CN113495598A

CN113495598A - Data processing device and data processing method for folding equipment

Info

Publication number: CN113495598A
Application number: CN202010268760.6A
Authority: CN
Inventors: 徐畅
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2020-04-08
Filing date: 2020-04-08
Publication date: 2021-10-12
Also published as: WO2021204574A1

Abstract

Providing a data processing apparatus and a data processing method for a folding device comprising a first part and a second part connected to each other, the first part and the second part being rotatable relative to each other and comprising respectively sensors arranged therein to obtain respectively respective acceleration data and angular velocity or angular acceleration data; the data processing apparatus includes a roll angle calculation unit for calculating a roll angle of the folding device based on acceleration data of any one of the first and second portions; a determination unit for determining whether the roll angle is greater than a predetermined angle threshold; and an angle determining unit for, when the judging unit determines that the roll angle is larger than a predetermined angle threshold, finally determining a first angle between the two portions determined based on the angular velocity or angular acceleration data of the first portion and the second portion as an angle between the two portions. Thereby, the angle between the folded portions can still be accurately determined in certain situations.

Description

Data processing device and data processing method for folding equipment

Technical Field

The present invention relates to data processing, and more particularly to processing sensor data from a folding device.

Background

Folding devices, such as cell phones and laptops with folded screens, it is useful to detect the angle between their folded portions during use, e.g. it can be determined whether the user closes the screen and then enters a sleep mode, based on the determined angle. Currently, the angle between the folded portions is determined by configuring an acceleration sensor on each folded portion and using the acceleration data measured from each folded portion.

There remains a need to provide a method that can in any case accurately determine the angle between the various folding sections of the folding apparatus.

Disclosure of Invention

It is desirable to provide a data processing system and a data processing method for a folding apparatus, which are capable of recognizing a scenario in which it is difficult to accurately determine angles between respective folding portions of the folding apparatus using acceleration data, and further determining angles between the respective folding portions from alternative sensor data in the scenario, thereby accurately determining angles between the respective folding portions regardless of circumstances.

According to one aspect, there is provided a data processing apparatus for a folding device comprising at least a first part and a second part connected to each other, wherein the first part and the second part are rotatable relative to each other to effect folding, the first part and the second part respectively comprising sensors arranged therein to obtain acceleration data and angular velocity or acceleration data from the first part and the second part respectively; the data processing apparatus includes a roll angle calculation unit for calculating a roll angle of the folding device based on the acceleration data of any of the first and second portions; a determination unit for determining whether the roll angle is greater than a predetermined angle threshold; and an angle determining unit configured to determine a first angle between the first part and the second part determined based on the angular velocity or angular acceleration data of the first part and the second part as an angle between the first part and the second part when the judging unit determines that the roll angle is greater than the predetermined angle threshold.

According to another aspect, there is provided a data processing method for a folding apparatus comprising at least a first and a second part connected to each other, the first and second part being rotatable relative to each other to effect folding, the first and second part respectively comprising sensors disposed therein to obtain acceleration data and angular velocity or acceleration data from the first and second part respectively; the data processing method includes calculating a roll angle of the folding device based on the acceleration data of any of the first and second portions; determining whether the roll angle is greater than a predetermined angle threshold; and determining a first angle between the first portion and the second portion, determined based on the angular velocity or acceleration data of the first portion and the second portion, as an angle between the first portion and the second portion when it is determined that the roll angle is greater than the predetermined angle threshold.

According to another aspect, there is provided a folding apparatus comprising at least a first and a second part connected to each other, the first and second part being rotatable relative to each other to effect folding, the first and second part respectively comprising a sensor disposed therein to obtain acceleration data and angular velocity or acceleration data from the first and second part respectively; and a data processing apparatus according to various embodiments of the present disclosure,

according to yet another aspect, there is provided a machine-readable storage medium storing computer program instructions that, when executed, cause a computer to perform a method according to various embodiments of the invention.

According to various embodiments of various aspects of the present disclosure, it is recognized that in certain specific situations, such as when a connecting line between folded portions of a folding device is close to perpendicular to a horizontal plane, it may be difficult to accurately determine an angle between adjacent folded portions from acceleration data. According to various embodiments of the present disclosure, when it is determined that the roll angle of the folding apparatus is greater than a predetermined angle threshold, i.e., the connection line between the folded portions is substantially perpendicular to the horizontal plane, the angle between the adjacent folded portions determined from the angular velocity or angular acceleration data is output as the angle between the adjacent folded portions. Thereby the angle between adjacent folded portions can still be accurately determined when the connecting line between the folded portions is close to perpendicular to the horizontal plane.

According to one embodiment of the various aspects, the included angle determining unit is further configured to determine a second included angle between the first portion and the second portion determined based on the acceleration data of the first portion and the second portion as the included angle between the first portion and the second portion when the judging unit determines that the roll angle is less than or equal to the predetermined angle threshold.

According to another embodiment of the various aspects, the judging unit is further configured to determine whether a change amount of the acceleration data of the arbitrary portion of the first portion and the second portion within a predetermined time is larger than a predetermined change amount threshold, and wherein the included angle determining unit is further configured to determine, when the judging unit determines that the change amount is larger than the predetermined change amount threshold, the first included angle between the first portion and the second portion determined based on the angular velocity or angular acceleration data of the first portion and the second portion as the included angle between the first portion and the second portion, and determine, when the judging unit determines that the change amount is smaller than or equal to the predetermined change amount threshold, the second included angle between the first portion and the second portion determined based on the acceleration data of the first portion and the second portion as the first portion and the second portion The angle between the second portions.

When folding equipment has experienced vibration or has rocked, extra acceleration data can produce big influence to the calculation of contained angle, through the abrupt change of discernment acceleration data, can confirm that folding equipment takes place the vibration or the condition of rocking, under this condition, will regard as the contained angle between the final adjacent part according to the contained angle that angular velocity or angular acceleration data confirmed, can still provide accurate contained angle monitoring between the adjacent part when taking place vibration or rocking.

According to another embodiment of the various aspects, the determination unit is further configured to determine whether the angle between the first portion and the second portion changes based on the first angle and/or the second angle, and wherein the determination unit is further configured to determine the first angle or the second angle as the angle between the first portion and the second portion in response to the determination unit determining that the angle between the first portion and the second portion changes.

Like this, can distinguish because manual and drive the folding equipment motion but the contained angle is unchangeable with folding part motion and the condition that the contained angle changes to provide more accurate monitoring, and can practice thrift the energy that the contained angle monitoring consumed.

According to another embodiment of the various aspects, the angle determination unit comprises a first angle calculation unit for determining the first angle between the first part and the second part based on the angular velocity or acceleration data of the first part and the second part; a second angle calculation unit for determining a second angle between the first part and the second part based on the acceleration data of the first part and the second part; and a determination unit configured to determine the first angle or the second angle as the angle between the first part and the second part based on a determination result from the determination unit.

According to another embodiment of the various aspects, the data processing apparatus further comprises a calibration unit for instructing the folding device to initiate a calibration action when the determination unit determines that the roll angle of the arbitrary portion is greater than the predetermined angle threshold and/or the amount of change in the acceleration data of the arbitrary portion within a predetermined time is greater than a predetermined change threshold when the determination unit upon activation of the sensor.

A corresponding calibration strategy is provided for this purpose, recognizing that the gyroscope cannot provide angular velocity or angular acceleration data to determine the angle when the sensor is activated and that the acceleration data is not authentic.

Drawings

Embodiments are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings in which like reference numerals refer to similar elements.

Fig. 1 shows an example of a folding apparatus;

FIG. 2 illustrates the side tilt angle of the folding apparatus;

FIG. 3 shows a side view of the folding apparatus;

FIG. 4 shows a data processing apparatus for a folding device according to one embodiment;

FIG. 5 shows a data processing apparatus for a folding device according to another embodiment;

FIG. 6 illustrates a folding apparatus according to one embodiment;

FIG. 7 shows a flow diagram of a data processing method for a folding device according to one embodiment;

FIG. 8 shows a flow diagram of a data processing method for a folding device according to another embodiment;

fig. 9 shows a flow chart of a data processing method for a folding device according to another embodiment.

Various aspects and features of various embodiments of the present invention are described with reference to the above-identified figures. The drawings described above are only schematic and are non-limiting. The size, shape, reference numerals, or appearance of the respective elements in the above-described drawings may be changed without departing from the gist of the present invention, and are not limited to only those shown in the drawings of the specification.

Detailed Description

Fig. 1 shows a notebook computer as an example of the folding apparatus. Of course, other types of folding devices are also contemplated, such as a cell phone with a folding screen. The folding device comprises a first part 1, a second part 2 and a connecting part 3, which connecting part 3 is used to connect the first part 1 and the second part 2, in particular to connect the first part 1 and the second part 2 in such a way that the first part 1 and the second part 2 can rotate relative to each other with respect to the connecting part 3, so that folding is achieved. Such respective parts which are movable relative to each other to achieve the folded state of the folding device may be referred to as folding parts. The connection 3 may be a hinged connection. Typically the first and

second parts

1, 2 have a flat plate shape, although it is also envisaged that the two parts are shaped to fit into each other, i.e. when the first and

second parts

1, 2 are folded into alignment, at least a part of one of the parts is nested in a corresponding position in the other part.

Fig. 2 shows the roll angle R of the folding device in relation to a notebook computer. The side inclination R is the angle between the horizontal plane H and a connecting line connecting the first and second parts of the folding device, according to the definition of the side inclination and as shown in fig. 2. Fig. 3 shows a side view from one side of the folding device, wherein in particular the angle θ between the first part 1 and the second part 2 of the folding device is shown.

Although fig. 1-3 only show the folding device as comprising the first part 1 and the second part 2 as folded portions, it is also contemplated that it comprises more folded portions and that a respective angle is defined between each two adjacent portions. The various embodiments will be described below with reference to a folding apparatus comprising two folding portions, but it is also contemplated that the various embodiments below may be applied to a folding apparatus comprising a plurality of folding portions to determine the angle between each two adjacent folding portions.

For folding devices such as laptops and cell phones with folding screens, it makes sense to determine the angle between the first part 1 and the second part 2 that can be rotated relative to each other to achieve the folding. For example, when the angle is detected to be less than the predetermined value, indicating that the folding device is being closed, the folding device may be put into a low power consumption state, and conversely, indicating that the folding device is being opened, the state of the folding device may be changed accordingly to wait for the user to receive input from the user.

Typically, acceleration data from each part is obtained using sensors provided in the first part 1 and the second part 2, and the angle between the parts is calculated based on the respective acceleration data of the first part 1 and the second part 2.

The inventors of the present invention have realized that, when the connection (e.g. hinge line) of the folding device is kept perpendicular to the horizontal plane, irrespective of how its first and

second parts

1 and 2 rotate relative to each other about the joint 3, when a steady state is reached in order to determine the angle between the first part 1 and the second part 2, the first part 1 and the second part 2 are still perpendicular to the horizontal plane, and, therefore, the acceleration vector of each of the first part 1 and the second part 2 does not change in the respective steady states before and after the rotation, and, furthermore, regardless of how the first part 1 and the second part 2 relatively rotate in the horizontal plane, the angle between them, calculated from their acceleration vectors, does not change before and after the rotation, and therefore, in this case it will be difficult to accurately determine the angle between the first part 1 and the second part 2 from the acceleration data.

Fig. 4 shows a data processing device 10 for a folding apparatus according to an embodiment. The folding device comprises, as shown in fig. 1, a first part 1 and a second part 2 connected to each other, the first part 1 and the second part 2 respectively comprising sensors arranged therein, the sensors comprising at least an acceleration sensor and an angular velocity or angular acceleration sensor (e.g. a gyroscope) which respectively measure acceleration data and angular velocity or angular acceleration data of the respective part. In one embodiment, the sensor may be an inertial sensor including an acceleration sensor, a gyroscope, and a magnetic sensor.

The data processing apparatus 10 includes a roll angle calculation unit 11, a judgment unit 12, and an angle determination unit 13. The roll angle calculation unit 11 receives acceleration data ACC from the first part 1 and/or the second part 2 of the folding apparatus and calculates the roll angle R of the folding apparatus on the basis of the received acceleration data. When there are more folding portions in addition to the first portion 1 and the second portion 2, considering the limitation due to the hinge connection between the respective folding portions, as long as acceleration data from any one of the portions, for example, the first portion 1 or the second portion 2, is received, the roll angle R of the folding apparatus can be determined based on the acceleration data. It is of course also contemplated to receive acceleration data from a plurality of folding sections, determine a respective roll angle for each folding section based on the acceleration data for that folding section, and then average the plurality of roll angles to ultimately determine the roll angle of the folding apparatus.

The judgment unit 12 receives the roll angle R of the folding apparatus calculated by the roll angle calculation unit 11, and judges whether the calculated roll angle R is larger than a predetermined angle threshold value, for example, 80 degrees. If the roll angle is judged to be greater than the predetermined angle threshold, indicating that the folding device is close to being perpendicular to the horizontal, in which case it may be difficult to accurately determine the angle between the first part 1 and the second part 2 from the acceleration data. Conversely, if the roll angle is determined to be less than or equal to the predetermined angle threshold, it is an indication that the folding device is not close to being perpendicular to the horizontal, and thus the angle between the first part 1 and the second part 2 can be accurately determined from the acceleration data. The predetermined angle threshold may be configurable by the user as desired.

The angle determining unit 13 receives the judgment result from the judging unit 12 and determines the angle θ between the first part 1 and the second part 2 according to the judgment result. When the judging unit 12 determines that the roll angle R is larger than the predetermined angle threshold value, it is difficult to accurately determine the angle between the first part 1 and the second part 2 using the acceleration data, and therefore, the angle determining unit 13 determines the first angle between the first part and the second part determined based on the angular velocity or angular acceleration data of the first part 1 and the second part 2 as the angle between the first part 1 and the second part 2. When the judging unit 12 determines that the roll angle R is less than or equal to the predetermined angle threshold value, the angle between the first part 1 and the second part 2 can be accurately determined using the acceleration data, and therefore, the angle determining unit 13 determines the second angle between the first part 1 and the second part 2, which is determined based on the acceleration data of the first part 1 and the second part 2, as the angle between the first part 1 and the second part 2.

In one embodiment, the angle determining unit 13 includes a first angle calculating unit 131, a second angle calculating unit 132, and a determining unit 133. The first angle calculation unit 131 receives angular velocity or angular acceleration data ANG from sensors provided in the first part 1 and the second part 2 in the folding apparatus and determines a first angle between the first part 1 and the second part 2 based on angular velocity or angular acceleration data obtained from the first part 1 and the second part 2, respectively. The second angle calculation unit 132 receives acceleration data ACC from sensors provided in the first part 1 and the second part 2 in the folding apparatus and determines a second angle between the first part 1 and the second part 2 based on the acceleration data ACC obtained from the first part 1 and the second part 2, respectively.

The angle between the first part 1 and the second part 2 can be derived from a quaternion. According to the rodlike rotation formula, a vector v 'obtained by rotating an arbitrary vector v by an angle θ along a rotation axis u defined by a unit vector is represented by v' ═ qvq (1)

Where v ═ 0, v ], q ═ cos (1/2 θ), sin (1/2 θ) u.

According to the rodlike formula, assuming that there are two quaternions q1 and q2 representing different rotations along different axes, the vector v "resulting from any arbitrary vector v undergoing these two rotations is

v”＝q2v’q2*＝q2q1vq1*q2* (2)。

It is known that, for any quaternion q1 ═ s, v ], q2 ═ t, u ], q1 ═ q2 ═ q2q 1. Wherein q2q1 ═[ ts-u · v, -su-tv + v × u ].

From the correspondence between quaternions and shaft angles, q2q1 ═ cos θ, sin θ ], can be found by comparing the real parts of quaternions (q2q1) derived from the above two equations:

cosθ＝ts-u·v＝q1·q2 (3)。

therefore, the angle between the quaternions q1 and q2 can be obtained according to the following formula

θ＝cos^-1(q1·q2) (4)。

According to the above formula, the first angle calculation unit 131 and the second angle calculation unit 132 calculate the first angle and the second angle based on the corresponding sensor data, respectively.

The determination unit 13 determines the angle between the first part 1 and the second part 2 based on the first angle calculated by the first angle calculation unit 131 and the second angle calculated by the second angle calculation unit 132 according to the judgment result from the judgment unit 12. For example, when the judging unit 12 determines that the roll angle R is larger than the predetermined angle threshold, the determining unit 133 determines the first angle calculated based on the angular velocity or angular acceleration data in the first angle calculating unit 131 as the angle between the first part 1 and the second part 2; otherwise, when the judging unit 12 determines that the roll angle R is less than or equal to the predetermined angle threshold, the determining unit 133 determines the second angle calculated based on the acceleration data in the second angle calculating unit 132 as the angle between the first part 1 and the second part 2.

In a further embodiment, the determining unit 12 can receive the first angle and/or the second angle from the first angle calculating unit 131 and/or the second angle calculating unit 132, determine whether the angle of the folding device has changed based on the first angle and/or the second angle, and if so, the determining unit 133 further determines which of the first angle and/or the second angle is used as the angle between the first part 1 and the second part 2 to output in response. During the movement of the folding device, it is possible that the hand is carrying the folding device in motion, without the angle between the first part 1 and the second part 2 changing. In this embodiment, the determining unit 12 determines whether the first part 1 and the second part 2 of the folding device have moved relatively based on the calculated first angle and/or second angle, so as to distinguish the case where the folding device has moved due to the hand movement but the relative positions of the first part 1 and the second part 2 are not changed from the case where the first part 1 and the second part 2 actually have moved relatively, and further more accurately determine when the angle between the first part 1 and the second part 2 needs to be determined for output.

Although the case where the angle determination unit 13 includes the first angle calculation unit 131 and the second angle calculation unit 132 is described in the above embodiment, a case where the first angle calculation unit 131 and the second angle calculation unit 132 are provided outside the angle determination unit 13 is also conceivable.

In addition, although the case where the first angle and the second angle are calculated first and then which of the first and second angles is determined to be output as the angle between the first part 1 and the second part 2 based on the judgment result of the judging unit is described in the above-described embodiment, the case where the determining unit 133 determines which of the first angle calculating unit 131 and the second angle calculating unit 132 is used to calculate the angle between the first part and the second part and outputs the corresponding angle based on the judgment result from the judging unit 12 is also conceivable.

Fig. 5 shows a data processing device 20 for a folding apparatus according to another embodiment. The roll angle calculating unit 21, the first included angle calculating unit 231 and the second included angle calculating unit 232 are the same as those of the embodiment shown in fig. 4.

The difference is that the determination unit 22 included in the data processing apparatus 20 is also capable of determining whether the amount of change in the acceleration data of any of the first part 1 and the second part 2 in a predetermined time is larger than a predetermined change threshold. It can be appreciated that when the folding device is subjected to vibration or shaking, additional acceleration increases, and the included angle calculated from the acceleration data may be inaccurate due to the additional acceleration. In this case, the angular velocity and angular acceleration data can be used to determine the angle between the first part and the second part. Considering that the connection relationship between the first part 1 and the second part 2 makes them restricted to each other, it can be determined whether the folding device has undergone vibration from the acceleration data of either one of the first part 1 and the second part 2. It is also possible to consider the determination from the acceleration data of the first part 1 and the second part 2, respectively.

Specifically, the data processing apparatus 20 further includes a variation data calculation unit 24 that receives acceleration data of an arbitrary portion and calculates variation data indicating whether the folding device has undergone vibration or shaking, particularly parameter data indicating an increment of the acceleration data within a predetermined time, based on the acceleration data. The acceleration sensor is typically a three-axis acceleration sensor, and therefore, the variation data calculation unit 24 is capable of receiving three-dimensional acceleration data from the acceleration sensor, and further calculating acceleration variation data in various directions in a three-dimensional space, for example, calculating the sum of squares of acceleration increments along different axes of the three axes of the acceleration sensor. Suppose for either of the first and

second portions

1, 2 of the folding apparatus the acceleration data is incremented by Δ x along the x-axis, Δ y along the y-axis, and Δ y along the z-axisIs Δ z, the variation data calculated by the variation data calculating unit 24 may be Δ x²+△y²+△z². The sum of squares described above is only one example of delta data, and it is also contemplated that other forms of delta data may be used, such as

As long as it can represent the increment of the acceleration data within a predetermined time, the use of the above-described sum of squares can, of course, make the calculation relatively simple. The amount-of-change data may be calculated based on the acceleration data of any one portion, and it is also conceivable to calculate the amount-of-change data for each portion.

The judging unit 22 receives the variation data from the variation data calculating unit 24, and determines whether the folding apparatus has experienced vibration or shaking by comparison with a predetermined variation threshold δ based on the variation data. E.g. Δ x²+△y²+△z²The symbol > δ indicates that vibration occurs, and the other symbols indicate that vibration does not occur. The predetermined threshold δ may be set by the user according to different situations, for example, to change in correspondence with different forms of the variation amount data.

In the case where the variation data is calculated for each of the first and

second sections

1 and 2, the above-described determination can be made for the variation data for each section to comprehensively determine whether or not the folding apparatus has vibrated.

After the determination unit 22 determines whether the folding apparatus has vibrated, the determination result is sent to the determination unit 233 in the angle determination unit 23, and the determination unit 233 determines whether to output the first angle or the second angle as the angle between the first part 1 and the second part 2 based on both the determination result of whether the roll angle from the determination unit 22 is larger than the predetermined angle threshold and the determination result of whether the amount of change is larger than the predetermined amount of change threshold (i.e., whether the folding apparatus has vibrated).

Specifically, if the judging unit 22 determines that the roll angle of any of the first part 1 and the second part 2 is larger than the predetermined angle threshold and/or the amount of change is larger than the predetermined amount of change threshold, the determining unit 233 determines the first angle from the first angle calculating unit 231 as the angle between the first part 1 and the second part 2, whereas if the judging unit 22 determines that the roll angle of the any part is smaller than or equal to the predetermined angle threshold and the amount of change is smaller than or equal to the predetermined amount of change threshold, the determining unit 233 determines the second angle from the second angle calculating unit 232 as the angle between the first part 1 and the second part 2.

The data processing device for a folding apparatus has been described in detail above with reference to different embodiments, which can be combined with each other to obtain different effects. Furthermore, the above-mentioned respective units are not restrictive, and the functions of the above-mentioned respective units can be combined/changed/modified to obtain corresponding effects. For example, the first angle calculation unit, the second angle calculation unit, and the determination unit can be combined into one unit; or the first angle calculation unit and the second angle calculation unit may be disposed outside the angle determination unit. The functions of these units can be implemented by software or corresponding hardware, or by means of a processor, for example a computer program readable in a memory and executable by a processor to implement the functions of the units.

Fig. 6 shows a folding device 100 according to an embodiment comprising the data processing means described according to the various embodiments described above. The folding device 100 comprises a first part 1 and a second part 2 connected to each other via a connection 3, which first part 1 and said second part 2 are rotatable relative to each other to effect folding.

Sensors

30 and 40 are provided in the first part 1 and the second part 2, respectively, each sensor comprising at least an acceleration sensor and an angular velocity or angular velocity sensor, to obtain acceleration data and angular velocity or angular acceleration data from the first part and the second part, respectively. Furthermore, the folding device comprises data processing means 50, which are identical to the data processing means 10 or 20 described before.

Optionally, the folding device 100 may further comprise a calibration means 60, integrated with (i.e. integrated within) the data processing means or provided separately, which, when the

sensors

30 and 40 are activated, issues a calibration instruction to initiate a calibration action on the folding device based on the determination result of the determination unit in the data processing means 50, such as whether the roll angle R of any part is currently greater than a predetermined angle threshold and/or whether the folding device is subjected to vibration, which may include displaying to the user an indication that sensor calibration is required, and displaying to the user a recommendation to calibrate the sensor, such as "lay-flat phone" or the like. In this figure, the placement of the

sensors

30, 40, the data processing device 50 and the calibration device 60 is merely schematic.

It can be understood that a gyroscope, as an integral type sensor for measuring angular acceleration data, needs to give angular acceleration data after a certain time to perform accurate angle measurement, and therefore, when the sensor is started to perform angle measurement, angle measurement needs to be performed according to the acceleration data, and if a connection portion of a folding device is perpendicular to a horizontal plane or the folding device experiences vibration, it is difficult to accurately determine an angle according to the acceleration data. At this point, the equipment needs to be reset to ensure that an accurate angle is obtained when the angle measurement algorithm is started.

Although the calibration means 60 is shown in connection with the folding device 100 shown in fig. 6 in parallel with the data processing means 50, it is also conceivable to arrange the calibration means 60 as part of the data processing means 50, for example as a calibration unit. When the sensor is started, the calibration unit receives the judgment result from the judgment unit, and based on the judgment result, sends out an instruction to start the calibration action of the folding device, such as displaying a 'flat mobile phone' and the like. In this case, the calibration unit performs the above-described processing only when the sensor is started to start the angle calculation flow.

In addition, although the data processing apparatus may be incorporated as a part of the folding device as shown in fig. 6, it is also conceivable that the data processing apparatus is provided at a remote location, such as a cloud, receiving sensor data from the respective folding devices to perform the functions of the data processing apparatus according to the above-described respective embodiments for different folding devices. Even if a part of the functions of the data processing apparatus according to the above-described respective embodiments can be executed in the processing unit provided on the folding device, communication with the processing unit at the remote location causes the processing unit at the remote location to execute another part of the functions. Likewise, the calibration unit can also be provided at a remote location as part of the data processing device, if necessary.

FIG. 7 illustrates a data processing method 1000 for a folding device, according to one embodiment. The folding device may comprise a first part 1 and a second part 2 as folding parts as shown in fig. 1-3. It is also contemplated that it includes more folded portions.

According to the method 1000, at 1100, sensor data, i.e., acceleration data and angular velocity or acceleration data, from a first part 1 and a second part 2 of a folding apparatus are received.

At 1200, a roll angle of a corresponding portion (e.g., the first portion 1 or the second portion 2 shown in FIG. 1) is calculated based on the received acceleration data, thereby determining a roll angle of the folding device. Due to the limitation of the movement between the first and

second sections

1, 2, it may be considered to directly determine the roll angle of one section as the roll angle of the folding device, or to determine the roll angle of the folding device based on the roll angle determined for each of the plurality of folding sections. In one embodiment, it is contemplated that the roll angle of the folding device may be determined as the largest roll angle among the roll angles of the plurality of folded sections, if any.

At 1300, a first angle between the first part 1 and the second part 2 is determined based on received angular velocity or acceleration data for them, respectively.

At 1400, a second angle between the first part 1 and the second part 2 is determined based on the received acceleration data for them, respectively.

At 1500, it is determined whether the determined roll angle of the folding device is greater than a predetermined angle threshold, and if so, returning a "yes" condition, then proceeding to 1600, otherwise proceeding to 1700.

At 1600, a first angle is determined and output as the angle between the first portion 1 and the second portion 2.

At 1700, a second angle is determined and output as the angle between the first portion 1 and the second portion 2.

In the above embodiment, 1300 and 1400 can optionally be omitted, and after 1500 determining that the roll angle of the folding device is greater than the predetermined angle threshold, at 1600 a first angle between the first part 1 and the second part 2 is determined based on received angular velocity or angular acceleration data for the first part 1 and the second part 2, respectively, and output as the first angle between the first part 1 and the second part 2; conversely, after determining at 1500 that the roll angle of the folding device is less than or equal to the predetermined angle threshold, a second angle between the first part 1 and the second part 2 is determined at 1700 based on the received acceleration data for the first part 1 and the second part 2, respectively, and the second angle is output as the first angle between the first part 1 and the second part 2.

Fig. 8 shows a data processing method 2000 for a folding device according to another embodiment. The

processes

2100, 2500, and 2600 are the same as the

processes

1100, 1500, and 1600, respectively, shown in fig. 7.

The difference from the data processing method 1000 in fig. 7 is that after determining at 2500 that the roll angle of the folding device is less than or equal to the predetermined angle threshold, proceeding to 2530, delta data for the acceleration data over a predetermined time, such as the sum of squares of the acceleration deltas along different axes over the predetermined time, is calculated based on the acceleration data received at 2100. At 2560, it is determined whether the variance data is greater than a predetermined threshold, and if so, returning "yes," indicating that the folding device has experienced vibration, processing proceeds to 2600 where the first angle is determined to be the angle between the first portion 1 and the second portion 2. Conversely, the process proceeds to 2700, where the second included angle is determined to be the included angle between first portion 1 and second portion 2.

Although not shown in fig. 7 and 8, in a further embodiment, it can be determined prior to process 2500 whether the angle between the first portion 1 and the second portion 2 has changed based on the first included angle calculated at 2300 and/or the second included angle calculated at 2400; then proceeds to 2500 in response to determining that the angle has changed, otherwise nothing is done.

The data processing method for the folding device is described above with reference to the different embodiments shown in fig. 7 and 8, which can be combined with each other to obtain different effects. Further, the respective processes mentioned above are not restrictive, and they can be combined/changed/modified to obtain the corresponding effects.

Fig. 9 shows a data processing method 3000 for a folding apparatus according to another embodiment, the data processing method 3000 comprising a calibration process 3100 and an angle monitoring flow 3200. The angle monitoring process 3200 includes the

data processing method

1000 or 2000 shown in fig. 7 or 8. The calibration process 3100 includes processes 3110-3160 for determining whether calibration action needs to be taken when initiating the sensor to begin the angle monitoring process. Because the gyroscope is an integral type device, an accurate angular velocity or angular acceleration value is difficult to give during starting, so that the included angle is difficult to accurately determine according to the angular velocity or angular acceleration data, and whether the acceleration data is credible or not needs to be judged by adopting the calibration processing during starting.

Acceleration data from any of the first part 1 and the second part 2 is received at 3110. At 3120, a roll angle of the folding device is determined based on the acceleration data of the arbitrary portion. At 3130, it is determined whether the roll angle is greater than a predetermined angular threshold (e.g., 80 degrees), and if so, a return of "yes" indicates that the acceleration data at start-up is not authentic, thereby proceeding to 3140 to issue an instruction to initiate a calibration action.

The reverse flow proceeds to 3150, and further determines, based on the acceleration data, variation data of the acceleration data within a predetermined time for indicating whether the folding device has experienced vibration, and determines, at 3160, whether the variation data is greater than a corresponding predetermined variation threshold, and if so, returns yes, indicating that the folding device has experienced vibration, at which point the acceleration data is also not authentic, and a command to initiate a calibration action is required to proceed to 3140. If less than or equal to the threshold value, this indicates that the folding device has not undergone vibration, and so the process 3200 is advanced for monitoring the angle of the first and

second portions

1, 2.

It is understood that the data processing system and method of the various embodiments of the present disclosure can be implemented by a computer program/software. The software can be loaded into the working memory of a data processor and when executed is used to perform a method according to embodiments of the present disclosure.

Exemplary embodiments of the present disclosure cover both: the computer program/software of the present disclosure is created/used from the beginning and the existing program/software is transferred to the computer program/software using the present disclosure by means of an update.

According to further embodiments of the present disclosure, a machine (e.g., computer) readable medium, such as a CD-ROM, is provided, wherein the readable medium has stored thereon computer program code which, when executed, causes a computer or processor to perform a method according to embodiments of the present disclosure. The machine-readable medium may be, for example, an optical storage medium or a solid-state medium supplied together with or as part of other hardware.

Computer programs for carrying out methods according to embodiments of the present disclosure may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems.

The computer program may also be provided over a network, such as the world wide web, and can be downloaded into the operating computers of data processors from such a network.

It has to be noted that embodiments of the present disclosure are described with reference to different subject-matters. In particular, some embodiments are described with reference to method type claims whereas other embodiments are described with reference to apparatus type claims. However, a person skilled in the art will gather from the above and the following description that, unless other notified, in addition to any combination of features belonging to one type of subject-matter also any combination between features relating to different subject-matters is considered to be disclosed with this application. Also, all features can be combined, providing a synergistic effect greater than a simple sum of the features.

The foregoing description of specific embodiments of the present disclosure has been described. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The present disclosure has been described above with reference to specific embodiments, and it will be understood by those skilled in the art that the technical solutions of the present disclosure can be implemented in various ways without departing from the spirit and essential characteristics of the present disclosure. The specific embodiments are merely illustrative and not restrictive. In addition, any combination of these embodiments can be used to achieve the purpose of the present disclosure. The scope of the disclosure is defined by the appended claims.

The word "comprising" in the description and in the claims does not exclude the presence of other elements or steps, the words "first", "second", etc. do not denote any order or importance, nor do they denote any order or importance. The functions of the respective elements described in the specification or recited in the claims may be divided or combined into plural corresponding elements or may be implemented by a single element.

Claims

1. A data processing apparatus for a folding device comprising at least a first part and a second part connected to each other, wherein the first part and the second part are rotatable relative to each other to effect folding, the first part and the second part respectively comprising a sensor disposed therein to obtain acceleration data and angular velocity or angular acceleration data from the first part and the second part respectively; the data processing apparatus includes:

a roll angle calculation unit for calculating a roll angle of the folding device based on the acceleration data of any of the first and second portions;

a determination unit for determining whether the roll angle is greater than a predetermined angle threshold; and

an included angle determining unit configured to determine a first included angle between the first portion and the second portion determined based on the angular velocity or angular acceleration data of the first portion and the second portion as an included angle between the first portion and the second portion when the judging unit determines that the roll angle is greater than the predetermined angle threshold.

2. The data processing apparatus according to claim 1, wherein the included angle determining unit is further configured to determine a second included angle between the first portion and the second portion determined based on the acceleration data of the first portion and the second portion as the included angle between the first portion and the second portion when the determining unit determines that the roll angle is less than or equal to the predetermined angle threshold.

3. The data processing apparatus according to claim 1, wherein the determination unit is further configured to determine whether a variation of the acceleration data of the arbitrary portion of the first portion and the second portion within a predetermined time is larger than a predetermined variation threshold,

and wherein the included angle determining unit is further configured to determine the first included angle between the first portion and the second portion determined based on the angular velocity or angular acceleration data of the first portion and the second portion as the included angle between the first portion and the second portion when the determining unit determines that the amount of change is greater than the predetermined amount-of-change threshold.

4. The data processing apparatus according to claim 3, wherein the included angle determination unit is further configured to determine, as the included angle between the first portion and the second portion, the second included angle between the first portion and the second portion determined based on the acceleration data of the first portion and the second portion when the determination unit determines that the amount of change is less than or equal to the predetermined amount-of-change threshold.

5. The data processing apparatus according to claim 2, wherein the determination unit is further configured to determine whether the angle between the first portion and the second portion changes based on the first angle and/or the second angle,

and wherein the determining unit is further configured to determine the first angle or the second angle as the angle between the first portion and the second portion in response to the determining unit determining that the angle between the first portion and the second portion has changed.

6. The data processing apparatus according to claim 2 or 4, wherein the angle determining unit comprises

A first angle calculation unit for determining the first angle between the first part and the second part based on the angular velocity or acceleration data of the first part and the second part;

a second angle calculation unit for determining a second angle between the first part and the second part based on the acceleration data of the first part and the second part; and

a determination unit configured to determine the first angle or the second angle as the angle between the first portion and the second portion based on a determination result from the determination unit.

7. The data processing apparatus according to any one of claims 1 to 5, further comprising a calibration unit for instructing the folding device to start a calibration action when the determination unit determines that the roll angle of the arbitrary portion is larger than the predetermined angle threshold and/or the amount of change in the acceleration data of the arbitrary portion in a predetermined time is larger than a predetermined change threshold at the time of starting the sensor.

8. A folding apparatus comprising

At least first and second portions connected to one another, the first and second portions being rotatable relative to one another to effect folding, the first and second portions each including a sensor disposed therein to obtain acceleration data and angular velocity or acceleration data from the first and second portions, respectively; and

the data processing apparatus according to any one of claims 1-7.

9. A data processing method for a folding apparatus comprising at least a first part and a second part connected to each other, the first part and the second part being rotatable relative to each other to effect folding, the first part and the second part each comprising a sensor disposed therein to obtain acceleration data and angular velocity or angular acceleration data from the first part and the second part, respectively; the data processing method comprises

Calculating a roll angle of the folding device based on the acceleration data of any of the first and second portions;

determining whether the roll angle is greater than a predetermined angle threshold; and

determining a first included angle between the first portion and the second portion determined based on the angular velocity or acceleration data of the first portion and the second portion as an included angle between the first portion and the second portion when it is determined that the roll angle is greater than the predetermined angle threshold.

10. The data processing method of claim 9, further comprising

Determining a second included angle between the first portion and the second portion determined based on the acceleration data of the first portion and the second portion as the included angle between the first portion and the second portion when it is determined that the roll angle is less than or equal to the predetermined angle threshold.

11. The data processing method of claim 9, further comprising

Determining whether a variation of the acceleration data of the arbitrary portion of the first portion and the second portion within a predetermined time is larger than a predetermined variation threshold;

determining the first included angle between the first portion and the second portion determined based on the angular velocity or angular acceleration data of the first portion and the second portion as the included angle between the first portion and the second portion when it is determined that the amount of change is greater than the predetermined amount of change threshold.

12. The data processing method of claim 11, further comprising

Determining the second angle between the first portion and the second portion determined based on the acceleration data of the first portion and the second portion as the angle between the first portion and the second portion when it is determined that the amount of change is less than or equal to the predetermined amount of change threshold.

13. The data processing method of claim 10, further comprising

Determining whether the angle between the first portion and the second portion changes based on the first included angle and/or the second included angle; and

determining the first included angle or the second included angle as an included angle between the first portion and the second portion in response to determining that the angle between the first portion and the second portion changes.

14. The data processing method of any of claims 9-13, further comprising upon activation of the sensor

Determining whether the roll angle is greater than a predetermined angle threshold, and/or

Determining whether a variation of the acceleration data of the arbitrary portion of the first portion and the second portion within a predetermined time is larger than a predetermined variation threshold; and

instructing the folding device to initiate a calibration action when it is determined that the roll angle of the arbitrary portion is greater than the predetermined angle threshold and/or the amount of change is greater than the predetermined amount of change threshold.

15. A machine readable storage medium storing computer program instructions that when executed cause a computer to perform the method of any of claims 9-14.