CN112120684A - Pulse signal detection method and device and smart bracelet - Google Patents
Pulse signal detection method and device and smart bracelet Download PDFInfo
- Publication number
- CN112120684A CN112120684A CN202010863432.0A CN202010863432A CN112120684A CN 112120684 A CN112120684 A CN 112120684A CN 202010863432 A CN202010863432 A CN 202010863432A CN 112120684 A CN112120684 A CN 112120684A
- Authority
- CN
- China
- Prior art keywords
- detection
- light sensation
- signal intensity
- light
- intensity value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 254
- 230000035807 sensation Effects 0.000 claims abstract description 127
- 238000000034 method Methods 0.000 claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000017531 blood circulation Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 13
- 238000004590 computer program Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
- A61B5/02444—Details of sensor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/026—Measuring blood flow
- A61B5/0261—Measuring blood flow using optical means, e.g. infrared light
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/681—Wristwatch-type devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Cardiology (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Physiology (AREA)
- Hematology (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
Abstract
The application discloses a pulse signal detection method and device and an intelligent bracelet. The method comprises the following steps that a light sensing device capable of moving according to a preset detection track is arranged inside a pulse detection product, and the method comprises the following steps: after the pulse detection product is worn on a human body, controlling the light sensing device to move according to the preset detection track, and obtaining a plurality of light sensing signal intensity values when the light sensing device moves to different detection positions; determining a maximum light sensation signal intensity value and a detection position corresponding to the maximum light sensation signal intensity value from a plurality of light sensation signal intensity values, and taking the detection position corresponding to the maximum light sensation signal intensity value as an optimal pulse signal detection position; and controlling the light sensing device to move and stay at the optimal pulse signal detection position for pulse signal detection. This application can find the biggest detection position that pulse signal intensity is the biggest also that blood flow is the biggest automatically, detects the position as best pulse signal, has improved the detection precision that the pulse detected the product.
Description
Technical Field
The application relates to the technical field of pulse signal detection, in particular to a pulse signal detection method and device and an intelligent bracelet.
Background
Wearable equipment among the prior art adopts the light sense device to measure the rhythm of the heart like intelligent bracelet usually, and its principle adopts green osram to match the last sensitive photodiode of light to detect the flow of the wrist blood of flowing through at any moment. When the wearer's heart beats, more blood flows through the wrist and the amount of green light absorbed is greater. In the beating interval of the heart, the blood flow is reduced, so that the absorption of green light is reduced, and further, the heart rate signal can be effectively monitored and extracted through a complex and precise algorithm.
However, since the density of the capillary vessels at different positions of the wrist of the human body is different, and the detection positions of the light sensing devices are different, the signal strength and accuracy during detection are also different, so how to improve the detection accuracy of the pulse signal is a technical problem to be solved urgently at present.
Disclosure of Invention
In view of this, the present application mainly aims to provide a pulse signal detection method, a device and an intelligent bracelet, which are used for solving the technical problem that the existing pulse signal detection method is not high in detection accuracy.
According to a first aspect of the present application, there is provided a pulse signal detection method, in which a light sensing device capable of moving according to a preset detection track is disposed inside a pulse detection product, the method including:
after the pulse detection product is worn on a human body, controlling the light sensing device to move according to the preset detection track, and obtaining a plurality of light sensing signal intensity values when the light sensing device moves to different detection positions;
determining a maximum light sensation signal intensity value and a detection position corresponding to the maximum light sensation signal intensity value from a plurality of light sensation signal intensity values, and taking the detection position corresponding to the maximum light sensation signal intensity value as an optimal pulse signal detection position;
and controlling the light sensing device to move and stay at the optimal pulse signal detection position for pulse signal detection.
According to the second aspect of this application, a pulse signal detection device is provided, detect the inside light sense device that can remove according to predetermineeing the detection orbit that is provided with of product at the pulse, the device includes:
the movement control unit is used for controlling the light sensation device to move according to the preset detection track after the pulse detection product is worn on a human body;
the light sensation signal intensity value acquisition unit is used for acquiring a plurality of light sensation signal intensity values of the light sensation devices moving to different detection positions;
the optimal detection position determining unit is used for determining a maximum light sensation signal intensity value and a detection position corresponding to the maximum light sensation signal intensity value from a plurality of light sensation signal intensity values, and taking the detection position corresponding to the maximum light sensation signal intensity value as an optimal pulse signal detection position;
and the detection control unit is used for controlling the light sensation device to move and stay at the optimal pulse signal detection position to detect the pulse signal.
According to a third aspect of the present application, there is provided a smart bracelet, comprising: the intelligent bracelet comprises a light sensing device, a processor and a memory for storing computer executable instructions, wherein the light sensing device is arranged in the intelligent bracelet and can move according to a preset detection track;
the executable instructions, when executed by the processor, implement the aforementioned pulse signal detection method.
According to a fourth aspect of the present application, there is provided a computer-readable storage medium storing one or more programs which, when executed by a processor, implement the aforementioned pulse signal detection method.
The beneficial effect of this application is: according to the pulse signal detection method, the light sensing device is controlled to move in the pulse detection product according to the preset detection track, so that light sensing signal intensity values of a plurality of detection positions can be obtained; through the size of the light sense signal intensity value that the contrast detected, can control the light sense device and find the biggest detection position of pulse signal intensity promptly also that blood flow is the biggest automatically, detect the position as best pulse signal to this improves the pulse signal detection precision of pulse detection product.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flowchart illustrating a pulse signal detection method according to an embodiment of the present application;
FIG. 2 is a schematic circuit diagram of a pulse detection product according to an embodiment of the present application;
FIG. 3 is a block diagram of a pulse signal detecting device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an intelligent bracelet in an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 is a schematic flow chart illustrating a pulse signal detection method according to an embodiment of the present application, and referring to fig. 1, the pulse signal detection method according to the embodiment of the present application is configured with a light sensing device capable of moving along a preset detection track inside a pulse detection product, and the method includes steps S110 to S130 as follows:
step S110, after the pulse detection product is worn on a human body, the light sensing device is controlled to move according to a preset detection track, and a plurality of light sensing signal intensity values of the light sensing device moving to different detection positions are obtained.
The pulse detection product of the embodiment of the application can be various wearable devices capable of realizing a pulse monitoring function, such as an intelligent bracelet, a Virtual Reality (VR) device or an Augmented Reality (AR) device, and particularly, a light sensing device can be arranged in the devices to detect pulse signals.
Before utilizing any one of above-mentioned detection product to carry out pulse signal detection, need set for the removal orbit of light sense device in detecting the product in advance, the shape of removal orbit can set up according to the difference that detects the structure of product, for example to intelligent bracelet, the backshell of bracelet probably is square also probably for circular, can set up the removal orbit that lateral shifting and longitudinal movement combined together in advance to square backshell, then can set up planar spiral shape removal orbit in advance to circular backshell to as far as overall cover each detection position, improve subsequent signal detection precision. Of course, what type of detection track is specifically set, and those skilled in the art can flexibly adjust the detection track according to actual situations, which are not listed here.
After the pulse detection product is worn on a human body, the light sensing device can be controlled to move according to the preset detection track, and when the pulse detection product moves to a detection position, a light sensing signal intensity value detected by the light sensing device at the detection position can be obtained until the light sensing device finishes the whole detection track, and a plurality of light sensing signal intensity values detected by the light sensing device at different detection positions can be obtained and used as a basis for subsequently determining the optimal detection position.
In step S120, a maximum light sensation signal intensity value and a detection position corresponding to the maximum light sensation signal intensity value are determined from the plurality of light sensation signal intensity values, and the detection position corresponding to the maximum light sensation signal intensity value is used as an optimal pulse signal detection position.
Generally, the intensity of the light-sensitive signal corresponding to the position where the blood flow is maximum is also maximum, and a more accurate signal detection result can be obtained at the position. Therefore, in order to improve the signal detection accuracy, the maximum light sensing signal intensity value and the corresponding detection position thereof can be determined from the detected light sensing signal intensity values. The specific determination method may be that the magnitude of the light sensing signal intensity value is compared while the light sensing device is moving and detecting, and the maximum light sensing signal intensity value is determined accordingly when the light sensing device runs through the whole track. In addition, after all the light sensing signal intensity values are detected by the light sensing devices, the light sensing devices can be collectively compared, and the detection position corresponding to the finally obtained maximum light sensing signal intensity value can be regarded as the optimal pulse signal detection position. Specifically, which kind of maximum light sensation signal intensity value determination method is adopted, and those skilled in the art can flexibly select the maximum light sensation signal intensity value according to actual needs, and the method is not specifically limited herein.
Step S130, controlling the light sensing device to move and stay at the optimal pulse signal detection position for pulse signal detection.
After the optimal pulse signal detection position is determined through the above process, the light sensing device can be controlled to move to the position and stay for a period of time, so as to detect the pulse signal at the position.
This application embodiment finds the biggest detection position of pulse signal intensity promptly also that blood flow is the biggest automatically through controlling light sense device, detects the position as best pulse signal, can improve the detection precision that the pulse detected the product.
In order to control the light sensing device to move according to a preset detection track, in one embodiment of the application, a microcontroller and a micro motor are further arranged inside the pulse detection product, the microcontroller is connected with the micro motor, the micro motor is connected with the light sensing device, a hall sensor is fixedly arranged at the rear part of the micro motor, and the hall sensor and the light sensing device are respectively connected with the microcontroller.
In the step S110, the controlling the light sensing device to move according to the preset detection track to obtain a plurality of light sensing signal strength values when the light sensing device moves to different detection positions includes:
the microcontroller generates a control instruction and controls the micro motor to operate through the control instruction; the micro motor operates according to the control instruction, and drives the light sensing device to move according to a preset detection track during operation; the micro motor operates once, the light sensation device feeds back the detected light sensation signal to the microcontroller, the Hall sensor feeds back the detected motor operating state to the microcontroller, and the microcontroller calculates and records the light sensation signal intensity value according to the light sensation signal and the position of the micro motor according to the motor operating state, so that a plurality of light sensation signal intensity values of the light sensation device moving to different detection positions are obtained.
Inside the Pulse detection product of this application embodiment, except being provided with the light sense device that is used for detecting the Pulse signal, still be provided with Microcontroller (MCU for short) and micro motor, Microcontroller and micro motor are connected, and Microcontroller can output PWM (Pulse Width Modulation) ripples and motor just reversal signal, consequently can be used for controlling micro motor's just reversal. The rear part of the micro motor is also fixedly provided with a Hall sensor, and the Hall sensor and the light sensing device are respectively connected with the microcontroller. The connection mode of light sense device and micro motor does not make concrete requirement this application, as long as micro motor can drive the light sense device and remove in the operation. When the micro motor runs, the Hall sensor can feed the running state of the motor back to the microcontroller in real time, and the light sensing device can feed the detected light sensing signal intensity value back to the microcontroller for comparison processing.
Specifically, the microcontroller generates a control instruction for controlling the operation of the motor first, and controls the operation of the micro motor through the control instruction; the micro motor drives the light sensing device to move according to a preset detection track when in operation; every time the micro motor operates, the light sensation device moves to a new detection position, detected light sensation signals are fed back to the microcontroller, the microcontroller can calculate and record the light sensation signals, the Hall sensor can feed back the detected motor operation state to the microcontroller in real time, the microcontroller can calculate and record the position of the micro motor according to the motor operation state, namely the detection position of the light sensation device, and therefore a plurality of light sensation signal strength values of the light sensation device moving to different detection positions can be obtained.
The different detection positions in the above embodiments may be set in advance, for example, a plurality of detection position points are set in advance in a detection area according to a certain moving step or detection distance. In addition, the frequency of controlling the movement of the light sensing device and the time of the whole detection process can be flexibly set by those skilled in the art according to actual needs, and is not particularly limited herein.
In one embodiment of the present application, the micro motor may be a micro dc motor, a rotor motor, a hollow motor, or the like. In addition, the electromagnetic attraction of the electromagnetic induction coil can be utilized to attract the light sensing devices to each detection position for detecting the light sensing signals. Specifically, what kind of method is adopted to drive the movement of the light sensing device, and those skilled in the art can flexibly set the movement according to actual requirements, which are not listed here.
In an embodiment of this application, microcontroller embeds there are first motor driver chip and second motor driver chip, and micro motor includes first micro motor and second micro motor, and foretell "micro motor moves according to control command, drives the light sense device and moves according to predetermineeing the detection orbit when the operation" includes: the first motor driving chip controls the first micro motor to operate, and the second motor driving chip controls the second micro motor to operate; the first micro motor drives the light sensing device to move along the horizontal direction according to the preset detection track when in operation, and the second micro motor drives the light sensing device to move along the vertical direction according to the preset detection track when in operation.
When the micro-controller is specifically implemented, the micro-controller provided by the embodiment of the application is connected with the micro motor through the motor driving chip in the micro-controller, so as to control the micro motor to run. Take the intelligent bracelet of square backshell as an example, in order to make the light sense device can detect the light sense signal of each position comprehensively, its corresponding detection orbit of predetermineeing can be in the horizontal direction (X axle) and the orbit that constitutes of moving in vertical direction (Y axle), to the removal of these two directions, can set up two motor drive chips and two micro motor and control respectively, a motor drive chip electricity is connected a micro motor in order to drive the motion of light sense device along X axle direction, another motor drive chip electricity is connected another micro motor in order to drive the motion of light sense device along Y axle direction, drive mechanical gear through X axle-Y axle bi-motor, make the light sense device can be in a square within range free motion.
Certainly except above-mentioned situation, also can only set up a motor driver chip and a micro motor, for example when the dorsal scale of intelligence bracelet is circular, connect a micro motor through a motor driver chip electricity, drive the light sense device and remove with the plane spiral, also can realize the purpose that covers whole circular detection area comprehensively equally. Specifically, the number of the motor driving chips and the number of the micro motors are more or less, and those skilled in the art can flexibly set the driving chips and the micro motors according to actual needs, which are not listed herein.
In an embodiment of the present invention, in the step S120, the determining the maximum light sensing signal intensity value and the detection position corresponding to the maximum light sensing signal intensity value from the plurality of light sensing signal intensity values includes:
the microcontroller acquires a first light sensing signal intensity value detected at a first position when the light sensing device does not move; after the micro motor runs once, the microcontroller acquires a second light sensing signal intensity value detected when the light sensing device moves to a second position; the microcontroller compares the second light sensation signal intensity value with the first light sensation signal intensity value, when the second light sensation signal intensity value is larger than the first light sensation signal value, the second light sensation signal intensity value and the second position are stored, and the first light sensation signal value and the first position are deleted, otherwise, the first light sensation signal intensity value and the first position are stored, and the second light sensation signal intensity value and the second position are deleted; and the microcontroller controls the light sensing device to continuously move according to a preset detection track, and when the micro motor runs once, the microcontroller compares a newly acquired light sensing signal intensity value with a stored light sensing signal intensity value, stores a lower larger light sensing signal intensity value and a corresponding detection position until the light sensing device runs through the whole preset detection track, and determines a maximum light sensing signal intensity value and a detection position corresponding to the maximum light sensing signal intensity value.
The embodiment of the application can adopt a mode of comparing while detecting when determining the maximum light sensation signal intensity value. For example, the light sensing device initially feeds back the light sensing signal intensity value S1 read by the light sensing device at point a and the corresponding detection position to the microcontroller for storage at the point a; then the microcontroller controls the light sensing device to move to the next detection position B, and then the light sensing signal intensity value of the B point is read S2. The microcontroller compares the light sensing signal intensity value S1 of the point A with the light sensing signal intensity value S2 of the point B, stores the point with the larger signal intensity value, and deletes the point with the smaller signal intensity value and the corresponding detection position. And by parity of reasoning, moving the light sensing device to the point C at the detection position, and then comparing the light sensing signal intensity values and the like. So can be in the backshell within range of wrist-watch or bracelet, the light sense signal intensity value that the light sense device that compares out each detection position department read, seek the detection position that signal intensity is the biggest gradually, also be the position that blood flow is the biggest. The optimal detection position is determined by the method of detecting and comparing the edges without consuming excessive storage resources and computing power of the microcontroller, so that the storage space can be saved to a certain extent.
In one embodiment of the present application, the method further comprises: controlling the light sensing device to perform pulse signal detection for a preset time at the optimal pulse signal detection position; and when the preset time is exceeded, controlling the light sensing device to move according to the preset detection track again, obtaining a plurality of light sensing signal strength values when the light sensing device moves to different detection positions, and re-determining the optimal pulse signal detection position according to the light sensing signal strength values so as to update the optimal pulse signal detection position.
The optimal pulse signal detection position obtained by the above embodiment is not fixed, but can be updated as needed. For example, the update frequency of the optimal pulse signal detection position may be set in advance, such as once every half hour/every hour, or the optimal pulse signal detection position may be updated in time according to the feedback of the user. The specific updating method is to perform the detection again according to the above-mentioned procedure of determining the optimal pulse signal detection position. The embodiment of the application can improve the long-time average pulse testing accuracy and improve the user experience by updating the optimal pulse signal detection position regularly or irregularly.
As shown in fig. 2, a schematic circuit structure of a pulse detection product is provided. Specifically, two analog signal output ports of the microcontroller can output a PWM voltage waveform to be provided to the motor driving chip, and two digital signal output ports of the microcontroller output 1/0 high and low levels to be provided to the motor driving chip to control the forward and reverse rotation of the micro motor. The motor driving chip can provide 3V voltage for the micro motor, and forward connection or reverse connection is realized according to a control instruction of the microcontroller to realize forward and reverse rotation of the micro motor. Two motor driving chips can be configured in the pulse detection product to drive the two micro motors to operate. For example, the X-axis micro motor is responsible for mechanically driving the light sensing device to move along the X-axis direction, the Y-axis micro motor is responsible for mechanically driving the light sensing device to move along the Y-axis direction, and the combination of the two can realize the free movement and detection of the light sensing device in a square area with a certain area. The light sensing device feeds back the light sensing signal to the microcontroller for recording and comparison; the rear Hall sensor of the micro motor records the motion state of the motor and also feeds back signals to the microcontroller, and the microcontroller calculates and records the position of the motor. Within a set time, the microcontroller finds the best pulse signal detection position by comparing the light sensation signal intensity values of different detection positions, and drives the light sensation element to move to the best pulse signal detection position and fix through the micro motor so as to monitor the pulse signal at the position.
The pulse signal detection method and the pulse signal detection device belong to the same technical concept, and the embodiment of the application also provides a pulse signal detection device. Fig. 3 is a block diagram of a pulse signal detecting apparatus according to an embodiment of the present application, and referring to fig. 3, a light sensing device capable of moving according to a preset detection track is disposed inside a pulse detecting product, and the pulse signal detecting apparatus 300 includes: a motion control unit 310, a light-sensitive signal strength value acquisition unit 320, an optimal detection position determination unit 330, and a detection control unit 340. Wherein,
the movement control unit 310 is used for controlling the light sensing device to move according to a preset detection track after the pulse detection product is worn on a human body;
a light sensing signal intensity value obtaining unit 320, configured to obtain a plurality of light sensing signal intensity values when the light sensing device moves to different detection positions;
an optimal detection position determining unit 330, configured to determine a maximum light sensing signal intensity value and a detection position corresponding to the maximum light sensing signal intensity value from the light sensing signal intensity values, and use the detection position corresponding to the maximum light sensing signal intensity value as an optimal pulse signal detection position;
and the detection control unit 340 is used for controlling the light sensing device to move and stay at the optimal pulse signal detection position for pulse signal detection.
In one embodiment of the application, a microcontroller and a micro motor are further arranged inside the pulse detection product, the microcontroller is connected with the micro motor, the micro motor is connected with a light sensing device, a hall sensor is fixedly arranged at the rear part of the micro motor, and the hall sensor and the light sensing device are respectively connected with the microcontroller; the mobile control unit 310 is specifically configured to: the microcontroller generates a control instruction for controlling the operation of the motor and transmits the control instruction to the micro motor; the micro motor operates according to the control instruction, and drives the light sensing device to move according to a preset detection track during operation; the micro motor operates once, the light sensation device feeds back the detected light sensation signal to the microcontroller, the Hall sensor feeds back the detected motor operating state to the microcontroller, and the microcontroller calculates and records the light sensation signal intensity value according to the light sensation signal and the position of the micro motor according to the motor operating state, so that a plurality of light sensation signal intensity values of the light sensation device moving to different detection positions are obtained.
In an embodiment of the present application, the microcontroller has a first motor driving chip and a second motor driving chip built-in, the micro motor includes a first micro motor and a second micro motor, and the mobile control unit 310 is specifically configured to: the first motor driving chip controls the first micro motor to operate, and the second motor driving chip controls the second micro motor to operate; the first micro motor drives the light sensing device to move along the horizontal direction according to the preset detection track when in operation, and the second micro motor drives the light sensing device to move along the vertical direction according to the preset detection track when in operation.
In an embodiment of the present application, the optimal detection position determining unit 330 is specifically configured to: the microcontroller acquires a first light sensing signal intensity value detected at a first position when the light sensing device does not move; after the micro motor runs once, the microcontroller acquires a second light sensing signal intensity value detected when the light sensing device moves to a second position; the microcontroller compares the second light sensation signal intensity value with the first light sensation signal intensity value, when the second light sensation signal intensity value is larger than the first light sensation signal value, the second light sensation signal intensity value and the second position are stored, and the first light sensation signal value and the first position are deleted, otherwise, the first light sensation signal intensity value and the first position are stored, and the second light sensation signal intensity value and the second position are deleted; and the microcontroller controls the light sensing device to continuously move according to a preset detection track, and when the micro motor runs once, the microcontroller compares a newly acquired light sensing signal intensity value with a stored light sensing signal intensity value, stores a lower larger light sensing signal intensity value and a corresponding detection position until the light sensing device runs through the whole preset detection track, and determines a maximum light sensing signal intensity value and a detection position corresponding to the maximum light sensing signal intensity value.
In one embodiment of the present application, the apparatus further comprises: the updating control unit is used for controlling the light sensing device to carry out pulse signal detection for a preset time at the optimal pulse signal detection position; and when the preset time is exceeded, controlling the light sensing device to move according to the preset detection track again, obtaining a plurality of light sensing signal strength values when the light sensing device moves to different detection positions, and re-determining the optimal pulse signal detection position according to the light sensing signal strength values so as to update the optimal pulse signal detection position.
It should be noted that:
fig. 4 illustrates a schematic structural diagram of the smart bracelet. Referring to fig. 4, in a hardware level, the smart band includes a light sensing device, a processor, and a memory storing computer executable instructions, where the light sensing device is disposed inside the smart band and can move according to a preset detection track, and optionally further includes an interface module, a communication module, and the like. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may also include a non-volatile Memory, such as at least one disk Memory. Of course, the smart band may also include hardware required for other services.
The processor, the interface module, the communication module, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
A memory for storing computer executable instructions. The memory provides computer executable instructions to the processor through the internal bus.
A processor executing computer executable instructions stored in the memory and specifically configured to perform the following operations:
after the pulse detection product is worn on a human body, controlling the light sensing device to move according to a preset detection track, and obtaining a plurality of light sensing signal intensity values when the light sensing device moves to different detection positions;
determining a maximum light sensation signal intensity value and a detection position corresponding to the maximum light sensation signal intensity value from the plurality of light sensation signal intensity values, and taking the detection position corresponding to the maximum light sensation signal intensity value as an optimal pulse signal detection position;
and controlling the light sensing device to move and stay at the optimal pulse signal detection position for pulse signal detection.
The functions performed by the pulse signal detection device according to the embodiment shown in fig. 3 of the present application can be implemented in or by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The smart band may further perform steps performed by the pulse signal detection method in fig. 1, and implement the functions of the pulse signal detection method in the embodiment shown in fig. 1, which are not described herein again in this embodiment of the application.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, which when executed by a processor, implement the foregoing pulse signal detection method, and are specifically configured to perform:
after the pulse detection product is worn on a human body, controlling the light sensing device to move according to a preset detection track, and obtaining a plurality of light sensing signal intensity values when the light sensing device moves to different detection positions;
determining a maximum light sensation signal intensity value and a detection position corresponding to the maximum light sensation signal intensity value from the plurality of light sensation signal intensity values, and taking the detection position corresponding to the maximum light sensation signal intensity value as an optimal pulse signal detection position;
and controlling the light sensing device to move and stay at the optimal pulse signal detection position for pulse signal detection. As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.
The present application is described in terms of flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) characterized by computer-usable program code.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A pulse signal detection method is characterized in that a light sensing device capable of moving according to a preset detection track is arranged in a pulse detection product, and the method comprises the following steps:
after the pulse detection product is worn on a human body, controlling the light sensing device to move according to the preset detection track, and obtaining a plurality of light sensing signal intensity values when the light sensing device moves to different detection positions;
determining a maximum light sensation signal intensity value and a detection position corresponding to the maximum light sensation signal intensity value from a plurality of light sensation signal intensity values, and taking the detection position corresponding to the maximum light sensation signal intensity value as an optimal pulse signal detection position;
and controlling the light sensing device to move and stay at the optimal pulse signal detection position for pulse signal detection.
2. The method as claimed in claim 1, wherein a microcontroller and a micro motor are further disposed inside the pulse detection product, the microcontroller is connected to the micro motor, the micro motor is connected to the light sensing device, a hall sensor is fixedly disposed at the rear of the micro motor, and the hall sensor and the light sensing device are respectively connected to the microcontroller;
the control the light sense device moves according to predetermine the detection orbit, acquires the light sense device moves a plurality of light sense signal intensity values of different detection position departments, includes:
the microcontroller generates a control instruction and controls the micro motor to operate through the control instruction;
the micro motor operates according to the control instruction, and drives the light sensing device to move according to the preset detection track during operation;
the micro motor runs once, the light sensation device feeds back a detected light sensation signal to the microcontroller, the Hall sensor feeds back a detected motor running state to the microcontroller, the microcontroller calculates and records a light sensation signal strength value according to the light sensation signal and calculates and records the position of the micro motor according to the motor running state, and therefore a plurality of light sensation signal strength values of the light sensation device moving to different detection positions are obtained.
3. The method according to claim 2, wherein the microcontroller has a first motor driver chip and a second motor driver chip built therein, and the micro-motors comprise a first micro-motor and a second micro-motor;
the micro motor operates according to the control instruction, and drives the light sensing device to move according to the preset detection track during operation, wherein the micro motor comprises:
the first motor driving chip controls the first micro motor to operate, and the second motor driving chip controls the second micro motor to operate;
the first micro motor drives the light sensing device to move along the horizontal direction according to the preset detection track when in operation, and the second micro motor drives the light sensing device to move along the vertical direction according to the preset detection track when in operation.
4. The method of claim 2, wherein determining a maximum light sensation signal intensity value among the plurality of light sensation signal intensity values and a detection position corresponding to the maximum light sensation signal intensity value comprises:
the microcontroller acquires a first light sensing signal intensity value detected at a first position when the light sensing device is not moved;
after the micro motor runs once, the microcontroller acquires a second light sensing signal intensity value detected when the light sensing device moves to a second position;
the microcontroller compares the second light sensation signal intensity value with the first light sensation signal intensity value, when the second light sensation signal intensity value is larger than the first light sensation signal value, the second light sensation signal intensity value and the second position are stored, and the first light sensation signal value and the first position are deleted, otherwise, the first light sensation signal intensity value and the first position are stored, and the second light sensation signal intensity value and the second position are deleted;
and the microcontroller controls the light sensation device to continuously move according to the preset detection track, and when the micro motor runs once, the microcontroller compares a newly acquired light sensation signal intensity value with a stored light sensation signal intensity value, stores a larger light sensation signal intensity value and a corresponding detection position until the light sensation device runs through the whole preset detection track, and determines the maximum light sensation signal intensity value and the detection position corresponding to the maximum light sensation signal intensity value.
5. The method of claim 1, further comprising:
controlling the light sensing device to perform pulse signal detection for a preset time at the optimal pulse signal detection position;
and when the preset time is exceeded, controlling the light sensing device to move according to the preset detection track again, obtaining a plurality of light sensing signal strength values of the light sensing device moving to different detection positions, and re-determining the optimal pulse signal detection position according to the light sensing signal strength values so as to update the optimal pulse signal detection position.
6. The utility model provides a pulse signal detection device which characterized in that detects the inside light sense device that can remove according to predetermineeing the detection orbit that is provided with of product at the pulse, the device includes:
the movement control unit is used for controlling the light sensation device to move according to the preset detection track after the pulse detection product is worn on a human body;
the light sensation signal intensity value acquisition unit is used for acquiring a plurality of light sensation signal intensity values of the light sensation devices moving to different detection positions;
the optimal detection position determining unit is used for determining a maximum light sensation signal intensity value and a detection position corresponding to the maximum light sensation signal intensity value from a plurality of light sensation signal intensity values, and taking the detection position corresponding to the maximum light sensation signal intensity value as an optimal pulse signal detection position;
and the detection control unit is used for controlling the light sensation device to move and stay at the optimal pulse signal detection position to detect the pulse signal.
7. The device as claimed in claim 6, wherein a microcontroller and a micro motor are further disposed inside the pulse detection product, the microcontroller is connected to the micro motor, a hall sensor is fixedly disposed at the rear of the micro motor, and the hall sensor and the light sensing device are respectively connected to the microcontroller;
the mobile control unit is specifically configured to:
the microcontroller generates a control instruction and controls the micro motor to operate through the control instruction;
the micro motor operates according to the control instruction, and drives the light sensing device to move according to the preset detection track during operation;
the micro motor runs once, the light sensation device feeds back a detected light sensation signal to the microcontroller, the Hall sensor feeds back a detected motor running state to the microcontroller, the microcontroller calculates and records a light sensation signal strength value according to the light sensation signal and calculates and records the position of the micro motor according to the motor running state, and therefore a plurality of light sensation signal strength values of the light sensation device moving to different detection positions are obtained.
8. The apparatus according to claim 7, wherein the optimal detection position determining unit is specifically configured to:
the microcontroller acquires a first light sensing signal intensity value detected at a first position when the light sensing device is not moved;
after the micro motor runs once, the microcontroller acquires a second light sensing signal intensity value detected when the light sensing device moves to a second position;
the microcontroller compares the second light sensation signal intensity value with the first light sensation signal intensity value, when the second light sensation signal intensity value is larger than the first light sensation signal value, the second light sensation signal intensity value and the second position are stored, and the first light sensation signal value and the first position are deleted, otherwise, the first light sensation signal intensity value and the first position are stored, and the second light sensation signal intensity value and the second position are deleted;
and the microcontroller controls the light sensation device to continuously move according to the preset detection track, and when the micro motor runs once, the microcontroller compares a newly acquired light sensation signal intensity value with a stored light sensation signal intensity value, stores a larger light sensation signal intensity value and a corresponding detection position until the light sensation device runs through the whole preset detection track, and determines the maximum light sensation signal intensity value and the detection position corresponding to the maximum light sensation signal intensity value.
9. The apparatus of claim 7, further comprising:
the updating control unit is used for controlling the light sensation device to carry out pulse signal detection for a preset time at the optimal pulse signal detection position;
and when the preset time is exceeded, controlling the light sensing device to move according to the preset detection track again, obtaining a plurality of light sensing signal strength values of the light sensing device moving to different detection positions, and re-determining the optimal pulse signal detection position according to the light sensing signal strength values so as to update the optimal pulse signal detection position.
10. An intelligent bracelet, comprising: the intelligent bracelet comprises a light sensing device, a processor and a memory for storing computer executable instructions, wherein the light sensing device is arranged in the intelligent bracelet and can move according to a preset detection track;
the executable instructions, when executed by the processor, implement the pulse signal detection method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010863432.0A CN112120684B (en) | 2020-08-25 | 2020-08-25 | Pulse signal detection method and device and smart bracelet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010863432.0A CN112120684B (en) | 2020-08-25 | 2020-08-25 | Pulse signal detection method and device and smart bracelet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112120684A true CN112120684A (en) | 2020-12-25 |
| CN112120684B CN112120684B (en) | 2022-09-13 |
Family
ID=73847187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010863432.0A Active CN112120684B (en) | 2020-08-25 | 2020-08-25 | Pulse signal detection method and device and smart bracelet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112120684B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08187230A (en) * | 1995-01-10 | 1996-07-23 | Nippon Colin Co Ltd | Pressure pulse wave detection system |
| TW201034623A (en) * | 2009-03-25 | 2010-10-01 | Ind Tech Res Inst | Apparatus and method for fetal heart rate detection |
| CN102613966A (en) * | 2012-02-01 | 2012-08-01 | 香港应用科技研究院有限公司 | Blood pressure measuring device and adjusting method thereof |
| WO2013076656A1 (en) * | 2011-11-22 | 2013-05-30 | Koninklijke Philips Electronics N.V. | Wearable measurement device for measuring a physiological parameter of a user |
| CN105725998A (en) * | 2015-11-05 | 2016-07-06 | 香港应用科技研究院有限公司 | System for measuring blood pressure by using psychological state verification |
| US20170105638A1 (en) * | 2015-10-19 | 2017-04-20 | Garmin Switzerland Gmbh | System and method for generating a ppg signal |
| US20190282169A1 (en) * | 2016-07-22 | 2019-09-19 | Amorv (Ip) Company Limited | An electronic device for measuring physiological information and a method thereof |
| US20200085306A1 (en) * | 2017-07-21 | 2020-03-19 | Amorv (Ip) Company Limited | Electronic device for measuring physiological information and a method thereof |
| US20200124863A1 (en) * | 2019-12-19 | 2020-04-23 | Intel Corporation | Automatic sensor positioning for biometric sensing |
-
2020
- 2020-08-25 CN CN202010863432.0A patent/CN112120684B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08187230A (en) * | 1995-01-10 | 1996-07-23 | Nippon Colin Co Ltd | Pressure pulse wave detection system |
| TW201034623A (en) * | 2009-03-25 | 2010-10-01 | Ind Tech Res Inst | Apparatus and method for fetal heart rate detection |
| WO2013076656A1 (en) * | 2011-11-22 | 2013-05-30 | Koninklijke Philips Electronics N.V. | Wearable measurement device for measuring a physiological parameter of a user |
| CN102613966A (en) * | 2012-02-01 | 2012-08-01 | 香港应用科技研究院有限公司 | Blood pressure measuring device and adjusting method thereof |
| US20170105638A1 (en) * | 2015-10-19 | 2017-04-20 | Garmin Switzerland Gmbh | System and method for generating a ppg signal |
| CN105725998A (en) * | 2015-11-05 | 2016-07-06 | 香港应用科技研究院有限公司 | System for measuring blood pressure by using psychological state verification |
| US20190282169A1 (en) * | 2016-07-22 | 2019-09-19 | Amorv (Ip) Company Limited | An electronic device for measuring physiological information and a method thereof |
| US20200085306A1 (en) * | 2017-07-21 | 2020-03-19 | Amorv (Ip) Company Limited | Electronic device for measuring physiological information and a method thereof |
| US20200124863A1 (en) * | 2019-12-19 | 2020-04-23 | Intel Corporation | Automatic sensor positioning for biometric sensing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112120684B (en) | 2022-09-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20150006937A1 (en) | Techniques and system for managing platform temperature | |
| CN105068414A (en) | Alarm clock awakening method and electronic equipment | |
| CN109270467A (en) | The battery electricity detection method and device of equipment | |
| US20230415333A1 (en) | Center of mass planning method for robot, robot and computer-readable storage medium | |
| CN103674025A (en) | Displacement computing method and device for intelligent terminal | |
| CN117423445B (en) | Intelligent finger ring control method and device based on user cluster perception | |
| CN112120684B (en) | Pulse signal detection method and device and smart bracelet | |
| JPH01303536A (en) | Apparatus for measuring percentage of idling time for digital signal processor and real digital signal processing system | |
| WO2016028365A1 (en) | Sensor power management | |
| KR101977745B1 (en) | Method and apparatus for classifying cardiac arrhythmia | |
| CN111105404B (en) | Method and system for extracting target position based on brain image data | |
| CN111168688A (en) | Robot action playback method and device | |
| CN109305194A (en) | Train Stopping recognition methods and device | |
| US10601351B2 (en) | Motor control apparatus, motor control method, and program | |
| CN111093490A (en) | Signal adjusting method and device and computer storage medium | |
| CN116182895A (en) | Motion state detection method, electronic device and chip | |
| CN110494079A (en) | Heart rate detection method, device, detection device and storage medium | |
| CN117323007A (en) | Patient operation position tracking method, equipment and device | |
| CN110864003B (en) | Electric fan positioning control method and device, storage medium and electric fan | |
| US20210046647A1 (en) | Position control method for servo, computer readable storage medium, and robot | |
| CN107015017B (en) | Speed prompting method and system based on speed calculation | |
| US10281273B2 (en) | Sensing system and sensing method | |
| CN113485100B (en) | Robot leg length planning method and device, readable storage medium and robot | |
| CN109077747A (en) | Pet detector cabinet and pet detector | |
| CN116950957B (en) | Wisdom hydraulic pressure cloud simulation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |