Control method and system of mobile terminal and mobile terminal

Abstract

The invention relates to the technical field of mobile terminal control, in particular to a control method and system of a mobile terminal and the mobile terminal. According to the received control command, at least one control strategy matched with the control command is determined from a dynamic balance control strategy, a slope driving control strategy, a flat road surface driving control strategy, a stair ascending and descending control strategy and an active damping control strategy to serve as a target control strategy; and controlling the control parameters of the mobile terminal. According to the method and the device, the control strategies matched with the control commands are determined according to the different control commands, and the different control parameters are controlled according to the different control strategies, so that the mobile terminal is in a balanced state, and the stability of machine body movement is improved.

Description

Technical Field

[0001] The present invention relates to the field of mobile terminal control technology, and in particular to a mobile terminal control method, system and mobile terminal. Background Art

[0002] With the rapid development of mobile terminal technology, mobile terminals have been widely used in military, industrial, agricultural, medical, rescue and many other fields. The wheel-legged mobile terminal not only has the high mobility of the wheeled mobile terminal, but also has stronger terrain adaptability than the traditional wheeled or tracked mobile terminal, especially on irregular and complex terrain. In addition, the wheel-legged mobile terminal can ensure the stability of the body movement while crossing complex terrain, so that the mission load installed on the body will not be disturbed by the movement, greatly improving the operation efficiency. Although many mobile terminals can adapt to slowly changing terrain to a certain extent, their stability in crossing sudden changes in terrain is insufficient, and they cannot guarantee the stability of the body's movement. Therefore, when the mobile terminal crosses sudden changes in terrain, how to improve the stability of the body's movement becomes an urgent problem to be solved. Summary of the invention

[0003] Based on this, it is necessary to provide a control method, system and mobile terminal for the above technical problems, so as to solve the problem of poor stability of the body movement when the mobile terminal crosses a sudden terrain.

[0004] A first aspect of an embodiment of the present application provides a control method for a mobile terminal, including:

[0005] According to the received control command, at least one control strategy matching the control command is determined as a target control strategy from a dynamic balance control strategy, a slope driving control strategy, a flat road driving control strategy, a stair climbing and descending control strategy, and an active shock absorption control strategy;

[0006] According to the target control strategy, control parameters of the mobile terminal are controlled.

[0007] A second aspect of an embodiment of the present application provides a control system for a mobile terminal, including a controller, wherein the controller is used to control the mobile terminal to execute the control method of the mobile terminal described in the first aspect.

[0008] A third aspect of an embodiment of the present application provides a mobile terminal, which includes the control system of the mobile terminal described in the second aspect.

[0009] Compared with the prior art, the present invention has the following beneficial effects:

[0010] According to the received control command, at least one control strategy matching the control command is determined as the target control strategy from the dynamic balance control strategy, the slope driving control strategy, the flat road driving control strategy, the up-and-down stairs control strategy and the active shock absorption control strategy, and the control parameters of the mobile terminal are controlled according to the target control strategy. In the present application, according to different control commands, the control strategy matching the control command is determined, and different control parameters are controlled according to different control strategies, so that the mobile terminal is in a balanced state, thereby improving the stability of the body movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0012] Figure 1 is a flow chart of a control method for a mobile terminal provided in Embodiment 1 of the present invention;

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

[0014] Figure 3 is a schematic diagram of the structure of a computer device provided by Embodiment 3 of the present invention;

[0015] Figure 4 It is a schematic diagram of a mobile terminal provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0018] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0019] As used in the present specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]", depending on the context.

[0020] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0021] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0022] It should be understood that the order of execution of the steps in the following embodiments does not imply a precedence 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.

[0023] In order to illustrate the technical solution of the present invention, the following is described through specific embodiments.

[0024] See also Figure 1 , is a flow chart of a control method of a mobile terminal provided in Embodiment 1 of the present invention, such as Figure 1 As shown, the control method of the mobile terminal may include the following steps.

[0025] S101: According to the received control command, at least one control strategy matching the control command is determined as a target control strategy from among the dynamic balance control strategy, the slope driving control strategy, the flat road driving control strategy, the stair climbing and descending control strategy and the active shock absorption control strategy.

[0026] In step S101, the control command is a command that enables the mobile terminal to perform different controls, wherein the control command may be a stair up / down control command, a flat ground control command, a slope control command, a dynamic balance control command, an active shock absorption control command, etc. At least one control strategy matching the control command is determined as a target control strategy from the dynamic balance control strategy, the slope driving control strategy, the flat road driving control strategy, the stair up / down control strategy, and the active shock absorption control strategy, wherein the target control strategy is a strategy for controlling the mobile terminal to drive smoothly in different scenarios, the dynamic balance control strategy is a strategy for keeping the mobile terminal body stable during the driving of the mobile terminal, the slope driving control strategy is for enabling the mobile terminal to pass through the corresponding slope when the mobile terminal is driving on a slope, the flat road driving control strategy is for enabling the mobile terminal to go straight when the mobile terminal is driving on a flat road, the stair up / down control strategy is for enabling the mobile terminal to cross the corresponding stairs when the mobile terminal is going up / down stairs, and the active shock absorption control strategy is for enabling the mobile terminal to resist the corresponding interference when the mobile terminal is subjected to interference impact.

[0027] In this embodiment, the mobile terminal maintains the stability of the body by controlling some control parameters of the mobile terminal during driving. When controlling the corresponding control parameters, the control is performed according to the selected corresponding control strategy, that is, different control strategies correspond to different control parameters. When selecting the corresponding control strategy, the selection is made according to the received control command, and different control commands correspond to different control strategies, that is, there is a corresponding relationship between the control command and the control strategy, wherein the corresponding relationship can be a one-to-one corresponding relationship or a one-to-many corresponding relationship, that is, one control command can correspond to one of the control strategies, and one control command can also correspond to two or more of the control strategies. The control strategy that matches the control command can be determined based on the received control command.

[0028] It should be noted that the received control command can be a manual control command or a control command determined based on the environmental information detected by the sensor corresponding to the mobile terminal. For example, the manual control command can be a command based on voice control, such as issuing a control command for going up and down stairs to the mobile terminal, and the mobile terminal recognizes the issued voice and determines it as the corresponding control command for going up and down stairs based on the recognition result. The control command is determined based on the environmental information detected by the sensor. If the environmental information detected by the sensor is an environment containing stairs, then when the mobile terminal reaches the scene corresponding to the stair environment, the control command for going up and down stairs is issued to the mobile terminal.

[0029] In this embodiment, the control commands include up and down stairs control commands, flat ground control commands, slope control commands, dynamic balance control commands and active shock absorption control commands, etc. If there is a one-to-one correspondence between the control commands and the control strategies, the up and down stairs control command corresponds to the up and down stairs control strategy, the flat ground control command corresponds to the flat road driving control strategy, the slope control command corresponds to the slope driving control strategy, the dynamic balance control command corresponds to the dynamic balance control strategy, the active shock absorption control command corresponds to the active shock absorption control strategy, etc.

[0030] It should be noted that, according to the corresponding control command, at least one control strategy matching the control command is determined as the target control strategy from the dynamic balance control strategy, the slope driving control strategy, the flat road driving control strategy, the up-and-down stairs control strategy and the active shock absorption control strategy. For example, according to the corresponding control command, two control strategies matching the control command can be determined as the target control strategies from the dynamic balance control strategy, the slope driving control strategy, the flat road driving control strategy, the up-and-down stairs control strategy and the active shock absorption control strategy.

[0031] In another embodiment, if there is a correspondence between the control command and the control strategy, including a one-to-many correspondence, such as one control command corresponding to two control strategies, for example, if the control command includes a stair climbing and descending control command, a flat ground control command, a slope control command, a dynamic balance control command, and an active shock absorption control command, the stair climbing and descending control command may correspond to the stair climbing and descending control strategy and the dynamic balance control strategy, so that when the mobile terminal is climbing and descending the stairs, the body can be kept stable in the process of passing the stairs; the flat ground control command may correspond to the flat road driving control strategy and the dynamic balance control strategy, so that when the mobile terminal is driving on the flat ground, the body can be kept stable in the process of passing the flat ground; the slope control command may correspond to the slope driving control strategy and the dynamic balance control strategy, so that when the mobile terminal is driving on the slope, the body can be kept stable in the process of passing the slope; the active shock absorption control command may correspond to the active shock absorption control strategy and the dynamic balance control strategy, so that when the mobile terminal is subjected to impact disturbance, the body can be kept stable in the process of anti-interference;

[0032] In another embodiment, the correspondence between the control command and the control strategy includes a one-to-many correspondence, and one control command may correspond to three control strategies. For example, if the control command includes a stair and up-and-down control command, a flat ground control command, a slope control command, a dynamic balance control command and an active shock absorption control command, wherein the flat ground control command may correspond to a flat road driving control strategy, an active shock absorption control strategy and a dynamic balance control strategy. That is, when the flat ground control command is received, that is, when the mobile terminal is driving on flat ground, if it corresponds to a turning scenario, the flat road driving control strategy is required to pass through the corresponding flat ground, the active shock absorption control strategy is required to reduce the vibration caused by the turning during the turning process of the mobile terminal, and the dynamic balance control strategy is required to maintain the stability of the fuselage.

[0033] In this embodiment, based on the received control command, at least one control strategy matching the control command is determined as the target control strategy from the dynamic balance control strategy, slope driving control strategy, flat road driving control strategy, up and down stairs control strategy and active shock absorption control strategy, and the mobile terminal is controlled according to the target control strategy, so that the mobile terminal can have stable driving capabilities in complex environments, thereby improving the working ability of the mobile terminal.

[0034] S102: Control the control parameters of the mobile terminal according to the target control strategy.

[0035] In step S102, according to the corresponding target control strategy, the control parameters of the mobile terminal are controlled so that the mobile terminal can travel smoothly in different scenarios, wherein the control parameters are parameters for changing the driving state of the mobile terminal, and the control parameters may include the posture parameters of the mobile terminal, the speed parameters of the driving wheels of the mobile terminal, the motion parameters of each joint of the mobile terminal, and the force parameters of the driving wheels of the mobile terminal.

[0036] In this embodiment, the control parameters of the mobile terminal are controlled according to the target control strategy, wherein different target control strategies correspond to different control parameters. For example, if the target control strategy is a dynamic balance control strategy, the posture parameters of the mobile terminal are controlled. If the target control strategy is a flat road driving control strategy, the speed parameters of the driving wheels of the mobile terminal are controlled. If the target control strategy is a slope driving control strategy, the speed parameters of the driving wheels are controlled. If the target control strategy is a stair climbing and descending control strategy, the motion parameters of each joint of the mobile terminal are controlled. If the target control strategy is an active shock absorption control strategy, the force parameters of the driving wheels of the mobile terminal are controlled.

[0037] In this embodiment, according to the target control strategy, the control parameters of the mobile terminal are controlled so that the mobile terminal can maintain stable driving in different scenarios.

[0038] Optionally, according to the target control strategy, controlling the control parameters of the mobile terminal includes:

[0039] If the target control strategy is a dynamic balance control strategy, the posture parameters of the mobile terminal are controlled.

[0040] In this embodiment, if the target control strategy is a dynamic balance control strategy, the posture parameters of the mobile terminal are controlled, that is, some parameters are controlled to keep the mobile terminal stable. The posture parameters may include the pitch angle and roll angle of the mobile terminal body.

[0041] It should be noted that when controlling the posture parameters of the mobile terminal, the control is performed according to the corresponding fuselage inertial navigation sensor, and the posture parameters of the mobile terminal are obtained using the fuselage inertial navigation sensor to determine whether the posture parameters meet the corresponding requirements in the dynamic balance control strategy. If the posture parameters do not meet the corresponding requirements in the dynamic balance control strategy, the posture of the mobile terminal is continuously adjusted so that the posture parameters meet the corresponding requirements in the dynamic balance control strategy, even if the pitch angle and roll angle of the mobile terminal meet the corresponding requirements in the dynamic balance control strategy. For example, if the corresponding control parameters in the dynamic balance control strategy are a pitch angle in the angle range of a1-a2 and a roll angle in the angle range of a3-a4, then when the fuselage inertial navigation sensor obtains that the pitch angle in the posture parameters of the mobile terminal is within the angle range of a1-a2 and the roll angle is within the angle range of a3-a4, it is considered that the dynamic balance control strategy is met.

[0042] In this embodiment, when the target control strategy is the dynamic balance control strategy, that is, the purpose is to balance the driving of the mobile terminal, the posture parameters of the mobile terminal can intuitively reflect whether the mobile terminal is balanced. Therefore, in the dynamic balance control strategy, the posture parameters of the mobile terminal are controlled to make the mobile terminal in a balanced state.

[0043] Optionally, controlling the control parameters of the mobile terminal according to the target control strategy further includes:

[0044] If the target control strategy is a flat road driving control strategy, the speed parameters of the driving wheels of the mobile terminal are controlled.

[0045] In this embodiment, if the target control strategy is a flat road driving control strategy, the speed parameters of the driving wheels of the mobile terminal are controlled, that is, the mobile terminal is kept balanced by controlling the driving speed of the mobile terminal. If the mobile terminal is a two-wheeled and two-legged mobile terminal, the corresponding driving wheel speed parameters include the speed parameters of the left driving wheel and the speed parameters of the right driving wheel.

[0046] It should be noted that when controlling the speed parameter of the driving wheel of the mobile terminal, it is possible to determine whether the speed parameter of the driving wheel meets the requirements of the speed parameter of the driving wheel in the flat road driving control strategy according to the speed parameter of the driving wheel in the flat road driving control strategy. If the speed parameter of the driving wheel does not meet the requirements of the speed parameter of the driving wheel in the flat road driving control strategy, the speed parameter of the driving wheel is controlled until the speed parameter of the driving wheel meets the requirements of the speed parameter of the driving wheel in the flat road driving control strategy. If the mobile terminal is a two-wheeled and two-legged mobile terminal, the speed parameter of the driving wheel meets the requirements of the speed parameter of the driving wheel in the flat road driving control strategy, that is, the speed parameter of the left driving wheel and the speed parameter of the right driving wheel meet the corresponding requirements. For example, if the requirements of the speed parameter of the driving wheel in the flat road driving control strategy are that when the difference between the speed of the left driving wheel and the speed of the right driving wheel is less than the preset difference threshold, the speed parameter of the driving wheel meets the requirements of the speed parameter of the driving wheel in the flat road driving control strategy, then the speed of the left driving wheel and the speed of the right driving wheel are controlled so that the difference between the speed of the left driving wheel and the speed of the right driving wheel is less than the preset difference threshold.

[0047] It should be noted that when controlling the speed parameters of the driving wheels, after determining the speed parameters of the corresponding driving wheels according to the smooth road driving control strategy, it is necessary to convert the speed parameters of the driving wheels into motor parameters through motion inverse solution, so as to use the motor of the driving wheels to drive the mobile terminal to travel at the corresponding speed. When the motor of the driving wheel is driven according to the corresponding motor parameters, the speed parameters of the driving wheel are obtained through the motor encoder, and according to the speed parameters in the motor encoder, it is determined whether the motor of the driving wheel is driven at the speed parameters of the corresponding driving wheel.

[0048] In this embodiment, when the target control strategy is the flat road driving control strategy, the speed parameters of the driving wheels of the mobile terminal are controlled so that the driving wheel speeds of the mobile terminal meet the corresponding requirements, thereby avoiding the problem that the mobile terminal cannot drive smoothly when the speeds of different driving wheels differ greatly.

[0049] Optionally, controlling the control parameters of the mobile terminal according to the target control strategy further includes:

[0050] If the target control strategy is the slope driving control strategy, the speed parameters of the driving wheels are controlled.

[0051] In this embodiment, if the target control strategy is a slope driving control strategy, the speed parameters of the driving wheels of the mobile terminal are controlled, that is, the mobile terminal is kept balanced by controlling the driving speed of the mobile terminal. If the mobile terminal is a two-wheeled and two-legged mobile terminal, the corresponding speed parameters of the driving wheels include the speed parameters of the left driving wheel and the speed parameters of the right driving wheel.

[0052] It should be noted that when controlling the speed parameter of the driving wheel of the mobile terminal, it is possible to determine whether the speed parameter of the driving wheel meets the requirements of the speed parameter of the driving wheel in the hill driving control strategy according to the speed parameter of the driving wheel in the hill driving control strategy. If the speed parameter of the driving wheel does not meet the requirements of the speed parameter of the driving wheel in the hill driving control strategy, the speed parameter of the driving wheel is controlled until the speed parameter of the driving wheel meets the requirements of the speed parameter of the driving wheel in the hill driving control strategy. If the mobile terminal is a two-wheeled and two-legged mobile terminal, the speed parameter of the driving wheel meets the requirements of the speed parameter of the driving wheel in the hill driving control strategy, that is, the speed parameter of the left driving wheel and the speed parameter of the right driving wheel meet the corresponding requirements. For example, if the requirements of the speed parameter of the driving wheel in the hill driving control strategy are that when the difference between the speed of the left driving wheel and the speed of the right driving wheel is less than the preset difference threshold, the speed parameter of the driving wheel meets the requirements of the speed parameter of the driving wheel in the hill driving control strategy, then the speed of the left driving wheel and the speed of the right driving wheel are controlled so that the difference between the speed of the left driving wheel and the speed of the right driving wheel is less than the preset difference threshold.

[0053] It should be noted that when controlling the speed parameters of the driving wheels, after determining the speed parameters of the corresponding driving wheels according to the slope driving control strategy, it is necessary to convert the speed parameters of the driving wheels into motor parameters through motion inverse solution, so as to use the motor of the driving wheels to drive the mobile terminal to travel at the corresponding speed. When the motor of the driving wheel is driven according to the corresponding motor parameters, the speed parameters of the driving wheel are obtained through the motor encoder, and according to the speed parameters in the motor encoder, it is determined whether the motor of the driving wheel is driven at the speed parameters of the corresponding driving wheel.

[0054] In this embodiment, when the target control strategy is the slope driving control strategy, the speed parameters of the driving wheels of the mobile terminal are controlled so that the driving wheel speeds of the mobile terminal meet the corresponding requirements, thereby avoiding the problem that the mobile terminal cannot drive smoothly when the speeds of different driving wheels differ greatly.

[0055] Optionally, controlling the control parameters of the mobile terminal according to the target control strategy further includes:

[0056] If the target control strategy is the stair climbing and descending control strategy, the motion parameters of each joint of the mobile terminal are controlled.

[0057] In this embodiment, if the target control strategy is the stair climbing control strategy, the motion parameters of each joint of the mobile terminal are controlled, that is, the driving parameters of each motor of the mobile terminal are controlled so that the mobile terminal can climb stairs of a certain height.

[0058] It should be noted that when controlling the motion parameters of each joint of the mobile terminal, each joint is raised to a certain height during the driving of the mobile terminal, for example, the motion parameters of the knee joint and the motion parameters of the hip joint of the mobile terminal. If the mobile terminal is a two-wheeled and two-legged mobile terminal, the motion parameters of each joint may include the motion parameters of the left knee joint, the motion parameters of the right knee joint, the motion parameters of the left hip joint and the motion parameters of the right hip joint.

[0059] It should be noted that when controlling the motion parameters of each joint of the mobile terminal, it is possible to judge whether the motion parameters of each joint meet the requirements of the motion parameters of each joint in the up-and-down stairs control strategy based on the motion parameters of each joint in the up-and-down stairs control strategy. If the motion parameters of each joint do not meet the requirements of the motion parameters of each joint in the up-and-down stairs control strategy, the motion parameters of each joint are controlled until the motion parameters of each joint meet the requirements of the motion parameters of each joint in the up-and-down stairs control strategy. If the mobile terminal is a two-wheeled and two-legged mobile terminal, the motion parameters of each joint meet the requirements of the motion parameters of each joint in the up-and-down stairs control strategy, that is, the motion parameters of the left knee joint, the motion parameters of the right knee joint, the motion parameters of the left hip joint, and the motion parameters of the right hip joint meet the corresponding requirements. For example, if the requirements for the motion parameters of each joint in the stair going up and down control strategy are that the movement speed of the left knee joint is in the speed range of b1-b2, the movement height of the left knee joint is in the height range of h1-h2, the movement speed of the right knee joint is in the speed range of b3-b4, the movement height of the right knee joint is in the height range of h3-h4, the movement speed of the left hip joint is in the speed range of b5-b6, the movement height of the left hip joint is in the height range of h5-h6, the movement speed of the right hip joint is in the speed range of b7-b8, and the movement height of the right hip joint is in the height range of h7-h8, when the motion parameters of each joint meet the requirements for the motion parameters of each joint in the stair going up and down control strategy, the motion parameters of each joint are controlled to be within the corresponding range.

[0060] It should be noted that when controlling the motion parameters of each joint, after determining the motion parameters of each joint according to the stair climbing and descending control strategy, it is necessary to convert the motion parameters of each joint into motor parameters through motion inverse analysis, so as to use the motors of each joint to drive the mobile terminal to travel at the corresponding speed and height. When the motors of each joint are driven according to the corresponding motor parameters, the motion parameters of the joints are obtained through the motor encoder, and according to the motion parameters of the joints in the motor encoder, it is determined whether the corresponding motor is driven with the corresponding motion parameters.

[0061] In this embodiment, when the target control strategy is the stair climbing control strategy, the motion parameters of each joint of the mobile terminal are controlled so that the motion parameters of each joint of the mobile terminal meet the corresponding requirements, so that the mobile terminal can climb stairs of a certain height.

[0062] Optionally, controlling the control parameters of the mobile terminal according to the target control strategy further includes:

[0063] If the target control strategy is an active damping control strategy, the force parameters of the driving wheels of the mobile terminal are controlled.

[0064] In this embodiment, if the target control strategy is an active damping control strategy, the force parameters of the driving wheels of the mobile terminal are controlled, that is, the mobile terminal is kept balanced by controlling the force parameters of the mobile terminal. If the mobile terminal is a two-wheeled and two-legged mobile terminal, the corresponding force parameters of the driving wheels include the force parameters of the left driving wheel and the force parameters of the right driving wheel.

[0065] It should be noted that when controlling the force parameters of the driving wheel of the mobile terminal, the control is performed according to the corresponding force sensor, and the force sensor is used to obtain the force parameters of the mobile terminal to determine whether the force parameters meet the requirements of the force parameters of the driving wheel of the active shock absorption control strategy. If the force parameters of the driving wheel do not meet the requirements of the force parameters of the driving wheel of the active shock absorption control strategy, the force parameters of the driving wheel are controlled until the force parameters of the driving wheel meet the requirements of the force parameters of the driving wheel of the active shock absorption control strategy. If the mobile terminal is a two-wheeled and two-legged mobile terminal, when the force parameters of the driving wheel meet the requirements of the force parameters of the driving wheel of the active shock absorption control strategy, the force parameters of the left driving wheel and the force parameters of the right driving wheel meet the corresponding requirements. For example, if the force parameter requirement of the driving wheel of the active shock absorption control strategy is that when the difference between the force value of the left driving wheel and the force value of the right driving wheel is less than a preset force difference threshold, the force parameters of the driving wheels meet the force parameter requirement of the driving wheel of the active shock absorption control strategy, then the force value of the left driving wheel and the force value of the right driving wheel are controlled so that the difference between the force value of the left driving wheel and the force value of the right driving wheel is less than the preset force difference threshold.

[0066] In this embodiment, when the target control strategy is the active damping control strategy, the force parameters of the driving wheels of the mobile terminal are controlled so that the driving wheels on both sides of the mobile terminal are evenly stressed, thereby avoiding vibration caused by uneven force on the driving wheels on both sides.

[0067] According to the received control command, at least one control strategy matching the control command is determined as the target control strategy from the dynamic balance control strategy, the slope driving control strategy, the flat road driving control strategy, the up-and-down stairs control strategy and the active shock absorption control strategy, and the control parameters of the mobile terminal are controlled according to the target control strategy. In the present application, according to different control commands, the control strategy matching the control command is determined, and different control parameters are controlled according to different control strategies, so that the mobile terminal is in a balanced state, thereby improving the stability of the body movement.

[0068] See also Figure 2 , is a structural block diagram of a control system of a mobile terminal provided in Embodiment 1 of the present invention, such as Figure 2 As shown, the control system 20 of the mobile terminal includes a controller, which is used to control the mobile terminal to execute the received control command, determine at least one control strategy matching the control command from the dynamic balance control strategy, slope driving control strategy, flat road driving control strategy, up and down stairs control strategy and active shock absorption control strategy as the target control strategy, and control the control parameters of the mobile terminal according to the target control strategy.

[0069] Among them, if the target control strategy is a dynamic balance control strategy, the posture parameters of the mobile terminal are controlled; if the target control strategy is a flat road driving control strategy, the speed parameters of the driving wheels of the mobile terminal are controlled; if the target control strategy is a slope driving control strategy, the speed parameters of the driving wheels are controlled; if the target control strategy is a stair going up and down control strategy, the motion parameters of each joint of the mobile terminal are controlled; if the target control strategy is an active shock absorption control strategy, the force parameters of the driving wheels of the mobile terminal are controlled.

[0070] The control system 20 of the mobile terminal also includes a motor, a body inertial navigation sensor and a force sensor. The motor is used to output the control parameters of the corresponding motor, wherein the control parameters of the motor include the speed parameters of the driving wheel and the motion parameters of each joint. It also includes a body inertial navigation sensor, which is used to obtain the posture parameters of the mobile terminal. It also includes a force sensor, which is used to obtain the force parameters of the driving wheel.

[0071] Figure 3 This is a schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention. Figure 3 As shown, the computer device of this embodiment includes: at least one processor ( Figure 3 Only one is shown), a memory, and a computer program stored in the memory and executable on at least one processor, wherein when the processor executes the computer program, the steps in any of the above-mentioned control method embodiments of the mobile terminal are implemented.

[0072] The computer device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that Figure 3 This is merely an example of a computer device and does not constitute a limitation on the computer device. The computer device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components, for example, it may also include a network interface, etc.

[0073] The processor may be a CPU, or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0074] The memory includes a readable storage medium, an internal memory, etc., wherein the internal memory may be the memory of a computer device, and the internal memory provides an environment for the operation of an operating system and computer-readable instructions in the readable storage medium. The readable storage medium may be a hard disk of a computer device, and in other embodiments may also be an external storage device of a computer device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on a computer device. Further, the memory may also include both an internal storage unit of a computer device and an external storage device. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as program codes of computer programs, etc. The memory may also be used to temporarily store data that has been output or is to be output.

[0075] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned device can refer to the corresponding process in the above-mentioned method embodiment, which will not be repeated here. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0076] The present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by a computer program product. When the computer program product runs on a computer device, the computer device can implement the steps in the above-mentioned method embodiment when executing.

[0077] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0078] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0079] In the embodiments provided by the present invention, it should be understood that the disclosed devices / computer equipment and methods can be implemented in other ways. For example, the device / computer equipment embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0080] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0081] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

[0082] See also Figure 4 , Figure 4 It is a schematic diagram of a mobile terminal 40 provided in Embodiment 4 of the present invention. The mobile terminal 40 includes the control system 20 of the mobile terminal mentioned above.

Claims

1. A control method for a mobile terminal, characterized in that: include: According to the received control command, at least one control strategy matching the control command is determined as a target control strategy from a dynamic balance control strategy, a slope driving control strategy, a flat road driving control strategy, a stair climbing and descending control strategy, and an active shock absorption control strategy; According to the target control strategy, control parameters of the mobile terminal are controlled.

2. The control method of the mobile terminal according to claim 1, characterized in that: The controlling the control parameters of the mobile terminal according to the target control strategy includes: If the target control strategy is a dynamic balance control strategy, the posture parameters of the mobile terminal are controlled.

3. The control method of the mobile terminal according to claim 1, characterized in that: The controlling the control parameters of the mobile terminal according to the target control strategy further includes: If the target control strategy is a flat road driving control strategy, the speed parameter of the driving wheel of the mobile terminal is controlled.

4. The control method of the mobile terminal according to claim 1, characterized in that: The controlling the control parameters of the mobile terminal according to the target control strategy further includes: If the target control strategy is a slope driving control strategy, the speed parameter of the driving wheel of the mobile terminal is controlled.

5. The control method of the mobile terminal according to claim 1, characterized in that: The controlling the control parameters of the mobile terminal according to the target control strategy further includes: If the target control strategy is a stair climbing and descending control strategy, the motion parameters of each joint of the mobile terminal are controlled.

6. The control method of the mobile terminal according to claim 1, characterized in that: The controlling the control parameters of the mobile terminal according to the target control strategy further includes: If the target control strategy is an active damping control strategy, the force parameters of the driving wheels of the mobile terminal are controlled.

7. A control system for a mobile terminal, characterized in that: The device comprises a controller, wherein the controller is used to control the mobile terminal to execute the control method of the mobile terminal according to claims 1-6.

8. The control system of the mobile terminal according to claim 7, characterized in that: It also includes a motor, which is used to output control parameters corresponding to the motor.

9. The control system of the mobile terminal according to claim 7, characterized in that: It also includes a body inertial navigation sensor, which is used to obtain the position and posture parameters of the mobile terminal.

10. A mobile terminal, characterized in that: The mobile terminal comprises the control system of the mobile terminal according to claims 7-9.

Images