Mobile terminal and control device and control method thereof

Abstract

The invention relates to a mobile terminal and a control device and a control method thereof. The control method comprises the following steps: acquiring an initial target position planned based on a mobile terminal balance algorithm; controlling the mobile terminal to move according to the initial target position; when the mobile terminal reaches the initial target position, acquiring a contact force when the mobile terminal is in physical contact with an external object, and acquiring a force deviation between the contact force and a preset expected force; inputting the force deviation into a preset admittance control model for correction to obtain a position correction amount; correcting the initial target position according to the position correction amount to obtain a corrected target position; and controlling the mobile terminal to move according to the corrected target position. According to the invention, the damping purpose can be achieved on the premise of not increasing the structural complexity of the mobile terminal.

Description

Technical Field

[0001] The present application relates to the technical field of mobile terminals, and in particular to a mobile terminal and a control device and a control method thereof. Background Art

[0002] Under various common working conditions, it is difficult to avoid vibration shocks to mobile terminals during driving, especially for mobile terminals used to carry people. Vibration will seriously affect the user experience and even personal safety. At present, passive compliance methods are widely used for shock absorption. Passive compliance methods use mechanical components such as springs, so they have high real-time performance during movement. However, the implementation of passive compliance methods requires the addition of additional mechanical links. Therefore, passive compliance methods increase the complexity of mechanical structures and are not conducive to component maintenance. In addition, since the elastic coefficient of each spring is fixed, the compliance control that relies solely on springs cannot be freely adjusted. Limited by the natural frequency of the spring, oscillations and other phenomena may occur when impacted. Summary of the invention

[0003] The purpose of the present application is to provide a mobile terminal and a control device and a control method thereof, so as to achieve the purpose of shock absorption without increasing the structural complexity of the mobile terminal.

[0004] To achieve the above object, according to a first aspect of the present application, a mobile terminal control method is proposed, the method comprising:

[0005] Obtain the initial target position based on the mobile terminal balancing algorithm planning;

[0006] Controlling movement of the mobile terminal according to the initial target position;

[0007] When the mobile terminal reaches the initial target position, obtaining a contact force when the mobile terminal makes physical contact with an external object, and obtaining a force deviation between the contact force and a preset expected force;

[0008] Inputting the force deviation into a preset admittance control model for correction to obtain a position correction value;

[0009] Correcting the initial target position according to the position correction amount to obtain a corrected target position;

[0010] The mobile terminal is controlled to move according to the corrected target position.

[0011] According to a second aspect of the present application, a mobile terminal control device is provided, the device comprising:

[0012] A target position acquisition module is used to obtain an initial target position based on a mobile terminal balancing algorithm plan;

[0013] A movement control module, used for controlling the movement of the mobile terminal according to the initial target position;

[0014] A contact force acquisition module, configured to acquire a contact force when the mobile terminal makes physical contact with an external object when the mobile terminal reaches the initial target position, and acquire a force deviation between the contact force and a preset expected force;

[0015] an admittance control module, configured to input the force deviation into a preset admittance control model for correction to obtain a position correction value; and

[0016] A position correction module, used for correcting the initial target position according to the position correction amount to obtain a corrected target position;

[0017] The movement control module is further used to control the movement of the mobile terminal according to the corrected target position.

[0018] According to a third aspect of the present application, a mobile terminal is provided, comprising a main body, an end effector connected to the main body via a joint element, and the mobile terminal control device as described above.

[0019] The present application proposes a mobile terminal and a control device and a control method thereof, specifically comprising the following:

[0020] Beneficial effects:

[0021] Active damping is achieved through software control. By obtaining the force deviation between the contact force and the expected force and inputting it into the admittance control model for correction, the position of the mobile terminal can be accurately adjusted to reduce oscillation. Compared with the traditional passive compliance method, the damping effect can be adjusted more flexibly without adding additional mechanical links, simplifying the structure of the mobile terminal, reducing manufacturing costs and maintenance difficulties. In addition, the software control method has high real-time performance, can quickly respond to external shocks, and adjust the damping parameters according to different working conditions, with strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a flow chart of a mobile terminal control method in one embodiment of the present application.

[0024] Figure 2This is a schematic diagram of a shock absorption principle of a mobile terminal control method in one embodiment of the present application.

[0025] Figure 3 A schematic diagram of a mobile terminal control device in one embodiment of the present application. DETAILED DESCRIPTION

[0026] The detailed description of the drawings is intended as an illustration of the current embodiment of the present application, and is not intended to represent the only form in which the present application can be implemented. It should be understood that the same or equivalent functions can be accomplished by different embodiments intended to be included in the spirit and scope of the present application.

[0027] See also Figure 1 An embodiment of the present application provides a mobile terminal control method, which can be applied to mobile terminals such as wheel-foot mobile robots and foot-foot mobile robots. The method includes the following steps:

[0028] Step S10, obtaining an initial target position planned based on a mobile terminal balancing algorithm.

[0029] Specifically, during the operation of the mobile terminal, the functional module running the balance algorithm will perform dynamic planning and output the corresponding initial target position; the balance algorithm is an algorithm for calculating and maintaining the balance of the mobile terminal. The balance algorithm will calculate the position that the mobile terminal should reach according to the current state of the mobile terminal and environmental conditions, and this position can ensure the balance of the mobile terminal. While performing shock absorption control, it is necessary to ensure that the body of the mobile terminal remains balanced. If the body is unbalanced, then the shock absorption control may cause the mobile terminal to be unstable or even fall. Therefore, balance is the basis of shock absorption control. Only on the basis of body balance can the smooth control be effectively achieved to improve ride comfort and safety. The balance algorithm can be specifically designed to match the specific mechanical structure of the mobile terminal, so it is not specifically limited in this embodiment. For example, it can be one of the algorithms such as inverted pendulum control, fuzzy logic control, model predictive control, sliding mode control, and adaptive control.

[0030] Step S20: Control the movement of the mobile terminal according to the initial target position.

[0031] Specifically, the initial target position is converted into instructions that can be understood by the driver of the mobile terminal. The driver drives the various joints and components of the mobile terminal according to the instructions to move it from the current position to the initial target position. During the movement, the control device can also monitor the status of the mobile terminal in real time, and further adjust the movement trajectory and speed as needed to ensure that the target position is reached smoothly and accurately.

[0032] Step S30: When the mobile terminal reaches the initial target position, a contact force when the mobile terminal makes physical contact with an external object is obtained, and a force deviation between the contact force and a preset expected force is obtained.

[0033] Specifically, when the mobile terminal reaches the initial target position, it may come into physical contact with external objects (such as obstacles in the environment, work objects, etc.). When physical contact occurs, vibration shock may be generated. At this time, the mobile terminal needs to detect and record the contact force through a force sensor or other sensing device. The contact force refers to the force acting on the contact surface of the mobile terminal and the external object when the mobile terminal contacts the external object. The force deviation refers to the difference between the actual detected contact force and the preset expected force. The expected force is the ideal force value pre-set when designing the mobile terminal operation. It reflects the force that the mobile terminal should apply when performing a specific operation. Let F e is the actual contact force between the mobile terminal and the external object, F d is the expected force of the mobile terminal end contacting the external object, and E represents the force deviation between the actual contact force and the expected force, so E=F e -F d .

[0034] Step S40: input the force deviation into a preset admittance control model for correction to obtain a position correction value.

[0035] Specifically, force deviation is the difference between the actual contact force and the preset expected force. This difference indicates that the force applied by the mobile terminal when performing a task deviates from the force under the ideal state. Admittance control is a control strategy that maps the external force to the displacement of the mobile terminal. In this control model, the dynamic response of the system (such as speed and acceleration) is related to the applied force. The preset admittance control model contains algorithms and parameters for adjusting the position of the mobile terminal according to the force deviation. The force deviation is input into the admittance control model. The model will calculate the position amount that needs to be adjusted based on the force deviation and the preset parameters, that is, the position correction amount. This position correction amount is to compensate for the force deviation so that the mobile terminal can perform tasks more accurately.

[0036] Step S50, correcting the initial target position according to the position correction amount to obtain a corrected target position.

[0037] Specifically, let X be the actual position of the mobile terminal in the Cartesian coordinate system, X d is the expected position of the mobile terminal in the Cartesian coordinate system, e represents the deviation between the expected position and the actual position, that is, the position correction, then e=XX d .

[0038] Step S60: Control the movement of the mobile terminal according to the corrected target position.

[0039] Specifically, the corrected target position information is converted into instructions that can be understood by the driver of the mobile terminal. The driver drives the various joints and components of the mobile terminal according to the instructions to move it from the current position to the corrected target position. During the movement, the control device can also monitor the status of the mobile terminal in real time, and further adjust the movement trajectory and speed as needed to ensure that the target position is reached smoothly and accurately.

[0040] Based on the above description, it can be seen that the method of this embodiment realizes active shock absorption through software control. By obtaining the force deviation between the contact force and the expected force and inputting the admittance control model for correction, the position of the mobile terminal can be accurately adjusted to reduce the oscillation phenomenon. Compared with the traditional passive compliance method, the shock absorption effect can be adjusted more flexibly without adding additional mechanical links, simplifying the structure of the mobile terminal, reducing manufacturing costs and maintenance difficulties. In addition, the software control method has high real-time performance, can quickly respond to external shocks, and adjust the shock absorption parameters according to different working conditions, and has strong adaptability.

[0041] In some embodiments, the admittance control model is expressed as follows:

[0042]

[0043] Where, E is the input force deviation;

[0044] e is the position correction (indicating displacement), is the first-order derivative of e (indicating velocity), is the second derivative of e (indicating acceleration);

[0045] M is a pre-set inertia diagonal matrix, which represents the mass properties of the system and includes the inertia coefficients of each degree of freedom of the mobile terminal. This matrix determines the force required for the system to accelerate.

[0046] B d It is a preset damping diagonal matrix, representing the damping property of the system, and includes the damping coefficient of each degree of freedom of the mobile terminal. The damping coefficient affects the energy dissipation and response speed of the system.

[0047] K d It is a pre-set stiffness orthogonal diagonal matrix, representing the stiffness property of the system, and contains the stiffness coefficient of each degree of freedom of the mobile terminal. The stiffness coefficient determines the degree of deformation of the system when subjected to external force.

[0048] It should be noted that A closed-loop control device is described. Figure 2As shown in Figure 2, the purpose of this equation is to offset the influence of external force by adjusting the position correction e to achieve active shock absorption.

[0049] In some embodiments, the mobile terminal includes a body and an end effector connected to the body through a joint element, and may also include components such as a sensor and a power source. The initial target position is the initial target position of the end effector. In a wheel-legged robot, the end effector may be a wheel foot, and in a foot-legged robot, the end effector may be a foot.

[0050] The step S30 includes:

[0051] When the end effector reaches the initial target position, a contact force when the end effector is in physical contact with an external object is obtained.

[0052] Specifically, taking a wheeled-legged robot or a legged robot as an example, when the wheel or foot contacts the ground or other objects, the force sensor installed on the wheel or foot will measure the contact force. The contact force data can help the robot judge the hardness and stability of the ground and whether it can move safely on the ground.

[0053] In some embodiments, the step S60 includes:

[0054] The desired joint angle of the joint element is determined according to the corrected target position, and the joint motor is controlled according to the expected joint angle to drive the joint angle of the joint element to reach the expected joint angle, so as to realize the movement of the end effector to the corrected target position.

[0055] Specifically, taking a wheel-legged robot or a foot-legged robot as an example, the position of the wheel-legged or foot-legged robot is adjusted by adjusting the angle of the joint element to achieve the movement of the robot and active shock absorption.

[0056] Specifically, the corrected target position refers to the position that the end effector (such as the foot) should reach in order to maintain the balance of the robot body and achieve compliant control. In order to move the end effector to the corrected target position, it is necessary to calculate the angle that the joint element connected to the end effector should reach, which involves inverse kinematics calculation, that is, inferring the angle of the joint from the target position of the end effector. The joint motor is a driving device connected to the robot joint, which is used to generate power to rotate the joint. According to the calculated desired angle of the joint, the joint element is driven to rotate by controlling the joint motor until the actual angle of the joint matches the desired angle. By precisely controlling the angle of each joint, the end effector (wheel foot or foot) can be moved to the predetermined corrected target position. During the movement process, the mobile terminal may encounter vibration or impact. By adjusting the angle of the joint element in real time, these vibrations can be absorbed or reduced, thereby achieving active shock absorption to adapt to different ground conditions and vibration inputs. Take a wheeled-legged robot as an example. When it moves quickly on its wheels, it may encounter bumps or obstacles. In this case, the robot can switch to foot-based mobility mode, adapting to the terrain by adjusting the angles of the joint elements, while maintaining stability and reducing the impact of vibration on the body through active shock absorption.

[0057] In some embodiments, the step S60 includes:

[0058] In the process of controlling the movement of the mobile terminal according to the corrected target position, the rotation speed of the joint motor is obtained, and when the rotation speed is greater than a preset threshold, the rotation speed of the joint motor is adjusted until the rotation speed of the joint motor is less than or equal to the preset threshold.

[0059] Specifically, during the movement of the mobile terminal according to the corrected target position, the control device monitors the rotation speed of the joint motor in real time. The rotation speed data is usually obtained through encoders or other sensors, which can provide accurate information about the rotation speed of the motor. The preset threshold is a pre-set speed limit value used to prevent the joint motor from rotating too high, thereby avoiding possible damage, overheating or other unsafe conditions. This threshold is determined based on the design parameters of the robot, the performance specifications of the joint motor, and the expected operating conditions.

[0060] When it is monitored that the rotation speed of the joint motor exceeds a preset threshold, the control device will take measures to reduce the rotation speed. The adjustment measures may include reducing the input voltage or current of the motor, or changing the mode of the control signal to reduce the power output of the motor. The control device will continue to adjust until the rotation speed of the joint motor drops to or below the preset threshold.

[0061] like Figure 3As shown, another embodiment of the present application provides a mobile terminal control device, which corresponds to the method of the above embodiment and can be used to execute the method steps of the above embodiment. The device of this embodiment specifically includes:

[0062] The target position acquisition module 1 is used to obtain the initial target position obtained based on the mobile terminal balancing algorithm planning;

[0063] A movement control module 2, used for controlling the movement of the mobile terminal according to the initial target position;

[0064] A contact force acquisition module 3, used for acquiring the contact force when the mobile terminal makes physical contact with an external object when the mobile terminal reaches the initial target position, and acquiring a force deviation between the contact force and a preset expected force;

[0065] An admittance control module 4, used for inputting the force deviation into a preset admittance control model for correction to obtain a position correction value; and

[0066] A position correction module 5, used for correcting the initial target position according to the position correction amount to obtain a corrected target position;

[0067] The movement control module 2 is further used to control the movement of the mobile terminal according to the corrected target position.

[0068] In some embodiments, the admittance control model is expressed as follows:

[0069]

[0070] Where E is the input force deviation, e is the position correction, is the first-order derivative of e, is the second-order derivative of e, M is the pre-set inertia diagonal matrix, B d is the preset damping diagonal matrix, K d is a preset stiffness orthogonal diagonal matrix.

[0071] In some embodiments, the mobile terminal includes a body and an end effector connected to the body through a joint element, and the initial target position is the initial target position of the end effector;

[0072] The contact force acquisition module 3 is specifically used to: when the end effector reaches the initial target position, acquire the contact force when the end effector is in physical contact with the external object;

[0073] The mobile control module 2 is specifically used to: determine the desired joint angle of the joint element according to the corrected target position, and control the joint motor to drive the joint angle of the joint element to reach the desired joint angle according to the desired joint angle, so as to realize the movement of the end effector to the corrected target position.

[0074] In some embodiments, the mobile control module 2 is specifically used to: obtain the rotational speed of the joint motor during the process of controlling the movement of the mobile terminal according to the corrected target position, and when the rotational speed is greater than a preset threshold, adjust the rotational speed of the joint motor until the rotational speed of the joint motor is less than or equal to the preset threshold.

[0075] For example, the apparatus of this embodiment may be a computer program product, including computer program instructions, which instruct a computer device to perform operations corresponding to the mobile terminal control method described in the above embodiment. Specifically, the computer program product includes a series of computer program instructions, which can instruct a computer device to perform the mobile terminal control method described in this application. These instructions are codes written in a computer program, which define how to perform specific operations. In this embodiment, these instructions are used to perform the mobile terminal control method of the above embodiment. These program instructions are designed to be loaded onto a computer device and instruct the device to perform specific operations, which refer to the various steps in the mobile terminal control method described in the above embodiment. In this way, the computer program product provides a complete software solution, which can be run on various computer devices to implement the mobile terminal control method of the above embodiment.

[0076] Another embodiment of the present application provides a mobile terminal, comprising a body, an end effector connected to the body via a joint element, and the mobile terminal control device as described in the above embodiment.

[0077] Specifically, the specific structures of the main body and the end effector can be designed according to specific application scenarios.

[0078] The body is the main frame of the mobile terminal and can be made of lightweight but strong materials to provide sufficient support while maintaining the maneuverability of the mobile terminal. The body carries the robot's main electronic components, sensors, control devices, power sources (such as batteries) and other auxiliary equipment.

[0079] In the case of a wheeled-legged robot, the end effector may be a wheel that can be used to move quickly on flat surfaces. In the case of a legged robot, the end effector is a bionic foot designed to walk on various terrains, such as climbing, jumping, or walking steadily on irregular surfaces.

[0080] In this embodiment, the joint elements may be rotary joints, swing joints or linear joints, which connect the body and the end effector, enabling the end effector to perform complex movements. The joint elements allow the robot to perform movements such as turning, climbing, and jumping. In a wheeled robot, the joints may be used for steering or lifting the wheels.

[0081] In this embodiment, the hardware of the control device may include a microprocessor, a controller, a sensor interface, a motor driver, etc. The control device runs the motion control algorithm of the robot to implement the method described in the above embodiment.

[0082] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A mobile terminal control method, characterized in that: The method comprises: Obtain the initial target position based on the mobile terminal balancing algorithm planning; Controlling movement of the mobile terminal according to the initial target position; When the mobile terminal reaches the initial target position, obtaining a contact force when the mobile terminal makes physical contact with an external object, and obtaining a force deviation between the contact force and a preset expected force; Inputting the force deviation into a preset admittance control model for correction to obtain a position correction value; Correcting the initial target position according to the position correction amount to obtain a corrected target position; The mobile terminal is controlled to move according to the corrected target position.

2. The method according to claim 1, characterized in that: The admittance control model is shown in the following expression: Where E is the input force deviation, e is the position correction, is the first-order derivative of e, is the second-order derivative of e, M is the pre-set inertia diagonal matrix, B d is the pre-set damping diagonal matrix, K d is a preset stiffness orthogonal diagonal matrix.

3. The method according to claim 1, characterized in that The mobile terminal includes a body and an end effector connected to the body through a joint element, and the initial target position is the initial target position of the end effector; When the mobile terminal reaches the initial target position, obtaining the contact force when the mobile terminal makes physical contact with the external object includes: When the end effector reaches the initial target position, a contact force when the end effector is in physical contact with an external object is obtained.

4. The method according to claim 3, characterized in that: The controlling the movement of the mobile terminal according to the corrected target position includes: The desired joint angle of the joint element is determined according to the corrected target position, and the joint motor is controlled according to the expected joint angle to drive the joint angle of the joint element to reach the expected joint angle, so as to realize the movement of the end effector to the corrected target position.

5. The method according to claim 4, characterized in that The controlling the movement of the mobile terminal according to the corrected target position includes: In the process of controlling the movement of the mobile terminal according to the corrected target position, the rotation speed of the joint motor is obtained, and when the rotation speed is greater than a preset threshold, the rotation speed of the joint motor is adjusted until the rotation speed of the joint motor is less than or equal to the preset threshold.

6. A mobile terminal control device, characterized in that: The device comprises: A target position acquisition module is used to obtain an initial target position based on a mobile terminal balancing algorithm plan; A movement control module, used for controlling the movement of the mobile terminal according to the initial target position; A contact force acquisition module, configured to acquire a contact force when the mobile terminal makes physical contact with an external object when the mobile terminal reaches the initial target position, and acquire a force deviation between the contact force and a preset expected force; an admittance control module, configured to input the force deviation into a preset admittance control model for correction to obtain a position correction value; and A position correction module, used for correcting the initial target position according to the position correction amount to obtain a corrected target position; The movement control module is further used to control the movement of the mobile terminal according to the corrected target position.

7. The device according to claim 6, characterized in that The admittance control model is shown in the following expression: Where E is the input force deviation, e is the position correction, is the first-order derivative of e, is the second-order derivative of e, M is the pre-set inertia diagonal matrix, B d is the pre-set damping diagonal matrix, K d is a preset stiffness orthogonal diagonal matrix.

8. The device according to claim 6, characterized in that The mobile terminal includes a body and an end effector connected to the body through a joint element, and the initial target position is the initial target position of the end effector; The contact force acquisition module is specifically used to: when the end effector reaches the initial target position, acquire the contact force when the end effector is in physical contact with the external object; The mobile control module is specifically used to: determine the desired joint angle of the joint element according to the corrected target position, and control the joint motor to drive the joint angle of the joint element to reach the desired joint angle according to the expected joint angle, so as to realize the movement of the end effector to the corrected target position.

9. The device according to claim 8, characterized in that The mobile control module is specifically used to: obtain the rotation speed of the joint motor during the process of controlling the movement of the mobile terminal according to the corrected target position, and when the rotation speed is greater than a preset threshold, adjust the rotation speed of the joint motor until the rotation speed of the joint motor is less than or equal to the preset threshold.

10. A mobile terminal, characterized in that: The mobile terminal control device comprises a main body, an end effector connected to the main body via a joint element, and the mobile terminal control device according to any one of claims 6 to 9.

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