CN112014850A - Method for judging read-write state based on laser ranging sensor and mobile device - Google Patents

Method for judging read-write state based on laser ranging sensor and mobile device Download PDF

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CN112014850A
CN112014850A CN202011141917.5A CN202011141917A CN112014850A CN 112014850 A CN112014850 A CN 112014850A CN 202011141917 A CN202011141917 A CN 202011141917A CN 112014850 A CN112014850 A CN 112014850A
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posture
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laser ranging
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CN112014850B (en
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鄢家厚
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Sichuan Shuzheng Intelligent Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • G—PHYSICS
    • G04—HOROLOGY
    • G04G—ELECTRONIC TIME-PIECES
    • G04G21/00—Input or output devices integrated in time-pieces
    • G04G21/02—Detectors of external physical values, e.g. temperature

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Abstract

The invention provides a method for judging a read-write state based on a laser ranging sensor and mobile equipment, belonging to the technical field of attitude detection, wherein the method comprises the following steps: detecting the posture by using an acceleration sensor and a gyroscope in the intelligent watch, and determining whether a human body wearing the intelligent watch enters a read-write state; when the fact that a human body wearing the intelligent watch enters a read-write state is determined, when the fact that the human body is in the read-write state is detected through a laser ranging sensor in the intelligent watch, the distance between the laser ranging sensor and the head and the chest of the human body is obtained, and distance data are obtained; detecting the arm posture of the human body entering a reading and writing state in real time by using an acceleration sensor and a gyroscope, and determining the sitting posture of the human body after entering the reading and writing state according to the arm posture; and determining whether the reading and writing posture of the human body wearing the intelligent watch is standard or not by using the distance data and the sitting posture, and if the judgment result is not standard, carrying out vibration prompt.

Description

Method for judging read-write state based on laser ranging sensor and mobile device
Technical Field
The invention provides a method for judging a read-write state based on a laser ranging sensor and mobile equipment, and belongs to the technical field of attitude detection.
Background
70-90% of the information obtained by humans is derived from the visual system, and it is statistically more than ninety percent of children who watch poor quality video for long periods of time that leads to premature myopia. The attention on children and teenagers is also concerned about the development of the future society. The importance of the eyesight protection of children and teenagers is urgent in the present day and in the autumn. The myopia problem of teenagers causes high attention of people who know in the whole society. The annual rise of the incidence rate of myopia of students is a worldwide problem, and Asia is the highest incidence rate of myopia. According to statistics: the total number of myopia people in China exceeds 3 hundred million people, which is 1/3 of the total number of myopia people in the world, and the number of myopia people of teenagers is the first in the world. In China, the phenomenon that the myopia rate of students rises year by year is quite obvious, the myopia rate almost increases at the speed of 10% per year, the first, second and third grade of the cities are respectively about 50%, 60% and 70%, the myopia rate of high examinees is over 80% in many places, and the myopia rate of some places is over 90%.
Disclosure of Invention
The invention provides a method for judging a read-write state based on a laser ranging sensor and mobile equipment, which are used for solving the problem that the existing intelligent watch has low accuracy in detecting the posture of a child, and adopt the following technical scheme:
the invention provides a method for judging a read-write state based on a laser ranging sensor, which comprises the following steps:
detecting the posture by using an acceleration sensor and a gyroscope in the intelligent watch, and determining whether a human body wearing the intelligent watch enters a read-write state;
when the fact that a human body wearing the intelligent watch enters a read-write state is determined, when the fact that the human body is in the read-write state is detected through a laser ranging sensor in the intelligent watch, the distance between the laser ranging sensor and the head and the chest of the human body is obtained, and distance data are obtained;
detecting the arm posture of the human body entering a reading and writing state in real time by using an acceleration sensor and a gyroscope, and determining the sitting posture of the human body after entering the reading and writing state according to the arm posture;
and determining whether the reading and writing posture of the human body wearing the intelligent watch is standard or not by using the distance data and the sitting posture, and if the judgment result is not standard, carrying out vibration prompt.
Further, the method for determining whether a human body wearing the smart watch enters a read-write state by detecting the gesture through an acceleration sensor and a gyroscope in the smart watch includes:
detecting the gesture by using an acceleration sensor and a gyroscope, and acquiring gesture data of wearing the intelligent watch;
judging whether the arm posture wearing the intelligent watch is horizontally placed on a desktop or not according to the triaxial acceleration value obtained by the acceleration sensor and the gyroscope value obtained by the gyroscope; wherein the three-axis acceleration values and the gyroscope values are attitude data;
and judging the displacement state of the arm according to a preset data acquisition time interval, and judging whether the human body wearing the smart watch enters a read-write state or not according to the displacement state.
Further, when utilizing the laser range finding sensor in the intelligent wrist-watch to detect that the human body is in the reading and writing state, the distance between the head of laser range finding sensor and human body and the chest obtains distance data, includes:
the laser ranging sensor is started and emits laser, and meanwhile, the laser ranging sensor starts timing;
the laser irradiates the head and the chest of the human body and then is reflected, and the reflected laser is transmitted to a receiving head of the laser ranging sensor;
when a receiving head of the laser ranging sensor receives reflected laser, the laser ranging sensor stops timing;
the distance between the intelligent watch and the head and the chest of the human body is obtained by measuring the distance between the laser ranging sensor and the laser ranging sensor through the time difference and the light speed of the laser emitted to and reflected in the air.
Further, the laser ranging sensor monitors and detects the abnormal ranging condition in real time, and comprises:
when the measuring distance of any one laser ranging sensor does not exceed 1cm, judging that the laser ranging sensor is shielded;
when the distance measured by the two laser ranging sensors does not exceed 1cm, the sensors are judged to be shielded by shielding objects, data are detected by combining the acceleration sensor and the gyroscope, and if the human body is in a reading and writing posture at the moment, the vibration function of the intelligent watch is started to vibrate the human body for reminding.
Furthermore, the sitting postures comprise a sitting posture correction type, a countersunk head reading and writing type, a hand-supporting cheek reading and writing type and a lying-on table sleeping type.
Further, the method for detecting the arm posture of the human body entering the reading and writing state in real time by utilizing the acceleration sensor and the gyroscope and determining the sitting posture of the human body after entering the reading and writing state according to the arm posture comprises the following steps:
acquiring attitude data by using a gyroscope five times continuously according to a preset acquisition time interval;
detecting that an included angle between the X direction and the horizontal direction of an arm of a human body wearing the smart watch is +/-20 degrees, an included angle between the Y direction and the horizontal direction is-10-90 degrees, and meanwhile, judging that the arm is in a sitting posture when the distance between the arm and the chest of the human body is 30-45 cm; when the included angle between the Y direction and the horizontal direction is-10-45 degrees, a laser ranging sensor right above a display screen of the intelligent watch is adopted for distance measurement, otherwise, another laser ranging sensor is adopted for distance measurement, and the distance between the arm and the head and the chest during reading and writing and the current light intensity are recorded;
detecting that an included angle between the X direction and the horizontal direction of an arm of a human body wearing the smart watch is within a range of +/-20 degrees and an included angle between the Y direction and the horizontal direction is within a range of-10 degrees to 90 degrees by using a gyroscope, and judging that the head-burying reading-writing posture is realized when the distance between the arm and the chest of the human body is less than 30cm and more than 10 cm; when the included angle between the Y direction and the horizontal direction is-10-45 degrees, a laser ranging sensor right above a display screen of the intelligent watch is adopted for distance measurement, otherwise, another laser ranging sensor is adopted for distance measurement, and the distance between the arm and the head and the chest during reading and writing and the current light intensity are recorded;
detecting that the included angle between the Y direction and the horizontal direction of an arm of a human body wearing the smart watch is +/-20 degrees and the included angle between the X direction and the horizontal direction is 70-100 degrees, meanwhile, the distance between the arm and the chest of the human body is less than 20cm, judging that the arm supports the cheek to read and write, and recording the distance between the arm and the head and the chest during reading and writing and the current light intensity;
the X direction and the horizontal included angle of the arm of the human body wearing the intelligent watch are detected by the gyroscope to be within a range of +/-20 degrees, the Y direction and the horizontal included angle are within a range of-10 degrees to 90 degrees, and meanwhile, when the distance between the arm and the chest of the human body is less than 10cm, the sleeping posture of the face-lying desktop is judged.
Further, the setting and adaptive adjustment process of the acquisition time comprises:
according to the data acquisition time interval, determining acquisition time through an acquisition time model, wherein the acquisition time model is as follows:
Figure 505917DEST_PATH_IMAGE001
wherein,tthe time of acquisition is indicated and indicated,Trepresenting the time interval between the data acquisitions,T i is shown asiThe judgment time for the next completion of the judgment of entering the read-write state,nindicating the number of times of completing the judgment of entering the read-write state;T max indicating completionnIn the determination of the secondary entering read-write state, the duration of the single determination isnThe time corresponding to the longest duration in the secondary judgment;T min indicating completionnIn the determination of the secondary entering read-write state, the duration of the single determination isnThe time corresponding to the shortest duration in the secondary judgment; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
Figure 842964DEST_PATH_IMAGE002
The time adjustment coefficient is represented by a time adjustment coefficient,
Figure 91543DEST_PATH_IMAGE002
the value range of (A) is 1.05-1.21;
when the posture of the human body is judged to be the sitting posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 955593DEST_PATH_IMAGE003
wherein,t 1representing the acquisition time when the posture of the human body wearing the smart watch is a sitting posture;
Figure 35545DEST_PATH_IMAGE004
represents a time adjustment coefficient when the posture of the human body wearing the smart watch is a normal sitting posture,
Figure 576116DEST_PATH_IMAGE004
the value range of (A) is 1.00-1.15; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
When the posture of the human body is judged to be a countersunk head read-write posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 311991DEST_PATH_IMAGE005
wherein,t 2representing the acquisition time when the posture of a human body wearing the smart watch is a countersunk head read-write posture;
Figure 714154DEST_PATH_IMAGE006
a time adjustment coefficient representing the posture of a human body wearing the smart watch as a countersunk read-write posture,
Figure 851874DEST_PATH_IMAGE006
the value range of (A) is 0.82-0.94; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
When the posture of the human body is judged to be the hand-support cheek reading-writing posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 110817DEST_PATH_IMAGE007
wherein,t 3representing the acquisition time when the posture of a human body wearing the smart watch is a hand-support cheek-read-write posture;
Figure 84720DEST_PATH_IMAGE008
the time adjustment coefficient is used for representing the posture of a human body wearing the intelligent watch as the read-write posture of a cheek support,
Figure 290574DEST_PATH_IMAGE008
the value range of (A) is 0.68-0.81; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
When the posture of the human body is judged to be the lying desktop sleeping posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 17221DEST_PATH_IMAGE009
wherein,t 4the method comprises the steps of representing acquisition time when the posture of a human body wearing the smart watch is a lying desktop sleeping posture;
Figure 915907DEST_PATH_IMAGE010
the time adjustment coefficient of the human body wearing the intelligent watch is shown when the human body is in a sleeping posture of lying on a table,
Figure 423112DEST_PATH_IMAGE010
the value range of (A) is 1.19-1.32; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min 。
A mobile device for judging a read-write state based on a laser ranging sensor is arranged in an intelligent watch and comprises a core processor, a 2G communication module, a power module, an accessory device, a first sensor group, a second sensor group and a vibrating motor; the communication control signal output end of the core processor is electrically connected with the communication control signal input end of the 2G communication module; the power supply end of the core processor is connected with the electric energy signal output end of the power supply module; the core processor is electrically connected with the accessory device; the sensing signal input end of the core processor is respectively connected with the sensing signal output ends of the first sensor group and the second sensor group; and the control signal output end of the vibration motor of the core processor is electrically connected with the control signal input end of the vibration motor.
Furthermore, the 2G communication module comprises a communication processor, a loudspeaker, a microphone, a sim card reading device and an antenna module; and the communication processor is respectively and correspondingly electrically connected with the loudspeaker, the microphone, the sim card reading device and each signal terminal of the antenna module.
Further, the sensor module comprises an acceleration sensor, a gyroscope and a distance measuring sensor; and the sensing signal output ends of the acceleration sensor, the gyroscope and the distance measuring sensor are connected with the sensing signal input end of the core processor.
The invention has the beneficial effects that:
according to the method for judging the read-write state based on the laser ranging sensor and the mobile device, the posture state of the intelligent watch wearer is detected through the acceleration sensor, the gyroscope and the laser ranging sensor, whether the wearer is in the reading or writing state can be effectively and rapidly detected, and the posture detection speed and the detection accuracy are improved. Simultaneously, wear children's head of a family and can also be according to the actual height condition of children's health, through head of a family end input and wear the gesture default when writing that children's health characteristics correspond, improve to different children individuality, the rationality and the accuracy of reading and writing posture correction.
On the other hand, the method for judging the read-write state based on the laser ranging sensor and the mobile equipment can perform self-adaptive adjustment of data acquisition time according to the posture of a child, the acquisition frequency of posture data is changed through the self-adaptive adjustment of the acquisition time, the energy consumption of the mobile equipment can be effectively reduced through different acquisition frequencies corresponding to different postures, meanwhile, the energy consumption of the mobile equipment and the timely effectiveness of posture detection can be effectively balanced according to the actual posture of the child, on the premise that the posture judgment with higher timeliness on the child is ensured, the service life of the mobile equipment after single charging is further prolonged, and the condition that the mobile equipment is out of power under the condition that the child reads and writes for a long time is effectively avoided.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a functional block diagram of a mobile device according to the present invention;
fig. 3 is a schematic view of the installation position of the laser ranging sensor according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention provides a method for judging a read-write state based on a laser ranging sensor and mobile equipment, which are used for solving the problem that the existing intelligent watch has low accuracy in detecting the posture of a child wearing the intelligent watch.
The invention provides a method for judging a read-write state based on a laser ranging sensor, which comprises the following steps of:
s1, detecting the posture by using an acceleration sensor and a gyroscope in the intelligent watch, and determining whether the human body wearing the intelligent watch enters a read-write state;
s2, when it is determined that the human body wearing the intelligent watch enters a read-write state, detecting the distance between the laser ranging sensor and the head and the chest of the human body by using the laser ranging sensor in the intelligent watch when the human body is in the read-write state, and obtaining distance data;
s3, detecting the arm posture of the human body entering the reading and writing state in real time by using the acceleration sensor and the gyroscope, and determining the sitting posture of the human body after entering the reading and writing state according to the arm posture;
and S4, determining whether the reading and writing postures of the human body wearing the intelligent watch are standard or not by using the distance data and the sitting posture, and if the judgment result is not standard, performing vibration prompt.
The working principle of the technical scheme is as follows: firstly, detecting the posture by using an acceleration sensor and a gyroscope in the intelligent watch, and determining whether a human body wearing the intelligent watch enters a read-write state; then, after the fact that the human body wearing the intelligent watch enters a read-write state is determined, when the fact that the human body is in the read-write state is detected through a laser ranging sensor in the intelligent watch, the distance between the laser ranging sensor and the head and the chest of the human body is obtained, and distance data are obtained; then, detecting the arm posture of the human body entering the reading and writing state in real time by using an acceleration sensor and a gyroscope, and determining the sitting posture of the human body after entering the reading and writing state according to the arm posture; and finally, determining whether the reading and writing posture of the human body wearing the intelligent watch is standard or not by using the distance data and the sitting posture, and if the judgment result is not standard, carrying out vibration prompt.
The effect of the above technical scheme is as follows: whether wear the detection of the posture data to the children of intelligent wrist-watch through acceleration sensor and gyroscope and whether quick judgement children get into the read-write state, then, detect intelligent wrist-watch person's of wearing posture state through acceleration sensor, gyroscope and laser range finding sensor, whether can effectively improve person of wearing and be in the timeliness and the speed that read or write the state detection to improve gesture detection speed and detection accuracy. Simultaneously, wear children's head of a family and can also be according to the actual height condition of children's health, through the button input of intelligent wrist-watch and wear the gesture default when writing that children's health characteristics correspond, improve to different children individuality, the rationality and the accuracy of reading and writing posture correction.
In an embodiment of the present invention, the determining whether a human body wearing the smart watch enters a read-write state by detecting an attitude using an acceleration sensor and a gyroscope in the smart watch includes:
s101, detecting the gesture by using an acceleration sensor and a gyroscope, and acquiring gesture data of wearing the smart watch;
s102, judging whether the arm posture wearing the smart watch is horizontally placed on a desktop or not according to the triaxial acceleration value obtained by the acceleration sensor and the gyroscope value obtained by the gyroscope; wherein the three-axis acceleration values and the gyroscope values are attitude data;
s103, judging the displacement state of the arm according to a preset data acquisition time interval, and judging whether the human body wearing the smart watch enters a read-write state or not according to the displacement state.
The working principle of the technical scheme is as follows: firstly, detecting the attitude by using an acceleration sensor and a gyroscope to obtain attitude data of wearing the smart watch; then, judging whether the arm posture wearing the smart watch is horizontally placed on a desktop or not according to the triaxial acceleration value obtained by the acceleration sensor and the gyroscope value obtained by the gyroscope; wherein the three-axis acceleration values and the gyroscope values are attitude data; and then, judging the displacement state of the arm according to a preset data acquisition time interval, and judging whether the human body wearing the smart watch enters a read-write state or not according to the displacement state.
The effect of the above technical scheme is as follows: whether wear the detection of the posture data to the children of intelligent wrist-watch through acceleration sensor and gyroscope and whether quick judgement children get into the read-write state, whether can be effectively quick detect out the person of wearing and be in reading or write the state, simultaneously, improve gesture detection speed and detection accuracy.
In an embodiment of the present invention, when a laser ranging sensor in an intelligent watch is used to detect a distance between the laser ranging sensor and a head and a chest of a human body in a read-write state, distance data is obtained, including:
s201, starting the laser ranging sensor and emitting laser, and starting timing by the laser ranging sensor;
s202, reflecting the laser after irradiating the head and the chest of the human body, and transmitting the reflected laser to a receiving head of the laser ranging sensor;
s203, when the receiving head of the laser ranging sensor receives the reflected laser, the laser ranging sensor stops timing;
and S204, the distance between the intelligent watch and the head and the chest of the human body is obtained by measuring the distance of the laser ranging sensor through the time difference and the light speed of the laser emitted, reflected and reflected in the air by the laser ranging sensor.
The working principle of the technical scheme is as follows: in this embodiment, set up two laser rangefinder sensors, confirm according to the inclination of intelligence wrist-watch which laser rangefinder sensor of start carries out distance measurement, and every laser rangefinder sensor carries out distance measurement's process and includes:
firstly, starting and emitting laser by the laser ranging sensor, and starting timing by the laser ranging sensor; then, the laser irradiates the head and the chest of the human body and then is reflected, and the reflected laser is transmitted to a receiving head of the laser ranging sensor; then, when the receiving head of the laser ranging sensor receives the reflected laser, the laser ranging sensor stops timing; and finally, the distance between the intelligent watch and the head and the chest of the human body is measured by the laser ranging sensor through the time difference of the laser emitted to the air and reflected and the light speed.
Wherein, the distance formula is: distance = speed of light x laser flight time.
The effect of the above technical scheme is as follows: because children often have after getting into the reading and writing state that move and posture change speed is very fast, the great condition of range takes place, consequently, under the too big condition that leads to corresponding laser range sensor to produce the measuring error increase easily of intelligence wrist-watch inclination, change the mode of replacing the start-up according to the change of intelligence wrist-watch inclination through two laser range sensor, can effectively improve the accuracy of distance measurement between intelligence wrist-watch and children's head and the chest. The distance measurement error caused by the problem of excessive movement of children is greatly reduced.
In an embodiment of the present invention, the laser ranging sensor monitors and detects a ranging anomaly in real time, including:
when the measuring distance of any one laser ranging sensor does not exceed 1cm, judging that the laser ranging sensor is shielded;
when the distance measured by the two laser ranging sensors does not exceed 1cm, the sensors are judged to be shielded by shielding objects, data are detected by combining the acceleration sensor and the gyroscope, and if the human body is in a reading and writing posture at the moment, the vibration function of the intelligent watch is started to vibrate the human body for reminding.
The working principle of the technical scheme is as follows: the method comprises the steps of monitoring whether a laser ranging sensor is shielded by objects such as cuffs or the like in real time through the combination of a measuring distance fed back by the laser ranging sensor and a preset distance threshold value (namely 1 cm).
The effect of the above technical scheme is as follows: the detection speed and the efficiency of the abnormal shielding object of the laser ranging sensor are effectively improved, and the problem that the distance measurement error is increased or the sitting posture of the child cannot be effectively measured due to the fact that the laser ranging sensor is shielded is prevented.
In one embodiment of the invention, the sitting postures comprise a sitting posture of a sitting posture, a reading and writing posture of a countersunk head, a reading and writing posture of a cheek supported by hands and a sleeping posture of a lying desk.
The method comprises the following steps of utilizing an acceleration sensor and a gyroscope to detect the arm posture of a human body entering a reading and writing state in real time, and determining the sitting posture of the human body after entering the reading and writing state according to the arm posture, wherein the method comprises the following steps:
step 1, acquiring attitude data by using a gyroscope for five times continuously according to a preset acquisition time interval;
step 2, detecting that an included angle between the X direction and the horizontal direction of an arm of a human body wearing the smart watch is +/-20 degrees, an included angle between the Y direction and the horizontal direction is-10-90 degrees, and judging that the arm is in a sitting posture when the distance between the arm and the chest of the human body is 30-45 cm; when the included angle between the Y direction and the horizontal direction is-10-45 degrees, a laser ranging sensor right above a display screen of the intelligent watch is adopted for distance measurement, otherwise, another laser ranging sensor is adopted for distance measurement, and the distance between the arm and the head and the chest during reading and writing and the current light intensity are recorded;
step 3, detecting that an included angle between the X direction and the horizontal direction of an arm of a human body wearing the smart watch is +/-20 degrees and an included angle between the Y direction and the horizontal direction is-10-90 degrees, and judging that the head-burying reading-writing posture is achieved when the distance between the arm and the chest of the human body is smaller than 30cm and larger than 10 cm; when the included angle between the Y direction and the horizontal direction is-10-45 degrees, a laser ranging sensor right above a display screen of the intelligent watch is adopted for distance measurement, otherwise, another laser ranging sensor is adopted for distance measurement, and the distance between the arm and the head and the chest during reading and writing and the current light intensity are recorded;
step 4, detecting that an included angle between the Y direction and the horizontal direction of an arm of a human body wearing the smart watch is +/-20 degrees and an included angle between the X direction and the horizontal direction is 70-100 degrees by using a gyroscope, meanwhile, judging that the arm is in a hand-support cheek reading-writing posture when the distance between the arm and the chest of the human body is less than 20cm, and recording the distance between the arm and the head and the chest and the current light intensity during reading and writing;
and 5, detecting that the included angle between the X direction and the horizontal direction of the arm of the human body wearing the intelligent watch is +/-20 degrees and the included angle between the Y direction and the horizontal direction is-10-90 degrees, and judging that the lying-on desktop sleeping posture is achieved when the distance between the arm and the chest of the human body is less than 10 cm.
The working principle of the technical scheme is as follows: the specific reading and writing postures of the children after entering the reading and writing states are judged by combining preset angle numerical value ranges of the arms in the X direction and the Y direction and preset distance values of the arms from the chest of the human body and posture data detection implemented by the gyroscope. Wherein, the judgement of distance data can be detected and is acquireed through the mode that sets up range finding sensors such as laser range finding sensor in intelligent wrist-watch inside.
The effect of the above technical scheme is as follows: according to the setting of the specific preset value range of each posture, the specific posture of the child after entering the reading and writing states can be judged quickly and accurately, the accuracy and the timeliness of the specific posture detection and identification of the child during writing and reading are further effectively improved, and the error rate of the identification and judgment of the posture of the child is effectively reduced under the conditions that the child moves too much during reading and writing and the posture changes too much and quickly.
In an embodiment of the present invention, the setting and adaptive adjusting process of the acquisition time includes:
according to the data acquisition time interval, determining acquisition time through an acquisition time model, wherein the acquisition time model is as follows:
Figure 416345DEST_PATH_IMAGE001
wherein,tthe time of acquisition is indicated and indicated,Trepresenting the time interval between the data acquisitions,T i is shown asiThe judgment time for the next completion of the judgment of entering the read-write state,nindicating the number of times of completing the judgment of entering the read-write state;T max indicating completionnIn the determination of the secondary entering read-write state, the duration of the single determination isnThe time corresponding to the longest duration in the secondary judgment;T min indicating completionnIn the determination of the secondary entering read-write state, the duration of the single determination isnThe time corresponding to the shortest duration in the secondary judgment; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
Figure 263078DEST_PATH_IMAGE002
The time adjustment coefficient is represented by a time adjustment coefficient,
Figure 863824DEST_PATH_IMAGE002
the value range of (A) is 1.05-1.21;
when the posture of the human body is judged to be the sitting posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 61587DEST_PATH_IMAGE003
wherein,t 1representing the acquisition time when the posture of the human body wearing the smart watch is a sitting posture;
Figure 343663DEST_PATH_IMAGE004
represents a time adjustment coefficient when the posture of the human body wearing the smart watch is a normal sitting posture,
Figure 107220DEST_PATH_IMAGE004
the value range of (A) is 1.00-1.15; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
When the posture of the human body is judged to be a countersunk head read-write posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 89652DEST_PATH_IMAGE005
wherein,t 2representing the acquisition time when the posture of a human body wearing the smart watch is a countersunk head read-write posture;
Figure 243553DEST_PATH_IMAGE006
a time adjustment coefficient representing the posture of a human body wearing the smart watch as a countersunk read-write posture,
Figure 594900DEST_PATH_IMAGE006
the value range of (A) is 0.82-0.94; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
When the posture of the human body is judged to be the hand-support cheek reading-writing posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 212963DEST_PATH_IMAGE007
wherein,t 3representing the acquisition time when the posture of a human body wearing the smart watch is a hand-support cheek-read-write posture;
Figure 358773DEST_PATH_IMAGE008
the time adjustment coefficient is used for representing the posture of a human body wearing the intelligent watch as the read-write posture of a cheek support,
Figure 514817DEST_PATH_IMAGE008
the value range of (A) is 0.68-0.81; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
When the posture of the human body is judged to be the lying desktop sleeping posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 201013DEST_PATH_IMAGE009
wherein,t 4the method comprises the steps of representing acquisition time when the posture of a human body wearing the smart watch is a lying desktop sleeping posture;
Figure 876845DEST_PATH_IMAGE010
the time adjustment coefficient of the human body wearing the intelligent watch is shown when the human body is in a sleeping posture of lying on a table,
Figure 459136DEST_PATH_IMAGE010
the value range of (A) is 1.19-1.32; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min 。
The working principle of the technical scheme is as follows: firstly, the initial acquisition time during specific gesture recognition is acquired by utilizing the preset data acquisition time interval for judging whether the child wearing the smart watch enters a reading and writing state. And then, according to the specific posture of the child worn by the intelligent watch, the acquisition time of the posture data of the child is adaptively adjusted by combining with an adaptive adjustment model. Wherein, the abovet、t 1、t 2、t 3Andt 4the adaptive adjustment formula of (a) determines a value corresponding to the acquisition time of each attitude, thet、t 1、t 2、t 3Andt 4the time unit of (a) is seconds.
The effect of the above technical scheme is as follows: carry out the self-adaptation adjustment of data acquisition time according to the gesture of wearing children, the acquisition frequency of the self-adaptation adjustment change gesture data through acquisition time, the different acquisition frequency that corresponds through different gestures can effectively reduce mobile terminal's energy resource consumption, and simultaneously, can be according to children's actual gesture, effectively balance mobile terminal energy consumption and the timely validity of gesture detection, it is more to get into to read and write the multi-action and the gesture change after the state to children, the faster problem, under the prerequisite of the gesture judgement that the assurance was higher to wearing children, further improve mobile terminal's single charge after the length of time of use, effectively avoid reading and writing the condition for a long time at children, mobile terminal does not have the electric condition.
One embodiment of the present invention provides a mobile device for determining a read-write state based on a laser ranging sensor, as shown in fig. 2, the mobile device is disposed inside an intelligent watch, and includes a core processor, a 2G communication module, a power module, an accessory device, a first sensor group, a second sensor group, and a vibration motor; the communication control signal output end of the core processor is electrically connected with the communication control signal input end of the 2G communication module; the power supply end of the core processor is connected with the electric energy signal output end of the power supply module; an accessory control signal output end of the core processor is electrically connected with a control signal input end of the accessory device; the sensing signal input end of the core processor is respectively connected with the sensing signal output ends of the first sensor group and the second sensor group; and the control signal output end of the vibration motor of the core processor is electrically connected with the control signal input end of the vibration motor.
Wherein the accessory device comprises a key and a display screen; the control signal input end of the key is connected with the key control signal output end of the core processor; the display signal input end of the display screen is connected with the display control signal output end of the core processor; the control signal input end of the key and the display signal input end of the display screen are the control signal input ends of the accessory device; the key control signal output end and the display control signal output end of the core processor are accessory control signal output ends of the core processor.
The first sensor group comprises an acceleration sensor, a gyroscope and a brightness sensor; and the sensing signal output ends of the acceleration sensor, the gyroscope and the brightness sensor are the sensing signal output ends of the first sensor group. The second sensor group comprises a first laser ranging sensor and a second laser ranging sensor; and the sensing signal output ends of the first laser ranging sensor and the second laser ranging sensor are the sensing signal output ends of the second sensor group.
As shown in fig. 3, the first laser ranging sensor and the second laser ranging sensor are fixedly installed on the installation surface of the smart watch with the display screen, and the first laser ranging sensor and the second laser ranging sensor are respectively installed on two sides of the display screen.
The mobile device that this embodiment provided gathers the posture data of the children who wears intelligent wrist-watch through acceleration sensor and the gyroscope in the first sensor group in real time, core processor passes through the posture data and confirms whether to wear children and reads and write the state, then, after judging children and get into the reading and writing state, through two laser ranging sensor in the second sensor group and combine acceleration sensor, gyroscope real time monitoring get into the children's after reading and writing the state concrete reading and writing posture, and simultaneously, utilize luminance sensor real-time supervision current learning environment's luminance information, when the reading and writing posture of the children who wears intelligent wrist-watch is not standard, can influence when eyesight, carry out vibration suggestion through shock dynamo to show through the display screen and show vibrations and remind content.
The first laser ranging sensor and the second laser ranging sensor perform ranging abnormal condition determination, and the preset distance threshold is as follows: l is0=1cm, wherein L0And indicating a preset distance threshold corresponding to the abnormal ranging condition. The principle of judging the abnormal ranging condition by utilizing the preset distance threshold value is as follows:
when the measuring distance of any one laser ranging sensor does not exceed 1cm, judging that the laser ranging sensor is shielded;
when the distance measured by the two laser ranging sensors does not exceed 1cm, the sensors are judged to be shielded by shielding objects, data are detected by combining the acceleration sensor and the gyroscope, and if the human body is in a reading and writing posture at the moment, the vibration function of the intelligent watch is started to vibrate the human body for reminding.
Meanwhile, the first laser ranging sensor and the second laser ranging sensor are communicated with the core processor through IIC interfaces.
The mobile device can detect the sitting posture, the countersunk head reading and writing posture, the hand-support cheek reading and writing posture and the lying-on desktop sleeping posture of the child by means of the standardized preset posture parameters and the comparison value between the posture parameters of the child wearing monitored by the first sensor group and the second sensor group in real time. Wherein, the standardized range of each preset parameter is as follows:
the standard range of each preset parameter of the sitting posture is as follows:
the X direction of the arm of the human body wearing the intelligent watch and the horizontal included angle are within +/-20 degrees;
the Y direction of the arm of the human body wearing the smart watch has an included angle of-10 degrees to 90 degrees with the horizontal direction;
the distance between the arm and the chest of the human body is 30-45 cm.
The standardized range of each preset parameter of the countersunk head read-write posture is as follows:
the X direction of the arm of the human body wearing the intelligent watch and the horizontal included angle are within +/-20 degrees;
the Y direction of the arm of the human body wearing the smart watch has an included angle of-10 degrees to 90 degrees with the horizontal direction;
the distance between the arm and the chest of the human body is less than 30cm and more than 10 cm.
The standardization range of each preset parameter of the hand-support cheek read-write posture is as follows:
the Y direction of the arm of the human body wearing the intelligent watch forms an included angle of +/-20 degrees with the horizontal direction;
the X direction of the arm of the human body wearing the intelligent watch forms an included angle of 70-100 degrees with the horizontal direction,
the distance between the arm and the chest of the human body is less than 20 cm.
The standardized range of each preset parameter of the sleeping type posture of the lying-on desktop is as follows:
the X direction of the arm of the human body wearing the intelligent watch and the horizontal included angle are within +/-20 degrees;
the Y direction of the arm of the human body wearing the smart watch has an included angle of-10 degrees to 90 degrees with the horizontal direction;
and when the distance between the arm and the chest of the human body is less than 10cm, determining that the user sleeps on the table top.
In addition, the 2G communication module of the mobile equipment comprises a 2G communication processor, a loudspeaker, a microphone, a sim card reading device and an antenna module; and the 2G communication processor is respectively and correspondingly electrically connected with the loudspeaker, the microphone, the sim card reading device and each signal end of the antenna module. The power supply module comprises a power supply management device, a battery and a USB interface; the power management device is electrically connected with the battery, and the power management device is electrically connected with the USB interface. The power supply control signal input end of the power supply management device is connected with the power supply control signal output end of the core processor; and the power supply control signal input end of the power supply management device is a signal end for electrically connecting the core processor and the power supply module. And the mobile equipment performs data transmission with the server side through the 2G communication module by using an MQTT protocol. The core processor adopts MUC series chips.
The mobile device that this embodiment provided judges reading and writing state based on laser rangefinder sensor passes through acceleration sensor and gyroscope and confirms the gesture of the children who wears intelligent wrist-watch, judges whether children need to get into reading and writing state according to the gesture, then, utilizes acceleration sensor, gyroscope and laser rangefinder sensor to the detection of intelligent wrist-watch person's posture state, can be effectively quick detect out whether the person of wearing is in reading or writing state, improves gesture detection speed and detection accuracy. Simultaneously, wear children's head of a family and can also be according to the actual height condition of children's health, through head of a family end input and wear the gesture default when writing that children's health characteristics correspond, improve to different children individuality, the rationality and the accuracy of reading and writing posture correction. The parent end refers to a terminal device held by a parent, and the parent end is in real-time data transmission butt joint with the mobile device. The mobile device transmits detected posture data to the parent end in real time through data transmission, parents can check the read-write state and the posture of children wearing the smart watch in real time through the parent end, and the child posture standard parameters are input and set through the parent end.
On the other hand, the method for judging the read-write state by combining the acceleration sensor and the mobile equipment can perform self-adaptive adjustment of data acquisition time according to the posture of a child, change the acquisition frequency of posture data through the self-adaptive adjustment of the acquisition time, effectively reduce the energy consumption of the mobile equipment through different acquisition frequencies corresponding to different postures, and simultaneously effectively balance the energy consumption of the mobile equipment and the timely effectiveness of posture detection according to the actual posture of the child.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A method for judging a read-write state based on a laser ranging sensor is characterized by comprising the following steps:
detecting the posture by using an acceleration sensor and a gyroscope in the intelligent watch, and determining whether a human body wearing the intelligent watch enters a read-write state;
when the fact that a human body wearing the intelligent watch enters a read-write state is determined, when the fact that the human body is in the read-write state is detected through a laser ranging sensor in the intelligent watch, the distance between the laser ranging sensor and the head and the chest of the human body is obtained, and distance data are obtained;
detecting the arm posture of the human body entering a reading and writing state in real time by using an acceleration sensor and a gyroscope, and determining the sitting posture of the human body after entering the reading and writing state according to the arm posture;
and determining whether the reading and writing posture of the human body wearing the intelligent watch is standard or not by using the distance data and the sitting posture, and if the judgment result is not standard, carrying out vibration prompt.
2. The method for determining the read-write state based on the laser ranging sensor as claimed in claim 1, wherein the determining whether the human body wearing the smart watch enters the read-write state by detecting the gesture with an acceleration sensor and a gyroscope in the smart watch comprises:
detecting the gesture by using an acceleration sensor and a gyroscope, and acquiring gesture data of wearing the intelligent watch;
judging whether the arm posture wearing the intelligent watch is horizontally placed on a desktop or not according to the triaxial acceleration value obtained by the acceleration sensor and the gyroscope value obtained by the gyroscope; wherein the three-axis acceleration values and the gyroscope values are attitude data;
and judging the displacement state of the arm according to a preset data acquisition time interval, and judging whether the human body wearing the smart watch enters a read-write state or not according to the displacement state.
3. The method for determining the read-write state based on the laser ranging sensor as claimed in claim 1, wherein when the laser ranging sensor in the smart watch is used to detect the distance between the laser ranging sensor and the head and the chest of the human body, the distance data is obtained, and the method comprises:
the laser ranging sensor is started and emits laser, and meanwhile, the laser ranging sensor starts timing;
the laser irradiates the head and the chest of the human body and then is reflected, and the reflected laser is transmitted to a receiving head of the laser ranging sensor;
when a receiving head of the laser ranging sensor receives reflected laser, the laser ranging sensor stops timing;
the distance between the intelligent watch and the head and the chest of the human body is obtained by measuring the distance between the laser ranging sensor and the laser ranging sensor through the time difference and the light speed of the laser emitted to and reflected in the air.
4. The method for determining the read-write status based on the laser ranging sensor as claimed in claim 1 or 3, wherein the laser ranging sensor monitors and detects the abnormal ranging condition in real time, and comprises the following steps:
when the measuring distance of any one laser ranging sensor does not exceed 1cm, judging that the laser ranging sensor is shielded;
when the distance measured by the two laser ranging sensors does not exceed 1cm, the sensors are judged to be shielded by shielding objects, data are detected by combining the acceleration sensor and the gyroscope, and if the human body is in a reading and writing posture at the moment, the vibration function of the intelligent watch is started to vibrate the human body for reminding.
5. The method for determining reading and writing states based on the laser ranging sensor as claimed in claim 1, wherein the sitting postures comprise sitting posture, head-sinking reading and writing posture, hand-supporting cheek reading and writing posture and lying-on-table sleeping posture.
6. The method for judging the read-write state based on the laser ranging sensor as claimed in claim 1 or 5, wherein the acceleration sensor and the gyroscope are used for detecting the arm posture of the human body entering the read-write state in real time, and the sitting posture of the human body after entering the read-write state is determined according to the arm posture, and the method comprises the following steps:
acquiring attitude data by using a gyroscope five times continuously according to a preset acquisition time interval;
detecting that an included angle between the X direction and the horizontal direction of an arm of a human body wearing the smart watch is +/-20 degrees, an included angle between the Y direction and the horizontal direction is-10-90 degrees, and meanwhile, judging that the arm is in a sitting posture when the distance between the arm and the chest of the human body is 30-45 cm; when the included angle between the Y direction and the horizontal direction is-10-45 degrees, a laser ranging sensor right above a display screen of the intelligent watch is adopted for distance measurement, otherwise, another laser ranging sensor is adopted for distance measurement, and the distance between the arm and the head and the chest during reading and writing and the current light intensity are recorded;
detecting that an included angle between the X direction and the horizontal direction of an arm of a human body wearing the smart watch is within a range of +/-20 degrees and an included angle between the Y direction and the horizontal direction is within a range of-10 degrees to 90 degrees by using a gyroscope, and judging that the head-burying reading-writing posture is realized when the distance between the arm and the chest of the human body is less than 30cm and more than 10 cm; when the included angle between the Y direction and the horizontal direction is-10-45 degrees, a laser ranging sensor right above a display screen of the intelligent watch is adopted for distance measurement, otherwise, another laser ranging sensor is adopted for distance measurement, and the distance between the arm and the head and the chest during reading and writing and the current light intensity are recorded;
detecting that the included angle between the Y direction and the horizontal direction of an arm of a human body wearing the smart watch is +/-20 degrees and the included angle between the X direction and the horizontal direction is 70-100 degrees, meanwhile, the distance between the arm and the chest of the human body is less than 20cm, judging that the arm supports the cheek to read and write, and recording the distance between the arm and the head and the chest during reading and writing and the current light intensity;
the X direction and the horizontal included angle of the arm of the human body wearing the intelligent watch are detected by the gyroscope to be within a range of +/-20 degrees, the Y direction and the horizontal included angle are within a range of-10 degrees to 90 degrees, and meanwhile, when the distance between the arm and the chest of the human body is less than 10cm, the sleeping posture of the face-lying desktop is judged.
7. The method for determining the read-write status based on the laser ranging sensor as claimed in claim 6, wherein the setting of the acquisition time and the adaptive adjustment process comprise:
according to the data acquisition time interval, determining acquisition time through an acquisition time model, wherein the acquisition time model is as follows:
Figure DEST_PATH_IMAGE001
wherein,tthe time of acquisition is indicated and indicated,Trepresenting the time interval between the data acquisitions,T i is shown asiThe judgment time for the next completion of the judgment of entering the read-write state,nindicating the number of times of completing the judgment of entering the read-write state;T max indicating completionnIn the determination of the secondary entering read-write state, the duration of the single determination isnThe time corresponding to the longest duration in the secondary judgment;T min indicating completionnIn the determination of the secondary entering read-write state, the duration of the single determination isnThe time corresponding to the shortest duration in the secondary judgment; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
Figure 800902DEST_PATH_IMAGE002
The time adjustment coefficient is represented by a time adjustment coefficient,
Figure 42527DEST_PATH_IMAGE002
the value range of (A) is 1.05-1.21;
when the posture of the human body is judged to be the sitting posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 317651DEST_PATH_IMAGE003
wherein,t 1representing the acquisition time when the posture of the human body wearing the smart watch is a sitting posture;
Figure 226701DEST_PATH_IMAGE004
represents a time adjustment coefficient when the posture of the human body wearing the smart watch is a normal sitting posture,
Figure 561867DEST_PATH_IMAGE004
the value range of (A) is 1.00-1.15; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
When the posture of the human body is judged to be a countersunk head read-write posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 556368DEST_PATH_IMAGE005
wherein,t 2representing the acquisition time when the posture of a human body wearing the smart watch is a countersunk head read-write posture;
Figure 166341DEST_PATH_IMAGE006
a time adjustment coefficient representing the posture of a human body wearing the smart watch as a countersunk read-write posture,
Figure 664319DEST_PATH_IMAGE006
the value range of (A) is 0.82-0.94; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
When the posture of the human body is judged to be the hand-support cheek reading-writing posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 435965DEST_PATH_IMAGE007
wherein,t 3representing the acquisition time when the posture of a human body wearing the smart watch is a hand-support cheek-read-write posture;
Figure 402916DEST_PATH_IMAGE008
the time adjustment coefficient is used for representing the posture of a human body wearing the intelligent watch as the read-write posture of a cheek support,
Figure 285421DEST_PATH_IMAGE008
the value range of (A) is 0.68-0.81; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min ；
When the posture of the human body is judged to be the lying desktop sleeping posture, the acquisition time is adaptively adjusted through the following adaptive time adjustment model:
Figure 903484DEST_PATH_IMAGE009
wherein,t 4the method comprises the steps of representing acquisition time when the posture of a human body wearing the smart watch is a lying desktop sleeping posture;
Figure 846032DEST_PATH_IMAGE010
to representThe posture of the human body wearing the intelligent watch is the time adjustment coefficient when the human body is in a sleeping posture of lying on a table,
Figure 283967DEST_PATH_IMAGE010
the value range of (A) is 1.19-1.32; when the acquisition time is set after the read-write state judgment is finished for the first time, namelynWhen =1, defaultT max =T min 。
8. A mobile device for judging a read-write state based on a laser ranging sensor is characterized in that the mobile device is arranged in an intelligent watch and comprises a core processor, a 2G communication module, a power module, an accessory device, a first sensor group, a second sensor group and a vibrating motor; the communication control signal output end of the core processor is electrically connected with the communication control signal input end of the 2G communication module; the power supply end of the core processor is connected with the electric energy signal output end of the power supply module; the core processor is electrically connected with the accessory device; the sensing signal input end of the core processor is respectively connected with the sensing signal output ends of the first sensor group and the second sensor group; the control signal output end of the vibration motor of the core processor is electrically connected with the control signal input end of the vibration motor;
the core processor adopts an MCU chip for running programs or instructions to realize the method for judging the read-write state based on the laser ranging sensor according to any one of claims 1 to 7.
9. The mobile device of claim 8, wherein the 2G communication module comprises a communication processor, a speaker, a microphone, a sim card reader, and an antenna module; and the communication processor is respectively and correspondingly electrically connected with the loudspeaker, the microphone, the sim card reading device and each signal terminal of the antenna module.
10. The mobile device of claim 8, wherein the first sensor set comprises an acceleration sensor, a gyroscope, and a brightness sensor; the sensing signal output ends of the acceleration sensor, the gyroscope and the brightness sensor are the sensing signal output ends of the first sensor group; the second sensor group comprises a first laser ranging sensor and a second laser ranging sensor; and the sensing signal output ends of the first laser ranging sensor and the second laser ranging sensor are the sensing signal output ends of the second sensor group.
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