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

Abstract

The present application relates to the technical field of dynamic balance control of intelligent mobile terminal, and particularly relates to a control method and system of intelligent mobile terminal and the intelligent mobile terminal. In the driving process of the intelligent mobile terminal, real-time pose parameters of the intelligent mobile terminal are acquired, the real-time pose parameters are taken as the input of PID control, the contact point between the intelligent mobile terminal and the ground is taken as the zero moment point, the pose increment of the real-time pose parameters is calculated, the pose of the intelligent mobile terminal is dynamically adjusted according to the pose increment, and the intelligent mobile terminal is controlled to be in a balanced state in the driving process. In the present application, the pose parameters of the intelligent mobile terminal are taken as the adjustment target in the driving process of the intelligent mobile terminal, the pose parameters of the intelligent mobile terminal are dynamically adjusted, the intelligent mobile terminal is adapted to the complex road environment, and the balanced pose is kept to stably drive on the road.

Description

Technical Field

[0001] This invention relates to the field of dynamic balance control technology for intelligent mobile terminals, and in particular to a control method, control system, and intelligent mobile terminal for intelligent mobile terminals. Background Technology

[0002] In specialized fields such as disaster relief and medical care, where direct human intervention is difficult and assistance from intelligent mobile terminals is essential, these terminals serve as fundamental transportation tools. Their superior performance is crucial for completing relevant rescue and support tasks. Taking disaster relief as an example, the urgency of the situation demands high mobility and strong stability from the intelligent mobile terminal's platform. In disaster relief scenarios with flat roads and good traffic conditions, a four-wheeled chassis structure can better ensure the timeliness of the intelligent mobile terminal under high loads. When there are many obstacles and poor traffic conditions, a two-wheeled structure is more flexible. However, regardless of the chassis drive mechanism structure, the balance and stability of the platform on which the intelligent mobile terminal is mounted are essential prerequisites for completing the relevant tasks.

[0003] Although there is a wide variety of smart mobile terminals available today, and their applications are extensive, all types of smart mobile terminals are affected by road bumps when traveling on the road, making it difficult for their onboard equipment to work in an ideal environment, which in turn affects their operational results.

[0004] Therefore, how to keep the smart mobile terminal in balance at all times during operation has become an urgent problem to be solved. Summary of the Invention

[0005] 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 that the intelligent mobile terminal cannot maintain balance at all times during operation.

[0006] The first aspect of this application provides a control method for a smart mobile terminal, including:

[0007] During the operation of the intelligent mobile terminal, the real-time pose parameters of the intelligent mobile terminal are acquired in real time.

[0008] Using the real-time pose parameters as input to PID control, and taking the contact point between the intelligent mobile terminal and the ground as the zero torque point as the target, the pose increment of the real-time pose parameters is calculated.

[0009] The pose of the intelligent mobile terminal is dynamically adjusted based on the pose increment, thereby controlling the intelligent mobile terminal to maintain a balanced state during driving.

[0010] A second aspect of this application provides a control system for a smart mobile terminal, comprising: a controller and a balance module, wherein the controller is connected to the balance module, the balance module is used to collect real-time pose parameters of the smart mobile terminal and send them to the controller, and adjust the balance of the smart mobile terminal according to the instructions of the controller, and the controller is used to execute the control method for the smart mobile terminal described in the first aspect.

[0011] 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 in the second aspect.

[0012] The advantages of this invention compared to the prior art are:

[0013] During operation, the intelligent mobile terminal acquires its real-time pose parameters. These parameters are used as input for PID control, with the contact point between the terminal and the ground as the zero-torque point. The pose increment of the real-time pose parameters is calculated, and the terminal's pose is dynamically adjusted based on this increment to maintain balance during operation. In this application, the intelligent mobile terminal's pose parameters are used as the adjustment target during operation. By dynamically adjusting these parameters, the terminal adapts to complex road conditions and maintains a balanced posture for stable operation. Attached Figure Description

[0014] 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.

[0015] Figure 1 This is a flowchart illustrating a control method for an intelligent mobile terminal provided in Embodiment 1 of the present invention;

[0016] Figure 2 This is a flowchart illustrating a control method for an intelligent mobile terminal provided in Embodiment 2 of the present invention;

[0017] Figure 3 This is a structural block diagram of a control system for an intelligent mobile terminal provided in Embodiment 3 of the present invention;

[0018] Figure 4 This is a schematic diagram of the structure of the balancing module provided in Embodiment 4 of the present invention;

[0019] Figure 5This is a schematic diagram showing the distribution of inertial navigation sensors in the body of a balance module according to Embodiment 5 of the present invention;

[0020] Figure 6 This is a schematic diagram of a four-wheeled bipedal intelligent mobile terminal provided in Embodiment Six of the present invention, which uses four wheels to travel on flat or sloping roads;

[0021] Figure 7 This is a schematic diagram of a four-wheeled bipedal intelligent mobile terminal provided in Embodiment 7 of the present invention, which uses two wheels to travel on a flat or sloping road surface;

[0022] Figure 8 This is a structural block diagram of a smart mobile terminal provided in Embodiment 8 of the present invention. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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]."

[0027] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] 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.

[0029] 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.

[0030] To illustrate the technical solution of the present invention, specific embodiments are described below.

[0031] 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.

[0032] S101: During the operation of the intelligent mobile terminal, the real-time pose parameters of the intelligent mobile terminal are acquired.

[0033] In step S101, during the driving process of the intelligent mobile terminal, the real-time pose parameters of the intelligent mobile terminal are acquired in real time. The intelligent mobile terminal may be a four-wheeled bipedal intelligent mobile terminal. The real-time pose parameters include the position of the intelligent mobile terminal in the axial direction, the position in the radial direction, and the position in the tangential direction.

[0034] In this embodiment, the intelligent mobile terminal is a four-wheeled bipedal intelligent mobile terminal. When the intelligent mobile terminal is driving on an unknown road environment, its real-time pose parameters are acquired in real time. The real-time pose parameters of the intelligent mobile terminal can be acquired by an inertial navigation sensor installed on the intelligent mobile terminal.

[0035] It should be noted that when acquiring the real-time pose parameters of a smart mobile terminal, one or multiple inertial navigation sensors can be used. When multiple inertial navigation sensors are used, the acquired real-time pose parameters are the average of the real-time pose parameters acquired by the multiple inertial navigation sensors. For example, if three inertial navigation sensors are set on the smart mobile terminal, the average of the real-time pose parameters collected by the three inertial navigation sensors will be obtained.

[0036] In this embodiment, the real-time pose parameters of the smart mobile terminal are acquired in real time, so as to adjust the pose of the smart mobile terminal in real time according to the real-time pose parameters, so that the smart mobile terminal is always in a stable state.

[0037] S102: Using real-time pose parameters as input for PID control and the contact point between the intelligent mobile terminal and the ground as the zero torque point as the target, calculate the pose increment of the real-time pose parameters.

[0038] In step S102, the real-time pose parameters are used as inputs for PID control. The contact point between the smart mobile terminal and the ground is taken as the zero torque point, that is, the horizontal force balance at the contact point between the smart mobile terminal and the ground is taken as the target. The pose increment of the real-time pose parameters is calculated. The pose increment of the real-time pose parameters includes the increment in the axial direction, the increment in the radial direction and the increment in the tangential direction.

[0039] In this embodiment, the real-time pose parameters are used as the input to the PID control, and the contact point between the smart mobile terminal and the ground is taken as the zero-torque point as the target. The pose increment of the real-time pose parameters is calculated. The pose increment represents the offset in each direction when the smart mobile terminal deviates from its equilibrium state. For example, if the real-time pose parameters cause the contact point between the smart mobile terminal and the ground to not be at zero torque, then the offset required in each direction—namely, the axial offset, radial offset, and tangential offset—is calculated based on the real-time pose parameters to achieve a zero-torque contact point between the smart mobile terminal and the ground.

[0040] It should be noted that the number of contact points between the smart mobile terminal and the ground varies depending on the type of smart mobile terminal. For example, when the smart mobile terminal is a two-wheeled vehicle, there are two contact points with the ground; when it is a four-wheeled vehicle, there are four contact points with the ground. The goal is to ensure that each contact point between the smart mobile terminal and the ground is a zero-torque point.

[0041] It should be noted that when calculating the pose increment of the real-time pose parameters, the pose increment can be zero. That is, the real-time pose parameters of the smart mobile terminal at the current moment can make the contact point between the smart mobile terminal and the ground a zero torque point. In other words, the real-time pose parameters at the current moment are the pose parameters of the smart mobile terminal when it is in a balanced state, and the smart mobile terminal does not need to be adjusted.

[0042] In this embodiment, real-time pose parameters are used as the input for PID control, and the contact point between the intelligent mobile terminal and the ground is taken as the zero torque point. This is so that when the real-time pose parameters are adjusted using the corresponding pose increment, the contact point between the intelligent mobile terminal and the ground can be made to be at the zero torque point when the intelligent mobile terminal is controlled using the adjusted pose parameters, thereby enabling the intelligent mobile terminal to drive smoothly.

[0043] S103: Dynamically adjust the pose of the intelligent mobile terminal based on the pose increment to control the intelligent mobile terminal to maintain a balanced state during driving.

[0044] In step S103, the pose of the intelligent mobile terminal is dynamically adjusted according to the pose increment to control the intelligent mobile terminal to be in a balanced state during driving. The dynamic adjustment of the pose of the intelligent mobile terminal means that the pose of the intelligent mobile terminal is continuously changed during the driving process so that the intelligent mobile terminal can always be in a balanced state.

[0045] In this embodiment, the pose of the smart mobile terminal is dynamically adjusted according to the pose increment, so that the smart mobile terminal changes from an unbalanced state to a balanced state. In this case, the rotation angle of the corresponding motor on the smart mobile terminal can be adjusted. Different rotation angles are used to change the pose of the smart mobile terminal, so that the changed pose is the corresponding pose increment.

[0046] In this embodiment, the pose of the intelligent mobile terminal is dynamically adjusted according to the pose increment, so that when the intelligent mobile terminal travels based on the adjusted new pose parameters, the contact point between the intelligent mobile terminal and the ground is a zero torque point, thereby reaching a balanced state. This ensures that the intelligent mobile terminal can quickly adapt to the road environment in the case of unknown road surface conditions, and allows the intelligent mobile terminal to travel stably on the road surface in a balanced state.

[0047] Optionally, the pose of the smart mobile terminal is dynamically adjusted based on the pose increment, including:

[0048] Based on the pose increment, the driver is controlled to rotate the corresponding joint motor, so that the change in pose of the smart mobile terminal after the joint motor rotates is equal to the pose increment.

[0049] In this embodiment, based on the pose increment, the driver is controlled to drive the corresponding joint motor to rotate, so that the change in pose of the smart mobile terminal after the joint motor rotation is equal to the pose increment. That is, after the driver drives the corresponding joint motor to rotate, the adjusted real-time pose parameters of the smart mobile terminal are re-acquired. The adjusted real-time pose parameters of the smart mobile terminal are compared with the real-time pose parameters acquired at the current moment, and the pose difference between the adjusted real-time pose parameters and the real-time pose parameters acquired at the current moment is calculated. If the pose difference is equal to the pose increment, the adjustment stops. If the pose difference is not equal to the pose increment, the driver continues to drive the corresponding joint motor to rotate until the pose difference between the adjusted real-time pose parameters and the real-time pose parameters acquired at the current moment is equal to the pose increment. That is, the axial direction increment in the adjusted real-time pose parameters is equal to the axial direction increment in the pose increment, the radial direction increment in the adjusted real-time pose parameters is equal to the radial direction increment in the pose increment, and the tangential direction increment in the adjusted real-time pose parameters is equal to the tangential direction increment in the pose increment.

[0050] During operation, the intelligent mobile terminal acquires its real-time pose parameters. These parameters are used as input for PID control, with the contact point between the terminal and the ground as the zero-torque point. The pose increment of the real-time pose parameters is calculated, and the terminal's pose is dynamically adjusted based on this increment to maintain balance during operation. In this application, the intelligent mobile terminal's pose parameters are used as the adjustment target during operation. By dynamically adjusting these parameters, the terminal adapts to complex road conditions and maintains a balanced posture for stable operation.

[0051] See Figure 2 This is a flowchart illustrating a control method for a smart mobile terminal provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, the control method for this smart mobile terminal may include the following steps.

[0052] S201: When the intelligent mobile terminal is driving on a flat road or a sloping road, it acquires the real-time pose parameters of the intelligent mobile terminal and the real-time distance parameters between the intelligent mobile terminal and the flat road or sloping road.

[0053] In step S201, when the intelligent mobile terminal is traveling on a flat or sloping road surface, its real-time pose parameters and the real-time distance parameters between the intelligent mobile terminal and the flat or sloping road surface are acquired in real time. The intelligent mobile terminal can be a four-wheeled, bipedal intelligent mobile terminal. The real-time pose parameters include the intelligent mobile terminal's position in the axial direction, radial direction, and tangential direction. The real-time distance parameters between the intelligent mobile terminal and the flat or sloping road surface refer to the real-time distance between the intelligent mobile terminal's body and the flat or sloping road surface.

[0054] In this embodiment, the intelligent mobile terminal is a four-wheeled bipedal intelligent mobile terminal. When the intelligent mobile terminal is driving on a flat road or a sloping road, it acquires the real-time pose parameters of the intelligent mobile terminal and the real-time distance parameters between the intelligent mobile terminal and the flat road or sloping road in real time. Specifically, the real-time pose parameters of the intelligent mobile terminal can be acquired by an inertial navigation sensor installed on the intelligent mobile terminal, and the real-time distance parameters between the intelligent mobile terminal and the flat road or sloping road can be acquired by a distance sensor installed on the intelligent mobile terminal.

[0055] It should be noted that when acquiring the real-time pose parameters of a smart mobile terminal, one or multiple inertial navigation sensors can be used. When multiple inertial navigation sensors are used, the acquired real-time pose parameters are the average of the real-time pose parameters acquired by the multiple inertial navigation sensors. For example, if three inertial navigation sensors are set on the smart mobile terminal, the average of the real-time pose parameters collected by the three inertial navigation sensors will be obtained.

[0056] It should be noted that when obtaining real-time distance parameters between the smart mobile terminal and a flat or sloping road surface, the distance sensor can be placed at the bottom of the device to collect the distance between the bottom of the device and the flat or sloping road surface.

[0057] In this embodiment, the real-time pose parameters of the intelligent mobile terminal and the real-time distance parameters between the intelligent mobile terminal and the flat or sloping road surface are acquired in real time. This allows for real-time adjustment of the intelligent mobile terminal's pose based on the real-time pose parameters, ensuring the intelligent mobile terminal remains in a stable state at all times. Adjusting the distance between the intelligent mobile terminal and the flat or sloping road surface in real time, based on the real-time distance parameters, maintains a constant distance, increasing the stability of the intelligent mobile terminal's chassis and further contributing to its stability.

[0058] S202: Using real-time pose parameters and real-time distance parameters as inputs for PID control, with the contact point between the intelligent mobile terminal and the ground as the zero torque point, and the distance between the intelligent mobile terminal and the flat or sloping road surface remaining constant as the objective, calculate the pose increment of the real-time pose parameters and the distance increment between the intelligent mobile terminal and the flat or sloping road surface.

[0059] In step S202, the real-time pose parameters and real-time distance parameters are used as inputs for PID control. The contact point between the intelligent mobile terminal and the ground is the zero torque point, and the distance between the intelligent mobile terminal and the flat or sloping road surface remains unchanged is the target. The pose increment of the real-time pose parameters includes the increment in the axial direction, the increment in the radial direction, and the increment in the tangential direction. The distance increment between the intelligent mobile terminal and the flat or sloping road surface is the change in the vertical direction of the intelligent mobile terminal.

[0060] In this embodiment, real-time pose parameters and real-time distance parameters are used as inputs for PID control. The objectives are to maintain the zero-torque point between the smart mobile terminal and the ground, and to keep the distance between the smart mobile terminal and the flat or sloping road surface constant. The pose increment of the real-time pose parameters and the distance increment between the smart mobile terminal and the flat or sloping road surface are calculated. The pose increment represents the offset in each direction when the smart mobile terminal deviates from a horizontal state. For example, if the real-time pose parameters cause the contact point between the smart mobile terminal and the ground to not be at zero torque, the offset required in each direction—namely, the axial, radial, and tangential offsets—is calculated to achieve a zero-torque contact point between the smart mobile terminal and the ground, based on the real-time pose parameters. The distance increment represents the offset of the smart mobile terminal's center of gravity.

[0061] It should be noted that the number of contact points between the smart mobile terminal and the ground varies depending on the type of smart mobile terminal. For example, when the smart mobile terminal is a two-wheeled vehicle, there are two contact points with the ground; when it is a four-wheeled vehicle, there are four contact points with the ground. The goal is to ensure that each contact point between the smart mobile terminal and the ground is a zero-torque point.

[0062] It should be noted that when calculating the pose increment of the real-time pose parameters, the pose increment can be zero. This means that the real-time pose parameters of the intelligent mobile terminal at the current moment allow the contact point between the intelligent mobile terminal and the ground to be a zero-torque point. In other words, the real-time pose parameters at the current moment are the pose parameters when the intelligent mobile terminal is in a balanced state, and the intelligent mobile terminal does not need to be adjusted. When calculating the distance increment, the distance increment can be zero. This means that the distance parameters of the intelligent mobile terminal have not changed, and it is not necessary to adjust the distance between the intelligent mobile terminal and the road surface or slope.

[0063] In this embodiment, real-time pose parameters are used as the input for PID control, and the contact point between the intelligent mobile terminal and the ground is set as the zero-torque point. This ensures that when adjusting the real-time pose parameters using corresponding pose increments, the contact point between the intelligent mobile terminal and the ground remains at zero torque when controlled using the adjusted pose parameters, thus enabling the intelligent mobile terminal to travel smoothly. Similarly, real-time distance parameters are used as the input for PID control, with the goal of maintaining a constant distance between the intelligent mobile terminal and a flat or sloping road surface. This ensures that when adjusting the real-time distance parameters using corresponding distance increments, the distance between the intelligent mobile terminal and the road surface or sloping surface remains constant when controlled using the adjusted distance parameters, increasing the stability of the intelligent mobile terminal during travel on flat or sloping roads.

[0064] S203: Based on the pose increment and distance increment, dynamically adjust the pose of the intelligent mobile terminal and the distance between the intelligent mobile terminal and the flat or sloping road surface, and control the intelligent mobile terminal to maintain a balanced state when driving on the flat or sloping road surface.

[0065] In step S203, the pose of the intelligent mobile terminal and the distance between the intelligent mobile terminal and the flat or sloping road surface are dynamically adjusted according to the pose increment and distance increment, so as to control the intelligent mobile terminal to be in a balanced state during driving. Specifically, dynamically adjusting the pose of the intelligent mobile terminal and the distance between the intelligent mobile terminal and the flat or sloping road surface means that during the driving process, the pose of the intelligent mobile terminal and the distance between the intelligent mobile terminal and the flat or sloping road surface are continuously changed so that the intelligent mobile terminal can always be in a balanced state.

[0066] In this embodiment, the pose of the smart mobile terminal is dynamically adjusted based on the pose increment and distance increment. Specifically, the rotation angle of the corresponding motor on the smart mobile terminal can be adjusted. By using different rotation angles, the pose of the smart mobile terminal and the distance between the smart mobile terminal and the flat or sloping road surface are changed, so that the changed pose is the corresponding pose increment, and the distance between the changed smart mobile terminal and the flat or sloping road surface is the original distance between the smart mobile terminal and the flat or sloping road surface.

[0067] In this embodiment, the pose of the intelligent mobile terminal is dynamically adjusted according to the pose increment, so that when the intelligent mobile terminal is driving based on the adjusted new pose parameters, the contact point between the intelligent mobile terminal and the ground is a zero torque point, thereby reaching a state of equilibrium. According to the distance increment, the distance between the intelligent mobile terminal and the flat road surface or the sloping road surface is dynamically adjusted so that the distance between the intelligent mobile terminal and the flat road surface or the sloping road surface remains unchanged.

[0068] Optionally, the pose of the smart mobile terminal and the distance between the smart mobile terminal and the flat or sloping road surface are dynamically adjusted based on the pose increment and distance increment, including:

[0069] Based on the pose increment and distance increment, the driver is controlled to drive the corresponding joint motor to rotate, so that the change in pose of the intelligent mobile terminal after the joint motor rotates is equal to the pose increment, and the change in distance between the intelligent mobile terminal and the flat or sloping road surface after the joint motor rotates is equal to the distance increment.

[0070] In this embodiment, based on the pose increment and distance increment, the driver is controlled to drive the corresponding joint motor to rotate, so that the change in pose of the intelligent mobile terminal after the joint motor rotation is equal to the pose increment, and the change in distance between the intelligent mobile terminal and the flat or sloping road surface after the joint motor rotation is equal to the distance increment. That is, after the driver drives the corresponding joint motor to rotate, the adjusted real-time pose parameters of the intelligent mobile terminal and the real-time distance between the intelligent mobile terminal and the flat or sloping road surface are re-acquired. The adjusted real-time pose parameters of the intelligent mobile terminal are compared with the real-time pose parameters acquired at the current moment, and the pose difference between the adjusted real-time pose parameters and the real-time pose parameters acquired at the current moment are calculated. The adjusted real-time distance parameters of the intelligent mobile terminal are compared with the real-time distance parameters acquired at the current moment, and the distance difference between the adjusted real-time distance parameters and the real-time distance parameters acquired at the current moment is calculated. Alternatively, it is determined whether the adjusted real-time distance parameters are the original distance parameters, where the original distance parameters are the distance parameters that the intelligent mobile terminal needs to maintain at all times between itself and the flat or sloping road surface. If the pose difference equals the pose increment, the distance difference equals the distance increment, or the adjusted real-time distance parameter is the original distance parameter, then the adjustment stops. If the pose difference does not equal the pose increment, or the distance difference does not equal the distance increment, or the adjusted real-time distance parameter is not the original distance parameter, then the driver continues to drive the corresponding joint motor to rotate until the pose difference between the adjusted real-time pose parameter and the real-time pose parameter obtained at the current moment equals the pose increment. That is, the axial direction increment in the adjusted real-time pose parameter is equal to the axial direction increment in the pose increment, the radial direction increment in the adjusted real-time pose parameter is equal to the radial direction increment in the pose increment, the tangential direction increment in the adjusted real-time pose parameter is equal to the tangential direction increment in the pose increment, and the distance difference between the adjusted real-time distance parameter and the real-time distance parameter obtained at the current moment equals the distance increment, or the adjusted real-time distance parameter is the original distance parameter.

[0071] When a smart mobile terminal is traveling on a flat or sloping road, its real-time pose parameters and the real-time distance between it and the road surface are acquired. These parameters are used as inputs for PID control, with the contact point between the terminal and the ground as the zero-torque point and the distance between the terminal and the road surface remaining constant as the objectives. The system calculates the pose increment and the distance increment based on these parameters, dynamically adjusting the terminal's pose and distance to maintain balance while traveling on flat or sloping roads. In this application, during the driving of the intelligent mobile terminal on a flat or sloping road surface, the pose parameters of the intelligent mobile terminal and the distance parameters between the intelligent mobile terminal and the flat or sloping road surface are used as adjustment targets. By dynamically adjusting the pose parameters of the intelligent mobile terminal and the distance parameters between the intelligent mobile terminal and the flat or sloping road surface, the stability of the intelligent mobile terminal chassis is enhanced while maintaining the stability of the mobile terminal body, thereby further improving the stability of the intelligent mobile terminal and extending the time for the intelligent mobile terminal to maintain a balanced state.

[0072] See Figure 3 This is a structural block diagram of a control system 30 for an intelligent mobile terminal provided in Embodiment 3 of the present invention. Figure 3 As shown, the control system includes a controller 31 and a balance module 32. The controller 31 is connected to the balance module 32. The balance module 32 is used to collect the real-time pose parameters of the smart mobile terminal and send them to the controller 31. The balance module 32 adjusts the balance of the smart mobile terminal according to the instructions of the controller 31. The controller 31 is used to execute the control method of the smart mobile terminal in the above embodiment 1.

[0073] See Figure 4This is a schematic diagram of the balance module 32 provided in Embodiment 4 of the present invention. The balance module 32 further includes an inertial navigation sensor 321, which is used to collect real-time pose parameters of the smart mobile terminal. The balance module 32 also includes a distance sensor 322, which is used to collect real-time distance parameters between the smart mobile terminal and a flat or sloping road surface. The balance module 32 also includes a driver 323, which is used to drive the corresponding joint motor to rotate according to the instructions of the controller 31, thereby adjusting the balance of the smart mobile terminal. The balance module 32 also includes a first joint motor 324 disposed on both sides of the body 329, a second joint motor 325 disposed on the chassis connecting rod between the front and rear wheels on the same side, and a third joint motor 326 disposed on each wheel. The second joint motor 325 is fixedly connected to the body 329 by a support connecting rod 327. The first joint motor 324 on the same side is connected to the support connecting rod 327 on the second joint motor 325 through an adjustable connecting rod 328. The first joint motor 324 is used to control the height of the smart mobile terminal according to the instructions of the controller 31. The second joint motor 325 is used to control the angle between the body 329 and the chassis connecting rod according to the instructions of the controller 31. The third joint motor 326 is used to drive the smart mobile terminal to move according to the instructions of the controller 31.

[0074] It should be noted that there can be multiple inertial navigation sensors 321 in the balancing module 32, for example, three. See [link to relevant documentation]. Figure 5 This is a schematic diagram illustrating the distribution of inertial navigation sensors 321 in the body 329 within a balance module 32 according to Embodiment 5 of the present invention. The IMU represents the inertial sensor 321, and the distance between any two inertial navigation sensors 321 is equal. The pose parameters collected by the three inertial sensors 321 are (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) respectively. The average value of the real-time pose parameters is calculated based on (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), and this average value is used as the corresponding real-time pose parameter.

[0075] It should be noted that the inertial navigation sensor 321 is installed inside the body of the smart mobile terminal, the distance sensor 322 is installed at the bottom of the smart mobile terminal, and the driver 323 is installed inside the body of the smart mobile terminal. The number of drivers 323 is equal to the number of corresponding joint motors, and each driver 323 is used to determine the joint motor connected to it. Specifically, there are two first joint motors 324, located on both sides of the body, and two second joint motors 325, located on the chassis connecting rod 327 between the front and rear wheels on the same side. The first and second joint motors are on the same side, i.e., the left and right sides of the smart mobile terminal. There are four third joint motors 325, one in each wheel, used to drive the wheel.

[0076] It should be noted that when the controller 31 executes the control method for the intelligent mobile terminal, it includes: acquiring the real-time pose parameters of the intelligent mobile terminal in real time during the driving process of the intelligent mobile terminal, using the real-time pose parameters as the input of PID control, taking the contact point between the intelligent mobile terminal and the ground as the zero torque point as the target, calculating the pose increment of the real-time pose parameters, and dynamically adjusting the pose of the intelligent mobile terminal according to the pose increment to control the intelligent mobile terminal to be in a balanced state during the driving process.

[0077] The control method for a smart mobile terminal is characterized by comprising:

[0078] During the operation of the intelligent mobile terminal, the real-time pose parameters of the intelligent mobile terminal are acquired in real time.

[0079] Using the real-time pose parameters as input to PID control, and taking the contact point between the smart mobile terminal and the ground as the zero torque point as the target, the pose increment of the real-time pose parameters is calculated.

[0080] The pose of the intelligent mobile terminal is dynamically adjusted based on the pose increment, thereby controlling the intelligent mobile terminal to maintain a balanced state during driving.

[0081] Control methods for smart mobile terminals also include:

[0082] When the intelligent mobile terminal is driving on a flat or sloping road, it acquires the real-time pose parameters of the intelligent mobile terminal and the real-time distance parameters between the intelligent mobile terminal and the flat or sloping road.

[0083] Using real-time pose parameters and real-time distance parameters as inputs to PID control, and taking the contact point between the intelligent mobile terminal and the ground as the zero torque point, and the distance between the intelligent mobile terminal and the flat or sloping road surface as the objective, the pose increment of the real-time pose parameters and the distance increment between the intelligent mobile terminal and the flat or sloping road surface are calculated.

[0084] Based on the pose increment and distance increment, the pose of the intelligent mobile terminal and the distance between the intelligent mobile terminal and the flat or sloping road surface are dynamically adjusted to control the intelligent mobile terminal to maintain a balanced state while driving on the flat or sloping road surface.

[0085] The pose of the smart mobile terminal is dynamically adjusted based on the pose increment, including:

[0086] Based on the pose increment, the driver 323 drives the corresponding joint motors to rotate, so that the change in pose of the intelligent mobile terminal after the joint motors rotate is equal to the pose increment. Specifically, the driver 323 drives the rotation of two first joint motors 324, two second joint motors 325, and four third joint motors 326.

[0087] Based on the pose increment and distance increment, the pose of the intelligent mobile terminal and the distance between the intelligent mobile terminal and the flat or sloping road surface are dynamically adjusted, including:

[0088] Based on the pose increment and distance increment, the driver 323 drives the corresponding joint motors to rotate, so that the change in pose of the intelligent mobile terminal after the joint motor rotation is equal to the pose increment, and the change in distance between the intelligent mobile terminal and the flat or sloping road surface after the joint motor rotation is equal to the distance increment. Specifically, the driver 323 drives the rotation of two first joint motors 324, two second joint motors 325, and four third joint motors 326.

[0089] See Figure 6 This is a schematic diagram of a four-wheeled bipedal intelligent mobile terminal according to Embodiment Six of the present invention, showing how the four wheels can travel on a flat or sloping road surface. Figure 6 (a) is a schematic diagram of a four-wheeled bipedal intelligent mobile terminal driving on a flat road using four wheels. Figure 6 (b) is a schematic diagram of a four-wheeled bipedal intelligent mobile terminal using four wheels to travel on a sloping road.

[0090] It should be noted that when the four-wheeled bipedal intelligent mobile terminal travels on flat or sloping surfaces, the inertial navigation sensor 321 collects the real-time pose parameters of the terminal, and the distance sensor 322 collects the real-time distance parameters between the terminal and the road surface. Based on the collected real-time pose and distance parameters, the controller 31 controls the driver 323 to drive the first joint motor 324, the second joint motor 325, the third joint motor 326, the fourth joint motor, the fifth joint motor, the sixth joint motor, the seventh joint motor, and the eighth joint motor to rotate, ensuring that the intelligent mobile terminal is always in a balanced state.

[0091] It should be noted that when the four-wheeled bipedal intelligent mobile terminal travels on flat or sloping surfaces, the inertial navigation sensor 321 collects the real-time pose parameters of the terminal, and the distance sensor 322 collects the real-time distance between the terminal and the road surface. Based on the collected real-time pose and distance parameters, the controller 31 controls the driver 323 to drive the corresponding joint motors to rotate.

[0092] See Figure 7 This is a schematic diagram of a four-wheeled bipedal intelligent mobile terminal according to Embodiment 7 of the present invention, which uses two wheels to travel on a flat or sloping road surface. Figure 7 (a) is a schematic diagram of a four-wheeled bipedal intelligent mobile terminal using two wheels to travel on a flat road. Figure 7 (b) is a schematic diagram of a four-wheeled bipedal intelligent mobile terminal using two wheels to travel on a sloping road.

[0093] It should be noted that when the four-wheeled bipedal intelligent mobile terminal uses two wheels to travel on flat or sloping surfaces, those two wheels are the front wheels. That is, the four-wheeled bipedal intelligent mobile terminal lifts the rear wheel and places the front wheel on the ground. Lifting the rear wheel and placing the front wheel on the ground is controlled by rotating the second joint motor 325.

[0094] See Figure 8 This is a structural block diagram of a smart mobile terminal 80 provided in Embodiment 8 of the present invention. The smart mobile terminal 80 includes a control system 30 for the smart mobile terminal. The control system 30 includes a controller 31 and a balance module 32. The controller 31 is connected to the balance module 32. The balance module 32 is used to collect the real-time pose parameters of the smart mobile terminal and send them to the controller 31. The balance module 32 adjusts the balance of the smart mobile terminal according to the instructions of the controller 31. The controller 31 is used to execute the control method of the smart mobile terminal in Embodiment 1 above.

[0095] The balancing module 32 also includes an inertial navigation sensor 321, which is used to collect real-time pose parameters of the smart mobile terminal. The balancing module 32 also includes a distance sensor 322, which is used to collect real-time distance parameters between the smart mobile terminal and a flat or sloping road surface. The balancing module 32 also includes a driver 323, which is used to drive the corresponding joint motor to rotate according to the instructions of the controller 31, thereby adjusting the balance of the smart mobile terminal. The balance module 32 also includes a first joint motor 324 disposed on both sides of the body 329, a second joint motor 325 disposed on the chassis connecting rod between the front and rear wheels on the same side, and a third joint motor 326 disposed on each wheel. The second joint motor 325 is fixedly connected to the body 329 by a support connecting rod 327. The first joint motor 324 on the same side is connected to the support connecting rod 327 on the second joint motor 325 through an adjustable connecting rod 328. The first joint motor 324 is used to control the height of the smart mobile terminal according to the instructions of the controller 31. The second joint motor 325 is used to control the angle between the body 329 and the chassis connecting rod according to the instructions of the controller 31. The third joint motor 326 is used to drive the smart mobile terminal to move according to the instructions of the controller 31.

Claims

1. A control method of a smart mobile terminal, characterized by, The application relates to a control method and a control device for a balance module of an intelligent mobile terminal. During driving of the intelligent mobile terminal, real-time pose parameters of the intelligent mobile terminal are acquired; The real-time pose parameters are taken as inputs of PID control, a contact point of the intelligent mobile terminal with the ground is taken as a zero moment point, and pose increments of the real-time pose parameters are calculated; According to the pose increments, the pose of the intelligent mobile terminal is dynamically adjusted, and the intelligent mobile terminal is controlled to be in a balanced state during driving. When the intelligent mobile terminal drives on a flat road or a slope road, real-time pose parameters of the intelligent mobile terminal and real-time distance parameters between the intelligent mobile terminal and the flat road or the slope road are acquired; The real-time pose parameters and the real-time distance parameters are taken as inputs of PID control, a contact point of the intelligent mobile terminal with the ground is taken as a zero moment point, and the distance between the intelligent mobile terminal and the flat road or the slope road is kept unchanged, pose increments of the real-time pose parameters and distance increments of the distance between the intelligent mobile terminal and the flat road or the slope road are calculated; According to the pose increments and the distance increments, the pose of the intelligent mobile terminal and the distance between the intelligent mobile terminal and the flat road or the slope road are dynamically adjusted, and the intelligent mobile terminal is controlled to be in a balanced state during driving on the flat road or the slope road.

2. The control method according to claim 1, characterized by, The method for dynamically adjusting the pose of the intelligent mobile terminal according to the pose increments comprises the following steps: According to the pose increments, the drive is controlled to drive the corresponding joint motor to rotate, so that the change amount of the pose of the intelligent mobile terminal after the joint motor rotates is equal to the pose increments.

3. The control method according to claim 1, characterized by, The method for dynamically adjusting the pose of the intelligent mobile terminal and the distance between the intelligent mobile terminal and the flat road or the slope road according to the pose increments and the distance increments comprises the following steps: According to the pose increments and the distance increments, the drive is controlled to drive the corresponding joint motor to rotate, so that the change amount of the pose of the intelligent mobile terminal after the joint motor rotates is equal to the pose increments, and the change amount of the distance between the intelligent mobile terminal and the flat road or the slope road after the joint motor rotates is equal to the distance increments.

4. A control system of a smart mobile terminal, characterized by, The application relates to a control method and a control device for a balance module of an intelligent mobile terminal. The balance module further comprises an inertial navigation sensor which is used for acquiring the real-time pose parameters of the intelligent mobile terminal.

5. The control system of claim 4, wherein, The balance module further comprises a distance sensor which is used for acquiring the real-time distance parameters between the intelligent mobile terminal and the flat road or the slope road.

6. The control system of claim 4, wherein, The balance module further comprises a drive which is used for driving the corresponding joint motor to rotate according to the instruction of the controller and adjusting the balance of the intelligent mobile terminal.

7. The control system of claim 4, wherein, ​ 8. The control system of claim 4, wherein, The balancing module further comprises a first joint motor arranged on both sides of the body, a second joint motor arranged on the chassis connecting rod between the front and rear wheels of the same side, and a third joint motor arranged on each wheel, the second joint motor is fixedly arranged with a support connecting rod connecting the body, the first joint motor of the same side is connected to the support connecting rod of the second joint motor through an adjustable connecting rod, the first joint motor is used to control the height of the body of the intelligent mobile terminal according to the instruction of the controller, the second joint motor is used to control the included angle between the body and the chassis connecting rod according to the instruction of the controller, and the third joint motor is used to drive the intelligent mobile terminal to move according to the instruction of the controller.

9. A smart mobile terminal, characterized by, The intelligent mobile terminal comprises the control system according to any one of claims 4-8.

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