Control method and device of intelligent mobile terminal and computer program product

Abstract

The invention discloses a control method and device for an intelligent mobile terminal and a computer program product, and the method comprises the steps: driving a first servo motor through a PID controller of the first servo motor, so as to control the rotating speed and direction of a wheel; the second servo motor is driven through a PID controller of the second servo motor so as to adjust the position of the carrying platform in the horizontal direction; the third servo motor is driven through a PID controller of the third servo motor so as to adjust the horizontal balance of the carrying platform; the PID controllers of the first servo motors are connected in series to form a series PID control structure. And the PID controllers of the second servo motor are connected in parallel and are connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure. By innovatively applying a series-parallel PID control mode, the precise controllability of a plurality of servo systems of the intelligent mobile terminal is remarkably improved, and the stable performance, maneuverability, flexibility and environmental adaptability of the intelligent mobile terminal in a plurality of motion modes are ensured.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a control method, device and computer program product for an intelligent mobile terminal. Background Art

[0002] An intelligent mobile terminal is a portable or removable device that integrates advanced computing power, sensing technology, communication modules, and autonomous or semi-autonomous decision-making capabilities. This type of device can not only perform complex computing tasks and process large amounts of data, but also sense the surrounding environment through various built-in sensors to achieve precise positioning, navigation, and obstacle avoidance. As an emerging intelligent mobile terminal, wheeled-legged robots have gradually attracted widespread attention due to their unique advantages. Compared with robots of other forms, wheeled-legged robots have shown significant characteristics and potential. In four-wheel mode, this type of robot can carry a higher load, while in two-wheel dynamic balancing mode, the flexibility of the body is significantly improved. Through a flexible wheel-foot switching mechanism, wheeled-legged robots can adapt to the complex environment requirements in most different scenarios and achieve efficient passage.

[0003] The core performance indicators of wheel-legged robots mainly focus on the ability to resist external interference in the two-wheel mode and the efficient wheel-legged switching performance combined with specific application scenarios. Among them, the ability to resist external interference is particularly important. The interference factors it needs to deal with mainly include the external force on the robot body and the information input interference caused by complex road obstacles. Efficient wheel-legged switching covers two aspects: the optimization of the wheel-legged switching method and the improvement of environmental adaptability.

[0004] However, the wheeled-legged robots currently on the market have not yet met the two key performance requirements of anti-interference and efficient wheel-leg switching. These two performances are important prerequisites for whether wheeled-legged robots can be applied in a wider range of fields. For a long time, how to effectively improve the robot's anti-interference performance and how to achieve efficient switching from four wheels to two wheels have been problems that need to be solved in the industry.

[0005] The key to improving the anti-interference performance is to design a reasonable control algorithm. Through precise algorithm design, the robot's motion state can be accurately controlled, thereby effectively resisting the influence of external interference and complex road obstacles. The switch from four wheels to two wheels depends on the scientific design of the structure and the precise control of the robot's knee servo position by the two-wheel dynamic balancing algorithm. Only when the robot has these two properties at the same time can it maintain strong road traffic capacity while smoothly realizing wheel-foot switching.

[0006] Therefore, solving the problems of wheeled-legged robots in resisting external interference and efficient wheel-leg switching is of great significance for promoting the widespread application of robots in different fields. Summary of the invention

[0007] The technical problem to be solved by the embodiments of the present invention is to provide a control method, device and computer program product for an intelligent mobile terminal to improve the servo motor cluster control effect and wheel-foot switching efficiency of the intelligent mobile terminal.

[0008] In order to solve the above technical problems, the present invention provides a control method of an intelligent mobile terminal, wherein the intelligent mobile terminal comprises a carrying platform, an upper arm, an inertial measurement unit, a lower arm, a plurality of servo motors and wheels, wherein the wheels are connected to the lower arm via a first servo motor, the lower arm and the upper arm are connected via a second servo motor, and the upper arm and the carrying platform are connected via a third servo motor, and the control method comprises the following steps:

[0009] The first servo motor is driven by a PID controller of the first servo motor to control the speed and direction of the wheel;

[0010] The second servo motor is driven by a PID controller of the second servo motor to adjust the position of the carrying platform in the horizontal direction;

[0011] The third servo motor is driven by a PID controller of the third servo motor to adjust the horizontal balance of the carrying platform;

[0012] The PID controllers of the multiple first servo motors are connected in series to form a series PID control structure; the PID controllers of the second servo motors are connected in parallel and are simultaneously connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure.

[0013] Preferably, the step of driving the first servo motor to control the rotation speed and direction of the wheel through the PID controller of the first servo motor further comprises:

[0014] The actual wheel speed is obtained through the encoder;

[0015] Calculating a first speed deviation according to the actual wheel speed and the expected wheel speed;

[0016] The PID controller of the first servo motor calculates a speed control instruction for controlling the first servo motor through a PID control algorithm according to the calculated first speed deviation.

[0017] Preferably, the step of driving the first servo motor through a PID controller of the first servo motor to control the speed and direction of the wheel further comprises:

[0018] The actual yaw angle is obtained through the inertial measurement unit;

[0019] Calculate the actual steering angular velocity based on the actual yaw angle and the actual wheel speed;

[0020] Calculating a second speed deviation and a second angle deviation according to the actual steering angular velocity and the expected steering angular velocity;

[0021] The PID controller of the first servo motor calculates a steering control instruction for controlling the first servo motor through a PID control algorithm according to the calculated second speed deviation and second angle deviation.

[0022] Preferably, the step of driving the second servo motor through the PID controller of the second servo motor to adjust the position of the carrying platform in the horizontal direction further comprises:

[0023] The actual pitch angle and actual roll angle are obtained through the inertial measurement unit;

[0024] Calculating a third angle deviation according to the actual pitch angle and the expected pitch angle, and calculating a fourth angle deviation according to the actual roll angle and the expected roll angle;

[0025] The PID controller of the second servo motor calculates a balancing control instruction for controlling the second servo motor through a PID control algorithm based on the calculated third angle deviation; and calculates a unilateral control instruction for controlling the second servo motor through a PID control algorithm based on the calculated fourth angle deviation.

[0026] Preferably, the step of driving the third servo motor through the PID controller of the third servo motor to adjust the horizontal balance of the carrying platform further comprises:

[0027] The actual pitch angle is obtained through the inertial measurement unit;

[0028] Calculating a fourth angle deviation according to the actual pitch angle and the expected pitch angle;

[0029] The PID controller of the third servo motor calculates balance control instructions for controlling the third servo motor through a PID control algorithm according to the calculated fourth angle deviation.

[0030] Preferably, when the intelligent mobile terminal switches from the four-wheel mode to the two-wheel dynamic balancing mode, the following steps are also included:

[0031] The angle of the lower arm is adjusted by the first servo motor so that the rear wheel is lifted and driven onto the inclined surface or vertical wall to a predetermined height;

[0032] The upper arm is rotated to a certain angle by the second servo motor to move away from the inclined surface or vertical wall;

[0033] The third servo motor is linked with the second servo motor to maintain the horizontal balance of the carrying platform;

[0034] The outputs of the second servo motor and the third servo motor are adjusted in real time to continuously change the shoulder position of the intelligent mobile terminal, so that the vertical line of the center of gravity of the wheeled robot gradually moves toward the point where the front wheel touches the ground until it is stably located at the point where the front wheel touches the ground.

[0035] Preferably, when the intelligent mobile terminal performs unilateral obstacle crossing, the following steps are also included:

[0036] When one side of the front wheel encounters an obstacle and lifts up, the current posture deviation data of the smart mobile terminal is obtained through the inertial measurement unit;

[0037] The second servo motor on the same side as the wheel outputs a unilateral control instruction according to the current posture deviation data of the smart mobile terminal;

[0038] The second servo motor adjusts the output torque according to the unilateral control instruction to offset the posture deviation.

[0039] The embodiment of the present invention further provides a control device for an intelligent mobile terminal, the intelligent mobile terminal comprising a carrying platform, an upper arm, an inertial measurement unit, a lower arm, a plurality of servo motors and wheels, wherein the wheels are connected to the lower arm via a first servo motor, the lower arm and the upper arm are connected via a second servo motor, and the upper arm and the carrying platform are connected via a third servo motor, the control device comprising:

[0040] a first PID controller, used to drive a first servo motor to control the speed and direction of the wheel;

[0041] A second PID controller is used to drive a second servo motor to adjust the position of the carrying platform in a horizontal direction;

[0042] a third PID controller, used for driving a third servo motor to adjust the horizontal balance of the carrying platform;

[0043] The PID controllers of the multiple first servo motors are connected in series to form a series PID control structure; the PID controllers of the second servo motors are connected in parallel and are simultaneously connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure.

[0044] The present invention also provides a control device for an intelligent mobile terminal, comprising:

[0045] one or more processors;

[0046] Memory;

[0047] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the control method.

[0048] The present invention also provides a computer program product, comprising computer instructions, wherein the computer instructions instruct a computer device to execute operations corresponding to the method.

[0049] The implementation of the present invention has the following beneficial effects: The present invention significantly improves the precise controllability of multiple servo systems of the intelligent mobile terminal through the innovative application of the series-parallel PID control method, ensuring the stable performance of the intelligent mobile terminal in various motion modes. In particular, in a slope environment, the terrain features can be utilized to achieve a smooth switch from a four-wheel mode to a two-wheel mode for the intelligent mobile terminal, which not only enhances the terrain adaptability of the intelligent mobile terminal, but also expands its application scenarios. In addition, through the multi-servo cluster control strategy, the present invention further optimizes the dynamic balancing ability of the intelligent mobile terminal in the two-wheel state, effectively solves the motion control problem of the intelligent mobile terminal in an unstructured environment, and improves the mobility, flexibility and environmental adaptability of the intelligent mobile terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] Figure 1 It is a schematic diagram of the three-dimensional structure of the intelligent mobile terminal involved in the embodiment of the present invention.

[0052] Figure 2 It is a flowchart of a control method for an intelligent mobile terminal according to an embodiment of the present invention.

[0053] Figure 3 It is a schematic diagram of the control principle of the intelligent mobile terminal in an embodiment of the present invention.

[0054] Figure 4 Schematic diagram of the intelligent mobile terminal switching from four wheels to two feet in an embodiment of the present invention.

[0055] Figure 5 Schematic diagram of serial PID obstacle crossing in an embodiment of the present invention.

[0056] Figure 6 It is a schematic diagram of parallel PID unilateral obstacle crossing in an embodiment of the present invention.

[0057] The accompanying drawings are marked as follows: 1-carrying platform, 2-upper arm, 3-inertial measurement unit IMU, 4-lower arm, 5-first servo motor, 6-second servo motor, 7-third servo motor, 8-wheel, 9-industrial computer. DETAILED DESCRIPTION

[0058] The following descriptions of the embodiments are made with reference to the accompanying drawings to illustrate specific embodiments in which the present invention can be implemented. It should be noted that the directions and positions mentioned in the embodiments of the present invention, such as "upper", "lower", "front", "back", "left", "right", "inside", "outside", "top", "bottom", "side", etc., are only with reference to the directions or positions of the accompanying drawings. Therefore, the directions and positions used are used to illustrate and understand the present invention, rather than to limit the scope of protection of the present invention.

[0059] Please refer to Figure 1 As shown, as an example, the intelligent mobile terminal involved in the embodiment of the present invention is embodied in a wheeled robot, including: a carrying platform 1, an upper arm 2, an inertial measurement unit IMU 3, a lower arm 4, multiple servo motors and wheels 8, wherein the wheels 8 are connected to the lower arm 4 through a first servo motor 5, the lower arm 4 and the upper arm 2 are connected through a second servo motor 6, the upper arm 2 and the carrying platform 1 are connected through a third servo motor 7, the IMU 3 and the industrial computer 9 are located in the carrying platform 1, and all the servo motors are controlled by the industrial computer 9.

[0060] Specifically, there are two wheels 8 at the end of the unilateral lower arm 4, and there are four wheels 8 on the left and right sides of the wheeled robot. Each wheel 8 is connected to the lower arm 4 through a first servo motor 5, that is, there are four first servo motors, which are located at the hip of the wheeled robot and are responsible for driving the rotation of the wheel and controlling the relative position and movement between the lower arm 4 and the wheel. The lower arm 4 and the upper arm 2 are connected by a second servo motor 6, and there are two second servo motors 6 on the left and right sides. The lower arm 4 connects the wheel 8 and the upper body (upper arm 2 and carrier platform 1) to transmit driving force and supporting force. The second servo motor 6 is located at the knee of the wheeled robot and is responsible for controlling the relative position and movement between the lower arm 4 and the upper arm 2. The upper arm 2 is connected to the carrier platform 1 through a third servo motor 7, and there are two third servo motors 7 on the left and right sides. The third servo motor 7 is located at the shoulder of the wheeled robot and is responsible for controlling the relative position and movement between the upper arm 2 and the carrier platform 1. The wheels 8, four first servo motors 5, two second servo motors 6, two third servo motors 7, the lower arm 4, the upper arm 2, and the carrying platform 1 together constitute a wheel-legged (four-wheeled bipedal) robot body, the IMU 3 and the industrial computer 9 are located in the carrying platform 1, and the eight servo motors are controlled by the industrial computer 9. In addition, from the morphological perspective of the wheel-legged robot, the first servo motor 5 is also called a hip servo motor, the second servo motor 6 is called a knee servo motor, and the third servo motor 7 is called a shoulder servo motor.

[0061] The embodiment of the present invention provides a control method for the above wheeled robot. Figure 2 As shown, the control method of the wheel-legged robot includes the following steps:

[0062] The third servo motor is driven by a PID controller of the third servo motor to adjust the horizontal balance of the carrying platform;

[0063] The second servo motor is driven by a PID controller of the second servo motor to adjust the position of the carrying platform in the horizontal direction;

[0064] The first servo motor is driven by a PID controller of the first servo motor to control the speed and direction of the wheel;

[0065] The PID controllers of the multiple first servo motors are connected in series to form a series PID control structure; the PID controllers of the second servo motors are connected in parallel and are simultaneously connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure.

[0066] It can be seen from the above settings that the embodiment of the present invention provides a more stable, flexible and adaptable motion control solution for the wheeled robot through the coordinated work of the PID control strategy and multiple servo motors, thereby greatly improving the overall performance of the robot.

[0067] Specifically, please combine Figure 3 As shown, it shows the PID (Proportional-Integral-Derivative) control process of a wheeled robot. The PID controller is a common feedback controller that calculates the control command based on the deviation between the expected value and the actual value of the controlled object and adjusts it. The specific instructions are as follows:

[0068] (1) Input variables:

[0069] Expected steering angular velocity: the steering angular velocity that the wheeled robot hopes to achieve;

[0070] Expected roll angle: the roll angle that the wheeled robot hopes to achieve;

[0071] Expected pitch angle: the pitch angle that the wheeled robot hopes to achieve;

[0072] Expected wheel speed: The wheel speed that the wheeled robot hopes to achieve.

[0073] (2) Sensor feedback:

[0074] Through IMU 3 (in Figure 3 The Xsense sensor is used to detect the actual posture of the wheeled robot and obtain the actual roll angle, actual pitch angle and actual yaw angle.

[0075] The rotation speed and position of the left and right wheels of the wheel-legged robot are detected and measured by a rotary encoder to obtain the actual left wheel speed and the actual right wheel speed.

[0076] (3) Deviation calculation:

[0077] Calculate the angle deviation between the actual roll angle and the expected roll angle: the difference between the actual roll angle and the expected roll angle;

[0078] Calculate the angle deviation between the actual pitch angle and the expected pitch angle: the difference between the actual pitch angle and the expected pitch angle;

[0079] Calculate the speed deviation between the actual wheel speed and the expected wheel speed: the difference between the actual wheel speed and the expected wheel speed;

[0080] Calculating the speed deviation and angle deviation between the actual steering angular velocity and the expected steering angular velocity: Calculating the speed difference and angle difference between the actual steering angular velocity and the expected steering angular velocity according to the actual yaw angle, the actual left wheel speed, and the actual right wheel speed.

[0081] (4)PID controller:

[0082] (i) A PID controller for a first servo motor, comprising:

[0083] Steering PD controller: used to control the steering of wheeled robots, mainly dealing with the deviation of steering angular velocity.

[0084] Speed ​​PI controller: used to control the wheel speed of the wheel-legged robot, mainly dealing with the deviation of the wheel speed.

[0085] (ii) a PID controller for a second servo motor, comprising:

[0086] Unilateral balance PD controller: used to adjust the center of gravity of the robot and control the unilateral balance of the wheeled robot, especially to maintain balance when crossing obstacles or driving on uneven roads. It mainly deals with the deviation of roll and pitch angles.

[0087] (iii) a PID controller for a third servo motor, comprising:

[0088] Balance PD controller: used to adjust the shoulder position to maintain the overall balance of the wheeled-legged robot when switching from four wheels to two wheels, thereby ensuring the horizontal balance of the carrying platform.

[0089] It is understandable that in PID control, P stands for proportional control, I stands for integral control, and D stands for differential control. PD control only contains proportional and differential parts, while PI control contains proportional and integral parts. PD controllers are usually used in applications that require fast response and reduced overshoot, suitable for balance and steering control. PI controllers are usually used in applications that need to eliminate steady-state errors and maintain constant speed, suitable for speed control.

[0090] (5) Control signal generation:

[0091] The PID controller generates the corresponding control signal based on the calculated deviation (speed deviation, angle deviation, angular velocity deviation):

[0092] Speed ​​control signal: generated by the speed PI controller and used to control the wheel speed of the wheel-legged robot.

[0093] Balance control signal: generated by the balance PD controller and used to control the overall balance of the wheel-legged robot.

[0094] Unilateral control signal: generated by the unilateral balance PD controller and used to control the unilateral balance of the wheel-legged robot.

[0095] Steering control signal: generated by the steering PD controller and used to control the steering of the wheeled robot.

[0096] (6) Execute the operation:

[0097] According to the generated control signal, the driver drives the corresponding servo motor to maintain the dynamic balance of the wheel-legged robot and accurately control its movement.

[0098] Please refer to Figure 4 As shown, it shows the process of controlling a wheeled-legged robot to switch from a four-wheel mode to a two-wheel mode according to an embodiment of the present invention.

[0099] With the help of common inclined surfaces or vertical walls with a certain slope in life, the rear wheels of the wheeled-legged robot are controlled to travel to a certain height on the inclined surface or vertical wall, and the second servo motor 6 and the third servo motor 7 are adjusted in real-time linkage so that the carrying platform 1 is in real-time horizontal balance. At the same time, the vertical line of the overall center of gravity of the wheeled-legged robot is controlled to be located at the point where the front wheels touch the ground, thereby adjusting the robot from the four-wheel mode to the two-wheel balance posture, completing the switch from four wheels to two wheels.

[0100] Specifically, in the initial state, the wheeled robot is in a four-wheel mode, and all four wheels are in contact with the ground to provide stable support. When the sensor input (such as IMU data) identifies the need to switch from the four-wheel mode to the two-wheel mode, the first servo motor 5 adjusts the angle of the lower arm 4 to lift the rear wheel and then drives to a certain height on the inclined surface or vertical wall. The second servo motor 6 rotates the upper arm 2 counterclockwise by a certain angle to move the upper arm 2 away from the inclined surface or vertical wall; at the same time, the third servo motor 7 and the second servo motor 6 are linked to adjust the position of the carrier platform 1 to maintain the horizontal balance of the carrier platform 1. As the rear wheel gradually rises, the output of the second servo motor 6 and the third servo motor 7 is adjusted in real time to continuously adjust the shoulder position so that the vertical line of the center of gravity gradually moves toward the grounding point of the front wheel. When the vertical line of the center of gravity is stably located at the grounding point of the front wheel, the wheeled robot successfully switches to the two-wheel mode. At this time, the rear wheel is suspended in the air, the front wheel bears all the support and power tasks, and the wheeled robot continues to move in a two-wheel balanced posture.

[0101] The control flow of the embodiment of the present invention is described below by taking serial PID control of double-wheel obstacle crossing and parallel PID control of single-side obstacle crossing as examples.

[0102] Please refer to Figure 5 As shown, it shows the process of serial PID control of two-wheel obstacle crossing. In the process of parallel PID control of two-wheel obstacle crossing, the wheeled robot needs to use a pair of front wheels at the same time to cross the obstacle. Among them, the first servo motor controls the speed and direction of the two front wheels to realize the steering and speed control of the robot. The second servo motor and the third servo motor maintain the horizontal balance of the carrier platform 1 and adjust the center of gravity in real time.

[0103] When the wheeled-legged robot is ready to cross an obstacle, the first servo motor adjusts the output torque and speed according to the control signal of the PID controller, so that the front wheel gradually lifts up and crosses the obstacle. During this process, the PID controller ensures that the relative position and angle between the two front wheels change smoothly through real-time feedback adjustment, thus maintaining the stability of the vehicle.

[0104] Please refer to Figure 6As shown, it shows the process of parallel PID control of unilateral obstacle crossing. The wheel-legged robot is in two-wheel mode. When crossing obstacles on one side, the rear wheel is suspended and assists in balance, while the front wheel undertakes the main driving and supporting tasks. When the front wheel on one side of the wheel-legged robot encounters an obstacle, the front wheel on that side will lift up, causing the wheel-legged robot as a whole to tilt toward the side without the obstacle. At this time, the IMU immediately detects the posture deviation, and the PID controller starts to generate unilateral control instructions based on the posture deviation data. In order to maintain the axial stability of the wheel-legged robot, the second servo motor 6 on one side quickly responds to the unilateral control instruction of the PID controller, adjusts the output torque to offset the posture deviation caused by the obstacle, and keeps the carrying platform 1 of the wheel-legged robot horizontal. At the same time, the two first servo motors 5 that drive the two front wheels respectively will also be coordinated and adjusted according to the instructions of the PID controller, changing their respective output torques and speeds to adapt to the unbalanced state caused by unilateral obstacle crossing, ensuring that the wheel-legged robot can smoothly cross the obstacle.

[0105] It should be noted that when the wheel-legged robot encounters a unilateral obstacle, it is easy to tilt due to the asymmetry of the terrain. At this time, the parallel PID control structure of the second servo motor 6 can adjust the output of each servo system independently, so that the wheel-legged robot can adjust the posture more accurately to maintain balance, effectively enhancing the stability of the wheel-legged robot when facing a unilateral obstacle. The parallel PID control structure means that the left and right second servo motors 6 each have an independent PID control loop. Each servo system can be independently adjusted according to its own feedback signal, and at the same time, it can work together through the overall control strategy. In addition, a stable posture is the basis for the wheel-legged robot to pass through complex roads smoothly. Through the design of the parallel PID control structure, the wheel-legged robot can quickly restore balance when encountering obstacles, reduce energy loss and mechanical wear caused by tilting and bumping, not only improve the driving speed of the wheel-legged robot, but also extend its service life, thereby significantly improving the road traffic performance of the wheel-legged robot.

[0106] Corresponding to the control method of a smart mobile terminal in the first embodiment of the present invention, the second embodiment of the present invention further provides a control device for a smart mobile terminal, wherein the smart mobile terminal includes a carrier platform, an upper arm, an inertial measurement unit, a lower arm, a plurality of servo motors and wheels, wherein the wheels are connected to the lower arm via a first servo motor, the lower arm and the upper arm are connected via a second servo motor, and the upper arm and the carrier platform are connected via a third servo motor, and the control device includes:

[0107] a first PID controller, used to drive a first servo motor to control the speed and direction of the wheel;

[0108] A second PID controller is used to drive a second servo motor to adjust the position of the carrying platform in a horizontal direction;

[0109] a third PID controller, used for driving a third servo motor to adjust the horizontal balance of the carrying platform;

[0110] The PID controllers of the multiple first servo motors are connected in series to form a series PID control structure; the PID controllers of the second servo motors are connected in parallel and are simultaneously connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure.

[0111] Corresponding to the control method of a smart mobile terminal in the first embodiment of the present invention, the third embodiment of the present invention further provides a control device for a smart mobile terminal, including:

[0112] one or more processors;

[0113] Memory;

[0114] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the control method of the smart mobile terminal.

[0115] Corresponding to the control method of the intelligent mobile terminal described in the aforementioned embodiment 1 of the present invention, embodiment 4 of the present invention further provides a computer program product, including computer instructions, wherein the computer instructions instruct a computer device to execute operations corresponding to the method.

[0116] Preferably, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor. The processor is the control center of the device, and various parts of the device are connected using various interfaces and lines.

[0117] The memory mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function, etc., and the data storage area can store related data, etc. In addition, the memory can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, and a flash card (Flash Card), etc., or the memory can also be other volatile solid-state storage devices.

[0118] It should be noted that the above-mentioned device may include but is not limited to a processor and a memory, which can be understood by those skilled in the art.

[0119] For the working principle and process of the above embodiment, please refer to the description of the above embodiment of the present invention, which will not be repeated here.

[0120] It can be seen from the above description that, compared with the prior art, the beneficial effect of the present invention is that the present invention significantly improves the precise controllability of multiple servo systems of the intelligent mobile terminal by innovatively applying the series-parallel PID control method, ensuring the stable performance of the intelligent mobile terminal in various motion modes. In particular, in a slope environment, the terrain features can be utilized to achieve a smooth switch from a four-wheel mode to a two-wheel mode for the intelligent mobile terminal, which not only enhances the terrain adaptability of the intelligent mobile terminal, but also expands its application scenarios. In addition, through a multi-servo cluster control strategy, the present invention further optimizes the dynamic balancing ability of the intelligent mobile terminal in a two-wheel state, effectively solves the motion control problem of the intelligent mobile terminal in an unstructured environment, and improves the mobility, flexibility and environmental adaptability of the intelligent mobile terminal.

[0121] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A control method for an intelligent mobile terminal, the intelligent mobile terminal comprising a carrier platform, an upper arm, an inertial measurement unit, a lower arm, a plurality of servo motors and wheels, wherein: The wheel is connected to the lower arm through a first servo motor, the lower arm and the upper arm are connected through a second servo motor, and the upper arm and the carrying platform are connected through a third servo motor. The control method includes the following steps: The first servo motor is driven by a PID controller of the first servo motor to control the speed and direction of the wheel; The second servo motor is driven by a PID controller of the second servo motor to adjust the position of the carrying platform in the horizontal direction; The third servo motor is driven by a PID controller of the third servo motor to adjust the horizontal balance of the carrying platform; The PID controllers of the multiple first servo motors are connected in series to form a series PID control structure; the PID controllers of the second servo motors are connected in parallel and are simultaneously connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure.

2. The method according to claim 1, characterized in that The step of driving the first servo motor to control the speed and direction of the wheel through the PID controller of the first servo motor further comprises: The actual wheel speed is obtained through the encoder; Calculating a first speed deviation according to the actual wheel speed and the expected wheel speed; The PID controller of the first servo motor calculates a speed control instruction for controlling the first servo motor through a PID control algorithm according to the calculated first speed deviation.

3. The method according to claim 2, characterized in that The step of driving the first servo motor to control the rotation speed and direction of the wheel through the PID controller of the first servo motor further comprises: The actual yaw angle is obtained through the inertial measurement unit; Calculate the actual steering angular velocity based on the actual yaw angle and the actual wheel speed; Calculating a second speed deviation and a second angle deviation according to the actual steering angular velocity and the expected steering angular velocity; The PID controller of the first servo motor calculates a steering control instruction for controlling the first servo motor through a PID control algorithm according to the calculated second speed deviation and second angle deviation.

4. The method according to claim 1, characterized in that The method of driving the second servo motor through the PID controller of the second servo motor to adjust the position of the carrying platform in the horizontal direction further comprises: The actual pitch angle and actual roll angle are obtained through the inertial measurement unit; Calculating a third angle deviation according to the actual pitch angle and the expected pitch angle, and calculating a fourth angle deviation according to the actual roll angle and the expected roll angle; The PID controller of the second servo motor calculates a balancing control instruction for controlling the second servo motor through a PID control algorithm based on the calculated third angle deviation; and calculates a unilateral control instruction for controlling the second servo motor through a PID control algorithm based on the calculated fourth angle deviation.

5. The method according to claim 4, characterized in that The step of driving the third servo motor through the PID controller of the third servo motor to adjust the horizontal balance of the carrying platform further comprises: The actual pitch angle is obtained through the inertial measurement unit; Calculating a fourth angle deviation according to the actual pitch angle and the expected pitch angle; The PID controller of the third servo motor calculates balance control instructions for controlling the third servo motor through a PID control algorithm according to the calculated fourth angle deviation.

6. The method according to claim 1, characterized in that When the intelligent mobile terminal switches from the four-wheel mode to the two-wheel dynamic balancing mode, the following steps are also included: The angle of the lower arm is adjusted by the first servo motor so that the rear wheel is lifted and driven onto the inclined surface or vertical wall to a predetermined height; The upper arm is rotated to a certain angle by the second servo motor to move away from the inclined surface or vertical wall; The third servo motor is linked with the second servo motor to maintain the horizontal balance of the carrying platform; The outputs of the second servo motor and the third servo motor are adjusted in real time to continuously change the shoulder position of the intelligent mobile terminal, so that the vertical line of the center of gravity of the intelligent mobile terminal gradually moves toward the point where the front wheel touches the ground until it is stably located at the point where the front wheel touches the ground.

7. The method according to claim 5, characterized in that When the intelligent mobile terminal performs unilateral obstacle crossing, the following steps are also included: When one side of the front wheel encounters an obstacle and lifts up, the current posture deviation data of the smart mobile terminal is obtained through the inertial measurement unit; The second servo motor on the same side as the wheel outputs a unilateral control instruction according to the current posture deviation data of the smart mobile terminal; The second servo motor adjusts the output torque according to the unilateral control instruction to offset the posture deviation.

8. A control device for an intelligent mobile terminal, the intelligent mobile terminal comprising a carrier platform, an upper arm, an inertial measurement unit, a lower arm, a plurality of servo motors and wheels, wherein: The wheel is connected to the lower arm through a first servo motor, the lower arm and the upper arm are connected through a second servo motor, and the upper arm and the carrying platform are connected through a third servo motor, wherein the control device comprises: a first PID controller, used to drive a first servo motor to control the speed and direction of the wheel; A second PID controller is used to drive a second servo motor to adjust the position of the carrying platform in a horizontal direction; a third PID controller, used for driving a third servo motor to adjust the horizontal balance of the carrying platform; The PID controllers of the multiple first servo motors are connected in series to form a series PID control structure; the PID controllers of the second servo motors are connected in parallel and are simultaneously connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure.

9. A control device for an intelligent mobile terminal, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the control method according to any one of claims 1 to 7.

10. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions instruct a computer device to execute operations corresponding to the method according to any one of claims 1 to 7.

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