CN109686051A - A kind of determination method, device, equipment and the medium of target object tumble behavior - Google Patents
A kind of determination method, device, equipment and the medium of target object tumble behavior Download PDFInfo
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- CN109686051A CN109686051A CN201811549652.5A CN201811549652A CN109686051A CN 109686051 A CN109686051 A CN 109686051A CN 201811549652 A CN201811549652 A CN 201811549652A CN 109686051 A CN109686051 A CN 109686051A
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- 230000006399 behavior Effects 0.000 claims description 82
- 238000004590 computer program Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 5
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0407—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis
- G08B21/043—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis detecting an emergency event, e.g. a fall
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0446—Sensor means for detecting worn on the body to detect changes of posture, e.g. a fall, inclination, acceleration, gait
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Abstract
本申请公开了一种目标对象跌倒行为的判定方法，包括：获取目标对象的水平方向的第一加速度，并判断第一加速度是否大于第一阈值；若是，则计算目标对象的运动方向与重力方向的偏转角，并判断偏转角是否小于第二阈值；若是，则判定目标对象发生跌倒行为。相较于现有技术中仅通过判断目标对象水平方向的加速度是否大于预设阈值以进行跌倒行为的判定而言，本方法通过增加对偏转角的判断，降低了对跌倒行为的误判的可能性，也即提高跌倒行为判定的准确度。本申请还公开了一种目标对象跌倒行为的判定装置、设备及计算机可读存储介质，均具有上述有益效果。
The present application discloses a method for judging the falling behavior of a target object, which includes: acquiring a first acceleration in the horizontal direction of the target object, and judging whether the first acceleration is greater than a first threshold; if so, calculating the movement direction and the direction of gravity of the target object The deflection angle is determined, and it is judged whether the deflection angle is smaller than the second threshold; if so, it is judged that the target object falls. Compared with the prior art that only judges whether the acceleration in the horizontal direction of the target object is greater than a preset threshold to determine the fall behavior, the method reduces the possibility of misjudgment of the fall behavior by increasing the judgment of the deflection angle. sex, that is, to improve the accuracy of fall behavior determination. The present application also discloses an apparatus, device and computer-readable storage medium for determining the fall behavior of a target object, all of which have the above beneficial effects.
Description
Technical field
The present invention relates to server detection field, in particular to a kind of determination method of target object tumble behavior, device,
Equipment and computer readable storage medium.
Background technique
Currently, falling becomes one of the important hidden danger for endangering senior health and fitness's safety, timely fall detection and relief can
Think that treatment and rescue win very valuable time, therefore, the prior art provides a kind of judgement human body and whether falls
The method that backward is.
In the prior art method, by judging whether the acceleration of human body horizontal direction is greater than preset threshold, if so,
Then indicate that tumble behavior occurs for human body.But since human body all will lead to adding for horizontal direction during leaning forward or turning to
Therefore the change of speed according to the method for the prior art, will cause the erroneous judgement of tumble behavior, to bring to salvor tired
It disturbs.
Therefore, the False Rate in the judgement to human body tumble behavior how is reduced, is that those skilled in the art need at present
Technical problems to be solved.
Summary of the invention
In view of this, can be improved the purpose of the present invention is to provide a kind of determination method of target object tumble behavior
The accuracy that target object tumble behavior is determined；It is a further object of the present invention to provide a kind of sentencing for target object tumble behavior
Determine device, equipment and computer readable storage medium, all has above-mentioned beneficial effect.
In order to solve the above technical problems, the present invention provides a kind of determination method of target object tumble behavior, comprising:
Obtain the first acceleration of the horizontal direction of target object；
Judge whether first acceleration is greater than first threshold；
If so, calculating the direction of motion of the target object and the deflection angle of gravity direction；
Judge whether the deflection angle is less than second threshold；
If so, determining that tumble behavior occurs for the target object.
Preferably, after judging that first acceleration is greater than the first threshold, further comprise:
Triggering starts accumulative first timing time；
Judge whether first timing time is greater than the first preset time；
If so, the step of into the direction of motion for calculating the target object and the deflection angle of gravity direction.
Preferably, after judging that first acceleration is greater than the first threshold, further comprise:
Obtain the second acceleration of the vertical direction of the target object；
Judge whether second acceleration is greater than third threshold value；
If so, the step of into the direction of motion for calculating the target object and the deflection angle of gravity direction.
Preferably, it after the second acceleration of the vertical direction for obtaining the target object, further wraps
It includes:
Utilize the resultant acceleration of target object described in first acceleration and second acceleration calculation；
It is corresponding, it is described to judge whether second acceleration is greater than third threshold value specifically:
Judge whether the resultant acceleration is greater than the 4th threshold value；
If so, the step of into the direction of motion for calculating the target object and the deflection angle of gravity direction.
Preferably, after tumble behavior occurs for the judgement target object, further comprise:
Issue corresponding prompt information.
Preferably, after tumble behavior occurs for the judgement target object, further comprise:
Obtain the personal information and/or location information and/or tumble state of the target object；
The personal information and/or location information and/or tumble state are sent to target device.
In order to solve the above technical problems, the present invention also provides a kind of decision makers of target object tumble behavior, comprising:
Obtain module, the first acceleration of the horizontal direction for obtaining target object；
First judgment module, for judging whether first acceleration is greater than first threshold；
Computing module, for calculating the target pair when judging that first acceleration is greater than the first threshold
The direction of motion of elephant and the deflection angle of gravity direction；
Second judgment module, for judging whether the deflection angle is less than second threshold；
Determination module, for determining that the target object falls when judging that the deflection angle is less than second threshold
Backward is.
In order to solve the above technical problems, the present invention also provides a kind of judgement equipment of target object tumble behavior, comprising:
Memory, for storing computer program；
Processor realizes the judgement side of any of the above-described kind of target object tumble behavior when for executing the computer program
The step of method.
In order to solve the above technical problems, the present invention also provides a kind of computer readable storage medium, it is described computer-readable
Computer program is stored on storage medium, the computer program realizes any of the above-described kind of target object when being executed by processor
The step of determination method of tumble behavior.
The determination method of target object tumble behavior provided by the invention, compared to the prior art in only by judging target
Whether the acceleration in object horizontal direction is greater than for judgement of the preset threshold to carry out tumble behavior, and this method is to judge
After first acceleration of the horizontal direction of target object is greater than first threshold, by the direction of motion for further calculating target object
With the deflection angle of gravity direction, and judging deflection angle be greater than second threshold after, determine target object occur tumble behavior, lead to
A possibility that crossing the judgement increased to deflection angle, reducing the erroneous judgement to tumble behavior, namely improve the standard that tumble behavior determines
Exactness.
In order to solve the above technical problems, the present invention also provides a kind of device of the judgement of target object tumble behavior, setting
Standby and computer readable storage medium all has above-mentioned beneficial effect.
Detailed description of the invention
It in order to illustrate the embodiments of the present invention more clearly or the technical solution of the prior art, below will be to embodiment or existing
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to the attached drawing of offer.
Fig. 1 is a kind of flow chart of the determination method of target object tumble behavior provided in an embodiment of the present invention；
Fig. 2 a is when calculating deflection angle in a kind of determination method of target object tumble behavior provided in an embodiment of the present invention
The schematic diagram of the user coordinate system of setting；
Fig. 2 b is a kind of deflection angle in a kind of determination method of target object tumble behavior provided in an embodiment of the present invention
Schematic diagram；
Fig. 2 c is another deflection angle in a kind of determination method of target object tumble behavior provided in an embodiment of the present invention
Schematic diagram；
Fig. 3 is the flow chart of the determination method of another target object tumble behavior provided in an embodiment of the present invention；
Fig. 4 is a kind of structure chart of the decision maker of target object tumble behavior provided in an embodiment of the present invention；
Fig. 5 is a kind of structure chart of the judgement equipment of target object tumble behavior provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The core of the embodiment of the present invention is to provide a kind of determination method of target object tumble behavior, can be improved to target
The accuracy that object tumble behavior determines；Another core of the invention is to provide a kind of judgement dress of target object tumble behavior
It sets, equipment and computer readable storage medium, all has above-mentioned beneficial effect.
It is right with reference to the accompanying drawings and detailed description in order to make those skilled in the art more fully understand the present invention program
The present invention is described in further detail.
Fig. 1 is a kind of flow chart of the determination method of target object tumble behavior provided in an embodiment of the present invention.Such as Fig. 1 institute
Show, a kind of determination method of target object tumble behavior includes:
S10: the first acceleration of the horizontal direction of target object is obtained；
S20: judge whether the first acceleration is greater than first threshold；If so, executing S30.
Specifically, general some position by the way that the sensor for being used to acquire acceleration to be fixed on to the body of target object
The mode of (such as waist) obtains the acceleration of the movement of target object, this step is mainly to obtain the horizontal direction of target object
First acceleration.It should be noted that the present embodiment does not limit the sensor type of the acceleration for acquiring target object
It is fixed, it specifically can be three-axis sensor, six axle sensors or nine axle sensors etc..It is understood that due to used biography
The precision of sensor is higher, can collected acceleration value it is more accurate, enable to it is subsequent calculating and judgement result it is accurate
Degree is higher, therefore nine axle sensor MPU9250 are preferably used in the present embodiment.
In specific implementation, coordinate system is established with the vertex of nine axle sensors, obtain the first acceleration acceleration value and
Direction.World coordinate system is established by origin of nine axle sensors specifically, can be, target object (nine axle sensors) is in the world
Moved in coordinate system namely the movement of world coordinate system relative target object without modification.After establishing world coordinate system, root
Corresponding first acceleration is obtained according to the operating condition of target object, for example, it is assumed that the original state of target object is right and left
To be y-axis for x-axis, front-rear direction, vertical direction is z-axis, then when target object turns forward and falls, y-axis and z-axis
Acceleration will all change, to obtain the acceleration in y-axis direction namely get the first acceleration.
Alternatively, establishing user coordinate system by origin of nine axle sensors, user coordinate system can be with the movement of target object
Happen change.For example, it is assumed that setting x-axis for the left and right directions of target object, front-rear direction is set as z-axis, vertical side
To y-axis is set as, then the acceleration value in z-axis direction will change, and z when target object turns forward and falls
The direction of axis is always along the direction of motion of target object, the first acceleration of the horizontal direction of target object namely z-axis direction
Acceleration value horizontal component.In specific implementation, whether can also be greater than by judging the acceleration in z-axis direction corresponding
The mode of threshold value judges whether the first acceleration of target object horizontal direction is greater than first threshold, and basic goal is still to sentence
Whether the first acceleration of the horizontal direction of disconnected target object is greater than first threshold.
It should be noted that first threshold is generally arranged based on practical experience, the range of an acceleration value can be,
It can be specific acceleration value, herein without limitation, in addition, in user coordinate system, if directly according to change in coordinate axis direction
Acceleration value is determined, then is used as preferred embodiment, can set corresponding threshold value to such as 3.8m/s2, namely work as x
Axis or the acceleration value in z-axis direction are more than 3.8m/s2When, indicate that the first acceleration is greater than first threshold.
It should be noted that due to the actual motion situation phase of world coordinate system and the target object of user coordinate system embodiment
With, only manifestation mode is different, hereinafter in order to avoid information redundancy, is only illustrated by taking user coordinate system as an example, utilizes generation
Boundary's coordinate system carry out calculate judgement mode with by user coordinate system carry out calculate judgement in the way of be corresponding, and for
Content well known to the technical staff of field, therefore repeat no more.
S30: the direction of motion of target object and the deflection angle of gravity direction are calculated；
S40: judge whether deflection angle is less than second threshold；If so, executing S50.
S50: determine that tumble behavior occurs for target object.
Specifically, after the first acceleration of the horizontal direction for judging target object is greater than first threshold, further
Obtain the direction of motion of target object and the deflection angle of gravity direction.
It is understood that fall during tumble behavior occurs for target object as turned forward, the side of y-axis
To will change with the variation of the direction of motion of target object, corresponding, z-axis is no longer vertical side identical with gravity direction
To, but deflection angle can be generated with gravity direction.Since gravity direction is always that straight down, this step passes through calculating
The direction of motion of target object and the deflection angle of gravity direction, and when judging that deflection angle is less than second threshold, indicate target
Object is unbalance, therefore, it is determined that tumble behavior occurs for target object.
Specifically, being the user coordinate system established using nine axle sensors as origin as shown in Figure 2 a, and the user coordinates
System is using the left and right directions of target object as x-axis, using the up and down direction of target object as y-axis, with the front-rear direction of target object
For z-axis；When tumble behavior occurs for target object, as during toppling over to the right, user coordinate system will also deflect, and such as scheme
Shown in 2b, the deflection angle namely x of its direction of motion and gravity direction are calculated using the acceleration and acceleration of gravity of x-axis direction
The angle theta of axis direction and gravity directionX, θX=arccos (AX/ G), wherein AXFor acceleration value along the x-axis direction, G is gravity
Acceleration value.Alternatively, when target object during toppling over backward, as shown in Figure 2 c, using z-axis direction acceleration with again
The angle theta of the deflection angle namely z-axis direction and gravity direction of its direction of motion of power acceleration calculation and gravity directionZ, θZ=
arccos(AZ/ G), wherein AZFor acceleration value along the z-axis direction, G is gravity acceleration value.
After calculating deflection angle, it is compared using deflection angle with second threshold, judges deflection angle thetaXOr θZIt is whether small
In second threshold.It is understood that second threshold generally is used to determine the unbalance value of target object, generally passed through according to operation
It tests and obtains, can be the range of an angle value, be also possible to specific angle value, such as 45 °, the present embodiment does not limit this
It is fixed.Specifically, determining that tumble behavior occurs for target object after judging that deflection angle is less than second threshold.
The determination method of target object tumble behavior provided in this embodiment, compared to the prior art in only by judging mesh
Whether the acceleration in mark object horizontal direction is greater than for judgement of the preset threshold to carry out tumble behavior, and this method is to judge
After the first acceleration of the horizontal direction of target object is greater than first threshold out, by the movement side for further calculating target object
To the deflection angle with gravity direction, and after judging that deflection angle is greater than second threshold, determine that tumble behavior occurs for target object,
A possibility that by increasing the judgement to deflection angle, reducing the erroneous judgement to tumble behavior, namely improve what tumble behavior determined
Accuracy.
On the basis of the above embodiments, the present embodiment has made further instruction and optimization to technical solution, specifically,
After judging that the first acceleration is greater than first threshold, further comprise:
Triggering starts accumulative first timing time；
Judge whether the first timing time is greater than the first preset time；
If so, the step of entering the deflection angle of the direction of motion and gravity direction that obtain target object.
In specific implementation, in order to further avoid other behaviors such as stair activity of target object, beat to stagger etc. and sentence
It is set to tumble behavior, and causes the erroneous judgement of tumble behavior,
It in the present embodiment, is after judging that the first acceleration is greater than first threshold, triggering starts accumulative first meter
When the time, that is to say, that wait the first preset time duration and then calculate target object the direction of motion and gravity side
To deflection angle.If the deflection angle of target object is less than second threshold after the first preset time, then it represents that target object hair
Raw tumble behavior；Otherwise, indicate target object it may happen that playing stagger Deng behaviors.It should be noted that the present embodiment pair
The duration of first preset time without limitation, is configured according to actual needs, such as 2s.
As it can be seen that this method can further increase the accuracy of the judgement of the tumble behavior to target object.
As shown in figure 3, the flow chart of the determination method for another target object tumble behavior provided in this embodiment, tool
Body process is as follows:
S301: x-axis acceleration value A is obtainedXOr the acceleration value A of z-axisZ；
S302: judge whether the acceleration value is greater than corresponding acceleration rate threshold 3.8m/s2；If so, executing S303；If
It is no, then it returns and executes S301；
S303: the first preset time 2s is waited；
S304: judge deflection angle thetaXOr θZWhether 45 ° of second threshold are less than；If so, executing S305；It is held if it is not, then returning
Row S301；
S305: the second preset time 2s is waited；
S306: judge whether deflection angle is less than 45 ° of second threshold；If so, executing S307；If it is not, then returning to execution
S301；
S307: determine that tumble behavior occurs for target object.
As it can be seen that judgement of the present embodiment by repeatedly progress deflection angle, and interval time is set between multiple judgement,
The accuracy determined to the tumble behavior further increased to target object.
On the basis of the above embodiments, the present embodiment has made further instruction and optimization to technical solution, specifically,
After judging that the first acceleration is greater than first threshold, further comprise:
Obtain the second acceleration of the vertical direction of target object；
Judge whether the second acceleration is greater than third threshold value；
If so, the step of entering the deflection angle of the direction of motion and vertical direction that obtain target object.
It is understood that acceleration straight down will will increase when tumble behavior occurs for target object.Therefore,
The present embodiment further obtains the second acceleration of the vertical direction of target object, and by the second acceleration and pre-set the
Three threshold values are compared.It should be noted that obtaining the second acceleration of the vertical direction of target object, and the acceleration by the
First acceleration of the mode that is compared with third threshold value and the horizontal direction for obtaining target object and by the first acceleration with
The mode that first threshold is compared be it is similar, can be selected according to the type of the coordinate system of actual setting corresponding threshold value into
Row judgement, details are not described herein again.It should be noted that third threshold value is also to be configured according to practical operation experience, herein not
It limits.
The present embodiment is by further increasing the decision condition of the tumble behavior to target object, to further increase pair
Whether target object occurs the accuracy of the judgement of tumble behavior.
It is further wrapped after obtaining the second acceleration of vertical direction of target object as preferred embodiment
It includes:
Utilize the resultant acceleration of the first acceleration and the second acceleration calculation target object；
It is corresponding, judge whether the first acceleration is greater than first threshold specifically:
Judge whether resultant acceleration is greater than the 4th threshold value；
If so, the step of entering the deflection angle of the direction of motion and vertical direction that obtain target object.
Specifically, the present embodiment is to add after obtaining the second acceleration of vertical direction of target object using first
The resultant acceleration of speed and the second acceleration calculation target object, then by judging whether the resultant acceleration is greater than the 4th threshold value
Mode replace above-mentioned implementation in the step of whether the first acceleration of target object is greater than first threshold judged；Due to this implementation
It is to have further calculated the resultant acceleration of target object, and be compared judgement using resultant acceleration in example, so as to mesh
The judgement whether mark object occurs tumble behavior is more accurate.
On the basis of the above embodiments, the present embodiment has made further instruction and optimization to technical solution, specifically,
After determining that tumble behavior occurs for target object, further comprise:
Issue corresponding prompt information.
Specifically, the mode for issuing prompt information, which can be control suggestion device, issues prompt information, suggestion device includes
Buzzer, indicator light and speech player, display screen etc., thus the frequency and volume conduct that are made a sound by controlling buzzer
Prompt information, or broadcast by the frequency of brightness or the light on and off of control instructions lamp as prompt information, or by speech player
Pre-set voice messaging is put as prompt information, or shows corresponding text information as prompt letter by display screen
Breath, to remind salvor to succour target object.
In addition, the mode for issuing prompt information, which can be to pre-set target device, sends prompt information, target is set
It is standby to can be mobile terminal, it is also possible to background monitoring system etc., herein without limitation.It should be noted that target device
Prompt information is sent, prompt information can be sent by pre-set wireless communication module, wireless communication module can be specific
For WiFi, zigbee, bluetooth or mobile communications network such as 4G/3G/2G network etc., in addition it is also possible to pass through electricity using eSIM card
The mode of words or short message sends corresponding prompt information to target device.
In specific implementation, prompt information can be issued in such a way that a variety of prompting modes combine, is mentioned by multiple
Show, knows a possibility that tumble behavior occurs for target object to increase salvor, what raising target object was succoured in time can
It can property.
In specific implementation, the control by response target object can also be operated, sends prompt letter to target device
Breath, further increases a possibility that target object is succoured in time.
In addition, sending prompt letter can be closed when salvor has found target object and succours target object
The function of breath, namely the function of issuing prompt information is arranged and is resetted, it avoids issuing the interference that prompt information generates for a long time, into
The usage experience of one step raising user.
Further comprise after determining that tumble behavior occurs for target object as preferred embodiment:
The personal information and/or location information and/or tumble state of acquisition target object；
Personal information and/or location information and/or tumble state are sent to target device.
Specifically, in order to be more convenient for salvor to occur tumble behavior target object succour, the present embodiment into
One step includes obtaining the personal information of target object, and personal information is sent to target device, so that salvor is according to mesh
The personal information of mark object takes the measure to property, carries out relief as early as possible and prepares, further increases the effect that target object is succoured
Rate.Specifically, obtaining personal information corresponding with target object in advance and being stored, herein to for obtaining target object
The concrete mode of people's information without limitation, such as can be and be downloaded by wireless network or by being inserted with target object
Personal information chip mode.Also, the present embodiment is to the storage equipment class of the personal information for storing target object
Type without limitation, such as can be FLASH memory.
In addition, in the present embodiment, it, can also be further in order to which the salvor that is more convenient for finds the position of target object in time
The location information of target object is obtained, and location information is sent to target device.It should be noted that obtaining location information
Mode can be is arranged GPS positioning system with target object, so as to position to target object position；?
Can be the ambient image by the way that filming apparatus photographic subjects data collection is arranged, in order to salvor according to location information or
Person's ambient image knows the position of target object, to succour in time target object.
Furthermore it is also possible to obtain the tumble state of target object, tumble state is occurred to target device.Obtain target pair
The tumble state of elephant can be the first acceleration that will acquire, calculated deflection angle is sent to target device, be also possible to
According to the tumble posture of the first acceleration and deflection angle prediction target object, prediction result is sent to target device, to make
It obtains salvor and corresponding salvage device is ready to according to tumble state, further increase the efficiency of relief target object.
In specific implementation, one of personal information, location information and tumble state can be obtained according to actual needs
Or much information is sent to target device, to further increase the relief efficiency of salvor.
A kind of embodiment of the determination method of target object tumble behavior provided by the invention has been carried out in detail above
Description, the present invention also provides decision maker, equipment and the calculating of a kind of target object tumble behavior corresponding with this method
Machine readable storage medium storing program for executing, due to the embodiment of device, equipment and computer readable storage medium part and the implementation of method part
Example mutually correlates, therefore the embodiment of device, equipment and computer readable storage medium part refers to the implementation of method part
The description of example, wouldn't repeat here.
Fig. 4 is a kind of structure chart of the decision maker of target object tumble behavior provided in an embodiment of the present invention, such as Fig. 4 institute
Show, a kind of decision maker of target object tumble behavior includes:
Obtain module 41, the first acceleration of the horizontal direction for obtaining target object；
First judgment module 42, for judging whether the first acceleration is greater than first threshold；
Computing module 43, for calculating the movement side of target object when judging that the first acceleration is greater than first threshold
To the deflection angle with gravity direction；
Second judgment module 44, for judging whether deflection angle is less than second threshold；
Determination module 45, for when judging that deflection angle is less than second threshold, determining that tumble behavior occurs for target object.
The decision maker of target object tumble behavior provided in an embodiment of the present invention has above-mentioned target object tumble behavior
Determination method beneficial effect.
Fig. 5 is a kind of structure chart of the judgement equipment of target object tumble behavior provided in an embodiment of the present invention, such as Fig. 5 institute
Show, a kind of judgement equipment of target object tumble behavior includes:
Memory 51, for storing computer program；
Processor 52 realizes the step of the determination method such as above-mentioned target object tumble behavior when for executing computer program
Suddenly.
It should be noted that the present embodiment to the type of processor 52 without limitation, such as can be single-chip microcontroller, preferably
Use the single-chip microcontroller of STM32 type.
The judgement equipment of target object tumble behavior provided in an embodiment of the present invention has above-mentioned target object tumble behavior
Determination method beneficial effect.
In order to solve the above technical problems, the present invention also provides a kind of computer readable storage medium, computer-readable storage
It is stored with computer program on medium, sentencing such as above-mentioned target object tumble behavior is realized when computer program is executed by processor
The step of determining method.
It should be noted that computer readable storage medium include USB flash disk, mobile hard disk, ROM (Read-Only Memory,
Read-only memory), RAM (Random Access Memory, random access storage device), disk or CD etc. are various to be deposited
Store up the medium of program code.
Computer readable storage medium provided in an embodiment of the present invention, the judgement side with above-mentioned target object tumble behavior
The beneficial effect of method.
Above to the determination method of target object tumble behavior provided by the present invention, device, equipment and computer-readable
Storage medium is described in detail.Specific embodiment used herein explains the principle of the present invention and embodiment
It states, the above description of the embodiment is only used to help understand the method for the present invention and its core ideas.It should be pointed out that for this skill
For the those of ordinary skill in art field, without departing from the principle of the present invention, several change can also be carried out to the present invention
Into and modification, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Claims (9)
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| CN201811549652.5A CN109686051A (en) | 2018-12-18 | 2018-12-18 | A kind of determination method, device, equipment and the medium of target object tumble behavior |
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