A control method, apparatus and computer program product of an intelligent mobile terminal

Abstract

The application discloses a control method, device and computer program product of an intelligent mobile terminal, wherein the method comprises: driving a first servo motor through a PID controller of the first servo motor to control the rotating speed and direction of a wheel; driving a second servo motor through a PID controller of the second servo motor to adjust the position of a carrying platform in a horizontal direction; and driving a third servo motor through a PID controller of the third servo motor to adjust the horizontal balance of the carrying platform; wherein the PID controllers of a plurality of first servo motors are connected in series to form a series PID control structure; the PID controller of the second servo motor is connected in parallel, and is connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure. The application significantly improves the accurate controllability of a plurality of servo systems of the intelligent mobile terminal by innovatively applying a series-parallel PID control mode, and ensures the stable performance, maneuverability, flexibility and environmental adaptability of the intelligent mobile terminal under various motion modes.

Description

A control method, device, and computer program product for a smart mobile terminal. Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to a control method, device, and computer program product for an intelligent mobile terminal. Background Technology

[0002] Intelligent mobile terminals are portable or mobile devices that integrate advanced computing power, sensing technology, communication modules, and autonomous or semi-autonomous decision-making capabilities. These devices can not only perform complex computational tasks and process large amounts of data, but also perceive their surroundings through various built-in sensors, achieving precise positioning, navigation, and obstacle avoidance. Wheeled robots, as an emerging type of intelligent mobile terminal, are gradually gaining widespread attention due to their unique advantages. Compared to other robot forms, wheeled robots exhibit significant characteristics and potential. In four-wheel mode, this type of robot can bear higher loads, while in two-wheel dynamic balance mode, its flexibility is significantly improved. Through a flexible wheel-leg switching mechanism, wheeled robots can adapt to the complex environmental requirements of many different scenarios, achieving efficient passage.

[0003] The core performance indicators of wheeled robots mainly focus on their ability to resist external interference in two-wheeled mode and their efficient wheel-to-leg switching performance in specific application scenarios. Among these, the ability to resist external interference is particularly important, as it needs to cope with interference factors mainly including external forces acting on the robot itself and information input interference caused by obstacles on complex terrain. Efficient wheel-to-leg switching encompasses both the optimization of wheel-to-leg switching methods and the improvement of environmental adaptability.

[0004] However, current wheeled robots on the market have not yet simultaneously met the two key performance requirements of resistance to external interference and efficient wheel-to-leg switching. These two performance characteristics are crucial prerequisites for the wider application of wheeled robots. For a long time, how to effectively improve the robot's resistance to external interference and how to achieve efficient switching from four wheels to two wheels have been pressing problems that the industry urgently needs to solve.

[0005] Improving the robot's resistance to external interference hinges on designing a well-designed control algorithm. Precise algorithm design enables accurate control of the robot's motion, effectively mitigating the effects of external forces and complex road obstacles. The transition from four wheels to two wheels relies on a scientifically designed structure and a two-wheel dynamic balancing algorithm for precise control of the robot's knee servo position. Only when the robot possesses both of these capabilities can it smoothly switch between wheel and foot positions while maintaining strong road traversal capabilities.

[0006] Therefore, solving the problems of wheeled robots in resisting external interference and efficiently switching between wheels and legs 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 a smart mobile terminal, so as to improve the servo motor cluster control effect and wheel-foot switching efficiency of the smart mobile terminal.

[0008] To address the aforementioned technical problems, this invention provides a control method for an intelligent mobile terminal. The intelligent mobile terminal includes a transport platform, an upper arm, an inertial measurement unit, a lower arm, multiple servo motors, and wheels. The wheels are connected to the lower arm via a first servo motor, the lower arm and upper arm are connected via a second servo motor, and the upper arm and transport platform are connected via a third servo motor. The control method includes the following steps:

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

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

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

[0012] In this system, multiple PID controllers for the first servo motors are connected in series to form a series PID control structure; the PID controllers for the second servo motors are connected in parallel, and simultaneously connected in parallel with the PID controllers for the third servo motors to form a parallel PID control structure.

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

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

[0015] Calculate the first speed deviation based on the actual wheel speed and the expected wheel speed;

[0016] The PID controller of the first servo motor calculates the speed control command for controlling the first servo motor based on the calculated first speed deviation using the PID control algorithm.

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

[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 actual wheel speed;

[0020] Calculate the second speed deviation and the second angle deviation based on the actual steering angular velocity and the expected steering angular velocity;

[0021] The PID controller of the first servo motor calculates the steering control command for controlling the first servo motor based on the calculated second speed deviation and second angle deviation using a PID control algorithm.

[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 transport platform in the horizontal direction further includes:

[0023] The actual pitch and roll angles are obtained through the inertial measurement unit.

[0024] The third angle deviation is calculated based on the actual pitch angle and the expected pitch angle, and the fourth angle deviation is calculated based on the actual roll angle and the expected roll angle.

[0025] The PID controller of the second servo motor calculates the balance control command for controlling the second servo motor based on the calculated third angle deviation using the PID control algorithm; based on the calculated fourth angle deviation, it calculates the unilateral control command for controlling the second servo motor using the PID control algorithm.

[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 transport platform further includes:

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

[0028] Calculate the fourth angle deviation based on the actual pitch angle and the desired pitch angle;

[0029] The PID controller of the third servo motor calculates the balance control commands for controlling the third servo motor based on the calculated fourth angle deviation using the PID control algorithm.

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

[0031] The lower arm angle is adjusted by the first servo motor, which raises the rear wheel and drives the vehicle to a predetermined height on the slope or vertical wall.

[0032] The upper arm is rotated at a certain angle by the second servo motor, moving it away from the inclined plane or the vertical wall.

[0033] The horizontal balance of the transport platform is maintained by adjusting the third servo motor in conjunction with the second servo motor.

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

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

[0036] When one of the front wheels encounters an obstacle and lifts up, the inertial measurement unit acquires the current attitude deviation data of the smart mobile terminal.

[0037] The second servo motor on the same side as the wheel outputs a one-sided control command based on the current posture deviation data of the intelligent mobile terminal;

[0038] The second servo motor adjusts its output torque according to the unilateral control command to compensate for attitude deviation.

[0039] This invention also provides a control device for an intelligent mobile terminal. The intelligent mobile terminal includes a transport platform, an upper arm, an inertial measurement unit, a lower arm, multiple servo motors, and wheels. The wheels are connected to the lower arm via a first servo motor, the lower arm and upper arm are connected via a second servo motor, and the upper arm and transport platform are connected via a third servo motor. The control device includes:

[0040] The first PID controller is used to drive the first servo motor to control the speed and direction of the wheels;

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

[0042] The third PID controller is used to drive the third servo motor to adjust the horizontal balance of the transport platform;

[0043] In this system, multiple PID controllers for the first servo motors are connected in series to form a series PID control structure; the PID controllers for the second servo motors are connected in parallel, and simultaneously connected in parallel with the PID controllers for the third servo motors to form a parallel PID control structure.

[0044] The present invention also provides a control device for a smart 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 perform the control method.

[0048] The present invention also provides a computer program product, including computer instructions that instruct a computer device to perform an operation corresponding to the method.

[0049] The benefits of implementing this invention are as follows: By innovatively applying a series-parallel PID control method, this invention significantly improves the precise controllability of multiple servo systems in a smart mobile terminal, ensuring stable performance in various motion modes. Particularly in sloping environments, it leverages terrain features to achieve a smooth transition from four-wheel to two-wheel mode, enhancing the smart mobile terminal's terrain adaptability and expanding its application scenarios. Furthermore, through a multi-servo cluster control strategy, this invention further optimizes the dynamic balance capability of the smart mobile terminal in two-wheel mode, effectively solving the motion control challenges of smart mobile terminals in unstructured environments and improving the terminal's mobility, flexibility, and environmental adaptability. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 is a three-dimensional structural diagram of the smart mobile terminal according to an embodiment of the present invention.

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

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

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

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

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

[0057] The attached figures are labeled as follows: 1-transport 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 control computer. Detailed Implementation

[0058] The following descriptions of the embodiments are based on the accompanying drawings and illustrate specific embodiments in which the present invention can be implemented. It should be noted that the directional and positional terms mentioned in the embodiments of the present invention, such as "upper," "lower," "front," "rear," "left," "right," "inner," "outer," "top," "bottom," and "side," are merely for reference to the directions or positions in the accompanying drawings. Therefore, the directional and positional terms used are for illustrating and understanding the present invention, and not for limiting the scope of protection of the present invention.

[0059] Referring to Figure 1, as an example, the intelligent mobile terminal involved in this embodiment of the invention is embodied in a wheeled robot, including: a transport platform 1, an upper arm 2, an inertial measurement unit (IMU) 3, a lower arm 4, multiple servo motors, and wheels 8. The wheels 8 are connected to the lower arm 4 via a first servo motor 5, the lower arm 4 is connected to the upper arm 2 via a second servo motor 6, and the upper arm 2 is connected to the transport platform 1 via a third servo motor 7. The IMU 3 and the industrial control computer 9 are located inside the transport platform 1, and all servo motors are controlled by the industrial control computer 9.

[0060] Specifically, the lower arm 4 on one side has two wheels 8 at its end, resulting in a total of four wheels 8 on both sides of the wheel-footed robot. Each wheel 8 is connected to the lower arm 4 via a first servo motor 5, meaning there are four first servo motors in total. These are located at the hip of the wheel-footed robot and are responsible for driving the rotation of the wheels and controlling the relative position and movement between the lower arm 4 and the wheels. The lower arm 4 is connected to the upper arm 2 via a second servo motor 6, with two second servo motors 6 on both sides. The lower arm 4 connects the wheels 8 to the upper body (upper arm 2 and the transport platform 1), transmitting driving and supporting forces. The second servo motors 6 are located at the knee of the wheel-footed robot and are 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 transport platform 1 via a third servo motor 7, with two third servo motors 7 on both sides. The third servo motors 7 are located at the shoulder of the wheel-footed robot and are responsible for controlling the relative position and movement between the upper arm 2 and the transport platform 1. The wheel 8, four first servo motors 5, two second servo motors 6, two third servo motors 7, lower arm 4, upper arm 2, and transport platform 1 together constitute the wheel-legged (four-wheeled bipedal) robot body. The IMU 3 and industrial control computer 9 are located within the transport platform 1, and the eight servo motors are controlled by the industrial control computer 9. Furthermore, from the perspective of the wheel-legged robot's morphology, the first servo motor 5 is also called the hip servo motor, the second servo motor 6 is called the knee servo motor, and the third servo motor 7 is called the shoulder servo motor.

[0061] This invention provides a control method for the wheeled robot described above. Referring again to Figure 2, the control method for the wheeled robot includes the following steps:

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

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

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

[0065] In this system, multiple PID controllers for the first servo motors are connected in series to form a series PID control structure; the PID controllers for the second servo motors are connected in parallel, and simultaneously connected in parallel with the PID controllers for the third servo motors to form a parallel PID control structure.

[0066] As can be seen from the above settings, the embodiments of the present invention provide a more stable, flexible and adaptable motion control scheme for wheeled robots through the PID control strategy and the collaborative work of multiple servo motors, which greatly improves the overall performance of the robot.

[0067] Specifically, please refer to Figure 3, which illustrates the PID (Proportional-Integral-Derivative) control flow for a wheeled robot. A PID controller is a common feedback controller that calculates and adjusts control commands based on the deviation between the desired and actual values ​​of the controlled object. A detailed explanation follows:

[0068] (1) Input variables:

[0069] Desired steering angular velocity: The desired steering angular velocity of a wheel-legged robot;

[0070] Desired roll angle: The roll angle that the wheel-legged robot hopes to achieve;

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

[0072] Desired wheel speed: The wheel speed that a wheel-legged robot hopes to achieve.

[0073] (2) Sensor feedback:

[0074] The actual attitude of the wheel-legged robot is detected by IMU 3 (represented by the Xsense sensor in Figure 3), and the actual roll angle, actual pitch angle and actual yaw angle are obtained.

[0075] The actual left wheel speed and actual right wheel speed are obtained by detecting and measuring the rotational speed and position of the left and right wheels of the wheel-footed robot using a rotary encoder.

[0076] (3) Deviation calculation:

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

[0078] Calculate the angular deviation between the actual pitch angle and the desired pitch angle: the difference between the actual pitch angle and the desired 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] Calculate the speed and angle deviations between the actual and desired steering angular velocities: Calculate the speed and angle differences between the actual and desired steering angular velocities based on the actual yaw angle, actual left wheel speed, and actual right wheel speed.

[0081] (4) PID controller:

[0082] (i) The PID controller for the first servo motor includes:

[0083] Steering PD controller: Used to control the steering of wheel-legged robots, mainly handling deviations in steering angular velocity.

[0084] Speed ​​PI controller: Used to control the wheel speed of wheeled robots, mainly handling wheel speed deviations.

[0085] (ii) A PID controller for the second servo motor, including:

[0086] Single-sided balance PD controller: used to adjust the robot's center of gravity and control the single-sided balance of wheeled robots, especially to maintain balance when crossing obstacles or traveling on uneven surfaces. It mainly handles deviations in roll and pitch angles.

[0087] (iii) The PID controller for the third servo motor, including:

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

[0089] It's understandable that in PID control, P represents proportional control, I represents integral control, and D represents derivative control. PD control only includes proportional and derivative components, while PI control includes both proportional and integral components. PD controllers are typically used in applications requiring fast response and reduced overshoot, making them suitable for balance and steering control. PI controllers are typically used in applications requiring the elimination of steady-state errors and the maintenance of constant speed, making them suitable for speed control.

[0090] (5) Control signal generation:

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

[0092] Speed ​​control signal: generated by a speed PI controller, used to control the wheel speed of the wheeled robot.

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

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

[0095] Steering control signal: generated by the steering PD controller, used to control the steering of the wheel-legged robot.

[0096] (6) Perform the operation:

[0097] Based on the generated control signals, the corresponding servo motors are driven by the driver to maintain the dynamic balance of the wheeled robot and precisely control its movement.

[0098] Please refer to Figure 4, which illustrates the process of controlling a wheeled robot to switch from a four-wheeled mode to a two-wheeled mode according to an embodiment of the present invention.

[0099] Using common slopes or vertical walls found in daily life, the rear wheels of the wheeled robot are controlled to travel to a certain height on the slope or vertical wall. The second servo motor 6 and the third servo motor 7 are linked in real time to adjust, so that the carrier platform 1 is in real-time horizontal balance. At the same time, the vertical line of the wheeled robot's overall center of gravity is controlled to be located at the front wheel's ground point, realizing the adjustment of the robot from four-wheel mode to a two-wheel balanced posture, completing the switch from four wheels to two wheels.

[0100] Specifically, initially, the wheel-legged robot is in four-wheel mode, with all four wheels in contact with the ground for stable support. When sensor input (such as IMU data) indicates a need to switch from four-wheel mode to two-wheel mode, the first servo motor 5 adjusts the angle of the lower arm 4, raising the rear wheels and propelling the robot to a certain height on an inclined plane or vertical wall. The second servo motor 6 rotates the upper arm 2 counterclockwise by a certain angle, moving it away from the inclined plane or vertical wall. Simultaneously, the third servo motor 7, in conjunction with the second servo motor 6, adjusts the position of the transport platform 1 to maintain its horizontal balance. As the rear wheels gradually rise, the output of the second and third servo motors 6 is adjusted in real time to continuously adjust the shoulder position, gradually shifting the center of gravity vertical line towards the point where the front wheels touch the ground. When the center of gravity vertical line is stably positioned at the point where the front wheels touch the ground, the wheel-legged robot successfully switches to two-wheel mode. At this point, the rear wheels are suspended in the air, and the front wheels bear all the support and power tasks, allowing the wheel-legged robot to continue moving in a balanced two-wheel posture.

[0101] The control flow of the embodiments of the present invention will be described below using serial PID control for dual-wheel obstacle crossing and parallel PID control for single-sided obstacle crossing as examples.

[0102] Please refer to Figure 5, which illustrates the process of serial PID control for dual-wheel obstacle crossing. In parallel PID control for dual-wheel obstacle crossing, the wheeled robot needs to use a pair of front wheels simultaneously to traverse obstacles. The first servo motor controls the rotational speed and direction of the two front wheels, achieving steering and speed control for the robot. The second and third servo motors maintain the horizontal balance of the transport platform 1 and adjust the center of gravity in real time.

[0103] When the wheeled robot prepares to overcome an obstacle, the first servo motor adjusts its output torque and speed according to the control signal from the PID controller, causing the front wheels to gradually lift and pass over the obstacle. During this process, the PID controller adjusts in real time through feedback to ensure smooth changes in the relative position and angle between the two front wheels, maintaining the stability of the vehicle.

[0104] Referring again to Figure 6, which illustrates the process of parallel PID control for single-sided obstacle crossing. In two-wheeled mode, during single-sided obstacle crossing, the rear wheel is suspended and assists in balance, while the front wheel undertakes the main driving and support tasks. When one of the wheel-legged robot's front wheels encounters an obstacle, that wheel lifts, causing the robot to tilt towards the side without the obstacle. At this moment, the IMU immediately detects the attitude deviation, and the PID controller begins generating single-sided control commands based on the attitude deviation data. To maintain the axial stability of the wheel-legged robot, the second servo motor 6 on one side quickly responds to the single-sided control command from the PID controller, adjusting its output torque to counteract the attitude deviation caused by the obstacle, keeping the wheel-legged robot's platform 1 level. Simultaneously, the two first servo motors 5, which drive the two front wheels respectively, also coordinate and adjust according to the PID controller's commands, changing their respective output torque and speed to adapt to the imbalance caused by single-sided obstacle crossing, ensuring the wheel-legged robot can smoothly cross the obstacle.

[0105] It should be noted that when a wheeled robot encounters a one-sided obstacle, it is prone to tilting due to the asymmetry of the terrain. In this situation, the parallel PID control structure of the second servo motor 6 can independently adjust the output of each servo system, enabling the wheeled robot to more precisely adjust its posture to maintain balance, effectively enhancing its stability when facing one-sided obstacles. The parallel PID control structure means that each of the two second servo motors 6 has an independent PID control loop. Each servo system can adjust independently based on its own feedback signal, while simultaneously working collaboratively through the overall control strategy. Furthermore, a stable posture is fundamental for a wheeled robot to successfully traverse complex terrain. Through the design of the parallel PID control structure, the wheeled robot can quickly regain balance when encountering obstacles, reducing energy loss and mechanical wear caused by tilting and bumps. This not only increases the robot's travel speed but also extends its service life, thus significantly improving its road-crossing performance.

[0106] Corresponding to the control method for a smart mobile terminal in Embodiment 1 of the present invention, Embodiment 2 of the present invention further provides a control device for a smart mobile terminal. The smart mobile terminal includes a transport platform, an upper arm, an inertial measurement unit, a lower arm, multiple servo motors, and wheels. 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 transport platform are connected via a third servo motor. The control device includes:

[0107] The first PID controller is used to drive the first servo motor to control the speed and direction of the wheels;

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

[0109] The third PID controller is used to drive the third servo motor to adjust the horizontal balance of the transport platform;

[0110] In this system, multiple PID controllers for the first servo motors are connected in series to form a series PID control structure; the PID controllers for the second servo motors are connected in parallel, and simultaneously connected in parallel with the PID controllers for the third servo motors to form a parallel PID control structure.

[0111] Corresponding to the control method for a smart mobile terminal in Embodiment 1 of the present invention, Embodiment 3 of the present invention also provides a control device for a smart mobile terminal, comprising:

[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 perform the control method of the smart mobile terminal.

[0115] Corresponding to the control method for the intelligent mobile terminal described in Embodiment 1 of the present invention, Embodiment 4 of the present invention also provides a computer program product, including computer instructions, wherein the computer instructions instruct a computer device to perform the operation corresponding to the method.

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

[0117] The memory mainly includes a program storage area and a data storage area. The program storage area can store the operating system, applications required for at least one function, etc., while the data storage area can store related data, etc. Furthermore, the memory can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard drive, a SmartMedia Card (SMC), a Secure Digital (SD) card, and a Flash Card, or other volatile solid-state storage devices.

[0118] It should be noted that the above-mentioned devices may include, but are not limited to, processors and memory, as will be understood by those skilled in the art.

[0119] For the working principle and process of the above embodiments, please refer to the description of Embodiment 1 of the present invention, which will not be repeated here.

[0120] As described above, compared with existing technologies, the beneficial effects of this invention are as follows: By innovatively applying a series-parallel PID control method, this invention significantly improves the precise controllability of multiple servo systems in intelligent mobile terminals, ensuring stable performance of the intelligent mobile terminal in various motion modes. Especially in sloping environments, it can utilize terrain features to achieve a smooth switch from four-wheeled to two-wheeled mode for the intelligent mobile terminal, not only enhancing its terrain adaptability but also expanding its application scenarios. Furthermore, through a multi-servo cluster control strategy, this invention further optimizes the dynamic balance capability of the intelligent mobile terminal in two-wheeled mode, effectively solving the motion control problem of intelligent mobile terminals in unstructured environments and improving the mobility, flexibility, and environmental adaptability of the intelligent mobile terminal.

[0121] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with 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 transport platform, an upper arm, an inertial measurement unit, a lower arm, multiple servo motors, and wheels, wherein, The wheels and lower arm are connected via a first servo motor, the lower arm and upper arm are connected via a second servo motor, and the upper arm and the transport platform are connected via a third servo motor. The control method comprises the following steps: driving the first servo motor via a PID controller of the first servo motor to control the wheel's rotational speed and direction; driving the second servo motor via a PID controller of the second servo motor to adjust the transport platform's horizontal position; and driving the third servo motor via a PID controller of the third servo motor to adjust the transport platform's horizontal balance. Multiple PID controllers of the 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 simultaneously connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure. The step of driving the first servo motor via its PID controller to control the wheel's rotational speed and direction further comprises: acquiring the actual wheel speed via an encoder; calculating a first speed deviation based on the actual wheel speed and the desired wheel speed; and calculating a speed control command for controlling the first servo motor using a PID control algorithm based on the calculated first speed deviation.

2. The method according to claim 1, characterized in that, The step of driving the first servo motor through the PID controller of the first servo motor to control the speed and direction of the wheels further includes: obtaining the actual yaw angle through an inertial measurement unit; calculating the actual steering angular velocity based on the actual yaw angle and the actual wheel speed; calculating the second speed deviation and the second angle deviation based on the actual steering angular velocity and the desired steering angular velocity; and the PID controller of the first servo motor calculating the steering control command for controlling the first servo motor through a PID control algorithm based on the calculated second speed deviation and the second angle deviation.

3. The method according to claim 1, characterized in that, The step of driving the second servo motor through the PID controller of the second servo motor to adjust the position of the transport platform in the horizontal direction further includes: obtaining the actual pitch angle and the actual roll angle through the inertial measurement unit; calculating a third angle deviation based on the actual pitch angle and the desired pitch angle, and calculating a fourth angle deviation based on the actual roll angle and the desired roll angle; the PID controller of the second servo motor calculating a balance control command for controlling the second servo motor through a PID control algorithm based on the calculated third angle deviation; and calculating a unilateral control command for controlling the second servo motor through a PID control algorithm based on the calculated fourth angle deviation.

4. The method according to claim 3, 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 transport platform further includes: obtaining the actual pitch angle through the inertial measurement unit; calculating the fourth angle deviation based on the actual pitch angle and the desired pitch angle; and the PID controller of the third servo motor calculating the balance control command for controlling the third servo motor based on the calculated fourth angle deviation through the PID control algorithm.

5. The method according to claim 1, characterized in that, When the intelligent mobile terminal switches from four-wheel mode to two-wheel dynamic balance mode, the following steps are also included: adjusting the lower arm angle through the first servo motor to raise the rear wheel and drive it to a predetermined height on the inclined plane or vertical wall; rotating the upper arm at a certain angle through the second servo motor to move it away from the inclined plane or vertical wall; maintaining the horizontal balance of the transport platform through the linkage adjustment of the third servo motor and the second servo motor; adjusting the output of the second servo motor and the third servo motor in real time to continuously change the shoulder position of the intelligent mobile terminal, so that the vertical line of the intelligent mobile terminal's center of gravity gradually moves to the front wheel ground contact point until it is stably located at the front wheel ground contact point.

6. The method according to claim 4, characterized in that, When the intelligent mobile terminal performs unilateral obstacle crossing, the following steps are also included: when the front wheel on one side encounters an obstacle and lifts up, the current attitude deviation data of the intelligent mobile terminal is obtained through the inertial measurement unit; the second servo motor on the same side as the wheel outputs a unilateral control command according to the current attitude deviation data of the intelligent mobile terminal; the second servo motor adjusts the output torque according to the unilateral control command to counteract the attitude deviation.

7. A control device for an intelligent mobile terminal, the intelligent mobile terminal comprising a transport platform, an upper arm, an inertial measurement unit, a lower arm, multiple servo motors, and wheels, wherein, The wheels are connected to the lower arm via a first servo motor, the lower arm and upper arm are connected via a second servo motor, and the upper arm and the transport platform are connected via a third servo motor. The control device comprises: a first PID controller for driving the first servo motor to control the wheel's rotational speed and direction; a second PID controller for driving the second servo motor to adjust the transport platform's horizontal position; and a third PID controller for driving the third servo motor to adjust the transport platform's horizontal balance. Multiple PID controllers for the first servo motors are connected in series to form a series PID control structure; the PID controllers for the second servo motors are connected in parallel, and simultaneously connected in parallel with the PID controllers for the third servo motor to form a parallel PID control structure. Specifically, the first PID controller is used to: obtain the actual wheel speed through an encoder; calculate a first speed deviation based on the actual wheel speed and the desired wheel speed; and calculate a speed control command for controlling the first servo motor based on the calculated first speed deviation using a PID control algorithm.

8. 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 perform the control method as described in any one of claims 1 to 6.

9. A computer program product, characterized in that, Includes computer instructions that instruct a computer device to perform an operation corresponding to the method as described in any one of claims 1 to 6.

Images