CN108375376B - Rotation angle detection method and device - Google Patents

Abstract

Embodiments of the present invention provide a method and device for detecting a turning angle, which belong to the field of data processing. The method is applied to a mobile terminal device, and the method includes: at a first moment, when the mobile terminal is carried on a user's body, Obtain the first walking direction of the user; at a second moment after the first moment, obtain the second walking direction of the user; based on the first walking direction and the second walking direction, obtain a The judgment result of whether the user turns or not. The embodiment of the present invention can realize user turn detection in indoor navigation, and improve indoor navigation accuracy.

Description

Rotation angle detection method and device

technical field

The invention relates to the field of data processing, and in particular, to a method and device for detecting a rotation angle.

Background technique

With the development of transportation, logistics, machinery manufacturing, artificial intelligence technology and construction industry, people's living standards continue to improve, and activities such as work, leisure and entertainment tend to be more and more indoors. Therefore, indoor location services and positioning requirements have become a new trend. research hotspot. Since the premise of location-based services is the accurate positioning of users or service objects, the choice of the basic theory of indoor positioning technology is particularly important, which is directly related to the accuracy of the positioning of service objects, which in turn affects the user experience.

The development of mobile Internet technology and computer hardware has made sensors and smart device terminals popular. Gyroscopes, gravity sensors, and geomagnetic sensors have been embedded in many mobile device terminals. These sensors can detect the movement state of the carrier and the indoor environment. The feature can be used to realize or assist positioning, and the positioning scheme based on the distribution characteristics of indoor geomagnetic field information can be realized by using the geomagnetic sensor embedded in the smartphone. From the study of geomagnetic field positioning theory, it can be seen that the breakthrough of this scheme in practical application depends on the development of high-precision measuring instruments, the research on the elimination of various interferences, and the selection of navigation matching algorithms.

Although the geomagnetic sensor embedded in the mobile phone can realize the positioning based on the distribution characteristics of the indoor magnetic field information, it is very important to detect the user's turning during the indoor navigation process. It is impossible to always walk in a straight line during the navigation process. We who walk indoors, including in large shopping malls, especially underground shopping malls, urgently need indoor navigation to bring us convenience, and the detection of indoor turns is extremely important.

SUMMARY OF THE INVENTION

In view of this, the purpose of the embodiments of the present invention is to provide a method and a device for detecting a turning angle, which are used for detecting a user's turn in indoor navigation, so as to improve the navigation accuracy.

In a first aspect, an embodiment of the present invention provides a method for detecting a turning angle. The method is applied to a mobile terminal device. The method includes: at a first moment when the mobile terminal is carried on a user, acquiring the The first walking direction of the user; at the second moment after the first moment, the second walking direction of the user is obtained; based on the first walking direction and the second walking direction, a The judgment result of whether to turn or not.

Further, before acquiring the second walking direction of the user at a second moment after the first moment, the method further includes: between the first moment and the second moment, acquiring the user's second walking direction. Multiple walking directions.

Further, the obtaining a judgment result representing whether the user turns or not based on the first walking direction and the second walking direction includes: based on the first walking direction and the second walking direction and the plurality of walking directions, obtaining a first walking angle difference between the first walking direction and a walking direction at a third moment after the first moment; based on the first walking angle difference and The first preset condition is to acquire a judgment result used to represent whether the user is turning.

Further, after obtaining a judgment result representing whether the user turns or not based on the first walking angle difference and the first preset condition, the method further includes: when the judgment result is no, acquiring a second walking angle difference between the first walking direction and the walking direction at a fourth moment after the third moment; based on the first preset condition and the second walking angle difference, A judgment result for characterizing whether the user turns or not is acquired.

Further, after obtaining a judgment result representing whether the user turns or not based on the first walking angle difference and the first preset condition, the method further includes: when the judgment result is yes, Whether the user turns left is determined based on the second preset condition.

In a second aspect, an embodiment of the present invention provides a rotation angle detection apparatus, the apparatus is applied to a mobile terminal device, and the apparatus includes: a first acquisition module, configured to be carried at a first moment when the mobile terminal is carried in a When the user is on the body, the first walking direction of the user is obtained; the second obtaining module is used to obtain the second walking direction of the user at the second time after the first time; the third obtaining module is used to obtain the user's second walking direction based on the The first walking direction and the second walking direction are obtained, and a judgment result used to represent whether the user turns or not is obtained.

Further, the apparatus further includes: a fourth acquiring module, configured to acquire multiple walking directions of the user between the first moment and the second moment.

Further, the third obtaining module includes: a first angle difference obtaining module, configured to obtain the first travel direction and the plurality of travel directions based on the first travel direction, the second travel direction and the plurality of travel directions. The first walking angle difference between the walking directions at the third moment after the first moment; the first judgment result obtaining module is configured to obtain the first walking angle difference based on the first walking angle difference and the first preset condition A judgment result used to represent whether the user to be turned is turned.

Further, the device further includes: a second angle difference obtaining module, configured to obtain the difference between the first walking direction and the walking direction at the fourth moment after the third moment when the judgment result is no. The second walking angle difference between the two; the second judgment result obtaining module is configured to obtain a judgment result representing whether the user turns or not based on the first preset condition and the second walking angle difference.

Further, the apparatus includes: a judgment module, configured to judge whether the user turns left based on a second preset condition when the judgment result is yes.

The method and device for detecting a turning angle provided by the embodiments of the present invention are applied to a mobile terminal device, and the method includes: at a first moment, when the mobile terminal is carried on a user, acquiring the first time of the user. a walking direction; at a second moment after the first moment, obtain the second walking direction of the user; based on the first walking direction and the second walking direction, obtain a critical result. The embodiment of the present invention can realize user turn detection in indoor navigation, and improve indoor navigation accuracy.

Other features and advantages of the present invention will be set forth in the description which follows, and, in part, will be apparent from the description, or may be learned by practice of embodiments of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description, claims, and drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

1 is a flowchart of a method for detecting a turning angle provided by an embodiment of the present invention;

2 is a detailed flowchart of a method for detecting a turning angle provided by an embodiment of the present invention;

FIG. 3 is a schematic block diagram of a rotation angle detection device according to an embodiment of the present invention;

FIG. 4 also provides a schematic structural diagram of a device for implementing rotation angle detection according to an embodiment of the present invention.

Icons: 200-rotation angle detection device; 210-first acquisition module; 220-second acquisition module; 230-third acquisition module; 401-processor; 402-memory; 403-communication interface.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. The components of the embodiments of the invention generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present invention.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

Please refer to FIG. 1. FIG. 1 is a flowchart of a method for detecting a corner according to an embodiment of the present invention. The method is applied to a mobile terminal device, and the method for detecting a corner specifically includes the following steps:

Step S100: At the first moment, when the mobile terminal is carried by a user, obtain a first walking direction of the user.

For example: when the mobile terminal is carried by a user at 8:20:14 in the morning, specifically, the user holds the mobile terminal, wherein, in this embodiment, the mobile terminal may It is a terminal device such as a personal computer (PC), a tablet computer, a smart phone, a personal digital assistant (PDA), a wearable device, etc. In other embodiments, the mobile terminal may also be other devices that carry An acceleration sensor and a magnetic sensor are embedded in the mobile terminal on the user. In this embodiment, the acceleration sensor may be a three-axis acceleration sensor, and the magnetic sensor may be a three-axis magnetic sensor. In other embodiments , the acceleration sensor and the magnetic sensor can also be other sensor devices. Since the geomagnetic field is a vector, for a fixed location, this vector can be decomposed into two components parallel to the local horizontal plane and one component perpendicular to the local horizontal plane, if the mobile terminal is kept parallel to the local horizontal plane, Then the three axes of the magnetic sensor in the sent terminal correspond to these three components. In fact, for the two components in the horizontal direction, their vector sum always points to magnetic north. The heading angle is the angle between the current direction and the magnetic north. If the mobile terminal is kept horizontal, the heading angle can be calculated only by the detection data of the two horizontal axes (usually the X and Y axes) of the magnetic sensor, and then pass The calculated heading angle obtains the first walking direction of the user at 8:20:14.

However, in practical applications, the mobile terminal carried on the user's hand is not always level with the ground. Usually, there is a certain angle between it and the ground. However, this angle will affect the accuracy of the heading angle. Therefore, it is necessary to pass Accelerometer for tilt compensation. For the attitude of an object in the air, define the angle φ as the angle between the x-axis and the horizontal plane, define the angle θ as the angle between the y-axis and the horizontal plane, and detect the components of the gravitational acceleration on the three axes through the three-axis acceleration sensor, and then Calculate φ and θ, and then bring the three-axis data (X _M , Y _M , Z _M ) measured by the three-axis magnetic sensor and the previously acquired φ and θ into Equation 1 to calculate the angle between the current direction and magnetic north _Hy and _Hx required for α.

H _y =Y _M cos(θ)+X _M sin(θ)cos(φ)−Z _M cos(φ)sin(θ)

H _x =X _M cos(φ)+Z _M sin(φ) (1)

α is then calculated _by substituting _Hy and Hx into Equation 2.

Step S200: At a second time after the first time, acquire the second walking direction of the user.

At 8:20:18 a.m. and the mobile terminal is carried by a user, specifically, the user holds the mobile terminal and obtains the user's second walking direction based on the above principles, that is, the current The angle between the walking direction and the magnetic north direction.

Step S300: Based on the first walking direction and the second walking direction, obtain a judgment result for characterizing whether the user turns or not.

Based on the first walking direction and the second walking direction, calculate the difference between the first walking direction of the user at 8:20:14 am and the walking direction of the user at 8:20:18 am The absolute value of the angle difference, and then based on the absolute value of the angle difference between the two directions and the preset condition to determine whether the user turns, the absolute value of the angle difference in the first walking direction and the second walking direction satisfies the predetermined value. When the conditions are set, it is determined that the user has made a turn between 8:20:14 am and 8:20:18 am. In this embodiment, the preset condition is greater than or equal to 90 degrees, and in other embodiments, the preset condition may also be other, that is, the angle between the first travel direction and the second travel direction When the difference is greater than or equal to 90 degrees, it is determined that the user has made a turn.

Referring to FIG. 2 , as an implementation manner, before acquiring the second walking direction of the user at a second moment after the first moment, the method further includes:

S400: Acquire multiple walking directions of the user between the first moment and the second moment.

Specifically, between 8:20:14 a.m. and 8:20:18 a.m. and the mobile terminal is carried by a user, the user holds the mobile terminal and obtains the The multiple walking directions of the user during this period, in this embodiment, the multiple walking directions may be 3 walking directions, 4 walking directions, 5 walking directions, 6 walking directions, etc. The more walking directions are acquired in time, the more accurately it can be determined whether the user turns at a certain moment.

As an implementation manner, the obtaining a judgment result for characterizing whether the user turns or not based on the first walking direction and the second walking direction includes:

S500: Based on the first travel direction, the second travel direction, and the plurality of travel directions, obtain a first travel direction between the first travel direction and a travel direction at a third time point after the first time point A travel angle difference.

Specifically, based on the user's first walking direction at 8:20:14 am and the user's third walking direction at 8:20:14 am 500 milliseconds after 8:20:14 am, calculate The absolute value of the angle difference between the first travel direction and the third travel direction, wherein the third travel direction is the travel direction at a third time point after the first time point.

S600: Based on the first walking angle difference and the first preset condition, obtain a judgment result for characterizing whether the user turns or not.

Specifically, based on the absolute value of the first walking angle difference and the first preset condition, it is determined whether the user turns during the period from 8:20:14 am to 8:20:14:500 milliseconds in the morning, and whether the user turns at 8:20:14:500 in the morning, when the absolute value of the first walking angle difference satisfies the first preset condition, determine that the user is at 8:20 in the morning The turn is performed during the period from minutes 14 seconds to 8:20:14:500 milliseconds. In this embodiment, the first preset condition is greater than or equal to 90 degrees. In other embodiments, the first The preset condition may also be other, that is, the absolute value of the angle difference between the first walking direction and the third walking direction is greater than or equal to 90 degrees, and it is determined that the user is between 8:20:14 and 8:00 am A turn is performed within a period of 20 minutes, 14 seconds and 500 milliseconds, otherwise, it is determined that the user has not performed a turn within this period.

As an embodiment, after obtaining a judgment result for characterizing whether the user turns or not based on the first walking angle difference and the first preset condition, the method further includes:

When the determination result is no, a second travel angle difference between the first travel direction and the travel direction at a fourth time after the third time is acquired.

Specifically, based on the absolute value of the first walking angle difference and the first preset condition, it is determined that the user is in the period from 8:20:14 am to 8:20:14 am and 500 milliseconds When no turn is made, calculate the absolute value of the second walking angle difference between the user's first walking direction and the fourth walking direction at 8:20:15 a.m. after 8:20:14:500 milliseconds, Wherein, the fourth travel direction is the travel direction at a fourth time after the third time.

Based on the difference between the first preset condition and the second walking angle, a judgment result for representing whether the user turns or not is obtained.

Specifically, based on the absolute value of the second walking angle difference and the first preset condition, it is determined whether the user turns during the period from 8:20:14 am to 8:20:15 am, and the Whether the user turns at the time of 8:20:15 am, when the absolute value of the second walking angle difference meets the first preset condition, it is determined that the user is between 8:20:14 am and 8:20:14 am. The turn is performed during the period of 8:20:15 in the morning. In this embodiment, the first preset condition is greater than or equal to 90 degrees. In other embodiments, the first preset condition may also be Others, that is, the absolute value of the angle difference between the first walking direction and the third walking direction is greater than or equal to 90 degrees. A turn is performed within the period, otherwise, it is determined that the user has not performed a turn within this period of time.

As an embodiment, when the determination result is yes, that is, when the first walking angle difference satisfies the first preset condition, it is determined that the user is between 8:20:14 am and 8:20 am The turn is performed during the period of minutes, 14 seconds, 500 milliseconds, and the time of the first turn is recorded, and then the distance between the walking direction at the third moment and the walking direction at the fourth moment after the third moment is obtained. The third walking angle difference of A second turn was made in time.

As an embodiment, after obtaining a judgment result for characterizing whether the user turns or not based on the first walking angle difference and the first preset condition, the method further includes:

When the determination result is yes, it is determined whether the user turns left based on a second preset condition.

Specifically, based on the absolute value of the first walking angle difference and the first preset condition, it is determined that the user has performed the operation during the period from 8:20:14 am to 8:20:14 am and 500 milliseconds. When turning, then determine whether the first walking angle difference satisfies the second preset condition, where the first walking angle difference is the walking direction of the user at 8:20:14, 500 milliseconds minus the user's walking direction The difference between the walking directions at 8:20:14 am and when the first walking angle difference satisfies the second preset condition, it is determined that the user is between 8:20:14 am and 8:20:14 am 500 milliseconds to make a left turn, and record it. On the contrary, when the first walking angle difference does not meet the second preset condition, it is determined that the user is between 8:20:14 a.m. and 12:00 a.m. During the period of 8:20:14, 500 milliseconds, a right turn is made and recorded, wherein, in this embodiment, the second preset condition is an integer, that is, it is determined whether the first walking angle difference is is a positive number, when the first walking angle difference is a positive number, it is determined that the user made a left turn during the period from 8:20:14 a.m. to 8:20:14 a.m. 500 milliseconds, otherwise It is determined that the user made a right turn during the period from 8:20:14 am to 8:20:14:500 milliseconds.

In order to realize the above-mentioned rotation angle detection method, an embodiment of the present invention provides a rotation angle detection device. Please refer to FIG. 3 . FIG. 3 is a schematic block diagram of a rotation angle detection device provided by an embodiment of the present invention. The rotation angle detection device includes: a first An acquisition module 210 , a second acquisition module 220 and a third acquisition module 230 .

The first obtaining module 210 is configured to obtain the first walking direction of the user at a first moment when the mobile terminal is carried on a user.

The second obtaining module 220 is configured to obtain the second walking direction of the user at a second time after the first time.

The third obtaining module 230 is configured to obtain, based on the first walking direction and the second walking direction, a judgment result representing whether the user turns or not.

As an embodiment, the apparatus further includes: a fourth acquiring module, configured to acquire multiple walking directions of the user between the first moment and the second moment.

As an embodiment, the third obtaining module 230 includes: a first angle difference obtaining module and a first judgment result obtaining module.

a first angle difference obtaining module, configured to obtain the first travel direction and a third time after the first time based on the first travel direction, the second travel direction and the plurality of travel directions The first walking angle difference between the walking directions of .

The first judgment result obtaining module is configured to obtain a judgment result representing whether the user to be turned is turned based on the first walking angle difference and the first preset condition.

As an embodiment, the apparatus further includes: a second angle difference obtaining module and a second judgment result obtaining module.

A second angle difference obtaining module, configured to obtain a second travel angle difference between the first travel direction and the travel direction at a fourth time after the third time when the determination result is no.

The second judgment result obtaining module is configured to obtain a judgment result representing whether the user turns or not based on the difference between the first preset condition and the second walking angle.

As an embodiment, the apparatus further includes: a judgment module, configured to judge whether the user turns left based on a second preset condition when the judgment result is yes.

Please refer to FIG. 4 . FIG. 4 is a schematic structural diagram of an implementation of a rotation angle detection device according to an embodiment of the present invention. The program code is stored in the memory 402 and controlled by the processor 401 for execution.

A bus may include a path to transfer information between various components of a computer.

The memory 402 may store various software programs and units, such as program instructions/units corresponding to the rotation angle detection method and apparatus provided in the embodiments of the present application. The processor 401 executes various functional applications and data processing by running the software programs and units stored in the memory 402, that is, implements the rotation angle detection method in the embodiment of the present application. The memory 402 may include, but is not limited to, random access memory (Random Access Memory, RAM), read-only memory (ReadOnly Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM), Electrical Erasable Programmable Read-Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor 401 may be an integrated circuit chip with signal processing capability. The above-mentioned processor 401 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (NetworkProcessor, NP), a microprocessor, an application-specific integrated circuit (Application-Specific Integrated Circuit, ASIC), or a or multiple integrated circuits for controlling the execution of the programs of the present invention. One or more memories 402 included in the computer system can be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (Random Access Memory, RAM) ) or other types of dynamic storage devices that can store information and instructions, also disk storage. These memories 402 are connected to the processor 401 via a bus.

The communication interface 403 may use any transceiver-like device to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), and the like.

An embodiment of the present invention further provides a computer-readable storage medium for storing the computer software instructions used in the above-mentioned FIG. 3 or FIG. 4 , which includes a program for executing the above-mentioned method embodiments. By executing a stored program, user turn detection in indoor navigation improves indoor navigation accuracy.

Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the rotation angle detection device described above can refer to the corresponding process in the aforementioned rotation angle detection method, which will not be repeated here.

To sum up, the method and device for detecting a turning angle provided by the embodiments of the present invention are applied to a mobile terminal device, and the method includes: at a first moment, when the mobile terminal is carried on a user, obtaining The first walking direction of the user; at a second moment after the first moment, the second walking direction of the user is acquired; based on the first walking direction and the second walking direction, a Describe the judgment result of whether the user turns or not. The embodiment of the present invention can realize user turn detection in indoor navigation, and improve indoor navigation accuracy.

Each functional module in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Claims (4)

1. A rotation angle detection method is applied to mobile terminal equipment, and is characterized by comprising the following steps:

at a first moment, when the mobile terminal is carried on a user, acquiring a first walking direction of the user;

acquiring a second walking direction of the user at a second moment after the first moment;

acquiring a plurality of walking directions of the user between the first time and the second time;

acquiring a judgment result for representing whether the user turns or not based on the first walking direction and the second walking direction;

wherein the obtaining a determination result indicating whether the user turns or not based on the first walking direction and the second walking direction includes:

acquiring a first walking angle difference value between the first walking direction and a walking direction at a third moment after the first moment on the basis of the first walking direction, the second walking direction and the plurality of walking directions;

acquiring a judgment result for representing whether the user turns or not based on the first walking angle difference value and a first preset condition;

when the judgment result is negative, acquiring a second walking angle difference value between the first walking direction and the walking direction at a fourth moment after the third moment;

and acquiring a judgment result for representing whether the user turns or not based on the first preset condition and the second walking angle difference value.

2. The rotation angle detection method according to claim 1, wherein after obtaining a determination result indicating whether the user turns based on the first travel angle difference value and a first preset condition, the method further comprises:

and when the judgment result is yes, judging whether the user turns left or not based on a second preset condition.

3. A rotation angle detection device, characterized in that, the device is applied to mobile terminal equipment, the device includes:

the first acquisition module is used for acquiring a first walking direction of a user at a first moment when the mobile terminal is carried on the body of the user;

a second obtaining module, configured to obtain a second walking direction of the user at a second time after the first time;

a fourth obtaining module, configured to obtain multiple walking directions of the user between the first time and the second time;

the third obtaining module is used for obtaining a judgment result used for representing whether the user turns or not based on the first walking direction and the second walking direction;

wherein the third obtaining module comprises: a first angle difference obtaining module, configured to obtain a first walking angle difference between the first walking direction and a walking direction at a third time after the first time based on the first walking direction, the second walking direction, and the multiple walking directions; the first judgment result acquisition module is used for acquiring a judgment result for representing whether the user turns or not based on the first walking angle difference value and a first preset condition;

a second angle difference obtaining module, configured to obtain, when the determination result is negative, a second walking angle difference between the first walking direction and a walking direction at a fourth time after the third time;

and the second judgment result acquisition module is used for acquiring a judgment result for representing whether the user turns or not based on the first preset condition and the second walking angle difference value.

4. The rotation angle detecting device according to claim 3, characterized by further comprising:

and the judging module is used for judging whether the user turns left or not based on a second preset condition when the judging result is yes.

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