Turning control method, system and equipment, medium and intelligent mobile terminal

Abstract

The invention relates to the technical field of turning control, in particular to a turning control method, system and device, a medium and an intelligent mobile terminal. In the application, the intelligent mobile terminal obtains motor encoder parameters, inertial navigation parameters, and running speed parameters and stress parameters of each driving wheel during turning, and calculates corresponding variable speed acceleration and corresponding joint included angle of each joint motor during turning according to the parameters; therefore, the intelligent mobile terminal is controlled to run according to the calculated variable speed acceleration and the corresponding joint included angle of each joint motor, so that the intelligent mobile terminal can turn in a balanced manner, vibration caused by sudden change of the speed is avoided, and the damping effect of the intelligent mobile terminal during turning is improved.

Description

Technical Field

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

[0002] In common mechanical systems, vibration is widespread and difficult to avoid. In mobile two-wheeled and two-legged intelligent mobile terminals and other equipment, the adverse effects of vibration are particularly significant because most of the equipment users are disabled or people with limited mobility. Among the various existing shock absorption methods, the use of spring dampers and thick seats for passive shock absorption is more common, which has a certain effect on shock absorption, but it is difficult to meet the shock absorption requirements of mobile self-balancing wheelchairs when driving on curves.

[0003] For special equipment such as mobile two-wheeled and two-legged smart mobile terminals, the shock absorption effect needs to take into account the particularity of the equipment user group. When turning, the driving wheels that drive the entire vehicle are in contact with the ground and have different speeds, and they need to be controlled separately. At this time, due to the differential speed, a certain amount of roll will be generated, making the shock absorption effect of the smart mobile terminal poor. Therefore, how to improve the shock absorption effect during the turning process of the two-wheeled and two-legged smart mobile terminal has become an urgent problem to be solved. Summary of the invention

[0004] Based on this, it is necessary to provide a turning control method, system, device, medium and intelligent mobile terminal to address the above technical problems, so as to solve the problem of poor shock absorption effect during the turning process of the two-wheeled and two-legged intelligent mobile terminal.

[0005] A first aspect of an embodiment of the present application provides a turning control method, which is applied to a smart mobile terminal. The turning control method includes:

[0006] When the intelligent mobile terminal is in a turning state, the motor encoder parameters, inertial navigation parameters, and driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time;

[0007] Calculate the speed change acceleration of the smart mobile terminal and the joint angle corresponding to each joint motor at the next moment according to the motor encoder parameter, the inertial navigation parameter, the driving speed parameter and the force parameter at the current moment;

[0008] According to the speed change acceleration and the joint angle, each driving wheel and each joint motor are controlled, and the execution is returned to obtain in real time the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment, until the intelligent mobile terminal exits the turning driving.

[0009] A second aspect of an embodiment of the present application provides a turning control system, which is applied to a smart mobile terminal. The turning control system includes a controller, and the controller is used to execute the turning control method described above;

[0010] Also included is a motor, the motor is used to control the motor encoder parameters of the smart mobile terminal;

[0011] A third aspect of an embodiment of the present application provides a computer device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the turning control method described in the first aspect above is implemented.

[0012] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the turning control method as described in the first aspect above is implemented.

[0013] A fifth aspect of an embodiment of the present application provides an intelligent mobile terminal, which includes the turning control system described above.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] When the intelligent mobile terminal is in the process of turning, the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time; the speed change acceleration of the intelligent mobile terminal at the next moment and the joint angle corresponding to each joint motor are calculated according to the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters at the current moment; each driving wheel and each joint motor are controlled according to the speed change acceleration and the joint angle; the execution is returned to obtain the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment in real time to achieve active shock absorption, until the intelligent mobile terminal exits the turning. In the present application, when the smart mobile terminal is turning, the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each driving wheel are obtained, and the speed change acceleration corresponding to the smart mobile terminal when turning and the joint angle corresponding to each joint motor are calculated based on these parameters, so as to control the smart mobile terminal to drive according to the calculated speed change acceleration and the joint angle corresponding to each joint motor, so that the smart mobile terminal can balance the turn and avoid the vibration caused by the sudden change in speed, thereby improving the shock absorption effect of the smart mobile terminal when turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 is a flow chart of a turning control method provided in Embodiment 1 of the present invention;

[0018] Figure 2 is a flow chart of a turning control method provided in Embodiment 2 of the present invention;

[0019] Figure 3 is a flow chart of a turning control method provided in Embodiment 3 of the present invention;

[0020] Figure 4 is a structural block diagram of a turning control system provided by Embodiment 4 of the present invention;

[0021] Figure 5 It is a structural schematic diagram of a computer device provided by Embodiment 5 of the present invention;

[0022] Figure 6 It is a schematic diagram of an intelligent mobile terminal provided in Embodiment 6 of the present invention. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] In order to illustrate the technical solution of the present invention, the following is described through specific embodiments.

[0031] See also Figure 1 , is a flow chart of a turning control method provided by Embodiment 1 of the present invention, such as Figure 1 As shown, the turning control method is applied to a smart mobile terminal, and the turning control method may include the following steps.

[0032] S101: When the intelligent mobile terminal is turning, the motor encoder parameters, inertial navigation parameters, and driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time.

[0033] In step S101, when the intelligent mobile terminal is in a turning state, that is, when the intelligent mobile terminal needs to change the driving state, the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time, wherein the motor encoder parameters of each joint motor are parameters characterizing the posture state and motion state of each joint of the intelligent mobile terminal, including the speed, angle and torque of the corresponding joint, the inertial navigation parameters are parameters characterizing the posture state of the intelligent mobile terminal, the driving speed parameters of each driving wheel may include the corresponding linear velocity and acceleration, and the force parameters are parameters characterizing the force conditions of the driving wheels during driving of the intelligent mobile terminal. These parameters are obtained in real time so as to calculate the corresponding form state and posture state of the intelligent mobile terminal when turning according to the corresponding parameters.

[0034] In this embodiment, when the intelligent mobile terminal is in a turning state, the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time. Among them, the motor encoder parameters of each joint motor can be obtained through the electrode encoder, the inertial navigation parameters can be obtained through the inertial navigation sensor, the driving speed parameters of each driving wheel can be obtained through the driving wheel encoder on each driving wheel, and the force parameters can be obtained according to the force sensor.

[0035] It should be noted that if the intelligent mobile terminal is a two-wheeled and two-legged intelligent mobile terminal, the motor encoder parameters of the joint motors include left knee joint motor encoder parameters, right knee joint motor encoder parameters, left hip joint motor encoder parameters, and right hip joint motor encoder parameters. The inertial navigation parameters include pitch angle parameters, yaw angle parameters, and roll angle parameters.

[0036] It should be noted that the motor encoder parameters may include the speed, angle and torque of the corresponding joint. For example, the motor encoder parameters of the left knee joint include the speed, angle and torque of the left knee joint, the motor encoder parameters of the right knee joint include the speed, angle and torque of the right knee joint, the motor encoder parameters of the left hip joint include the speed, angle and torque of the left hip joint, and the motor encoder parameters of the right hip joint include the speed, angle and torque of the right hip joint.

[0037] It should be noted that before determining that the intelligent mobile terminal is in a turning state, that is, when the intelligent mobile terminal is driving in a straight line, the body state information of the intelligent mobile terminal is obtained, and whether the intelligent mobile terminal is in a turning state is determined based on the body state information. The body state information may include inertial navigation parameters collected by the inertial navigation sensor, such as yaw angle parameters, and whether the intelligent mobile terminal is in a turning state is determined based on the corresponding yaw angle parameters. For example, if the yaw angle parameter is greater than the preset yaw angle, it is considered that the intelligent mobile terminal is in a turning state. Or, based on the corresponding roll angle parameter, it is determined whether the intelligent mobile terminal is in a turning state. For example, if the roll angle parameter is greater than the preset roll angle, it is considered that the intelligent mobile terminal is in a turning state. After determining that the intelligent mobile terminal is in a turning state, the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time.

[0038] Optionally, after obtaining the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment in real time, the method further includes:

[0039] The motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal, and each driving wheel are sent to the real-time kernel of the intelligent mobile terminal.

[0040] In the present embodiment, after the motor encoder parameters, inertial navigation parameters, travel speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time, the motor encoder parameters, inertial navigation parameters, travel speed parameters and force parameters of each joint motor of the intelligent mobile terminal are sent to the real-time kernel of the intelligent mobile terminal. Wherein, these parameters can be sent to the real-time kernel of the intelligent mobile terminal by EtherCAT (Control Automation Technology, Ethernet control automation technology) bus. Wherein, the real-time kernel reads the motor encoder parameters, inertial navigation parameters, travel speed parameters and force parameters of each joint motor of the intelligent mobile terminal, and according to these parameters read, calculates the speed change acceleration of the intelligent mobile terminal at the next moment and the corresponding joint angle of each joint motor, so that the speed change acceleration and joint angle of the intelligent mobile terminal can be obtained in real time.

[0041] S102: Calculate the speed change acceleration of the smart mobile terminal and the joint angle corresponding to each joint motor at the next moment according to the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters at the current moment.

[0042] In step S102, the speed change acceleration of the smart mobile terminal at the next moment and the corresponding joint angle of each joint motor are calculated according to the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters at the current moment, wherein the speed change acceleration of the smart mobile terminal is the acceleration of each driving wheel when turning, and the corresponding joint angle of each joint motor is the bending degree of the corresponding joint.

[0043] In this embodiment, the speed change acceleration of the smart mobile terminal at the next moment and the joint angle corresponding to each joint motor are calculated according to the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters at the current moment. When calculating the speed change acceleration of the smart mobile terminal at the next moment and the joint angle corresponding to each joint motor, the calculation is performed in the real-time kernel.

[0044] It should be noted that, the speed change acceleration of the smart mobile terminal includes the tangential acceleration and the centripetal acceleration of the corresponding smart mobile terminal when turning.

[0045] It should be noted that when calculating the speed acceleration of the smart mobile terminal and the joint angle corresponding to each joint motor at the next moment in this embodiment, the DH parameter building or VMC (virtual model control, intuitive control method) can be used to calculate the speed acceleration of the smart mobile terminal and the joint angle corresponding to each joint motor, which is not limited in this embodiment.

[0046] See also Figure 2 , is a flow chart of a turning control method provided by Embodiment 2 of the present invention, such as Figure 2 As shown, the steps calculate the speed change acceleration of the smart mobile terminal and the joint angle corresponding to each joint motor at the next moment according to the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters at the current moment, including:

[0047] S201: Calculating the centripetal force and centripetal acceleration required for the smart mobile terminal to turn according to the driving speed parameter and inertial navigation parameter of each driving wheel;

[0048] S202: Calculating the speed change acceleration of the smart mobile terminal according to the driving speed parameter and the centripetal acceleration of each driving wheel;

[0049] S203: Calculate the joint angle corresponding to each joint motor according to the centripetal force, force parameters and motor encoder parameters.

[0050] In this embodiment, the centripetal force and centripetal acceleration required for the intelligent mobile terminal to turn are calculated based on the driving speed parameters and inertial navigation parameters of each driving wheel, wherein the inertial navigation parameters are corresponding yaw angle parameters, that is, the centripetal force and centripetal acceleration required for the intelligent mobile terminal to turn are calculated based on the driving speed parameters and yaw angle parameters of each driving wheel. When calculating, firstly, the difference in the linear velocity between the driving wheels is calculated based on the linear velocity in the driving speed parameters of each driving wheel, and the centripetal force and centripetal acceleration required for the intelligent mobile terminal to turn are calculated based on the difference in the linear velocity and the yaw angle parameter.

[0051] It should be noted that the difference is the difference between the linear speed of the outer drive wheel and the linear speed of the inner drive wheel. For example, if the smart mobile terminal is turning left, the difference between the linear speeds of the drive wheels is calculated based on the linear speed in the driving speed parameter of each drive wheel, where the difference is the difference between the linear speed of the right drive wheel and the linear speed of the left drive wheel. If the smart mobile terminal is turning right, the difference between the linear speeds of the drive wheels is calculated based on the linear speed in the driving speed parameter of each drive wheel, where the difference is the difference between the linear speed of the left drive wheel and the linear speed of the right drive wheel.

[0052] The speed change acceleration of the intelligent mobile terminal is calculated according to the driving speed parameter and the centripetal acceleration of each driving wheel, wherein the driving speed parameter of each driving wheel is the linear speed of each driving wheel, that is, the speed change acceleration of the intelligent mobile terminal is calculated according to the linear speed and the centripetal acceleration of each driving wheel.

[0053] The joint angle corresponding to each joint motor is calculated according to the centripetal force, force parameters and motor encoder parameters, wherein the force parameters include the force parameters of the left drive wheel and the force parameters of the right drive wheel. If the smart mobile terminal is turning left, the force parameters are the force parameters corresponding to the left drive wheel; if the smart mobile terminal is turning right, the force parameters are the force parameters corresponding to the right drive wheel.

[0054] When calculating the joint angle corresponding to each joint motor, first calculate the joint angle corresponding to the inner knee joint motor of the smart mobile terminal when turning. During the calculation, calculate the joint angle corresponding to the inner knee joint motor of the smart mobile terminal when turning according to the encoder parameters corresponding to the inner knee joint motor of the smart mobile terminal when turning, the centripetal force, and the force parameters of the driving wheel corresponding to the inner side of the smart mobile terminal when turning.

[0055] For example, if the smart mobile terminal is turning left, the joint angle corresponding to the left knee joint motor of the smart mobile terminal is calculated based on the force parameters corresponding to the left driving wheel, the centripetal force and the encoder parameters of the left knee joint. If the smart mobile terminal is turning right, the joint angle corresponding to the right knee joint motor of the smart mobile terminal is calculated based on the force parameters corresponding to the right driving wheel, the centripetal force and the encoder parameters of the right knee joint.

[0056] Calculate the joint angle corresponding to the inner knee joint motor of the intelligent mobile terminal when turning, and determine the joint angles corresponding to other joint motors. Because the joint angle corresponding to the inner knee joint motor has the greatest influence on the balance of the intelligent mobile terminal when turning, the joint angles corresponding to other joint motors can be kept unchanged, that is, the joint angles corresponding to other joint motors at the next moment are equal to the joint angles at the current moment.

[0057] According to the calculated joint angle corresponding to the inner knee joint motor during turning and the joint angles corresponding to other joint motors at the current moment, the joint angle corresponding to each joint motor at the next moment is obtained.

[0058] See also Figure 3 , is a flow chart of a turning control method provided by Embodiment 3 of the present invention, such as Figure 3 As shown, the steps of calculating the joint angle corresponding to each joint motor according to the centripetal force, force parameters and motor encoder parameters include:

[0059] S301: Calculate the change value of the joint angle corresponding to each joint motor according to the centripetal force and the force parameters;

[0060] S302: Calculate the joint angle corresponding to each joint motor according to the change value and the motor encoder parameters.

[0061] In this embodiment, the change value of the joint angle corresponding to each joint motor is calculated according to the centripetal force and the force parameter, and the joint angle corresponding to each joint motor is calculated according to the change value and the motor encoder parameter. Among them, the force parameter is the force parameter of the driving wheel on the side close to the center of the turn, that is, the force parameter of the driving wheel on the inner side of the turn. If the smart mobile terminal is turning left, the force parameter is the force parameter corresponding to the left driving wheel. If the smart mobile terminal is turning right, the force parameter is the force parameter corresponding to the right driving wheel.

[0062] When calculating the joint angle corresponding to each joint motor, first calculate the change value of the joint angle corresponding to the inner knee joint motor of the smart mobile terminal when turning. During the calculation, based on the encoder parameters corresponding to the inner knee joint motor of the smart mobile terminal when turning, the centripetal force, and the force parameters of the driving wheel corresponding to the inner side of the smart mobile terminal when turning, calculate the change value of the joint angle corresponding to the inner knee joint motor of the smart mobile terminal when turning.

[0063] For example, if the smart mobile terminal is turning left, the change value of the joint angle corresponding to the left knee joint motor of the smart mobile terminal is calculated according to the force parameters corresponding to the left driving wheel, the centripetal force and the encoder parameters of the left knee joint. If the smart mobile terminal is turning right, the change value of the joint angle corresponding to the right knee joint motor of the smart mobile terminal is calculated according to the force parameters corresponding to the right driving wheel, the centripetal force and the encoder parameters of the right knee joint.

[0064] Calculate the change value of the joint angle corresponding to the inner knee joint motor when the smart mobile terminal is turning, and determine the change values ​​of the joint angles corresponding to other joint motors. Because the joint angle corresponding to the inner knee joint motor has the greatest influence on the balance of the smart mobile terminal when turning, the joint angles corresponding to other joint motors can remain unchanged, that is, the change value of the joint angles corresponding to other joint motors at the next moment and the joint angles at the current moment is zero.

[0065] According to the calculated joint angle corresponding to the inner knee joint motor during turning and the joint angles corresponding to other joint motors at the current moment, the joint angle corresponding to each joint motor at the next moment is obtained.

[0066] S103: Control each driving wheel and each joint motor according to the speed change acceleration and the joint angle, and return to execute real-time acquisition of the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the smart mobile terminal at the current moment to achieve active shock absorption, until the smart mobile terminal exits the turning.

[0067] In step 103, when the intelligent mobile terminal is turning, if the intelligent mobile terminal needs to turn at the next moment, the steps of obtaining the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment in real time are continued to realize active shock absorption until the intelligent mobile terminal exits the turning, so that the intelligent mobile terminal can control the corresponding motor output based on the calculated speed change acceleration and joint angle during the entire process of turning, so that the intelligent mobile terminal is always in a stable turning state.

[0068] In this embodiment, each driving wheel and each joint motor are controlled according to the speed change acceleration and the joint angle, so that the corresponding driving wheel moves according to the corresponding speed change acceleration at the next moment, and the posture of the corresponding joint is in the corresponding angle state.

[0069] It should be noted that before returning to execute the real-time acquisition of the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the smart mobile terminal at the current moment, it is also necessary to determine whether the smart mobile terminal has exited the turning driving at the next moment. If the smart mobile terminal has not exited the turning driving, then return to execute the real-time acquisition of the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the smart mobile terminal at the current moment. If the smart mobile terminal has exited the turning driving at the next moment, the step of obtaining the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the smart mobile terminal at the current moment in real time will not be executed.

[0070] If the intelligent mobile terminal does not exit the turning, it returns to execute the real-time acquisition of the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment, and then calculates the speed change acceleration of the intelligent mobile terminal at the next moment and the corresponding joint angle of each joint motor according to the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters at the current moment, and controls each driving wheel and each joint motor according to the speed change acceleration and the joint angle.

[0071] It should be noted that when judging whether the smart mobile terminal has exited the turning driving at the next moment, the body status information of the smart mobile terminal can be obtained, and whether the smart mobile terminal is still in the turning driving can be judged according to the body status information. The body status information may include inertial navigation parameters collected by the inertial navigation sensor, such as yaw angle parameters. According to the corresponding yaw angle parameters, it is judged whether the smart mobile terminal is in the turning driving. For example, if the yaw angle parameter is greater than the preset yaw angle, it is considered that the smart mobile terminal is in the turning driving. Or according to the corresponding roll angle parameter, it is judged whether the smart mobile terminal is in the turning driving. For example, if the roll angle parameter is greater than the preset roll angle, it is considered that the smart mobile terminal is in the turning driving.

[0072] When the intelligent mobile terminal is in the process of turning, the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time; the speed change acceleration of the intelligent mobile terminal at the next moment and the joint angle corresponding to each joint motor are calculated according to the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters at the current moment; each driving wheel and each joint motor are controlled according to the speed change acceleration and the joint angle; the execution is returned to obtain the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment in real time to achieve active shock absorption, until the intelligent mobile terminal exits the turning. In the present application, when the smart mobile terminal is turning, the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each driving wheel are obtained, and the speed change acceleration corresponding to the smart mobile terminal when turning and the joint angle corresponding to each joint motor are calculated based on these parameters, so as to control the smart mobile terminal to drive according to the calculated speed change acceleration and the joint angle corresponding to each joint motor, so that the smart mobile terminal can balance the turn and avoid the vibration caused by the sudden change in speed, thereby improving the shock absorption effect of the smart mobile terminal when turning.

[0073] See also Figure 4 , is a structural block diagram of a turning control system provided in Embodiment 4 of the present invention, the turning control system 40, applied to an intelligent mobile terminal, the turning control system includes a controller, the controller is used to execute when the intelligent mobile terminal is in turning driving, real-time acquisition of motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment, calculate the speed change acceleration of the intelligent mobile terminal at the next moment and the joint angle corresponding to each joint motor according to the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters at the current moment, control each driving wheel and each joint motor according to the speed change acceleration and the joint angle, return to execute acquisition of motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment to achieve active shock absorption, until the intelligent mobile terminal exits turning driving.

[0074] The turning control system also includes a motor, which is used to control the motor encoder parameters of the smart mobile terminal, a body inertial navigation sensor, which is used to obtain the inertial navigation parameters of the smart mobile terminal, and a force sensor, which is used to obtain the force parameters of the driving wheel.

[0075] Figure 5 This is a schematic diagram of the structure of a computer device provided in Embodiment 5 of the present invention. Figure 5 As shown, the computer device of this embodiment includes: at least one processor ( Figure 5Only one is shown in the figure), 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 turning control method embodiments are implemented.

[0076] The computer device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that Figure 5 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] See also Figure 6 , Figure 6 is a schematic diagram of an intelligent mobile terminal 60 provided in Embodiment 6 of the present invention, and the intelligent mobile terminal includes the above-mentioned turning control system 40.

Claims

1. A turning control method, characterized in that: Applied to a smart mobile terminal, the turning control method includes: When the intelligent mobile terminal is turning, the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time; Calculate the speed change acceleration of the smart mobile terminal and the joint angle corresponding to each joint motor at the next moment according to the motor encoder parameter, the inertial navigation parameter, the driving speed parameter and the force parameter at the current moment; According to the speed change acceleration and the joint angle, each driving wheel and each joint motor are controlled, and the execution is returned to obtain the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the smart mobile terminal in real time at the current moment to achieve active shock absorption, until the smart mobile terminal exits turning.

2. The turning control method according to claim 1, characterized in that: The motor encoder parameters of the joint motors include: left knee joint motor encoder parameters, right knee joint motor encoder parameters, left hip joint motor encoder parameters, and right hip joint motor encoder parameters; The inertial navigation parameters include: pitch angle parameters, yaw angle parameters and roll angle parameters.

3. The turning control method according to claim 1, characterized in that: After the motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal at the current moment are obtained in real time, the method further includes: The motor encoder parameters, inertial navigation parameters, driving speed parameters and force parameters of each joint motor of the intelligent mobile terminal, and each driving wheel are sent to the real-time kernel of the intelligent mobile terminal.

4. The turning control method according to claim 1, characterized in that: The method of calculating the speed change acceleration of the smart mobile terminal and the joint angle corresponding to each joint motor at the next moment according to the motor encoder parameter, the inertial navigation parameter, the driving speed parameter and the force parameter at the current moment includes: Calculating the centripetal force and centripetal acceleration required for the intelligent mobile terminal to turn according to the driving speed parameter of each driving wheel and the inertial navigation parameter; Calculating the speed change acceleration of the smart mobile terminal according to the driving speed parameter of each driving wheel and the centripetal acceleration; The joint angle corresponding to each joint motor is calculated according to the centripetal force, the force parameter and the motor encoder parameter.

5. The turning control method according to claim 4, characterized in that: Calculating the joint angle corresponding to each joint motor according to the centripetal force, the force parameter and the motor encoder parameter comprises: Calculate the change value of the joint angle corresponding to each joint motor according to the centripetal force and the force parameter; The joint angle corresponding to each joint motor is calculated according to the change value and the motor encoder parameter.

6. A turning control system, characterized in that: Applied to a smart mobile terminal, the turning control system comprises a controller, and the controller is used to execute the turning control method described in claims 1-5; It also includes a motor, which is used to control the motor encoder parameters of the smart mobile terminal.

7. The turning control system according to claim 6, characterized in that: It also includes a fuselage inertial navigation sensor, which is used to obtain inertial navigation parameters of the smart mobile terminal; A force sensor is also included, and the force sensor is used to obtain the force parameters of the driving wheel.

8. A computer device, characterized in that: The computer device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the turning control method according to claims 1 to 5 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the turning control method according to claims 1 to 5 is implemented.

10. An intelligent mobile terminal, characterized in that: The intelligent mobile terminal includes the turning control system described in claims 6-7.

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