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

Abstract

The present application relates to the technical field of intelligent mobile terminal shock absorption, and particularly relates to a control method and system of an intelligent mobile terminal and the intelligent mobile terminal. According to road obstacle information, the mode of the intelligent mobile terminal passing through the obstacle is determined, the mode including 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, if the mode is the two-wheel mode, the four-wheel posture is switched to a two-wheel posture, and the intelligent mobile terminal is controlled to pass through the obstacle in the two-wheel posture. According to the obstacle information, the intelligent mobile terminal is determined to pass through the obstacle in the four-wheel mode or the two-wheel mode, the intelligent mobile terminal is switched between the four-wheel mode and the two-wheel mode, so that the intelligent mobile terminal can cross the obstacle, collision between the body and the obstacle is avoided, and the vibration of the intelligent mobile terminal is reduced.

Description

Technical Field

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

[0002] As common devices assisting people's daily production and life, smart mobile terminals are gradually replacing humans in various complex production activities across different fields. With the development of artificial intelligence technology, more new AI methods are being widely applied in this field. Against this backdrop, smart mobile terminal technology is gradually maturing. Compared with human labor, smart mobile terminals have many advantages such as high execution accuracy, uninterrupted operation, and low cost. In the long run, the application of smart mobile terminals will inevitably become more and more widespread.

[0003] However, when a smart mobile terminal is used as a vehicle to travel on the road, it will bump and vibrate when it encounters uneven obstacles. The severe vibration will reduce the service life of the smart mobile terminal's own components and the equipment mounted on it.

[0004] Therefore, reducing the vibration of smart mobile terminals when they encounter uneven obstacles on the road surface has become an urgent problem to be solved. Summary of the Invention

[0005] Therefore, it is necessary to provide a control method, control system, and intelligent mobile terminal to address the aforementioned technical problems, in order to solve the problem of excessive vibration of the intelligent mobile terminal when it encounters uneven obstacles on the road surface while being used as a vehicle.

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

[0007] Obtain road obstacle information, and determine the mode in which the intelligent mobile terminal passes through the obstacles based on the road obstacle information, the mode including four-wheel mode and two-wheel mode;

[0008] If it is the four-wheel mode, then control the smart mobile terminal to use a four-wheel posture to pass through obstacles;

[0009] If it is the two-wheel mode, the four-wheel posture is switched to the two-wheel posture, and the intelligent mobile terminal is controlled to use the two-wheel posture to pass through obstacles.

[0010] A second aspect of this application provides a control system for an intelligent mobile terminal, including a controller, a driving module, and a balance module. The controller connects the driving module and the balance module. The driving module drives the wheels of the intelligent mobile terminal according to the instructions of the controller. The balance module collects road obstacle information and sends it to the controller, and controls 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. The controller is used to execute the control method for the intelligent mobile terminal described in the first aspect.

[0011] A third aspect of this application provides a smart mobile terminal, the smart mobile terminal including the control system of the smart mobile terminal described in the second aspect.

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

[0013] The system acquires road obstacle information and determines the mode in which the intelligent mobile terminal will traverse the obstacle based on this information. The mode includes a four-wheeled mode and a two-wheeled mode. If it is in four-wheeled mode, the intelligent mobile terminal is controlled to use a four-wheeled posture to traverse the obstacle; if it is in two-wheeled mode, the four-wheeled posture is switched to a two-wheeled posture, and the intelligent mobile terminal is controlled to use a two-wheeled posture to traverse the obstacle. In this application, when the intelligent mobile terminal encounters an obstacle, it determines whether to use four wheels or two wheels to traverse the obstacle based on the obstacle information. The intelligent mobile terminal switches between four wheels and two wheels, enabling it to cross obstacles, avoiding collisions between the device and the obstacle, and reducing vibration. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

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

[0018] Figure 4This is a schematic diagram of a smart mobile terminal using lidar scanning, provided in Embodiment 4 of the present invention;

[0019] Figure 5 This is a schematic diagram of a smart mobile terminal using a four-wheeled posture and a two-wheeled posture to pass through obstacles, provided in 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 obstacles, as provided in Embodiment Six of the present invention;

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

[0022] Specific implementation mode

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0025] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0026] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

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

[0028] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0029] It should be understood that the sequence number of each step in the following embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

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

[0031] See Figure 1 This is a flowchart illustrating a control method for a smart mobile terminal provided in Embodiment 1 of the present invention, as shown below. Figure 1 As shown, the control method for this smart mobile terminal may include the following steps.

[0032] S101: Obtain road obstacle information and determine the mode by which the intelligent mobile terminal passes through the obstacle based on the road obstacle information. The mode includes four-wheel mode and two-wheel mode.

[0033] In step S101, road obstacle information is acquired during the movement of the smart mobile terminal. This road obstacle information refers to obstacles that appear on the road surface during the smart mobile terminal's movement; these obstacles can be stationary or dynamic. Based on the road obstacle information, the mode by which the smart mobile terminal passes through the obstacles is determined. This mode is determined based on the height and density of the obstacles.

[0034] In this embodiment, road obstacle information during the movement of the intelligent mobile terminal can be obtained based on road obstacle information collected by a lidar system installed on the intelligent mobile terminal. The lidar is a radar system that uses emitted laser beams to detect the position, speed, and other characteristics of targets. During the movement of the intelligent mobile terminal, the lidar continuously emits detection signals (laser beams) to the surrounding area. The received signals reflected back from the targets (target echoes) are then compared with the emitted signals. After appropriate processing, relevant information about the targets can be obtained, such as target distance, azimuth, altitude, speed, attitude, and even shape parameters. Therefore, road obstacle information during the movement of the intelligent mobile terminal can be obtained using lidar. This road obstacle information can include the location, size, and distance between obstacles.

[0035] Based on road obstacle information, the mode of obstacle traversal for the intelligent mobile terminal is determined. Since the intelligent mobile terminal's maneuverability is poor when using four wheels, it may have difficulty navigating densely packed obstacles. Therefore, when there are few or sparse obstacles, four-wheel mode is used. The intelligent mobile terminal is more maneuverable when using two wheels; therefore, when obstacles are densely packed, it switches to two-wheel mode to prevent large-area collisions and reduce vibration.

[0036] It should be noted that, in determining the mode by which the smart mobile terminal passes through obstacles based on road obstacle information, the determination can be made according to pre-set rules. When the obstacles are sparse, that is, when the distance between the obstacles is greater than the preset threshold, the four-wheel mode is used; otherwise, the two-wheel mode is used.

[0037] In this embodiment, based on road obstacle information, the mode of the intelligent mobile terminal passing through the obstacle is determined, realizing the conversion between four wheels and two wheels, preventing large-area collisions between the intelligent mobile terminal and the obstacle, thereby reducing the vibration of the intelligent mobile terminal.

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

[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, which means that the four wheels of the smart mobile terminal are on the ground.

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

[0041] It should be noted that when controlling the smart mobile terminal to avoid obstacles, the driving direction of the smart mobile terminal is changed according to the obstacle information on the road surface, so as to avoid the obstacles.

[0042] It should be noted that when controlling the intelligent mobile terminal to change its driving direction based on road obstacle information, the driving direction of the intelligent mobile terminal can be changed by changing the pose of the intelligent mobile terminal. An inertial navigation sensor is set on the intelligent mobile terminal to collect the pose information of the intelligent mobile terminal in real time. When it is necessary to change the driving direction of the intelligent mobile terminal, the rotation of the corresponding motor on the intelligent mobile terminal is controlled to change the pose 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 a four-wheel posture, in order for the intelligent mobile terminal to pass through the obstacles stably, that is, to maintain a balanced state when passing through the obstacles, the real-time pose parameters are used as the input to the PID control, and the contact point between the intelligent mobile terminal and the ground is taken as the zero torque point as the target, so that the intelligent mobile terminal remains balanced. The real-time pose parameters are the real-time pose of the intelligent mobile terminal collected by the inertial navigation sensor.

[0044] It should be noted that when controlling the smart mobile terminal to pass over obstacles in a four-wheel posture, if the obstacle is low, the height of the smart mobile terminal can be adjusted to cross the obstacle.

[0045] S103: If it is in two-wheel mode, the four-wheel posture will be switched to two-wheel posture, and the smart mobile terminal will be controlled to use two-wheel posture to pass through obstacles.

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

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

[0048] In this embodiment, when switching from a four-wheeled to a two-wheeled posture, two wheels can be lifted by controlling the rotation of the corresponding motors. When controlling the smart mobile terminal to pass through obstacles in a two-wheeled posture, the smart mobile terminal is controlled to avoid obstacles based on road obstacle information, reducing the vibration generated when the smart mobile terminal collides with the obstacle.

[0049] It should be noted that when controlling the smart mobile terminal to avoid obstacles, the driving direction of the smart mobile terminal is changed according to the obstacle information on the road surface, so as to avoid the obstacles.

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

[0051] It should be noted that when controlling the intelligent mobile terminal to traverse obstacles using a two-wheeled posture, to ensure stable passage—that is, for the intelligent mobile terminal to be in a balanced state while traversing the obstacle—real-time pose parameters are used as the input to PID control. The contact point between the intelligent mobile terminal and the ground is taken as the zero-torque point, and the real-time pose parameters are the real-time pose of the intelligent mobile terminal acquired by the inertial navigation sensor.

[0052] It should be noted that when controlling the smart mobile terminal to pass over obstacles using a two-wheeled posture, if the obstacle is low, the height of the smart mobile terminal can be adjusted to cross the obstacle.

[0053] In this embodiment, the intelligent mobile terminal improves its flexibility in overcoming obstacles by switching between four wheels and two wheels and determining the passage mode using different numbers of wheels based on different road obstacle information.

[0054] Switching from a four-wheeled to a two-wheeled posture includes:

[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 control of switching the four-wheel posture to the two-wheel posture, and calculate the target range for the intelligent mobile terminal to switch the four-wheel posture to the two-wheel posture based on the rated speed, distance and height.

[0057] Within the target range, control the motor to rotate and switch the four-wheel posture to a two-wheel posture.

[0058] In this embodiment, before switching from a four-wheeled to a two-wheeled posture, the time or position required to switch from four wheels to two wheels is calculated so that the switch can be made in a timely manner. When driving into an obstacle area, the intelligent mobile terminal can successfully switch from four wheels to two wheels.

[0059] When calculating the time or position required to switch from four wheels to two wheels, the distance between the smart mobile terminal and the obstacle, as well as the height of the obstacle, are obtained. The rated speed of the motor used to control the switching from four-wheel to two-wheel posture is also obtained. The motors on the wheels of the smart mobile terminal are used to drive the wheels. Based on the rated speed, distance, and height, the target range for the smart mobile terminal to switch from four-wheel to two-wheel posture is calculated. The target range is the closest and farthest positions from the obstacle when the smart mobile terminal switches from four wheels to two wheels, that is, the positions corresponding to the latest and earliest times when the smart mobile terminal switches from four wheels to two wheels.

[0060] Within the target range, the motor rotation is controlled to switch the four-wheel posture to a two-wheel posture. This is achieved by controlling the angle between the forearm and upper arm connecting the wheels. When the angle between the forearm and upper arm is less than 90 degrees, the four-wheel posture is considered to have been switched to a two-wheel posture. The upper arm is the connecting rod between the chassis and the forearm, connected to the motor fixed to the forearm. It should be noted that the angle between the forearm and upper arm is changed by adjusting the counter-clockwise rotation of the motor fixed to the forearm.

[0061] For example, if the height of the obstacle is 0.15 meters, and the rated speed of the motor used to control the switching from four-wheel to two-wheel posture is 54 rpm, where the motor used to control the switching from four-wheel to two-wheel posture is a motor fixed on the forearm, and the forearm connects the front and rear wheels, then the process of calculating the target range for the intelligent mobile terminal to switch from four-wheel to two-wheel posture based on the rated speed, distance, and height is as follows:

[0062] Calculate the angular velocity of the motor at the rated speed based on the rated speed:

[0063]

[0064] The unit of ω is degrees per second.

[0065] Based on the length of the forearm in the smart mobile terminal and the height of the obstacle, the required rotation angle of the motor fixed to the forearm is calculated. For example, if the length of the forearm is 0.52m and the height of the obstacle is 0.15m, the formula for calculating the required rotation angle of the motor fixed to the forearm is as follows:

[0066]

[0067] A = 65

[0068] Where A is the required rotation angle of the motor fixed on the forearm, in degrees.

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

[0070] Based on the angular velocity of the motor fixed to the forearm and the required rotation angle of the motor, the time it takes for the forearm to rotate to the corresponding angle is calculated using the following formula:

[0071]

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

[0073] Based on the time it takes for the forearm to rotate to the corresponding angle and the speed of the intelligent mobile terminal, the distance traveled within that time is calculated. Based on this distance, at the intelligent mobile terminal's speed, it is determined that when the intelligent mobile terminal reaches the corresponding distance from the obstacle, the corresponding motor begins to rotate; that is, the motor fixed to the forearm begins to rotate, causing the corresponding wheel to suspend in the air.

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

[0075] Within the target area, control the motor to rotate, switching the four-wheel posture to a two-wheel posture. Specifically, to switch the four-wheel posture to the two-wheel posture corresponding to the front end, rotate the motor counter-clockwise, suspending the two rear wheels in the air. To switch the four-wheel posture to the two-wheel posture corresponding to the rear end, rotate the motor clockwise, suspending the two front wheels in the air.

[0076] Optionally, the two-wheel attitude includes a two-sided two-wheel attitude and a one-sided two-wheel attitude.

[0077] In this embodiment, the two-wheel posture includes a bilateral two-wheel posture and a single-wheel posture. The bilateral two-wheel posture is when the boom lengths of the left and right wheels are equal, and the single-wheel posture is when the boom lengths of the left and right wheels are unequal. Specifically, the bilateral two-wheel posture represents the posture where both wheels are traveling on the road surface, i.e., the smart mobile terminal is traveling on a flat road surface, while the single-wheel posture represents the posture where the boom lengths of the left and right wheels are unequal, i.e., the smart mobile terminal is traveling on a sloped road surface.

[0078] It should be noted that during the operation of the smart mobile terminal, one wheel is on the corresponding slope, and the other wheel is on the road surface without slope. The height difference between the two sides of the smart mobile terminal is obtained by using the single-sided two-wheel posture. Based on 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 end corresponding to the clockwise rotation of the motor is equal to the height of the end corresponding to the counterclockwise rotation of the motor.

[0079] In this design, the height of one wheel on the slope is greater than the height of the other wheel not on the slope, creating a corresponding height difference between the two wheels. The motor on the wheel on the slope rotates clockwise, lowering the height of the corresponding chassis, while the motor on the wheel not on the slope rotates counterclockwise, raising the height of the corresponding chassis. This ensures that the height of the corresponding end after the motor rotates clockwise is equal to the height of the corresponding end after the motor rotates counterclockwise.

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

[0081] Converting a two-wheeled posture to a four-wheeled posture allows the intelligent mobile terminal to drive in a four-wheeled posture.

[0082] In this embodiment, after the intelligent mobile terminal passes through the obstacle area in a two-wheeled posture, it switches from a two-wheeled posture to a four-wheeled posture, thereby controlling the intelligent mobile terminal to drive in a four-wheeled posture and improving the stability of the intelligent mobile terminal.

[0083] It should be noted that when converting from a two-wheeled posture to a four-wheeled posture, the motor fixed on the forearm is rotated to bring the corresponding suspended wheel to the ground, thus completing the conversion from a two-wheeled posture to a four-wheeled posture.

[0084] The system acquires road obstacle information and determines the mode in which the intelligent mobile terminal will traverse the obstacle based on this information. The mode includes a four-wheeled mode and a two-wheeled mode. If it is in four-wheeled mode, the intelligent mobile terminal is controlled to use a four-wheeled posture to traverse the obstacle; if it is in two-wheeled mode, the four-wheeled posture is switched to a two-wheeled posture, and the intelligent mobile terminal is controlled to use a two-wheeled posture to traverse the obstacle. In this application, when the intelligent mobile terminal encounters an obstacle, it determines whether to use four wheels or two wheels to traverse the obstacle based on the obstacle information. The intelligent mobile terminal switches between four wheels and two wheels, enabling it to cross obstacles, avoiding collisions between the device and the obstacle, and reducing vibration.

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

[0086] See Figure 3 This is a structural diagram of a balancing module 23 provided in Embodiment 3 of the present invention. The balancing module 23 includes a lidar 231, which is used to collect information about road obstacles. 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 disposed on a forearm 235 between the left front and rear wheels and a second motor 234 disposed on a forearm 235 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. The forearm 235 is connected to the front and rear wheels 240 through motors 230, wherein the motors 230 are disposed on each wheel 240.

[0087] The balancing module 23 also includes a third motor 236 and a fourth motor 237 mounted on the chassis. The third motor 236 is connected to the first motor 233 via the boom 238, and the fourth motor 237 is connected to the second motor 234 via the boom 238. The third motor 236 and the fourth motor 237 are used to control the height between the chassis 239 and the forearm 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 forearms 235, respectively positioned between the left and right front and rear wheels. Two upper arms 238 are respectively positioned between the first motor 233 and the third motor 236, and between the second motor 234 and the fourth motor 237. There are four wheels 240 and four motors 230, with each wheel connected to one of the forearms 235 via a motor 230. Eight motor drivers 232 are included, each driving one of the motors, and the number of motor drivers is equal to the number of motors.

[0089] It should be noted that the LiDAR 231 is positioned in front of the smart mobile terminal to scan for road obstacles in front of the terminal. See also... Figure 4 This is a schematic diagram of a smart mobile terminal using lidar scanning, provided in Embodiment 4 of the present invention.

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

[0091] Obtain road obstacle information, and determine the mode in which the intelligent mobile terminal passes through the obstacles based on the road obstacle information. The modes include four-wheel mode and two-wheel mode.

[0092] If in four-wheel mode, the smart mobile terminal is controlled to use four-wheel posture to pass through obstacles;

[0093] If it is in two-wheel mode, the four-wheel posture will be switched to two-wheel posture, and the smart mobile terminal will be controlled to use two-wheel posture to pass through obstacles.

[0094] See 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 obstacles, provided in Embodiment 5 of the present invention. When on a flat road surface, the four-wheel posture is used to pass through the obstacle. After converting the four-wheel posture to a two-wheel posture, when using the two-wheel posture to pass through the obstacle, either the front two wheels or the rear two wheels are used to pass through the obstacle. When using the front two wheels, the first motor 233 and the second motor 234 are rotated counterclockwise to suspend the rear two wheels in the air. When using the rear two wheels, the first motor 233 and the second motor 234 are rotated clockwise to suspend the front two wheels in the air.

[0095] See Figure 6This is a schematic diagram of a smart mobile terminal using a single-sided two-wheel posture to pass through an obstacle, as provided in Embodiment Six of the present invention. Specifically, it uses a posture where the arm lengths of the left and right wheels are unequal to pass through the obstacle. Posture 2 is a single-sided two-wheel posture, and posture 1 is a double-sided two-wheel posture. During the movement of the smart mobile terminal, one wheel is on a corresponding slope, while the other wheel is on a flat surface. Using the single-sided two-wheel posture, the height difference between the two sides of the smart mobile terminal is obtained. Based on this height difference, the motor on one side of the smart mobile terminal is controlled to rotate counterclockwise, while the motor on the other side rotates clockwise, so that the height of the end corresponding to the clockwise rotation of the motor is equal to the height of the end corresponding to the counterclockwise rotation of the motor. After passing through the obstacle, posture 2 is converted to posture 1.

[0096] In this design, the height of the wheel on one side of the vehicle on the slope is greater than the height of the wheel on the side not on the slope. This creates a corresponding height difference between the wheel on the slope and the wheel not on the slope. The motor on the wheel on the slope rotates clockwise to lower the height of the corresponding side of the chassis, while the motor on the wheel not on the slope rotates counterclockwise to raise the height of the corresponding side of the chassis. This ensures that the height of the corresponding end after the motor rotates clockwise is equal to the height of the corresponding end after the motor rotates counterclockwise.

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

[0098] The balancing module 23 includes a lidar 231 for collecting information about road obstacles. The balancing module 23 also includes a motor driver 232 for driving corresponding motors. The balancing module 23 further includes a first motor 233 mounted on a forearm 235 between the left front and rear wheels, and a second motor 234 mounted on a forearm 235 between the right front and rear wheels. The first motor 233 and the second motor 234 are used to control the four-wheel attitude to switch to a two-wheel attitude according to the instructions of the controller 21. The forearm 235 is connected to the front and rear wheels 240 via motors 230, with each motor 230 mounted on one of the wheels 240.

[0099] The balancing module 23 also includes a third motor 236 and a fourth motor 237 mounted on the chassis. The third motor 236 is connected to the first motor 233 via the boom 238, and the fourth motor 237 is connected to the second motor 234 via the boom 238. The third motor 236 and the fourth motor 237 are used to control the height between the chassis 239 and the forearm 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 forearms 235, respectively positioned between the left and right front and rear wheels. Two upper arms 238 are respectively positioned between the first motor 233 and the third motor 236, and between the second motor 234 and the fourth motor 237. There are four wheels 240 and four motors 230, with each wheel connected to one of the forearms 235 via a motor 230. Eight motor drivers 232 are included, each driving one of the motors, and the number of motor drivers is equal to the number of motors.

[0101] It should be noted that the lidar 231 is positioned in front of the smart mobile terminal and is used to scan for road obstacles in front of the smart mobile terminal 70.

Claims

1. A control method of a smart mobile terminal, characterized by, The method comprises: acquiring road obstacle information, and determining a mode of the intelligent mobile terminal passing through the obstacle according to the road obstacle information, the mode comprising a four-wheel mode and a two-wheel mode; if the mode is the four-wheel mode, controlling the intelligent mobile terminal to pass through the obstacle in a four-wheel posture; if the mode is the two-wheel mode, switching the four-wheel posture to a two-wheel posture, and controlling the intelligent mobile terminal to pass through the obstacle in the two-wheel posture; the switching of the four-wheel posture to the two-wheel posture comprises: acquiring a distance between the intelligent mobile terminal and the obstacle, and a height of the obstacle; acquiring a rated rotating speed of a motor corresponding to the switching of the four-wheel posture to the two-wheel posture, calculating a target interval of the intelligent mobile terminal switching from the four-wheel posture to the two-wheel posture according to the rated rotating speed, the distance and the height, the target interval being a nearest position of the intelligent mobile terminal to the obstacle and a farthest position of the intelligent mobile terminal to the obstacle when switching from the four-wheel posture to the two-wheel posture; and controlling the motor to rotate in the target interval, and switching the four-wheel posture to the two-wheel posture.

2. The control method according to claim 1, characterized by, The two-wheel posture comprises a double-side two-wheel posture and a single-side two-wheel posture.

3. The control method according to claim 1, characterized by, after the controlling of the intelligent mobile terminal to pass through the obstacle in the two-wheel posture, the method further comprises: switching the two-wheel posture to the four-wheel posture, and controlling the intelligent mobile terminal to travel in the four-wheel posture.

4. A control system of a smart mobile terminal, characterized by, The control system comprises a controller, a traveling module and a balancing module, the controller being connected to the traveling module and the balancing module, the traveling module being configured to drive wheels of the intelligent mobile terminal according to an instruction of the controller, the balancing module being configured to acquire road obstacle information and send the road obstacle information to the controller, and control the intelligent mobile terminal to pass through an obstacle in a four-wheel posture or a two-wheel posture according to an instruction of the controller, and the controller being configured to execute the control method of any one of claims 1-3.

5. The control system of claim 4, wherein, The balancing module comprises a laser radar configured to acquire the road obstacle information.

6. The control system of claim 4, wherein, The balancing module further comprises a motor driver configured to drive a corresponding motor.

7. The control system of claim 4, wherein, The balancing module further comprises a first motor arranged on a small arm between front and rear left wheels, and a second motor arranged on a small arm between front and rear right wheels, the first motor and the second motor being configured to control the switching of the four-wheel posture to the two-wheel posture according to an instruction of the controller.

8. The control system of claim 7, wherein, The balancing module further comprises a third motor and a fourth motor arranged on a chassis, the third motor being connected to the first motor through a large arm, and the fourth motor being connected to the second motor through the large arm, the third motor and the fourth motor being configured to control a height between the chassis and the small arm according to an instruction of the controller.

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

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