CN112642095A - Wearable device-based cordless skipping rope detection method, device and equipment - Google Patents
Wearable device-based cordless skipping rope detection method, device and equipment Download PDFInfo
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- CN112642095A CN112642095A CN202110040184.4A CN202110040184A CN112642095A CN 112642095 A CN112642095 A CN 112642095A CN 202110040184 A CN202110040184 A CN 202110040184A CN 112642095 A CN112642095 A CN 112642095A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B5/00—Apparatus for jumping
- A63B5/20—Skipping-ropes or similar devices rotating in a vertical plane
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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Abstract
The application provides a wearable device-based cordless skipping rope detection method, device and equipment. The method can accurately detect the cordless rope skipping action of the user, and the user can evaluate the cordless rope skipping action according to the detection result, so that the user experience is improved.
Description
Technical Field
The application relates to the technical field of wearable equipment, in particular to a technology for detecting a cordless skipping rope based on the wearable equipment.
Background
The skipping rope is aerobic exercise which has low requirements on fields but high requirements on body coordination, and is a safe, skillful and interesting fitness way. The skipping rope not only can lose weight and lose weight, but also can make muscles of the whole body balanced and powerful, and can make the respiratory system, the heart and the cardiovascular system of a user fully exercised, and the skipping rope is taken as a sports item in the compulsory education stage of China. Usually, people need to prepare a skipping rope for skipping rope sports, a certain space is needed, and people also need to pay attention to counting or timing in the skipping rope sports process to evaluate the amount of exercise.
A wearable device is a portable device that can be worn directly on the user's body, or integrated into the user's clothing or accessories. Along with wearable equipment such as intelligent wrist-watch, intelligent bracelet are more and more popularized, some wearable equipment on the existing market can support the rope skipping mode of rope skipping count, only calculate the number of rope skipping through measuring the number of rope skipping, do not join the judgement to user's swing arm, can not confirm whether user's action is real rope skipping action, can't judge the rope skipping success or fail, can not get rid of invalid rope skipping count, user experience is not very good.
Disclosure of Invention
The application aims to provide a wearable device-based cordless skipping rope detection method, device and equipment, and aims to solve the technical problem that the skipping rope mode of the existing wearable device is poor in user experience.
According to an aspect of the application, a wearable device-based cordless skipping rope detection method is provided, wherein the method comprises the following steps:
acquiring gyroscope data and acceleration sensor data when a user is in a cordless rope skipping state;
determining a position of a virtual rope based on the gyroscope data;
determining a jump status of the user based on the acceleration sensor data;
and determining whether the user cordless skipping rope is successful or not based on the position of the virtual rope and the skipping state so as to realize the detection of the user cordless skipping rope.
Optionally, wherein the gyroscope data comprises:
three-axis angular velocity in the wearable device coordinate system.
Optionally, wherein the determining the position of the virtual rope based on the gyroscope data comprises:
determining a swing arm period of a cordless skipping rope of a user based on the three-axis angular velocity of the wearable device in the coordinate system acquired within the preset time;
based on the swing arm period, calculating an angle of the wearable device to a direction perpendicular to the ground to determine a position of the virtual rope.
Optionally, wherein the determining a jump status of the user based on the acceleration sensor data comprises:
and based on the acceleration sensor data, if the acceleration sensor data accords with a first preset threshold value, determining that the user is in an emptying state, and if the acceleration sensor data accords with a second preset threshold value, determining that the user is in a landing state.
Optionally, the wearable device-based cordless skipping rope detection method further includes:
determining a direction of gravity based on the acceleration sensor data;
wherein the determining a position of a virtual rope based on the gyroscope data comprises:
mapping the three-axis angular velocity in the wearable device coordinate system to the angular velocity in the gravity direction;
determining a swing arm period of a user cordless skipping rope based on the angular velocity of the gravity direction;
based on the swing arm period, calculating an angle of the wearable device to a direction of gravity to determine a position of a virtual rope.
Optionally, the wearable device-based cordless skipping rope detection method further includes:
and feeding back the result of the cordless rope skipping detection of the user.
Optionally, the method further comprises:
and carrying out statistics according to the result of the cordless rope skipping detection of the user.
According to another aspect of the present application, there is also provided a wearable device-based cordless skipping rope detection apparatus, wherein the apparatus includes:
the first module is used for acquiring data of an acceleration sensor in a gyroscope data set when a user rope skips in a cordless manner;
a second module to determine a position of a virtual rope based on the gyroscope data;
a third module for determining a jump status of a user based on the acceleration sensor data;
and the fourth module is used for determining whether the cordless skipping of the user is successful or not based on the position of the virtual rope and the skipping state so as to realize the detection of the cordless skipping of the user.
Optionally, the wearable device-based cordless skipping rope detection apparatus further includes:
and the fifth module is used for feeding back the result of the cordless skipping rope detection of the user.
Optionally, the apparatus further comprises:
and the sixth module is used for counting according to the result of the cordless skipping rope detection of the user.
Compared with the prior art, the application provides a wearable device-based cordless skipping rope detection method and device, firstly, gyroscope data set acceleration sensor data of a user during cordless skipping rope is obtained, then the position of a virtual rope is determined based on the gyroscope data, then the skipping state of the user is determined based on the acceleration sensor data, and finally whether the user cordless skipping rope is successful or not is determined based on the position of the virtual rope and the skipping state, so that the detection of the user cordless skipping rope is realized. The method can accurately detect the cordless rope skipping action of the user, and the user can evaluate the cordless rope skipping action according to the detection result, so that the user experience is improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 illustrates a flow diagram of a wearable device-based cordless jump rope detection method according to an aspect of the present application;
FIG. 2 shows a schematic view of a cordless jump rope of an embodiment;
FIG. 3 illustrates a gyroscope data plot diagram of a cordless jump rope of an embodiment;
FIG. 4 illustrates a wearable device-based cordless jump rope detection apparatus in accordance with another aspect of the subject application;
the same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In a typical configuration of the present application, each module and trusted party of the system 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, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
In order to further explain the technical means and effects adopted by the present application, the following description clearly and completely describes the technical solution of the present application with reference to the accompanying drawings and preferred embodiments.
Fig. 1 shows a flowchart of a wearable device-based cordless skipping rope detection method according to an aspect of the present application, where the method of an embodiment includes:
s11, acquiring gyroscope data and acceleration sensor data when the user is in a cordless rope skipping state;
s12 determining a position of a virtual rope based on the gyroscope data;
s13 determining a jumping state of the user based on the acceleration sensor data;
s14, based on the position of the virtual rope and the jumping state, determining whether the user cordless rope jumping is successful, so as to realize the detection of the user cordless rope jumping.
In the present application, the method is performed by a device 1, the device 1 is a wearable device supporting human-computer interaction, and the wearable device includes, but is not limited to, a smart watch, a smart bracelet, smart glasses, and the like. Without limitation, other existing or future wearable devices that support human-computer interaction, as applicable to the present application, are also within the scope of the present application.
In this embodiment, the user sets the device 1 in the skipping mode before the start of the simulated skipping.
In step S11, the device 1 acquires acceleration sensor data set gyroscope data when the user simulates rope skipping.
Optionally, wherein the gyroscope data comprises:
three-axis angular velocity in the wearable device coordinate system.
The wearable device coordinate system is a three-axis coordinate system with the device 1 as an origin of the coordinate system, and the three-axis angular velocity is angular velocity component data of three coordinate axes of gyroscope data acquired through a gyroscope.
Continuing in this embodiment, in said step S12, said device 1 determines the position of the virtual rope based on said gyroscope data.
The rope skipping action can be seen as a coordinated combined movement comprising a skipping action of the lower limbs and a swing arm action of the upper limbs, wherein both the skipping action and the swing arm action have a strong periodicity. Experiments show that for wearable equipment worn on the wrist, the acceleration data is acted by the combined actions of the jumping action and the swing arm action, the gyroscope data is mainly acted by the swing arm action, and the data curve of the gyroscope data is in periodic fluctuation.
As shown in the schematic diagram of the cordless skipping rope shown in fig. 2, the user swing arm movement can be equivalent to circular movement, and the movement of the virtual rope and the user swing arm movement are closely related and can also be equivalent to circular movement. Therefore, in the gyroscope data curve shown in fig. 3 obtained corresponding to the cordless rope skipping action, each periodic fluctuation corresponds to a complete circumferential swing arm action, and the wave crest and the wave trough correspond to the maximum value and the minimum value of the axial angular velocity component data, which is obtained by the gyroscope and is perpendicular to the ground, of the axial angular velocity component data, and correspond to the highest point and the lowest point reached by the swing arm motion, namely, correspond to the high point and the low point of the aerial track of the virtual rope. Therefore, the aerial position of the virtual rope can be calculated through the gyroscope data, and the aerial track of the virtual rope is obtained.
Optionally, wherein the step S12 includes:
determining a swing arm period of a cordless skipping rope of a user based on the three-axis angular velocity of the wearable device in the coordinate system acquired within the preset time;
based on the swing arm period, calculating an angle of the wearable device to a direction perpendicular to the ground to determine a position of the virtual rope.
For example, by obtaining angular velocity data of the gyroscope, time consumed by a stable and periodic section of peak- > trough- > peak curve in an angular velocity data curve within a certain time range can be determined as a period T of a swing arm action, an angular velocity of the circular motion of the virtual rope can be determined based on a mathematical model determined by experimental data (in the period of the swing arm action, the angular velocity when the arm swings up should be different from the angular velocity when the arm swings down), and for simplification, the angular velocity ω of the motion of the virtual rope can be obtained by the following formula assuming that the swing arm motion is a uniform circular motion:
ω＝2π/T
the position of the virtual rope can be confirmed by the included angle between the virtual rope and the direction vertical to the ground. For example, as shown in fig. 2, an included angle a between the device 1 and the direction perpendicular to the ground may be regarded as an included angle between the virtual rope and the direction perpendicular to the ground, and the included angle a between the virtual rope and the direction perpendicular to the ground may be calculated by referring to the following formula:
A＝ωt
wherein T is a time point within a motion period [0, T), the motion period T obtained from the current time and gyroscope data, and a start time T0To obtain
When the virtual rope contacts the ground, A is 0, and when the virtual rope is at the highest point, A is 180.
Continuing in this embodiment, in said step S13, said device 1 determines a jumping status of the user based on said acceleration sensor data.
The modulus and direction of the acceleration sensor data obtained by the device 1 change according to the user's jumping state, wherein if the acceleration sensor data is the triaxial amount a, the modulus L | | | a | | | of the acceleration sensor data can be determined according to the acceleration sensor data obtained by the device 1. If the influence of the swing arm action is not considered, when the user is in a static state on the ground, L is equal to the gravity acceleration g; when the user is empty, the user is in a weightlessness state, and L is close to 0; when a user lands or takes off the ground, a reaction force is applied to the ground, and L is greater than g and reaches the maximum. Thus, the acceleration sensor data may reflect a jump status in a rope jump maneuver.
Optionally, wherein the step S13 includes:
and based on the acceleration sensor data, if the acceleration sensor data accords with a first preset threshold value, determining that the user is in an emptying state, and if the acceleration sensor data accords with a second preset threshold value, determining that the user is in a landing state.
The device 1 judges according to the acquired acceleration sensor data, considers the swing arm action influence, determines that the user is in an emptying state if the acceleration sensor data meets a first preset threshold value, for example, the modulus L of the acquired acceleration sensor data is less than 0.5g, and determines that the user is in a landing state if the acceleration sensor data meets a second preset threshold value, for example, the modulus L of the acquired acceleration sensor data is greater than 1.5 g.
Continuing with this embodiment, in said step S14, said device 1 determines whether the user cordless skipping rope is successful based on the position of said virtual rope and said skipping state, so as to implement the detection of the user cordless skipping rope.
For example, when the device 1 calculates that the included angle between the virtual rope and the position perpendicular to the ground is 0 degree based on the acquired gyroscope data, it may be determined that the virtual rope contacts the ground at this time, and if the device 1 determines that the user is in an emptying state based on the acquired acceleration sensor data, it may be determined that the user successfully completes one cordless rope skipping; if the user is in a grounding state when the virtual rope contacts the ground, the user can be determined that the cordless rope skipping is not successfully completed, and therefore the more real detection of the cordless rope skipping of the user is realized.
Further, the rope is usually pulled slightly behind the swing arm due to the influence of the length, material, weight and other factors of the rope in the actual rope skipping movement. In order to improve the user experience and simulate the detection of actual rope skipping as much as possible, in the present application, it can be considered that the included angle between the virtual rope and the direction perpendicular to the ground is a, and there is a deviation Δ a between the included angle a' between the device 1 and the direction perpendicular to the ground, which is calculated through the data of the gyroscope, wherein,
A＝A’+△A
in addition, the deviation delta A is also influenced by the rope skipping speed, and the higher the speed is, the less obvious the deviation effect is.
For simplicity, in an application scenario of this embodiment, it can be considered that the deviation Δ a is only related to the circular motion speed ω of the virtual rope, and can be calculated by the following formula:
△A＝loga(ω)
wherein a is a hyper-parameter in the range of (0, 1), which can be preset with an initial value in the development stage, and modified according to the experimental data in the testing stage, and after the experiment is finalized, the hyper-parameter is solidified in the firmware in the delivery stage.
The actual rope skipping action comprises the jumping action, the swinging arm action and the integral coordination action of a body, at the moment, the coordinate direction of an acceleration gyroscope sensor on user equipment is not always in the direction pointing to the ground, the gravity direction obtained by high-pass filtering the data of the acceleration sensor is needed to calibrate the direction of a gyroscope coordinate system so that the gyroscope coordinate system is vertically pointed to the ground, and therefore the corrected motion period T and the start time T at the moment when the air track of the equipment is perpendicular to the ground are obtained0。
In order to improve user experience, in this application, optionally, the wearable device-based cordless skipping rope detection method further includes:
determining a direction of gravity based on the acceleration sensor data;
wherein the step S12 includes:
mapping the three-axis angular velocity in the wearable device coordinate system to the angular velocity in the gravity direction;
determining a swing arm period of a user cordless skipping rope based on the angular velocity of the gravity direction;
based on the swing arm period, calculating an angle of the wearable device to a direction of gravity to determine a position of a virtual rope.
In the above embodiment, it can be considered that the included angle between the virtual rope and the gravity direction is a, and there is a deviation Δ a between the included angle a' between the apparatus 1 and the gravity direction calculated by the acceleration data of the gyroscope data set, wherein,
A＝A’+△A
optionally, the wearable device-based cordless skipping rope detection method further includes:
and feeding back the result of the cordless rope skipping detection of the user.
For example, the speaker of the device 1 feeds back to the user whether each cordless rope skipping action is successfully completed or failed, and the different vibration modes of the motor of the device 1 can feed back to the user whether each cordless rope skipping action is successfully completed or failed, so as to improve the user experience.
Can also simulate the aerial call of whipping of rope, the rope touches the papa sound of ground under the state of soaring or the rope touches the sound of foot under the state of landing through the speaker of equipment 1, still can combine the different modes of equipment 1's motor vibrations simultaneously (for example, rope touches the end under the state of soaring, the motor shakes slightly, the rope touches the foot under the state of landing, the long vibrations of motor), give the action state of user feedback cordless rope skipping, further promote user experience.
Optionally, the wearable device-based cordless skipping rope detection method further includes:
and carrying out statistics according to the result of the cordless rope skipping detection of the user.
Wherein, according to the result that rope skipping that cordless detects each time, can realize various statistics to the user lasts cordless rope skipping, for example: and (3) counting the rope skipping times (success/failure/total times), calculating the flight time, jumping height and the like of each cordless rope skipping based on the acquired gyroscope data and acceleration sensor data, and carrying out corresponding statistics.
Fig. 4 shows a schematic diagram of a wearable device-based cordless skipping rope detection apparatus according to another aspect of the present application, wherein the apparatus comprises:
a first device 41, configured to obtain data of an acceleration sensor in a gyroscope data set when a user is in a cordless rope skipping;
second means 42 for determining the position of the virtual rope based on said gyroscope data;
third means 43 for determining a jump status of the user based on said acceleration sensor data;
and the fourth device 44 determines whether the user cordless skipping is successful or not based on the position of the virtual rope and the skipping state so as to realize the detection of the user cordless skipping.
In this embodiment, the device is integrated in the apparatus 1.
The first module 41 of the device obtains gyroscope data and acceleration sensor data when the user rope skipping is cordless, the second module 42 of the device determines the position of the virtual rope based on the gyroscope data, the third module 43 of the device determines the skipping state of the user based on the acceleration sensor data, and the fourth module 44 of the device determines whether the user rope skipping is cordless or not based on the position of the virtual rope and the skipping state, so that the detection of the user rope skipping is realized.
Optionally, the wearable device-based cordless skipping rope detection apparatus further includes:
a fifth module 45 (not shown) for feeding back the result of the user's cordless jump rope detection.
Wherein, the result of the user's cordless skipping rope detection is also fed back through the fifth module 45 of the device. The fifth module 45 of the apparatus feeds back the result of the detection of the cordless skipping of the user to the user through the speaker of the device 1, for example, whether the cordless skipping is successfully completed or failed each time, and also feeds back whether the cordless skipping is successfully completed or failed each time to the user through different vibration modes of the motor of the device 1, so as to improve the user experience.
Optionally, the wearable device-based cordless skipping rope detection apparatus further includes:
a sixth module 46 (not shown) for performing statistics based on the result of the user's cordless skipping rope detection.
Wherein the result of the user's cordless skipping rope detection is also counted by the sixth module 46 of the device. According to the result of each cordless skipping detection, the sixth module 46 of the device records, so that various statistics of the user continuous cordless skipping can be realized, such as: rope skipping times (success/failure/total times) are counted.
According to yet another aspect of the present application, there is also provided a computer readable medium having stored thereon computer readable instructions executable by a processor to implement the foregoing method.
According to yet another aspect of the present application, there is also provided a cordless jump rope detecting apparatus, wherein the apparatus comprises:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform operations of the method as previously described.
For example, the computer readable instructions, when executed, cause the one or more processors to: acquiring data of an acceleration sensor in a gyroscope data set when a user rope is jumped in a cordless manner; determining a position of a virtual rope based on the gyroscope data; determining a jump status of the user based on the acceleration sensor data; and determining whether the user cordless skipping rope is successful or not based on the position of the virtual rope and the skipping state so as to realize the detection of the user cordless skipping rope.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software and/or hardware. The terms first, second, etc. are used to denote numbers, but not to denote any particular order.
Claims (12)
1. A wearable device-based cordless skipping rope detection method is characterized by comprising the following steps:
acquiring gyroscope data and acceleration sensor data when a user is in a cordless rope skipping state;
determining a position of a virtual rope based on the gyroscope data;
determining a jump status of the user based on the acceleration sensor data;
and determining whether the user cordless skipping rope is successful or not based on the position of the virtual rope and the skipping state so as to realize the detection of the user cordless skipping rope.
2. The method of claim 1, wherein the gyroscope data comprises:
three-axis angular velocity in the wearable device coordinate system.
3. The method of claim 2, wherein determining the position of the virtual rope based on the gyroscope data comprises:
determining a swing arm period of a cordless skipping rope of a user based on the three-axis angular velocity of the wearable device in the coordinate system acquired within the preset time;
based on the swing arm period, calculating an angle of the wearable device to a direction perpendicular to the ground to determine a position of the virtual rope.
4. The method of any of claims 1-3, wherein determining a jump status of a user based on the acceleration sensor data comprises:
and based on the acceleration sensor data, if the acceleration sensor data accords with a first preset threshold value, determining that the user is in an emptying state, and if the acceleration sensor data accords with a second preset threshold value, determining that the user is in a landing state.
5. The method of claim 2, further comprising:
determining a direction of gravity based on the acceleration sensor data;
wherein the determining a position of a virtual rope based on the gyroscope data comprises:
mapping the three-axis angular velocity in the wearable device coordinate system to the angular velocity in the gravity direction;
determining a swing arm period of a user cordless skipping rope based on the angular velocity of the gravity direction;
based on the swing arm period, calculating an angle of the wearable device to a direction of gravity to determine a position of a virtual rope.
6. The method according to any one of claims 1 to 5, further comprising:
and feeding back the result of the cordless rope skipping detection of the user.
7. The method of claim 6, further comprising:
and carrying out statistics according to the result of the cordless rope skipping detection of the user.
8. A wearable device-based cordless skipping rope detection apparatus, the apparatus comprising:
the first module is used for acquiring data of an acceleration sensor in a gyroscope data set when a user rope skips in a cordless manner;
a second module to determine a position of a virtual rope based on the gyroscope data;
a third module for determining a jump status of a user based on the acceleration sensor data;
and the fourth module is used for determining whether the cordless skipping of the user is successful or not based on the position of the virtual rope and the skipping state so as to realize the detection of the cordless skipping of the user.
9. The apparatus of claim 8, further comprising:
and the fifth module is used for feeding back the result of the cordless skipping rope detection of the user.
10. The apparatus of claim 8, further comprising:
and the sixth module is used for counting according to the result of the cordless skipping rope detection of the user.
11. A computer-readable medium comprising, in combination,
stored thereon computer readable instructions to be executed by a processor to implement the method of any one of claims 1 to 7.
12. A cordless jump rope detecting apparatus, characterized in that the apparatus comprises:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the method of any of claims 1 to 7.
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| CN113244565A (en) * | 2021-05-11 | 2021-08-13 | 北京小米移动软件有限公司 | Skipping rope handle, skipping rope and counting determination method of skipping rope |
| CN113569776A (en) * | 2021-08-02 | 2021-10-29 | 北京易真学思教育科技有限公司 | Rope skipping posture detection method and device, electronic equipment and medium |
| CN113627340A (en) * | 2021-08-11 | 2021-11-09 | 广东沃莱科技有限公司 | Method and equipment capable of identifying rope skipping mode |
| CN114327039A (en) * | 2021-11-24 | 2022-04-12 | 青岛歌尔声学科技有限公司 | Method, system and storage medium for detecting VR game user action |
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