Intelligent mobile terminal and control system and control method thereof

Abstract

The invention discloses a control method of an intelligent mobile terminal. The control method comprises the following steps: acquiring information of an obstacle on a walking road surface of the intelligent mobile terminal and data information of a distance between the obstacle and the intelligent mobile terminal; and performing real-time interaction on the acquired data information and the current driving speed of the intelligent mobile terminal, and respectively controlling and adjusting parameter data of each joint motor connected to two opposite sides of the intelligent mobile terminal, so that the intelligent mobile terminal is enabled to perform shock absorption and obstacle crossing. The invention also discloses an intelligent mobile terminal and a control system thereof. According to the intelligent mobile terminal and the control system and the control method thereof, road surface obstacles can be sensed and crossed, and the traffic performance of complex road surfaces is enhanced; the structure is reasonable, and multi-working-condition use requirements are met.

Description

Technical Field

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

[0002] There are many types of existing robots, but they are all limited to specific application scenarios and are not very versatile. For example, although quadruped robots have the advantages of high load and complex road navigation performance, their navigation speed is slow. Although bipedal robots have strong complex road navigation performance, their load capacity is poor. Four-wheeled robots have strong load capacity, but poor navigation performance on roads with complex obstacle distribution.

[0003] As a tool to assist people in productive labor, robots need to be able to adapt to common scenarios in people's lives, especially outdoor disaster scene rescue robots. The robots must be able to quickly pass obstacles, have a high load, and have highly reliable comprehensive performance. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an intelligent mobile terminal and its control system and control method, which can sense road obstacles and overcome them, and enhance the traffic performance on complex roads; the structure is reasonable and meets the needs of multiple working conditions.

[0005] In order to solve the above technical problems, the present invention provides a control method for an intelligent mobile terminal, comprising the following steps: obtaining information about obstacles on the walking surface of the intelligent mobile terminal and data information about the distance between the obstacles and the intelligent mobile terminal; interacting the acquired data information with the current driving speed of the intelligent mobile terminal in real time, and respectively controlling and adjusting parameter data of each joint motor connected to the opposite sides of the intelligent mobile terminal, so that the intelligent mobile terminal can reduce shock and overcome obstacles.

[0006] Among them, the step of obtaining information about obstacles on the road where the smart mobile terminal is walking and data information about the distance between the obstacles and the smart mobile terminal includes: the step of detecting the distribution of obstacles on the road in front of the smart mobile terminal in real time through a binocular vision camera, wherein: the binocular vision camera is installed directly in front of the smart mobile terminal.

[0007] Among them, the steps of respectively controlling and adjusting the parameter data of each joint motor connected to the opposite sides of the smart mobile terminal so that the smart mobile terminal can absorb shock and overcome obstacles include the following: according to a combination of multiple data among the stored dynamic model data, LQR model data, seat leveling control data, dynamic balance control data and active vibration suppression control data, the steps of adjusting the relative positions between the box, upper arm and lower arm of the smart mobile terminal in real time and / or adjusting the wheel state of the smart mobile terminal in real time to switch the smart mobile terminal between the two-wheel mode and the four-wheel mode.

[0008] Among them, respectively controlling and adjusting the parameter data of each joint motor connected to the opposite sides of the smart mobile terminal includes: respectively controlling and changing the shoulder joint motors connected between the opposite sides of the box of the smart mobile terminal and the upper arm, the knee joint motors connected between the upper arm and the forearm on the opposite sides of the smart mobile terminal, and the driving wheel motors of the front and rear wheels connected to the opposite ends of the forearm; the two shoulder joint motors, the two knee joint motors and the driving wheel motor are controlled by a controller installed in the box of the smart mobile terminal.

[0009] It also includes the step of constructing a distribution map of obstacles on the road surface for smart mobile terminals to assist in enhancing the traffic performance of smart mobile terminals on complex roads.

[0010] Among them, the steps of constructing an obstacle distribution map of the road surface on which the smart mobile terminal travels include the following: saving the obstacle crossing data of the flat road surface encountered by the smart mobile terminal during driving and the obstacles encountered during driving, and constructing a driving path memory map of the smart mobile terminal under a complex obstacle distribution scenario.

[0011] In order to solve the above technical problems, the present invention also discloses a control system of an intelligent mobile terminal, including: a binocular vision camera for obtaining information about obstacles on the walking road of the intelligent mobile terminal and distance data information between the obstacles and the intelligent mobile terminal; and a controller for interacting the obtained data information with the current driving speed of the intelligent mobile terminal in real time, and controlling and adjusting the parameter data of each joint motor connected to the opposite sides of the intelligent mobile terminal, so that the intelligent mobile terminal can reduce shock and overcome obstacles, wherein: the binocular vision camera is connected to the controller.

[0012] Among them, the controller includes: a knee joint motor adjustment unit for controlling and adjusting the angle of the forearm connected between the front and rear wheels on the same side of the smart mobile terminal to adjust the wheeled state of the smart mobile terminal; a shoulder joint motor adjustment unit for controlling and adjusting the shoulder joint motor connected between the opposite sides of the box of the smart mobile terminal and the upper arm; a driving wheel motor adjustment unit for controlling and adjusting the driving wheel motors of the front and rear wheels connected at the opposite ends of the forearm; and a control unit for coordinating control of the shoulder joint motor adjustment unit, the knee joint motor adjustment unit and the driving wheel motor adjustment unit, and the knee joint motor adjustment unit is connected between the upper arm and the forearm.

[0013] Among them, the controller also includes: a storage unit for storing dynamic model data, LQR model data, seat leveling control data, dynamic balance control data and active vibration suppression control data, and the storage unit is respectively connected to the knee joint motor adjustment unit, the shoulder joint motor adjustment unit and the drive wheel motor adjustment unit.

[0014] In order to solve the above technical problem, the present invention also discloses an intelligent mobile terminal including the control system of the above intelligent mobile terminal.

[0015] An intelligent mobile terminal and its control system and control method implemented in the present invention have the following beneficial effects: a binocular vision camera obtains information about obstacles on the road where the intelligent mobile terminal is walking and data information about the distance between the obstacles and the intelligent mobile terminal; a controller interacts the obtained data information with the current driving speed of the intelligent mobile terminal in real time, and respectively controls and adjusts parameter data of each joint motor connected to the opposite sides of the intelligent mobile terminal, so that the intelligent mobile terminal can reduce shock and overcome obstacles, can sense road obstacles and overcome them, and enhance the traffic performance on complex roads; the structure is reasonable and meets the needs of multi-working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 The figure is a flowchart of a control method for a smart mobile terminal according to an embodiment of the present invention.

[0018] Figure 2 The figure is a schematic diagram of the overall structure of the intelligent mobile terminal according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the effect of a smart mobile terminal scanning a bumpy road section according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the effect of controlling and adjusting parameter data of joint motors connected to opposite sides of the smart mobile terminal after the smart mobile terminal scans a bumpy road section according to an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the effect of constructing a distribution map of obstacles on a walking road by a smart mobile terminal according to an embodiment of the present invention.

[0022] Figure 6 The structure block diagram of the control system of the intelligent mobile terminal according to the embodiment 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 only 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] like Figure 1-Figure 5 FIG. 1 is a first embodiment of a control method for a smart mobile terminal according to the present invention.

[0025] like Figure 2 As shown, the smart mobile terminal T in this embodiment includes: a box body 1 and two pairs of joint feet arranged on opposite sides of the box body 1, a carrying platform 11 is arranged in the box body 1, and a controller 9 is installed on the carrying platform 11. The controller 9 can be an industrial computer in specific implementation. The two pairs of joint feet are symmetrically arranged and have the same structure. The following description takes one set of joint feet as an example.

[0026] Any set of joint feet includes: an upper arm 22, one end of which is connected to the box body 1 through a shoulder joint motor 21; a lower arm 23, one end of which is connected to the other end of the upper arm 22 through a knee joint motor 24, and front and rear wheels 81, 82, the front wheel 81 is connected to a front drive wheel motor 83, and the rear wheel 82 is connected to a rear drive wheel motor 84. Among them: the front drive wheel motor 83 and the rear drive wheel motor 84 are respectively connected to the opposite ends of the lower arm 23, and the knee joint motor 24 is installed in the middle of the lower arm 23.

[0027] The intelligent mobile terminal T in this embodiment further includes a binocular vision camera 3. The binocular vision camera 3 is installed in front of the box 1, for example, directly in front.

[0028] The binocular vision camera 3 is connected to the controller 9 to obtain information about obstacles on the road surface where the smart mobile terminal T is walking and data information about the distance between the obstacle and the smart mobile terminal.

[0029] During implementation, the controller 9 changes the relative positions of the box 1, the upper arm 22 and the lower arm 23 of the intelligent mobile terminal T by controlling the two shoulder joint motors 21 and the two knee joint motors 24, and changes the walking speed of the intelligent mobile terminal T by controlling the front drive wheel motor 83 and the rear drive wheel motor 84.

[0030] Preferably, the wheeled state of the intelligent mobile terminal can be adjusted by controlling the relative angles between the box body 1, the upper arm 22 and the lower arm 23 in a linked manner, for example, the intelligent mobile terminal can be switched between a two-wheel mode and a four-wheel mode. In other words, the intelligent mobile terminal T of the present application can realize walking only by the two front wheels 81 touching the ground, or by the two front wheels 81 and the two rear wheels 82 touching the ground at the same time, according to the real-time status of the acquired obstacle, by controlling the shape of the lower arm 23.

[0031] Further, such as Figure 1 As shown, the control method of the intelligent mobile terminal according to the embodiment of the present invention includes the following steps:

[0032] S10, obtaining information about obstacles on the road where the smart mobile terminal is walking and data information about the distance between the obstacles and the smart mobile terminal;

[0033] S20, interacting the acquired data information with the current driving speed of the smart mobile terminal in real time, respectively controlling and adjusting the parameter data of each joint motor connected to the opposite sides of the smart mobile terminal, so that the smart mobile terminal can reduce vibration and overcome obstacles.

[0034] In specific implementation, step S10 includes the step of obtaining data information of obstacles on the walking road A of the smart mobile terminal through the binocular vision camera 3, such as the size of the obstacle, the position of the bumpy section B on the walking road A, and the distance between the bumpy section B and the smart mobile terminal.

[0035] Further Figure 3 As shown, a three-dimensional scan is performed on the bumpy road section B to realize the model's perception of the physical working conditions, and the controller 9 combines with the binocular vision camera 3 to obtain information on obstacles on the walking road surface A and data such as the distance.

[0036] The function of step S20 is to interact in real time with the driving speed of the front wheel 81 through the data of the distance between the bumpy road section B and the front wheel 81 scanned by the binocular vision camera 3 and the three-dimensional size of the obstacle on the bumpy road section B, and perform active shock reduction in combination with the active shock suppression algorithm.

[0037] During implementation, the active shock absorption method through the shock suppression algorithm is mainly achieved by real-time adjustment of the relative positions between the box 1, the upper arm 22 and the lower arm 23 of the smart mobile terminal T and / or real-time adjustment of the wheel state of the smart mobile terminal T, so that the smart mobile terminal T can be switched between the two-wheel mode and the four-wheel mode. The figure shows the two-wheel mode. When the two front wheels 81 and the two rear wheels 82 touch the ground at the same time by controlling the shape of the lower arm 23, the four-wheel mode can be achieved.

[0038] Further, controlling and adjusting the parameter data of each joint motor connected to the opposite sides of the intelligent mobile terminal T includes: respectively controlling and changing the shoulder joint motor 21 connected between the opposite sides of the box 1 of the intelligent mobile terminal T and the upper arm 22, the knee joint motor 24 connected between the upper arm 22 and the lower arm 23 on the opposite sides of the intelligent mobile terminal T, and the driving wheel motors 83, 84 of the front and rear wheels 81, 82 connected to the opposite ends of the lower arm 24; the two shoulder joint motors 21, the two knee joint motors 24 and the driving wheel motors 83, 84 are respectively controlled by the controller 9, such as Figure 4 shown.

[0039] It can be understood that the method of controlling the parameter data of each joint motor can be to control the parameters of a single motor, or to control the combination of multiple motors, as long as the smart mobile terminal T in the current wheeled state can absorb shock and pass the current bumpy road section B.

[0040] Preferably, the controller 9 controls the two shoulder joint motors 21, two knee joint motors 24 and driving wheel motors 83, 84 on opposite sides of the intelligent mobile terminal to perform synchronous adjustment and drive control, so as to further improve the self stability of the intelligent mobile terminal.

[0041] Furthermore, the step of adjusting the relative positions between the box 1, the upper arm 22 and the lower arm 23 of the intelligent mobile terminal T in real time is mainly based on a combination of multiple data including the stored dynamic model data, LQR model data, seat leveling control data, dynamic balance control data and active vibration suppression control data, thereby forming parameters that match the driving speeds of the front and rear wheels 81, 82.

[0042] Furthermore, the control method of the smart mobile terminal of the embodiment of the present invention includes the following step S30, which is a step of constructing a distribution map of obstacles on the road where the smart mobile terminal is traveling, so as to assist in enhancing the travel performance of the smart mobile terminal on complex roads.

[0043] The function of step S30 is to effectively assist people to intuitively understand the unknown terrain traffic environment while the smart mobile terminal T itself overcomes obstacles and reduces shock, and provide a reliable and realistic basis for relevant engineering and technical personnel to better understand the road conditions in complex scenarios.

[0044] like Figure 5 As shown, it is a distribution map of obstacles on the road surface constructed by the smart mobile terminal, where: S is the walking route of the smart mobile terminal, L1-L23 are the walking sections divided by the smart mobile terminal, the ones with vertical lines are bumpy sections B, and the rest are flat sections C.

[0045] During implementation, the controller 9 will automatically detect the above obstacles encountered by the intelligent mobile terminal during driving. Furthermore, the distribution of obstacles on the road surface fed back by the intelligent mobile terminal plays an important role in people's subsequent rescue decisions.

[0046] like Figure 6 As shown, the control system of the intelligent mobile terminal of the embodiment of the present invention includes: a binocular vision camera 3 for obtaining information about obstacles on the walking road of the intelligent mobile terminal T and distance data information between the obstacles and the intelligent mobile terminal T; and a controller 9 for interacting the obtained data information with the current driving speed of the intelligent mobile terminal T in real time, and respectively controlling and adjusting parameter data of each joint motor connected to the opposite sides of the intelligent mobile terminal T, so that the intelligent mobile terminal can reduce shock and overcome obstacles, wherein: the binocular vision camera 3 is connected to the controller 9.

[0047] Among them, the controller 9 includes: a knee joint motor adjustment unit 91 for controlling and adjusting the angle of the forearm 23 connected between the front and rear wheels 81, 82 on the same side of the smart mobile terminal T, so as to adjust the wheeled state of the smart mobile terminal T; a shoulder joint motor adjustment unit 92 for controlling and adjusting the shoulder joint motor 21 connected between the upper arm 22 and the opposite sides of the box 1 of the smart mobile terminal T; a driving wheel motor adjustment unit 93 for controlling and adjusting the driving wheel motors 83, 84 of the front and rear wheels 81, 82 connected at the opposite ends of the forearm 23; and a control unit 95 for coordinating and controlling the shoulder joint motor adjustment unit 91, the knee joint motor adjustment unit 92 and the driving wheel motor adjustment unit 93, and the knee joint motor adjustment unit 91 is connected between the upper arm 22 and the forearm 23.

[0048] Preferably, the controller 9 also includes: a storage unit 94 for storing dynamic model data, LQR model data, seat leveling control data, dynamic balance control data and active vibration suppression control data, and the storage unit 94 is respectively connected to the knee joint motor adjustment unit 91, the shoulder joint motor adjustment unit 92 and the drive wheel motor adjustment unit 93.

[0049] In specific implementation, the controller 9 is connected to the binocular vision camera 3 to obtain information about obstacles on the road surface where the intelligent mobile terminal T is walking and data information about the distance between the obstacles and the intelligent mobile terminal. The controller 9 changes the relative positions of the box 1, the upper arm 22 and the lower arm 23 of the intelligent mobile terminal T by controlling the two shoulder joint motors 21 and the two knee joint motors 24, and changes the walking speed of the intelligent mobile terminal T by controlling the front drive wheel motor 83 and the rear drive wheel motor 84.

[0050] The controller 9 uses the vibration suppression algorithm to actively reduce vibration, mainly by real-time adjustment of the relative positions between the box 1, the upper arm 22 and the lower arm 23 of the smart mobile terminal T and / or the wheel state of the smart mobile terminal T, so that the smart mobile terminal T switches between the two-wheel mode and the four-wheel mode, for example: switching between the two-wheel mode and the four-wheel mode. In other words, the smart mobile terminal T of the present application can realize walking by only the two front wheels 81 touching the ground, or by simultaneously touching the ground with the two front wheels 81 and the two rear wheels 82, according to the real-time status of the acquired obstacle, by controlling the shape of the lower arm 23.

[0051] The step of the controller 9 adjusting the relative positions between the box 1, the upper arm 22 and the lower arm 23 of the intelligent mobile terminal T in real time is mainly based on retrieving a combination of multiple data including the dynamic model data, LQR model data, seat leveling control data, dynamic balance control data and active vibration suppression control data stored in the storage unit 94, thereby forming parameters that match the driving speeds of the front and rear wheels 81, 82.

[0052] Preferably, the storage unit 94 in this embodiment can also store data of the obstacle distribution map on the road surface on which the smart mobile terminal travels. By retrieving the data of the obstacle distribution map stored in the storage unit 94, the traffic performance of the smart mobile terminal on complex roads can be assisted and enhanced.

[0053] In this way, while the smart mobile terminal T can overcome obstacles and reduce shock, it can also effectively assist people in intuitively understanding the unknown terrain environment, and provide a reliable and realistic basis for relevant engineering and technical personnel to better understand the road conditions in complex scenarios. The stored data is Figure 5 shown.

[0054] To solve the above technical problems, the present invention discloses an intelligent mobile terminal, which includes the above intelligent mobile terminal control system. The specific implementation of the intelligent mobile terminal is the same as the implementation of the above intelligent mobile terminal control system, which will not be repeated here.

[0055] An intelligent mobile terminal and its control system and control method implemented in the present invention have the following beneficial effects: a binocular vision camera obtains information about obstacles on the road where the intelligent mobile terminal is walking and data information about the distance between the obstacles and the intelligent mobile terminal; a controller interacts the acquired data information with the current driving speed of the intelligent mobile terminal in real time, and respectively controls and adjusts parameter data of each joint motor connected to the opposite sides of the intelligent mobile terminal, so that the intelligent mobile terminal can reduce shock and overcome obstacles, can sense road obstacles and overcome them, and enhance the traffic performance on complex roads; the structure is reasonable and meets the needs of use in multiple working conditions.

Claims

1. A control method for an intelligent mobile terminal, characterized in that: The following steps are involved: Obtain information about obstacles on the road where the smart mobile terminal is walking and data information about the distance between the obstacles and the smart mobile terminal; The acquired data information is interacted with the current driving speed of the smart mobile terminal in real time, and the parameter data of each joint motor connected to the opposite sides of the smart mobile terminal are controlled and adjusted respectively, so that the smart mobile terminal can reduce vibration and overcome obstacles.

2. The control method of the intelligent mobile terminal according to claim 1, characterized in that: The step of obtaining information about obstacles on the road surface on which the smart mobile terminal is walking and data information about the distance between the obstacles and the smart mobile terminal comprises: The step of detecting the obstacle distribution on the road in front of the smart mobile terminal in real time by using a binocular vision camera, wherein: the binocular vision camera is installed in front of the smart mobile terminal.

3. The control method of the intelligent mobile terminal according to claim 1, characterized in that: The steps of respectively controlling and adjusting the parameter data of the joint motors connected to the two opposite sides of the smart mobile terminal so that the smart mobile terminal can reduce vibration and overcome obstacles include the following: According to a combination of multiple data among the stored dynamic model data, LQR model data, seat leveling control data, dynamic balance control data and active vibration suppression control data, a step of adjusting the relative positions among the box, upper arm and lower arm of the intelligent mobile terminal in real time and / or a step of adjusting the wheel state of the intelligent mobile terminal in real time to switch the intelligent mobile terminal between a two-wheel mode and a four-wheel mode.

4. The control method of the intelligent mobile terminal according to claim 1, characterized in that: The respectively controlling and adjusting the parameter data of the joint motors connected to the opposite sides of the intelligent mobile terminal includes: respectively controlling and changing the shoulder joint motors connected between the opposite sides of the box of the intelligent mobile terminal and the upper arms, the knee joint motors connected between the upper arms and the lower arms on the opposite sides of the intelligent mobile terminal, and the driving wheel motors of the front and rear wheels connected to the opposite ends of the lower arms; The two shoulder joint motors, the two knee joint motors and the driving wheel motor are controlled by a controller installed in the intelligent mobile terminal box.

5. The control method of the intelligent mobile terminal according to claim 1, characterized in that: Also includes: The steps of constructing a distribution map of obstacles on the road surface for intelligent mobile terminals to assist in enhancing the traffic performance of intelligent mobile terminals on complex roads.

6. The control method of the intelligent mobile terminal according to claim 5, characterized in that: The steps of constructing a distribution map of obstacles on the road surface where the smart mobile terminal is walking include the following: The steps of saving the data of the flat roads and obstacles encountered by the smart mobile terminal during driving, and constructing a driving path memory map of the smart mobile terminal in a complex obstacle distribution scenario.

7. A control system for an intelligent mobile terminal, characterized in that: include: A binocular vision camera for obtaining information about obstacles on the road where the smart mobile terminal is walking and distance data information between the obstacles and the smart mobile terminal; A controller is used to interact the acquired data information with the current driving speed of the smart mobile terminal in real time, and to control and adjust the parameter data of each joint motor connected to the opposite sides of the smart mobile terminal, so that the smart mobile terminal can reduce shock and overcome obstacles, wherein: the binocular vision camera is connected to the controller.

8. The control system of the intelligent mobile terminal according to claim 7, characterized in that: The controller comprises: A knee joint motor adjustment unit for controlling and adjusting the angle of a small arm of the smart mobile terminal connected between the front and rear wheels on the same side, so as to adjust the wheeled state of the smart mobile terminal; A shoulder joint motor adjustment unit for controlling and adjusting the shoulder joint motors connected between the upper arms and the opposite sides of the box of the smart mobile terminal; A driving wheel motor adjustment unit for controlling and adjusting the driving wheel motors of the front and rear wheels connected to opposite ends of the forearm; as well as A control unit is used for coordinating and controlling the shoulder joint motor adjustment unit, the knee joint motor adjustment unit and the driving wheel motor adjustment unit, wherein the knee joint motor adjustment unit is connected between the upper arm and the forearm.

9. The control system of the intelligent mobile terminal according to claim 8, characterized in that: The controller also includes: a storage unit for storing dynamic model data, LQR model data, seat leveling control data, dynamic balance control data and active vibration suppression control data, and the storage unit is respectively connected to the knee joint motor adjustment unit, the shoulder joint motor adjustment unit and the drive wheel motor adjustment unit.

10. An intelligent mobile terminal, characterized in that: The intelligent mobile terminal is provided with a control system of the intelligent mobile terminal as described in any one of claims 7-9.

Images