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

Abstract

The present application relates to the technical field of intelligent mobile terminal uphill and downhill technology, and particularly relates to a control method and system of an intelligent mobile terminal and the intelligent mobile terminal. When the intelligent mobile terminal is uphill or downhill, the front two wheels or the rear two wheels of the intelligent mobile terminal are controlled to be grounded, real-time inertial navigation parameters of the intelligent mobile terminal are collected, and the balance of the intelligent mobile terminal under the two wheels is dynamically adjusted according to the real-time inertial navigation parameters. In the present application, when the intelligent mobile terminal is uphill or downhill, the balance of the intelligent mobile terminal under the two wheels is dynamically adjusted according to the real-time inertial navigation parameters, the distance between the chassis and the slope is increased, the situation that the chassis is stuck by the slope is prevented, and the stability of the intelligent mobile terminal in driving is increased.

Description

Technical Field

[0001] This invention relates to the field of intelligent mobile terminal technology for hill climbing and descending, and more particularly to a control method, control system, and intelligent mobile terminal for intelligent mobile terminals. Background Technology

[0002] With the development of science and technology, various types of smart mobile terminals have been widely used in many fields. Smart mobile terminals are often used as basic equipment platforms for related scientific research and practical applications, especially in outdoor surveying and exploration work. Due to complex road conditions and potential safety hazards, smart mobile terminals are the most widely used basic mounting tools. Affected by road conditions, smart mobile terminals need to have the ability to climb slopes. On open slopes, four-wheeled chassis are prone to overturning, and four-legged and two-legged chassis struggle to gain sufficient ground traction and are prone to slipping. Two-wheeled chassis are also prone to getting stuck on the road surface when climbing steep slopes, resulting in poor stability during the climbing process. Therefore, improving the stability of smart mobile terminals during slope climbing has become an urgent problem to be solved. Summary of the Invention

[0003] Therefore, it is necessary to provide a control method, control system, and intelligent mobile terminal for the above-mentioned technical problems, so as to solve the problem of poor stability during the climbing process of intelligent mobile terminals.

[0004] The first aspect of this application provides a control method for a smart mobile terminal, including:

[0005] When the intelligent mobile terminal is traveling uphill or downhill, control the front two wheels or the rear two wheels of the intelligent mobile terminal to touch the ground, and collect the real-time inertial navigation parameters of the intelligent mobile terminal in real time.

[0006] The balance of the intelligent mobile terminal is dynamically adjusted based on the real-time inertial navigation parameters when both wheels land.

[0007] A second aspect of this application provides a control system for a smart mobile terminal, including a controller, a driving module, and a balance module. The controller connects the driving module and the balance module. The driving module drives the wheels of the smart mobile terminal according to the instructions of the controller. The balance module collects the inertial navigation parameters of the smart mobile terminal and sends them to the controller, and adjusts the balance of the smart mobile terminal when both wheels are in contact with the ground according to the instructions of the controller. The controller executes the control method for the smart mobile terminal described above.

[0008] A third aspect of this application provides a smart mobile terminal, the smart mobile terminal including the control system of the smart mobile terminal described above.

[0009] The advantages of this invention compared to the prior art are:

[0010] When the intelligent mobile terminal is traveling uphill or downhill, the system controls the front two wheels or rear two wheels of the intelligent mobile terminal to touch the ground, and collects the real-time inertial navigation parameters of the intelligent mobile terminal in real time. Based on the real-time inertial navigation parameters, the system dynamically adjusts the balance of the intelligent mobile terminal on the ground where both wheels are in contact. In this application, when the intelligent mobile terminal is traveling uphill or downhill, the system dynamically adjusts the balance of the intelligent mobile terminal on the ground where both wheels are in contact with the ground based on the real-time inertial navigation parameters, increasing the distance between the chassis and the slope surface, preventing the slope surface from getting stuck on the chassis, and increasing the stability of the intelligent mobile terminal. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart illustrating a control method for an intelligent mobile terminal provided in Embodiment 1 of the present invention;

[0013] Figure 2 This is a structural diagram of a control system for an intelligent mobile terminal provided in Embodiment 2 of the present invention;

[0014] Figure 3 This is a schematic diagram of an intelligent mobile terminal driving uphill according to Embodiment 3 of the present invention;

[0015] Figure 4 This is a schematic diagram of a smart mobile terminal traveling downhill according to Embodiment 4 of the present invention;

[0016] Figure 5 This is a schematic diagram of a smart mobile terminal with its last two wheels touching the ground, provided in Embodiment 5 of the present invention;

[0017] Figure 6 This is a schematic diagram of a smart mobile terminal provided in Embodiment Six of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0020] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0021] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0022] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0023] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0024] It should be understood that the sequence number of each step in the following embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0025] To illustrate the technical solution of the present invention, specific embodiments are described below.

[0026] See Figure 1 This is a flowchart illustrating a control method for a smart mobile terminal provided in Embodiment 1 of the present invention, as shown below. Figure 1 As shown, the control method for this smart mobile terminal may include the following steps.

[0027] S101: When the smart mobile terminal is traveling uphill or downhill, control the front two wheels or the rear two wheels of the smart mobile terminal to touch the ground, and collect the real-time inertial navigation parameters of the smart mobile terminal in real time.

[0028] In step S101, when the smart mobile terminal is traveling uphill or downhill, the front two wheels or the rear two wheels of the smart mobile terminal are controlled to touch the ground, that is, the four-wheeled foot motor is combined with the two-wheeled foot motor. When traveling uphill or downhill, the two wheels are used to touch the ground and the real-time inertial navigation parameters of the smart mobile terminal are collected in real time. The real-time inertial navigation parameters include real-time position parameters, real-time speed parameters, real-time pitch angle parameters and real-time pitch angle angular acceleration parameters.

[0029] In this embodiment, when the intelligent mobile terminal is traveling uphill or downhill, the front two wheels or the rear two wheels of the intelligent mobile terminal are controlled to touch the ground, that is, the intelligent mobile terminal is converted into a two-wheeled intelligent mobile terminal. This allows the intelligent mobile terminal to be controlled based on the control of the two-wheeled intelligent mobile terminal when controlling the intelligent mobile terminal to travel in a balanced manner, so that the machine can travel in a balanced manner, reducing the complexity of controlling the intelligent mobile terminal.

[0030] It should be noted that controlling the front two wheels or the rear two wheels of the smart mobile terminal to be on the ground means that the front two wheels are the two wheels corresponding to the front of the smart mobile terminal during movement, and the rear two wheels are the two wheels corresponding to the rear of the smart mobile terminal during movement. When controlling the front two wheels or the rear two wheels of the smart mobile terminal to be on the ground, the remaining two wheels are lifted. For example, if the front two wheels of the smart mobile terminal are on the ground, the rear two wheels are lifted, and if the rear two wheels of the smart mobile terminal are on the ground, the front two wheels are lifted.

[0031] Real-time inertial navigation parameters of the intelligent mobile terminal are collected in real time. These real-time inertial navigation parameters include real-time position parameters, real-time velocity parameters, real-time pitch angle parameters, and angular acceleration parameters of the real-time pitch angle.

[0032] It should be noted that when collecting real-time inertial navigation parameters from smart mobile terminals, inertial navigation sensors are used for data acquisition.

[0033] Optionally, controlling the first two wheels or the last two wheels of the smart mobile terminal to touch the ground includes:

[0034] The width of the slope is compared with the width of the smart mobile terminal. If the width of the slope is greater than the width of the smart mobile terminal, the first two wheels of the smart mobile terminal are controlled to touch the ground.

[0035] If the width of the slope is not greater than the width of the smart mobile terminal, then control the rear two wheels of the smart mobile terminal to touch the ground.

[0036] In this embodiment, when determining whether the first two wheels or the last two wheels of the smart mobile terminal should land, the determination is made based on the width of the slope and the width of the smart mobile terminal. If the width of the slope is greater than the width of the smart mobile terminal, the first two wheels of the smart mobile terminal are controlled to land. If the width of the slope is not greater than the width of the smart mobile terminal, the last two wheels of the smart mobile terminal are controlled to land.

[0037] It should be noted that the width of the smart mobile terminal is the width between the two feet of the smart mobile terminal, that is, the distance between the chassis connecting rods on both sides, wherein the chassis connecting rods connect the two wheels on the same side.

[0038] In this embodiment, when the width of the slope is greater than the width of the smart mobile terminal, the first two wheels of the smart mobile terminal are controlled to touch the ground. This allows the chassis coverage area of ​​the smart mobile terminal to be at a greater distance from the slope, preventing the chassis from getting stuck on the slope.

[0039] When the width of the slope is no greater than the width of the smart mobile terminal, the rear two wheels of the smart mobile terminal are controlled to touch the ground. Since the width of the slope is no greater than the width of the smart mobile terminal, the four wheels of the smart mobile terminal cannot travel on the slope at the same time. When the smart mobile terminal travels uphill on one side, only one side of the wheels is on the slope, while the other side of the wheels is not on the slope. There is a height difference between the two sides of the wheels, which increases the complexity of the smart mobile terminal climbing the slope. In order to enable the smart mobile terminal to travel uphill and downhill, the rear two wheels are used to touch the ground, which increases the climbing ability of the smart mobile terminal so that it can complete the corresponding climbing tasks.

[0040] S102: Based on real-time inertial navigation parameters, dynamically adjust the balance of the smart mobile terminal when both wheels are on the ground.

[0041] In step S102, the balance of the smart mobile terminal on the ground with both wheels landing is dynamically adjusted according to the real-time inertial navigation parameters. When dynamically adjusting the balance of the smart mobile terminal on the ground with both wheels landing, the adjustment is made by the LQR (linear quadratic regulator) algorithm. The input of the LQR algorithm is the real-time inertial navigation parameters, and the output is the change in the inertial navigation parameters.

[0042] In this embodiment, the balance of the intelligent mobile terminal on the ground with both wheels in contact with the ground is dynamically adjusted based on real-time inertial navigation parameters. During this adjustment, the changes in position, velocity, pitch angle, and angular acceleration of the pitch angle are calculated based on the real-time inertial navigation parameters, including real-time position, velocity, pitch angle, and angular velocity.

[0043] It should be noted that the balance of the intelligent mobile terminal on the ground is dynamically adjusted based on real-time inertial navigation parameters. This adjustment is made according to changes in position, velocity, pitch angle, and angular velocity, ensuring that the adjusted position is the sum of the real-time position parameters and the position change; the adjusted velocity is the sum of the real-time velocity and the velocity change; the adjusted pitch angle is the sum of the real-time pitch angle and the pitch angle change; and the adjusted pitch angle's angular acceleration is the sum of the real-time pitch angle's angular acceleration and the angular velocity change. This control ensures the intelligent mobile terminal achieves the adjusted position, adjusted velocity, adjusted pitch angle, and adjusted pitch angle's angular acceleration. This allows the intelligent mobile terminal to maintain balance during uphill and downhill driving, improving its stability.

[0044] Optionally, the balance of the intelligent mobile terminal on the ground of the two wheels is dynamically adjusted according to real-time inertial navigation parameters, including:

[0045] If the first two wheels of the intelligent mobile terminal are in contact with the ground, then when the intelligent mobile terminal is traveling uphill, the servo motor of the intelligent mobile terminal is controlled to rotate counterclockwise, and the balance of the intelligent mobile terminal is dynamically adjusted when the first two wheels are in contact with the ground according to the real-time inertial navigation parameters.

[0046] When the intelligent mobile terminal is traveling downhill, the servo motor of the intelligent mobile terminal is controlled to rotate clockwise, and the balance of the intelligent mobile terminal is dynamically adjusted when the first two wheels touch the ground based on real-time inertial navigation parameters.

[0047] In this embodiment, based on real-time inertial navigation parameters, namely real-time position parameters, real-time velocity parameters, real-time pitch angle parameters, and the angular acceleration parameters of the real-time pitch angle, the balance of the intelligent mobile terminal is dynamically adjusted when both wheels are on the ground. Different adjustment strategies apply to wheels on different ends of the ground, and even for wheels on the same end, the adjustment strategies differ depending on whether the terminal is going uphill or downhill. If the intelligent mobile terminal is controlled to have its first two wheels on the ground, then when the intelligent mobile terminal is traveling uphill, the servo motors of the intelligent mobile terminal are controlled to rotate counterclockwise. The balance of the intelligent mobile terminal when its first two wheels are on the ground is dynamically adjusted based on the real-time inertial navigation parameters. Each foot has two servo motors: one servo motor controls the first two wheels on the ground, and the other servo motor controls the height of the device. To maintain the balance of the intelligent mobile terminal, the rotation angles of the servo motors on both feet are the same.

[0048] It should be noted that when the smart mobile terminal is driving uphill, the servo motors controlling the smart mobile terminal rotate counterclockwise. One servo motor rotates counterclockwise to raise the height of the two rear wheels so that the two rear wheels do not touch the ground, and the other servo motor rotates counterclockwise to increase the height of the machine body, thereby increasing the distance between the chassis coverage area of ​​the smart mobile terminal and the slope, preventing the chassis from getting stuck on the slope.

[0049] When the intelligent mobile terminal is traveling downhill, based on real-time inertial navigation parameters—namely, real-time position, real-time speed, real-time pitch angle, and the angular acceleration of the pitch angle—the servo motors of the intelligent mobile terminal are controlled to rotate clockwise, dynamically adjusting the terminal's balance when the first two wheels are on the ground. As the servo motors rotate clockwise, one motor controls the first two wheels to contact the ground, while the other lowers the terminal's height. To maintain balance, the rotation angles of the servo motors on both feet are the same.

[0050] It should be noted that when the smart mobile terminal is traveling downhill, the servo motors controlling the smart mobile terminal rotate clockwise. One servo motor rotates counterclockwise to raise the height of the two rear wheels so that the two rear wheels do not touch the ground, while the other servo motor rotates clockwise to lower the height of the machine, lower the center of gravity of the machine, and improve the stability of the smart mobile terminal.

[0051] Optionally, dynamically adjusting the balance of the intelligent mobile terminal on the ground between the two wheels based on real-time inertial navigation parameters also includes:

[0052] If the last two wheels of the smart mobile terminal are on the ground, the height difference between the two sides of the smart mobile terminal is obtained.

[0053] Based on the height difference, the servo motor on one foot side of the smart mobile terminal is controlled to rotate counterclockwise, and the servo motor on the other foot side is controlled to rotate clockwise, so that the height of the corresponding foot side after the servo motor rotates clockwise is equal to the height of the corresponding foot side after the servo motor rotates counterclockwise.

[0054] After the height of the corresponding foot side is equal to the height of the corresponding foot side when the servo motor rotates clockwise, the balance of the smart mobile terminal on the ground is dynamically adjusted according to the real-time inertial navigation parameters.

[0055] In this embodiment, the balance of the intelligent mobile terminal when both wheels are on the ground is dynamically adjusted based on real-time inertial navigation parameters, namely real-time position parameters, real-time velocity parameters, real-time pitch angle parameters, and real-time pitch angle angular acceleration parameters. Since the width of the slope is no greater than that of the intelligent mobile terminal, the four wheels of the intelligent mobile terminal cannot travel on the slope simultaneously. When the intelligent mobile terminal travels uphill on one side, only one wheel on the slope is on the slope, while the other wheel is not. The wheels on the two sides form a corresponding height difference. Therefore, if the rear two wheels of the intelligent mobile terminal are controlled to be on the ground, the height difference between the two sides of the intelligent mobile terminal is obtained. By adjusting the rotation angle of the servo motor, the corresponding height difference is eliminated, allowing the intelligent mobile terminal to travel smoothly.

[0056] Based on the height difference, the servo motor on one side of the smart mobile terminal rotates counterclockwise, while the servo motor on the other side rotates clockwise. This ensures that the sum of the height of the side corresponding to the clockwise rotation of the servo motor and the height difference equals the height of the side corresponding to the counterclockwise rotation of the servo motor. Specifically, the height of the wheel on the side of the slope is greater than that of the wheel on the side not on the slope, creating a corresponding height difference. The servo motor on the wheel on the slope rotates clockwise, lowering the height of that side of the device, while the servo motor on the wheel not on the slope rotates counterclockwise, raising the height of that side of the device. This ensures that the height of the side corresponding to the clockwise rotation of the servo motor is equal to the height of the side corresponding to the counterclockwise rotation of the servo motor. After the height of the side corresponding to the clockwise rotation of the servo motor is equal to that of the side corresponding to the counterclockwise rotation of the servo motor, the balance of the smart mobile terminal on the two-wheel landing surface is dynamically adjusted based on real-time inertial navigation parameters. The LQR algorithm is used for this dynamic balance adjustment. The LQR algorithm takes real-time inertial navigation parameters as input and outputs the changes in these parameters.

[0057] In this embodiment, based on the height difference, the servo motor on one foot side of the smart mobile terminal is controlled to rotate counterclockwise, and the servo motor on the other foot side is controlled to rotate clockwise, so that the height of the foot side corresponding to the clockwise rotation of the servo motor is equal to the height of the foot side corresponding to the counterclockwise rotation of the servo motor, in order to increase the stability of the smart mobile terminal.

[0058] When the intelligent mobile terminal is traveling uphill or downhill, the system controls the front two wheels or rear two wheels of the intelligent mobile terminal to touch the ground, and collects the real-time inertial navigation parameters of the intelligent mobile terminal in real time. Based on the real-time inertial navigation parameters, the system dynamically adjusts the balance of the intelligent mobile terminal on the ground where both wheels are in contact. In this application, when the intelligent mobile terminal is traveling uphill or downhill, the system dynamically adjusts the balance of the intelligent mobile terminal on the ground where both wheels are in contact with the ground based on the real-time inertial navigation parameters, increasing the distance between the chassis and the slope surface, preventing the slope surface from getting stuck on the chassis, and increasing the stability of the intelligent mobile terminal.

[0059] See Figure 2 This is a structural diagram of a control system 20 for an intelligent mobile terminal provided in Embodiment 2 of the present invention. Figure 2 As shown, the control system of the intelligent mobile terminal includes a controller 21, a driving module 22, and a balance module 23. The controller 21 is connected to the driving module 22 and the balance module 23. The driving module 22 is used to drive the wheels 24 of the intelligent mobile terminal according to the instructions of the controller 21. The balance module 23 is used to collect the inertial navigation parameters of the intelligent mobile terminal and send them to the controller 21, and adjust the balance of the intelligent mobile terminal on the ground with both wheels in contact with the ground according to the instructions of the controller 21. The controller 21 is used to execute the control method of the intelligent mobile terminal in the first embodiment above.

[0060] See Figure 2 The balancing module 23 includes an inertial navigation sensor 235, which is used to collect real-time inertial navigation parameters of the smart mobile terminal. These real-time inertial navigation parameters include real-time position parameters, real-time velocity parameters, real-time pitch angle parameters, and angular acceleration parameters of the real-time pitch angle.

[0061] See Figure 2 The balancing module 23 includes a first servo motor 231 mounted on a chassis link 25 between the left front and rear wheels and a second servo motor 232 mounted on a chassis link 25 between the right front and rear wheels. The first servo motor 231 and the second servo motor 232 are respectively fixedly mounted on a support link 27 connecting to the chassis 28. The first and second servo motors are used to control the angle between the chassis 28 and the chassis link 25 according to instructions from the controller 21. The first servo motor 231 and the second servo motor 232 are positioned at the midpoint of the chassis link 25.

[0062] The balancing module 23 also includes a third servo motor 233 and a fourth servo motor 234 mounted on the body 28. The third servo motor 233 is connected to the support link 27 on the first servo motor 231 via an adjustable link 26, and the fourth servo motor 234 is connected to the support link 27 on the second servo motor 232 via an adjustable link 26. The third servo motor 233 and the fourth servo motor 234 are used to control the height between the body 28 and the chassis link 25 according to the instructions of the controller 21.

[0063] It should be noted that the controller 21 is used to control the front two wheels or the rear two wheels of the intelligent mobile terminal to touch the ground when the intelligent mobile terminal is traveling uphill or downhill, and to control the inertial navigation sensor 235 to collect the real-time inertial navigation parameters of the intelligent mobile terminal. Based on the real-time inertial navigation parameters, the controller dynamically adjusts the balance of the intelligent mobile terminal when the two wheels are on the ground.

[0064] Among them, controlling the first two or last two wheels of the smart mobile terminal to touch the ground includes:

[0065] The width of the slope is compared with the width of the smart mobile terminal. If the width of the slope is greater than the width of the smart mobile terminal, the first two wheels of the smart mobile terminal are controlled to touch the ground.

[0066] If the width of the slope is not greater than the width of the smart mobile terminal, then control the rear two wheels of the smart mobile terminal to touch the ground.

[0067] Based on real-time inertial navigation parameters, the balance of the intelligent mobile terminal is dynamically adjusted on both sides of the ground, including:

[0068] If the first two wheels of the smart mobile terminal are in contact with the ground, then when the smart mobile terminal is traveling uphill, the servo motor of the smart mobile terminal is controlled to rotate counterclockwise, and the balance of the smart mobile terminal is dynamically adjusted when the first two wheels are in contact with the ground based on real-time inertial navigation parameters.

[0069] See Figure 3 This is a schematic diagram of an intelligent mobile terminal driving uphill according to Embodiment 3 of the present invention. When going uphill, the first two wheels are on the ground, and the first servo motor 231 and the second servo motor 232 are controlled to rotate counterclockwise to raise the height of the rear two wheels. The included angle between the chassis connecting rod 25 and the support connecting rod 27 is 60 degrees.

[0070] When the intelligent mobile terminal is driving uphill, the first servo motor 231 and the second servo motor 232 of the intelligent mobile terminal are controlled to rotate counterclockwise, wherein the rotation angle of the first servo motor 231 and the second servo motor 232 is the same.

[0071] It should be noted that when the intelligent mobile terminal is driving uphill, the first servo motor 231 and the second servo motor 232 of the intelligent mobile terminal are controlled to rotate counterclockwise. The counterclockwise rotation of the first servo motor 231 can raise the height of the two rear wheels so that the two rear wheels do not touch the ground. The counterclockwise rotation of the second servo motor 232 increases the height of the body 28, thereby increasing the distance between the chassis coverage area of ​​the intelligent mobile terminal and the slope, preventing the chassis from getting stuck on the slope.

[0072] When the intelligent mobile terminal is traveling downhill, the servo motor of the intelligent mobile terminal is controlled to rotate clockwise, and the balance of the intelligent mobile terminal is dynamically adjusted when the first two wheels touch the ground based on real-time inertial navigation parameters.

[0073] See Figure 4 This is a schematic diagram of a smart mobile terminal driving downhill according to Embodiment 4 of the present invention. When going downhill, the first two wheels are on the ground, and the first servo motor 231 and the second servo motor 232 are controlled to rotate counterclockwise to raise the height of the rear two wheels. The included angle between the chassis connecting rod 25 and the support connecting rod 27 is 60 degrees.

[0074] When the intelligent mobile terminal is traveling downhill, the first servo motor 231 and the second servo motor 232 of the intelligent mobile terminal are controlled to rotate counterclockwise, wherein the rotation angle of the first servo motor 231 and the second servo motor 232 is the same.

[0075] See Figure 5 This is a schematic diagram of a smart mobile terminal with its rear two wheels on the ground, provided in Embodiment 5 of the present invention. If the rear two wheels of the smart mobile terminal are controlled to be on the ground, the height difference between the two sides of the smart mobile terminal is obtained. Based on the height difference, the servo motor on one foot side of the smart mobile terminal is controlled to rotate counterclockwise, and the servo motor on the other foot side is controlled to rotate clockwise, so that the height of the foot side corresponding to the clockwise rotation of the servo motor is equal to the height of the foot side corresponding to the counterclockwise rotation of the servo motor.

[0076] In this design, the height of the wheel 24 on the slope side is greater than the height of the wheel 24 on the non-slope side, creating a corresponding height difference. The servo motor on the wheel 24 on the slope side rotates clockwise, lowering the height of the corresponding side of the body 28, while the servo motor on the wheel 24 on the non-slope side rotates counter-clockwise, raising the height of the corresponding side of the body 28. This ensures that the height of the corresponding side after clockwise rotation is equal to the height after counter-clockwise rotation. After the height of the corresponding side after clockwise rotation is equal to the height after counter-clockwise rotation, the balance of the intelligent mobile terminal on the ground is dynamically adjusted based on real-time inertial navigation parameters.

[0077] See Figure 6This invention provides a smart mobile terminal 60 according to Embodiment Six. The smart mobile terminal 60 includes the aforementioned smart mobile terminal control system 20. The smart mobile terminal control system 20 includes a controller 21, a driving module 22, and a balance module 23. The controller 21 is connected to the driving module 22 and the balance module 23. The driving module 22 is used to drive the wheels 24 of the smart mobile terminal according to the instructions of the controller. The balance module 23 is used to collect the inertial navigation parameters of the smart mobile terminal and send them to the controller 21, and adjust the balance of the smart mobile terminal on the ground with both wheels in contact with the ground according to the instructions of the controller 21. The controller 21 is used to execute the smart mobile terminal control method in Embodiment One.

[0078] The balancing module 23 includes an inertial navigation sensor 235, which is used to collect real-time inertial navigation parameters of the smart mobile terminal. These real-time inertial navigation parameters include real-time position parameters, real-time velocity parameters, real-time pitch angle parameters, and angular acceleration parameters of the real-time pitch angle.

[0079] The balancing module 23 includes a first servo motor 231 mounted on the chassis link 25 between the left front and rear wheels and a second servo motor 232 mounted on the chassis link 25 between the right front and rear wheels. The first servo motor 231 and the second servo motor 232 are respectively fixedly mounted on the support link 27 and connected to the chassis 28. The first and second servo motors are used to control the angle between the chassis 28 and the chassis link 25 according to the instructions of the controller 21. The first servo motor 231 and the second servo motor 232 are positioned at the midpoint of the chassis link 25.

[0080] The balancing module 23 also includes a third servo motor 233 and a fourth servo motor 234 mounted on the body 28. The third servo motor 233 is connected to the support link 27 on the first servo motor 231 via an adjustable link 26, and the fourth servo motor 234 is connected to the support link 27 on the second servo motor 232 via an adjustable link 26. The third servo motor 233 and the fourth servo motor 234 are used to control the height between the body 28 and the chassis link 25 according to the instructions of the controller 21.

Claims

1. A control method for an intelligent mobile terminal, characterized in that, include: When the intelligent mobile terminal is traveling uphill or downhill, control the front two wheels or the rear two wheels of the intelligent mobile terminal to touch the ground, and collect the real-time inertial navigation parameters of the intelligent mobile terminal in real time. The balance of the intelligent mobile terminal on the ground is dynamically adjusted based on the real-time inertial navigation parameters. The step of dynamically adjusting the balance of the intelligent mobile terminal on the ground between the two wheels based on the real-time inertial navigation parameters further includes: If the last two wheels of the intelligent mobile terminal are controlled to touch the ground, the height difference between the two sides of the intelligent mobile terminal is obtained. Based on the height difference, the servo motor on one foot side of the smart mobile terminal is controlled to rotate counterclockwise, and the servo motor on the other foot side is controlled to rotate clockwise, so that the height of the foot side after the servo motor rotates clockwise is equal to the height of the foot side after the servo motor rotates counterclockwise. After the height of the foot side corresponding to the clockwise rotation of the servo motor is equal to the height of the foot side corresponding to the counterclockwise rotation of the servo motor, the balance of the intelligent mobile terminal on the ground is dynamically adjusted according to the real-time inertial navigation parameters.

2. The control method as described in claim 1, characterized in that, The real-time inertial navigation parameters include real-time position parameters, real-time velocity parameters, real-time pitch angle parameters, and angular acceleration parameters of the real-time pitch angle.

3. The control method as described in claim 1, characterized in that, Controlling the first two or last two wheels of the smart mobile terminal to touch the ground includes: The width of the slope is compared with the width of the smart mobile terminal. If the width of the slope is greater than the width of the smart mobile terminal, the first two wheels of the smart mobile terminal are controlled to touch the ground. If the width of the slope is not greater than the width of the smart mobile terminal, then control the rear two wheels of the smart mobile terminal to touch the ground.

4. The control method as described in claim 3, characterized in that, The step of dynamically adjusting the balance of the intelligent mobile terminal on the ground between the two wheels based on the real-time inertial navigation parameters includes: If the first two wheels of the intelligent mobile terminal are in contact with the ground, then when the intelligent mobile terminal is traveling uphill, the servo motor of the intelligent mobile terminal is controlled to rotate counterclockwise, and the balance of the intelligent mobile terminal is dynamically adjusted when the first two wheels are in contact with the ground according to the real-time inertial navigation parameters. When the intelligent mobile terminal is traveling downhill, the servo motor of the intelligent mobile terminal is controlled to rotate clockwise, and the balance of the intelligent mobile terminal is dynamically adjusted on the ground after the first two wheels touch down, based on the real-time inertial navigation parameters.

5. A control system for an intelligent mobile terminal, characterized in that, The device includes a controller, a driving module, and a balance module. The controller connects the driving module and the balance module. The driving module drives the wheels of the smart mobile terminal according to the instructions of the controller. The balance module collects the inertial navigation parameters of the smart mobile terminal and sends them to the controller. It also adjusts the balance of the smart mobile terminal when both wheels are in contact with the ground according to the instructions of the controller. The controller is used to execute the control method according to any one of claims 1-4.

6. The control system as described in claim 5, characterized in that, The balancing module includes an inertial navigation sensor, which is used to collect real-time inertial navigation parameters of the smart mobile terminal.

7. The control system as described in claim 5, characterized in that, The balancing module includes a first servo motor mounted on the chassis link between the left front and rear wheels and a second servo motor mounted on the chassis link between the right front and rear wheels. The first servo motor and the second servo motor are respectively fixedly mounted on support links connected to the machine body. The first servo motor and the second servo motor are used to control the angle between the machine body and the chassis link according to the instructions of the controller.

8. The control system as described in claim 7, characterized in that, The balancing module also includes a third servo motor and a fourth servo motor mounted on the body. The third servo motor is connected to a support link on the first servo motor via an adjustable link, and the fourth servo motor is connected to a support link on the second servo motor via an adjustable link. The third and fourth servo motors are used to control the height between the body and the chassis link according to the instructions of the controller.

9. A smart mobile terminal, characterized in that, The intelligent mobile terminal includes the control system described in any one of claims 5-8.

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