Control method and system of intelligent mobile terminal and intelligent mobile terminal

Abstract

The invention provides a control method and system for an intelligent mobile terminal and the intelligent mobile terminal, and the method comprises the steps: determining a virtual plane in a climbing process of the intelligent mobile terminal according to stair parameters; acquiring a knee joint angle calculated based on data detected by a knee joint motor, a pitch angle calculated based on data detected by an inertial measurement unit (IMU), and the length of a thigh structural member; calculating the distance between the seat and the virtual plane based on the angle and length of the knee joint; calculating an angle difference based on a difference between the distance and an expected distance; a knee joint motor is controlled to conduct angle adjustment according to the angle difference value, and the seat is adjusted to the target height; the hip joint motor is controlled to conduct angle adjustment according to the pitching angle, so that the seat and the ground are kept within a preset included angle range. According to the method, the comfort and safety of the target object carried by the intelligent mobile terminal in the stair climbing process can be improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a control method, system, and intelligent mobile terminal for an intelligent mobile terminal. Background Technology

[0002] Currently, robots include tracked robots, legged robots, and wheeled robots. Tracked robots are not adopted by users seeking to climb stairs due to their bulkiness and inefficiency. Legged robots can adapt to complex terrain, but they are difficult to control and cannot easily utilize high-density, high-load motors, making them unsuitable for carrying people up stairs. Wheeled robots offer fast movement and easy control, but when used for carrying people up stairs, they are prone to bumps and undulations, and the seat may tilt backward, causing the passenger's center of gravity to shift backward, increasing the risk of tipping over. Therefore, applying wheeled robots to stair climbing remains a challenge for the industry. Summary of the Invention

[0003] This application discloses a control method, system, and intelligent mobile terminal for a smart mobile terminal, which solves the technical problems of poor comfort and low safety when wheeled robots are applied to the field of manned stair climbing.

[0004] This application provides a control method for an intelligent mobile terminal. The intelligent mobile terminal includes a knee joint motor, a hip joint motor, an inertial measurement unit (IMU), a thigh structure, a seat, a first drive wheel, and a second drive wheel. The two ends of the thigh structure are respectively connected to the seat and the first drive wheel. The control method includes: determining a virtual plane during the intelligent mobile terminal's ascent based on stair parameters; acquiring a knee joint angle calculated from data detected by the knee joint motor, a pitch angle calculated from data detected by the IMU, and the length of the thigh structure, wherein the knee joint angle is the angle between the virtual plane and the thigh structure, and the pitch angle is the angle between the seat surface and the ground during the ascent; calculating the distance between the seat surface and the virtual plane based on the knee joint angle and the length; calculating an angle difference based on the difference between the distance and a desired distance; controlling the knee joint motor to adjust the angle according to the angle difference to adjust the seat to a target height; and controlling the hip joint motor to adjust the angle according to the pitch angle so that the seat surface and the ground remain within a preset angle range.

[0005] In some embodiments of this application, determining the virtual plane during the ascent of the smart mobile terminal based on stair parameters includes: obtaining the step height and step width from the stair parameters; calculating the slope of the virtual plane based on the step height and step width; and calculating the gradient of the virtual plane based on the slope.

[0006] In some embodiments of this application, the method further includes determining the desired angle of the knee joint motor based on the slope; and calculating the desired distance based on the desired angle and the length.

[0007] In some embodiments of this application, the intelligent mobile terminal further includes a proportional-integral-derivative (PID) controller. The step of controlling the knee joint motor to adjust the angle based on the angle difference includes: obtaining a first adjustment angle sent by the PID controller to the knee joint motor in each communication cycle based on the preset adjustment coefficient of the PID controller and the angle difference; and adjusting the knee joint motor based on the first adjustment angle until the knee joint angle is adjusted to a first expected angle.

[0008] In some embodiments of this application, the method further includes: obtaining a second adjustment angle sent by the PID controller to the hip joint motor in each communication cycle based on the preset adjustment coefficient of the PID controller and the pitch angle; the hip joint motor adjusting the angle according to the second adjustment angle until the pitch angle is adjusted to the second preset angle.

[0009] In some embodiments of this application, the method further includes: determining the vertical distance between the chair surface and the virtual plane based on the geometric center point of the chair surface, and using the vertical distance as the distance.

[0010] In some embodiments of this application, the method further includes: obtaining the contact point position in the stair parameters; if it is determined based on the climbing state of the smart mobile terminal that the second drive wheel has reached the contact point position, the height of the seat is not adjusted.

[0011] This application also provides a control system for a smart mobile terminal, the smart mobile terminal including a knee joint motor, a hip joint motor, an inertial measurement unit (IMU), a thigh structure, a seat, a first drive wheel, and a second drive wheel, with the two ends of the thigh structure respectively connected to the seat and the first drive wheel; the control system includes a determining unit, a calculating unit, and a controlling unit: the determining unit is used to determine the virtual plane of the smart mobile terminal during the climbing process based on stair parameters; the calculating unit is used to acquire the knee joint angle calculated based on data detected by the knee joint motor, the pitch angle calculated based on data detected by the inertial measurement unit (IMU), and the values ​​of the thigh structure. The length, the knee joint angle is the angle between the virtual plane and the thigh structure, the pitch angle is the angle between the seat surface and the ground during the climbing process of the smart mobile terminal; the calculation unit is also used to calculate the distance between the seat surface and the virtual plane based on the knee joint angle and the length, and to calculate the angle difference based on the difference between the distance and the desired distance; the control unit is used to control the knee joint motor to adjust the angle according to the angle difference to adjust the seat to the target height, and to control the hip joint motor to adjust the angle according to the pitch angle so that the seat surface and the ground are kept within a preset angle range.

[0012] In some embodiments of this application, the control unit includes a proportional-integral-derivative (PID) controller. When the control unit controls the knee joint motor to adjust its angle according to the angle difference, the control unit includes: obtaining a first adjustment angle sent by the PID controller to the knee joint motor in each communication cycle based on the adjustment coefficient preset by the PID controller and the angle difference; the knee joint motor adjusts its angle according to the first adjustment angle until the knee joint angle is adjusted to a first expected angle.

[0013] In some embodiments of this application, a second adjustment angle is obtained by the PID controller in each communication cycle based on the preset adjustment coefficient of the PID controller and the pitch angle; the hip joint motor adjusts the angle according to the second adjustment angle until the pitch angle is adjusted to the second preset angle.

[0014] In some embodiments of this application, an adjustment unit is also included, the adjustment unit being used to: obtain the contact point position in the stair parameters; if it is determined based on the climbing state of the smart mobile terminal that the second drive wheel has reached the contact point position, the height of the seat is not adjusted.

[0015] This application also provides an intelligent mobile terminal, which includes a knee joint motor, a hip joint motor, an inertial measurement unit (IMU), a thigh structure, a seat, a first drive wheel, and a second drive wheel. The two ends of the thigh structure are respectively connected to the seat and the first drive wheel. The intelligent mobile terminal also includes a processor and a memory. The processor is used to execute a computer program stored in the memory to implement a control method for the intelligent mobile terminal.

[0016] This application also provides a computer-readable storage medium storing at least one instruction, which, when executed by a processor, implements a control method for a smart mobile terminal.

[0017] This application also provides an intelligent mobile terminal, which includes a knee joint motor, a hip joint motor, an inertial measurement unit (IMU), a thigh structure, a seat, a first drive wheel, and a second drive wheel. The two ends of the thigh structure are respectively connected to the seat and the first drive wheel. The intelligent mobile terminal also includes a control system, in which a determination unit, a calculation unit, and a control unit cooperate with each other to control the movement and stair climbing of the intelligent mobile terminal.

[0018] In the control method of the intelligent mobile terminal provided in this application, a virtual plane is determined based on stair parameters during the intelligent mobile terminal's ascent, providing a reference object for subsequent angle and height adjustments. The method acquires the knee joint angle calculated from data detected by the knee joint motor, the pitch angle calculated from data detected by the inertial measurement unit (IMU), and the length of the thigh structure. Based on the knee joint angle and length, the distance between the seat surface and the virtual plane is calculated. Based on the difference between this distance and the desired distance, an angle difference is calculated. This angle difference is used as the basis for adjusting the knee joint motor angle, ensuring the seat is adjusted to the target height. This angle adjustment ensures the seat carrying the target object reaches the target height during stair climbing, improving the object's comfort. The pitch angle is used as the basis for adjusting the hip joint motor angle, keeping the seat surface within a preset angle range with the ground. This angle adjustment prevents the seat surface carrying the target object from tilting, improving the safety of the target object carried by the intelligent mobile terminal during stair climbing. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating an application scenario of the control method for a smart mobile terminal provided in this application embodiment.

[0020] Figure 2 This is a flowchart of the control method for a smart mobile terminal provided in the embodiments of this application.

[0021] Figure 3This is a schematic diagram of the virtual plane provided in the embodiments of this application.

[0022] Figure 4 This is a schematic diagram of a smart mobile terminal provided in another embodiment of this application.

[0023] Figure 5 This is a schematic diagram of the structure of the smart mobile terminal provided in the embodiments of this application.

[0024] Figure 6 This is a schematic diagram of the control system of the intelligent mobile terminal provided in the embodiments of this application.

[0025] Figure 7 This is another structural schematic diagram of the smart mobile terminal provided in the embodiments of this application. Detailed Implementation

[0026] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0027] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0028] Currently, robots include tracked robots, legged robots, and wheeled robots. Tracked robots are not adopted by users seeking to climb stairs due to their bulkiness and inefficiency. Legged robots can adapt to complex terrain, but they are difficult to control and cannot easily utilize high-density, high-load motors, making them unsuitable for carrying people up stairs. Wheeled robots offer fast movement and easy control, but when used for carrying people up stairs, they are prone to bumps and undulations, and the seat may tilt backward, causing the passenger's center of gravity to shift backward, increasing the risk of tipping over. Therefore, applying wheeled robots to stair climbing remains a challenge for the industry.

[0029] To address the technical issues of low user experience and low safety during the climbing process of wheeled robots, this application provides a control method, system, and intelligent mobile terminal for intelligent mobile terminals. The application scenarios of the control method for intelligent mobile terminals in this application are described below.

[0030] Figure 1This is a schematic diagram illustrating an application scenario of the control method for a smart mobile terminal provided in this application embodiment. The control method for a smart mobile terminal provided in this application embodiment is applied to a smart mobile terminal 10, which includes, but is not limited to, a knee joint motor 110, a hip joint motor 120, an inertial measurement unit (IMU) 130, a thigh structure 140, a seat 150, at least one first drive wheel 160 (for simplicity, only one first drive wheel 160 is shown below, but actual applications are not limited to this) and at least one second drive wheel 170.

[0031] The intelligent mobile terminal 10 can be a robot, and the scenario can be a staircase 20. The intelligent mobile terminal 10 drives the first drive wheel 160 and the second drive wheel 170 to carry the target object up the staircase 20, wherein the first drive wheel 160 and the second drive wheel 170 are connected by a lower leg structure.

[0032] The knee joint motor 110 can be mounted on the thigh structure 140 and positioned on the first drive wheel 160. The knee joint motor 110 is used to detect data from the smart mobile terminal 10, which is used to calculate the knee joint angle. This data can be the operating data of the smart mobile terminal 10.

[0033] The hip joint motor 120 can be located below the seat 150, where it can be connected to the thigh structure 140. The hip joint motor 120 is used to adjust the hip joint angle so that the seat surface of the seat 150 is kept within a preset angle range with the ground.

[0034] An inertial measurement unit (IMU) 130 can be mounted on the base of the seat 150. The IMU 130 is used to detect data from the machine 10 to calculate the pitch angle of the seat 150 and determine whether the seat 150 is tilted based on the pitch angle.

[0035] Figure 1 This is merely an example of the structure or application scenario of the smart mobile terminal 10 and does not constitute a limitation on the smart mobile terminal 10. The structure of the smart mobile terminal 10 may include more or fewer components than shown, or a combination of certain components, or different components. For example, the smart mobile terminal 10 may also include a processor, memory, etc. Application scenarios for the smart mobile terminal 10 may also include smooth roads and bumpy roads. Actual applications are not limited to these.

[0036] Please see Figure 2 The diagram shows a flowchart of a control method for a smart mobile terminal provided in an embodiment of this application, which is applied to a smart mobile terminal (e.g., Figure 1 In the intelligent mobile terminal 10). Depending on different needs, the order of the steps in this flowchart can be changed, and some steps can be omitted.

[0037] Step S201: Determine the virtual plane during the climbing process of the smart mobile terminal based on the stair parameters.

[0038] In some embodiments of this application, stair parameters may include the step height, step width, step length, and position of the handrail. The structure of the intelligent mobile terminal may also include components capable of detecting road conditions, such as sensors and imaging devices. These sensors may include, but are not limited to, laser rangefinders, ultrasonic sensors, infrared sensors, and tactile sensors. The imaging devices may include, but are not limited to, digital cameras and webcams.

[0039] In some embodiments of this application, the smart mobile terminal can detect road conditions using sensors and a camera. When stairs are detected, the smart mobile terminal can automatically enter stair-climbing mode. In other embodiments, the smart mobile terminal may be equipped with a physical button; when the user operates the physical button, the smart mobile terminal activates stair-climbing mode. In yet another embodiment, the user can control the smart mobile terminal to enter stair-climbing mode using a remote control device. This application does not limit the method by which the smart mobile terminal activates stair-climbing mode.

[0040] In some embodiments of this application, in order to facilitate the calculation of various parameters when the smart mobile terminal activates the stair climbing mode, a virtual plane can be determined based on the stair parameters.

[0041] Figure 3 This is a schematic diagram of the virtual plane provided in an embodiment of this application. For example... Figure 3 As shown, when a smart mobile terminal detects a staircase and its step height and width, it can calculate a virtual plane based on these dimensions (e.g., ...). Figure 3 The slopes of ① and ② in the example are given. In one example, assuming the step height is 15 cm and the step width is 30 cm, the slope = 15 / 30 = 0.5. After obtaining the slope, the gradient of the virtual plane can be calculated based on the slope, which can be the angle between the virtual plane and the ground. In one example, the slope is 0.5, so the gradient = arctan(0.5) = 21.8°. Therefore, a virtual plane with a slope of 0.5 and a gradient of 21.8° can be determined based on the stair parameters. For easier calculation later, the plane can be translated as follows... Figure 3 The virtual plane ① shown is translated to pass through the center position of the first drive wheel 160, that is, as shown in the figure. Figure 3 Virtual plane ② in the middle.

[0042] Step S202: Obtain the knee joint angle calculated based on data detected by the knee joint motor, the pitch angle calculated based on data detected by the inertial measurement unit (IMU), and the length of the thigh structure.

[0043] In some embodiments of this application, a knee joint motor is mounted on the thigh structure to enhance the balance of the smart mobile terminal. The knee joint motor can also calculate the knee joint angle based on detected data, which is the angle between the virtual plane and the thigh structure. An IMU is mounted on the seat base. The IMU can calculate the seat pitch angle based on detected data, which is the angle between the seat surface and the ground during the smart mobile terminal's ascent. The two ends of the thigh structure are respectively connected to the seat and the first drive wheel of the smart mobile terminal. The length of the thigh structure of the smart mobile terminal is a fixed length at the factory, and the length of the thigh structure can be stored in the smart mobile terminal's storage medium; this application does not limit this.

[0044] Step S203: Calculate the distance between the chair surface and the virtual plane based on the knee joint angle and length.

[0045] In some embodiments of this application, Figure 4 This is a schematic diagram of a smart mobile terminal provided in another embodiment of this application. For example... Figure 4 As shown, obtain the geometric center point of the seat surface of seat 150, as follows. Figure 4 Point M1 in the virtual plane. A line passing through point M1 is perpendicular to the virtual plane, as shown below. Figure 4 If the dotted line is used, the vertical distance between point M1 and the virtual plane is calculated, and this vertical distance is used as the distance between the chair surface and the virtual plane.

[0046] In some embodiments of this application, such as Figure 4 As shown, based on the knee joint angle (e.g.) Figure 4 (θ) and the length of the thigh structural member 140 (e.g.) Figure 4 The distance between point M1 and point M2 (where point M2 is the center of the first drive wheel 160) is calculated. The distance |M1M3| between the seat surface and the virtual plane is also calculated. Figure 4 Given the distance between M1 and M3, we have |M1M3|=|M1M2|×sinθ.

[0047] Step S204: Calculate the angle difference based on the difference between the distance and the desired distance.

[0048] In some embodiments of this application, when a smart mobile terminal carries a target object (e.g., a user), the weight of the target object may lower the seat to a certain position. In this case, the desired distance between the seat and a virtual plane can be calculated based on the stair-climbing scenario. The desired angle of the knee joint motor is determined according to the slope of the virtual plane. For example, assuming a slope of 21.8°, the desired angle of the knee joint motor can be set to 25°. The desired distance can be calculated using the desired angle and the length of the thigh structure. The desired distance and desired angle can be preset values ​​for the stair-climbing scenario of the smart mobile terminal and can be set and adjusted according to actual conditions; this application does not limit this.

[0049] In some embodiments of this application, the smart mobile terminal may deviate from the expected value (e.g., the expected distance) during the process of climbing stairs due to inertia and other issues. Therefore, the difference between the actual value and the expected value can be calculated to obtain the angle difference of deviation. For example, the angle difference = arcsin(difference). In other embodiments of this application, the angle difference is obtained based on the difference between the knee joint angle and the expected angle.

[0050] Step S205: Control the knee joint motor to adjust the angle according to the angle difference, and adjust the seat to the target height.

[0051] In some embodiments of this application, the smart mobile terminal further includes a proportional-integral-derivative (PID) controller, which can be used to correct deviations in the smart mobile terminal system. The adjustment coefficients of the PID controller include the coefficients of the proportional, integral, and derivative components. Based on the preset adjustment coefficients of the PID controller and the angle difference, the knee joint adjustment angle sent by the PID controller to the knee joint motor in each communication cycle can be obtained.

[0052] In one example, assuming the PID controller adjusts the coefficient by 2° per communication cycle, with an angle difference of 5°, the PID controller sends 5° to the knee joint motor three times, with the knee joint adjustment angles being 2°, 2°, and 1° respectively.

[0053] In some embodiments of this application, the knee joint motor adjusts the angle based on a first adjustment angle until the knee joint angle is adjusted to a first expected angle, which can be a desired angle. For example, if the knee joint motor currently detects a knee joint angle of 20°, the angle difference is 5°, and the first expected angle is 25°, then the knee joint motor will sequentially adjust the knee joint angle to 22°, 24°, and 25°. This angle adjustment allows the distance to reach the expected distance, controlling the seat height to a dynamic target height, thus ensuring that the target object on the smart mobile terminal experiences a stable state.

[0054] Step S206: Control the hip joint motor to adjust the angle according to the pitch angle so that the seat surface and the ground are kept within a preset angle range.

[0055] In some embodiments of this application, the preset angle range can be set according to actual needs. For example, the angle range can be from 0° to 2°, and this application does not limit it. When the seat of the smart mobile terminal is kept horizontal, the pitch angle should be 0°, that is, the angle between the seat surface and the ground should be 0°. The hip joint motor is communicatively connected to the PID controller. The PID controller obtains the second adjustment angle sent to the hip joint motor in each communication cycle according to the preset adjustment coefficient and the pitch angle.

[0056] In one example, the pitch angle is 4°, and the adjustment coefficient of the PID controller is adjusted by 2° per communication cycle. Therefore, the PID controller sends 4° to the knee joint motor twice, with the first adjustment angles being 2° and 2° respectively, until the pitch angle is adjusted to the second preset angle of 0°.

[0057] In other embodiments of this application, the contact point position in the stair parameters is obtained, such as... Figure 1 As shown, the point where the virtual plane ① contacts the staircase. If the second drive wheel of the smart mobile terminal reaches the contact point based on the climbing state of the smart mobile terminal, the vertical distance between the chair surface and the virtual plane reaches its maximum value at this time, and the height of the chair does not need to be adjusted.

[0058] In the embodiments of this application, a virtual plane is determined based on stair parameters during the smart mobile terminal's ascent, providing a reference object for subsequent angle and height adjustments. The knee joint angle calculated from data detected by the knee joint motor, the pitch angle calculated from data detected by the IMU, and the length of the thigh structure are acquired. Based on the knee joint angle and length, the distance between the seat surface and the virtual plane is calculated. Based on the difference between this distance and the desired distance, an angle difference is calculated. This angle difference is used as the basis for adjusting the knee joint motor angle, ensuring the seat is adjusted to the target height. This angle adjustment ensures the seat carrying the target object reaches the target height during stair climbing, improving the object's comfort. The pitch angle is used as the basis for adjusting the hip joint motor angle, keeping the seat surface within a preset angle range with the ground. This angle adjustment prevents the seat surface carrying the target object from tilting, improving the safety of the target object carried by the smart mobile terminal during stair climbing.

[0059] Figure 5 This is a schematic diagram of the structure of the smart mobile terminal provided in an embodiment of this application. For example... Figure 5As shown, the intelligent mobile terminal 10 includes a knee joint motor 110, a hip joint motor 120, an inertial measurement unit (IMU) 130, a thigh structure 140, a seat 150, a first drive wheel 160, a second drive wheel 170, a memory 180, and a processor 190.

[0060] The knee joint motor 110 is used to detect data from the smart mobile terminal 10, which is used to calculate the knee joint angle. This data can be the operating data of the smart mobile terminal 10.

[0061] The hip joint motor 120 is used to adjust the hip joint angle so that the seat surface of the seat 150 is kept within a preset angle range with the ground.

[0062] The inertial measurement unit (IMU) 130 is used to detect data from the machine 10 to calculate the pitch angle of the seat 150, and to determine whether the seat 150 has tilted based on the pitch angle.

[0063] The thigh structure 140 is used to connect the seat 150 and the first drive wheel 160.

[0064] Seat 150 is used to support the target object.

[0065] The first drive wheel 160 and the second drive wheel 170 are connected by a lower leg structure to enable the movement of the smart mobile terminal 10.

[0066] The memory 180 can be the internal memory of the smart mobile terminal, that is, the memory built into the smart mobile terminal. In other embodiments, the memory 180 can also be the external memory of the smart mobile terminal, that is, the memory externally connected to the smart mobile terminal.

[0067] In some embodiments, the memory 180 is used to store program code and various data, and to enable high-speed and automatic access to programs or data during the operation of the smart mobile terminal.

[0068] The memory 180 may include random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0069] In one embodiment, the processor 190 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor itself may be any other conventional processor.

[0070] If the program code and various data in the memory 180 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented in this application. For example, the control method of a smart mobile terminal can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), etc.

[0071] Figure 6 This is a schematic diagram of the control system of the intelligent mobile terminal provided in this application embodiment. The intelligent mobile terminal includes a knee joint motor, a hip joint motor, an inertial measurement unit (IMU), a thigh structure component, a seat, a first drive wheel, and a second drive wheel. The two ends of the thigh structure component are respectively connected to the seat and the first drive wheel; as shown... Figure 6As shown, the control system 60 of the intelligent mobile terminal includes a determining unit 610, a calculating unit 620, and a controlling unit 630: the determining unit 610 is used to determine the virtual plane during the climbing process of the intelligent mobile terminal based on stair parameters; the calculating unit 620 is used to acquire the knee joint angle calculated based on the data detected by the knee joint motor, the pitch angle calculated based on the data detected by the inertial measurement device (IMU), and the length of the thigh structure, wherein the knee joint angle is the angle between the virtual plane and the thigh structure, and the pitch angle is the angle between the seat surface and the ground during the climbing process of the intelligent mobile terminal; the calculating unit 620 is also used to calculate the distance between the seat surface and the virtual plane based on the knee joint angle and the length, and to calculate the angle difference based on the difference between the distance and the desired distance; the controlling unit 630 is used to control the knee joint motor to adjust the angle according to the angle difference to adjust the seat to the target height, and to control the hip joint motor to adjust the angle according to the pitch angle so that the seat surface and the ground are kept within a preset angle range.

[0072] In some optional embodiments, the control unit 630 includes a proportional-integral-derivative (PID) controller. When the control unit controls the knee joint motor to adjust its angle according to the angle difference, the control unit includes: obtaining a first adjustment angle sent by the PID controller to the knee joint motor in each communication cycle based on the preset adjustment coefficient of the PID controller and the angle difference; the knee joint motor adjusts its angle according to the first adjustment angle until the knee joint angle is adjusted to the first expected angle.

[0073] In some optional embodiments, a second adjustment angle is obtained by the PID controller in each communication cycle based on the preset adjustment coefficient of the PID controller and the pitch angle; the hip joint motor adjusts the angle according to the second adjustment angle until the pitch angle is adjusted to the second preset angle.

[0074] In some optional embodiments, an adjustment unit is also included, the adjustment unit being used to: obtain the contact point position in the stair parameters; if it is determined based on the climbing state of the smart mobile terminal that the second drive wheel has reached the contact point position, the height of the seat is not adjusted.

[0075] In this embodiment, the control system of the smart mobile terminal can be divided into multiple functional modules according to the functions it performs. A module, as referred to in this application, is a series of computer program segments that can be executed by at least one processor and perform a fixed function, and is stored in memory. In this embodiment, the limitations of the control system of the smart mobile terminal can be found in the above-described limitations of the control method for the smart mobile terminal, and will not be repeated in detail here.

[0076] Figure 7 This is another structural schematic diagram of the smart mobile terminal provided in the embodiments of this application, such as... Figure 7 As shown, the intelligent mobile terminal 10 includes a knee joint motor 110, a hip joint motor 120, an inertial measurement unit (IMU) 130, a thigh structure 140, a seat 150, a first drive wheel 160, a second drive wheel 170, a memory 180, a processor 190, and a control system 60 for the intelligent mobile terminal, capable of implementing the control system of the intelligent mobile terminal in the above embodiment. The descriptions of the knee joint motor 110, hip joint motor 120, IMU 130, thigh structure 140, seat 150, first drive wheel 160, second drive wheel 170, memory 180, and processor 190 can be found in... Figure 5 The description shown will not be repeated here. The control system 60 of the smart mobile terminal may be deployed in the memory 180 or in other memories; this application does not limit this.

[0077] Since the control system 60 of the above-mentioned intelligent mobile terminal and the control method of the intelligent mobile terminal in the above embodiment have the above-mentioned technical effects, the intelligent mobile terminal 70 in this embodiment should also have the same technical effects, and will not be repeated here.

[0078] This application also provides a computer-readable storage medium storing a computer program, which includes program instructions. When the program instructions are executed, the method implemented can refer to the methods in the above embodiments of this application.

[0079] The computer-readable storage medium can be the internal memory of the storage device described in the above embodiments, such as the hard disk or memory of the storage device. The computer-readable storage medium can also be an external storage device of the storage device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., mounted on the storage device.

[0080] In some embodiments, a computer-readable storage medium may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of the storage device, etc.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0083] In the embodiments provided in this application, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0084] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method of a smart mobile terminal, characterized by, The intelligent mobile terminal comprises a knee joint motor, a hip joint motor, an inertial measurement unit (IMU), a thigh structure, a seat, a first driving wheel and a second driving wheel, two ends of the thigh structure being connected to the seat and the first driving wheel respectively; The control method comprises: determining a virtual plane in a climbing process of the intelligent mobile terminal according to a stair parameter; obtaining a knee joint angle calculated based on data detected by the knee joint motor, a pitch angle calculated based on data detected by the IMU, and a length of the thigh structure, the knee joint angle being an included angle between the virtual plane and the thigh structure, the pitch angle being an included angle between a seat surface of the seat and the ground in the climbing process of the intelligent mobile terminal; calculating a distance between the seat surface and the virtual plane based on the knee joint angle and the length; calculating an angle difference value based on a difference between the distance and an expected distance; controlling the knee joint motor to adjust an angle according to the angle difference value, so as to adjust the seat to a target height; controlling the hip joint motor to adjust an angle according to the pitch angle, so that the seat surface and the ground are kept in a preset included angle range. 2.The control method of a smart mobile terminal according to claim 1, characterized in that, The determination of the virtual plane in the climbing process of the intelligent mobile terminal according to the stair parameter comprises: obtaining a step height and a step width in the stair parameter; calculating a slope of the virtual plane according to the step height and the step width; calculating a slope of the virtual plane according to the slope. 3.The control method of a smart mobile terminal according to claim 2, characterized in that, The method further comprises: determining an expected angle of the knee joint motor according to the slope; calculating the expected distance according to the expected angle and the length. 4.The control method of a smart mobile terminal according to claim 1, characterized in that, The intelligent mobile terminal further comprises a proportional-integral-derivative (PID) controller, and the control of the knee joint motor to adjust the angle according to the angle difference value comprises: obtaining a first adjustment angle of the PID controller sent to the knee joint motor in each communication cycle according to an adjustment coefficient preset by the PID controller and the angle difference value; the knee joint motor adjusts the angle according to the first adjustment angle until the knee joint angle is adjusted to a first expected angle. 5.The control method of a smart mobile terminal according to claim 4, characterized in that, The method further comprises: obtaining a second adjustment angle of the PID controller sent to the hip joint motor in each communication cycle according to an adjustment coefficient preset by the PID controller and the pitch angle; the hip joint motor adjusts the angle according to the second adjustment angle until the pitch angle is adjusted to a second preset angle. 6.The control method of a smart mobile terminal according to claim 1, characterized in that, The method further comprises: determining a perpendicular distance between the seat surface and the virtual plane based on a geometric center point of the seat surface, and taking the perpendicular distance as the distance. 7.The control method of a smart mobile terminal according to claim 1, characterized in that, Further comprising: obtaining a touch point position in the stair parameter; if it is determined that the second driving wheel reaches the touch point position based on a climbing state of the intelligent mobile terminal, the height of the seat is not adjusted.

8. A control system of a smart mobile terminal, characterized by, The intelligent mobile terminal comprises a knee joint motor, a hip joint motor, an inertial measurement device (IMU), a thigh structure, a seat, a first driving wheel and a second driving wheel, two ends of the thigh structure being connected to the seat and the first driving wheel respectively; The control system of the intelligent mobile terminal comprises a determination unit, a calculation unit and a control unit: The determination unit is configured to determine a virtual plane in the climbing process of the intelligent mobile terminal according to a stair parameter; The calculation unit is configured to obtain a knee joint angle calculated based on data detected by the knee joint motor, a pitch angle calculated based on data detected by the IMU, and a length of the thigh structure, the knee joint angle being an included angle between the virtual plane and the thigh structure, and the pitch angle being an included angle between a seat surface of the seat and the ground in the climbing process of the intelligent mobile terminal; The calculation unit is further configured to calculate a distance between the seat surface and the virtual plane based on the knee joint angle and the length, and to calculate an angle difference based on a difference between the distance and an expected distance; The control unit is configured to control the knee joint motor to perform angle adjustment according to the angle difference, to adjust the seat to a target height, and to control the hip joint motor to perform angle adjustment according to the pitch angle, so that the seat surface and the ground are kept within a preset included angle range. 9.The control system of the smart mobile terminal according to claim 8, wherein, The control unit comprises a proportional-integral-derivative (PID) controller, and when controlling the knee joint motor to perform angle adjustment according to the angle difference, the control unit comprises: According to the adjustment coefficient preset by the PID controller and the angle difference, a first adjustment angle sent by the PID controller to the knee joint motor in each communication cycle is obtained; The knee joint motor performs angle adjustment according to the first adjustment angle until the knee joint angle is adjusted to a first expected angle. 10.The control system of the smart mobile terminal according to claim 9, wherein, According to the adjustment coefficient preset by the PID controller and the pitch angle, a second adjustment angle sent by the PID controller to the hip joint motor in each communication cycle is obtained; The hip joint motor performs angle adjustment according to the second adjustment angle until the pitch angle is adjusted to a second preset angle. 11.The control system of the smart mobile terminal according to claim 8, wherein, The adjustment unit is configured to: Obtain a touch point position in the stair parameter; If the second driving wheel reaches the touch point position based on the climbing state of the intelligent mobile terminal, the height of the seat is not adjusted.

12. A smart mobile terminal, characterized by, The intelligent mobile terminal comprises a knee joint motor, a hip joint motor, an inertial measurement device (IMU), a thigh structure, a seat, a first driving wheel and a second driving wheel, two ends of the thigh structure being connected to the seat and the first driving wheel respectively; the intelligent mobile terminal further comprises a processor and a memory, the processor being configured to execute a computer program stored in the memory to realize the control method of the intelligent mobile terminal according to any one of claims 1 to 7.

13. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one instruction, which is executed by the processor to implement the control method of the intelligent mobile terminal as claimed in any one of claims 1 to 7.

14. A smart mobile terminal, characterized by The intelligent mobile terminal comprises a knee joint motor, a hip joint motor, an inertial measurement device (IMU), a thigh structure, a seat, a first driving wheel and a second driving wheel, two ends of the thigh structure are connected with the seat and the first driving wheel respectively; the intelligent mobile terminal further comprises the control system of the intelligent mobile terminal as claimed in any one of claims 8 to 11, the determination unit, the calculation unit and the control unit of the control system cooperate with each other to control the movement and the stair climbing of the intelligent mobile terminal.

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