Control method of mobile device, mobile device, and storage medium

Abstract

This application relates to the field of device control, providing a control method for a mobile device, a mobile device, and a storage medium. The mobile device includes a body and a leg structure connected to the body. The method includes: detecting the current state of the mobile device, wherein the current state includes a first state, which is a state in which the mobile device is detached from a support surface due to external force; if the current state is the first state, controlling the mobile device to enter a first mode, wherein the first mode includes controlling the leg structure of the mobile device to retract to a preset posture and maintain the preset posture; compared with the mobile device standing, in the preset posture, the end of the leg structure is closer to the body in the height direction. By adjusting the posture of the leg structure of the mobile device in the first mode, the switching between the two states of detachment from and contact with the support surface of the mobile device is smoother, improving the continuity of the mobile device's operation.

Description

Technical Field

[0001] This application relates to the field of device control, and more particularly to a control method for a mobile device, a mobile device, and a storage medium. Background Technology

[0002] If a mobile device is lifted off the ground by external force, the motor is usually de-stressed to prevent it from continuing to operate in a suspended state and posing a safety hazard to itself or the user. However, after the motor is de-stressed, if the mobile device is placed back on the ground and restarted, it usually takes a considerable amount of time to adjust and return to normal operation, resulting in a lack of continuity in the mobile device's operation. Summary of the Invention

[0003] The main objective of this application is to provide a control method for a mobile device, a mobile device, and a storage medium, with the aim of improving the consistency of mobile device operation.

[0004] In a first aspect, this application provides a method for controlling a mobile device, the mobile device including a body and a leg structure connected to the body, the method including the following steps: The current state of the mobile device is detected, wherein the current state includes a first state, which is the state in which the mobile device is detached from the support surface due to external force; If the current state is the first state, control the mobile device to enter the first mode, wherein the first mode includes controlling the leg structure of the mobile device to retract to a preset posture and maintain the preset posture; compared with the mobile device standing, in the preset posture the end of the leg structure is closer to the body in the height direction.

[0005] Secondly, this application also provides a method for controlling a mobile device, the mobile device including a body and a leg structure connected to the body, the method including the following steps: The current state of the mobile device is detected, wherein the current state includes a first state, which is the state in which the mobile device is detached from the support surface due to external force; If the current state is a first state, the mobile device is controlled to enter a first mode, wherein the first mode includes: The mobile device is controlled to prevent it from performing spontaneous actions, where spontaneous actions are actions taken by the mobile device based on the detection information from its onboard sensors to determine that the mobile device is in an abnormal state and needs to be adjusted to a normal state. The mobile device is controlled to prevent it from executing command actions, which are actions performed by the mobile device upon receiving user control commands.

[0006] Thirdly, this application also provides a mobile device, the mobile device including a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the control method of the mobile device as described above.

[0007] Fourthly, this application also provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the control method for the mobile device as described above.

[0008] This application provides a control method for a mobile device, a mobile device, and a storage medium. The control method for the mobile device provided in this application reduces the overall contact area between the mobile device and the outside world by retracting the legs to a preset posture when the mobile device is detached from the support surface. At the same time, it enables the mobile device to quickly enter the operating state when it re-contacts the support surface. For example, it can automatically rotate the legs from the preset posture to a standing posture when necessary, so that the first state of the mobile device can be smoothly transitioned to the normal operating state, thereby improving the continuity of the mobile device's operation. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the structure of a mobile device provided in an embodiment of this application; Figure 2 This is a schematic flowchart illustrating the steps of a mobile device control method provided in an embodiment of this application; Figure 3 A schematic diagram of the structure of a mobile device in a first mode provided in an embodiment of this application; Figure 4 A schematic diagram of the structure of a mobile device provided in another embodiment of this application; Figure 5 This is a schematic diagram illustrating a mobile device tilting at an angle greater than a preset tilt angle, as provided in an embodiment of this application. Figure 6 This is a schematic flowchart illustrating the steps of a mobile device control method according to another embodiment of this application; Figure 7 A schematic block diagram of the structure of a mobile device provided in this application embodiment; Figure 8 This is a schematic block diagram of the structure of a mobile device provided in an embodiment of this application. Detailed Implementation

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0013] During operation, users may lift the robot off the ground for their own needs. If the robot continues to operate while suspended in the air, there is a risk of collisions with external objects, potentially injuring or trapping the user. To avoid this risk, the robot typically enters a specific protection mode when suspended, such as controlling the motors to release pressure or stopping the robot altogether. However, after the motors release pressure or the robot stops moving, if it touches the ground again, it usually needs to readjust its posture to adapt to the ground, requiring a waiting period before it reaches a suitable posture for normal operation on the ground.

[0014] To address the aforementioned problems, embodiments of this application provide a control method for a mobile device, a mobile device, and a storage medium. By retracting the legs to a preset posture when the mobile device detaches from the support surface, the overall contact area between the mobile device and the outside world is reduced. This allows the mobile device to quickly enter the operating state upon re-contact with the support surface, enabling a smooth transition between the mobile device's initial state and its normal operating state, thus improving the continuity of the mobile device's operation.

[0015] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0016] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a mobile device provided in an embodiment of this application. For example... Figure 1As shown, the mobile device 100 includes a body 101 and a leg structure 102 and a head structure 103 connected to the body 101. A drive wheel 104 is also connected to the leg structure 102. The leg structure 102, head structure 103, and drive wheel 104 are all driven by motors. Specifically, the motor driving the leg structure 102 is located inside the body 101 near the leg structure 102, and drives the leg structure 102, located outside the body, to rotate via a belt or other transmission component. The motor driving the head structure 103 is located inside the body 101 near the head structure 103, and drives the head structure 103 to rotate relative to the body 101 in a yaw direction via a connection mechanism between the head structure 103 and the body 101. The motor driving the drive wheel 104 is located at the end of the leg structure 102, and outputs torque to drive the drive wheel at the end of the leg structure 102 to rotate.

[0017] In some embodiments, the leg structure 102 includes an upper leg assembly 1021 and a lower leg assembly 1022, wherein the upper leg assembly 1021 is rotatably connected to the body 101, and the lower leg assembly 1022 is rotatably connected to the upper leg assembly 1021. The upper leg assembly 1021 can be considered as the thigh of the mobile device, and the joint mechanism connecting the upper leg assembly 1021 to the body 101 can be considered as the hip joint of the mobile device 100; the lower leg assembly 1022 can be considered as the lower leg of the mobile device, and the joint mechanism connecting the lower leg assembly 1022 to the body 101 can be considered as the knee joint of the mobile device 100; the extension and retraction of the leg structure 102 can be controlled by the rotation of at least one of the hip joint and knee joint. The drive motors of the hip joint and knee joint of the mobile device 100 can be disposed inside the body 100, and drive the joint mechanism located outside the body to rotate through a transmission component such as a belt. By coordinating the two joints, the projection position of the center of gravity of the mobile device 100 on the support surface can be adjusted more precisely, which is beneficial for the mobile device 100 to resist external interference. When it is impacted by the support surface, the impact can be absorbed by fine adjustment of the knee joint, thereby improving the stability of the body 101.

[0018] In some embodiments, a first leg structure and a second leg structure are connected to the body 101, that is, the robot is a bipedal robot, which are located on opposite sides of the body 101 and symmetrically arranged. They can be regarded as the left and right legs of the mobile device 100. The two leg structures increase the contact area between the mobile device and the support surface and improve the ability of the mobile device to resist lateral tilting, thereby improving the balance and stability of the mobile device 100.

[0019] In some embodiments, a shooting device is provided on the head structure 103. By controlling the rotation of the head structure 103, the shooting device is driven to rotate in the yaw direction of the body, thereby changing the shooting image of the shooting device and improving the flexibility of the shooting image of the mobile device 100.

[0020] It is understood that in other embodiments, the shooting device can also be directly connected to the body via a gimbal, and the shooting device can rotate in the yaw direction relative to the body, thereby changing the shooting image of the shooting device and improving the flexibility of the shooting image of the mobile device 100.

[0021] In some embodiments, when the mobile device 100 is in normal operating mode, the drive wheel 104 contacts the support surface and can rotate under the drive of a motor, thereby moving the mobile device 100 on the support surface. The support surface is typically the ground.

[0022] Understandably, the number of leg structures 102 connected to the body 101 can be more or less. When there is only one leg structure 102, a wider drive wheel 104 can be connected to the end of the leg structure 102, allowing the mobile device 100 to move and maintain balance under the drive of the drive wheel 104. However, this is not a limitation; four leg structures can also be connected to the body 101.

[0023] Understandably, the leg structure 102 may also include only one joint. For example, the fuselage 101 is connected to the leg assembly, and the drive wheel 104 is connected to the end of the leg assembly. The posture change of the leg structure 102 is achieved by the reciprocating swing of a single joint.

[0024] Understandably, the mobile device 100 may also not include the drive wheel 104 and move on the support surface by alternating walking on both feet.

[0025] In some embodiments, the body 101 is also provided with sensors such as an inertial measurement unit (IMU) and a binocular camera, which are communicatively connected to the controller of the mobile device 100 to sense the attitude information of the mobile device 100 and the environment in which it is located, and to provide detection information for controlling the movement of the mobile device 100.

[0026] In some embodiments, the controller of the mobile device 100 is also communicatively connected to a remote control device to receive control commands sent by the user through the remote control device and control the mobile device 100 to execute the command actions corresponding to the control commands.

[0027] The following will combine Figure 1 The mobile device described in this application provides a detailed explanation of the mobile device control method according to embodiments. It should be noted that... Figure 1 The mobile devices mentioned are only used to explain the control methods provided in the embodiments of this application, but do not constitute a limitation on the application scenarios of the control methods for mobile devices provided in the embodiments of this application.

[0028] Please see Figure 2 , Figure 2This is a schematic flowchart illustrating the steps of a control method for a mobile device provided in an embodiment of this application. This control method is applied to a mobile device to improve the consistency of its operation.

[0029] like Figure 2 As shown, the control method includes steps S101 to S102.

[0030] Step S101: Detect the current status of the mobile device.

[0031] For example, the current state of a mobile device includes a first state and a second state, where the first state is the state in which the mobile device is detached from the supporting surface due to external force. For instance, due to the need for human movement or display of the mobile device, the mobile device may be lifted off the ground by an external force applied by the user, at which point the mobile device enters the first state. The second state is the state in which the mobile device is in contact with the supporting surface and is supported by the supporting force of the supporting surface.

[0032] For example, under normal operating conditions, the mobile device contacts the support surface and is supported by the support surface. Specifically, the texture of the support surface can be natural outdoor ground, such as soil, vegetation, or gravel, or artificial indoor ground, such as cement, tile, carpet, plastic, or wood. The shape of the support surface can be flat, inclined, curved, or irregular.

[0033] For example, a mobile device can determine its current state by detecting whether it is receiving support from a supporting surface. Specifically, the magnitude of the external force on the motors can be determined by the drive current of each motor on the mobile device, thus determining whether the motors are receiving support from the supporting surface, and consequently, whether the mobile device is in contact with the supporting surface. However, this is not the only possibility; the current state of the mobile device can also be detected using sensors mounted on the device.

[0034] In some embodiments, to improve the balance and stability of the mobile device, the mobile device may have at least two leg structures, with the first and second leg structures located on opposite sides of the device body, for example, symmetrically positioned on the left and right sides of the device body. The support of the first and second leg structures allows the mobile device to have a stable center of gravity distribution on the support surface. If only one of the first and second leg structures is detected to have detached from the support surface, it may be due to a temporary imbalance caused by changes in the mobile device's posture or the shape of the support surface. In this case, the mobile device is still in contact with the support surface. If the mobile device is considered to be in the first state under these circumstances, it could easily lead to misjudgment of the current state. Therefore, to improve the accuracy of ground-lift detection, the mobile device is only considered to have detached from the support surface when both the first and second leg structures have detached; that is, the current state of the mobile device is the first state.

[0035] Understandably, when mobile devices contain a larger number of leg structures, the current state of the mobile device should only be considered as the first state when all leg structures have been detected to have detached from the support surface, thus improving the accuracy of ground-lift detection.

[0036] In some embodiments, directly determining the mobile device's state as a first state based solely on a single instantaneous value can easily lead to misjudgment due to noise. To improve the accuracy of state determination, the mobile device is only determined to be in the first state if the duration of the first and second leg structures detaching from the support surface is sufficiently long. Determining the mobile device to be in the first state when both the first and second leg structures are detected to be detached from the support surface includes: determining the mobile device to be in the first state when both the first and second leg structures are detected to be detached from the support surface, and the duration of the detachment exceeds a preset duration. Specifically, the mobile device is only determined to be in the first state when the duration of the detachment of both the first and second leg structures exceeds the preset duration. The preset duration can be set according to actual needs, as long as it achieves the anti-shake effect.

[0037] Understandably, if either the first leg structure or the second leg structure is detected to be in contact with the support surface within a preset time after the leg structure leaves the ground, it is determined that the current state of the mobile device does not belong to the first state, and the time for accumulating the time for both the first leg structure and the second leg structure to be removed from the support surface is restarted when both the first leg structure and the second leg structure are removed from the support surface.

[0038] In some embodiments, the mobile device includes a drive wheel, which includes a drive motor. The drive wheel is connected to the end of the leg structure and rotates under the drive of the drive motor, moving the mobile device on a support surface. In normal operation, the mobile device directly contacts the support surface via the drive wheel. That is, the supporting force of the support surface acts directly on the drive wheel. Therefore, the magnitude of the force on the drive motor of the drive wheel most directly reflects whether the mobile device is in contact with the support surface. Detecting the current state of the mobile device includes: determining first force information of the drive motor based on the drive current of the drive motor, wherein the drive motor is used to drive the wheel legs of the drive wheel to rotate; and confirming that the mobile device is in a first state if the first force information does not include the pressure from the support surface.

[0039] Specifically, the magnitude of the force on the drive motor can be determined based on the drive current. Specifically, the electromagnetic torque of the motor can be calculated from the drive current, and then the load torque can be determined based on the relationship between the electromagnetic torque and the load torque, thus determining the magnitude of the force on the motor. For example, when the motor rotates at a constant speed, the load torque is equal to the electromagnetic torque; however, when the motor rotates at a non-uniform speed, the load torque can be calculated by combining the electromagnetic torque with the motor speed and moment of inertia.

[0040] For example, the first force information is the magnitude of the force on the drive motor of the drive wheel. If the first force information is less than the preset force information, that is, the external force on the drive motor is small or negligible, it means that the drive wheel is not supported by the support surface. At this time, the mobile device is determined to be in the first state.

[0041] In some embodiments, the leg structure includes an upper leg assembly and a lower leg assembly movably connected to the upper leg assembly, with a drive wheel disposed at the end of the lower leg assembly; the mobile device includes a first joint motor and a second joint motor, the first joint motor being used to drive the upper leg assembly to rotate, and the second joint motor being used to drive the lower leg assembly to rotate; detecting the current state of the mobile device includes: determining first force information of the drive motor based on the drive current of the drive motor; determining second force information of the first joint motor based on the first joint current of the first joint motor; determining third force information of the second joint motor based on the second joint current of the second joint motor; and confirming that the mobile device is in a first state if at least two of the first force information, the second force information, and the third force information do not include the support surface pressure.

[0042] For example, the upper leg assembly and the lower leg assembly constitute the thigh and lower leg of the mobile device; the first joint motor and the second joint motor provide rotational capability to the upper leg assembly and the lower leg assembly, respectively, constituting the hip joint and knee joint of the mobile device. It is understood that since the leg structure is used to support the body of the mobile device, the supporting force of the supporting surface is also transmitted to the first joint motor and the second joint motor. Therefore, it is possible to determine whether the mobile device has left the supporting surface by combining the second force information of the first joint motor and the third force information of the second joint motor.

[0043] Specifically, if the first, second, and third force information decrease simultaneously—for example, if the first force information is negligible and the second and third force information decrease simultaneously—then the mobile device is determined to be in the first state. The detection methods for the second and third force information can refer to those for the first force information, and will not be elaborated here. However, this is not a limitation; additional force sensors can also be used to detect the first, second, and third force information, which is not specified here.

[0044] In some embodiments, the mobile device further includes sensors for acquiring detection information, such as an IMU, for acquiring the acceleration and angular velocity of the mobile device in various directions. Detecting the current state of the mobile device includes at least one of the following: determining that the mobile device is in a first state when the detection information determines that the height of the mobile device has increased abruptly; or determining that the mobile device is in a first state when the detection information determines that the direction of the external force on the mobile device has changed discontinuously.

[0045] For example, the acceleration of the mobile device in the vertical direction can be calculated based on the detection information obtained by the IMU. If the height of the mobile device in the vertical direction suddenly increases, i.e., a step increase occurs, it may indicate that the mobile device has left the support surface under the action of an external force. Therefore, if the first force information does not include the pressure from the support surface and the height increases abruptly, it is determined that the mobile device has entered the first state.

[0046] Similarly, the apparent gravity vector of the mobile device can be calculated based on the detection information obtained from the IMU. This vector is the sum of non-gravitational acceleration and gravitational acceleration. Under normal operating conditions, the apparent gravity vector is the sum of the gravity vector and the motion acceleration vector of the mobile device. Its direction is usually directly downward or diagonally downward, and it typically changes continuously. However, when the mobile device is lifted by an external force, the direction of the apparent gravity vector changes abruptly, meaning the direction of the external force on the mobile device changes discontinuously. This may indicate that the mobile device has left the support surface under the action of the external force. Therefore, if the first force information does not include the pressure from the support surface and the direction of the external force changes discontinuously, the mobile device is determined to have entered the first state.

[0047] Step S102: If the current state is the first state, control the mobile device to enter the first mode.

[0048] For example, the first mode includes at least controlling the leg structure of the mobile device to retract to a preset posture and maintain the preset posture. Compared with the mobile device standing, the end of the leg structure in the preset posture is closer to the body in the height direction, thereby reducing the safety risk of the mobile device and improving the continuity of the mobile device's operation.

[0049] Understandably, in the first mode, the leg structure is folded up and held in a preset posture. When the mobile device returns to the support surface, it only needs to rotate in the opposite direction to unfold the leg structure to return to a standing posture. The whole process is smooth and the range of motion is small, which improves the smoothness of the mobile device's operation. Furthermore, since the preset posture folds up the leg structure, it reduces the overall contact area between the mobile device and the outside world, which can prevent the mobile device from bumping into the outside world and reduce the potential safety risks to the mobile device itself and to the user.

[0050] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of a mobile device in a first mode provided in an embodiment of this application.

[0051] like Figure 3 As shown, with Figure 1 Compared to other mobile devices, the first mode retracts the leg structure by rotating the joints, bringing the ends of the leg structure closer to the device's body in the height direction. Compared to directly controlling the leg structure to dissipate force or stop swinging, the pre-set posture results in a smaller contact area between the leg structure and the outside world, reducing the risk of collisions. Furthermore, the leg structure can be easily switched to a standing posture in normal operation mode by rotating in the opposite direction, improving the smoothness of transitions between different modes.

[0052] In some embodiments, the leg structure may include an upper leg assembly and a lower leg assembly movably connected to the upper leg assembly. Controlling the mobile device to enter a first mode includes: controlling the upper leg assembly to move towards the body, and controlling the lower leg assembly to move towards the upper leg assembly, so that the upper and lower leg assemblies are in a semi-folded state. In a preset posture, the upper and lower leg assemblies of the leg structure are in a semi-folded state rather than a fully folded state. It is understood that the range of motion of the leg structure when rotating to a fully folded state is greater than the range of motion when rotating to a semi-folded state. If a user places their hand on the upper or lower leg assembly during the process of entering the fully folded state, they may be pinched by the leg structure. Therefore, controlling the leg structure to be in a semi-folded state in the first mode reduces the contact area between the mobile device and the outside world and avoids pinching injuries caused by excessive folding. Furthermore, during the process of rotating the leg structure to a semi-folded state, the range of motion and sweeping space of the leg structure are smaller, and the risk of collision is also lower.

[0053] In some embodiments, in the semi-folded state, the upper leg assembly and the lower leg assembly are at a preset angle. This preset angle is less than the maximum angle when the upper leg assembly is fully extended relative to the lower leg assembly, and greater than the minimum angle when the upper leg assembly is fully retracted relative to the lower leg assembly. Specifically, when the upper leg assembly is fully extended relative to the lower leg assembly, the upper and lower leg assemblies can be located on the same straight line or approximately on the same straight line, at which point the included angle between the upper and lower leg assemblies is the maximum angle, for example, 180° or close to 180°. When the upper leg assembly is fully retracted relative to the lower leg assembly, the upper and lower leg assemblies can overlap or approximately overlap, i.e., in the fully retracted state, at which point the included angle between the upper and lower leg assemblies is the minimum angle, for example, 0° or close to 0°. In the semi-folded state, the included angle between the upper and lower leg assemblies is between this maximum and minimum angle, resulting in a smaller surface area of ​​the leg structure compared to when the angle between the upper and lower leg assemblies is at its maximum, while maintaining a certain gap between them compared to when the angle between the upper and lower leg assemblies is at its minimum, thus preventing pinching injuries.

[0054] In some embodiments, in the semi-folded state, the upper and lower leg assemblies are at a certain angle to the forward direction of the fuselage. The angle between the extension direction of the upper leg assembly and the forward direction of the fuselage is greater than 0.1 radians and less than 0.5 radians, and the angle between the extension direction of the lower leg assembly and the forward direction of the fuselage is greater than 0.3 radians and less than 0.7 radians. For example, in the semi-folded state, the angle between the extension direction of the upper leg assembly and the forward direction of the fuselage is 0.3 rad, and the angle between the extension direction of the lower leg assembly and the forward direction of the fuselage is 0.5 rad. Within this angle range, the contact area between the mobile device and the outside world can be reduced, and pinching injuries caused by excessive folding can be avoided. Furthermore, the range of motion and sweeping space of the leg structure during rotation are small, reducing the risk of collisions.

[0055] In some embodiments, the upper leg assembly in the leg structure is connected to the body and can rotate around a first joint mechanism between the body and the upper leg assembly, thereby moving the upper leg assembly closer to or away from the body; the lower leg assembly is connected to the upper leg assembly and can rotate around a second joint mechanism between the upper and lower leg assemblies, thereby moving the lower leg assembly closer to or away from the upper leg assembly. If the leg structure rotates too quickly, the user may not have enough time to pull their hand out from the position between the body and the upper leg assembly or between the upper and lower leg assemblies, resulting in pinching injury. To avoid this situation, controlling the upper leg assembly to move closer to the body and controlling the lower leg assembly to move closer to the upper leg assembly includes: controlling the upper leg assembly to move closer to the body at a first speed and controlling the lower leg assembly to move closer to the upper leg assembly at a second speed, wherein the first speed is less than a first preset speed and the second speed is less than a second preset speed. The first preset speed is the speed at which the upper leg assembly performs an unfolding or retracting action when the mobile device is in operating mode, and the second preset speed is the speed at which the lower leg assembly performs an unfolding or retracting action when the mobile device is in operating mode.

[0056] Understandably, the leg structure of the control mobile device rotates to a preset posture at a relatively low speed when entering the first mode. Specifically, during the process of entering the first mode, the first movement speed of the upper leg component rotating to the preset posture is less than the movement speed of the upper leg component in the operating mode, and the second movement speed of the lower leg component rotating to the preset posture is less than the movement speed of the lower leg component in the operating mode. Where the mobile device includes multiple leg structures, the first movement speed of the upper leg component in each leg structure is less than the first preset speed, and the second movement speed of the lower leg component in each leg structure is less than the second preset speed.

[0057] Specifically, in order to make the upper leg assembly and the lower leg assembly rotate at a lower speed, the first joint motor and the second joint motor can be controlled to drive the upper leg assembly and the lower leg assembly to rotate with a smaller torque.

[0058] In some embodiments, controlling the upper leg assembly to move towards the fuselage and controlling the lower leg assembly to move towards the upper leg assembly includes: controlling the upper leg assembly to move towards the fuselage at a first speed and controlling the lower leg assembly to move towards the upper leg assembly at a second speed, wherein the first speed is greater than 1 radian / second and less than 2 radian / second, and the second speed is greater than 1 radian / second and less than 2 radian / second. During the process of entering the first mode, the upper leg assembly and the lower leg assembly rotate to a preset posture at a speed of 1~2 rad / s respectively to avoid injuring the user due to excessive rotation speed.

[0059] Understandably, when a mobile device includes multiple leg structures, if the degree of unfolding of different leg structures is different before entering the first mode, the retraction speed can also be adjusted according to the actual situation. Furthermore, the first movement speed of the upper leg components of each leg structure can be the same and is 1~2 rad / s, and the second movement speed of the lower leg components of each leg structure can be the same and is 1~2 rad / s.

[0060] In some embodiments, to improve the stability of the mobile device, the leg structure may include a first leg structure and a second leg structure located on opposite sides of the body. The first leg structure and the second leg structure may be connected to symmetrical positions on both sides of the body. The first mode further includes controlling the first leg structure and the second leg structure of the mobile device to retract to a preset posture and maintain the preset posture. In the preset posture, the first leg structure and the second leg structure are symmetrically distributed. This makes the center of gravity distribution of the mobile device stable in the first mode. When the user needs to place the mobile device back on the support surface, the mobile device can directly and smoothly land on the support surface. The symmetrical first leg structure and the second leg structure provide stable support for the body on the support surface, facilitating the mobile device to quickly return to the normal operating mode and improving the smoothness of switching from the first mode to the normal operating mode.

[0061] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of a mobile device provided in another embodiment of this application.

[0062] In some embodiments, the leg structure may rotate about the hip joint relative to the body, for example, when the mobile device falls on a support surface. Figure 4 The posture shown involves the drive wheels supporting the ground, causing the mobile device to recover from a fallen state to a standing state due to the ground's reaction force. However, in this posture, the leg structure experiences a large range of motion, and the direction of movement is difficult to predict. Therefore, in the first state... Figure 4 The current posture is a high-risk orientation, posing a significant risk of collision and pinching injuries. Under the preset posture, the leg structure is controlled to be in a low-risk orientation, which means that the projection of the leg structure in the first direction does not coincide with the projection of the head structure of the mobile device in the first direction; wherein, the first direction is perpendicular to the vertical direction and the forward direction of the mobile device.

[0063] Please continue to refer to Figure 3 To reduce safety risks, the leg structure in the first mode adopts the following design: Figure 3The low-risk orientation shown indicates that in this orientation, the mobile device's drive wheels are located below the head structure, and the projection of the leg structure in the side view does not coincide with the head structure. The first direction is the projection direction of the side view. Understandably, the low-risk orientation of the leg structure is the same as the leg orientation in a standing posture. The mobile device does not need to rotate the leg structure to switch to the first mode or from the first mode to the second mode, reducing the range of motion of the leg structure during mode changes and minimizing the risk of collisions between the leg structure and the external environment or the safety risks to the user.

[0064] In some embodiments, the mobile device further includes a drive wheel connected to the leg structure. The rotation of the drive wheel can move the mobile device on the support surface. However, if the drive wheel continues to rotate in the first state, the drive motor of the drive wheel may idle, causing the drive motor to overheat or suffer mechanical damage, and may also cause abrasions to the user. Therefore, the first mode further includes controlling the drive wheel of the mobile device to stop rotating. In normal operation mode, the mobile device can move on the support surface by rotating the drive wheel. Controlling the drive wheel to stop rotating in the first mode reduces the safety risks to the mobile device itself in the first state and the safety hazards to the user.

[0065] In some embodiments, the first mode includes: controlling the head joints of the mobile device's head structure to switch and maintain a default joint posture, the default joint posture being the posture of the head joints when the mobile device is not activated. The mobile device also includes a head structure movably connected to the body. A shooting device may be mounted on the head structure, which is movably connected to the body via the head joints. For example, the head structure can rotate in the yaw direction under the action of the head joints, changing the shooting direction of the shooting device; it can also rotate in the roll direction under the action of the head joints, allowing the shooting device to switch between landscape and portrait modes; and it can also perform a lifting operation under the action of the head joints, changing the shooting height of the shooting device.

[0066] Understandably, in the first mode, the default joint posture of the head joint is kept in an inactive state, making the orientation of the head structure predictable when the user picks up the mobile device. This helps avoid pointing the head structure towards sharp objects, especially avoiding scratches and bumps to the camera device, thus improving the safety of the mobile device.

[0067] In some embodiments, the head structure is rotatably connected to the body, and the orientation of the head structure in the default joint posture is the same as the default orientation of the mobile device when it is not turned on. The head structure includes a shooting device, and the orientation of the head structure is the shooting direction of the shooting device.

[0068] Specifically, the head structure is rotatably connected to the body, and the head joints can drive the head structure to rotate in the yaw direction, for example, the head structure can rotate in the yaw direction of the mobile device. In the first mode, the head structure is rotated to the default orientation in the power-off state, so that when the mobile device returns to the support surface and needs to exit the first mode, the head structure does not need to rotate to confirm its orientation, improving the smoothness of the mobile device mode switching; and the orientation of the head structure is predictable when the user picks up the mobile device, thereby avoiding pointing the shooting device at sharp objects and improving the safety of the mobile device.

[0069] The head structure is equipped with a shooting device, and the orientation of the head structure is the shooting direction of the shooting device, which is also the direction of the optical axis of the shooting device.

[0070] In some embodiments, the default orientation is the same as the forward direction of the mobile device. That is, in the first mode, the head structure is controlled to face directly in front of the mobile device, so that when returning from the first mode to the normal operating mode, it is not necessary to rotate the head structure again. The direction of the shooting device's image is directly in front of the device, and the visual features of the object in front of the device are obtained. The controller can then directly start controlling the movement of the mobile device on the support surface based on the shooting image.

[0071] In some embodiments, in the first mode, the user may need to check or demonstrate the mechanical performance of the joint mechanism. Controlling the mobile device to enter the first mode includes: controlling the joint mechanism of the mobile device to be in an unlocked state. The joint mechanism includes at least one of a leg structure, a drive wheel connected to the leg structure, and a head structure rotatably connected to the body. To control the joint mechanism to be in the unlocked state, the user can apply external force to the leg structure or the head structure to actuate the joint mechanism, and the joint mechanism will return to its position before the external force was applied, preparing for a smooth transition into normal operation. The joint mechanism can be a joint mechanism of the leg structure or a joint mechanism of the head structure; the joint mechanism of the leg structure can be a joint mechanism of the upper leg assembly or a joint mechanism of the lower leg assembly, without limitation.

[0072] For example, if the external force on the lower leg assembly is small, the leg structure will remain in the preset posture; when the external force on the lower leg assembly is greater than a certain threshold, the lower leg assembly can be moved by the external force, so that the leg structure is no longer in the preset posture; and after the external force disappears, the joint mechanism connecting the lower leg assembly and the upper leg assembly makes the leg structure return to the preset posture.

[0073] In some embodiments, after controlling the joint mechanism of the mobile device to be in an unlocked state, the method further includes at least one of the following: when the first external force on the leg structure stops, controlling the leg structure to return from the posture corresponding to the first external force to a preset posture at a first preset speed, wherein the first external force causes the leg structure to turn to the corresponding posture; when the second external force on the head structure stops, controlling the head structure to return from the orientation corresponding to the first external force to a default orientation at a second preset speed, wherein the second external force causes the head structure to turn to the corresponding orientation, wherein the default orientation is the orientation of the head structure when the mobile device is not turned on.

[0074] Specifically, a sufficiently large external force can change the posture of the leg structure or the orientation of the head structure to meet the user's needs for inspecting or demonstrating the joint mechanism. After the external force disappears, the leg structure will return to the preset posture at a relatively small first preset speed, and the head structure will return to the default orientation at a relatively small second preset speed to avoid pinching and bumping caused by rapid rotation. Understandably, the first preset speed of the leg structure includes the rotation speed of the upper leg assembly and / or the rotation speed of the lower leg assembly.

[0075] Understandably, the first preset speed is less than the maximum rotation speed of the leg structure of the mobile device in normal operating mode, and the second preset speed is less than the maximum rotation speed of the head structure of the mobile device in normal operating mode. This makes it somewhat predictable for the leg structure to return to the preset posture or the head structure to return to the default orientation. Users can change the position of the mobile device or the position of their fingers according to the movement trend of the leg structure or the head structure to avoid bumps and pinches.

[0076] In some embodiments, after controlling the joint mechanism of the mobile device to be in an unlocked state, the method further includes: when detecting that the leg structure is subjected to a first external force, controlling the leg structure to maintain the posture corresponding to the first external force, the first external force causing the leg structure to turn to the corresponding posture, and when detecting that the first external force on the leg structure stops or stops for a preset time, controlling the leg structure to rotate to a preset posture at a first preset speed; when detecting that the head structure is subjected to a second external force, controlling the head structure to maintain the orientation corresponding to the second external force, the second external force causing the head structure to turn to the corresponding orientation, and when detecting that the second external force on the head structure stops or stops for a preset time, controlling the head structure to rotate to a default orientation at a second preset speed, wherein the default orientation is the orientation of the head structure when the mobile device is not turned on.

[0077] For example, after an external force moves the leg structure and head structure, the leg structure and head structure can be kept in the posture corresponding to the external force for a certain period of time. After the external force stops or stops for a certain period of time, the leg structure and head structure can start to rotate to restore the posture of the first mode. This avoids the risk of pinching injury caused by the leg structure and head structure staying for too short a time after being moved and immediately starting to rotate after the external force stops.

[0078] In some embodiments, the first preset speed is greater than 1 radian / second and less than 2 radian / second, and the second preset speed is greater than 1 radian / second and less than 2 radian / second. When the unlocked joint mechanism returns to the preset posture or default orientation, the leg structure returns to the preset posture at a speed of 1~2 rad / s, and the head structure returns to the default orientation at a speed of 1~2 rad / s, to avoid injuring the user due to excessive rotation speed. For example, the motors of each joint mechanism limit the rotation speed of the leg structure and head structure to 1~2 rad / s by controlling the magnitude of the output torque.

[0079] In some embodiments, during normal operation, the mobile device needs to maintain its balance through a series of spontaneous actions, combining sensor detection information, such as inertial detection information from an IMU. However, if the detection information is interpreted and the corresponding spontaneous actions are executed based on the logic used when the device is on a support surface while suspended in the first state, unpredictable swaying of the leg structure may occur, causing bumps or pinching injuries. Therefore, the first mode also includes: controlling the mobile device to prohibit spontaneous actions, where spontaneous actions are actions taken by the mobile device to adjust to a normal state based on the detection information from its onboard sensors. By prohibiting the mobile device from performing spontaneous actions in the first mode, the safety of the first mode is improved.

[0080] In some embodiments, during normal operation of the mobile device, the user can control the mobile device to perform corresponding actions via control commands. However, if the mobile device still executes command actions in the first state, it may pose a safety hazard to the mobile device or the user; for example, if one user picks up the mobile device while another user continues to issue control commands, the movement of the user's leg structure may pose a safety risk to the former. Therefore, the first mode also includes: controlling the mobile device to prevent it from executing command actions, where the command action is an action performed by the mobile device upon receiving user control commands. By preventing the mobile device from executing command actions in the first mode, the security of the first mode is improved.

[0081] In some embodiments, spontaneous actions include a fall-to-get-up action, a rollover recovery action, or a self-balancing correction action. A fall-to-get-up action is a get-up action performed when the mobile device detects that it is in a fall-to-the-ground state; a rollover recovery action is a recovery action performed when the mobile device has fallen flat on its back and needs to roll over to a prone position, or vice versa; a self-balancing correction action is a correction action performed when the mobile device detects that it is tilted or has a tendency to tilt. However, these are not the only possibilities; spontaneous actions can also include other actions that the mobile device needs to perform based on algorithmic configuration.

[0082] In some embodiments, the command action includes actions triggered by the user through vision, sound, or touch, or actions triggered by the user through a remote control device. The user can control the movement of the mobile device visually, for example, by issuing control commands to the mobile device through specific gestures; or by controlling the movement of the mobile device through sound, for example, by issuing control commands to the mobile device via voice; or by controlling the movement of the mobile device through touch, for example, by touching the mobile device or a touch device; or, the user can trigger control commands through a remote control device, which can be a joystick remote control, a button remote control, etc.

[0083] In some embodiments, the mobile device may be in a stowed state when not in use. Understandably, if a user picks up the mobile device from its stowed state and removes it from the support surface, the mobile device will not retract its leg structure to a preset posture. The mobile device may also be capable of performing jumping or somersaulting maneuvers. Understandably, during jumping or somersaulting maneuvers, the mobile device will also detach from the support surface. If the leg structure were retracted to a preset posture during these maneuvers, the maneuvers would not be executed correctly. Therefore, if the mobile device detaches from the support surface due to jumping or somersaulting, the mobile device will also not retract its leg structure to a preset posture. However, this is not the only possibility. The above-described scenario where the mobile device does not retract its leg structure to a preset posture is merely illustrative. The first state refers to the mobile device transitioning from a standing state to a state where it detaches from the support surface due to external force.

[0084] In other words, the mobile device's leg structure is only controlled to retract to a preset posture when it detaches from the support surface due to external force while standing, thus improving the safety and operational continuity of the mobile device. The "standing state" can refer to the mobile device operating in a standing posture or to the mobile device remaining stationary in a standing posture.

[0085] In some embodiments, if the mobile device performs an unexpected action after being lifted from the support surface, it may pose a safety hazard to the user, such as the mobile device failing to successfully enter the first mode or failing to detect the first state. To avoid this situation, a control method is needed to quickly unload the motor on the mobile device. Therefore, the control method further includes: if the current state is the first state and the tilt angle of the mobile device is detected to be greater than a preset tilt angle, controlling the motor of the mobile device to enter the unloading state; wherein, the tilt angle is the angle between the longitudinal central axis of the device body and the direction of gravity (i.e., the vertical direction), and when the tilt angle is greater than the preset tilt angle, the bottom of the mobile device body is higher than the top of the body in the height direction, and the preset tilt angle is greater than or equal to 90°.

[0086] Understandably, after a user picks up the mobile device from the support surface, if they only need to change the physical position of the device, they usually won't drastically change its tilt angle. Instead, they will place the device in another position with the tilt angle remaining essentially unchanged. Therefore, the tilt angle of the mobile device can be used as a control criterion in the first state. If the tilt angle is too large, the motors of the mobile device will be powered off. Specifically, the drive motors of the drive wheels and the joint motors of each joint (including the joint motors of the leg joints and the head joints) will be powered off, entering a stress-relieving state to avoid safety hazards caused by joint movement.

[0087] The tilt angle of the mobile device is the angle between the longitudinal central axis of the device and the direction of gravity; that is, the angle between the vertical central axis of the device and the vertical direction. Under normal operation, the bottom of the mobile device is lower than its top. However, when the tilt angle exceeds a preset angle, the bottom of the device flips over to face the top. Specifically, the device is equipped with an IMU (Insulated Unit), and the tilt angle is determined by the apparent gravity vector direction of the IMU.

[0088] In some embodiments, to avoid misjudgment, the mobile device is only controlled to enter a power-off state when the tilt angle of the mobile device is greater than the preset tilt angle for a duration greater than the preset duration. The preset duration can be set according to actual needs.

[0089] In some embodiments, to further avoid misjudgment, the preset tilt angle is greater than or equal to 160°, thereby ensuring that the motor is controlled to enter the unloading state only when the mobile device is flipped.

[0090] For example, if a user lifts the mobile device off the support surface, and the mobile device fails to accurately detect that it has entered the first state, or fails to control the leg structure to enter the preset posture in time, the various motors of the mobile device will still be running when suspended in the air, which may easily cause safety hazards to the user; at this time, the user can rotate the mobile device 180° according to his or her own needs, so that the bottom of the device is higher than the top of the device in the height direction.

[0091] Understandably, mobile devices may tilt over due to jumping, somersaulting, or other actions, resulting in a tilt angle greater than the preset angle. In such cases, controlling the motor to release force could lead to the device landing incorrectly, posing a safety hazard. Therefore, if a tilt angle greater than the preset angle is detected during a planned action, the motor will not be controlled to release force. This planned action could be a somersault, a fall-to-get-up action, or a storage action, etc. Please refer to [reference needed]. Figure 5 , Figure 5 This is a schematic diagram illustrating a mobile device tilting at an angle greater than a preset tilt angle, as provided in an embodiment of this application.

[0092] On the one hand, because the preset tilt angle is large enough, such a large tilt angle will not occur in the normal use scenario of the first state, which can avoid accidental touch that would cause the motor to enter the unloaded state; on the other hand, because the preset tilt angle is large enough, it avoids missed triggers caused by the error of the mobile device's sensor (such as IMU), ensuring that the action of flipping the mobile device can be accurately captured and not missed.

[0093] In some embodiments, after a user picks up the mobile device for a period of time, it is usually necessary to place the mobile device back onto the contact surface. In this case, the current state of the mobile device is the second state, which is the state in which the mobile device is in contact with the support surface. The control method further includes: if the current state is the second state, controlling the mobile device to enter a second mode, which is the normal operation mode. If the mobile device is placed back on the support surface after being removed from it, and the transition from the first state to the second state occurs, then the control mode of the mobile device also needs to be switched from the first mode to the second mode so that the mobile device can operate continuously; or, if the mobile device is always in contact with the support surface, then the control mode of the mobile device is always the second mode.

[0094] For example, in normal operating mode, the mobile device can change the posture of its leg structure according to self-balancing needs or user control commands, control the rotation of the drive wheels according to movement needs, and adjust the orientation of its head structure according to the needs of shooting or acquiring visual information. Of course, it is not limited to these; the above is only an example of normal operating mode, and the actions of the mobile device in normal operating mode are not limited here.

[0095] In some embodiments, in the first mode, the leg structure of the mobile device is in a semi-folded preset posture, equivalent to a robot's semi-squatting posture. To facilitate the normal operation of the mobile device in the second mode, after the mobile device contacts the support surface, the leg structure is first controlled to change from the preset posture to a standing posture. If the current state is the second state, controlling the mobile device to enter the second mode includes: if the current state is the second state, controlling the leg structure of the mobile device to rotate from the preset posture to a standing posture, wherein the standing posture is the posture of the leg structure before the mobile device begins to stand and operate; after the leg structure rotates to the standing posture, controlling the mobile device to enter the second mode. Specifically, controlling the upper leg assembly to move away from the body, and controlling the lower leg assembly to move away from the upper leg assembly, so that the upper leg assembly and the lower leg assembly enter an unfolded state.

[0096] Because the mobile device rotates from a semi-folded state to a standing state, the movement amplitude is small and the time required during the transition from the first mode to the second mode is short, resulting in better continuity of operation. In the first mode, the leg structure is in a preset posture, allowing it to be placed smoothly on the support surface and transition smoothly to a standing position, further improving the continuity of mobile device operation. Furthermore, the standing position provides the mobile device with greater height, facilitating the collection of richer and farther-range detection information by the sensors, thus improving accuracy during normal operation.

[0097] In some embodiments, the support surface on which the mobile device is placed when it enters the second state may be a flat plane, in which case the mobile device can directly convert its leg structure to a standing posture; however, the support surface on which the mobile device is placed when it enters the second state may also be a slope, a curved surface, or an irregular surface with uneven height. In this case, if the mobile device directly converts from a preset posture to a standing posture, it may fall due to instability during the conversion process; or, the user may place the mobile device horizontally on the support surface, in which case the mobile device is in a flipped-over state and needs to be controlled to stand up before it can convert to a standing posture. Therefore, if the current state is the second state, controlling the leg structure of the mobile device to rotate from the preset posture to the standing posture includes: if the current state is the second state and the mobile device is in a stable state supported by the support surface, controlling the leg structure of the mobile device to rotate from the preset posture to the standing posture; if the current state is the second state and the mobile device is in an unstable state supported by the support surface, controlling the mobile device to perform a self-balancing correction action, and after the mobile device enters a stable state, controlling the leg structure of the mobile device to rotate to the standing posture; if the current state is the second state and the mobile device is in a flipped state on the support surface, controlling the mobile device to perform a fall-to-get-up action, and after the mobile device enters a stable state, controlling the leg structure of the mobile device to rotate to the standing posture.

[0098] Understandably, to improve the stability of mobile devices and reduce safety hazards, when a mobile device is detected transitioning from the first state to the second state, its stability is first checked. If the mobile device is tipped over, it is first brought to an upright and stable position through a fall-to-rise maneuver, and then its leg structure is adjusted from the post-rise posture to a standing posture. If the mobile device is unstable, it is first brought to a stable position through a self-balancing correction maneuver, and then its leg structure is adjusted from the self-balancing correction posture to a standing posture. This prevents the mobile device from falling during the transition to normal operating mode, improving the smoothness and stability of the transition. Specifically, the IMU's detection information can be used to determine whether the mobile device is in a stable or unstable state, which will not be elaborated upon here.

[0099] The mobile device control method provided in this application reduces the overall contact area between the mobile device and the outside world by retracting the legs to a preset posture when the mobile device leaves the support surface. At the same time, it enables the mobile device to quickly enter the operating state when it re-contacts the support surface. For example, it can automatically rotate the legs from the preset posture to the standing posture when necessary, so that the first state of the mobile device can be smoothly transitioned to the normal operating state, thereby improving the continuity of the mobile device's operation.

[0100] Please refer to Figure 6 , Figure 6 This is a schematic flowchart illustrating the steps of a mobile device control method provided in another embodiment of this application.

[0101] like Figure 6 As shown, this application also provides a control method for a mobile device, which is applied to a mobile device to improve the security of the mobile device's operation.

[0102] like Figure 6 As shown, the control method includes steps S201 to S202.

[0103] Step S201: Detect the current state of the mobile device, wherein the current state includes a first state, which is the state in which the mobile device is detached from the support surface due to external force.

[0104] Step S202: If the current state is the first state, control the mobile device to enter the first mode, wherein the first mode includes: controlling the mobile device to prohibit the execution of spontaneous actions, where spontaneous actions are actions taken by the mobile device to determine that the mobile device is in an abnormal state and needs to be adjusted to a normal state based on the detection information of the sensors it carries; controlling the mobile device to prohibit the execution of command actions, where command actions are actions taken by the mobile device upon receiving user control commands.

[0105] For example, during normal operation, mobile devices need to combine sensor detection information to maintain their balance through a series of spontaneous actions. However, if, in the first state, the detection information is interpreted and the corresponding spontaneous actions are executed based on the logic used when the device is on a supporting surface, the leg structure may experience unpredictable swaying while suspended, potentially causing bumps or pinching injuries. Therefore, spontaneous actions are prohibited in the first mode to improve its safety.

[0106] For example, during normal operation of a mobile device, a user can control the device to perform actions corresponding to those commands. However, if one user picks up the mobile device while another user continues to issue control commands, the movement of the user's legs could pose a safety risk to the former. Therefore, in the first mode, the mobile device is prohibited from executing commands, thus improving the security of the first mode.

[0107] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above steps S201 to S202 can be referred to the embodiments of the above steps S101 to S102 and the corresponding processes of each embodiment, which will not be repeated here.

[0108] For example, the above method can be implemented as a computer program, which can be used in, for example... Figure 7 It runs on the mobile device shown.

[0109] Please see Figure 7 , Figure 7 This is a schematic block diagram of the structure of a mobile device provided in an embodiment of this application.

[0110] like Figure 7 As shown, the mobile device includes a processor connected to a system bus, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: Detect the current state of the mobile device, wherein the current state includes a first state, which is the state in which the mobile device is detached from the support surface due to external force; If the current state is the first state, control the mobile device to enter the first mode, wherein the first mode includes controlling the leg structure of the mobile device to retract to a preset posture and maintain the preset posture; compared with the mobile device standing, the end of the leg structure in the preset posture is closer to the body in the height direction.

[0111] The processor provides computing and control capabilities to support the operation of the entire mobile device.

[0112] The memory provides an environment for the execution of computer programs stored in the storage medium. When the computer program is executed by the processor, it enables the processor to perform any control method.

[0113] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the mobile device to which the present application is applied. A specific mobile device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0114] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be 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. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0115] Please see Figure 8 , Figure 8 This is a schematic block diagram of the structure of a mobile device provided in an embodiment of this application.

[0116] like Figure 8 As shown, the mobile device provided in this application embodiment includes a body and a leg structure and a head structure connected to the body. The body may also be equipped with an IMU, a binocular camera, etc. The leg structure includes an upper leg assembly and a lower leg assembly that are rotatably connected, wherein the upper leg assembly is rotatably connected to the body, and a drive wheel is mounted on the lower leg assembly. The head structure is rotatably connected to the body and includes a shooting device.

[0117] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the mobile device described above can be referred to the corresponding process in the aforementioned control method embodiments, and will not be repeated here.

[0118] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can be referred to various embodiments of the control method of this application.

[0119] The computer-readable storage medium can be an internal storage unit of the mobile device described in the foregoing embodiments, such as a hard disk or memory in the header structure of the mobile device. Alternatively, the computer-readable storage medium can be an external storage device in the header structure of the mobile device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card mounted on the header structure of the mobile device.

[0120] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0121] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0122] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a mobile device, characterized in that, The mobile device includes a body and a leg structure connected to the body, and the method includes: The current state of the mobile device is detected, wherein the current state includes a first state, which is the state in which the mobile device is detached from the support surface due to external force; If the current state is the first state, control the mobile device to enter the first mode, wherein the first mode includes controlling the leg structure of the mobile device to retract to a preset posture and maintain the preset posture; compared with the mobile device standing, in the preset posture the end of the leg structure is closer to the body in the height direction.

2. The control method according to claim 1, characterized in that, The leg structure includes an upper leg assembly and a lower leg assembly movably connected to the upper leg assembly; controlling the mobile device to enter a first mode includes: Control the upper leg assembly to move closer to the body, and control the lower leg assembly to move closer to the upper leg assembly, so that the upper leg assembly and the lower leg assembly are in a semi-folded state; The semi-folded state is when the upper leg assembly and the lower leg assembly are at a preset angle. The preset angle is less than the maximum angle when the upper leg assembly is fully extended relative to the lower leg assembly, and greater than the minimum angle when the upper leg assembly is fully folded relative to the lower leg assembly.

3. The control method according to claim 2, characterized in that, In the semi-folded state, the angle between the extension direction of the upper leg assembly and the forward direction of the fuselage is greater than 0.1 radians and less than 0.5 radians, and the angle between the extension direction of the lower leg assembly and the forward direction of the fuselage is greater than 0.3 radians and less than 0.7 radians.

4. The control method according to claim 2, characterized in that, The control of the upper leg assembly to move closer to the fuselage and the control of the lower leg assembly to move closer to the upper leg assembly include: The upper leg assembly is controlled to move towards the body at a first speed, and the lower leg assembly is controlled to move towards the upper leg assembly at a second speed. The first speed is less than a first preset speed, and the second speed is less than a second preset speed. The first preset speed is the speed at which the upper leg assembly unfolds or retracts when the mobile device is in operation mode, and the second preset speed is the speed at which the lower leg assembly unfolds or retracts when the mobile device is in operation mode.

5. The control method according to claim 2, characterized in that, The control of the upper leg assembly to move closer to the fuselage and the control of the lower leg assembly to move closer to the upper leg assembly include: The upper leg assembly is controlled to move toward the body at a first speed, and the lower leg assembly is controlled to move toward the upper leg assembly at a second speed, wherein the first speed is greater than 1 radian / second and less than 2 radian / second, and the second speed is greater than 1 radian / second and less than 2 radian / second.

6. The control method according to claim 1, characterized in that, The leg structure includes a first leg structure and a second leg structure located on opposite sides of the fuselage, and the first mode further includes: The first and second leg structures of the mobile device are controlled to retract to and maintain in the preset posture, wherein the first and second leg structures are symmetrically distributed in the preset posture.

7. The control method according to claim 1, characterized in that, In the preset posture, the leg structure is in a low-risk orientation, which means that the projection of the leg structure in a first direction does not coincide with the projection of the head structure of the mobile device in a first direction; wherein, the first direction is perpendicular to the vertical direction and the forward direction of the mobile device.

8. The control method according to claim 1, characterized in that, The first mode includes: controlling the drive wheel of the mobile device to stop rotating; wherein the mobile device further includes a drive wheel connected to the leg structure, the drive wheel being used to drive the mobile device to move.

9. The control method according to claim 1, characterized in that, The first mode includes: controlling the head joint of the head structure of the mobile device to switch and maintain a default joint posture, wherein the default joint posture is the posture of the head joint when the mobile device is not turned on, and the mobile device also includes a head structure movably connected to the body.

10. The control method according to claim 9, characterized in that, The head structure is rotatably connected to the body. In the default joint posture, the orientation of the head structure is the same as the default orientation of the mobile device when it is not turned on. The head structure includes a shooting device, and the orientation of the head structure is the shooting direction of the shooting device.

11. The control method according to claim 10, characterized in that, The default orientation is the same as the forward direction of the mobile device.

12. The control method according to claim 1, characterized in that, The control of the mobile device to enter the first mode includes: The joint mechanism of the mobile device is controlled to be in an unlocked state. The joint mechanism includes at least one of a leg structure, a drive wheel connected to the leg structure, and a head structure rotatably connected to the body.

13. The control method according to claim 12, characterized in that, After the joint mechanism controlling the mobile device is in an unlocked state, the method further includes at least one of the following: When the first external force on the leg structure stops, the leg structure is controlled to return from the posture corresponding to the first external force to the preset posture at a first preset speed. The first external force causes the leg structure to return to the corresponding posture. When the second external force on the head structure stops, the head structure is controlled to return to the default orientation at a second preset speed from the orientation corresponding to the first external force. The second external force causes the head structure to turn to the corresponding orientation, wherein the default orientation is the orientation of the head structure when the mobile device is not turned on.

14. The control method according to claim 12, characterized in that, After the joint mechanism controlling the mobile device is in an unlocked state, the method further includes: When the leg structure is subjected to a first external force, the leg structure is controlled to maintain the posture corresponding to the first external force. The first external force causes the leg structure to rotate to the corresponding posture. When the first external force on the leg structure stops or stops for a preset time, the leg structure is controlled to rotate to the preset posture at a first preset speed. When the head structure is subjected to a second external force, the head structure is controlled to remain in the orientation corresponding to the second external force. The second external force causes the head structure to turn to the corresponding orientation. When the second external force on the head structure stops or stops for a preset time, the head structure is controlled to rotate to the default orientation at a second preset speed. The default orientation is the orientation of the head structure when the mobile device is not turned on.

15. The control method according to claim 13 or 14, characterized in that, The first preset speed is greater than 1 radian / second and less than 2 radian / second, and the second preset speed is greater than 1 radian / second and less than 2 radian / second.

16. The control method according to claim 1, characterized in that, The first mode also includes: The mobile device is controlled to prevent it from performing spontaneous actions, where spontaneous actions are actions taken by the mobile device based on the detection information from its onboard sensors to determine that the mobile device is in an abnormal state and needs to be adjusted to a normal state. The mobile device is controlled to prevent it from executing command actions, which are actions performed by the mobile device upon receiving user control commands.

17. The control method according to claim 16, characterized in that, The spontaneous actions include falling down and getting up, flipping and recovering, or self-balancing and correcting actions; the commanded actions include actions triggered by the user through vision, sound, or touch, or actions triggered by the user through a remote control.

18. The control method according to claim 1, characterized in that, The current state further includes a second state, which is the state in which the mobile device contacts the support surface; the method further includes: If the current state is the second state, control the mobile device to enter the second mode, which is the normal operation mode.

19. The control method according to claim 18, characterized in that, If the current state is the second state, controlling the mobile device to enter the second mode includes: If the current state is the second state, control the leg structure of the mobile device to rotate from the preset posture to the standing posture, wherein the standing posture is the posture of the leg structure before the mobile device starts to stand and run; After the leg structure rotates to the standing posture, the mobile device is controlled to enter the second mode.

20. The control method according to claim 19, characterized in that, If the current state is the second state, controlling the leg structure of the mobile device to rotate from the preset posture to a standing posture includes: If the current state is the second state, and the mobile device is in a stable state under the support of the support surface, control the leg structure of the mobile device to rotate from the preset posture to the standing posture; If the current state is the second state, and the mobile device is in an unstable state under the support of the support surface, control the mobile device to perform a self-balancing correction action. After the mobile device enters a stable state, control the leg structure of the mobile device to rotate to a standing posture. If the current state is the second state and the mobile device is overturned on the support surface, control the mobile device to perform a fall-to-get-up action. After the mobile device enters a stable state, control the leg structure of the mobile device to rotate to a standing posture.

21. The control method according to claim 1, characterized in that, The leg structure includes a first leg structure and a second leg structure located on opposite sides of the body; the detection of the current state of the mobile device includes: When it is detected that both the first leg structure and the second leg structure have detached from the support surface, the mobile device is determined to be in the first state.

22. The control method according to claim 21, characterized in that, The step of determining that the mobile device is in the first state when both the first leg structure and the second leg structure are detected to have detached from the support surface includes: If it is detected that both the first leg structure and the second leg structure have detached from the support surface, and the duration of the detachment of the first leg structure and the second leg structure from the support surface is longer than a preset duration, the mobile device is determined to be in the first state.

23. The control method according to claim 1, characterized in that, The mobile device includes drive wheels, and the drive wheels include drive motors; detecting the current state of the mobile device includes: The first force information of the drive motor is determined based on the drive current of the drive motor, wherein the drive motor is used to drive the wheel feet of the drive wheel to rotate; The mobile device is confirmed to be in the first state if the first force information does not include the pressure on the support surface.

24. The control method according to claim 23, characterized in that, The leg structure includes an upper leg assembly and a lower leg assembly movably connected to the upper leg assembly, and the drive wheel is disposed at the end of the lower leg assembly; the mobile device includes a first joint motor and a second joint motor, the first joint motor being used to drive the upper leg assembly to rotate, and the second joint motor being used to drive the lower leg assembly to rotate; The detection of the current state of the mobile device includes: The first force information of the drive motor is determined based on the drive current of the drive motor; The second force information of the first joint motor is determined based on the first joint current of the first joint motor; The third force information of the second joint motor is determined based on the second joint current of the second joint motor; The mobile device is confirmed to be in the first state if at least two of the first force information, the second force information, and the third force information do not include the support surface pressure.

25. The control method according to claim 23, characterized in that, The mobile device further includes a sensor for acquiring detection information, wherein detecting the current state of the mobile device includes at least one of the following: If the detection information indicates a significant increase in the height of the mobile device, the mobile device is determined to be in the first state. If the direction of the external force on the mobile device changes discontinuously based on the detection information, the mobile device is determined to be in the first state.

26. The control method according to claim 1, characterized in that, The first state is the state in which the mobile device moves from a standing state to a state in which it is detached from the support surface due to external force.

27. The control method according to claim 1, characterized in that, The method further includes: If the current state is the first state and the tilt angle of the mobile device is greater than the preset tilt angle, the motor of the mobile device is controlled to enter the unloading state; wherein, the tilt angle is the angle between the longitudinal central axis of the body and the direction of gravity, and when the tilt angle is greater than the preset tilt angle, the bottom of the mobile device is higher than the top of the body in the height direction, and the preset tilt angle is greater than or equal to 90°.

28. The control method according to claim 27, characterized in that, The preset tilt angle is greater than or equal to 160°.

29. A control method for a mobile device, characterized in that, The mobile device includes a body and a leg structure connected to the body, and the method includes: The current state of the mobile device is detected, wherein the current state includes a first state, which is the state in which the mobile device is detached from the support surface due to external force; If the current state is a first state, the mobile device is controlled to enter a first mode, wherein the first mode includes: The mobile device is controlled to prevent it from performing spontaneous actions, where spontaneous actions are actions taken by the mobile device based on the detection information from its onboard sensors to determine that the mobile device is in an abnormal state and needs to be adjusted to a normal state. The mobile device is controlled to prevent it from executing command actions, which are actions performed by the mobile device upon receiving user control commands.

30. A mobile device, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the control method as described in any one of claims 1 to 29.

31. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of the control method for a mobile device as described in any one of claims 1 to 29.

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