Intelligent mobile terminal, control method thereof, control device and computer program product

Abstract

The invention relates to an intelligent mobile terminal, a control method thereof, a control device and a computer program product. The control method comprises the following steps: acquiring Euler angles and accelerations detected by a plurality of inertial measurement units; wherein the plurality of inertial measurement units are respectively arranged on the body of an operator, and the plurality of inertial measurement units are in one-to-one correspondence with the plurality of terminal parts; determining the moving directions and the moving speeds of the plurality of terminal parts according to the Euler angles and the accelerated speeds detected by the plurality of inertial measurement units; and generating a control instruction for controlling the plurality of terminal parts to move according to the moving directions and the moving speeds of the plurality of terminal parts. According to the method and the device, an operator can remotely control the intelligent mobile terminal to move through the body posture of the operator, the operator does not need to hold the operation handle with two hands, and the two hands can flexibly perform remote control operation of grabbing the object, so that the operation experience of the intelligent mobile terminal is improved.

Description

Technical Field

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

[0002] Smart mobile terminals refer to mobile devices with smart operating systems. Smart mobile terminals can interact with operators and move and perform tasks according to the instructions issued by the operator. Some smart mobile terminals have robotic arms, which are used to perform tasks such as grabbing objects. At present, the operation of smart mobile terminals generally adopts active control movement, using controllers such as game controllers to control the movement of smart mobile terminals, but this control method limits the use of the operator's hands, so that during remote control, the operator can only hold the handle with both hands and cannot complete additional hand operations. Summary of the invention

[0003] The purpose of the present application is to provide an intelligent mobile terminal and its control method, control device, and computer program product, so as to realize the control of the movement of the intelligent mobile terminal without an operating handle, so that the user can perform other operations with both hands at the same time during the movement of the intelligent mobile terminal.

[0004] To achieve the above object, according to a first aspect of the present application, a control method of an intelligent mobile terminal is provided, wherein the intelligent mobile terminal is composed of a plurality of terminal components, and the method comprises:

[0005] Acquire Euler angles and accelerations detected by a plurality of inertial measurement units; wherein the plurality of inertial measurement units are respectively arranged on the body of the operator, and the plurality of inertial measurement units correspond one-to-one to the plurality of terminal components;

[0006] Determining the moving directions and moving speeds of the plurality of terminal components according to the Euler angles and accelerations detected by the plurality of inertial measurement units;

[0007] A control instruction for controlling the movement of the plurality of terminal components is generated according to the movement directions and movement speeds of the plurality of terminal components.

[0008] According to a second aspect of the present application, there is provided a smart mobile terminal control device, comprising:

[0009] A sensory information acquisition module, used to acquire Euler angles and accelerations detected by a plurality of inertial measurement units; wherein the plurality of inertial measurement units are respectively arranged on the operator's body, and the plurality of inertial measurement units correspond one to one to the plurality of terminal components;

[0010] A moving state determination module, configured to determine the moving directions and moving speeds of the plurality of terminal components according to the Euler angles and accelerations detected by the plurality of inertial measurement units;

[0011] The control instruction generating module is used to generate control instructions for controlling the movement of the plurality of terminal components according to the moving directions and moving speeds of the plurality of terminal components.

[0012] According to a third aspect of the present application, there is provided an intelligent mobile terminal, comprising the above-mentioned intelligent mobile terminal control device and a plurality of terminal components.

[0013] According to a fourth aspect of the present application, a computer program product is provided, comprising computer program instructions, wherein the computer program instructions instruct a computer device to perform operations corresponding to the above method.

[0014] The present application provides a smart mobile terminal and a control method, a control device, and a computer program product thereof, which have the following beneficial effects:

[0015] The traditional remote control method of the smart mobile terminal requires the operator to hold a game controller or other controller, which limits the flexibility of the hands. The method of the present application allows the operator to directly control the smart mobile terminal through body posture without holding any device, thereby greatly improving the convenience of operation. Using body posture as control input is more in line with human natural behavior habits, making the operation more intuitive and easy to understand. Since both hands are freed, the operator can perform other operations while controlling the smart mobile terminal, such as grabbing objects or using other tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 This is a flow chart of a smart mobile terminal control method in one embodiment of the present application.

[0018] Figure 2 A schematic diagram of generating control instructions in one embodiment of the present application.

[0019] Figure 3 This is a schematic diagram of a smart mobile terminal control device in one embodiment of the present application.

[0020] Figure 4 A schematic diagram of a smart mobile terminal in one embodiment of the present application. DETAILED DESCRIPTION

[0021] 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.

[0022] See also Figure 1 An embodiment of the present application provides a method for controlling an intelligent mobile terminal, wherein the intelligent mobile terminal is composed of a plurality of terminal components, and the method comprises:

[0023] Step S10, obtaining Euler angles and accelerations detected by a plurality of inertial measurement units; wherein the plurality of inertial measurement units are respectively arranged on the operator's body, and the plurality of inertial measurement units correspond one-to-one to the plurality of terminal components.

[0024] Specifically, the execution entity of the method of this embodiment can be a control device installed on a smart mobile terminal, which can receive the perception information of the multiple inertial measurement units (IMUs) via Bluetooth. IMU is a sensor that can detect the motion state of an object. It can measure the object's acceleration, angular velocity, magnetic field and other perception information in three-dimensional space. Among them, IMU usually outputs quaternions to represent the direction of the object (in this embodiment, the operator's body posture). Quaternions are a mathematical method used to represent and operate rotations in three-dimensional space. Based on the quaternions output by the IMU, they can be converted to obtain corresponding Euler angles. Euler angles are three angles that describe the direction of an object relative to a reference coordinate system, including pitch angle (Pitch), yaw angle (Yaw) and roll angle (Roll). These angles can be used to determine the orientation of the object in three-dimensional space.

[0025] The acceleration output by the IMU is a three-dimensional vector, usually expressed as (a x ,a y ,a z ), a x ,a y ,a z They represent the acceleration components of the x-axis, y-axis, and z-axis in the coordinate system respectively. The acceleration provides the change in the velocity of an object in each direction. In the IMU, the accelerometer measures the acceleration of the object relative to the free fall state, which includes the gravitational acceleration g and the acceleration caused by motion.

[0026] The multiple IMUs are placed at different positions on the operator's body, such as wrists, chest, ankles, etc. The specific positions depend on the components of the smart mobile terminal that need to be controlled. Each IMU corresponds to a terminal component of the smart mobile terminal, that is, if the smart mobile terminal has multiple independently movable parts, each part will be controlled by a specific IMU.

[0027] Step S20: determining the moving directions and moving speeds of the plurality of terminal components according to the Euler angles and accelerations detected by the plurality of inertial measurement units.

[0028] Specifically, the direction in which the terminal component should move can be determined based on the Euler angle and acceleration. For example, if the robot arm needs to move upward, the pitch angle can be used to determine how many degrees the arm needs to rotate upward; the acceleration can be used to determine the moving speed of the terminal component in each direction.

[0029] Step S30: generating a control instruction for controlling the movement of the plurality of terminal components according to the movement directions and movement speeds of the plurality of terminal components.

[0030] Specifically, after the moving direction and moving speed of each terminal component are determined, a control instruction for controlling each terminal component can be generated. The generated control instruction is used to drive a motor or an actuator to move the terminal component in a predetermined direction and speed.

[0031] In summary, compared with the traditional remote control method of the smart mobile terminal, which requires the operator to hold a game controller or other controller, limiting the flexibility of the hands, the method of this embodiment allows the operator to directly control the smart mobile terminal through body posture without holding any device, thereby greatly improving the convenience of operation. Using body posture as control input is more in line with human natural behavior habits, making the operation more intuitive and easy to understand. Since both hands are freed, the operator can perform other operations while controlling the smart mobile terminal, such as grabbing objects or using other tools.

[0032] In some embodiments, see Figure 2 , the step S20 specifically includes the following parallel sub-steps:

[0033] Sub-step S201, if at least one of the pitch angle, yaw angle and roll angle detected by any inertial measurement unit is not 0, and the absolute value of the acceleration is greater than the preset gravity acceleration, then the moving direction and moving speed of the terminal component corresponding to the inertial measurement unit are determined according to the acceleration of the inertial measurement unit.

[0034] Specifically, at least one of the pitch, yaw, and roll angles detected by the IMU is not zero, indicating that the operator's body where the IMU is located has rotated relative to the reference coordinate system. The pitch angle describes the rotation of the object around its horizontal axis (x-axis), the yaw angle describes the rotation of the object around its vertical axis (z-axis), and the roll angle describes the rotation of the object around its longitudinal axis (y-axis).

[0035] At the same time, whether the absolute value of the acceleration vector detected by the IMU is greater than the preset gravity acceleration (usually 9.81m / s2 ), the absolute value of the acceleration vector refers to the magnitude of the acceleration vector, which can be calculated by sqrt{a x 2 +a y 2 +a z 2}, where the acceleration output by the IMU includes a x 、a y 、a z , a x 、a y 、a z are the components of the acceleration vector on the x-axis, y-axis, and z-axis respectively.

[0036] At least one of the pitch angle, yaw angle and roll angle is not 0, and the absolute value of the acceleration is greater than the preset gravity acceleration. The body of the operator where the IMU is located rotates, and the magnitude of its acceleration vector exceeds the gravity acceleration. This indicates that the body of the operator where the IMU is located is not only rotating, but also has additional acceleration in a certain direction, that is, it is accelerating. Therefore, further according to the a of the IMU x 、a y 、a z To determine the moving direction and speed of the terminal component.

[0037] Specifically, the direction of movement is determined by the direction of the acceleration component, for example, if a x is a positive value, then the moving direction has a component in the positive direction of the x-axis; if a y is a positive value, then the moving direction has a component in the positive direction of the y-axis, and so on. The moving speed can be calculated by integrating the change of the acceleration component over time, or by the following formula, with the moving speed V in the x-axis direction x For example, V x =a x *t*w, t is the preset time step, w is the preset weight coefficient, and similarly, the moving speed V in the y-axis direction can be obtained y and the moving speed V in the z-axis direction z .

[0038] Sub-step S202, if at least one of the pitch angle, yaw angle and roll angle detected by any inertial measurement unit is not 0, and the absolute value of the acceleration is equal to the preset gravity acceleration, it is determined that the moving direction and moving speed of the terminal component corresponding to the inertial measurement unit remain in the current state.

[0039] Specifically, the absolute value of the acceleration vector detected by the IMU (i.e., the magnitude of the acceleration vector) is equal to the preset gravity acceleration value, indicating that the only acceleration in the vertical direction of the operator's body where the IMU is located is gravity, and there is no additional acceleration in the horizontal direction. In other words, the terminal component has no tendency to accelerate or decelerate in the horizontal direction.

[0040] Therefore, if at least one of the pitch angle, yaw angle, and roll angle detected by the IMU is not 0, and the absolute value of the acceleration is equal to the preset gravity acceleration, it can be determined that although the operator's body where the IMU is located is rotated, its movement state in the horizontal direction has not changed. Therefore, the movement direction and movement speed of the terminal component corresponding to the IMU remain in the current state, which includes the following situations: if the terminal component was stationary before, it remains stationary, and if the terminal component was moving at a certain speed before, it continues to move at the same speed and direction.

[0041] Sub-step S203: If the pitch angle, yaw angle and roll angle detected by any inertial measurement unit are all 0, it is determined that the terminal component corresponding to the inertial measurement unit is stationary.

[0042] Specifically, if the pitch angle, yaw angle, and roll angle detected by the IMU are all 0, the operator's body where the IMU is located is in a stationary state, which not only means that the operator's body where the IMU is located is not rotating, but also that the speed in all directions is 0, that is, it is not moving.

[0043] In some embodiments, step S20 specifically includes:

[0044] Performing sliding filtering on the Euler angles and accelerations detected by the multiple inertial measurement units, and determining the moving directions and moving speeds of the multiple terminal components according to the Euler angles and accelerations after sliding filtering (i.e., the above-mentioned parallel sub-steps S201 to S203);

[0045] The sliding filter model is shown in the following mathematical expression (1):

[0046] y(k)=y(k-1)+[x(k)-x(kN)] / N(1)

[0047] Among them, y(k) is the filter output at time step k; y(k-1) is the filter output at the previous time step k-1; x(k) is the Euler angle or acceleration detected by the inertial measurement unit at the current time step k; x(kN) is the Euler angle or acceleration detected by the inertial measurement unit N time steps ago; N is the size of the sliding window, which is the amount of historical data considered by the filter. The window size N determines the degree of smoothness of the filter on the data. The larger N is, the smoother the filtering effect is, but it may reduce the response speed to rapid changes.

[0048] Specifically, the filtering model of this embodiment calculates the difference between the measurement value x(k) of the current time step k and the measurement value x(kN) N time steps ago, divides this difference by the size of the sliding window N, and obtains an average value, which represents the average rate of change of the data during the window, and adds this average rate of change to the filter output y(k-1) of the previous time step k-1 to obtain the filter output y(k) of the current time step k. In this way, the sliding filter can smoothly track the trend of the data instead of reacting to each individual measurement value, which helps to reduce short-term fluctuations caused by IMU measurement noise, thereby providing a more stable and reliable estimate for determining the moving direction and speed of the terminal component.

[0049] See also Figure 3 Corresponding to a smart mobile terminal control method of the above embodiment, another embodiment of the present application provides a smart mobile terminal control device 1 capable of executing the method of the above embodiment, including:

[0050] A sensory information acquisition module 11 is used to acquire Euler angles and accelerations detected by a plurality of inertial measurement units, wherein the plurality of inertial measurement units are respectively arranged on the body of the operator, and the plurality of inertial measurement units correspond one to one to the plurality of terminal components;

[0051] A moving state determination module 12, configured to determine the moving directions and moving speeds of the plurality of terminal components according to the Euler angles and accelerations detected by the plurality of inertial measurement units;

[0052] The control instruction generating module 13 is used to generate a control instruction for controlling the movement of the plurality of terminal components according to the movement directions and movement speeds of the plurality of terminal components.

[0053] In some embodiments, the Euler angles include a pitch angle, a yaw angle, and a roll angle;

[0054] The movement state determination module 12 is used to:

[0055] If at least one of the pitch angle, yaw angle and roll angle detected by any inertial measurement unit is not zero, and the absolute value of the acceleration is greater than the preset gravity acceleration, then the moving direction and moving speed of the terminal component corresponding to the inertial measurement unit are determined according to the acceleration of the inertial measurement unit;

[0056] If at least one of the pitch angle, yaw angle, and roll angle detected by any inertial measurement unit is not zero, and the absolute value of the acceleration is equal to the preset gravity acceleration, it is determined that the moving direction and moving speed of the terminal component corresponding to the inertial measurement unit remain in the current state;

[0057] If the pitch angle, yaw angle, and roll angle detected by any inertial measurement unit are all 0, it is determined that the terminal component corresponding to the inertial measurement unit is stationary.

[0058] In some embodiments, the movement state determination module 12 is used to:

[0059] Performing sliding filtering on the Euler angles and accelerations detected by the multiple inertial measurement units 20, and determining the moving directions and moving speeds of the multiple terminal components 2 according to the Euler angles and accelerations after the sliding filtering;

[0060] The sliding filter model is shown in the following mathematical expression (1):

[0061] y(k)=y(k-1)+[x(k)-x(kN)] / N(1)

[0062] Where y(k) is the filtered output at time step k; y(k-1) is the filtered output at the previous time step k-1; x(k) is the Euler angle or acceleration detected by the inertial measurement unit at the current time step k; x(kN) is the Euler angle or acceleration detected by the inertial measurement unit N time steps ago; and N is the size of the sliding window.

[0063] It should be noted that the smart mobile terminal control device of this embodiment corresponds to the smart mobile terminal control method described in the aforementioned embodiment. Therefore, the solution content not described in detail in the smart mobile terminal control device of this embodiment can be obtained by referring to the content of the smart mobile terminal control method of the aforementioned embodiment, so it will not be repeated in this embodiment.

[0064] See also Figure 4 Another embodiment of the present application further provides a smart mobile terminal 10, comprising the smart mobile terminal control device 1 described in the above embodiment and a plurality of terminal components 2.

[0065] In this embodiment, the plurality of inertial measurement units 20 may include:

[0066] a first inertial measurement unit, disposed on the chest of the operator;

[0067] a second inertial measurement unit, disposed on the operator's left upper arm;

[0068] a third inertial measurement unit, disposed on the operator's left forearm;

[0069] a fourth inertial measurement unit, disposed on the operator's right upper arm;

[0070] The fifth inertial measurement unit is arranged on the right forearm of the operator.

[0071] In this embodiment, the plurality of terminal components 2 may include:

[0072] A terminal body, corresponding to the first inertial measurement unit;

[0073] The terminal left upper arm corresponds to the second inertial measurement unit; the first end of the terminal left upper arm is connected to the left side of the terminal body through a first joint element;

[0074] The left forearm of the terminal corresponds to the third inertial measurement unit; the first end of the left forearm of the terminal is connected to the second end of the left upper arm of the terminal through a second joint element, and the second end of the left forearm of the terminal is provided with a manipulator for grasping an object, and the control of the manipulator can be operated by both hands of the operator;

[0075] The right upper arm of the terminal corresponds to the fourth inertial measurement unit; the first end of the right upper arm of the terminal is connected to the right side of the terminal body through a first joint element;

[0076] The right forearm of the terminal corresponds to the fifth inertial measurement unit; the first end of the right forearm of the terminal is connected to the second end of the right upper arm of the terminal through a second joint element, and the second end of the right forearm of the terminal is provided with a manipulator for grasping objects, and the control of the manipulator can be operated by the operator's hands.

[0077] Another embodiment of the present application further provides a computer program product, including computer program instructions, wherein the computer program instructions instruct a computer device to execute operations corresponding to the intelligent mobile terminal control method described in the above embodiment.

[0078] Specifically, the computer program product includes a series of computer program instructions, which can instruct a computer device to execute the intelligent 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 execute the intelligent mobile terminal control method of the above embodiment.

[0079] These program instructions are designed to be loaded onto a computer device and instruct the device to perform specific operations, which are the various steps in the intelligent mobile terminal control method described in the above embodiment.

[0080] In this way, the computer program product provides a complete software solution, which can be run on various computer devices to implement the intelligent mobile terminal control method of the above embodiment.

[0081] 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 method for controlling an intelligent mobile terminal, wherein the intelligent mobile terminal is composed of a plurality of terminal components, characterized in that: The method comprises: Acquire Euler angles and accelerations detected by a plurality of inertial measurement units; wherein the plurality of inertial measurement units are respectively arranged on the body of the operator, and the plurality of inertial measurement units correspond one-to-one to the plurality of terminal components; Determining the moving directions and moving speeds of the plurality of terminal components according to the Euler angles and accelerations detected by the plurality of inertial measurement units; A control instruction for controlling the movement of the plurality of terminal components is generated according to the movement directions and movement speeds of the plurality of terminal components.

2. The method according to claim 1, characterized in that The Euler angles include pitch angle, yaw angle and roll angle; The step of determining the moving directions and moving speeds of the plurality of terminal components according to the Euler angles and accelerations detected by the plurality of inertial measurement units comprises: If at least one of the pitch angle, yaw angle and roll angle detected by any inertial measurement unit is not zero, and the absolute value of the acceleration is greater than the preset gravity acceleration, then the moving direction and moving speed of the terminal component corresponding to the inertial measurement unit are determined according to the acceleration of the inertial measurement unit; If at least one of the pitch angle, yaw angle, and roll angle detected by any inertial measurement unit is not zero, and the absolute value of the acceleration is equal to the preset gravity acceleration, it is determined that the moving direction and moving speed of the terminal component corresponding to the inertial measurement unit remain in the current state; If the pitch angle, yaw angle, and roll angle detected by any inertial measurement unit are all 0, it is determined that the terminal component corresponding to the inertial measurement unit is stationary.

3. The method according to claim 2, characterized in that Determining the moving directions and moving speeds of the plurality of terminal components according to the Euler angles and the acceleration comprises: Performing sliding filtering on the Euler angles and accelerations detected by the multiple inertial measurement units, and determining the moving directions and moving speeds of the multiple terminal components according to the Euler angles and accelerations after the sliding filtering; The sliding filter model is shown in the following mathematical expression: y(k)=y(k-1)+[x(k)-x(kN)] / N Where y(k) is the filtered output at time step k; y(k-1) is the filtered output at the previous time step k-1; x(k) is the Euler angle or acceleration detected by the inertial measurement unit at the current time step k; x(kN) is the Euler angle or acceleration detected by the inertial measurement unit N time steps ago; and N is the size of the sliding window.

4. A smart mobile terminal control device, characterized in that: include: A sensory information acquisition module, used to acquire Euler angles and accelerations detected by a plurality of inertial measurement units; wherein the plurality of inertial measurement units are respectively arranged on the operator's body, and the plurality of inertial measurement units correspond one to one to the plurality of terminal components; A moving state determination module, configured to determine the moving directions and moving speeds of the plurality of terminal components according to the Euler angles and accelerations detected by the plurality of inertial measurement units; The control instruction generating module is used to generate control instructions for controlling the movement of the plurality of terminal components according to the moving directions and moving speeds of the plurality of terminal components.

5. The intelligent mobile terminal control device according to claim 4, characterized in that: The Euler angles include pitch angle, yaw angle and roll angle; The control instruction generating module is used for: If at least one of the pitch angle, yaw angle and roll angle detected by any inertial measurement unit is not zero, and the absolute value of the acceleration is greater than the preset gravity acceleration, then the moving direction and moving speed of the terminal component corresponding to the inertial measurement unit are determined according to the acceleration of the inertial measurement unit; If at least one of the pitch angle, yaw angle, and roll angle detected by any inertial measurement unit is not zero, and the absolute value of the acceleration is equal to the preset gravity acceleration, it is determined that the moving direction and moving speed of the terminal component corresponding to the inertial measurement unit remain in the current state; If the pitch angle, yaw angle, and roll angle detected by any inertial measurement unit are all 0, it is determined that the terminal component corresponding to the inertial measurement unit is stationary.

6. The intelligent mobile terminal control device according to claim 5, characterized in that: The control instruction generating module is used for: Performing sliding filtering on the Euler angles and accelerations detected by the multiple inertial measurement units, and determining the moving directions and moving speeds of the multiple terminal components according to the Euler angles and accelerations after the sliding filtering; The sliding filter model is shown in the following mathematical expression: y(k)=y(k-1)+[x(k)-x(kN)] / N Where y(k) is the filtered output at time step k; y(k-1) is the filtered output at the previous time step k-1; x(k) is the Euler angle or acceleration detected by the inertial measurement unit at the current time step k; x(kN) is the Euler angle or acceleration detected by the inertial measurement unit N time steps ago; and N is the size of the sliding window.

7. A smart mobile terminal, characterized in that: The invention comprises the intelligent mobile terminal control device according to any one of claims 4 to 6 and a plurality of terminal components.

8. The intelligent mobile terminal according to claim 7, characterized in that: The plurality of inertial measurement units include: a first inertial measurement unit, disposed on the chest of the operator; a second inertial measurement unit, disposed on the operator's left upper arm; a third inertial measurement unit, disposed on the operator's left forearm; a fourth inertial measurement unit, disposed on the operator's right upper arm; The fifth inertial measurement unit is arranged on the right forearm of the operator.

9. The intelligent mobile terminal according to claim 8, characterized in that: The plurality of terminal components include: A terminal body, corresponding to the first inertial measurement unit; The terminal left upper arm corresponds to the second inertial measurement unit; the first end of the terminal left upper arm is connected to the left side of the terminal body through a first joint element; A left forearm of the terminal, corresponding to the third inertial measurement unit; a first end of the left forearm of the terminal is connected to a second end of the left upper arm of the terminal through a second joint element, and a manipulator for grasping an object is provided at the second end of the left forearm of the terminal; The right upper arm of the terminal corresponds to the fourth inertial measurement unit; the first end of the right upper arm of the terminal is connected to the right side of the terminal body through a first joint element; The right forearm of the terminal corresponds to the fifth inertial measurement unit; the first end of the right forearm of the terminal is connected to the second end of the right upper arm of the terminal through a second joint element, and the second end of the right forearm of the terminal is provided with a manipulator for grasping objects.

10. A computer program product, characterized in that The method comprises computer program instructions, wherein the computer program instructions instruct a computer device to execute operations corresponding to the method according to any one of claims 1 to 3.

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