CN117073520A

CN117073520A - Folding angle detection method and device, foldable device and storage medium

Info

Publication number: CN117073520A
Application number: CN202210501673.XA
Authority: CN
Inventors: 王露
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2022-05-09
Filing date: 2022-05-09
Publication date: 2023-11-17

Abstract

The present disclosure relates to a folding angle detection method and apparatus, a foldable device, and a storage medium, the folding angle detection method including: obtaining folding information detected by the foldable equipment in a folding process, wherein the folding information at least comprises first-class folding information detected by an impedance detection component of the foldable equipment; based on the folding information, a folding angle between two folding bodies in the foldable device is determined. The embodiment of the disclosure determines the folding angle based on the first type of folding information detected by the impedance detection component, so that the folding angle can be accurately detected, and the detection scene of the folding angle can be expanded, so that the detected folding angle has universality.

Description

Folding angle detection method and device, foldable device and storage medium

Technical Field

The disclosure relates to the technical field of detection, and in particular relates to a folding angle detection method and device, foldable equipment and storage medium.

Background

Taking a foldable device as an example of a folding screen mobile phone, in order to realize the requirements of man-machine interaction, function expansion and the like through the rotation action of the mobile phone, the folding angle of the mobile phone needs to be detected. An inertial sensor (Inertial Measurement Unit, IMU for short) is generally adopted by the existing folding screen mobile phone to detect the folding angle of the mobile phone, however, under the condition of a specific folding angle, an accumulated error occurs in the detection of the folding angle by a gyroscope in the inertial sensor, and the problem of low detection accuracy of the folding angle exists.

Disclosure of Invention

The present disclosure provides a folding angle detection method and apparatus, a foldable device, and a storage medium.

In a first aspect of the embodiments of the present disclosure, a folding angle detection method is provided, which is applied to a foldable device, and includes:

obtaining folding information detected by the foldable equipment in a folding process, wherein the folding information at least comprises first-class folding information detected by an impedance detection component of the foldable equipment;

based on the folding information, a folding angle between two folding bodies in the foldable device is determined.

In some embodiments, the fold information further comprises: a second type of fold information detected by an accelerometer of the foldable device; and/or third type of folding information detected by a gyroscope of the foldable device; and/or fourth type folding information detected by a hall sensor of the foldable device;

the determining a folding angle between two folding bodies in the foldable device based on the folding information includes:

determining the confidence degrees corresponding to various folding information in the folding information, wherein the various folding information at least comprises the first folding information, the second folding information, the third folding information and the fourth folding information;

And selecting one type of folding information with highest confidence from the first type of folding information, the second type of folding information, the third type of folding information and/or the fourth type of folding information, and determining the folding angle.

In some embodiments, the determining the folding angle by selecting a type of folding information with the highest confidence from the first type of folding information, the second type of folding information, the third type of folding information and/or the fourth type of folding information includes:

when the folding information with the highest confidence coefficient is determined to be the first folding information, determining the folding angle based on the impedance information contained in the first folding information and the corresponding relation between the preset impedance information and the folding angle.

In some embodiments, the impedance detection assembly comprises: two capacitance components respectively positioned on the two folding main bodies and two inductance components respectively positioned on the two folding main bodies;

the impedance information includes: a capacitance value detected based on the two capacitance components and an inductance value detected based on the two inductance components;

the determining the folding angle based on the impedance information contained in the first type of folding information and the corresponding relation between the preset impedance information and the folding angle includes:

Determining the folding angle based on the capacitance value and the corresponding relation between the preset capacitance value and the folding angle;

and/or the number of the groups of groups,

and determining the folding angle based on the inductance value and the corresponding relation between the preset inductance value and the folding angle.

In some embodiments, the method further comprises:

when the confidence coefficient corresponding to the third type of folding information is highest, correcting the corresponding relation between the preset impedance information and the folding angle;

and determining the folding angle based on the corrected corresponding relation.

In some embodiments, the correcting the correspondence between the preset impedance information and the folding angle includes:

determining folding correction information detected by the impedance detection component when the foldable equipment is in a closed state and/or an unfolded state;

and correcting the corresponding relation between the preset impedance information and the folding angle based on the folding correction information.

And when the folding information with the highest confidence coefficient is determined to be the second folding information, determining the folding angle based on the acceleration information contained in the second folding information.

In some embodiments, the acceleration information includes: two vector accelerations detected by accelerometers respectively located at the two folding bodies;

the determining the folding angle based on the acceleration information contained in the second type of folding information includes:

and determining the folding angle based on the included angle between the two vector accelerations.

and when the folding information with the highest confidence is determined to be the third folding information, determining the folding angle based on the angular velocity information contained in the third folding information.

In some embodiments, the angular velocity information comprises: two gyroscope values detected by gyroscopes respectively located at the two folded bodies;

The determining the folding angle based on the angular velocity information contained in the third type of folding information includes:

and acquiring the folding angle based on the difference between the two gyroscope values.

when the folding information with the highest confidence is determined to be the fourth folding information, determining the folding angle based on a magnetic field value contained in the fourth folding information and a corresponding relation between a preset magnetic field value and the folding angle.

In some embodiments, the determining the confidence level corresponding to each type of folding information in the folding information includes:

determining the confidence corresponding to the first type of folding information based on the impedance change rate of the impedance information contained in the first type of folding information;

determining the confidence coefficient corresponding to the second type of folding information based on the two vector accelerations included in the second type of folding information and a preset calculation model;

determining the duration time that the included angle is larger than the included angle threshold value under the condition that the included angle between two vector angular velocities included in the third type of folding information is larger than the included angle threshold value, and determining the confidence corresponding to the third type of folding information based on the duration time;

And determining the confidence corresponding to the fourth type of folding information based on the change rate of the magnetic field value contained in the fourth type of folding information.

In some embodiments, the method further comprises:

when the impedance change rate of the capacitance value included in the first type of folding information is larger than a first change threshold value or the change rate of the inductance value is larger than a second change threshold value, determining that the confidence coefficient corresponding to the first type of folding information is smaller than a first confidence coefficient; or (b)

Determining that the confidence coefficient corresponding to the second type of folding information is smaller than a second confidence coefficient under the condition that an acceleration calculated value determined based on the two vector accelerations and the two vector accelerations included in the second type of folding information of the preset calculation model is larger than an acceleration threshold value; or (b)

Determining the duration that the included angle is larger than the included angle threshold value when the included angle between the two vector angular velocities included in the third type of folding information is larger than the included angle threshold value, and determining that the confidence coefficient corresponding to the third type of folding information is smaller than a third confidence coefficient when the duration is larger than a preset duration; or (b)

And under the condition that the change rate of the magnetic field value contained in the fourth type of folding information is larger than a third second change threshold value, determining that the confidence coefficient corresponding to the fourth type of folding information is smaller than a fourth confidence coefficient.

In a second aspect of the embodiments of the present disclosure, a folding angle detecting apparatus is provided, which is applied to a foldable device, and the apparatus includes:

the foldable equipment comprises an acquisition module, a detection module and a display module, wherein the acquisition module is configured to acquire folding information detected by the foldable equipment in a folding process, and the folding information at least comprises first-class folding information detected by an impedance detection component of the foldable equipment;

and a folding module configured to determine a folding angle between two of the folding bodies in the foldable apparatus based on the folding information.

In some embodiments, the folding module comprises:

the first determining module is configured to determine confidence degrees corresponding to various folding information in the folding information, wherein the various folding information at least comprises the first folding information, the second folding information, the third folding information and the fourth folding information;

the second determining module is configured to select one type of folding information with highest confidence from the first type of folding information, the second type of folding information, the third type of folding information and/or the fourth type of folding information, and determine the folding angle; wherein, the folding information further includes: a second type of fold information detected by an accelerometer of the foldable device; and/or third type of folding information detected by a gyroscope of the foldable device; and/or fourth folding information detected by a Hall sensor of the foldable device.

In some embodiments, the second determining module is further configured to determine, when it is determined that the type of folding information with the highest confidence coefficient is the first type of folding information, the folding angle based on the impedance information contained in the first type of folding information and a correspondence between preset impedance information and the folding angle.

In some embodiments, the second determining module is further configured to determine the folding angle based on the capacitance value and a correspondence between a preset capacitance value and the folding angle; and/or determining the folding angle based on the inductance value and the corresponding relation between the preset inductance value and the folding angle;

wherein the impedance detecting assembly comprises: two capacitance components respectively positioned on the two folding main bodies and two inductance components respectively positioned on the two folding main bodies; the impedance information includes: and the capacitance value detected based on the two capacitance components and the inductance value detected based on the two inductance components.

In some embodiments, the apparatus further comprises:

the correction module is configured to correct the corresponding relation between the preset impedance information and the folding angle when the confidence coefficient corresponding to the third type of folding information is highest;

And a third determining module configured to determine the folding angle based on the corrected correspondence.

In some embodiments, the third determining module is further configured to determine fold correction information detected by the impedance detecting component when the foldable device is in the closed state and/or the unfolded state; and correcting the corresponding relation between the preset impedance information and the folding angle based on the folding correction information.

In some embodiments, the second determining module is further configured to determine, when the type of folding information with the highest confidence coefficient is the second type of folding information, the folding angle based on acceleration information contained in the second type of folding information.

In some embodiments, the second determining module is further configured to determine the folding angle based on an angle between two of the vector accelerations; wherein the acceleration information includes: two vector accelerations detected by accelerometers respectively located at two of the folded bodies.

In some embodiments, the second determining module is further configured to determine the folding angle based on angular velocity information included in the third type of folding information when the type of folding information with the highest confidence is the third type of folding information.

In some embodiments, the second determining module is further configured to obtain the folding angle based on a difference between two of the gyroscope values;

wherein the angular velocity information includes: and two gyroscope values detected by gyroscopes respectively positioned on the two folding bodies.

In some embodiments, the first determining module is further configured to determine a confidence level corresponding to the first type of folding information based on an impedance change rate of the impedance information included in the first type of folding information; determining the confidence coefficient corresponding to the second type of folding information based on the two vector accelerations included in the second type of folding information and a preset calculation model; determining the duration time that the included angle is larger than the included angle threshold value under the condition that the included angle between two vector angular velocities included in the third type of folding information is larger than the included angle threshold value, and determining the confidence corresponding to the third type of folding information based on the duration time; and determining the confidence corresponding to the fourth type of folding information based on the change rate of the magnetic field value contained in the fourth type of folding information.

In some embodiments, the apparatus further comprises:

a fourth determining module, configured to determine that the confidence coefficient corresponding to the first type of folding information is smaller than a first confidence coefficient when the impedance change rate is greater than a first change threshold; or (b)

Under the condition that the calculated acceleration value determined based on the two vector accelerations and the preset calculation model is larger than an acceleration threshold value, determining that the confidence coefficient corresponding to the second type of folding information is smaller than a second confidence coefficient; or (b)

Under the condition that the duration time is longer than the preset duration time, determining that the confidence coefficient corresponding to the third type of folding information is smaller than a third confidence coefficient; or (b)

And under the condition that the change rate of the magnetic field value is larger than a second change threshold value, determining that the confidence coefficient corresponding to the fourth type of folding information is smaller than a fourth confidence coefficient.

According to a third aspect of embodiments of the present disclosure, there is provided a foldable device comprising at least: a processor and a memory for storing executable instructions capable of executing on the processor, wherein:

the processor is configured to execute the executable instructions that, when executed, perform the steps of the first aspect described above.

According to a fourth aspect of embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, implement the fold angle detection method as provided in the first aspect above.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

embodiments of the present disclosure determine a folding angle of a foldable device from a first type of folding information detected by an impedance detection component of the foldable device. Because the first type of folding information detected by the impedance detection component is not limited by the folding angle, the change of the folding angle can be accurately reflected, and therefore, the folding angle can be accurately detected based on the first type of folding information detected by the impedance detection component, and the detection scene of the folding angle can be expanded, so that the detection folding angle has universality.

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 invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic diagram of a folding angle detection method according to an exemplary embodiment.

Fig. 2 is a schematic diagram ii illustrating a folding angle detection method according to an exemplary embodiment.

Fig. 3 is a schematic structural view of a foldable device according to an exemplary embodiment.

Fig. 4 is a schematic view of a folding angle detecting apparatus according to an exemplary embodiment.

Fig. 5 is a block diagram illustrating a configuration of a foldable device according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.

Fig. 1 is a schematic diagram illustrating a folding angle detection method according to an exemplary embodiment. As shown in fig. 1, the folding angle detection method performed by the foldable device includes the steps of:

s101, obtaining folding information detected by the foldable equipment in a folding process, wherein the folding information at least comprises first-class folding information detected by an impedance detection component of the foldable equipment;

S102, determining the folding angle between two folding main bodies in the foldable device based on the folding information.

In an embodiment of the disclosure, the foldable device has two folding bodies connected by a rotational connector, the two folding bodies of the foldable device having different folding angles therebetween when the rotational connector is rotated. The foldable device includes, but is not limited to, a folding screen cell phone, a folding screen computer, a folding screen tablet, or a folding screen wearable electronic device.

The folding angle detection method executed by the foldable equipment can be applied to scenes in which more rich interface display and man-machine interaction functions are required to be realized according to the folding angle. For example, when the folding angle of the foldable device is detected to be 0 degrees, a display screen facing a user in the foldable device can be switched to be in a lighting state; when the folding angle of the foldable equipment is detected to be 180 degrees, two display screens respectively arranged on the two folding main bodies can display different display interfaces so as to be flexibly operated by a user.

The acquiring the folding information detected by the foldable device includes: folding information detected by different detection components in the foldable device is obtained. The detection components are different, and the corresponding folding information obtained by detection of the detection components is also different.

Illustratively, the sensing assembly may include a hall element or an optical device in addition to the impedance sensing assembly; the corresponding fold information may further include: the magnetic field information detected by the hall element or the light information detected by the optical device is not limited in this embodiment of the disclosure.

In an embodiment of the disclosure, the impedance detecting assembly may include: capacitive components and/or inductive components. Correspondingly, the first type of folding information may include: the capacitance value detected by the capacitance component and/or the inductance value detected by the inductance component.

The above folding information is used to determine the folding angle between the two folded bodies. Determining a folding angle between two folding bodies in a foldable device based on folding information may include: the folding angle is determined based on the first type of folding information detected by the impedance detecting component.

Because the first type of folding information detected by the impedance detection assembly changes along with the folding angle when the two folding main bodies are at different folding angles, the change of the first type of folding information can reflect the change of the folding angle of the foldable device, and further the folding angle can be determined through the first type of folding information.

The above-described determining the folding angle between the two folding bodies in the foldable apparatus based on the folding information may further include: and determining the folding angle based on fourth folding information detected by the Hall sensor.

Because when two folding main bodies are in different folding angles, the magnetic field intensity detected by the Hall sensor can change along with the folding angles, the change of the magnetic field intensity contained in fourth-type folding information can reflect the change of the folding angles of the foldable equipment, and then the folding angles can be determined through the magnetic field intensity detected by the Hall sensor.

The above-described determining the folding angle between the two folding bodies in the foldable apparatus based on the folding information may further include: the folding angle is determined based on the light information detected by the optical device.

Here, the optical device may include a light emitter and a light receiver, and since the light receiver receives a light signal emitted from the light emitter differently when the two folding bodies are at different folding angles, a change in the light signal may reflect a change in the folding angle of the foldable apparatus, and further the embodiment of the present disclosure may determine the folding angle through light information detected by the optical device.

Illustratively, existing folding angle detection uses an accelerometer and a gyroscope, and when the detection of the accelerometer is limited by the angle, the detection of the folding angle by using the gyroscope can generate calculated accumulated errors. In this regard, embodiments of the present disclosure propose a method for determining a folding angle of a foldable device by a first type of folding information that can be detected by an impedance detection component of the foldable device. Because the first type of folding information detected by the impedance detection component is not limited by the folding angle, the change of the folding angle can be accurately reflected, and therefore, the folding angle can be accurately detected based on the first type of folding information detected by the impedance detection component, and the detection scene of the folding angle can be expanded, so that the detection folding angle has universality.

In some embodiments, as shown in fig. 2, the folding information further includes: a second type of fold information detected by an accelerometer of the foldable device; and/or third type of folding information detected by a gyroscope of the foldable device; and/or fourth type folding information detected by a hall sensor of the foldable device;

the determining a folding angle between two folding bodies in the foldable apparatus based on the folding information, that is, step S102 includes the steps of:

S102a, determining the confidence degrees corresponding to various folding information in the folding information, wherein the various folding information at least comprises the first folding information, the second folding information, the third folding information and the fourth folding information;

s102b, selecting the folding information with the highest confidence from the first folding information, the second folding information, the third folding information and/or the fourth folding information, and determining the folding angle.

In the embodiment of the disclosure, different folding information has different confidence in that the foldable device is in different scenes. Among the different scenarios of the foldable device include: the foldable device is in a static scene, the foldable device is in a non-folding motion scene, the foldable device is folded and the folding time is within a preset time, the foldable device is folded and the folding time exceeds the preset time, and the folding state of the foldable device is suddenly changed.

For example, in a static or non-folding motion scene of the foldable device, the confidence coefficient corresponding to the second type of folding information is greater than the confidence coefficient corresponding to the first type of folding information and the confidence coefficient corresponding to the third type of folding information, that is, the confidence coefficient corresponding to the second type of folding information is highest;

In a scene that the foldable equipment is folded and the folding time is within the preset time, the confidence coefficient corresponding to the third type of folding information is larger than the confidence coefficient corresponding to the first type of folding information and the confidence coefficient corresponding to the second type of folding information, namely the confidence coefficient corresponding to the third type of folding information is the highest;

in a scene that the foldable equipment is folded and the folding time exceeds the preset time, the confidence coefficient corresponding to the first type of folding information is larger than the confidence coefficient corresponding to the second type of folding information and the confidence coefficient corresponding to the third type of folding information, namely the confidence coefficient corresponding to the first type of folding information is the highest;

in a scenario where the folding state of the foldable device is suddenly changed (for example, the foldable device falls or bumps), the confidence corresponding to the third type of folding information is greater than the confidence corresponding to the first type of folding information and the confidence corresponding to the second type of folding information, that is, the confidence corresponding to the third type of folding information is the highest.

Here, the foldable device may store a mapping relationship table between the folding information and the confidence coefficient in advance, and in determining the confidence coefficient corresponding to the folding information, the confidence coefficient corresponding to the folding information may be determined directly based on the folding information and the mapping relationship table between the folding information and the confidence coefficient.

In the embodiment of the disclosure, when the folding information includes the first type of folding information and the second type of folding information in the highest type of folding information, the folding information with the highest confidence level can be selected from the two types of folding information to determine the folding angle; when the folding information includes the first type of folding information, the second type of folding information and the third type of folding information, the folding angle can be determined by selecting the type of folding information with the highest confidence from the three types of folding information, and the embodiment of the disclosure is not limited.

The higher the confidence level corresponding to the folding information is, the more accurate the corresponding folding angle determined based on the folding information is. Therefore, the embodiment of the disclosure selects the type of folding information with the highest confidence level to determine the folding angle, so that the detection of the folding angle can be more accurate.

In an embodiment of the present disclosure, the first type of folding information may include: the impedance detection component detects impedance information of the foldable device when folded, and may further include: the distance between the two impedance detection components of the two folding bodies is respectively.

The corresponding relation between the preset impedance information and the folding angle can be obtained by fitting the impedance information and the folding angle in different fitting modes. The fitting mode comprises the following steps: least squares curve fitting and polynomial fitting, embodiments of the present disclosure are not limited.

Here, the foldable device stores the correspondence between the impedance information and the folding angle in advance, and further when determining that the type of folding information with the highest confidence coefficient is the first type of folding information, the folding angle can be determined directly based on the impedance information and the correspondence between the preset impedance information and the folding angle. Therefore, the folding angle can be determined by selecting the type of folding information with the highest confidence coefficient, so that the detection of the folding angle can be more accurate.

In an embodiment of the present disclosure, the impedance detecting assembly includes: two capacitance components respectively positioned on the two folding main bodies and two inductance components respectively positioned on the two folding main bodies;

Correspondingly, the impedance information may include: and the capacitance value detected based on the two capacitance components and the inductance value detected based on the two inductance components.

In some embodiments, the determining the folding angle based on the impedance information included in the first type of folding information and a correspondence between preset impedance information and folding angle includes:

and/or the number of the groups of groups,

In the embodiment of the disclosure, the foldable device not only can determine the folding angle through the capacitance value detected by the capacitance component, but also can determine the folding angle through the inductance value detected by the inductance component, so that the detection of the folding angle is more flexible. And, because inductance value that inductance component detected and/or capacitance value that capacitance component detected do not receive the restriction of folding angle, can accurately reflect folding angle's change, consequently, the collapsible angle of this embodiment of disclosure is confirmed based on capacitance value and inductance value and can also be expanded folding angle's detection scene for detect folding angle has universality.

In some embodiments, the method further comprises:

In the embodiment of the disclosure, in a case that the foldable device is folded and the folding time is within the preset time, the confidence corresponding to the third type of folding information is highest. At this time, the foldable apparatus may be in a closed state or an unfolded state after being folded.

Here, the embodiments of the present disclosure contemplate that the temperature of the foldable device after a long period of use may affect the impedance information detected by the impedance detection component, for example, may affect the capacitance value detected by the capacitance component, or may affect the inductance value detected by the inductance component. Therefore, the corresponding relation between the preset impedance information and the folding angle needs to be corrected, so that the corrected corresponding relation can adapt to the temperature change of the foldable equipment in the folding process, and the accuracy of the folding angle determined based on the corresponding relation is improved.

In the embodiment of the disclosure, the folding angle is determined based on the corrected corresponding relation, so that the detection of the folding angle can be more accurate.

In the embodiment of the disclosure, when the foldable device is in the closed state and/or the unfolded state, the impedance information detected by the impedance detection component may change due to the temperature of the foldable device, so that the corresponding relationship between the preset impedance information and the folding angle can be corrected by the folding correction information detected by the impedance detection component.

Here, the correspondence between the preset impedance information and the folding angle includes: a corresponding relation between a preset capacitance value and a folding angle and a corresponding relation between a preset inductance value and the folding angle;

the fold correction information includes: a capacitance correction value detected by the capacitance component when the foldable device is in a closed state and/or an unfolded state, and an inductance correction value detected by the inductance component when the foldable device is in a closed state and/or an unfolded state;

In an embodiment of the present disclosure, correcting a correspondence between preset impedance information and a folding angle based on folding correction information includes: when the impedance detection component is a capacitance component, correcting the corresponding relation between the preset capacitance value and the folding angle based on the capacitance correction value; when the impedance detection component is an inductance component, the corresponding relation between the preset inductance value and the folding angle is corrected based on the inductance correction value.

Here, in the correction process, correcting the correspondence between the preset impedance information and the folding angle based on the folding correction information may include: correcting the corresponding relation between the preset impedance information and the folding angle by superposing folding correction information; may further comprise: the method comprises the steps of determining the weight of the folding correction information, and correcting the corresponding relation between the preset impedance information and the folding angle based on the weighted folding correction information.

Wherein, based on the capacitance correction value, correct the correspondence between preset capacitance value and folding angle, include: correcting the corresponding relation between the preset capacitance value and the folding angle by superposing the capacitance correction value; or, correcting the corresponding relation between the preset capacitance value and the folding angle through the weighted capacitance correction value.

Similarly, correcting the correspondence between the preset inductance value and the folding angle based on the inductance correction value may also include: correcting the corresponding relation between the preset inductance value and the folding angle by superposing the inductance correction value; or, correcting the corresponding relation between the preset inductance value and the folding angle through the inductance correction value after weighting.

Illustratively, the inductance value corresponding to the folding angle of 0 degrees in the corresponding relation between the preset inductance value and the folding angle is a; the inductance component detects an inductance value B when the foldable device is in the closed state. At this time, the inductance value corresponding to the folding angle of 0 degree in the corrected correspondence relationship may be corrected to a+b.

The acceleration information is detected by accelerometers positioned on two folding bodies. The acceleration information includes: two vector accelerations detected by accelerometers located in the two folded bodies, respectively.

In the embodiment of the disclosure, when the confidence coefficient corresponding to the second type of folding information is highest, the folding angle can be determined by using the acceleration information contained in the second folding information, so that the folding angle is detected more accurately.

In an embodiment of the present disclosure, the vector acceleration includes an acceleration value and an acceleration direction. Embodiments of the present disclosure may determine an angle between two vector accelerations by an acceleration direction of the two vector accelerations.

Here, the angle between the two vector accelerations is the folding angle. When the foldable equipment is switched to a closed state, the included angle between two vector accelerations is 0 degrees, and the corresponding folding angle is also 0 degrees; when the foldable device is switched to an unfolding state, the included angle between the two vector accelerations is 180 degrees, and the corresponding folding angle is 180 degrees.

Here, the embodiment of the disclosure may determine the folding angle by using the acceleration information detected by the accelerometer, so that the detection of the folding angle is more flexible.

The angular velocity information is detected by gyroscopes located in the two folded bodies. The angular velocity information includes two gyroscope values detected by gyroscopes respectively located at the two folded bodies.

In the embodiment of the disclosure, when the confidence coefficient corresponding to the third type of folding information is highest, the folding angle can be determined by adopting the two gyroscope values detected by the gyroscopes respectively positioned on the two folding main bodies and contained in the third folding information, so that the detection of the folding angle is more accurate.

and acquiring the folding angle based on the difference value between the two gyroscope values.

In an embodiment of the present disclosure, obtaining the folding angle based on the difference between the two gyroscope values may include: when the gyroscope value is a value corresponding to the angular velocity of the folding main body, the folding angle can be obtained directly based on the difference value between the two gyroscope values; when the gyroscope value is a value corresponding to the angular acceleration of the folding main body, the difference value between the two gyroscope values can be determined first, and then the time integration is carried out on the difference value to obtain the folding angle.

Here, the embodiment of the present disclosure may determine the folding angle using two gyroscope values detected by the gyroscope, so that the detection of the folding angle is more flexible.

In the embodiment of the disclosure, one of two folding main bodies of the foldable device is provided with a hall sensor, and the other folding main body is provided with a magnetic piece, and magnetic field values sensed by the hall sensor are different along with different folding angles in the folding process. Therefore, the folding angle can be determined directly based on the magnetic field value and the correspondence between the preset magnetic field value and the folding angle.

It should be noted that, the corresponding relationship between the preset magnetic field value and the folding angle may be obtained according to a relationship comparison table or a fitting curve, which is not limited in the embodiments of the disclosure.

In the embodiment of the disclosure, when the confidence coefficient corresponding to the fourth type of folding information is highest, the folding angle is determined by adopting the magnetic field value contained in the fourth type of folding information and the corresponding relation between the preset magnetic field value and the folding angle, so that the folding angle can be detected more accurately.

In the embodiment of the disclosure, based on different types of folding information, the confidence corresponding to the determined types of folding information is also different.

For the first type of folding information, when the impedance detection assembly comprises two capacitance assemblies, the corresponding impedance information comprises capacitance values detected based on the two capacitance assemblies, and the corresponding impedance change rate comprises a capacitance value change rate; when the impedance detecting component includes two inductance components, the corresponding impedance information includes an inductance value detected based on the two inductance components, and the corresponding impedance change rate includes an inductance value change rate.

The determining the confidence level corresponding to the first type of folding information based on the impedance change rate may include: when the impedance change rate comprises an inductance value change rate, determining the confidence coefficient corresponding to the first type of folding information based on the inductance change rate and the corresponding relation between the preset inductance change rate and the confidence coefficient; when the impedance change rate comprises a capacitance value change rate, determining the confidence coefficient corresponding to the first type of folding information based on the capacitance change rate and the corresponding relation between the preset capacitance change rate and the confidence coefficient.

The impedance change rate is inversely related to the confidence level corresponding to the first type of folding information. In some embodiments, where the rate of change of impedance is greater than a first change threshold, it is determined that the confidence level corresponding to the first type of fold information is less than the first confidence level.

In the embodiment of the disclosure, when the inductance change rate is greater than the inductance change threshold or the capacitance change rate is greater than the capacitance change threshold, it is determined that the confidence coefficient corresponding to the first type of folding information is smaller than the first confidence coefficient. It can be seen that, in the case of abrupt impedance changes, the confidence corresponding to the first type of folding information is low. At this time, the embodiment of the disclosure does not determine the folding angle between two folding bodies in the foldable device based on the first type of folding information, but selects the type of folding information with the highest confidence from the second type of folding information, the third type of folding information and the fourth type of folding information to determine the folding angle, so that the detection of the folding angle can be more accurate.

For the second type of folding information, determining the confidence level corresponding to the second type of folding information based on the two vector accelerations included in the second type of folding information and a preset calculation model may include: determining an acceleration calculated value based on the two vector accelerations and a preset calculation model; and determining the confidence coefficient corresponding to the second type of folding information based on the acceleration calculated value and the corresponding relation between the preset calculated value and the confidence coefficient.

For example, the preset calculation model may include a first calculation model such as formula (1) or a second calculation model such as formula (2).

cfd1＝abs[sqrt(x1 ² +y1 ² +z1 ² )-9.8]*abs[sqrt(x2 ² +y2 ² +z2 ² )-9.8] (1)

cfd1＝y1*y2 (2)

Wherein one vector acceleration is (x 1, y1, z 1); the other vector acceleration is (x 2, y2, z 2); the acceleration calculation value was cfd1.

In some embodiments, in a case that the acceleration calculated value determined based on the two vector accelerations and the preset calculation model is greater than the acceleration threshold value, it is determined that the confidence coefficient corresponding to the second type of folding information is smaller than the second confidence coefficient.

That is, in the case where the calculated acceleration value indicates that the acceleration is suddenly changed, the confidence level corresponding to the second type of folding information is low. At this time, the embodiment of the disclosure does not determine the folding angle between two folding bodies in the foldable device based on the second type of folding information any more, but selects the type of folding information with the highest confidence from the first type of folding information, the third type of folding information and the fourth type of folding information to determine the folding angle, so that the detection of the folding angle can be more accurate.

For example, when the preset calculation model is the first calculation model, the corresponding acceleration threshold may be set to be between 80 m/s and 120 m/s, for example, the acceleration threshold may be 100 m/s; when the preset calculation model is the second calculation model, the corresponding acceleration threshold value may be set to be between 3 m/s and 8 m/s, for example, the acceleration threshold value may be 5 m/s.

For the third type of folding information, in the process of determining the confidence coefficient corresponding to the third type of folding information, the confidence coefficient corresponding to the third type of folding information can be obtained based on the duration and the corresponding relation between the preset duration and the confidence coefficient.

The angle threshold may be set between 2 degrees and 5 degrees, for example, the angle threshold may be set at 3 degrees.

In some embodiments, when the duration is longer than a preset duration, it is determined that the confidence level corresponding to the third type of folding information is less than a third confidence level.

The preset time period may be set between 10 seconds and 50 seconds, for example, the preset time period may be set to 30 seconds.

In the embodiment of the disclosure, the duration is inversely related to the confidence level corresponding to the third type of folding information, and the longer the duration is, the lower the confidence level corresponding to the corresponding third type of folding information is.

In the embodiment of the disclosure, when the confidence coefficient corresponding to the third type of folding information is smaller than the third confidence coefficient, the embodiment of the disclosure does not determine the folding angle between two folding main bodies in the foldable device based on the third type of folding information, but selects the type of folding information with the highest confidence coefficient from the second type of folding information, the first type of folding information and the fourth type of folding information to determine the folding angle, so that the detection of the folding angle can be more accurate.

For the fourth type of folding information, determining the confidence corresponding to the fourth type of folding information based on the rate of change of the magnetic field value includes: and obtaining the confidence corresponding to the fourth type of folding information based on the change rate of the magnetic field value and the corresponding relation between the preset magnetic field change rate and the confidence.

The change rate of the magnetic field value is inversely related to the confidence level corresponding to the fourth type of folding information. In some embodiments, where the rate of change of the magnetic field value is greater than a second change threshold, it is determined that the confidence level corresponding to the fourth type of fold information is less than a fourth confidence level.

That is, in the case where the magnetic field is mutated, the confidence of the fourth type of folding information correspondence is low. At this time, the embodiment of the disclosure does not determine the folding angle between the two folding bodies in the foldable device based on the fourth type of folding information any more, but selects the type of folding information with the highest confidence from the first type of folding information, the second type of folding information and the third type of folding information to determine the folding angle, so that the detection of the folding angle can be more accurate.

It should be noted that the first confidence, the second confidence, the third confidence and the fourth confidence may be set according to practical situations, for example, the first confidence, the second confidence, the third confidence and the fourth confidence may be all set to be the same, may also be all set to be different, and the embodiment of the disclosure is not limited.

For a better understanding of one or more of the embodiments described above, the disclosed embodiments also provide examples of:

as shown in fig. 3, the foldable apparatus includes two folding bodies connected by a rotational connection, one folding body having an accelerometer 1a, a gyroscope 1b, and a capacitance component 1c disposed thereon, and the other folding body having an accelerometer 2a, a gyroscope 2b, and a capacitance component 2c disposed thereon. The foldable device further comprises a processing chip connected to the accelerometer 1a, the gyroscope 1b, the capacitive component 1c, the accelerometer 2a, the gyroscope 2b and the capacitive component 2c, respectively; wherein the capacitive component may comprise: a capacitor plate.

In the process of detecting the folding angle, the vector acceleration a1 and the vector acceleration a2 can be respectively detected by the accelerometer 1a and the accelerometer 2 a; the gyroscope value g1 and the gyroscope value g2 can be respectively detected through the gyroscope 1b and the gyroscope 2 b; the capacitance value can be detected through the capacitance component 1c and the capacitance component 2c, wherein the capacitance component 1c and the capacitance component 2c can be capacitance polar plates, and the capacitance value of a capacitor formed by the two capacitance polar plates can be detected through the connection of the capacitance component 1c and the capacitance component 2c by the capacitance detection component.

In the disclosed embodiment, whether the foldable device is in a stationary state may be detected by the accelerometer 1a or the accelerometer 2 a. Determining a folding angle 1 based on the vector acceleration a1 and the vector acceleration a2 in a static state, and setting the corresponding confidence coefficient as the confidence coefficient 1;

when the foldable device is folded, the difference between the gyroscope value g1 and the gyroscope value g2 can be integrated, the folding angle 2 is determined, and the corresponding confidence coefficient is set as the confidence coefficient 2;

in the folding process, the folding angle 3 can be determined based on the capacitance value between the capacitance component 1c and the capacitance component 2c and the corresponding relation between the capacitance value and the folding angle, and the corresponding confidence coefficient is set as the confidence coefficient 3;

after obtaining the confidence coefficient 1, the confidence coefficient 2 and the confidence coefficient 3, a folding angle corresponding to the type of folding information with the highest confidence coefficient can be selected from the confidence coefficient 1, the confidence coefficient 2 and the confidence coefficient 3 to be used as the folding angle of the foldable equipment.

And when the confidence coefficient 2 is highest, correcting the corresponding relation between the capacitance value and the folding angle or the corresponding relation between the inductance value and the folding angle.

In the embodiment of the disclosure, since the first type of folding information detected by the impedance detection component is not limited by the folding angle, the change of the folding angle can be accurately reflected, so that the folding angle is determined based on the first type of folding information detected by the impedance detection component, the folding angle can be accurately detected, and the detection scene of the folding angle can be expanded, so that the detected folding angle has universality. And, the higher the confidence corresponding to the folding information, the more accurate the corresponding folding angle determined based on the folding information. Therefore, according to the embodiment of the disclosure, the folding angle corresponding to the folding information with the highest confidence is selected as the folding angle of the foldable device, so that the detection of the folding angle can be further accurate.

Fig. 4 is a schematic view of a folding angle detecting apparatus according to an exemplary embodiment. Referring to fig. 4, the folding angle detecting apparatus includes an acquisition module 1001 and a folding module 1002, wherein,

an obtaining module 1001, configured to obtain folding information detected by the foldable device during a folding process, where the folding information includes at least first type folding information detected by an impedance detecting component of the foldable device;

a folding module 1002 configured to determine a folding angle between two folding bodies in the foldable device based on the folding information.

In some embodiments, the folding module comprises:

In some embodiments, the apparatus further comprises:

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

It should be noted that, the "first", "second", "third" and "fourth" in the embodiments of the present disclosure are merely for convenience of description and distinction, and are not otherwise specifically defined.

Fig. 5 is a block diagram illustrating a configuration of a foldable device according to an exemplary embodiment. For example, the foldable device 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 foldable device may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.

The processing component 802 generally controls overall operation of the foldable device, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operation at the foldable device. Examples of such data include instructions for any application or method operating on the foldable device, contact data, phonebook data, messages, pictures, video, and the like. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power component 806 provides power to the various components of the collapsible device. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the foldable device.

The multimedia component 808 includes a screen between the foldable device and the user that provides an output interface. 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 input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. The front camera and/or the rear camera may receive external multimedia data when the foldable device is in an operational 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 focal length and optical zoom capabilities.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the foldable device is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 further includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of the collapsible device. For example, the sensor assembly 814 may detect an open/closed state of the foldable device, a relative positioning of the assemblies, such as a display and keypad of the foldable device, the sensor assembly 814 may also detect a change in position of the foldable device or one of the assemblies of the foldable device, the presence or absence of user contact with the foldable device, an orientation or acceleration/deceleration of the foldable device, and a change in temperature of the foldable device. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 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 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate communication between the foldable device and other devices in a wired or wireless manner. The foldable device may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 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 foldable device 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, microcontrollers, microprocessors, or other electronic elements for executing the above method.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 804 including instructions executable by processor 820 of the terminal to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

A non-transitory computer readable storage medium, which when executed by a processor of a foldable device, enables a terminal to perform a fold angle detection method, the method comprising: obtaining folding information detected by the foldable equipment in a folding process, wherein the folding information at least comprises first-class folding information detected by an impedance detection component of the foldable equipment; based on the folding information, a folding angle between two folding bodies in the foldable device is determined.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A folding angle detection method, characterized by being applied to a foldable device, the method comprising:

2. The method of claim 1, wherein the folding information further comprises: a second type of fold information detected by an accelerometer of the foldable device; and/or third type of folding information detected by a gyroscope of the foldable device; and/or fourth type folding information detected by a hall sensor of the foldable device;

3. The method according to claim 2, wherein the selecting the type of folding information with the highest confidence from the first type of folding information, the second type of folding information, the third type of folding information and/or the fourth type of folding information, determining the folding angle, comprises:

4. A method according to claim 3, wherein the impedance detection component comprises: two capacitance components respectively positioned on the two folding main bodies or two inductance components respectively positioned on the two folding main bodies;

the impedance information includes: based on the capacitance values detected by the two capacitance components or based on the inductance values detected by the two inductance components;

and/or the number of the groups of groups,

5. A method according to claim 3, characterized in that the method further comprises:

6. The method of claim 5, wherein correcting the correspondence between the preset impedance information and the folding angle comprises:

7. The method according to any one of claims 2 to 6, wherein the determining the folding angle by selecting a type of folding information with highest confidence from the first type of folding information, the second type of folding information, the third type of folding information and/or the fourth type of folding information comprises:

8. The method of claim 7, wherein the acceleration information comprises: two vector accelerations detected by accelerometers respectively located at the two folding bodies;

9. The method according to any one of claims 2 to 6, wherein the determining the folding angle by selecting a type of folding information with highest confidence from the first type of folding information, the second type of folding information, the third type of folding information and/or the fourth type of folding information comprises:

10. The method of claim 9, wherein the angular velocity information comprises: two gyroscope values detected by gyroscopes respectively located at the two folded bodies;

11. The method according to any one of claims 2 to 6, wherein the determining the folding angle by selecting a type of folding information with highest confidence from the first type of folding information, the second type of folding information, the third type of folding information and/or the fourth type of folding information comprises:

12. The method according to any one of claims 2 to 6, wherein determining the confidence level corresponding to each type of folding information in the folding information includes:

13. The method according to claim 12, wherein the method further comprises:

under the condition that the impedance change rate is larger than a first change threshold value, determining that the confidence coefficient corresponding to the first type of folding information is smaller than a first confidence coefficient; or (b)

14. A folding angle detection apparatus for use in a foldable device, the apparatus comprising:

15. A collapsible device, the collapsible device comprising at least: a processor and a memory for storing executable instructions capable of executing on the processor, wherein:

a processor is arranged to execute the executable instructions, which when executed, perform the steps of the foldable angle detection method provided in any of the preceding claims 1 to 13.

16. A non-transitory computer readable storage medium, which when executed by a processor of a foldable device, causes the foldable device to perform the fold angle detection method of any one of claims 1 to 13.