, can point out to send the second information to point out user's current state can
To open the function of monitoring kinestate.Afterwards, user can carry out corresponding operating to trigger generation Monitoring instruction, triggering production
The mode of detection instruction may be referred to embodiment one, will not be described here.
The technical scheme of the present embodiment, by the first information being sent before Monitoring instruction is detected and judging default
Whether the variable quantity of time intrinsic displacement is less than predetermined threshold value to detect user's current state if appropriate for monitoring is started, less than pre-
Point out user's current state start monitoring if determining during threshold value and can start to detect and send the second information, so
Improve to monitoring the accurately fixed of kinestate, also improve Consumer's Experience.
Embodiment six
A kind of schematic flow sheet of kinestate monitoring method that Fig. 6 is provided for the embodiment of the present invention six, the present embodiment exist
On the basis of the various embodiments described above, there is provided a preferred embodiment, specifically include：
S601, the first information is sent, first information is used to pointing out user to open monitoring when static to transport
The function of dynamic state.
Exemplary, show Word message " please open when static and test ".
S602, judge the variable quantity of 3-axis acceleration sensor gathered data in Preset Time whether less than predetermined threshold value.
Exemplary, judge the variable quantity of 3-axis acceleration sensor XYZ axles in 2S whether less than predetermined threshold value.
S603, if it is, send the second information, second information is used to point out user open prison
Survey the function of kinestate.
Exemplary, show Word message " test can be opened ".
S604, when detecting Monitoring instruction, according to 3-axis acceleration sensor acquisition terminal in itself three-dimensional system of coordinate
Real time acceleration component on three axial directions, and gravity direction is determined according to the gathered data of gyro sensor.
S605, the real time acceleration component of three axial directions for obtaining is merged into into real time acceleration, and according to gravity direction
Determine vertical coordinate system.
S606, real time acceleration is decomposed in vertical coordinate system, obtain terminal in vertical coordinate system in X-axis first
The 3rd acceleration on the second acceleration and Z axis in acceleration, Y-axis.
S607, the first acceleration and the second acceleration are merged, obtain the horizontal acceleration in horizontal direction.
S608, the real-time horizontal velocity that computing is obtained in horizontal direction is integrated to horizontal acceleration, is accelerated to the 3rd
Degree is integrated computing and obtains the real-time vertical speed in vertical direction.
Corresponding present level speed and current time stamp when S609, real-time acquisition vertical speed are 0.
S610, real time kinematics state parameter is calculated and be shown.
Wherein, motion state parameterses include real-time step-length, corresponding current water when the real-time step-length is 0 for vertical speed
Flat speed and the product of unit gap time, the unit gap time be vertical speed be 0 when corresponding current time stamp and
The difference of future time stamp.
Further, the motion state parameterses of display can be in real time：Real-time horizontal velocity, real-time vertical speed, vertical speed
Spend for 0 when corresponding horizontal velocity and real-time step-length in any one or its combination in any；
S611, detect terminate monitoring kinestate instruction when, final motion state parameterses are calculated and be shown.
Monitoring the motion state parameterses shown after terminating can be：It is current run time, current total step number, currently run away from
From and average step length in any one or its combination in any.
Embodiment seven
Fig. 7 is a kind of structural representation of kinestate monitoring device that the embodiment of the present invention seven is provided, and the present embodiment can
Suitable for situation about being monitored to kinestate, the device can be made up of hardware and/or software, and can typically be integrated in terminal
In, the terminal can be smart mobile phone, wearable device (such as Intelligent bracelet, intelligent watch) etc., can also be smart mobile phone and wear
The combination of equipment is worn, i.e., by the sensor acquisition corresponding data in wearable device and carries out simple computation, carried out by smart mobile phone
Complex calculating is simultaneously shown.As shown in fig. 7, the device is specifically included：
Determining module 710, for detecting during Monitoring instruction, determines terminal in the horizontal direction according to sensor acquisition data
On real-time horizontal velocity and the real-time vertical speed on gravity direction；
Acquisition module 720, for obtaining corresponding present level speed and current time stamp when vertical speed is 0 in real time；
Display module 730 is calculated, for motion state parameterses are calculated and be shown in real time, the motion state parameterses include reality
Shi Buchang, the real-time step-length corresponding present level speed and product of unit gap time when being 0 for vertical speed are described
The difference of unit gap time corresponding current time stamp and future time stamp when being 0 for vertical speed.
In the present embodiment, the determining module is specifically included：
Determining unit, for detecting during Monitoring instruction, determines terminal in vertical coordinate system according to sensor acquisition data
The second acceleration on the first acceleration, Y-axis and the 3rd acceleration on Z axis in middle X-axis, the vertical coordinate system is with end
End center be origin, Z axis point to gravity direction；
Computing unit, for according to the real-time horizontal velocity on the first acceleration and the second acceleration calculation horizontal direction,
According to the real-time vertical speed in the 3rd acceleration calculation vertical direction.
In the present embodiment, the determining unit can specifically include：
Collection subelement, for detecting during Monitoring instruction, according to 3-axis acceleration sensor acquisition terminal itself three
Real time acceleration component in dimension coordinate system on three axial directions, and gravity side is determined according to the gathered data of gyro sensor
To；
First merges subelement, for the real time acceleration component of three axial directions for obtaining is merged into real time acceleration,
And vertical coordinate system is determined according to gravity direction；
Decompose subelement, for real time acceleration is decomposed in vertical coordinate system, obtain terminal X in vertical coordinate system
The second acceleration on the first acceleration, Y-axis and the 3rd acceleration on Z axis on axle.
In the present embodiment, the computing unit can specifically include：
Second merges subelement, for the first acceleration and the second acceleration are merged, obtains the level in horizontal direction
Acceleration；
Computing subelement, for the real-time horizontal velocity that computing obtains in horizontal direction is integrated to horizontal acceleration,
Computing is integrated to the 3rd acceleration and obtains the real-time vertical speed in vertical direction.
In the present embodiment, can also include：
First reminding module, for before Monitoring instruction is detected, sending the first information, the first prompting letter
Cease the function for pointing out user that monitoring kinestate is opened when static；
Judge module, for judging the variable quantity of 3-axis acceleration sensor gathered data in Preset Time whether less than pre-
If threshold value；
Second reminding module, for the 3-axis acceleration sensor gathered data in the Preset Time variable quantity less than default
During threshold value, the second information is sent, second information is used for the work(for pointing out user open monitoring kinestate
Energy.
On the basis of such scheme, it is preferred that the motion state parameterses can also include：Real-time horizontal velocity, reality
When vertical speed, vertical speed corresponding horizontal velocity when being 0, currently run time, current total step number, currently run distance with
And any one in average step length or its combination in any；
Wherein, the current total step number is corresponding with the total quantity of unit gap time, and a unit interval is designated as
One step, the distance of having run is that all real-time step-length summations are drawn.
The kinestate monitoring device that the present embodiment is provided, is monitored with the kinestate provided by any embodiment of the present invention
Method belongs to same inventive concept, can perform the kinestate monitoring method provided by any embodiment of the present invention, possesses execution
The corresponding functional module of method and beneficial effect.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
More other Equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (12)
1. a kind of kinestate monitoring method, it is characterised in that include：
When detecting Monitoring instruction, according to sensor acquisition data determine terminal real-time horizontal velocity in the horizontal direction and
Real-time vertical speed on gravity direction；
Corresponding present level speed and current time stamp when vertical speed is 0 are obtained in real time；
Motion state parameterses are calculated and be shown in real time, and the motion state parameterses include real-time step-length, and the real-time step-length is vertical
Corresponding present level speed and the product of unit gap time when straight speed is 0, the unit gap time is vertical speed
For 0 when corresponding current time stamp and future time stamp difference.
2. kinestate monitoring method according to claim 1, it is characterised in that described when detecting Monitoring instruction, root
The real-time vertical speed in terminal real-time horizontal velocity in the horizontal direction and gravity direction is determined according to sensor acquisition data
Degree is specifically included：
When detecting Monitoring instruction, first acceleration of the terminal in vertical coordinate system in X-axis is determined according to sensor acquisition data
Degree, the second acceleration in Y-axis and the 3rd acceleration on Z axis, the vertical coordinate system with terminal center as origin, Z axis
Point to gravity direction；
According to the real-time horizontal velocity on the first acceleration and the second acceleration calculation horizontal direction, according to the 3rd acceleration calculation
Real-time vertical speed in vertical direction.
3. kinestate monitoring method according to claim 2, it is characterised in that described when detecting Monitoring instruction, root
According to sensor acquisition data determine first acceleration of the terminal in vertical coordinate system in X-axis, the second acceleration in Y-axis and
The 3rd acceleration on Z axis is specifically included：
When detecting Monitoring instruction, according to 3-axis acceleration sensor acquisition terminal in itself three-dimensional system of coordinate on three axial directions
Real time acceleration component, and gravity direction is determined according to the gathered data of gyro sensor；
The real time acceleration component of three axial directions for obtaining is merged into into real time acceleration, and vertical seat is determined according to gravity direction
Mark system；
Real time acceleration is decomposed in vertical coordinate system, first acceleration of the terminal in vertical coordinate system in X-axis, Y is obtained
The 3rd acceleration on the second acceleration and Z axis on axle.
4. kinestate monitoring method according to claim 2, it is characterised in that described according to the first acceleration and second
Real-time horizontal velocity in acceleration calculation horizontal direction, according to the real-time vertical speed in the 3rd acceleration calculation vertical direction
Specifically include：
First acceleration and the second acceleration are merged, the horizontal acceleration in horizontal direction is obtained；
The real-time horizontal velocity that computing is obtained in horizontal direction is integrated to horizontal acceleration, the 3rd acceleration is integrated
Computing obtains the real-time vertical speed in vertical direction.
5. kinestate monitoring method according to claim 1, it is characterised in that before Monitoring instruction is detected, also
Including：
The first information is sent, first information is used for the work(for pointing out user that monitoring kinestate is opened when static
Energy；
Judge the variable quantity of 3-axis acceleration sensor gathered data in Preset Time whether less than predetermined threshold value；
If it is, sending the second information, second information is used to point out user open monitoring motion shape
The function of state.
6. kinestate monitoring method according to claim 1, it is characterised in that the motion state parameterses also include：
Corresponding horizontal velocity when in real time horizontal velocity, real-time vertical speed, vertical speed are 0, the time currently run, current total walked
Number, any one or its combination in any currently run in distance and average step length；
Wherein, the current total step number is corresponding with the total quantity of unit gap time, and a unit interval is designated as a step,
The distance of having run is that all real-time step-length summations are drawn.
7. a kind of kinestate monitoring device, it is characterised in that include：
Determining module, for detecting during Monitoring instruction, determines terminal reality in the horizontal direction according to sensor acquisition data
When horizontal velocity and gravity direction on real-time vertical speed；
Acquisition module, for obtaining corresponding present level speed and current time stamp when vertical speed is 0 in real time；
Display module is calculated, for motion state parameterses are calculated and be shown in real time, the motion state parameterses include real-time step-length,
The real-time step-length corresponding present level speed and product of unit gap time when being 0 for vertical speed, between the unit
The difference of corresponding current time stamp and future time stamp when it is 0 that the time is for vertical speed.
8. kinestate monitoring device according to claim 7, it is characterised in that the determining module is specifically included：
Determining unit, for detecting during Monitoring instruction, determines terminal X-axis in vertical coordinate system according to sensor acquisition data
On the first acceleration, the second acceleration in Y-axis and the 3rd acceleration on Z axis, the vertical coordinate system is with terminal
The heart is origin, and Z axis point to gravity direction；
Computing unit, for according to the real-time horizontal velocity on the first acceleration and the second acceleration calculation horizontal direction, according to
Real-time vertical speed in 3rd acceleration calculation vertical direction.
9. kinestate monitoring device according to claim 8, it is characterised in that the determining unit is specifically included：
Collection subelement, for detecting during Monitoring instruction, according to 3-axis acceleration sensor acquisition terminal in itself three-dimensional seat
Real time acceleration component in mark system on three axial directions, and gravity direction is determined according to the gathered data of gyro sensor；
First merges subelement, for the real time acceleration component of three axial directions for obtaining is merged into real time acceleration, and root
Vertical coordinate system is determined according to gravity direction；
Decompose subelement, for real time acceleration is decomposed in vertical coordinate system, obtain terminal in vertical coordinate system in X-axis
The first acceleration, the second acceleration in Y-axis and the 3rd acceleration on Z axis.
10. kinestate monitoring device according to claim 8, it is characterised in that the computing unit is specifically included：
Second merges subelement, and for the first acceleration and the second acceleration are merged, the level obtained in horizontal direction accelerates
Degree；
Computing subelement, for the real-time horizontal velocity that computing obtains in horizontal direction is integrated to horizontal acceleration, to
Three acceleration are integrated computing and obtain the real-time vertical speed in vertical direction.
11. kinestate monitoring devices according to claim 7, it is characterised in that also include：
First reminding module, for before Monitoring instruction is detected, sending the first information, first information is used
The function of monitoring kinestate is opened when static in prompting user；
Judge module, for judging the variable quantity of 3-axis acceleration sensor gathered data in Preset Time whether less than default threshold
Value；
Second reminding module, the variable quantity for the 3-axis acceleration sensor gathered data in the Preset Time are less than predetermined threshold value
When, the second information is sent, second information is used for the function of pointing out user open monitoring kinestate.
12. kinestate monitoring devices according to claim 7, it is characterised in that the motion state parameterses also include：
Corresponding horizontal velocity when in real time horizontal velocity, real-time vertical speed, vertical speed are 0, the time currently run, current total walked
Number, any one or its combination in any currently run in distance and average step length；
Wherein, the current total step number is corresponding with the total quantity of unit gap time, and a unit interval is designated as a step,
The distance of having run is that all real-time step-length summations are drawn.
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