CN111812356B - Fall detection method and device based on triaxial accelerometer - Google Patents
Fall detection method and device based on triaxial accelerometer Download PDFInfo
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- CN111812356B CN111812356B CN202010509746.0A CN202010509746A CN111812356B CN 111812356 B CN111812356 B CN 111812356B CN 202010509746 A CN202010509746 A CN 202010509746A CN 111812356 B CN111812356 B CN 111812356B
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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
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
Abstract
The invention discloses a drop detection method and a device based on a triaxial accelerometer, wherein the method comprises the following steps: reading three axial acceleration values of the equipment to be detected through a three-axis accelerometer, and when the equipment to be detected is judged to reach a preset falling detection condition, starting falling detection on the equipment to be detected; counting data of the triaxial accelerometer in the falling detection process in real time, and performing collision detection on the equipment to be detected; and when a preset falling stop condition is triggered, ending the falling detection process, counting the falling times of the equipment to be detected and analyzing the collision degree. The invention can focus on the whole falling process of the equipment, record the data of the whole falling process, can more accurately capture the falling event, and can more accurately capture the falling event by taking the rigorous falling event as the judgment basis, thereby improving the detection precision of the falling event, reducing the misjudgment rate and accurately analyzing the collision damage condition.
Description
Technical Field
The invention relates to the technical field of collision detection, in particular to a drop detection method and device based on a triaxial accelerometer.
Background
With the continuous progress of technology, more and more electronic devices are now being miniaturized. The miniaturized electronic equipment has the characteristics of small volume and portability, and is convenient for people to use. But the volume is miniaturized and the risk of accidental falling is increased. When the device falls off, the shell is scratched and damaged, and when the device falls off, the internal parts are damaged, which may affect the normal operation of the device. And the falling prevention grades among the devices are different, so that how to detect falling is realized, the grade evaluation is carried out on the damage caused by falling according to the detection data, and the user is reminded to send repair in time, which is a difficult problem.
The existing technology provides a detection method for analyzing acceleration data to determine whether a collision occurs and the severity of the collision, and a fall event is determined according to the condition that an acceleration sensor continuously detects that the acceleration value of a device is greater than or equal to a first threshold value within a first time period, and the acceleration sensor continuously detects that the acceleration value of the device is less than or equal to the first threshold value within a second time period. The first time period is earlier than the second time period, and the first time period is adjacent to the second time period. And judging the material of the collided object according to the maximum acceleration value detected after the second period of time.
However, in the course of research and practice on the prior art, the inventors of the present invention found that the prior art only captures the first collision and analyzes the degree of collision from the collected data, but multiple collisions may occur during the actual fall of the device, and the first collision is not necessarily the most serious; meanwhile, the situation that misjudgment is easy to occur in the scheme provided by the prior art, for example, equipment is caught after throwing, the probability is detected by the prior art as falling, and the accuracy of falling detection is reduced. Accordingly, there is a need for a method of more accurately capturing a fall event and analyzing the damage to the equipment from the fall event.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a method and a device for detecting a fall based on a triaxial accelerometer, which can effectively identify a device fall event and determine the severity of a fall collision.
In order to solve the above problem, an embodiment of the present invention provides a fall detection method based on a three-axis accelerometer, which at least includes the following steps:
reading three axial acceleration values of the equipment to be detected through a three-axis accelerometer, and when the equipment to be detected is judged to reach a preset falling detection condition, starting falling detection on the equipment to be detected;
Counting data of the triaxial accelerometer in the falling detection process in real time, and performing collision detection on the equipment to be detected;
and when a preset falling stop condition is triggered, ending the falling detection process, counting the falling times of the equipment to be detected and analyzing the collision degree.
Further, the preset fall detection condition specifically includes:
the acceleration of three axial directions of the triaxial accelerometer of the equipment to be tested is 0, and the duration time exceeds a first threshold value.
Further, the real-time statistics of the data of the triaxial accelerometer in the drop detection process is used for performing collision detection on the equipment to be detected, and the method specifically comprises the following steps:
when the data of the three axial directions of the three-axis accelerometer are detected to be not 0 and the sum of the acceleration vectors of the three axial directions is greater than the gravity acceleration, judging that a collision event occurs;
integrating the current acceleration vector sum of the triaxial accelerometer until the current acceleration vector sum is equal to the gravity acceleration, and recording the integration result of the acceleration vector sum;
detecting whether the data of the three axial directions of the three-axis accelerometer are 0 again;
if yes, judging that the equipment to be tested is in the bouncing process, and repeatedly executing the steps.
Further, when triggering a preset falling stop condition, ending the falling detection process, counting the falling times of the equipment to be detected and analyzing the collision degree, specifically:
detecting whether the sum of acceleration vectors of three axial directions of the triaxial accelerometer is equal to the gravity acceleration and the duration time exceeds a second threshold value;
if so, performing trigonometric function conversion on the data of the triaxial accelerometer, and calculating included angles between three axial directions of the triaxial accelerometer and an absolute coordinate system;
and when the included angle meets a preset condition, judging that the equipment to be tested has a falling event, finishing the falling detection process, counting the integral result of the acceleration vector sum of the three-axis accelerometer before, and judging the collision degree of the equipment to be tested.
One embodiment of the present invention provides a fall detection device based on a triaxial accelerometer, including:
the device comprises a falling detection triggering module, a falling detection detecting module and a falling detection detecting module, wherein the falling detection triggering module is used for reading three axial acceleration values of the device to be detected through a three-axis accelerometer, and when the device to be detected is judged to reach a preset falling detection condition, the falling detection is started on the device to be detected;
the falling detection module is used for counting data of the triaxial accelerometer in a falling detection process in real time and carrying out collision detection on the equipment to be detected;
And the falling detection stopping module is used for finishing the falling detection process when triggering a preset falling stopping condition, counting the falling times of the equipment to be detected and analyzing the collision degree.
Further, the preset fall detection condition specifically includes:
the acceleration of three axial directions of the triaxial accelerometer of the equipment to be tested is 0, and the duration time exceeds a first threshold value.
Further, the fall detection module specifically includes:
when the data of the three axial directions of the three-axis accelerometer are detected to be not 0 and the sum of the acceleration vectors of the three axial directions is greater than the gravity acceleration, judging that a collision event occurs;
integrating the current acceleration vector sum of the triaxial accelerometer until the current acceleration vector sum is equal to the gravity acceleration, and recording the integration result of the acceleration vector sum;
detecting whether the data of the three axial directions of the three-axis accelerometer are 0 again;
if yes, judging that the equipment to be tested is in the bouncing process, and repeatedly executing the steps.
Further, the drop detection stopping module specifically comprises:
detecting whether the sum of acceleration vectors of three axial directions of the triaxial accelerometer is equal to the gravity acceleration and the duration time exceeds a second threshold value;
If so, performing trigonometric function conversion on the data of the triaxial accelerometer, and calculating included angles between three axial directions of the triaxial accelerometer and an absolute coordinate system;
and when the included angle meets a preset condition, judging that the equipment to be tested has a falling event, finishing the falling detection process, counting the integral result of the acceleration vector sum of the three-axis accelerometer before, and judging the collision degree of the equipment to be tested.
An embodiment of the present invention further provides a terminal device for drop detection based on a triaxial accelerometer, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor executes the computer program to implement the drop detection method based on a triaxial accelerometer as described above.
An embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute the fall detection method based on a three-axis accelerometer.
The embodiment of the invention has the following beneficial effects:
The embodiment of the invention provides a falling detection method and a falling detection device based on a triaxial accelerometer, wherein the method comprises the following steps: reading three axial acceleration values of the equipment to be detected through a three-axis accelerometer, and when the equipment to be detected is judged to reach a preset falling detection condition, starting falling detection on the equipment to be detected; counting data of the triaxial accelerometer in the falling detection process in real time, and performing collision detection on the equipment to be detected; and when a preset falling stop condition is triggered, ending the falling detection process, counting the falling times of the equipment to be detected and analyzing the collision degree.
Compared with the prior art, the embodiment of the invention can focus on the whole falling process of the equipment, record the data of the whole falling process, can more accurately capture the falling event, takes the rigorous falling event as the judgment basis, more accurately captures the falling event, improves the detection precision of the falling event, reduces the misjudgment rate and can accurately analyze the collision damage condition.
Drawings
Fig. 1 is a schematic flowchart of a fall detection method based on a triaxial accelerometer according to a first embodiment of the present invention;
fig. 2 is a schematic flow chart of triggered fall detection according to a first embodiment of the present invention;
Fig. 3 is a schematic flow chart of fall detection provided by the first embodiment of the present invention;
fig. 4 is a schematic flow chart of detecting a drop stop according to a first embodiment of the present invention;
FIG. 5 is a schematic diagram of an absolute coordinate system provided by the first embodiment of the present invention;
fig. 6 is a schematic structural diagram of a fall detection device based on a triaxial accelerometer according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
First, an application scenario that can be provided by the present invention is introduced, such as drop detection of a device.
The first embodiment of the present invention:
please refer to fig. 1-5.
As shown in fig. 1, the present embodiment provides a fall detection method based on a three-axis accelerometer, which at least includes the following steps:
s101, three axial acceleration values of the equipment to be detected are read through the triaxial accelerometer, and when the equipment to be detected is judged to reach a preset falling detection condition, falling detection is carried out on the equipment to be detected.
In a preferred embodiment, the preset fall detection condition specifically includes:
the acceleration of three axial directions of the triaxial accelerometer of the equipment to be tested is 0, and the duration time exceeds a first threshold value.
Specifically, for step S101, as shown in fig. 2, three axial acceleration values are read from a three-axis accelerometer, and when the acceleration is 0, it indicates that the device to be tested is in a free-fall state, and when the free-fall exceeds a first threshold, a fall detection event is triggered; if the accelerations in the three axial directions are not all 0, the fall detection is not triggered. Wherein, the initial velocity is defined as 0, the gravity acceleration g is 9.8 m/S2, the time t (S), the displacement distance S (m) of the object in the velocity direction in the time period t, and the first threshold is set as 200 ms. The relationship between them is S ═ (1/2) × g ^ t ^ 2. Therefore, in the free-fall scene with the initial velocity of 0, the free-fall is 0.196 m in the ideal state of 200 milliseconds.
S102, counting data of the triaxial accelerometer in the falling detection process in real time, and performing collision detection on the equipment to be detected.
In a preferred embodiment, the real-time statistics of the data of the triaxial accelerometer in the drop detection process is used to perform collision detection on the device under test, and specifically includes:
when the data of the three axial directions of the three-axis accelerometer are detected to be not 0 and the sum of the acceleration vectors of the three axial directions is greater than the gravity acceleration, judging that a collision event occurs;
integrating the current acceleration vector sum of the triaxial accelerometer until the current acceleration vector sum is equal to the gravity acceleration, and recording the integration result of the acceleration vector sum;
detecting whether the data of the three axial directions of the three-axis accelerometer are 0 again;
if yes, judging that the equipment to be tested is in the bouncing process, and repeatedly executing the steps.
Specifically, for step S102, as shown in fig. 3, it is determined whether the sum of acceleration vectors of the three-axis accelerometer is greater than the gravity acceleration g, and if so, it is determined that the device under test has collided; and integrating the current acceleration vector sum until the current acceleration vector sum is equal to the gravity acceleration g, obtaining V (representing the speed variation in a period of time), and determining whether the triaxial data of the current acceleration after the fall collision is 0 again when the fall collision occurs, wherein the triaxial data of the current acceleration after the integration is 0 again, and the triaxial data of the acceleration are 0 when the object is not acted by any external force. During the free falling or bounce and flight, no external force is applied, so that the three-axis data of the acceleration is 0. Therefore, if the triaxial data of the acceleration is 0 again at this time, it indicates that the device is in the process of being bounced, and the above steps need to be repeatedly executed to perform collision detection. The embodiment records the data of the whole falling process by focusing on the whole falling process, not only records the collision times of the equipment, but also only captures the first collision, and analyzes the collision degree by recording the speed variation of the equipment.
It should be noted that the vector sum of the accelerations is substantially a resultant acceleration indicating that the current object moves upward, and the result V obtained by integrating the acceleration a in the time period t is a change value (m/s) indicating the speed in the time period t, and the larger the speed before the collision is, the larger the required backward deceleration is. The current acceleration vector sum is integrated until the current acceleration vector sum equals the gravitational acceleration g, instead of the vector sum being equal to the gravitational acceleration. The acceleration vector sum is equal to the gravitational acceleration g, indicating that deceleration has ceased and that the subsequent object may bounce or be stationary.
S103, when a preset falling stop condition is triggered, ending the falling detection process, counting the falling times of the equipment to be detected and analyzing the collision degree.
In a preferred embodiment, when a preset drop stop condition is triggered, the drop detection process is ended, the drop times of the device to be detected are counted, and the collision degree is analyzed, specifically:
detecting whether the sum of acceleration vectors of three axial directions of the triaxial accelerometer is equal to the gravity acceleration and the duration time exceeds a second threshold value;
if so, performing trigonometric function conversion on the data of the triaxial accelerometer, and calculating included angles between three axial directions of the triaxial accelerometer and an absolute coordinate system;
And when the included angle meets a preset condition, judging that the equipment to be tested has a falling event, finishing the falling detection process, counting the integral result of the acceleration vector sum of the three-axis accelerometer before, and judging the collision degree of the equipment to be tested.
Specifically, in step S103, as shown in fig. 4, when it is determined whether the acceleration vector sum is equal to the gravitational acceleration g and the duration exceeds the second threshold, a trigonometric function conversion is performed to calculate included angles between three axial directions and an absolute coordinate system, where the absolute coordinate system uses the earth as a reference system and the gravitational direction is the Z-axis direction; if the included angles of the three axial directions and the absolute coordinate system meet preset judgment conditions, judging that the equipment to be detected has a falling event, and ending the falling detection process, if not, continuously repeating the steps; and finally, according to the maximum V value counted before, wherein V represents the speed variation in a period of time, the larger the speed before collision is, the larger the required reverse deceleration is, so that the collision degree of the equipment is judged, and the collision damage condition is analyzed.
In this embodiment, the second threshold is set to 200 milliseconds.
In a specific embodiment, when the included angles between the X and Y axes of the device under test and the horizontal plane are less than a certain degree, it is determined as a falling event, as shown in fig. 5, and in view of the housing mechanism, it is almost impossible to stand when falling, in this embodiment, when the included angles between the X and Y axes and the absolute coordinate system are less than 30 degrees, respectively, it is determined as a basis for determining the stop of falling.
The embodiment provides a fall detection method based on a triaxial accelerometer, which comprises the following steps: reading acceleration values of the equipment to be detected in three axial directions through a three-axis accelerometer, and when judging that preset falling detection conditions are met, starting falling detection on the equipment to be detected; counting data of the triaxial accelerometer in the falling detection process in real time, and performing collision detection on the equipment to be detected; and when a preset falling stop condition is triggered, ending the falling detection process, counting the falling times of the equipment to be detected and analyzing the collision degree.
Compared with the prior art, the collision analysis is not carried out by only capturing the first collision event, but the whole falling process of the equipment is focused, the data of the whole falling process is recorded, the falling event is captured more accurately, the rigorous falling event is used as the judgment basis, the falling event is captured more accurately, the detection precision of the falling event is improved, the misjudgment rate is reduced, the collision damage condition can be analyzed accurately, and the damage degree is evaluated, so that the follow-up user is reminded to send the service or the maintenance personnel for analysis.
Second embodiment of the invention:
please refer to fig. 6.
As shown in fig. 6, the present embodiment provides a fall detection device based on a triaxial accelerometer, including:
and the falling detection trigger module 100 is used for reading three axial acceleration values of the equipment to be detected through the triaxial accelerometer, and when the preset falling detection condition is reached, the equipment to be detected starts to fall for detection.
Specifically, for the drop detection triggering module 100, three axial acceleration values are read from the triaxial accelerometer, when the acceleration is 0, it indicates that the device to be detected is in a free-fall state, and when the free-fall exceeds a first threshold value, a drop detection event is triggered; if the accelerations in the three axial directions are not all 0, the fall detection is not triggered. Wherein the initial velocity is defined as 0, the gravity acceleration g (9.8 m/S2), the time t (S), the displacement distance S (m) of the object in the velocity direction in the time period t, and the first threshold is defined as 200 ms. The relationship between them is S ═ (1/2) × g ^ t ^ 2.
And the falling detection module 200 is used for counting the data of the triaxial accelerometer in the falling detection process in real time and carrying out collision detection on the equipment to be detected.
Specifically, for the fall detection module 200, it is determined whether the sum of acceleration vectors of the three-axis accelerometer is greater than the gravity acceleration g, and if so, it is determined that the device under test is collided; and integrating the current acceleration vector sum until the current acceleration vector sum is equal to the gravity acceleration g, obtaining V (representing the speed variation in a period of time), and determining whether the triaxial data of the current acceleration after the fall collision is 0 again when the fall collision occurs, wherein the triaxial data of the current acceleration after the integration is 0 again, and the triaxial data of the acceleration are 0 when the object is not acted by any external force. During the free falling or bounce and flight, no external force is applied, so that the three-axis data of the acceleration is 0. Therefore, if the triaxial data of the acceleration is 0 again at this time, it indicates that the device is in the process of being bounced, and the above steps need to be repeatedly executed to perform collision detection. The embodiment records the data of the whole falling process by focusing on the whole falling process, not only records the collision times of the equipment, but also only captures the first collision, and analyzes the collision degree by recording the speed variation of the equipment.
The falling detection stopping module 300 is used for ending the falling detection process when triggering a preset falling stopping condition, counting the falling times of the equipment to be detected and analyzing the collision degree.
Specifically, for the fall detection stopping module 300, when it is determined whether the acceleration vector sum is equal to the gravitational acceleration g and the duration exceeds the second threshold, trigonometric function conversion is performed to calculate the included angles between the three axial directions and an absolute coordinate system, wherein the absolute coordinate system takes the earth as a reference system, and the gravitational direction is the Z-axis direction; if the included angles of the three axial directions and the absolute coordinate system meet preset judgment conditions, judging that the equipment to be detected has a falling event, and ending the falling detection process, if not, continuously repeating the steps; and finally, according to the maximum V value counted before, wherein V represents the speed variation in a period of time, the larger the speed before collision is, the larger the required reverse deceleration is, so that the collision degree of the equipment is judged, and the collision damage condition is analyzed.
In a preferred embodiment, the preset fall detection condition specifically includes:
the acceleration of three axial directions of the triaxial accelerometer of the equipment to be tested is 0, and the duration time exceeds a first threshold value.
In this embodiment, the first threshold is set to 200 milliseconds.
In a preferred embodiment, the drop detection module 200 specifically includes:
when the data of the three axial directions of the three-axis accelerometer are detected to be not 0 and the sum of the acceleration vectors of the three axial directions is greater than the gravity acceleration, judging that a collision event occurs;
integrating the current acceleration vector sum of the triaxial accelerometer until the current acceleration vector sum is equal to the gravity acceleration, and recording the integration result of the acceleration vector sum;
detecting whether the data of the three axial directions of the three-axis accelerometer are 0 again;
if yes, judging that the equipment to be tested is in the bouncing process, and repeatedly executing the steps.
In a preferred embodiment, the fall detection stopping module 300 specifically includes:
detecting whether the sum of acceleration vectors of three axial directions of the triaxial accelerometer is equal to the gravity acceleration and the duration time exceeds a second threshold value;
if so, performing trigonometric function conversion on the data of the triaxial accelerometer, and calculating included angles between three axial directions of the triaxial accelerometer and an absolute coordinate system;
and when the included angle meets a preset condition, judging that the equipment to be tested has a falling event, finishing the falling detection process, counting the integral result of the acceleration vector sum of the three-axis accelerometer before, and judging the collision degree of the equipment to be tested.
The embodiment provides a fall detection device based on triaxial accelerometer, includes: the falling detection triggering module 100 is used for reading three axial acceleration values of the equipment to be detected through the triaxial accelerometer, and when the equipment to be detected is judged to reach a preset falling detection condition, starting falling detection on the equipment to be detected; the falling detection module 200 is used for counting data of the triaxial accelerometer in a falling detection process in real time and performing collision detection on the equipment to be detected; the falling detection stopping module 300 is used for ending the falling detection process when triggering a preset falling stopping condition, counting the falling times of the equipment to be detected and analyzing the collision degree.
The embodiment can focus on the whole falling process of the equipment, record the data of the whole falling process, can more accurately capture the falling event, takes the rigorous falling event as the judgment basis, more accurately captures the falling event, improves the detection precision of the falling event, reduces the misjudgment rate, and can accurately analyze the collision damage condition.
An embodiment of the present invention further provides a terminal device for drop detection based on a triaxial accelerometer, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the processor implements the drop detection method based on a triaxial accelerometer as described above.
An embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute the fall detection method based on a three-axis accelerometer.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the modules may be a logical division, and in actual implementation, there may be another division, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The foregoing is directed to the preferred embodiment of the present invention, and it is understood that various changes and modifications may be made by one skilled in the art without departing from the spirit of the invention, and it is intended that such changes and modifications be considered as within the scope of the invention.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Claims (6)
1. A falling detection method based on a triaxial accelerometer is characterized by at least comprising the following steps:
reading three axial acceleration values of the equipment to be detected through a three-axis accelerometer, and when the equipment to be detected is judged to reach a preset falling detection condition, starting falling detection on the equipment to be detected;
the data of the triaxial accelerometer in the falling detection process is counted in real time, and the equipment to be detected is subjected to collision detection, and the method specifically comprises the following steps: when the data of the three axial directions of the three-axis accelerometer are detected to be not 0 and the sum of the acceleration vectors of the three axial directions is greater than the gravity acceleration, judging that a collision event occurs; integrating the current acceleration vector sum of the triaxial accelerometer until the current acceleration vector sum is equal to the gravity acceleration, and recording the integration result of the acceleration vector sum; detecting whether the data of the three axial directions of the three-axis accelerometer are 0 again; if yes, judging that the equipment to be tested is in a bouncing process, and repeatedly executing the steps;
when triggering the preset fall stop condition, ending the fall detection process, counting the fall times of the equipment to be detected and analyzing the collision degree, specifically: detecting whether the sum of acceleration vectors of three axial directions of the triaxial accelerometer is equal to the gravity acceleration and the duration time exceeds a second threshold value;
If so, performing trigonometric function conversion on the data of the triaxial accelerometer, and calculating included angles between three axial directions of the triaxial accelerometer and an absolute coordinate system;
and when the included angle meets a preset condition, judging that the equipment to be tested has a falling event, finishing the falling detection process, counting the integral result of the acceleration vector sum of the three-axis accelerometer before, and judging the collision degree of the equipment to be tested.
2. The method for detecting a drop based on a triaxial accelerometer according to claim 1, wherein the preset drop detection condition specifically includes:
the acceleration of three axial directions of the triaxial accelerometer of the equipment to be tested is 0, and the duration time exceeds a first threshold value.
3. A fall detection device based on a triaxial accelerometer, comprising:
the device comprises a falling detection triggering module, a falling detection detecting module and a falling detection detecting module, wherein the falling detection triggering module is used for reading three axial acceleration values of the device to be detected through a three-axis accelerometer, and when the device to be detected is judged to reach a preset falling detection condition, the falling detection is started on the device to be detected;
the falling detection module is used for counting data of the triaxial accelerometer in a falling detection process in real time and carrying out collision detection on the equipment to be detected;
The falling detection module specifically comprises:
when the data of the three axial directions of the three-axis accelerometer are detected to be not 0 and the sum of the acceleration vectors of the three axial directions is greater than the gravity acceleration, judging that a collision event occurs; integrating the current acceleration vector sum of the triaxial accelerometer until the current acceleration vector sum is equal to the gravity acceleration, and recording the integration result of the acceleration vector sum; detecting whether the data of the three axial directions of the three-axis accelerometer are 0 again; if yes, judging that the equipment to be tested is in the bouncing process, and repeatedly executing the steps
The falling detection stopping module is used for finishing the falling detection process when a preset falling stopping condition is triggered, counting the falling times of the equipment to be detected and analyzing the collision degree;
the fall detection stopping module specifically comprises:
detecting whether the sum of acceleration vectors of three axial directions of the triaxial accelerometer is equal to the gravity acceleration and the duration time exceeds a second threshold value; if so, performing trigonometric function conversion on the data of the triaxial accelerometer, and calculating included angles between three axial directions of the triaxial accelerometer and an absolute coordinate system; and when the included angle meets a preset condition, judging that the equipment to be tested has a falling event, finishing the falling detection process, counting the integral result of the acceleration vector sum of the three-axis accelerometer before, and judging the collision degree of the equipment to be tested.
4. The triaxial accelerometer-based fall detection device of claim 3, wherein the preset fall detection conditions specifically include:
the acceleration of three axial directions of the triaxial accelerometer of the equipment to be tested is 0, and the duration time exceeds a first threshold value.
5. A triaxial accelerometer-based fall detection terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the triaxial accelerometer-based fall detection method according to any one of claims 1 to 2 when executing the computer program.
6. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform a method for fall detection based on a three-axis accelerometer according to any one of claims 1-2.
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| JP4168407B2 (en) * | 2005-08-05 | 2008-10-22 | 日立金属株式会社 | Fall detection device |
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