Granted Patent B2

US 12,625,158 · App. 18/018,119 · Granted May 12, 2026

Inventors: SHangru Li (Suzhou, CN); Dan Liu (Suzhou, CN); Haibo Qin (Suzhou, CN)

Assignee: Robert Bosch GmbH

G01P15/0888G01B7/30G01P3/44G01P13/00G01R29/0814

Abstract

Claims (63)

1 . A method for detecting a state of a door or window, comprising:

receiving sensor data from at least one sensor arranged on the door or window, the sensor data comprising magnetometer data and at least one of angular velocity data and acceleration data;

judging whether magnetic field distortion is present in a detection environment of the at least one sensor based on the sensor data;

when it is judged that the magnetic field distortion is not present, determining the state of the door or window based on the magnetometer data; and

when it is judged that the magnetic field distortion is present, determining the state of the door or window based on the at least one of the angular velocity data and the acceleration data,

wherein the method is implemented in a non-transitory machine-readable storage medium that stores computer program instructions which, when run, causes a processor to perform the method,

wherein:

the judging of whether magnetic field distortion is present based on the sensor data comprises:

judging whether the door or window is stationary based on the sensor data;

when it is judged that the door or window is stationary, judging whether magnetic field distortion is present based on the magnetometer data;

when it is judged that the door or window is not stationary:

determining one or more opening angle of the door or window based on the at least one of the angular velocity data and the acceleration data;

determining magnetometer data for the one or more opening angle; and

judging whether the magnetic field distortion is present based on the one or more opening angle, the magnetometer data determined for the one or more opening angle, and a predetermined correspondence between each opening angle of the door or window and corresponding magnetometer data, the predetermined correspondence being determined in the absence of the magnetic field distortion; and

when it is judged that the magnetic field distortion is not present, the state of the door or window is determined based on the magnetometer data and the predetermined correspondence.

2 . The method as claimed in claim 1 , wherein the judging of whether the magnetic field distortion is present based on the one or more opening angle, the magnetometer data determined for the one or more opening angle, and a predetermined correspondence between each opening angle of the door or window and corresponding magnetometer data, comprises one of:

determining first difference data between the magnetometer data determined for the one or more opening angle and magnetometer data in the predetermined correspondence that corresponds to the one or more opening angle, and determining whether magnetic field distortion is present based on the first difference data; and

determining second difference data between the one or more opening angle and a corresponding opening angle in the predetermined correspondence that corresponds to the magnetometer data determined for the one or more opening angle; and determining whether magnetic field distortion is present based on the second difference data.

3 . The method as claimed in claim 1 , wherein:

the one or more opening angle is determined based on the angular velocity data, angular velocity deviation data, and an initial opening angle of the door or window, and

when it is judged that the magnetic field distortion is present, determining the state of the door or window based on the angular velocity data, the angular velocity deviation data, and the initial opening angle of the door or window.

4 . The method as claimed in claim 3 , further comprising:

when it is judged that the door or window is stationary at a current opening angle greater than zero and the magnetic field distortion is not present, updating the initial opening angle of the door or window.

5 . The method as claimed in claim 3 , wherein the determining the state of the door or window based on the angular velocity data, the angular velocity deviation data, and the initial opening angle of the door or window comprises:

determining the one or more opening angle of the door or window based on the angular velocity data, the angular velocity deviation data, and the initial opening angle of the door or window; and

determining whether the door or window is closed based on the one or more opening angle.

6 . The method as claimed in claim 3 , further comprising:

when it is judged that the door or window is stationary for a predetermined time period, updating the angular velocity deviation data based on angular velocity data within the predetermined time period.

7 . The method as claimed in claim 3 , wherein the determining the state of the door or window based on the magnetometer data and the predetermined correspondence comprises:

determining a difference between the magnetometer data and magnetometer data in the predetermined correspondence that corresponds to an opening angle of zero; and

determining whether the door or window is closed based on the difference.

8 . The method as claimed in claim 7 , further comprising:

when it is determined that the door or window is closed, setting the initial opening angle of the door or window to zero.

9 . A device for detecting a state of a door or window, comprising:

a non-transitory machine readable storage medium configured to store computer program instructions; and

a processor configured to execute the computer program instructions, the processor comprising:

a receiving unit configured to receive sensor data from at least one sensor arranged on the door or window, the sensor data comprising magnetometer data and at least one of angular velocity data and acceleration data;

a judgment unit configured to judge whether magnetic field distortion is present in a detection environment of the at least one sensor based on the sensor data; and

a state determining unit configured to:

when it is judged that the magnetic field distortion is not present, determine the state of the door or window based on the magnetometer data; and

when it is judged that the magnetic field distortion is present, determine the state of the door or window based on the at least one of the angular velocity and the acceleration data,

wherein the judgment unit comprises:

a first judgment unit configured to judge whether the door or window is stationary based on the sensor data; and

a second judgment unit configured to:

when the first judgment unit judges that the door or window is stationary, judge whether magnetic field distortion is present based on the magnetometer data; and

when the first judgment unit judges that the door or window is not stationary:

determine one or more opening angle of the door or window based on the at least one of the angular velocity data and the acceleration data;

determine magnetometer data for the one or more opening angle; and

judge whether the magnetic field distortion is present based on the one or more opening angle, corresponding magnetometer data, and a predetermined correspondence between each opening angle of the door or window and corresponding magnetometer data, the predetermined correspondence being determined in the absence of the magnetic field distortion, and

wherein the state determining unit is configured to determine the state of the door or window based on the magnetometer data and the predetermined correspondence when the second judgment unit judges that the magnetic field distortion is not present.

10 . A system for detecting a state of a door of window, comprising:

the device according to claim 9 ; and

the at least one sensor, which includes

an acceleration sensor installed on the door or window and configured to generate the acceleration data;

an angular velocity sensor installed on the door or window and configured to generate the angular velocity data; and

a magnetometer installed on the door or window and configured to generate the magnetometer data.

11 . The device as claimed in claim 9 , wherein:

when the second judgment unit judges that the magnetic field distortion is present, the state of the door or window is determined based on the angular velocity data, angular velocity deviation data, and an initial opening angle of the door or window,

the processor further comprises a first updating unit configured to:

when the first judgment unit judges that the door or window is stationary at a current opening angle greater than zero and the second judgment unit judges that the magnetic field is not present, update the initial opening angle of the door or window; and

set the initial opening angle of the door or window to zero when the state determining unit determines that the door or window is closed.

12 . The device as claimed in claim 11 , the processor further comprising:

a second updating unit configured to, when the first judgment unit judges that the door or window is stationary for a predetermined time period, update the angular velocity deviation data based on angular velocity data within the predetermined time period.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (25)