Collision damping method and device, intelligent mobile terminal and storage medium

Abstract

The embodiment of the invention provides a collision damping method and device, an intelligent mobile terminal and a storage medium, and relates to the technical field of damping. When the intelligent mobile terminal is collided, the intelligent mobile terminal enters an active damping mode; according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, force sensor data of the first walking mechanism and motor data of all joints of the first walking mechanism, damping control is conducted on the first walking mechanism, and damping control is conducted on the first walking mechanism colliding with the obstacle; and controlling the second walking mechanism to level the bearing device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. According to the invention, the impact force generated when the intelligent mobile terminal collides with the obstacle can be reduced, the active damping effect is achieved, meanwhile, the second walking mechanism which does not collide with the obstacle can be subjected to bearing device leveling control, and the bearing device leveling effect can be achieved.

Description

Technical Field

[0001] This application relates to the field of shock absorption technology, and more specifically, to a collision shock absorption method, device, smart mobile terminal, and storage medium. Background Technology

[0002] With the advancement of artificial intelligence technology and the development of the intelligent mobile terminal (such as mobile robots) industry, the application scope of intelligent mobile terminals is becoming increasingly wide. In the field of medical devices, intelligent mobile terminals (such as two-wheeled mobile wheelchair robots) can replace manually pushed wheelchairs, making life easier for people with disabilities or limited mobility. Due to the special status of the users, the adverse effects of vibrations caused by obstacles colliding with intelligent mobile terminals will be more significant.

[0003] In related technologies, most vibration reduction methods for smart mobile terminals employ passive vibration reduction techniques such as spring damping systems. These methods cannot precisely control the position of the end effector of the smart mobile terminal, thus limiting its other functions. Furthermore, these methods require additional damping mechanisms (such as springs), which, for compact devices like smart mobile terminals, not only increases costs but also affects other functions such as load capacity, battery life, and ride comfort. Summary of the Invention

[0004] This application provides a collision damping method, device, smart mobile terminal, and storage medium to improve the above-mentioned problems.

[0005] In a first aspect, embodiments of this application provide a collision damping method applied to a smart mobile terminal. The smart mobile terminal includes at least two walking mechanisms and a support device. Each walking mechanism is equipped with a force sensor, and each joint of each walking mechanism is equipped with a motor. The support device is equipped with an inertial measurement unit. The collision damping method includes: when the smart mobile terminal collides with an obstacle, entering an active damping mode; defining the walking mechanism that collides with the obstacle as the first walking mechanism and the walking mechanism that does not collide with the obstacle as the second walking mechanism; performing damping control on the first walking mechanism based on the desired position, desired velocity, and desired acceleration of the first walking mechanism, the force sensor data of the first walking mechanism, and the motor data of each joint of the first walking mechanism; and performing seat leveling control on the second walking mechanism based on the motor data of each joint of the second walking mechanism and the inertial measurement unit data.

[0006] Secondly, embodiments of this application provide a collision damping device applied to a smart mobile terminal. The smart mobile terminal includes at least two walking mechanisms and a support device. Each walking mechanism is equipped with a force sensor, and each joint of each walking mechanism is equipped with a motor. An inertial measurement unit is installed on the surface of the support device. The collision damping device includes: a mode switching module, used to enter an active damping mode when the smart mobile terminal collides with an obstacle, defining the walking mechanism that collides with the obstacle as the first walking mechanism and the walking mechanism that does not collide with the obstacle as the second walking mechanism; a damping control module, used to perform damping control on the first walking mechanism based on the desired position, desired speed, and desired acceleration of the first walking mechanism, the force sensor data of the first walking mechanism, and the motor data of each joint of the first walking mechanism; and a device leveling module, used to perform seat surface leveling control on the second walking mechanism based on the motor data of each joint of the second walking mechanism and the inertial measurement unit data.

[0007] Thirdly, embodiments of this application provide an intelligent mobile terminal, which includes: at least two walking mechanisms, each walking mechanism having a force sensor installed on it, and each joint of each walking mechanism having a motor installed on it; a support device, the surface of which is equipped with an inertial measurement unit; a memory, the memory storing an application program; and a processor, which executes the method provided in embodiments of this application program when it calls the application program.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing program code, wherein when a processor calls the program code, the processor executes the method provided in embodiments of this application.

[0009] The collision damping method, device, smart mobile terminal, and storage medium provided in this application embodiment automatically trigger an active damping mode when the smart mobile terminal collides with an obstacle. In active damping mode, based on the desired position, desired speed, and desired acceleration of the first walking mechanism, the force sensor data of the first walking mechanism, and the motor data of each joint of the first walking mechanism, damping control is performed on the first walking mechanism that collides with the obstacle, which can reduce the impact force of the smart mobile terminal colliding with the obstacle and achieve an active damping effect; at the same time, based on the motor data of each joint of the second walking mechanism and the inertial measurement unit data, the second walking mechanism is controlled to level the load-bearing device, which can achieve the effect of leveling the load-bearing device.

[0010] In addition, compared with related technologies that use passive damping methods such as spring damping systems, this application has at least the following superior technical effects:

[0011] ① It can more accurately control the position of the smart mobile terminal, avoiding the impact of inaccurate terminal position on the use of other functions of the smart mobile terminal.

[0012] ② No additional shock absorption mechanism (such as spring) is needed, which can reduce costs and avoid the impact of additional shock absorption mechanism on other functions of smart mobile terminals such as load, battery life, and ride comfort. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments and drawings obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0014] Figure 1 A schematic diagram of the structure of the bipedal robot provided in an embodiment of this application is shown;

[0015] Figure 2 A schematic flowchart of a collision damping method provided in an embodiment of this application is shown;

[0016] Figure 3 A schematic flowchart of a collision damping method provided in another embodiment of this application is shown;

[0017] Figure 4 A schematic flowchart of a collision damping method provided in another embodiment of this application is shown;

[0018] Figure 5 A schematic diagram of the collision damping device provided in an embodiment of this application is shown;

[0019] Figure 6 A schematic diagram of the structure of the smart mobile terminal provided in an embodiment of this application is shown. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0021] The collision damping method in this application can be applied to smart mobile terminals. A smart mobile terminal may include at least two walking mechanisms and a support device (e.g., a chair frame). The walking mechanisms are used for walking, and the support device is used for carrying a person; when the walking mechanisms walk, they move the support device and the person on it. Each walking mechanism is equipped with a force sensor, which can output the contact force between the walking mechanism and other objects. For example, when a walking mechanism collides with an obstacle, the force sensor on the walking mechanism can detect the contact force between the walking mechanism and the obstacle. Each joint of each walking mechanism is equipped with a motor. The motor is used to control the movement of the corresponding joint; for example, the rotation of the motor can drive the movement of the corresponding joint. An inertial measurement unit (IMU), such as a gyroscope, is mounted on the surface of the support device. The IMU is used to measure the tilt angle of the support device surface (e.g., the chair seat) relative to the horizontal plane.

[0022] As an example, see Figure 1 The intelligent mobile terminal can be a two-wheeled legged robot 100. The two-wheeled legged robot 100 can include two walking mechanisms 110, a support device 120, and a third-leg support mechanism 130. Specifically, an inertial measurement unit 121 is mounted on the upper surface of the support device 120. A set of two-joint walking mechanisms 110 is mounted on each side of the support device 120, and a set of third-leg support mechanisms 130 is mounted at the rear. The two-joint walking mechanisms 110 can include: a hip joint motor 111, a knee joint motor 112, a drive wheel motor 113, a thigh support 114, a lower leg support 115, tires 116, and a force sensor 117, wherein the force sensor 117 is mounted on the lower leg support 115. The third-leg support mechanism 130 can include: a third-leg rotation motor, an electric push rod, and small wheels. In normal driving mode, the third leg of the two-wheeled legged robot 100 is retracted under the seat, and the tires at the ends of the two walking mechanisms 110 are in contact with the ground.

[0023] Understandable, Figure 1 For example only, similar to Figure 1 The wheeled robot shown, regardless of the number of walking mechanisms or joints, is protected within the scope of this application as long as it is a device that can achieve active shock absorption and seat leveling using the method of this application.

[0024] See Figure 2 , Figure 2 A schematic flowchart of a collision damping method according to an embodiment of this application is shown. The collision damping method may include steps S110 to S130.

[0025] Step S110: When a collision occurs in the smart mobile terminal, enter the active shock absorption mode, define the walking mechanism that collides with the obstacle as the first walking mechanism, and the walking mechanism that does not collide with the obstacle as the second walking mechanism.

[0026] When a collision occurs, a component of the smart mobile terminal collides with an obstacle, causing impact vibrations and tilting of the supporting device surface (e.g., seat surface). This can affect the comfort of the user riding the smart mobile terminal. Therefore, this application employs the active shock absorption strategy described in step S120 to reduce the impact force of the smart mobile terminal colliding with the obstacle. Simultaneously, it employs the supporting device leveling strategy described in step S130 to level the supporting device while reducing shock, thereby improving the user's comfort while riding the smart mobile terminal.

[0027] The intelligent mobile terminal may include a normal driving mode and an active damping mode, which can be switched by the occurrence or resolution of a collision event. For example, when the intelligent mobile terminal is driving normally, it is in normal driving mode; if a collision event occurs, the occurrence of the collision event will trigger a switch from normal driving mode to active damping mode; if the collision event is resolved, the resolution of the collision event will trigger a switch from active damping mode to normal driving mode.

[0028] It is understood that the terms "first" and "second" in the first and second walking mechanisms in the embodiments of this application are used for ease of description and do not refer to any specific mechanism.

[0029] Step S120: Based on the desired position, desired speed and desired acceleration of the first traveling mechanism, the force sensor data of the first traveling mechanism and the motor data of each joint of the first traveling mechanism, perform vibration reduction control on the first traveling mechanism.

[0030] In this embodiment, the desired position, desired velocity, and desired acceleration of the first traveling mechanism can refer to the position, velocity, and acceleration of the intelligent mobile terminal under normal driving conditions. That is, the desired position, desired velocity, and desired acceleration refer to the next position, velocity, and acceleration of the first traveling mechanism if the intelligent mobile terminal does not experience a collision. However, due to a collision, the next position, velocity, and acceleration of the first traveling mechanism need to be redefined to reduce the impact force. The desired position, desired velocity, and desired acceleration of the first traveling mechanism can be output by the velocity planning module.

[0031] During the operation of the intelligent mobile terminal, the force sensor of the first traveling mechanism continuously outputs force sensor data, which is transmitted to the real-time kernel of the intelligent mobile terminal for relevant data processing via the EtherCAT (Control Automation Technology) bus. In the event of a collision, the force sensor data of the first traveling mechanism can include the contact force value between the first traveling mechanism and the obstacle. EtherCAT is an open architecture, Ethernet-based fieldbus system.

[0032] During the movement of the intelligent mobile terminal, the motors at each joint of the first traveling mechanism continuously output motor data. This motor data can include joint angle information from the motor encoder. This joint angle information reflects the current position and speed of the motor, the end position and end speed of the corresponding joint, and the angle of the contact force measured by the force sensor. The joint angle information can be mapped to a Cartesian coordinate system to obtain the corresponding speed and position.

[0033] In this embodiment, based on the desired position, desired speed, and desired acceleration of the first walking mechanism, the force sensor data of the first walking mechanism, and the motor data of each joint of the first walking mechanism, an admittance control model can be used to determine the next position of each joint of the first walking mechanism; control each joint of the first walking mechanism to move to the next position to reduce vibration of the first walking mechanism.

[0034] The motor data of each joint of the first traveling mechanism can be converted into a Cartesian coordinate system to obtain the target position and target velocity of each joint of the first traveling mechanism; based on the motor data of each joint of the first traveling mechanism and the force sensor data of the first traveling mechanism, a two-dimensional vector force is determined; the target position and target velocity of each joint of the first traveling mechanism, the two-dimensional vector force, the desired position, desired velocity, and desired acceleration of the first traveling mechanism are input into the admittance control model to obtain the target acceleration of each joint of the first traveling mechanism output by the admittance control model; based on the target position, target velocity, and target acceleration of each joint of the first traveling mechanism, the next position of each joint of the first traveling mechanism is determined.

[0035] The control principle in the admittance control model (also known as the desired impedance model) is shown in expression (1):

[0036]

[0037] Where F represents a two-dimensional vector force; K d B represents the inertia matrix; d M represents the damping matrix; d X represents the stiffness matrix; r Indicates the desired location; Indicates the desired speed; X represents the desired acceleration; X represents the target position. Indicates the target speed; This indicates the target acceleration.

[0038] Admittance control models, based on the dynamic relationship between the motion of a smart mobile terminal and external forces, adjust the relationship between the end position of the smart mobile terminal and the contact force by arbitrarily adjusting the inertia matrix, damping matrix, and stiffness matrix. The ultimate goal of admittance control is neither to directly control the motion of the smart mobile terminal nor to directly control the contact force between the smart mobile terminal and the external environment, but rather to control the dynamic relationship between the two.

[0039] The admittance control model, based on expression (1), can output the target acceleration. Given the target position, target velocity, and target acceleration, the position of each joint of the first traveling mechanism in the next cycle (referred to as the next position) can be obtained by integration.

[0040] The adjustment angle of each joint motor of the first walking mechanism can be determined according to the next position of each joint of the first walking mechanism, with each motor corresponding to one adjustment angle; the motors of each joint of the first walking mechanism are adjusted to the corresponding adjustment angle so that each joint of the first walking mechanism moves to the next position, thereby reducing the vibration of the first walking mechanism.

[0041] Specifically, based on the next position of each joint of the first walking mechanism, inverse kinematics can be used to obtain the angle of the motor of each joint in the next cycle, which serves as the adjustment angle for the corresponding motor. The adjustment angles of each joint motor of the first walking mechanism can be sent to the corresponding motor via an EtherCAT bus with a small transmission cycle. When the motor receives the adjustment angle, it can rotate from its current angle to the adjustment angle, driving the corresponding joint to the next position, thereby achieving shock absorption of the first walking mechanism and reducing the impact force of collisions with the smart mobile terminal.

[0042] Step S130: Based on the motor data of each joint of the second traveling mechanism and the data of the inertial measurement unit, control the second traveling mechanism to level the load-bearing device.

[0043] During the movement of the intelligent mobile terminal, the motors at each joint of the second traveling mechanism continuously output motor data. This motor data can include joint angle information from the motor encoder. This joint angle information reflects the current position and speed of the motor, the end position and end speed of the corresponding joint, and the angle of the contact force measured by the force sensor. The joint angle information can be mapped to a Cartesian coordinate system to obtain the corresponding speed and position.

[0044] During the operation of the intelligent mobile terminal, the inertial measurement unit continuously outputs inertial measurement data, which can be the tilt angle of the surface of the supporting device (such as the seat surface) relative to the horizontal plane.

[0045] In this embodiment, position compensation can be performed on the motor data of each joint of the second walking mechanism based on the data from the inertial measurement unit to obtain the next position of each joint of the second walking mechanism; control each joint of the second walking mechanism to move to the next position, and level the bearing device.

[0046] Specifically, the inertial measurement unit data can be converted into the position compensation amount of the second traveling mechanism; the motor data of each joint of the second traveling mechanism can be converted into the current position of each joint of the second traveling mechanism; and the next position of each joint of the second traveling mechanism can be determined based on the current position of each joint of the second traveling mechanism and the position compensation amount of the second traveling mechanism.

[0047] The position compensation amount refers to the change in position between the current position and the next position of the second traveling mechanism. The current position of each joint of the second traveling mechanism and the position compensation amount of the second traveling mechanism can be added together to obtain the position of each joint of the second traveling mechanism in the next control cycle (referred to as the next position).

[0048] The adjustment angle of each joint motor of the second walking mechanism can be determined according to the next position of each joint of the second walking mechanism, with each motor corresponding to one adjustment angle; the motors of each joint of the second walking mechanism are adjusted to the corresponding adjustment angle, and the bearing device is leveled.

[0049] Specifically, based on the next position of each joint of the second traveling mechanism, inverse kinematics can be used to obtain the angle of the next cycle of each joint motor of the second traveling mechanism, which serves as the adjustment angle for the corresponding motor. The adjustment angles of each joint motor of the second traveling mechanism can be sent to the corresponding motor via an EtherCAT bus with a small transmission cycle. Upon receiving the adjustment angle, the motor can rotate from its current angle to the adjustment angle, driving the corresponding joint to the next position, thereby leveling the load-bearing device.

[0050] It is understood that the active damping and load-bearing device leveling in this embodiment are performed in parallel, thereby improving the autonomous adjustment efficiency of the smart mobile terminal after a collision and shortening the adjustment time as much as possible so that the user is as unaware of the collision as possible.

[0051] The collision damping method, device, smart mobile terminal, and storage medium provided in this application embodiment automatically trigger an active damping mode when the smart mobile terminal collides with an obstacle. In active damping mode, based on the desired position, desired speed, and desired acceleration of the first walking mechanism, the force sensor data of the first walking mechanism, and the motor data of each joint of the first walking mechanism, damping control is performed on the first walking mechanism that collides with the obstacle, which can reduce the impact force of the smart mobile terminal colliding with the obstacle and achieve an active damping effect; at the same time, based on the motor data of each joint of the second walking mechanism and the inertial measurement unit data, the second walking mechanism is controlled to level the load-bearing device, which can achieve a leveling effect for the load-bearing device.

[0052] In addition, compared with related technologies that use passive damping methods such as spring damping systems, this application has at least the following superior technical effects:

[0053] ① It can more accurately control the position of the smart mobile terminal, avoiding the impact of inaccurate terminal position on the use of other functions of the smart mobile terminal.

[0054] ② No additional shock absorption mechanism (such as spring) is needed, which can reduce costs and avoid the impact of additional shock absorption mechanism on other functions of smart mobile terminals such as load, battery life, and ride comfort.

[0055] See Figure 3 , Figure 3 A schematic flowchart of a collision damping method according to another embodiment of this application is shown. The collision damping method may include steps S210 to S290.

[0056] Step S210: In normal driving mode, continuously acquire force sensor data from at least two walking mechanisms.

[0057] When the robot is in normal driving mode, it continuously reads the values ​​output by the force sensors of each walking mechanism and transmits them to the main control real-time kernel via the EtherCAT bus.

[0058] Step S220: Detect whether the smart mobile terminal has collided based on the force sensor data of at least two walking mechanisms.

[0059] The system can continuously calculate the changes in force sensor data for at least two walking mechanisms. If the change in data from at least one force sensor is greater than or equal to a trigger threshold, a collision is determined to have occurred in the intelligent mobile terminal. If the changes in data from all force sensors are less than the trigger threshold, no collision is determined to have occurred in the intelligent mobile terminal. The trigger threshold can be set in advance according to actual needs.

[0060] In some embodiments, the difference between the current force sensor data and the previous force sensor data can be calculated as the change in force sensor data. In other embodiments, the average of multiple force sensor data points for the current force sensor data can be calculated, and the difference between the average and the current force sensor data can be calculated as the change in force sensor data.

[0061] When a collision is detected with the smart mobile terminal, steps S230 to S280 are executed to automatically trigger the switch from normal driving mode to active damping mode. In active damping mode, active damping and seat leveling control are performed. The system continuously monitors whether the collision has ended and decides whether to switch between active damping mode and normal driving mode.

[0062] When it is detected that no collision has occurred to the smart mobile terminal, step S290 is executed to maintain the normal driving mode so that the smart mobile terminal can walk normally without collision, thus avoiding affecting the normal walking of the smart mobile terminal.

[0063] Step S230: Switch from normal driving mode to active damping mode.

[0064] In active damping mode, steps S240 to S280 are executed to perform active damping and seat leveling control, continuously monitor whether the intelligent mobile terminal has ended the collision, and decide whether to switch between active damping mode and normal driving mode.

[0065] Step S240: Based on the desired position, desired speed and desired acceleration of the first traveling mechanism, the force sensor data of the first traveling mechanism and the motor data of each joint of the first traveling mechanism, perform vibration reduction control on the first traveling mechanism.

[0066] Step S250: Based on the motor data of each joint of the second traveling mechanism and the data of the inertial measurement unit, control the second traveling mechanism to level the load-bearing device.

[0067] Step S260: Based on the force sensor data of at least two walking mechanisms, detect whether the intelligent mobile terminal has ended the collision.

[0068] It can be determined whether the changes in all force sensor data are less than the cancellation threshold, where the cancellation threshold is less than the activation threshold. The cancellation threshold can be set according to actual needs. If the change in at least one force sensor data is greater than or equal to the cancellation threshold, it is determined that the smart mobile terminal has not ended the collision. If the changes in all force sensor data are less than the cancellation threshold, it is determined that the smart mobile terminal has ended the collision.

[0069] When the collision is detected to have ended by the intelligent mobile terminal, proceed to step S270 and switch the active damping mode to normal driving mode. If the collision is detected to have not ended by the intelligent mobile terminal, proceed to step S280 and maintain the active damping mode.

[0070] Step S270: Switch the active damping mode to normal driving mode.

[0071] After switching to normal driving mode, you can enter S210 and repeat steps S210 to S290 until the smart mobile terminal stops moving.

[0072] Step S280: Maintain active damping mode.

[0073] In active damping mode, step S240 can be entered and steps S240 to S280 can be repeated to perform active damping and seat leveling control, continuously detect whether the intelligent mobile terminal has ended the collision, and decide whether to switch between active damping mode and normal driving mode.

[0074] Step S290: Maintain normal driving mode.

[0075] In normal driving mode, you can enter S210 and repeat steps S210 to S290 until the smart mobile terminal stops moving.

[0076] Compared to steps S110 to S130, this embodiment also has the following technical effects: it can automatically detect whether a collision event has occurred based on the force sensor data of the walking mechanism, automatically trigger active shock absorption and seat leveling when a collision occurs, and maintain normal driving of the smart mobile terminal when no collision occurs, thereby improving the autonomy of the smart mobile terminal, automatically and accurately performing autonomous shock absorption and load-bearing device leveling, and improving the user experience of the smart mobile terminal.

[0077] See Figure 4 , Figure 4 A schematic flowchart of a collision damping method according to another embodiment of this application is shown. The collision damping method may include steps S310 to S3120.

[0078] Step S310: Under normal driving conditions, read the force sensor values ​​in real time.

[0079] Step S320: Detect whether an obstacle has been collided with.

[0080] If so, proceed to step S330 to detect whether the walking mechanism is the walking mechanism that has been involved in the collision.

[0081] If not, proceed to step S310 and continue reading the force sensor values ​​under normal driving conditions.

[0082] Step S330: Detect whether the walking mechanism is the walking mechanism that has been involved in the collision.

[0083] If the walking mechanism is the one that experienced a collision, steps S340 to S380 are executed to perform active vibration damping on the walking mechanism that experienced the collision. If the walking mechanism is not the one that experienced a collision, steps S390 to S3110 are executed to perform seat leveling on the walking mechanism that did not experience a collision. Specifically, the change in force sensor data for the walking mechanism that experienced a collision is greater than or equal to the activation threshold, while the change in force sensor data for the walking mechanism that did not experience a collision is less than the activation threshold.

[0084] Step S340: Read the motor encoder values ​​of each joint of the walking mechanism.

[0085] Step S350: Calculate the target position, target velocity, and contact force (two-dimensional vector force) of the traveling mechanism.

[0086] Step S360: Calculate the target acceleration using the admittance control model.

[0087] Step S370: Calculate the next position of each joint of the walking mechanism.

[0088] Step S380: Obtain the joint angle of the motor from the inverse kinematics solution, and control the motor to adjust to the joint angle.

[0089] After completing steps S340 to S380, proceed to step S3120 to check whether the collision has ended.

[0090] Step S390: Read the motor encoder values ​​and inertial measurement unit data.

[0091] Step S3100: Calculate the next position of each joint of the walking mechanism.

[0092] Step S3110: Obtain the joint angle of the motor from the inverse kinematics solution, and control the motor to adjust to the joint angle. After executing steps S390 to S3110, proceed to step S3120 to check whether the collision has ended.

[0093] Step S3120: Detect whether the collision has ended.

[0094] If the collision ends, proceed to step S320 to continue detecting whether an obstacle has been collided with.

[0095] If the collision has not ended, proceed to step S3120 to check if the collision has ended; at the same time, proceed to step S330 to continue checking whether the traveling mechanism is the traveling mechanism that caused the collision.

[0096] Understandably, if the smart mobile terminal stops moving, the collision damping method will cease.

[0097] This embodiment can achieve active shock absorption by reducing the impact force when colliding with obstacles. At the same time, the bearing device can be kept horizontal when colliding with obstacles by adjusting its posture.

[0098] See Figure 5 , Figure 5 A schematic diagram of the collision damping device provided in an embodiment of this application is shown. The collision damping device 200 can be applied to a smart mobile terminal and used to perform a collision damping method. The collision damping device 200 may include: a mode switching module 210, a damping control module 220, and a device leveling module 230.

[0099] The mode switching module 210 is used to enter the active shock absorption mode when a collision occurs in the smart mobile terminal, defining the walking mechanism that collides with the obstacle as the first walking mechanism and the walking mechanism that does not collide with the obstacle as the second walking mechanism.

[0100] In some embodiments, the mode switching module 210 is further configured to continuously acquire force sensor data from at least two walking mechanisms in normal driving mode; detect whether the smart mobile terminal has collided based on the force sensor data from at least two walking mechanisms; switch the normal driving mode to active damping mode when a collision is detected; and maintain the normal driving mode when no collision is detected.

[0101] In some embodiments, the mode switching module 210 is further configured to continuously calculate the change in force sensor data of at least two walking mechanisms; if the change in at least one force sensor data is greater than or equal to the activation threshold, it is determined that the smart mobile terminal has collided; if the change in all force sensor data is less than the activation threshold, it is determined that the smart mobile terminal has not collided.

[0102] In some embodiments, the mode switching module 210 is further configured to detect whether the intelligent mobile terminal has ended the collision based on the force sensor data of each of the at least two walking mechanisms; when the collision is detected to have ended, the active damping mode is switched to the normal driving mode; when the collision is detected to have not ended, the active damping mode is maintained.

[0103] In some embodiments, the mode switching module 210 is further configured to determine whether the change in all force sensor data is less than the cancellation threshold, wherein the cancellation threshold is less than the start threshold; if the change in at least one force sensor data is greater than or equal to the cancellation threshold, it is determined that the smart mobile terminal has not ended the collision; if the change in all force sensor data is less than the cancellation threshold, it is determined that the smart mobile terminal has ended the collision.

[0104] The vibration damping control module 220 is used to perform vibration damping control on the first traveling mechanism based on the desired position, desired speed and desired acceleration of the first traveling mechanism, the force sensor data of the first traveling mechanism and the motor data of each joint of the first traveling mechanism.

[0105] In some embodiments, the vibration damping control module 220 is further configured to determine the next position of each joint of the first walking mechanism based on the desired position, desired speed and desired acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the motor data of each joint of the first walking mechanism, using an admittance control model; control each joint of the first walking mechanism to move to the next position, and dampen the first walking mechanism.

[0106] In some embodiments, the vibration damping control module 220 is further configured to convert the motor data of each joint of the first traveling mechanism into the target position and target velocity of each joint of the first traveling mechanism; determine the two-dimensional vector force based on the motor data of each joint of the first traveling mechanism and the force sensor data of the first traveling mechanism; input the target position and target velocity of each joint of the first traveling mechanism, the two-dimensional vector force, the desired position, desired velocity and desired acceleration of the first traveling mechanism into the admittance control model to obtain the target acceleration of each joint of the first traveling mechanism output by the admittance control model; and determine the next position of each joint of the first traveling mechanism based on the target position, target velocity and target acceleration of each joint of the first traveling mechanism.

[0107] In some embodiments, the shock absorption control module 220 is further configured to determine the adjustment angle of the motor of each joint of the first walking mechanism according to the next position of each joint of the first walking mechanism, with each motor corresponding to an adjustment angle; adjust the motor of each joint of the first walking mechanism to the corresponding adjustment angle so that each joint of the first walking mechanism moves to the next position and performs shock absorption on the first walking mechanism.

[0108] The device leveling module 230 is used to control the second traveling mechanism to level the bearing device based on the motor data of each joint of the second traveling mechanism and the data of the inertial measurement unit.

[0109] In some embodiments, the device leveling module 230 is further configured to perform position compensation on the motor data of each joint of the second walking mechanism based on the data from the inertial measurement unit, to obtain the next position of each joint of the second walking mechanism; and control each joint of the second walking mechanism to move to the next position to level the chair surface.

[0110] In some embodiments, the device leveling module 230 is further configured to convert the inertial measurement unit data into a position compensation amount of the second traveling mechanism; convert the motor data of each joint of the second traveling mechanism into the current position of each joint of the second traveling mechanism; and determine the next position of each joint of the second traveling mechanism based on the current position of each joint of the second traveling mechanism and the position compensation amount of the second traveling mechanism.

[0111] In some embodiments, the device leveling module 230 is further configured to determine the adjustment angle of each joint motor of the second walking mechanism according to the next position of each joint of the second walking mechanism, with each motor corresponding to an adjustment angle; adjust the motor of each joint of the second walking mechanism to the corresponding adjustment angle, and level the chair surface.

[0112] Those skilled in the art will clearly understand that the apparatus provided in the embodiments of this application can implement the methods provided in the embodiments of this application. The specific working process of the described apparatus and modules can be found in the corresponding processes of the methods in the embodiments of this application, and will not be repeated here.

[0113] In the embodiments provided in this application, the coupling, direct coupling, or communication connection between the modules shown or discussed may be indirect coupling or communication coupling through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms. The embodiments of this application do not impose specific limitations on this.

[0114] Furthermore, the functional modules in the embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0115] See Figure 6 , Figure 6 A schematic diagram of the structure of the intelligent mobile terminal provided in an embodiment of this application is shown. The intelligent mobile terminal 300 may include: at least two walking mechanisms 310, a support device (e.g., a chair frame) 320, a memory 330, and a processor 340. Each walking mechanism is equipped with a force sensor, and each joint of each walking mechanism is equipped with a motor. The support device (e.g., a chair surface) is equipped with an inertial measurement unit, and the support device may include, but is not limited to, a seat, a loading platform, or a storage box. The memory 330 stores an application program. When the processor 340 invokes the application program, it executes the method provided in the embodiment of this application. In some embodiments, the intelligent mobile terminal 300 may be the aforementioned bipedal robot 100.

[0116] The processor 340 may include one or more processing cores. The processor 340 uses various interfaces and lines to connect to various parts of the entire smart mobile terminal 300, and is used to run or execute instructions, programs, code sets or instruction sets stored in the memory 330, as well as to call and run or execute data stored in the memory 330, and perform various functions and process data of the smart mobile terminal 300.

[0117] The processor 340 can be implemented using at least one of the following hardware forms: Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 340 can integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem can also be implemented separately as a communication chip, without being integrated into the processor 340.

[0118] The memory 330 may include random access memory (RAM) or read-only memory (ROM). The memory 330 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 330 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described above, etc. The data storage area may store data created by the smart mobile terminal 300 during use.

[0119] This application also provides a computer-readable storage medium storing program code that is configured to execute the method provided in this application when invoked by a processor.

[0120] Computer-readable storage media can be electronic storage devices such as flash memory, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), hard disk, or ROM.

[0121] In some embodiments, the computer-readable storage medium includes a non-volatile computer-readable storage medium (Non-TCRSM). The computer-readable storage medium has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code may be compressed in an appropriate form.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method of shock absorption of a collision, characterized by, The application is applied to a smart mobile terminal, the smart mobile terminal comprises at least two walking mechanisms and a bearing device, a force sensor is installed on each walking mechanism, a motor is installed on each joint of each walking mechanism, and an inertial measurement unit is installed on the bearing device, and the method comprises the following steps: When the smart mobile terminal collides, an active damping mode is entered, a walking mechanism colliding with an obstacle is defined as a first walking mechanism, and a walking mechanism not colliding with the obstacle is defined as a second walking mechanism; According to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the motor data of each joint of the first walking mechanism, damping control is performed on the first walking mechanism; According to the motor data of each joint of the second walking mechanism and the inertial measurement unit data, the second walking mechanism is controlled to level the bearing device.

2. The method of claim 1, wherein, The damping control performed on the first walking mechanism according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the motor data of each joint of the first walking mechanism comprises the following steps: According to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the motor data of each joint of the first walking mechanism, a mobility control model is used to determine the next position of each joint of the first walking mechanism; The first walking mechanism is controlled to move to the next position, and damping control is performed on the first walking mechanism.

3. The method of claim 2, wherein, The next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and the next position of each joint of the first walking mechanism is determined according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, the force sensor data of the first walking mechanism and the mobility control model used to the motor data of each joint of the first walking mechanism, and ​ ​ ​ ​ 4. The method of claim 2, wherein, ​ ​ ​ 5. The method of claim 1, wherein, ​ ​ Control the movement of each joint of the second walking mechanism to the next position to level the load bearing device.

6. The method of claim 5, wherein, The position compensation of the motor data of each joint of the second walking mechanism according to the inertial measurement unit data comprises: Converting the inertial measurement unit data into the position compensation of the second walking mechanism; Converting the motor data of each joint of the second walking mechanism into the current position of each joint of the second walking mechanism; According to the current position of each joint of the second walking mechanism and the position compensation of the second walking mechanism, the next position of each joint of the second walking mechanism is determined.

7. The method of claim 5, wherein, The control of the movement of each joint of the second walking mechanism to the next position to level the load bearing device comprises: According to the next position of each joint of the second walking mechanism, the adjustment angle of each motor of the second walking mechanism is determined, and each motor corresponds to an adjustment angle; Adjusting the motor of each joint of the second walking mechanism to the corresponding adjustment angle to level the load bearing device.

8. The method of claim 1, wherein, When the intelligent mobile terminal collides, the active shock absorption mode is entered, which comprises: In the normal driving mode, the force sensor data of each of the at least two walking mechanisms is continuously acquired; According to the force sensor data of each of the at least two walking mechanisms, it is detected whether the intelligent mobile terminal collides; When it is detected that the intelligent mobile terminal collides, the normal driving mode is switched to the active shock absorption mode; When it is detected that the intelligent mobile terminal does not collide, the normal driving mode is maintained.

9. The method of claim 8, wherein, According to the force sensor data of each of the at least two walking mechanisms, it is detected whether the intelligent mobile terminal collides, which comprises: The change of the force sensor data of each of the at least two walking mechanisms is continuously calculated; If the change of at least one force sensor data is greater than or equal to the start threshold, it is determined that the intelligent mobile terminal collides; If the change of all force sensor data is less than the start threshold, it is determined that the intelligent mobile terminal does not collide.

10. The method of claim 8, wherein, After determining that the intelligent mobile terminal collides, the normal driving mode is switched to the active shock absorption mode, and the method further comprises: According to the force sensor data of each of the at least two walking mechanisms, it is detected whether the intelligent mobile terminal ends the collision; When it is detected that the intelligent mobile terminal ends the collision, the active shock absorption mode is switched to the normal driving mode; When it is detected that the intelligent mobile terminal does not end the collision, the active shock absorption mode is maintained.

11. The method of claim 10, wherein, According to the force sensor data of each of the at least two walking mechanisms, it is detected whether the intelligent mobile terminal ends the collision, which comprises: It is judged whether the change of all force sensor data is less than the cancellation threshold, wherein the cancellation threshold is less than the start threshold; If the change of at least one force sensor data is greater than or equal to the cancellation threshold, it is determined that the intelligent mobile terminal does not end the collision; If the change of all force sensor data is less than the cancellation threshold, it is determined that the intelligent mobile terminal ends the collision.

12. A shock absorbing device, characterized by The collision shock absorption device is applied to an intelligent mobile terminal, the intelligent mobile terminal comprises at least two walking mechanisms and a load bearing device, a force sensor is installed on each walking mechanism, a motor is installed on each joint of each walking mechanism, and an inertial measurement unit is installed on the load bearing device, and the collision shock absorption device comprises: The mode switching module is configured to enter the active shock absorption mode when the intelligent mobile terminal collides with an obstacle, and define a walking mechanism colliding with the obstacle as a first walking mechanism and a walking mechanism not colliding with the obstacle as a second walking mechanism; The shock absorption control module is configured to perform shock absorption control on the first walking mechanism according to the expected position, the expected speed and the expected acceleration of the first walking mechanism, force sensor data of the first walking mechanism and motor data of each joint of the first walking mechanism; The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data.

13. A smart mobile terminal, characterized by, The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. 14.The intelligent mobile terminal according to claim 13, characterized in that, The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data.

15. A computer readable storage medium, characterized in that, The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data. The device leveling module is configured to control the second walking mechanism to level the carrying device according to the motor data of each joint of the second walking mechanism and the inertial measurement unit data

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