CN113703519A - Method and device for determining posture of folding screen and storage medium - Google Patents
Method and device for determining posture of folding screen and storage medium Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
- G06F1/1637—Details related to the display arrangement, including those related to the mounting of the display in the housing
- G06F1/1652—Details related to the display arrangement, including those related to the mounting of the display in the housing the display being flexible, e.g. mimicking a sheet of paper, or rollable
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
- G06F1/1675—Miscellaneous details related to the relative movement between the different enclosures or enclosure parts
- G06F1/1677—Miscellaneous details related to the relative movement between the different enclosures or enclosure parts for detecting open or closed state or particular intermediate positions assumed by movable parts of the enclosure, e.g. detection of display lid position with respect to main body in a laptop, detection of opening of the cover of battery compartment
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
Abstract
The disclosure relates to a method and a device for determining a folded screen posture and a storage medium. The method for determining the posture of the folding screen is applied to a terminal comprising the folding screen, the folding screen is folded along a bending area to form a first screen and a second screen, and an acceleration gyroscope sensor is mounted on each screen, and the method for determining the posture of the folding screen comprises the following steps: determining a first included angle between the first screen and the second screen based on the angular velocity detected by the acceleration gyroscope sensor mounted on each screen, and determining a second included angle between the first screen and the second screen based on the acceleration detected by the acceleration gyroscope sensor mounted on each screen; and fusing the first included angle and the second included angle to obtain the posture of the folding screen. Through the method and the device, the posture of the folding screen can be accurately judged, and the content needing to be displayed on each screen in the folding screen can be realized according to the posture of the folding screen.
Description
Technical Field
The disclosure relates to the technical field of terminals, and in particular, to a method and an apparatus for determining a posture of a folding screen, and a storage medium.
Background
With the rapid progress of science and technology, the appearance of mobile electronic devices has changed dramatically. Flexible screens are of particular interest due to their unique properties and great potential. Compared with the traditional screen, the flexible screen has the characteristics of strong flexibility and flexibility, can reduce the degree of accidental damage of equipment, has the durability far higher than other screens, provides a new interaction mode based on the bendable characteristic for a user, and can meet more requirements of the user on electronic equipment.
Folding screens are a particular application of flexible screen technology. Currently, the content to be displayed on each screen in the folded screen is determined according to the posture of each screen in the folded screen.
Therefore, how to accurately judge the posture of the folding screen and further realize the content to be displayed on each screen in the folding screen according to the posture of the folding screen is a problem which needs to be solved urgently at present.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a method and an apparatus for determining a folded screen pose, and a storage medium.
According to a first aspect of the embodiments of the present disclosure, there is provided a method for determining a folded screen attitude, the method being applied to a terminal including a folded screen, the folded screen being folded along a bending region to form a first screen and a second screen, and each screen having an acceleration gyro sensor mounted thereon, the method for determining the folded screen attitude including: determining a first included angle between the first screen and the second screen based on the angular velocity detected by the acceleration gyroscope sensor mounted on each screen, and determining a second included angle between the first screen and the second screen based on the acceleration detected by the acceleration gyroscope sensor mounted on each screen; and fusing the first included angle and the second included angle to obtain the posture of the folding screen.
In one example, determining a first angle between the first screen and the second screen includes: acquiring the change time and angular speed of the first screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor arranged on the first screen, and acquiring the change time and angular speed of the second screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor arranged on the second screen; determining the angle variation of the first screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the first screen attitude, and determining the angle variation of the second screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the second screen attitude; and determining the included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the angle variation of the first screen on the three-dimensional coordinate plane and the angle variation of the second screen on the three-dimensional coordinate plane.
In one example, determining a second angle between the first screen and the second screen includes: acquiring a three-axis vector component of the first screen on the basis of the gravity acceleration on the three-dimensional coordinate plane based on an acceleration gyroscope sensor installed on the first screen, and acquiring a three-axis vector component of the second screen on the basis of the gravity acceleration on the three-dimensional coordinate plane based on an acceleration gyroscope sensor installed on the second screen; and determining an included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the three-axis vector component of the first screen on the three-dimensional coordinate plane and the three-axis vector component of the second screen on the three-dimensional coordinate plane.
In an example, the first angle and the second angle are fused to obtain the posture of the folding screen, including: acquiring a weight coefficient of the first included angle and a weight coefficient of the second included angle; and fusing the first included angle and the second included angle according to the weight coefficient of the first included angle and the weight coefficient of the second included angle to obtain the included angle of the first screen and the second screen.
In one example, determining an angle of the first screen and the second screen in the three-dimensional coordinate plane according to an initial angle of the first screen and the second screen in the three-dimensional coordinate plane, an angle variation of the first screen in the three-dimensional coordinate plane, and an angle variation of the second screen in the three-dimensional coordinate plane includes: and determining the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the integral of the angular variation of the first screen in the variation time of the three-dimensional coordinate plane attitude, and the integral of the angular speed variation of the second screen in the variation time of the three-dimensional coordinate plane attitude as the included angle of the first screen and the second screen on the three-dimensional coordinate plane.
In one example, the position where the acceleration gyro sensor is installed on each screen is a position where the distance between the acceleration gyro sensor and a set stress point of the terminal exceeds a set distance threshold; or the position of the acceleration gyro sensor installed on each screen is a position where the distance between the acceleration gyro sensor and a set heating source of the terminal exceeds a set distance threshold.
According to a second aspect of the embodiments of the present disclosure, there is provided a folding screen posture determining device, which is applied to a terminal including a folding screen, the folding screen being folded along a bending region to form a first screen and a second screen, and each screen being mounted with an acceleration gyro sensor, the folding screen posture determining device including: a determination unit configured to determine a first angle of the first screen and the second screen based on an angular velocity detected by the acceleration gyro sensor mounted on each screen, and determine a second angle of the first screen and the second screen based on an acceleration detected by the acceleration gyro sensor mounted on each screen; and the processing unit is configured to fuse the first included angle and the second included angle to obtain the posture of the folding screen.
In one example, the determination unit determines the first angle of the first screen and the second screen based on the angular velocity detected by the acceleration gyro sensor mounted on each screen in the following manner: acquiring the change time and angular speed of the first screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor arranged on the first screen, and acquiring the change time and angular speed of the second screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor arranged on the second screen; determining the angle variation of the first screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the first screen attitude, and determining the angle variation of the second screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the second screen attitude; and determining the included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the angle variation of the first screen on the three-dimensional coordinate plane and the angle variation of the second screen on the three-dimensional coordinate plane.
In one example, the determination unit determines the second angle of the first screen and the second screen based on the acceleration detected by the acceleration gyro sensor mounted on each screen in the following manner: acquiring a three-axis vector component of the first screen on the basis of the gravity acceleration on the three-dimensional coordinate plane based on an acceleration gyroscope sensor installed on the first screen, and acquiring a three-axis vector component of the second screen on the basis of the gravity acceleration on the three-dimensional coordinate plane based on an acceleration gyroscope sensor installed on the second screen; and determining an included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the three-axis vector component of the first screen on the three-dimensional coordinate plane and the three-axis vector component of the second screen on the three-dimensional coordinate plane.
In one example, the processing unit fuses the first included angle and the second included angle in the following manner to obtain the posture of the folding screen: acquiring a weight coefficient of the first included angle and a weight coefficient of the second included angle; and fusing the first included angle and the second included angle according to the weight coefficient of the first included angle and the weight coefficient of the second included angle to obtain the included angle of the first screen and the second screen.
In one example, the determining unit determines the angle change amount of the first screen or the second screen in the three-dimensional coordinate plane according to the initial angle of the first screen and the second screen in the three-dimensional coordinate plane, the angle change amount of the first screen in the three-dimensional coordinate plane, and the angle change amount of the second screen in the three-dimensional coordinate plane as follows: and determining the sum of the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the integral of the angle variation of the first screen in the variation time of the three-dimensional coordinate plane attitude and the integral of the angular speed variation of the second screen in the variation time of the three-dimensional coordinate plane attitude as the included angle of the first screen and the second screen on the three-dimensional coordinate plane.
In one example, the position where the acceleration gyro sensor is installed on each screen is a position where the distance between the acceleration gyro sensor and a set stress point of the terminal exceeds a set distance threshold; or the position of the acceleration gyro sensor installed on each screen is a position where the distance between the acceleration gyro sensor and a set heating source of the terminal exceeds a set distance threshold.
According to a third aspect of the present disclosure, there is provided a folded screen posture determination apparatus including: a memory configured to store instructions. And a processor configured to invoke instructions to perform the method for determining a folded screen pose in the foregoing first aspect or any example of the first aspect.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by a processor, perform the method of folded screen pose determination in the foregoing first aspect or any one of the examples of the first aspect.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the acceleration gyroscope sensor is arranged in each screen formed by folding along the bending area of the folding screen, the gesture of the folding screen can be accurately judged based on the acceleration and the angular velocity detected by the acceleration gyroscope sensor arranged on each screen, and then the content required to be displayed by each screen in the folding screen is realized according to the gesture of the folding screen.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart illustrating a method for folded screen pose determination, according to an exemplary embodiment.
FIG. 2 is an illustration of a three-dimensional seating surface of a folded screen in a three-dimensional coordinate plane, according to an exemplary embodiment.
FIG. 3 is a flow chart illustrating a method for folded screen pose determination, according to an exemplary embodiment.
FIG. 4 is a block diagram illustrating a folded screen pose determination apparatus according to an exemplary embodiment.
FIG. 5 is a block diagram illustrating an apparatus in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The technical scheme of the exemplary embodiment of the disclosure can be applied to an application scenario for determining the posture of a terminal folding screen when the terminal comprising a plurality of folding screens is folded. In the exemplary embodiments described below, a terminal is sometimes also referred to as an intelligent terminal device, where the terminal may be a Mobile terminal, and may also be referred to as a User Equipment (UE), a Mobile Station (MS), and the like. A terminal is a device that provides voice and/or data connection to a user, or a chip disposed in the device, such as a handheld device, a vehicle-mounted device, etc. having a wireless connection function. Examples of terminals may include, for example: the Mobile terminal comprises a Mobile phone, a tablet computer, a notebook computer, a palm computer, Mobile Internet Devices (MID), a wearable device, a Virtual Reality (VR) device, an Augmented Reality (AR) device, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in remote operation, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home and the like.
Fig. 1 is a flowchart illustrating a folded screen posture determining method according to an exemplary embodiment, where the folded screen posture determining method is used in a terminal including a folded screen that is folded along a bending region to form a first screen and a second screen, as shown in fig. 1, and the folded screen posture determining method includes the following steps.
In step S11, a first angle between the first screen and the second screen is determined based on the angular velocity detected by the acceleration gyro sensor mounted on each screen, and a second angle between the first screen and the second screen is determined based on the acceleration detected by the acceleration gyro sensor mounted on each screen.
The position where the acceleration gyro sensor is installed on each screen is a position where the distance between the acceleration gyro sensor and a set stress point of the terminal exceeds a set distance threshold. For example, the set stress point of the terminal is a stress point of a fixed terminal screen or a fixed terminal mainboard. Or the position of the acceleration gyro sensor installed on each screen is the position of the distance between the acceleration gyro sensor and a set heating source of the terminal, which exceeds a set distance threshold value. For example, the terminal sets the heat source as the charging interface of the terminal.
In step S12, the first angle and the second angle are fused to obtain the posture of the folding screen.
In practical applications, the terminal including the foldable screen may be a terminal of the foldable screen in which the foldable screen is folded along the bending region to form the adjacent first screen and the adjacent second screen, and the adjacent first screen and the adjacent second screen may both rotate around the bending region. The screen can form certain contained angle between the adjacent screens at three-dimensional coordinate plane after the rotation, according to the contained angle between the adjacent screens, can predetermine the content that shows on every folding screen to make things convenient for user operation.
Because the user can hold the terminal of the folding screen in various postures, the folding screen can form various postures by the included angle between the adjacent folding screens in the three-dimensional coordinate plane. FIG. 2 is an illustration of a three-dimensional seating surface of a folded screen in a three-dimensional coordinate plane, according to an exemplary embodiment.
In fig. 2, the three-dimensional coordinate systems of adjacent screens in the three-dimensional coordinate plane are identical, one side of the screen is the x-axis in the three-dimensional coordinate, the other side of the screen is the y-axis in the three-dimensional coordinate, and the direction perpendicular to the screen is the z-axis in the three-dimensional coordinate. The gesture of folding screen is judged for the accuracy to this disclosure, and then according to the gesture of folding screen in order to realize the content that every screen needs to show in the folding screen, the accessible installs acceleration gyroscope sensor in every screen and is a + g sensor, utilizes the a + g sensor of installation in every screen to judge the folding screen and change into another kind of state from one kind of state after, the gesture of folding screen.
The following description will be made by taking a folded screen terminal in which a folded screen is folded along a bending region to form a first screen and a second screen as an example, and applying the method for determining the posture of the folded screen of the present disclosure.
Wherein, utilize the a + g sensor of installation in first screen and the second screen to judge the gesture of folding screen, for example can go on through following mode:
when the folded screen is rotated along the screen formed by folding the bending area, one screen may be rotated, or both screens may be rotated, which is not limited in this disclosure. When the folding screen is changed from one posture to another posture, because the screen rotates around the y axis, the rotation angle of the screen changes in real time along with the change time of the posture, namely dθWhen not equal to 0, determining a first included angle between the first screen and the second screen based on the angular speed w detected by the a + g sensor installed in each screen and the change time of the screen posture, namely the time dt of w change
After the folding screen is changed from one posture to another posture, namely dθAnd 0, the terminal of the folding screen is changed from one posture to another posture. Because the acceleration of the gravity acceleration in the three-dimensional coordinate has vector components, the second included angle between the first screen and the second screen is determined based on the vector components of the gravity acceleration of each screen in the three-dimensional coordinate under the changed posture, which is detected by the a + g sensor arranged in each screen
In step S12, when the first angle and the second angle are fused, electronic noise is output due to the influence of the circuit in the process of converting the object motion into the electrical signal by the sensor. Therefore, during the process of changing the folding screen from one state to another state, the a + g sensor can accumulate and output the error of the change time of the folding screen to the change angle. In order to weaken because the folding screen change time of a + g sensor accumulation output is to the error of change angle, avoid influencing the judgement of a + g sensor to the folding screen gesture, in this disclosure, can be based on the first contained angle of the first screen of angular velocity confirmed and second screen
And a second angle between the first screen and the second screen determined based on the acceleration
Fusing to obtain an included angle between the first screen and the second screen based on the fusion
And the gesture of the folding screen determined according to the a + g sensor is more accurate.
In the exemplary embodiment of the present disclosure, an acceleration gyro sensor is installed in each screen formed by folding along a folding screen bending area, and based on the acceleration and the angular velocity detected by the acceleration gyro sensor installed on each screen, the posture of the folding screen can be accurately determined, so as to realize the content to be displayed on each screen in the folding screen according to the posture of the folding screen.
Determining the angle between the first and second screens in a three-dimensional coordinate plane for illustration purposes
The method for determining the posture of the folding screen determines a first included angle between a first screen and a second screen based on the angular velocity detected by an acceleration gyroscope sensor installed on each screen by taking the folding screen terminal and the ground plane as an example, and is explained in detail.
Fig. 3 is a flowchart illustrating a folded screen posture determining method according to an exemplary embodiment, where the folded screen posture determining method is used in a terminal including a folded screen that is folded along a bending region to form a first screen and a second screen, as shown in fig. 3, and the folded screen posture determining method includes the following steps.
In step S31, a first angle between the first screen and the second screen is determined based on the angular velocity and the angular velocity change time of the first screen detected by the acceleration gyro sensor mounted on the first screen and based on the angular velocity and the angular velocity change time of the second screen detected by the acceleration gyro sensor mounted on the second screen
Due to the folding screenThe terminal is parallel to the ground plane, and only a first included angle between the first screen and the second screen in the plane xoz needs to be considered during the rotation of the first screen and the second screen around the y-axis
According to the three-axis coordinates in the present disclosure, the first screen and the second screen rotate around the y-axisθNot equal to 0, the amount of angular variation of the screen in the three-dimensional coordinate plane is determined based on the acceleration gyro sensor mounted on the screen, which can be determined, for example, based on:
acquiring the change time dt and the angular speed w1 of the attitude of the first screen in the xoz plane based on an acceleration gyro sensor arranged on the first screen, and determining the angle change amount of the first screen in the xoz plane according to the change time dt and the angular speed w1 of the attitude of the first screen
Acquiring the change time dt and the angular speed w2 of the attitude of the second screen in the xoz plane based on an acceleration gyro sensor arranged on the second screen, and determining the angle change amount of the second screen in the xoz plane according to the change time dt and the angular speed w2 of the attitude of the first screen
According to the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane
Angle variation of first screen on three-dimensional coordinate plane
And the angle variation of the second screen in the three-dimensional coordinate plane
Determining the included angle of the first screen and the second screen on the three-dimensional coordinate plane
Wherein, if the first screen and the second screen are reversely unfolded, dθ>0, then
If the first screen and the second screen are in the same-direction closed posture, dθ<0, then
In step S32, a second angle between the first screen and the second screen is determined based on the three-axis vector component of the first screen in the three-dimensional coordinate plane based on the acceleration of gravity detected by the acceleration gyro sensor mounted on the first screen, and based on the three-axis vector component of the second screen in the three-dimensional coordinate plane based on the acceleration of gravity detected by the acceleration gyro sensor mounted on the second screen
Because the terminal of the folding screen is parallel to the ground plane, if the first screen and the second screen are in the reverse unfolding posture, at the moment dθThe magnitude of the triaxial gravitational acceleration G1 of the first screen a + G sensor is equal to that of the triaxial gravitational acceleration G2 of the second screen a + G sensor. I.e. Gx1＝Gx2，Gy1＝Gy2，Gz1＝Gz2. The vector components of the gravity acceleration G1 of the first screen and the gravity acceleration G2 of the second screen in the xoz plane can be used for obtaining a second included angle of the first screen and the second screen in the xoz plane
If the first screen and the second screen are closed in the same directionAfter the attitude, d at this timeθThe y-axis gravity acceleration of the first screen a + g sensor is equal to the y-axis gravity acceleration of the second screen a + g sensor, and the x-axis gravity acceleration and the z-axis gravity acceleration of the first screen a + g sensor are equal to the x-axis gravity acceleration and the z-axis gravity acceleration of the second screen a + g sensor, and the directions are opposite. Gx1＝-Gx2，Gy1＝Gy2，Gz1＝-Gz2. The vector components of the gravity acceleration G1 of the first screen and the gravity acceleration G2 of the second screen in the xoz plane can be used for obtaining a second included angle of the first screen and the second screen in the xoz plane
In step S33, the first angle and the second angle are fused to obtain the posture of the folding screen.
In this disclosure, can adopt following mode to fuse first contained angle and second contained angle, obtain the gesture of folding screen:
and acquiring a weight coefficient of the first included angle and a weight coefficient of the second included angle, and fusing the first included angle and the second included angle according to the weight coefficient of the first included angle and the weight coefficient of the second included angle to obtain the included angle of the first screen and the second screen.
For example, if the obtained weight coefficient of the first angle and the obtained weight coefficient of the second angle are both 0.5, the first angle between the first screen and the second screen determined based on the angular velocity w may be determined
And a second angle between the first screen and the second screen determined based on the acceleration
Calculating the average value, and determining the obtained average value as the included angle between the first screen and the second screen
Namely, the posture of the folding screen is obtained.
In an exemplary embodiment of the present disclosure, the first screen and the second screen are changed in the postureIn the method, a first angle between the first screen and the second screen is determined based on the angular velocity
And determining a first included angle between the first screen and the second screen based on the vector component of the gravity acceleration in the three-axis plane after the postures of the first screen and the second screen are changed
And a first included angle based on the angular velocity
Second angle obtained from acceleration
Fusing to obtain the included angle between the first screen and the second screen
So that the included angle between the first screen and the second screen obtained based on the fusion
More accurate, and further according to the accurate gesture of folding the screen in order to guarantee the content that each screen that forms in the folding needs to show.
Based on the same inventive concept, the present disclosure also provides a device for determining the posture of a folding screen.
It is understood that, in order to implement the above functions, the application control device provided in the embodiments of the present disclosure includes a hardware structure and/or a software module corresponding to each function. The disclosed embodiments can be implemented in hardware or a combination of hardware and computer software, in combination with the exemplary elements and algorithm steps disclosed in the disclosed embodiments. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
FIG. 4 is a block diagram of a folded screen pose determination apparatus 100, shown in accordance with an exemplary embodiment. Referring to fig. 4, a folded screen posture determining apparatus applied to a terminal including a folded screen, the folded screen being folded along a bending region to form a first screen and a second screen, and each screen being provided with an acceleration gyro sensor, the folded screen posture determining apparatus including: the folded screen posture determination apparatus includes a determination unit 101 and a processing unit 102.
Wherein the determination unit 101 is configured to determine a first angle between the first screen and the second screen based on an angular velocity detected by an acceleration gyro sensor mounted on each screen, and determine a second angle between the first screen and the second screen based on an acceleration detected by the acceleration gyro sensor mounted on each screen; and the processing unit 102 is configured to fuse the first included angle and the second included angle to obtain the posture of the folded screen.
In one example, based on the angular velocity detected by the acceleration gyro sensor mounted on each screen, the determination unit 101 determines the first angle of the first screen and the second screen in the following manner: acquiring the change time and angular speed of the first screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor arranged on the first screen, and acquiring the change time and angular speed of the second screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor arranged on the second screen; determining the angle variation of the first screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the first screen attitude, and determining the angle variation of the second screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the second screen attitude; and determining the included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the angle variation of the first screen on the three-dimensional coordinate plane and the angle variation of the second screen on the three-dimensional coordinate plane.
In one example, based on the acceleration detected by the acceleration gyro sensor mounted on each screen, the determination unit 101 determines the second angle between the first screen and the second screen in the following manner: acquiring a three-axis vector component of the first screen on the basis of the gravity acceleration on the three-dimensional coordinate plane based on an acceleration gyroscope sensor installed on the first screen, and acquiring a three-axis vector component of the second screen on the basis of the gravity acceleration on the three-dimensional coordinate plane based on an acceleration gyroscope sensor installed on the second screen; and determining an included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the three-axis vector component of the first screen on the three-dimensional coordinate plane and the three-axis vector component of the second screen on the three-dimensional coordinate plane.
In an example, the processing unit 102 fuses the first angle and the second angle to obtain the posture of the folded screen as follows: acquiring a weight coefficient of the first included angle and a weight coefficient of the second included angle; and fusing the first included angle and the second included angle according to the weight coefficient of the first included angle and the weight coefficient of the second included angle to obtain the included angle of the first screen and the second screen.
In an example, according to an initial angle of the first screen and the second screen in the three-dimensional coordinate plane, an angle variation of the first screen in the three-dimensional coordinate plane, and an angle variation of the second screen in the three-dimensional coordinate plane, the determining unit 101 determines an angle variation of the first screen or the second screen in the three-dimensional coordinate plane as follows: and determining the sum of the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the integral of the angle variation of the first screen in the variation time of the three-dimensional coordinate plane attitude and the integral of the angular speed variation of the second screen in the variation time of the three-dimensional coordinate plane attitude as the included angle of the first screen and the second screen on the three-dimensional coordinate plane.
In one example, the position where the acceleration gyro sensor is installed on each screen is a position where the distance between the acceleration gyro sensor and a set stress point of the terminal exceeds a set distance threshold; or the position of the acceleration gyro sensor installed on each screen is a position where the distance between the acceleration gyro sensor and a set heating source of the terminal exceeds a set distance threshold.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
FIG. 5 is a block diagram illustrating an apparatus 200 for folded screen pose determination according to an exemplary embodiment. For example, the apparatus 200 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.
Referring to fig. 5, the apparatus 200 may include one or more of the following components: a processing component 202, a memory 204, a power component 206, a multimedia component 208, an audio component 210, an input/output (I/O) interface 212, a sensor component 214, and a communication component 216.
The processing component 202 generally controls overall operation of the device 200, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 202 may include one or more processors 220 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 202 can include one or more modules that facilitate interaction between the processing component 202 and other components. For example, the processing component 202 can include a multimedia module to facilitate interaction between the multimedia component 208 and the processing component 202.
The power supply component 206 provides power to the various components of the device 200. The power components 206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power supplies for the apparatus 200.
The multimedia component 208 includes a screen that provides an output interface between the device 200 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 208 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 200 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 210 is configured to output and/or input audio signals. For example, audio component 210 includes a Microphone (MIC) configured to receive external audio signals when apparatus 200 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 204 or transmitted via the communication component 216. In some embodiments, audio component 210 also includes a speaker for outputting audio signals.
The I/O interface 212 provides an interface between the processing component 202 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor component 214 includes one or more sensors for providing various aspects of status assessment for the device 200. For example, the sensor component 214 may detect an open/closed state of the device 200, the relative positioning of components, such as a display and keypad of the apparatus 200, the sensor component 214 may also detect a change in position of the apparatus 200 or a component of the apparatus 200, the presence or absence of user contact with the apparatus 200, orientation or acceleration/deceleration of the apparatus 200, and a change in temperature of the apparatus 200. The sensor assembly 214 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 214 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 214 may also include an acceleration sensor, an acceleration gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 216 is configured to facilitate wired or wireless communication between the apparatus 200 and other devices. The device 200 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 216 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 216 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 200 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as memory 204, comprising instructions executable by processor 220 of device 200 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It is further understood that the use of "a plurality" in this disclosure means two or more, as other terms are analogous. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It will be further understood that the terms "first," "second," and the like are used to describe various information and that such information should not be limited by these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the terms "first," "second," and the like are fully interchangeable. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (14)
1. A method for determining the attitude of a folding screen is applied to a terminal comprising the folding screen, wherein the folding screen is folded along a bending area to form a first screen and a second screen, and each screen is provided with an acceleration gyroscope sensor, and the method for determining the attitude of the folding screen comprises the following steps:
determining a first included angle between the first screen and the second screen based on the angular velocity detected by the acceleration gyroscope sensor mounted on each screen, and determining a second included angle between the first screen and the second screen based on the acceleration detected by the acceleration gyroscope sensor mounted on each screen;
and fusing the first included angle and the second included angle to obtain the posture of the folding screen.
2. The method of claim 1, wherein determining the first angle between the first screen and the second screen comprises:
acquiring the change time and the angular speed of the first screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor arranged on the first screen, and acquiring the change time and the angular speed of the second screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor arranged on the second screen;
determining the angle variation of the first screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the first screen attitude, and determining the angle variation of the second screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the second screen attitude;
and determining the included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the angle variation of the first screen on the three-dimensional coordinate plane and the angle variation of the second screen on the three-dimensional coordinate plane.
3. The method of claim 1, wherein determining the second angle between the first screen and the second screen comprises:
acquiring the three-axis vector component of the first screen on the basis of the gravity acceleration on a three-dimensional coordinate plane based on an acceleration gyroscope sensor arranged on the first screen, and
acquiring a three-axis vector component of the second screen on the basis of gravity acceleration on the three-dimensional coordinate plane based on an acceleration gyroscope sensor installed on the second screen;
and determining an included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the three-axis vector component of the first screen on the three-dimensional coordinate plane and the three-axis vector component of the second screen on the three-dimensional coordinate plane.
4. The method for determining the attitude of the folded screen according to claim 1, wherein the fusing the first angle and the second angle to obtain the attitude of the folded screen includes:
acquiring a weight coefficient of the first included angle and a weight coefficient of the second included angle;
and fusing the first included angle and the second included angle according to the weight coefficient of the first included angle and the weight coefficient of the second included angle to obtain the included angle of the first screen and the second screen.
5. The method for determining the folded screen posture according to claim 2, wherein determining the angle between the first screen and the second screen in the three-dimensional coordinate plane according to the initial angle between the first screen and the second screen in the three-dimensional coordinate plane, the angle variation of the first screen in the three-dimensional coordinate plane, and the angle variation of the second screen in the three-dimensional coordinate plane comprises:
and determining the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the integral of the angular variation of the first screen in the variation time of the three-dimensional coordinate plane attitude, and the integral of the angular speed variation of the second screen in the variation time of the three-dimensional coordinate plane attitude as the included angle of the first screen and the second screen on the three-dimensional coordinate plane.
6. The folded screen attitude determination method according to claim 1, wherein the position at which the acceleration gyro sensor is mounted on each screen is a position at which a distance from a set stress point of the terminal exceeds a set distance threshold; alternatively, the first and second electrodes may be,
the position of each screen where the acceleration gyro sensor is installed is a position where the distance between the acceleration gyro sensor and a set heating source of the terminal exceeds a set distance threshold.
7. The utility model provides a folding screen gesture determining means which characterized in that is applied to the terminal including folding screen, folding screen is along the folding first screen of formation of bending region and second screen, and installs acceleration gyroscope sensor on every screen, folding screen gesture determining means includes:
a determination unit configured to determine a first angle of the first screen and the second screen based on an angular velocity detected by an acceleration gyro sensor mounted on each screen, and
determining a second included angle between the first screen and the second screen based on the acceleration detected by an acceleration gyroscope sensor installed on each screen;
and the processing unit is configured to fuse the first included angle and the second included angle to obtain the posture of the folding screen.
8. The folded-screen attitude determination apparatus according to claim 7, wherein the determination unit determines the first angle between the first screen and the second screen based on an angular velocity detected by an acceleration gyro sensor mounted on each screen, in the following manner:
acquiring the change time and angular speed of the first screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor mounted on the first screen, and acquiring the change time and angular speed of the second screen in the three-dimensional coordinate plane attitude based on an acceleration gyroscope sensor mounted on the second screen;
determining the angle variation of the first screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the first screen attitude, and determining the angle variation of the second screen on the three-dimensional coordinate plane according to the variation time and the angular speed of the second screen attitude;
and determining the included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the angle variation of the first screen on the three-dimensional coordinate plane and the angle variation of the second screen on the three-dimensional coordinate plane.
9. The folded-screen attitude determination apparatus according to claim 7, wherein the determination unit determines the second angle between the first screen and the second screen based on an acceleration detected by an acceleration gyro sensor mounted on each screen, in the following manner:
acquiring the three-axis vector component of the first screen on the basis of the gravity acceleration on a three-dimensional coordinate plane based on an acceleration gyroscope sensor arranged on the first screen, and
acquiring a three-axis vector component of the second screen on the basis of gravity acceleration on the three-dimensional coordinate plane based on an acceleration gyroscope sensor installed on the second screen;
and determining an included angle of the first screen and the second screen on the three-dimensional coordinate plane according to the three-axis vector component of the first screen on the three-dimensional coordinate plane and the three-axis vector component of the second screen on the three-dimensional coordinate plane.
10. The device for determining the attitude of the folding screen according to claim 7, wherein the processing unit fuses the first angle and the second angle to obtain the attitude of the folding screen as follows:
acquiring a weight coefficient of the first included angle and a weight coefficient of the second included angle;
and fusing the first included angle and the second included angle according to the weight coefficient of the first included angle and the weight coefficient of the second included angle to obtain the included angle of the first screen and the second screen.
11. The folded screen attitude determination apparatus according to claim 8, wherein the determination unit determines the amount of change in the angle of the first screen or the second screen in the three-dimensional coordinate plane based on the initial angle of the first screen and the second screen in the three-dimensional coordinate plane, the amount of change in the angle of the first screen in the three-dimensional coordinate plane, and the amount of change in the angle of the second screen in the three-dimensional coordinate plane, in the following manner:
and determining the initial included angle of the first screen and the second screen on the three-dimensional coordinate plane, the integral of the angular variation of the first screen in the variation time of the three-dimensional coordinate plane attitude, and the integral of the angular speed variation of the second screen in the variation time of the three-dimensional coordinate plane attitude as the included angle of the first screen and the second screen on the three-dimensional coordinate plane.
12. The folded screen attitude determination device according to claim 7, wherein the position at which the acceleration gyro sensor is mounted on each screen is a position at which a distance from a set stress point of the terminal exceeds a set distance threshold; alternatively, the first and second electrodes may be,
the position of each screen where the acceleration gyro sensor is installed is a position where the distance between the acceleration gyro sensor and a set heating source of the terminal exceeds a set distance threshold.
13. A folded screen attitude determination apparatus, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to: performing the folded screen pose determination method of any of claims 1-6.
14. A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by a processor, perform the method of folded screen pose determination of any of claims 1-6.
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| CN202010435381.1A CN113703519A (en) | 2020-05-21 | 2020-05-21 | Method and device for determining posture of folding screen and storage medium |
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