WO2019233191A1 - Procédé d'identification d'orientation de dispositif utilisant un capteur géomagnétique triaxial - Google Patents

Procédé d'identification d'orientation de dispositif utilisant un capteur géomagnétique triaxial Download PDF

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Publication number
WO2019233191A1
WO2019233191A1 PCT/CN2019/082805 CN2019082805W WO2019233191A1 WO 2019233191 A1 WO2019233191 A1 WO 2019233191A1 CN 2019082805 W CN2019082805 W CN 2019082805W WO 2019233191 A1 WO2019233191 A1 WO 2019233191A1
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WO
WIPO (PCT)
Prior art keywords
axis
sensor
geomagnetic sensor
component
bicycle
Prior art date
Application number
PCT/CN2019/082805
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English (en)
Chinese (zh)
Inventor
于锋
孔繁斌
刘海涛
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青岛迈金智能科技有限公司
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Application filed by 青岛迈金智能科技有限公司 filed Critical 青岛迈金智能科技有限公司
Publication of WO2019233191A1 publication Critical patent/WO2019233191A1/fr

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data

Definitions

  • 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.
  • Multifunctional bicycles can monitor various physiological data of people during riding.
  • 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.
  • cadence sensors and speed sensors 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.
  • the invention provides a device attitude recognition method based on a three-axis geomagnetic sensor.
  • 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;
  • 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.
  • 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.
  • 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.
  • 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 defines the triaxial geomagnetic sensor to rotate around the Z axis.
  • 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.
  • the three-axis geomagnetic sensor is defined to rotate around the Y-axis.
  • the component is considered to be smaller.
  • 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.
  • FIG. 1 is a schematic diagram of a binding position of a cadence sensor combination
  • FIG. 2 is a schematic diagram of a binding position of a speed sensor combination
  • FIG. 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.
  • 1-triaxial geomagnetic sensor 2-cadence sensor, 3-pedal crank, 4-speed sensor, 5-rear wheel axle of bicycle.
  • 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.
  • a device attitude recognition method based on a three-axis geomagnetic sensor includes the following steps:
  • 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.
  • 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.
  • 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.
  • 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.
  • the triaxial geomagnetic sensor 1 is defined to rotate around the Z axis. Referring to FIG.
  • 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.
  • 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.
  • the triaxial geomagnetic sensor 1 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,
  • the component 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.
  • 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.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measuring Magnetic Variables (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un procédé d'identification d'orientation de dispositif utilisant un capteur géomagnétique triaxial (1) et qui comprend les étapes suivantes : lier le capteur géomagnétique triaxial (1) à un capteur de cadence (2) et à un capteur de vitesse (4) de manière à former une combinaison capteur de cadence et une combinaison capteur de vitesse; installer la combinaison capteur de cadence sur une manivelle (3) d'une pédale, et installer la combinaison capteur de vitesse sur un axe de roue arrière (5) d'une bicyclette; et acquérir et analyser des données de conduite de bicyclette, et acquérir une tendance de courbe de composantes de lignes d'induction magnétique du capteur géomagnétique triaxial (1); et utiliser la tendance en tant que base pour identifier l'orientation d'un dispositif, et utiliser celle-ci pour déterminer une position spécifique dans laquelle le capteur géomagnétique triaxial (1) est lié et son type spécifique. Le procédé permet d'identifier l'orientation du dispositif en fonction des composantes des lignes d'induction magnétique du capteur géomagnétique triaxial (1) au niveau de l'axe X, de l'axe Y et de l'axe Z, et la tendance d'une courbe, de façon à combiner le capteur de cadence (2) et le capteur de vitesse (4) afin d'obtenir un dispositif à deux fonctions qui transite automatiquement entre les fonctions sans autres systèmes supplémentaires, et qui est facile à utiliser et intelligent.
PCT/CN2019/082805 2018-06-07 2019-04-16 Procédé d'identification d'orientation de dispositif utilisant un capteur géomagnétique triaxial WO2019233191A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810580741.X 2018-06-07
CN201810580741.XA CN108682059B (zh) 2018-06-07 2018-06-07 一种基于三轴地磁传感器的设备姿态识别方法

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WO2019233191A1 true WO2019233191A1 (fr) 2019-12-12

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WO (1) WO2019233191A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108682059B (zh) * 2018-06-07 2020-03-03 青岛迈金智能科技有限公司 一种基于三轴地磁传感器的设备姿态识别方法
CN111273051B (zh) * 2020-03-10 2022-10-04 青岛迈金智能科技有限公司 一种在骑行台上测量踏频的方法

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US6159130A (en) * 1998-05-20 2000-12-12 Polar Electro Oy Measuring method and measuring system
CN1590203A (zh) * 2003-08-22 2005-03-09 株式会社猫眼 计测装置及传感器装置
US20140173443A1 (en) * 2012-08-27 2014-06-19 Wahoo Fitness Llc Fitness computer and system
WO2017046907A1 (fr) * 2015-09-17 2017-03-23 パイオニア株式会社 Dispositif de fourniture d'informations
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CN108682059A (zh) * 2018-06-07 2018-10-19 青岛迈金智能科技有限公司 一种基于三轴地磁传感器的设备姿态识别方法

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