WO2019233191A1

WO2019233191A1 - Device orientation identification method employing triaxial geomagnetic sensor

Info

Publication number: WO2019233191A1
Application number: PCT/CN2019/082805
Authority: WO
Inventors: 于锋; 孔繁斌; 刘海涛
Original assignee: 青岛迈金智能科技有限公司
Priority date: 2018-06-07
Filing date: 2019-04-16
Publication date: 2019-12-12
Also published as: CN108682059B; CN108682059A

Abstract

A device orientation identification method employing a triaxial geomagnetic sensor (1) comprises the following steps: binding the triaxial geomagnetic sensor (1) to a cadence sensor (2) and a speed sensor (4), so as to form a cadence sensor combination and a speed sensor combination; disposing the cadence sensor combination on a crank (3) of a pedal, and disposing the speed sensor combination on a rear wheel shaft (5) of a bicycle; and acquiring and analyzing bicycle ride data, and acquiring a magnetic induction line component curve trend of the triaxial geomagnetic sensor (1); and using the trend as a basis for device orientation identification, and using the same to determine a specific position where the triaxial geomagnetic sensor (1) is bound and the specific type thereof. The method identifies the device orientation according to the components of the magnetic induction lines of the triaxial geomagnetic sensor (1) at the X-axis, Y-axis, and Z-axis, and the curve trend, so as to combine the cadence sensor (2) and the speed sensor (4), thereby allowing a device to have two functions, automatically switch between the functions without other extra configurations, and be easy to operate and intelligent.

Description

Equipment attitude recognition method based on three-axis geomagnetic sensor

Technical field

The present invention relates to the technical field of fitness equipment, and in particular to a method for identifying posture of a device based on a three-axis geomagnetic sensor.

Background technique

With the improvement of people's living standards, bicycles are no longer just tools for ordinary transportation and mobility, but have become the first choice for people's entertainment, leisure and exercise. Multifunctional bicycles can monitor various physiological data of people during riding. Correspondingly, the rider can perform physiological monitoring, health guidance, vehicle adjustment, and danger warning based on knowledge of calorie consumption, muscle stress, riding exercise, and riding habits. There are usually two types of existing devices for monitoring cycling data, namely cadence sensors and speed sensors. The two sensors are completely independent. Each sensor has only one function and can only measure cadence or speed. Single function. At present, there is another type of sensor on the market, which integrates the functions of cadence sensor and speed sensor, which can realize both the function of cadence sensor and speed sensor, but the sensor needs to be operated by buttons, restart, etc. Configure the corresponding functions, the operation is tedious.

Summary of the Invention

The invention provides a device attitude recognition method based on a three-axis geomagnetic sensor.

To achieve the above objective, the present invention provides the following technical solutions:

A device attitude recognition method based on a three-axis geomagnetic sensor includes the following steps:

S1: Bind the triaxial geomagnetic sensor with the cadence sensor and the speed sensor to form a cadence sensor combination and a speed sensor combination;

S2: placing the cadence sensor combination on the pedal crank of the bicycle and the speed sensor combination on the rear wheel axle of the bicycle to collect the riding data of the bicycle;

S3: Analyze the riding data to obtain the trend of the magnetic induction component curve of the three-axis geomagnetic sensor as the basis for equipment attitude recognition;

S4: Under the premise that the position of the triaxial geomagnetic sensor is not clear, according to the actual trend of the magnetic induction component curve of the triaxial geomagnetic sensor, and according to the equipment posture recognition basis, the specific binding of the triaxial geomagnetic sensor is obtained. Position and identify equipment attitude.

Further, in step S2, a controller and a communicator for communication connection are provided on the bicycle body, and the cadence sensor combination and the speed sensor combination collect the riding data of the bicycle, and the riding data Uploading to the controller, the controller sends the riding data to the mobile terminal via the communicator.

Further, the mobile terminal is configured to receive riding data of the bicycle sent by the communicator, and display the riding data to a user riding the bicycle.

Further, in step S3, during the riding process, the magnetic induction lines of the three-axis geomagnetic sensor generate components on the X-axis, Y-axis, and Z-axis, where the X-axis and Y-axis are located in the sensor plane and the Z-axis is perpendicular On the sensor plane.

Further, in the cadence sensor combination, the component of the triaxial geomagnetic sensor magnetic induction line in the Z axis is zero or smaller, the component generated in the X axis exhibits a sine curve trend, and the component generated in the Y axis exhibits a cosine curve. The trend, at this time, defines the triaxial geomagnetic sensor to rotate around the Z axis.

Further, the component of the three-axis geomagnetic sensor magnetic induction line in the speed sensor combination is zero or less in the Y axis, the component in the X axis shows a sine curve trend, and the component in the Z axis shows a cosine curve trend. At this time, the three-axis geomagnetic sensor is defined to rotate around the Y-axis.

Further, when one of the X-axis component, the Y-axis component, and the Z-axis component is less than 20% of the maximum value among the three, the component is considered to be smaller.

The beneficial effects of the present invention are:

According to the component and curve of the magnetic axis of the three-axis geomagnetic sensor on the X-axis, Y-axis, and Z-axis, determine the specific position to which the sensor is bound, and then determine the sensor type and identify the attitude to achieve a two-in-one cadence sensor and speed sensor. The effect is that one device has two functions at the same time. At the same time, no additional settings are required. The function is automatically switched, the operation is simple, and the device is completely intelligent.

BRIEF DESCRIPTION OF THE DRAWINGS

1 is a schematic diagram of a binding position of a cadence sensor combination;

2 is a schematic diagram of a binding position of a speed sensor combination;

3 is a schematic diagram of a magnetic axis of a triaxial geomagnetic sensor in a cadence sensor combination;

FIG. 4 is a schematic diagram of magnetic lines of a three-axis geomagnetic sensor in a speed sensor combination.

In the drawings: 1-triaxial geomagnetic sensor, 2-cadence sensor, 3-pedal crank, 4-speed sensor, 5-rear wheel axle of bicycle.

In FIGS. 3 and 4, X, Y, and Z represent X-axis, Y-axis, and Z-axis, respectively, and X1, Y1, and Z1 represent components generated by the magnetic induction lines on the X-axis, Y-axis, and Z-axis, respectively.

Detailed ways

In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described in combination with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

First, referring to FIG. 1, a triaxial geomagnetic sensor 1 and a cadence sensor 2 are bound to form a cadence sensor combination, and the cadence sensor combination is placed on a bicycle pedal crank 3. Referring to FIG. 2, a three-axis geomagnetic sensor 1 and a speed sensor 4 are bound to form a speed sensor combination, and the speed sensor combination is placed at the rear wheel axle 5 of the bicycle. The user starts to ride, and a controller and a communicator for communication connection are provided on the body of the bicycle. The cadence sensor combination and speed sensor combination collect the riding data of the bicycle, and the riding data is uploaded to the control. The controller sends the riding data to a mobile terminal via a communicator, and the mobile terminal is configured to receive the riding data of the bicycle sent by the communicator and display the riding data to the riding The user of the bicycle.

During the riding process, the controller collects and processes the riding data. The magnetic lines of the three-axis geomagnetic sensor 1 generate components on the X-axis, Y-axis, and Z-axis, where the X-axis and Y-axis are in the sensor plane and Z The axis is perpendicular to the sensor plane. Referring to FIG. 3, in the cadence sensor combination, the component of the triaxial geomagnetic sensor magnetic induction line on the Z axis is zero or smaller, and the component generated on the X axis exhibits a sinusoidal trend. The component shows a cosine curve trend. At this time, the triaxial geomagnetic sensor 1 is defined to rotate around the Z axis. Referring to FIG. 4, in the speed sensor combination, the component of the three-axis geomagnetic sensor magnetic induction line on the Y axis is zero or smaller, the component generated on the X axis exhibits a sine curve, and the component generated on the Z axis exhibits a cosine. Curve trend. At this time, the three-axis geomagnetic sensor 1 is defined to rotate around the Y-axis. The trend of the magnetic induction component curve of the above-mentioned three-axis geomagnetic sensor is used as the basis for equipment attitude recognition.

In the actual riding process, when the position of the triaxial geomagnetic sensor 1 is not clear, according to the trend of the magnetic induction component curve of the triaxial geomagnetic sensor actually collected, and according to the equipment attitude recognition basis, the triaxial geomagnetic sensor is obtained. The specific position to which the sensor 1 is bound and the attitude of the device are identified. specific,

When one of the X-axis component, the Y-axis component, and the Z-axis component is less than 20% of the maximum value among the three, the component is considered to be smaller. If the Z-axis component is 0 or smaller, the X-axis component shows a sine curve, and the Y-axis component shows a cosine curve, then the triaxial geomagnetic sensor 1 is considered to be located at the pedal crank 3 of the bicycle, and it has the function of a cadence sensor. , That is, the device posture is recognized. If the Y-axis component is 0 or smaller, and the X-axis component shows a sine curve trend, and the Z-axis component shows a cosine curve trend, the triaxial geomagnetic sensor 1 is considered to be located at the rear axle 5 of the bicycle, and it has the function of a speed sensor. The device posture is recognized.

In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment includes only an independent technical solution. This description of the specification is for clarity only, and those skilled in the art should take the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims

A device attitude recognition method based on a three-axis geomagnetic sensor is characterized in that it includes the following steps:

S1: Bind the triaxial geomagnetic sensor with the cadence sensor and the speed sensor to form a cadence sensor combination and a speed sensor combination;

S2: placing the cadence sensor combination on the pedal crank of the bicycle and the speed sensor combination on the rear wheel axle of the bicycle to collect the riding data of the bicycle;

S3: Analyze the riding data to obtain the trend of the magnetic induction component curve of the three-axis geomagnetic sensor as the basis for equipment attitude recognition;

S4: Under the premise that the position of the triaxial geomagnetic sensor is not clear, according to the actual trend of the magnetic induction component curve of the triaxial geomagnetic sensor, and according to the equipment posture recognition basis, the specific binding of the triaxial geomagnetic sensor is obtained. Position and identify equipment attitude.
The device attitude recognition method based on a three-axis geomagnetic sensor according to claim 1, characterized in that, in step S2, a controller and a communicator for communication connection are provided on the body of the bicycle, and The cadence sensor combination and the speed sensor combination collect the riding data of the bicycle, the riding data is uploaded to the controller, and the controller sends the riding data to the mobile terminal via the communicator.
The apparatus of claim 3, wherein the mobile terminal is configured to receive riding data of the bicycle sent by the communicator, and The row data is displayed to a user riding the bicycle.
The method for recognizing a posture of a device based on a three-axis geomagnetic sensor according to claim 3, wherein in step S3, the magnetic induction lines of the three-axis geomagnetic sensor are in the X-axis and Y-axis during the riding process. And Z-axis components, where the X-axis and Y-axis lie in the sensor plane, and the Z-axis is perpendicular to the sensor plane.
The device posture recognition method based on a three-axis geomagnetic sensor according to claim 4, wherein the component generated by the three-axis geomagnetic sensor magnetic induction line in the cadence sensor combination on the Z axis is zero or smaller, The component generated on the X axis shows a sine curve trend, and the component generated on the Y axis shows a cosine curve trend. At this time, a three-axis geomagnetic sensor is defined to rotate around the Z axis.
The device attitude recognition method based on a three-axis geomagnetic sensor according to claim 4, characterized in that the component generated by the three-axis geomagnetic sensor magnetic induction line in the speed sensor combination on the Y-axis is zero or smaller, and The component generated on the X axis shows a sine curve trend, and the component generated on the Z axis shows a cosine curve trend. At this time, a three-axis geomagnetic sensor is defined to rotate about the Y axis.
The method for recognizing device attitude based on a three-axis geomagnetic sensor according to claim 5 or 6, wherein when one of the X-axis component, the Y-axis component, and the Z-axis component is less than 20 of the maximum value among the three, At%, the component is considered small.