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

Abstract

The invention relates to the technical field of intelligent mobile terminal damping, in particular to a control method and system of an intelligent mobile terminal and the intelligent mobile terminal. According to the road surface obstacle information, the obstacle passing mode of the intelligent mobile terminal is determined, the mode comprises a four-wheel mode and a two-wheel mode, if the mode is the four-wheel mode, the intelligent mobile terminal is controlled to pass through the obstacle in a four-wheel posture, and if the mode is the two-wheel mode, the four-wheel posture is switched into a two-wheel posture. And controlling the intelligent mobile terminal to pass through the obstacle in a two-wheel posture. According to the obstacle information, it is determined that the intelligent mobile terminal passes through the obstacle by using four wheels or two wheels, and the intelligent mobile terminal is switched between four wheels and two wheels, so that the intelligent mobile terminal can cross the obstacle, collision between a machine body and the obstacle is avoided, and vibration of the intelligent mobile terminal is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of shock absorption of intelligent mobile terminals, and in particular to a control method and a control system of an intelligent mobile terminal and an intelligent mobile terminal. Background Art

[0002] As a common device that assists people in their daily production and life, smart mobile terminals are gradually replacing people in various types of complex production activities in various fields. With the development of artificial intelligence technology, more new artificial intelligence methods have been widely used in this field. In this context, smart mobile terminal technology is gradually becoming mature. Compared with manpower, smart mobile terminals have many advantages such as high execution accuracy, uninterrupted work, and low cost. In the long run, the application of smart mobile terminals will inevitably become more and more popular.

[0003] However, when a smart mobile terminal is used as a vehicle and encounters uneven obstacles while traveling on the road, the bumps will cause vibrations, and the severe vibrations will reduce the service life of the components of the smart mobile terminal itself and the equipment mounted thereon.

[0004] Therefore, when the smart mobile terminal is used as a vehicle and encounters uneven obstacles while traveling on the road, how to reduce the vibration of the smart mobile terminal becomes an urgent problem to be solved. Summary of the invention

[0005] Based on this, it is necessary to provide a control method, control system and smart mobile terminal for the above technical problems, so as to solve the problem of large vibration of the smart mobile terminal when the smart mobile terminal encounters uneven obstacles while driving on the road as a means of transportation.

[0006] A first aspect of an embodiment of the present application provides a control method for an intelligent mobile terminal, including:

[0007] Acquire road obstacle information, and determine a mode for the smart mobile terminal to pass through the obstacle according to the road obstacle information, wherein the mode includes a four-wheel mode and a two-wheel mode;

[0008] If it is the four-wheel mode, control the smart mobile terminal to pass the obstacle using the four-wheel posture;

[0009] If it is the two-wheel mode, the four-wheel posture is switched to the two-wheel posture, and the smart mobile terminal is controlled to pass the obstacle using the two-wheel posture.

[0010] A second aspect of an embodiment of the present application provides a control system for an intelligent mobile terminal, including a controller, a driving module and a balancing module, wherein the controller is connected to the driving module and the balancing module, the driving module is used to drive the wheels of the intelligent mobile terminal according to the instructions of the controller, the balancing module is used to collect road obstacle information and send it to the controller, and control the intelligent mobile terminal to pass through obstacles using a four-wheel posture or a two-wheel posture according to the instructions of the controller, and the controller is used to execute the control method of the intelligent mobile terminal described in the first aspect.

[0011] A third aspect of the embodiments of the present application provides an intelligent mobile terminal, which includes the control system of the intelligent mobile terminal according to the second aspect.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] Obtain road obstacle information, and determine the mode of the smart mobile terminal passing the obstacle based on the road obstacle information. The modes include four-wheel mode and two-wheel mode. If it is four-wheel mode, the smart mobile terminal is controlled to use four-wheel posture to pass the obstacle. If it is two-wheel mode, the four-wheel posture is switched to two-wheel posture, and the smart mobile terminal is controlled to use two-wheel posture to pass the obstacle. In this application, when the smart mobile terminal encounters an obstacle, according to the obstacle information, it is determined whether the smart mobile terminal uses four wheels or two wheels to pass the obstacle. The smart mobile terminal switches between four wheels and two wheels, so that the smart mobile terminal can cross the obstacle, avoid the collision between the fuselage and the obstacle, and reduce the vibration of the smart mobile terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] 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.

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

[0016] Figure 2 is a structural block diagram of a control system of an intelligent mobile terminal provided in Embodiment 2 of the present invention;

[0017] Figure 3 is a structural diagram of a balancing module provided in Embodiment 3 of the present invention;

[0018] Figure 4is a schematic diagram of a smart mobile terminal using a laser radar for scanning provided by a fourth embodiment of the present invention;

[0019] Figure 5 This is a schematic diagram of a smart mobile terminal using a four-wheel posture and a two-wheel posture to pass through an obstacle provided by Embodiment 5 of the present invention;

[0020] Figure 6 This is a schematic diagram of a smart mobile terminal using a single-sided two-wheel posture to pass through an obstacle provided by Embodiment 6 of the present invention;

[0021] Figure 7 This is a structural diagram of an intelligent mobile terminal provided in Embodiment 7 of the present invention.

[0022] Specific implementation mode

[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 specification of the present invention 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 modes. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other modes.

[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 control method for an intelligent mobile terminal provided in Embodiment 1 of the present invention, such as Figure 1 As shown, the control method of the intelligent mobile terminal may include the following steps.

[0032] S101: Obtain road obstacle information, and determine a mode for the smart mobile terminal to pass through the obstacle based on the road obstacle information, the modes including a four-wheel mode and a two-wheel mode.

[0033] In step S101, the road obstacle information of the intelligent mobile terminal during driving is obtained, wherein the road obstacle information is the obstacles appearing on the road during driving of the intelligent mobile terminal, and the obstacles can be static or dynamic. According to the road obstacle information, the mode of the intelligent mobile terminal passing through the obstacle is determined, wherein the mode of the intelligent mobile terminal passing through the obstacle is determined according to the height of the obstacle and the density of the obstacle.

[0034] In this embodiment, the road obstacle information during the driving of the smart mobile terminal can be obtained based on the road obstacle information collected by the laser radar installed on the smart mobile terminal. Among them, the laser radar is a radar system that emits a laser beam to detect the position, speed and other characteristic quantities of the target. During the driving process of the smart mobile terminal, the laser radar is used to continuously emit a detection signal (laser beam) to the surroundings, and then the received signal reflected from the target (target echo) is compared with the transmitted signal. After appropriate processing, the relevant information of the target can be obtained, such as the target distance, direction, height, speed, posture, and even shape parameters. Therefore, the road obstacle information during the driving process of the smart mobile terminal can be obtained according to the laser radar. The road obstacle information may include the position of the obstacle, the size of the obstacle, the distance between obstacles, etc.

[0035] According to the road obstacle information, the mode of the intelligent mobile terminal passing through the obstacle is determined. Since the intelligent mobile terminal has poor flexibility when using four wheels, if the obstacles are dense, it is not easy for the intelligent mobile terminal to pass through the corresponding obstacle area when using four wheels. Therefore, when there are fewer obstacles or the obstacles are sparse, it is determined to use the four-wheel mode. The intelligent mobile terminal has higher flexibility when using two wheels. Therefore, when the obstacles are dense, the intelligent mobile terminal is converted to two wheels for driving to prevent the intelligent mobile terminal from colliding with obstacles in a large area, thereby reducing the vibration of the intelligent mobile terminal.

[0036] It should be noted that, in the process of determining the mode of the smart mobile terminal passing through obstacles based on road obstacle information, it can be determined according to pre-set rules. When the obstacles are sparse, that is, the distance between obstacles is greater than the preset threshold, the four-wheel mode is determined to be used, otherwise, the two-wheel mode is used.

[0037] In this embodiment, the mode of the smart mobile terminal passing through the obstacle is determined according to the road obstacle information, and the conversion between four wheels and two wheels is realized to prevent the smart mobile terminal from colliding with the obstacle in a large area, thereby reducing the vibration of the smart mobile terminal.

[0038] S102: If the mode is four-wheel mode, control the smart mobile terminal to pass through obstacles using a four-wheel posture.

[0039] In step S102, if it is a four-wheel mode, the smart mobile terminal is controlled to pass through the obstacle using a four-wheel posture, wherein the smart mobile terminal passes through the obstacle using a four-wheel posture, that is, the four wheels of the smart mobile terminal are on the ground.

[0040] In this embodiment, if it is a four-wheel mode, the smart mobile terminal is controlled to use a four-wheel posture to pass through obstacles, that is, the four wheels of the smart mobile terminal are controlled to touch the ground. When the smart mobile terminal is controlled to use a four-wheel posture to pass through obstacles, the smart mobile terminal is controlled to avoid obstacles based on road obstacle information to reduce the vibration generated when the smart mobile terminal collides with the obstacle.

[0041] It should be noted that when controlling the intelligent mobile terminal to avoid obstacles, the intelligent mobile terminal is controlled to change the driving direction according to the road obstacle information, so as to avoid the obstacles.

[0042] It should be noted that when controlling the intelligent mobile terminal to change its driving direction according to road obstacle information, the driving direction of the intelligent mobile terminal can be changed by changing the posture of the intelligent mobile terminal. An inertial navigation sensor is set on the intelligent mobile terminal to collect the posture information of the intelligent mobile terminal in real time. When the driving direction of the intelligent mobile terminal needs to be changed, the rotation of the corresponding motor on the intelligent mobile terminal is controlled to change the posture of the intelligent mobile terminal until the obstacle is avoided.

[0043] It should be noted that when controlling the intelligent mobile terminal to pass through obstacles using the four-wheel attitude, in order for the intelligent mobile terminal to pass through obstacles stably, that is, when the intelligent mobile terminal passes through obstacles, the intelligent mobile terminal is in a balanced state. The real-time posture parameters are used as the input of PID control, and the contact point between the intelligent mobile terminal and the ground is used as the zero torque point as the target, so that the intelligent mobile terminal maintains balance, wherein the real-time posture parameters are the real-time posture of the intelligent mobile terminal collected by the inertial navigation sensor.

[0044] It should be noted that when the intelligent mobile terminal is controlled to pass through an obstacle using the four-wheel posture, if the height of the obstacle is low, the height of the intelligent mobile terminal body can also be adjusted to cross the obstacle.

[0045] S103: If it is in the two-wheel mode, the four-wheel posture is switched to the two-wheel posture, and the smart mobile terminal is controlled to pass the obstacle using the two-wheel posture.

[0046] In step S103, if it is a two-wheel mode, the four-wheel posture is switched to a two-wheel posture, and the intelligent mobile terminal is controlled to pass the obstacle using the two-wheel posture. The two-wheel posture means that two wheels of the intelligent mobile terminal are on the ground.

[0047] In this embodiment, if it is a two-wheel mode, the four-wheel posture is switched to the two-wheel posture, and the smart mobile terminal is controlled to pass the obstacle using the two-wheel posture, that is, the two wheels of the smart mobile terminal are controlled to touch the ground.

[0048] In this embodiment, when the four-wheel posture is switched to the two-wheel posture, two of the wheels can be lifted by controlling the rotation of the corresponding motor. When the smart mobile terminal is controlled to pass through an obstacle using the two-wheel posture, the smart mobile terminal is controlled to avoid the obstacle based on the road obstacle information, thereby reducing the vibration generated when the smart mobile terminal collides with the obstacle.

[0049] It should be noted that when controlling the intelligent mobile terminal to avoid obstacles, the intelligent mobile terminal is controlled to change the driving direction according to the road obstacle information, so as to avoid the obstacles.

[0050] It should be noted that when controlling the intelligent mobile terminal to change its driving direction according to road obstacle information, the driving direction of the intelligent mobile terminal can be changed by changing the posture of the intelligent mobile terminal. An inertial navigation sensor is set on the intelligent mobile terminal to collect the posture information of the intelligent mobile terminal in real time. When the driving direction of the intelligent mobile terminal needs to be changed, the rotation of the corresponding motor on the intelligent mobile terminal is controlled to change the posture of the intelligent mobile terminal until the obstacle is avoided.

[0051] It should be noted that when controlling the intelligent mobile terminal to pass through obstacles using two-wheel posture, in order for the intelligent mobile terminal to pass through obstacles stably, that is, when the intelligent mobile terminal passes through obstacles, the intelligent mobile terminal is in a balanced state. The real-time posture parameters are used as the input of PID control, and the contact point between the intelligent mobile terminal and the ground is used as the zero torque point as the target, so that the intelligent mobile terminal is kept balanced, wherein the real-time posture parameters are the real-time posture of the intelligent mobile terminal collected by the inertial navigation sensor.

[0052] It should be noted that when the smart mobile terminal is controlled to pass through an obstacle using two wheels, if the height of the obstacle is low, the height of the smart mobile terminal body can be adjusted to cross the obstacle.

[0053] In this embodiment, the intelligent mobile terminal determines the passing mode using different numbers of wheels according to different road obstacle information by switching between four wheels and two wheels, thereby improving the flexibility of the intelligent mobile terminal in passing obstacles.

[0054] Switch the four-wheel stance to the two-wheel stance, including:

[0055] Obtain the distance between the smart mobile terminal and the obstacle, as well as the height of the obstacle;

[0056] Obtain the rated speed of the motor corresponding to the motor used to control the switch from the four-wheel posture to the two-wheel posture, and calculate the target interval for the intelligent mobile terminal to switch from the four-wheel posture to the two-wheel posture according to the rated speed, distance and height;

[0057] In the target range, the motor is controlled to rotate and the four-wheel posture is switched to the two-wheel posture.

[0058] In this embodiment, before switching the four-wheel posture to the two-wheel posture, the time or position where the four wheels need to be converted to two wheels is calculated to facilitate timely conversion. When driving into an obstacle area, the smart mobile terminal can successfully convert the four wheels to two wheels.

[0059] When calculating the time or position at which the four-wheeled vehicle needs to be converted to the two-wheeled vehicle, the distance between the intelligent mobile terminal and the obstacle, as well as the height of the obstacle, is obtained; the rated speed of the motor corresponding to the motor for controlling the switching of the four-wheeled vehicle posture to the two-wheeled vehicle posture is obtained, wherein the motor on the wheel in the intelligent mobile terminal is used to drive the wheel to run, and the target interval for the intelligent mobile terminal to switch the four-wheeled vehicle posture to the two-wheeled vehicle posture is calculated according to the rated speed, distance and height, wherein the target interval is the closest position to the obstacle and the farthest position to the obstacle when the intelligent mobile terminal converts the four-wheeled vehicle posture to the two-wheeled vehicle posture, that is, the position corresponding to the latest time and the position corresponding to the earliest time when the intelligent mobile terminal converts the four-wheeled vehicle posture to the two-wheeled vehicle posture.

[0060] In the target interval, the motor is controlled to rotate and the four-wheel posture is switched to the two-wheel posture. That is, the angle between the forearm and the boom connected between the wheels is controlled and adjusted. When the angle between the forearm and the boom is less than 90 degrees, it is considered that the four-wheel posture is switched to the two-wheel posture. Among them, the boom is a connecting rod connecting the chassis and the forearm, which is connected to the motor fixed on the forearm. It should be noted that the angle between the forearm and the boom is changed by adjusting the counterclockwise rotation of the motor fixed on the forearm, thereby completing the angle between the forearm and the boom.

[0061] For example, if the height of the obstacle is 0.15 meters, the rated speed of the motor for controlling the switch from the four-wheel posture to the two-wheel posture is 54 rpm, wherein the motor for controlling the switch from the four-wheel posture to the two-wheel posture is a motor fixed on the forearm, wherein the forearm is connected to the front and rear wheels, then according to the rated speed, distance and height, the process of calculating the target interval for the intelligent mobile terminal to switch from the four-wheel posture to the two-wheel posture is as follows:

[0062] According to the rated speed, calculate the angular velocity of the motor at the rated speed:

[0063]

[0064] Here, the unit of ω is degree per second.

[0065] According to the length of the forearm in the intelligent mobile terminal and the height of the obstacle, calculate the angle that the motor fixed on the forearm needs to rotate. For example, if the length of the forearm is 0.52m and the height of the obstacle is 0.15m, the calculation formula for the angle that the motor fixed on the forearm needs to rotate is as follows:

[0066]

[0067] A=65

[0068] Wherein, A is the angle that the motor fixed on the forearm needs to rotate, in degrees.

[0069] It should be noted that, according to the height of the obstacle, the forearm is rotated so that the height of the wheel at the corresponding raised end after the rotation should be at least equal to the height of the obstacle, so as to avoid collision between the wheel at the corresponding raised end and the corresponding obstacle after the rotation.

[0070] According to the angular velocity of the motor fixed on the forearm and the angle that the motor fixed on the forearm needs to rotate, the time it takes for the forearm to rotate to the corresponding angle is calculated. The calculation formula is as follows:

[0071]

[0072] Among them, t is the time it takes for the forearm to rotate to the corresponding angle, in seconds.

[0073] According to the time it takes for the forearm to rotate to the corresponding angle and the driving speed of the intelligent mobile terminal, the distance traveled in the corresponding time is calculated. According to the corresponding distance, at the driving speed of the intelligent mobile terminal, it is determined that the intelligent mobile terminal has started to rotate the corresponding motor when it travels to the corresponding distance from the obstacle, that is, the motor fixed on the forearm has started to rotate, so that the wheel at the corresponding end is suspended.

[0074] It should be noted that the motor fixed on the forearm can also start rotating in advance, that is, when an obstacle is detected on the road, if it is determined to pass through in two-wheel mode, the motor fixed on the forearm can start rotating. Therefore, the corresponding target interval is the position corresponding to when the smart mobile terminal can switch the four-wheel posture to the two-wheel posture at the earliest to the position corresponding to when the smart mobile terminal can switch the four-wheel posture to the two-wheel posture at the latest.

[0075] In the target interval, the motor is controlled to rotate and the four-wheel posture is switched to the two-wheel posture. If the four-wheel posture is switched to the two-wheel posture corresponding to the front end, the motor can be rotated counterclockwise to make the two wheels at the rear end suspended in the air, completing the switch from the four-wheel posture to the two-wheel posture. If the four-wheel posture is switched to the two-wheel posture corresponding to the rear end, the motor can be rotated clockwise to make the two wheels at the front end suspended in the air, completing the switch from the four-wheel posture to the two-wheel posture.

[0076] Optionally, the two-wheel posture includes a bilateral two-wheel posture and a unilateral two-wheel posture.

[0077] In this embodiment, the two-wheel posture includes a bilateral two-wheel posture and a unilateral two-wheel posture. The bilateral two-wheel posture is a posture in which the lengths of the upper arms of the left and right wheels are equal, and the unilateral two-wheel posture is a posture in which the lengths of the upper arms of the left and right wheels are unequal. Among them, the bilateral two-wheel posture is a posture in which the two wheels are driving on the road surface, that is, the smart mobile terminal is driving on a road surface without a slope, and the unilateral two-wheel posture is a posture in which the lengths of the upper arms of the left and right wheels are unequal, that is, the smart mobile terminal is driving on a road surface with a slope.

[0078] It should be noted that during the driving of the smart mobile terminal, one of the wheels is on the corresponding slope, and the other wheel is on a road surface without a slope. The single-sided two-wheel posture is used to obtain the height difference on both sides of the smart mobile terminal; according to the height difference, the corresponding motor on one side of the smart mobile terminal is controlled to rotate counterclockwise, and the motor on the other side is controlled to rotate clockwise, so that the height of the corresponding end of the motor rotating clockwise is equal to the height of the corresponding end of the motor rotating counterclockwise.

[0079] Among them, the height of the wheel on the slope is greater than the height of the wheel on the side not on the slope, and the wheel on the slope and the wheel on the side not on the slope form a corresponding height difference. The motor on the wheel on the slope rotates clockwise to lower the height of the corresponding side chassis, and the motor on the wheel on the side not on the slope rotates counterclockwise to increase the height of the corresponding side chassis, so that the height of the corresponding end after the motor rotates clockwise is equal to the height of the corresponding end when the motor rotates counterclockwise.

[0080] Optionally, after controlling the intelligent mobile terminal to pass through an obstacle using a two-wheeled posture, the method further includes:

[0081] The two-wheel posture is converted into a four-wheel posture, and the intelligent mobile terminal is controlled to drive using the four-wheel posture.

[0082] In this embodiment, after the smart mobile terminal passes through the obstacle area using the two-wheel posture, the two-wheel posture is converted to the four-wheel posture, and the smart mobile terminal is controlled to travel using the four-wheel posture, thereby improving the stability of the smart mobile terminal.

[0083] It should be noted that when converting the two-wheel posture to the four-wheel posture, the motor fixed on the forearm is controlled to rotate, and the corresponding suspended wheel is brought to the ground, thereby completing the conversion of the two-wheel posture to the four-wheel posture.

[0084] Obtain road obstacle information, and determine the mode of the smart mobile terminal passing the obstacle based on the road obstacle information. The modes include four-wheel mode and two-wheel mode. If it is four-wheel mode, the smart mobile terminal is controlled to use four-wheel posture to pass the obstacle. If it is two-wheel mode, the four-wheel posture is switched to two-wheel posture, and the smart mobile terminal is controlled to use two-wheel posture to pass the obstacle. In this application, when the smart mobile terminal encounters an obstacle, according to the obstacle information, it is determined whether the smart mobile terminal uses four wheels or two wheels to pass the obstacle. The smart mobile terminal switches between four wheels and two wheels, so that the smart mobile terminal can cross the obstacle, avoid the collision between the fuselage and the obstacle, and reduce the vibration of the smart mobile terminal.

[0085] See also Figure 2 , is a structural block diagram of a control system 20 of a smart mobile terminal provided in Embodiment 2 of the present invention. The control system 20 of the smart mobile terminal includes a controller 21, a driving module 22 and a balancing module 23. The controller 21 is connected to the driving module 22 and the balancing module 23. The driving module 22 is used to drive the wheels 240 of the smart mobile terminal according to the instructions of the controller 21. The balancing module 23 is used to collect road obstacle information and send it to the controller 21. According to the instructions of the controller 21, the smart mobile terminal is controlled to use a four-wheel posture or a two-wheel posture to pass through obstacles. The controller 21 is used to execute the control method of the smart mobile terminal.

[0086] See also Figure 3 , is a structural diagram of a balancing module 23 provided in Embodiment 3 of the present invention, wherein the balancing module 23 includes a laser radar 231, and the laser radar 231 is used to collect road obstacle information. The balancing module 23 also includes a motor driver 232, and the motor driver 232 is used to drive the corresponding motor. The balancing module 23 also includes a first motor 233 on a small arm 235 arranged between the left front and rear wheels and a second motor 234 on a small arm 235 arranged between the right front and rear wheels, and the first motor 233 and the second motor 234 are used to control the four-wheel posture to switch to the two-wheel posture according to the instructions of the controller 21. Among them, the small arm 235 is connected to the front and rear wheels 240 through the motor 230, and the motor 230 is arranged on each wheel 240.

[0087] The balancing module 23 also includes a third motor 236 and a fourth motor 237 arranged on the chassis. The third motor 236 is connected to the first motor 233 through the upper arm 238, and the fourth motor 237 is connected to the second motor 234 through the upper arm 238. The third motor 236 and the fourth motor 237 are used to control the height between the chassis 239 and the lower arm 235 according to the instructions of the controller 21.

[0088] It should be noted that the control system 20 of the intelligent mobile terminal includes two small arms 235, which are respectively arranged between the left front and rear wheels and between the right front and rear wheels. Two large arms 238 are respectively arranged between the first motor 233 and the third motor 236, and between the second motor 234 and the fourth motor 237. Four wheels 240 and four motors 230, wherein any wheel is connected to the small arm 235 through the motor 230. Eight motor drivers 232, wherein each motor driver 232 drives one of the motors, and the number of motor drivers is equal to the number of motors.

[0089] It should be noted that the laser radar 231 is arranged in front of the smart mobile terminal and is used to scan the road obstacle information in front of the smart mobile terminal. Figure 4 , is a schematic diagram of a smart mobile terminal using a laser radar for scanning provided in a fourth embodiment of the present invention.

[0090] The controller 21 is used to execute the control method of the smart mobile terminal, including:

[0091] Obtaining road obstacle information, and determining a mode for the intelligent mobile terminal to pass through the obstacle based on the road obstacle information, the mode including a four-wheel mode and a two-wheel mode;

[0092] If it is in four-wheel mode, the intelligent mobile terminal is controlled to pass the obstacle using four-wheel posture;

[0093] If it is in two-wheel mode, the four-wheel posture is switched to the two-wheel posture, and the smart mobile terminal is controlled to pass the obstacle using the two-wheel posture.

[0094] See also Figure 5 , is a schematic diagram of a smart mobile terminal using a four-wheel posture and a two-wheel posture to pass an obstacle provided by Embodiment 5 of the present invention. When on a flat road, the four-wheel posture is used to pass the obstacle. After the four-wheel posture is converted to a two-wheel posture, when the two-wheel posture is used to pass the obstacle, the front two wheels or the rear two wheels are used to pass the obstacle. When the front two wheels are used, the first motor 233 and the second motor 234 are rotated counterclockwise to make the rear two wheels suspended in the air. When the rear two wheels are used, the first motor 233 and the second motor 234 are rotated clockwise to make the front two wheels suspended in the air.

[0095] See also Figure 6, is a schematic diagram of a smart mobile terminal using a unilateral two-wheel posture to pass an obstacle provided by Embodiment 6 of the present invention, that is, using a posture in which the lengths of the upper arms of the left and right wheels are unequal to pass an obstacle. Among them, posture 2 is a unilateral two-wheel posture, and posture 1 is a bilateral two-wheel posture, that is, during the driving process of the smart mobile terminal, one wheel is on the corresponding slope, and the other wheel is on a road surface without a slope. The unilateral two-wheel posture is used to obtain the height difference between the two sides of the smart mobile terminal. According to the height difference, the motor corresponding to one side of the smart mobile terminal is controlled to rotate counterclockwise, and the motor on the other side is controlled to rotate clockwise, so that the height of the corresponding end of the motor rotating clockwise is equal to the height of the corresponding end of the motor rotating counterclockwise. After passing the obstacle, posture 2 is converted to posture 1.

[0096] Among them, the height of the wheel on the side of the slope is greater than the height of the wheel on the side not on the slope, and the wheel on the side of the slope and the wheel on the side not on the slope form a corresponding height difference. The motor on the wheel on the side of the slope rotates clockwise to lower the height of the chassis on the corresponding side, and the motor on the wheel on the side not on the slope rotates counterclockwise to increase the height of the chassis on the corresponding side, so that the height of the corresponding end after the motor rotates clockwise is equal to the height of the corresponding end when the motor rotates counterclockwise.

[0097] See also Figure 7 , is a structural diagram of an intelligent mobile terminal 70 provided in Embodiment 7 of the present invention, and the intelligent mobile terminal 70 includes the above-mentioned intelligent mobile terminal control system 20. The intelligent mobile terminal control system 20 includes a controller 21, a driving module 22 and a balancing module 23, the controller 21 is connected to the driving module 22 and the balancing module 23, the driving module 22 is used to drive the wheels 240 of the intelligent mobile terminal according to the instructions of the controller 21, the balancing module 23 is used to collect road obstacle information and send it to the controller 21, and control the intelligent mobile terminal to use a four-wheel posture or a two-wheel posture to pass through obstacles according to the instructions of the controller 21, and the controller 21 is used to execute the control method of the intelligent mobile terminal.

[0098] The balancing module 23 includes a laser radar 231, which is used to collect road obstacle information. The balancing module 23 also includes a motor driver 232, which is used to drive a corresponding motor. The balancing module 23 also includes a first motor 233 on a small arm 235 arranged between the left front and rear wheels and a second motor 234 on a small arm 235 arranged between the right front and rear wheels. The first motor 233 and the second motor 234 are used to control the four-wheel posture to switch to a two-wheel posture according to the instructions of the controller 21. Among them, the small arm 235 is connected to the front and rear wheels 240 through the motor 230, and the motor 230 is arranged on each wheel 240.

[0099] The balancing module 23 also includes a third motor 236 and a fourth motor 237 arranged on the chassis. The third motor 236 is connected to the first motor 233 through the upper arm 238, and the fourth motor 237 is connected to the second motor 234 through the upper arm 238. The third motor 236 and the fourth motor 237 are used to control the height between the chassis 239 and the lower arm 235 according to the instructions of the controller 21.

[0100] It should be noted that the control system 20 of the intelligent mobile terminal includes two small arms 235, which are respectively arranged between the left front and rear wheels and between the right front and rear wheels. Two large arms 238 are respectively arranged between the first motor 233 and the third motor 236, and between the second motor 234 and the fourth motor 237. Four wheels 240 and four motors 230, wherein any wheel is connected to the small arm 235 through the motor 230. Eight motor drivers 232, wherein each motor driver 232 drives one of the motors, and the number of motor drivers is equal to the number of motors.

[0101] It should be noted that the laser radar 231 is arranged in front of the smart mobile terminal and is used to scan the road obstacle information in front of the smart mobile terminal 70 .

Claims

1. A control method for an intelligent mobile terminal, characterized in that: include: Acquire road obstacle information, and determine a mode for the smart mobile terminal to pass through the obstacle according to the road obstacle information, wherein the mode includes a four-wheel mode and a two-wheel mode; If it is the four-wheel mode, control the smart mobile terminal to pass the obstacle using the four-wheel posture; If it is the two-wheel mode, the four-wheel posture is switched to the two-wheel posture, and the smart mobile terminal is controlled to pass the obstacle using the two-wheel posture.

2. The control method according to claim 1, characterized in that: The switching of the four-wheel posture to the two-wheel posture comprises: Acquire the distance between the smart mobile terminal and the obstacle, and the height of the obstacle; Obtaining the rated speed of the motor corresponding to the motor for controlling the switch from the four-wheel posture to the two-wheel posture, and calculating the target interval for the smart mobile terminal to switch from the four-wheel posture to the two-wheel posture according to the rated speed, the distance and the height; In the target interval, the motor is controlled to rotate to switch the four-wheel posture to the two-wheel posture.

3. The control method according to claim 1, characterized in that: The two-wheel posture includes a bilateral two-wheel posture and a unilateral two-wheel posture.

4. The control method according to claim 1, characterized in that: After controlling the intelligent mobile terminal to pass through obstacles using two-wheeled postures, the method further includes: The two-wheel posture is converted into a four-wheel posture, and the intelligent mobile terminal is controlled to travel using the four-wheel posture.

5. A control system for an intelligent mobile terminal, characterized in that: The intelligent mobile terminal comprises a controller, a driving module and a balancing module, wherein the controller is connected to the driving module and the balancing module, the driving module is used to drive the wheels of the intelligent mobile terminal according to the instructions of the controller, the balancing module is used to collect road obstacle information and send it to the controller, and control the intelligent mobile terminal to pass the obstacle using a four-wheel posture or a two-wheel posture according to the instructions of the controller, and the controller is used to execute the control method described in claims 1-4.

6. The control system according to claim 5, characterized in that: The balancing module includes a laser radar, and the laser radar is used to collect road obstacle information.

7. The control system according to claim 5, characterized in that: The balancing module further includes a motor driver, and the motor driver is used to drive the corresponding motor.

8. The control system according to claim 5, characterized in that: The balancing module also includes a first motor on a forearm between the left front and rear wheels and a second motor on a forearm between the right front and rear wheels, the first motor and the second motor are used to control the four-wheel posture to switch to the two-wheel posture according to the instructions of the controller.

9. The control system according to claim 8, characterized in that: The balancing module also includes a third motor and a fourth motor arranged on the chassis, the third motor is connected to the first motor through the upper arm, and the fourth motor is connected to the second motor through the upper arm. The third motor and the fourth motor are used to control the height between the chassis and the lower arm according to the instructions of the controller.

10. An intelligent mobile terminal, characterized in that: The intelligent mobile terminal includes the control system described in claims 5-9.

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