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 size data of the height of a single step of a stair to be climbed and the width of a step surface; according to the obtained size data, the wheel distance between front wheels and rear wheels on the two opposite sides of the intelligent mobile terminal is controlled and adjusted, one pair of wheels on the two opposite sides of the intelligent mobile terminal is always kept in a step climbing state, and the other pair of wheels are kept in a step surface state, so that the climbing continuity of the intelligent mobile terminal is maintained; and adjusting the gravity center position of the intelligent mobile terminal when going upstairs or downstairs, and inhibiting rollover caused by acceleration in the advancing process of the intelligent mobile terminal. The invention also discloses an intelligent mobile terminal and a control system thereof. By implementing the intelligent mobile terminal and the control system and control method thereof, the stability of the intelligent mobile terminal in the process of going up and down stairs is enhanced, and the intelligent mobile terminal can smoothly go up and down stairs; the structure is reasonable, and multi-working-condition use requirements are met.

Description

Technical Field

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

[0002] In the prior art, wheel-legged robots have strong road passing performance. By switching between wheels and feet, they can achieve high-load passing performance on flat roads and high-efficiency passing performance on roads with multiple obstacles. Currently, wheel-legged robots have been widely used in industrial and agricultural production scenarios. However, due to unreasonable structural design, wheel-legged robots mainly have the following technical problems: 1. Poor stair climbing performance, which is specifically manifested in the phenomenon that the robot is prone to tipping over backwards when climbing stairs and people are prone to getting stuck in the process of climbing stairs; 2. Complex structure and poor stability. Summary of the invention

[0003] 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 enhance the stability of the intelligent mobile terminal during the process of going up and down stairs and enable the intelligent mobile terminal to go up and down stairs smoothly; the structure is reasonable and can meet the needs of multiple working conditions.

[0004] 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 dimensional data of the height of a single step of a stair to be climbed and the width of the step surface; controlling and adjusting the wheelbases of front and rear wheels on opposite sides of the intelligent mobile terminal according to the obtained dimensional data, so as to always keep a pair of wheels on opposite sides of the intelligent mobile terminal in a state of climbing the steps and the other pair of wheels on the step surface, so as to maintain the continuity of the climbing of the intelligent mobile terminal; adjusting the center of gravity position of the intelligent mobile terminal when going up or down the stairs, so as to suppress the rollover caused by acceleration during the forward movement of the intelligent mobile terminal.

[0005] Among them, the step of obtaining the dimensional data of the height of a single step and the width of the step surface of the required up and down stairs includes: performing a three-dimensional scan of the stairs to be climbed through a binocular vision camera to realize the model's perception of the physical working conditions, wherein: the binocular vision camera is installed directly in front of the smart mobile terminal box.

[0006] Among them, the steps of controlling and adjusting the wheelbase of the front and rear wheels on opposite sides of the smart mobile terminal according to the acquired size data include the following: the steps of controlling and adjusting the telescopicity of the forearm connected between the front and rear wheels on the same side of the smart mobile terminal, wherein: the front and rear wheels connected to the opposite ends of the forearm are driven by driving wheel motors respectively.

[0007] Among them, the steps of adjusting the center of gravity position of the smart mobile terminal when going up or down stairs include the following: respectively controlling and changing the shoulder joint motors connected between the upper arms and the opposite sides of the box of the smart mobile terminal, and the knee joint motors connected between the upper arms and the forearms on the opposite sides of the smart mobile terminal, so as to change the relative positions between the box, the upper arms and the forearms of the smart mobile terminal, and adjust the center of gravity position of the smart mobile terminal in real time.

[0008] Among them, the step of changing the relative positions of the box, upper arm and lower arm of the smart mobile terminal includes: according to the height difference of the smart mobile terminal on the stairs, adjusting the overall center of gravity of the smart mobile terminal to the front when going up the stairs to prevent the smart mobile terminal from tipping over backwards due to acceleration during the forward movement; and adjusting the overall center of gravity to the back when going down the stairs to prevent the smart mobile terminal from tipping over forwards due to acceleration during the forward movement.

[0009] Among them, two shoulder joint motors on two opposite sides of the intelligent mobile terminal are adjusted synchronously, and two knee joint motors on two opposite sides of the intelligent mobile terminal are adjusted synchronously.

[0010] Among them, the two shoulder joint motors and the two knee joint motors are coordinated and controlled by the industrial computer and IMU installed in the intelligent mobile terminal box.

[0011] To solve the above-mentioned problem, the present invention discloses a control system for an intelligent mobile terminal, comprising: a binocular vision camera for obtaining dimensional data of the height of a single step of a stair to be climbed and the width of the step surface; and a control component for controlling and adjusting the wheelbase of the front and rear wheels on opposite sides of the intelligent mobile terminal according to the dimensional data obtained by the binocular vision camera, so as to always keep a pair of wheels on opposite sides of the intelligent mobile terminal in a state of climbing the steps and the other pair of wheels on the step surface, so as to maintain the continuity of the climbing of the intelligent mobile terminal; and a control component for adjusting the center of gravity position of the intelligent mobile terminal when going up or down the stairs to suppress the rollover caused by acceleration during the forward movement of the intelligent mobile terminal, wherein: the binocular vision camera is connected to the control component.

[0012] Among them, the control component includes: a forearm adjustment unit for controlling and adjusting the telescopicity of the forearm connected between the front and rear wheels on the same side of the smart mobile terminal; a shoulder joint motor adjustment unit for controlling and adjusting the shoulder joint motors between the upper arm and the opposite sides of the box of the smart mobile terminal; a knee joint motor adjustment unit for controlling and adjusting the knee joint motors connected between the upper arm and the forearm on the opposite sides of the smart mobile terminal; and an industrial computer and IMU for coordinating and controlling the forearm adjustment unit, the shoulder joint motor adjustment unit and the knee joint motor adjustment unit, the industrial computer being connected to the IMU, the forearm adjustment unit, the shoulder joint motor adjustment unit and the knee joint motor adjustment unit respectively.

[0013] In order to solve the above technical problem, the present invention discloses an intelligent mobile terminal, which includes the control system of the above intelligent mobile terminal.

[0014] 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 dimensional data of the height of a single step of the stairs to be climbed and the width of the step surface; a control component controls and adjusts the wheelbase of the front and rear wheels on the opposite sides of the intelligent mobile terminal according to the dimensional data obtained by the binocular vision camera, so that a pair of wheels on the opposite sides of the intelligent mobile terminal are always kept in a state of climbing the steps and the other pair of wheels are on the step surface, so as to maintain the continuity of the climbing of the intelligent mobile terminal; the center of gravity position of the intelligent mobile terminal when going up or down the stairs is adjusted to suppress the rollover caused by acceleration during the forward movement of the intelligent mobile terminal, enhance the stability of the intelligent mobile terminal during the process of going up and down the stairs, and realize the smooth going up and down of the stairs for the intelligent mobile terminal; the structure is reasonable and meets the needs of use in multiple working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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.

[0016] Figure 1 The figure is a flowchart of a control method for a smart mobile terminal according to an embodiment of the present invention.

[0017] 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.

[0018] Figure 3 It is a schematic diagram of the effect of performing three-dimensional scanning on the stairs to be climbed to realize the model's perception of the physical working condition according to an embodiment of the present invention.

[0019] Figure 4 It is a schematic diagram of a three-dimensional effect of controlling and adjusting the wheel tracks of the front and rear wheels on opposite sides of the smart mobile terminal according to an embodiment of the present invention.

[0020] Figure 5 It is a schematic diagram of the side view effect of controlling and adjusting the wheel tracks of the front and rear wheels on opposite sides of the smart mobile terminal according to an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the effect of controlling and adjusting the smart mobile terminal when going up stairs according to an embodiment of the present invention.

[0022] Figure 7This is a schematic diagram of the effect of controlling and adjusting the smart mobile terminal when going down stairs according to an embodiment of the present invention.

[0023] Figure 8 The structure block diagram of the control system of the intelligent mobile terminal according to the embodiment of the present invention. DETAILED DESCRIPTION

[0024] 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.

[0025] like Figure 1-Figure 7 FIG. 1 is a first embodiment of a control method for a smart mobile terminal according to the present invention.

[0026] like Figure 2 As shown, the smart mobile terminal F in this embodiment includes: a box body 1 and two pairs of joint feet arranged on opposite sides of the box body 1. 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.

[0027] 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 the front drive wheel motor 83, and the rear wheel 82 is connected to the rear drive wheel motor 84. Among them: the front drive wheel motor 83 is connected to the end of the other end of the lower arm 23, and the rear drive wheel motor 84 is installed at the position where the upper arm 22 and the lower arm 23 are connected, and the position adjacent to the knee joint motor 24.

[0028] The intelligent mobile terminal in this embodiment further includes an industrial computer 90, an IMU 94 and a binocular vision camera 32. The binocular vision camera 32 is installed in front of the box 1. The industrial computer 90 and the IMU 94 are installed in the box 1.

[0029] The binocular vision camera 32 and the IMU 94 are used to perform a three-dimensional scan of the stairs to be climbed T to realize the model's perception of the physical working conditions. The industrial computer 90 is connected to the binocular vision camera 32 and the IMU 94 to obtain the height L2 of a single step T1 of the stairs to be climbed and the width L1 of the step surface.

[0030] During implementation, the industrial computer 90 drives and controls the two shoulder joint motors 21 and the two knee joint motors 24 to change the relative positions of the box 1, the upper arm 22 and the lower arm 23 of the intelligent mobile terminal, and adjusts the center of gravity of the intelligent mobile terminal in real time. Specifically in this embodiment, the two shoulder joint motors 21, the two knee joint motors 24, the two front drive wheel motors 83 and the two rear drive wheel motors 84 of the two sets of joint feet are controlled by the industrial computer 90.

[0031] Preferably, the length of the arm 23 is adjustable, that is, the arm 23 has a telescopic function. The purpose of setting the arm 23 to be telescopic is that since the front wheel 81 and the rear wheel 82 are respectively mounted at opposite ends of the arm 23, the telescopic function of the arm 23 can be used to adjust the wheelbase L3 of the front and rear wheels 81 and 82.

[0032] 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:

[0033] S10, obtaining the dimensional data of the height of a single step of the stairs to be climbed and the width of the step surface;

[0034] S20, respectively controlling and adjusting the wheelbases of the front and rear wheels on opposite sides of the smart mobile terminal according to the acquired size data, so that one pair of wheels on opposite sides of the smart mobile terminal is always kept in a state of climbing the steps and the other pair of wheels is kept on the step surface, so as to maintain the climbing continuity of the smart mobile terminal;

[0035] S30, adjusting the center of gravity of the smart mobile terminal when going up or down stairs to suppress the rollover of the smart mobile terminal caused by acceleration during the forward movement.

[0036] In specific implementation, step S10 includes a step of performing a three-dimensional scan of the stairs T to be climbed by using the binocular vision camera 32 and the IMU 94 to realize the model's perception of the physical working conditions. Figure 3 As shown, a three-dimensional scan is performed on the stairs T to be climbed to realize the model's perception of the physical working conditions. The industrial computer 90 is connected to the binocular vision camera 32 and the IMU 94 respectively to obtain the dimensional data of the height L2 of a single step T1 of the stairs T to be climbed and the width L1 of the step surface.

[0037] The purpose of step S20 is: since the width of the platform and the height of a single step of stairs in real life often have certain differences, it is easier to climb smoothly when the front and rear pairs of wheels of the smart mobile terminal are on the platform and the other pair is in the state of climbing stairs. The wheelbase of the front and rear wheels on the opposite sides of the smart mobile terminal is controlled and adjusted, so that the smart mobile terminal can adapt to climbing stairs of different specifications and has flexible stair working condition adaptability.

[0038] During implementation, the industrial computer 90 obtains the size data of the height L2 of a single step T1 of the stairs T to be climbed and the width L1 of the step surface, such as Figure 4 The industrial computer 90 can calculate how to set the wheelbase L3 of the front and rear wheels 81 and 82 according to the height L2 of the single step T1 and the width L1 of the step surface, so that the intelligent mobile terminal can climb continuously. Figure 5 shown.

[0039] In implementation, the step of controlling and adjusting the wheelbase of the front and rear wheels on opposite sides of the intelligent mobile terminal according to the acquired dimension data includes the following: controlling and adjusting the telescopicity of the small arm 23 of the intelligent mobile terminal connected between the front and rear wheels on the same side. The telescopicity of the small arm 23 can be implemented by a motor, a telescopic mechanism, etc., as long as the wheelbase between the front and rear wheels 81, 82 can be changed.

[0040] During implementation, the function of controlling and adjusting the wheelbase of the front and rear wheels 81, 82 on opposite sides of the smart mobile terminal is to always keep one pair of wheels on opposite sides of the smart mobile terminal in a state of climbing steps and the other pair of wheels on the step surface, so as to maintain the continuity of climbing of the smart mobile terminal.

[0041] It can be understood that the industrial computer 90 controls the intelligent mobile terminal to synchronously adjust the small arms 23 on both sides, and can also perform synchronous drive control on the driving wheel motors of the front and rear wheels 81 and 82.

[0042] Furthermore, the function of step S30 is to improve the stability of the smart mobile terminal, so that the smart mobile terminal can not only climb stairs of various specifications but also not fall down during the process of going up and down stairs. When implemented, the step of adjusting the center of gravity position of the smart mobile terminal when going up or down stairs includes the following: respectively controlling and changing the shoulder joint motors 21 connected between the opposite sides of the box 1 of the smart mobile terminal and the upper arm 22, and the knee joint motors 24 connected between the upper arm 22 and the lower arm 23 on the opposite sides of the smart mobile terminal, so as to change the relative positions between the box 1, the upper arm 22 and the lower arm 23 of the smart mobile terminal, and adjusting the center of gravity position of the smart mobile terminal in real time.

[0043] During implementation, the steps of changing the relative positions of the box, the upper arm and the lower arm of the intelligent mobile terminal include:

[0044] According to the height difference of the smart mobile terminal on the staircase T, the overall center of gravity of the smart mobile terminal is adjusted forward when going up the stairs to prevent the smart mobile terminal from tipping over backward due to acceleration during the forward movement. Figure 6 As shown in the figure, when going down the stairs, the overall center of gravity is shifted backwards to prevent the smart mobile terminal from tipping forward due to acceleration during the forward movement. Figure 7 shown.

[0045] In this embodiment, the overall center of gravity of the intelligent mobile terminal when going up and down stairs is implemented in the following manner: the industrial computer 90 and the IMU 94 coordinate the control of the two shoulder joint motors 21 and the two knee joint motors 24, thereby changing the relative positions of the box 1, the upper arm 22 and the lower arm 23 of the intelligent mobile terminal, and realizing real-time adjustment of the center of gravity position of the intelligent mobile terminal, thereby suppressing the rollover caused by acceleration during the forward movement of the intelligent mobile terminal.

[0046] Preferably, the industrial computer 90 and the IMU 94 are set to synchronize the adjustment of the two shoulder joint motors 21 on the opposite sides of the intelligent mobile terminal, and the industrial computer 90 and the IMU 94 are set to synchronize the adjustment of the two knee joint motors 24 on the opposite sides of the robot.

[0047] like Figure 8 As shown, the control system of the intelligent mobile terminal of the embodiment of the present invention includes: a binocular vision camera 32 for obtaining dimensional data of the height of a single step of the stairs to be climbed and the width of the step surface; and a control component for controlling and adjusting the wheelbase of the front and rear wheels on the opposite sides of the intelligent mobile terminal according to the dimensional data obtained by the binocular vision camera 32, so as to always keep a pair of wheels on the opposite sides of the intelligent mobile terminal in a state of climbing the stairs and the other pair of wheels on the step surface, so as to maintain the continuity of the climbing of the intelligent mobile terminal; and a control component for adjusting the center of gravity position of the intelligent mobile terminal when going up or down the stairs to suppress the rollover caused by acceleration during the forward movement of the intelligent mobile terminal, wherein: the binocular vision camera 32 is connected to the control component.

[0048] Among them, the control component includes: a forearm adjustment unit 91 for controlling and adjusting the telescopicity of the forearm 23 connected between the front and rear wheels 81, 82 on the same side of the smart mobile terminal; a shoulder joint motor adjustment unit 92 for controlling and adjusting the shoulder joint motor 21 connected between the upper arm 22 on the opposite sides of the box 1 of the smart mobile terminal; a knee joint motor adjustment unit 93 for controlling and adjusting the knee joint motor 24 connected between the upper arm 22 and the forearm 23 on the opposite sides of the smart mobile terminal; and an industrial computer 90 and an IMU 94 for coordinating and controlling the forearm adjustment unit 91, the shoulder joint motor adjustment unit 92 and the knee joint motor adjustment unit 93, the industrial computer 90 being connected to the IMU 94, the forearm adjustment unit 91, the shoulder joint motor adjustment unit 92 and the knee joint motor adjustment unit 93 respectively.

[0049] In specific implementation, the industrial computer 90 is connected to the binocular vision camera 32 and the IMU 94 respectively to obtain the size data of the height L2 of a single step T1 and the width L1 of the step platform of the stairs T to be climbed. The industrial computer 90 controls the telescopic control of the arm 23 by controlling the arm adjustment unit 91. Since there is a certain difference between the platform width and the single step height of stairs in real life, it is easier to achieve smooth climbing when the front and rear pairs of wheels of the smart mobile terminal are on the platform and the other pair is in the state of climbing stairs.

[0050] The industrial computer 90 obtains the size data of the height L2 of a single step T1 and the width L1 of the step surface of the stairs T to be climbed. The industrial computer 90 can calculate how to set the wheelbase L3 of the front and rear wheels 81, 82 according to the height L2 of the single step T1 and the width L1 of the step surface. The wheelbases of the front and rear wheels 81, 82 on opposite sides of the smart mobile terminal are controlled and adjusted, so that the smart mobile terminal can adapt to climbing stairs of different specifications and has flexible stair working condition adaptability.

[0051] The industrial computer 90 controls the shoulder joint motor adjustment unit 92 and the knee joint motor adjustment unit 93 to change the relative positions of the box 1, the upper arm 22 and the lower arm 23 of the intelligent mobile terminal, thereby achieving real-time adjustment of the center of gravity position of the intelligent mobile terminal, thereby suppressing the rollover caused by acceleration during the forward movement of the intelligent mobile terminal.

[0052] 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 stair control system, which will not be repeated here.

[0053] 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 dimensional data of the height of a single step of the stairs to be climbed and the width of the step surface; a control component controls and adjusts the wheelbase of the front and rear wheels on the opposite sides of the intelligent mobile terminal according to the dimensional data obtained by the binocular vision camera, so that a pair of wheels on the opposite sides of the intelligent mobile terminal are always kept in a state of climbing the steps and the other pair of wheels are on the step surface, so as to maintain the continuity of the climbing of the intelligent mobile terminal; the center of gravity position of the intelligent mobile terminal when going up or down the stairs is adjusted to suppress the rollover caused by acceleration during the forward movement of the intelligent mobile terminal, enhance the stability of the intelligent mobile terminal during the process of going up and down the stairs, and realize the smooth going up and down of the stairs for the intelligent mobile terminal; 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: Obtaining the dimensional data of the height of a single step of the stairs to be climbed and the width of the step platform; According to the acquired size data, the wheelbases of the front and rear wheels on opposite sides of the smart mobile terminal are respectively controlled and adjusted, so that one pair of wheels on opposite sides of the smart mobile terminal is always kept in a state of climbing the steps and the other pair of wheels is kept on the step surface, so as to maintain the continuity of the climbing of the smart mobile terminal; The center of gravity of the smart mobile terminal is adjusted when going up or down stairs to suppress the rollover caused by acceleration during the forward movement of the smart mobile terminal.

2. The control method of the intelligent mobile terminal according to claim 1, characterized in that: The step of obtaining the required dimension data of the height of a single step of the stairs and the width of the step surface comprises: The steps of performing three-dimensional scanning of the stairs to be climbed by a binocular vision camera to realize the model's perception of the physical working condition, 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 step of respectively controlling and adjusting the wheel tracks of the front and rear wheels on opposite sides of the smart mobile terminal according to the acquired size data comprises the following: The step of controlling and adjusting the telescopic properties of a small arm of the intelligent mobile terminal connected between the front and rear wheels on the same side, wherein the front and rear wheels connected to the opposite ends of the small arm are driven by driving wheel motors respectively.

4. The control method of the intelligent mobile terminal according to claim 1, characterized in that: The step of adjusting the center of gravity of the smart mobile terminal when going up or down stairs includes the following: The steps of respectively controlling and changing the shoulder joint motors connected between the upper arms and the opposite sides of the box of the smart mobile terminal, and the knee joint motors connected between the upper arms and the lower arms on the opposite sides of the smart mobile terminal, so as to change the relative positions among the box, the upper arms and the lower arms of the smart mobile terminal, and adjust the center of gravity position of the smart mobile terminal in real time.

5. The control method of the intelligent mobile terminal according to claim 4, characterized in that: The step of changing the relative positions of the box, the upper arm and the lower arm of the intelligent mobile terminal comprises: According to the height difference of the smart mobile terminal on the stairs, the overall center of gravity of the smart mobile terminal is adjusted forward when going up the stairs to prevent the smart mobile terminal from tipping over backward due to acceleration during the forward movement; the overall center of gravity is adjusted backward when going down the stairs to prevent the smart mobile terminal from tipping over forward due to acceleration during the forward movement.

6. The control method of the intelligent mobile terminal according to claim 4, characterized in that: The two shoulder joint motors on the two opposite sides of the intelligent mobile terminal are adjusted synchronously, and the two knee joint motors on the two opposite sides of the intelligent mobile terminal are adjusted synchronously.

7. The control method of the intelligent mobile terminal according to claim 6, characterized in that: The two shoulder joint motors and the two knee joint motors are coordinated and controlled by an industrial computer and an IMU installed in the intelligent mobile terminal box.

8. A control system for an intelligent mobile terminal, characterized in that: include: A binocular vision camera for obtaining dimensional data of the height of a single step of the stairs to be climbed and the width of the step platform; as well as A control component for controlling and adjusting the wheelbase of the front and rear wheels on opposite sides of the smart mobile terminal according to the size data obtained by the binocular vision camera, so as to always keep a pair of wheels on opposite sides of the smart mobile terminal in a state of climbing stairs and the other pair of wheels on the step surface, so as to maintain the continuity of the climbing of the smart mobile terminal; and adjusting the center of gravity position of the smart mobile terminal when going up or down stairs, so as to suppress the rollover of the smart mobile terminal caused by acceleration during the forward movement of the smart mobile terminal, wherein: the binocular vision camera is connected to the control component.

9. The control system of the intelligent mobile terminal according to claim 8, characterized in that: The control component comprises: A small arm adjustment unit for controlling and adjusting the telescopicity of a small arm of the intelligent mobile terminal connected between the front and rear wheels on the same side; 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 knee joint motor adjustment unit for controlling and adjusting knee joint motors connected between the upper arm and the lower arm on opposite sides of the intelligent mobile terminal; as well as An industrial computer and an IMU are used to coordinate and control the forearm adjustment unit, the shoulder joint motor adjustment unit and the knee joint motor adjustment unit, and the industrial computer is connected to the IMU, the forearm adjustment unit, the shoulder joint motor adjustment unit and the knee joint motor adjustment unit respectively.

10. An intelligent mobile terminal, characterized in that: The intelligent mobile terminal is provided with the control system of the intelligent mobile terminal as claimed in claim 8 or 9.

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