Intelligent mobile terminal and balance control method thereof

Abstract

The invention relates to an intelligent mobile terminal and a balance control method thereof. The intelligent mobile terminal comprises a controller, a seat, a left thigh, a right thigh, a left shank, a right shank, a left hip joint motor, a left knee joint motor, a right hip joint motor, a right knee joint motor, an inertia measurement unit and a plurality of driving wheels. The controller is used for determining the side inclination condition of the seat according to the current rolling angle; when the chair surface inclines leftwards, a current right knee joint angle is obtained, and a right hip joint motor and a right knee joint motor are controlled to work according to the current pitch angle, the current rolling angle and the current right knee joint angle; when the chair surface inclines rightwards, the current left knee joint angle is obtained, and the left hip joint motor and the left knee joint motor are controlled to work according to the current pitch angle, the current rolling angle and the current left knee joint angle. According to the invention, safe driving of the intelligent mobile terminal on the unstructured road can be realized.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, specifically to an intelligent mobile terminal and its balance control method. Background Technology

[0002] Currently, mobile robots include legged robots, wheeled robots, and wheel-legged robots. Legged robots have good traversal capabilities on all terrains, such as slopes and obstacles. However, both bipedal and quadrupedal legged robots lack sufficient load-bearing capacity due to their inherent characteristics. Wheeled robots are characterized by efficient and rapid movement on flat terrain and have high load-bearing capacity, but their traversal capabilities on all terrains, such as slopes and obstacles, are poor. Wheel-legged robots combine the characteristics of legged and wheeled robots. Due to their combination of the advantages of both types of robots, they have become increasingly popular in research in recent years.

[0003] Currently, most wheel-legged cargo or passenger robots travel on structured roads. However, in real life, we encounter many unstructured roads, such as potholes, rocks, and single-sided bridges. In these conditions, if the robot does not actively adjust its posture, it is easy for the robot to experience severe vibration, tilting, or overturning if it forces itself to travel with the left and right wheels in the same posture, putting passengers in danger. Summary of the Invention

[0004] The purpose of this application is to propose an intelligent mobile terminal and its balance control method to enable the intelligent mobile terminal to drive safely on unstructured roads.

[0005] To achieve the above objectives, according to the first aspect of this application, a smart mobile terminal is provided, including a controller, a bearing surface, a left thigh, a right thigh, a left calf, a right calf, a left hip joint motor, a left knee joint motor, a right hip joint motor, a right knee joint motor, an inertial measurement unit, and multiple drive wheels;

[0006] The bearing surface is used to bear the load; one end of the left thigh is connected to the bottom left side of the bearing surface via the left hip joint motor, and the other end of the left thigh is connected to the left lower leg via the left knee joint motor; one end of the right thigh is connected to the bottom right side of the bearing surface via the right hip joint motor, and the other end of the right thigh is connected to the right lower leg via the right knee joint motor; the plurality of drive wheels are respectively disposed on the left lower leg and the right lower leg; the inertial measurement unit is used to measure the current pitch angle and the current roll angle of the bearing surface;

[0007] The controller is used to determine the tilt of the bearing surface based on the current roll angle; when the bearing surface tilts to the left, it obtains the current right knee joint angle and controls the right hip joint motor and right knee joint motor to work based on the current pitch angle, current roll angle and current right knee joint angle; when the bearing surface tilts to the right, it obtains the current left knee joint angle and controls the left hip joint motor and left knee joint motor to work based on the current pitch angle, current roll angle and current left knee joint angle.

[0008] According to a second aspect of this application, a balance control method for a smart mobile terminal as described in the first aspect is provided, the method comprising:

[0009] Obtain the current pitch angle and current roll angle of the bearing surface;

[0010] The tilt of the bearing surface is determined based on the current roll angle;

[0011] When the bearing surface tilts to the left, the current right knee joint angle is obtained, a reference value for the right knee joint angle is determined based on the current right knee joint angle and the current roll angle, a reference value for the right hip joint angle is determined based on the current pitch angle and the reference value for the right knee joint angle, the right knee joint motor is driven based on the reference value for the right knee joint angle, and the right hip joint motor is driven based on the reference value for the right hip joint angle.

[0012] When the bearing surface tilts to the right, the current left knee joint angle is obtained, a reference value for the left knee joint angle is determined based on the current left knee joint angle and the current roll angle, a reference value for the left hip joint angle is determined based on the current pitch angle and the reference value for the left knee joint angle, the left knee joint motor is driven based on the reference value for the left knee joint angle, and the left hip joint motor is driven based on the reference value for the left hip joint angle.

[0013] The intelligent mobile terminal and its balance control method provided in this application have the following beneficial effects:

[0014] By monitoring the pitch and roll angles of the bearing surface in real time and actively adjusting the posture of the intelligent mobile terminal accordingly, and controlling the operation of the motors of each joint of the intelligent mobile terminal, severe vibration, tilting or overturning of the intelligent mobile terminal when driving on unstructured roads can be effectively avoided. This improves the intelligent mobile terminal's ability to pass through complex environments and has strong environmental adaptability and load-bearing capacity. The intelligent mobile terminal of this application is not only suitable for carrying people, but can also be used in various occasions such as cargo transportation, rescue, and exploration, and has broad application prospects. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings required in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a simplified structural diagram of a smart mobile terminal according to an embodiment of this application.

[0017] Figure 2 This is a schematic diagram showing the pitch relationship of a smart mobile terminal in an embodiment of this application.

[0018] Figure 3 This is a schematic diagram of a smart mobile terminal tilted to the right in an embodiment of this application.

[0019] Figure 1 In the middle: 1-left lower leg, 2-left thigh, 3-right lower leg, 4-right thigh, 5-bearing surface. Detailed Implementation

[0020] The detailed description of the accompanying drawings is intended to illustrate the present embodiments of this application and is not intended to represent only the forms in which this application can be implemented. It should be understood that the same or equivalent functions can be performed by different embodiments intended to be included within the spirit and scope of this application.

[0021] One embodiment of this application provides an intelligent mobile terminal, including a controller, a support surface, a left thigh, a right thigh, a left calf, a right calf, a left hip joint motor, a left knee joint motor, a right hip joint motor, a right knee joint motor, an inertial measurement unit (IMU), and multiple drive wheels. The left hip joint motor, left knee joint motor, right hip joint motor, and right knee joint motor are all single-degree-of-freedom joint motors.

[0022] like Figure 1 The image shown is an embodiment of a smart mobile terminal according to this application. Specifically, it is a four-wheel smart mobile terminal, which includes four drive wheels, and the four drive wheels are controlled by the controller.

[0023] When encountering an obstacle, depending on the size of the obstacle, the wheels on both sides of the smart mobile terminal exhibit two states: one where both wheels must pass over the obstacle, which can be considered as climbing a slope or stairs; and the other where one wheel is on level ground while the other wheel is on an obstacle, which can be a raised or low-lying area. This latter situation can cause the vehicle to tilt or overturn. This embodiment primarily addresses the second scenario.

[0024] The bearing surface is used to bear a load, which may be a person or goods; one end of the left thigh is connected to the bottom left side of the bearing surface via the left hip joint motor, and the other end of the left thigh is connected to the left lower leg via the left knee joint motor; one end of the right thigh is connected to the bottom right side of the bearing surface via the right hip joint motor, and the other end of the right thigh is connected to the right lower leg via the right knee joint motor; multiple drive wheels are respectively disposed on the left and right lower legs; the inertial measurement unit is used to measure the current pitch angle and current roll angle of the bearing surface, and the inertial measurement unit is disposed at the middle position of the bearing surface.

[0025] Specifically, in the smart mobile terminal of this embodiment, thighs and calves are provided on both the left and right sides. The hip joint connects the thigh to the bearing surface, allowing the thigh to swing in the horizontal plane, and the knee joint connects the thigh to the calves, allowing the calves to extend and bend relative to the thigh.

[0026] The left hip joint motor controls the relative movement between the left thigh and the bearing surface, i.e., the movement of the left hip joint; the motor is connected to the end of the left thigh through a mechanical connection (such as gears, belts or other transmission mechanisms). When the motor rotates, it can push or pull the thigh, thereby changing the position and angle of the left thigh.

[0027] The left knee joint motor controls the relative movement between the left lower leg and the left thigh, that is, the movement of the left knee joint; the motor is usually fixed at the connection between the thigh and the lower leg, and the lower leg rotates around the knee joint through a transmission mechanism (such as a connecting rod, gear, etc.).

[0028] The right hip joint motor is similar to the left hip joint motor. The right hip joint motor controls the relative movement between the right thigh and the bearing surface, that is, the movement of the right hip joint.

[0029] The right knee joint motor is similar to the left knee joint motor. The right knee joint motor controls the relative movement between the right lower leg and the right thigh, that is, the movement of the right knee joint.

[0030] In this embodiment, each joint of the intelligent mobile terminal can move accordingly through the action of joint motors according to the instructions of the controller, thereby realizing the balance and movement of the intelligent mobile terminal on complex terrain.

[0031] The controller is used to determine the tilt of the bearing surface based on the current roll angle; when the bearing surface tilts to the left, it obtains the current right knee joint angle and controls the right hip joint motor and right knee joint motor to work based on the current pitch angle, current roll angle and current right knee joint angle; when the bearing surface tilts to the right, it obtains the current left knee joint angle and controls the left hip joint motor and left knee joint motor to work based on the current pitch angle, current roll angle and current left knee joint angle.

[0032] Specifically, the current pitch angle and current roll angle of the bearing surface actually refer to the current pitch angle and current roll angle of the smart mobile terminal. This is because the bearing surface is used to bear the load, and its attitude change directly reflects the attitude change of the entire smart mobile terminal, as well as the load bearing situation.

[0033] The controller monitors the attitude of the smart mobile terminal by reading data from the inertial measurement unit (IMU). The IMU measures the current pitch angle (forward / backward tilt) and roll angle (left / right tilt) of the bearing surface. The controller uses this angular data to determine whether the bearing surface has tilted. Figure 2 As shown, the roll angle indicates the vehicle's left and right tilt. When the roll angle > 0, it means the right side of the smart mobile terminal is on an obstacle, and the smart mobile terminal exhibits a left-tilted posture with the right side higher than the left. Conversely, a roll angle < 0 indicates the vehicle is tilted to the right.

[0034] When the load-bearing surface tilts to the left, the controller reads the current right knee joint angle, which is the rotation angle reading of the right knee joint motor. Based on the current pitch angle, current roll angle, and current right knee joint angle, the controller calculates the reference angle values ​​of the right hip joint motor and right knee joint motor that need to be adjusted, and drives the right hip joint motor and right knee joint motor to work at the corresponding angles to correct the leftward tilt and restore the balance of the smart mobile terminal. During this process, the motors of the left knee joint and left hip joint will not be adjusted. That is to say, the left thigh and lower leg remain still, and all balance adjustments are completed through the right thigh and lower leg.

[0035] like Figure 2 As shown, when the load-bearing surface tilts to the right, the controller reads the current left knee joint angle, which is the rotation angle reading of the left knee joint motor. Based on the current pitch angle, current roll angle, and current left knee joint angle, the controller calculates the reference angle values ​​of the left hip joint motor and left knee joint motor that need to be adjusted, and drives the left hip joint motor and left knee joint motor to work at the corresponding angles to correct the rightward tilt and restore the balance of the smart mobile terminal. During this process, the motors of the right knee joint and right hip joint will not be adjusted. That is to say, the right thigh and lower leg remain still, and all balance adjustments are completed through the left thigh and lower leg.

[0036] In summary, the controller is equipped with a dynamic balance adjustment mechanism. When the smart mobile terminal detects tilting, it will restore balance by adjusting the joint motor on the corresponding side. This ensures that the smart mobile terminal can maintain a stable posture on different terrains, thereby improving the safety and comfort of riding.

[0037] In some embodiments, the controller is further configured to:

[0038] When the bearing surface tilts to the left, the current right knee joint angle is obtained, a reference value for the right knee joint angle is determined based on the current right knee joint angle and the current roll angle, a reference value for the right hip joint angle is determined based on the current pitch angle and the reference value for the right knee joint angle, the right knee joint motor is driven based on the reference value for the right knee joint angle, and the right hip joint motor is driven based on the reference value for the right hip joint angle.

[0039] Specifically, the reference value for the right knee joint angle is determined based on the current right knee joint angle and the current roll angle, as shown in the following expression:

[0040]

[0041] Where, θ′ k1 θ is the reference value for the right knee joint angle. k1 The current angle of the right knee joint is given by B, the distance between the left and right hip joints is given by L, and the length of the thigh is given by L. The current roll angle;

[0042] Specifically, the calculation method based on formula (1) in this embodiment is designed based on the principles of geometry and mechanics of smart mobile terminals, sinθ k1 This is the sine value of the current right knee joint angle, which represents the degree of tilt of the knee joint in the horizontal direction. The influence of the roll angle of the smart mobile terminal on the knee joint angle is considered. The arcsin function is used to solve for the angle to obtain the reference angle that the knee joint needs to be adjusted to. Based on this formula (1), the reference angle that the knee joint should reach in order to maintain balance under the influence of the current roll angle can be calculated. The reference value of the right hip joint angle is determined according to the current pitch angle and the reference value of the right knee joint angle, as shown in the following expression:

[0043] θ′ h1 =θ′ k1 +γ(2)

[0044] Where, θ′ h1 γ is the reference value for the right hip joint angle, and γ is the current pitch angle.

[0045] Specifically, γ is the current pitch angle of the smart mobile terminal, which represents the degree of forward and backward tilt of the smart mobile terminal. Formula (2) indicates that the reference value of the right hip joint angle is determined based on the reference value of the right knee joint angle and the pitch angle of the smart mobile terminal. The movements of the right hip joint and the right knee joint are related, and the change of the pitch angle will directly affect the angle of the right hip joint.

[0046] In some embodiments, the controller is further configured to:

[0047] When the bearing surface tilts to the left, the system obtains the right knee joint position error between the reference value of the right knee joint angle and the current right knee joint angle, obtains the right knee joint force for adjusting the right knee joint based on the right knee joint position error, and drives the right knee joint motor based on the right knee joint force; and obtains the current right hip joint angle, calculates the right hip joint position error between the reference value of the right hip joint angle and the current right hip joint angle, obtains the right hip joint force for adjusting the right hip joint based on the right hip joint position error, and drives the right hip joint motor based on the right hip joint force.

[0048] Specifically, the position of the right knee joint and the current position of the right knee joint, as well as the position of the right hip joint and the current position of the right hip joint, are solved in Cartesian space.

[0049] In the joint space, the damping system is designed as follows:

[0050]

[0051] in, This indicates the positional error of the right knee joint or the right hip joint; X represents the current angle of the right knee or right hip joint. r This indicates the reference value for the angle of the right knee or right hip joint to be adjusted; The first derivative (velocity) represents the positional error of the right knee or right hip joint; The second derivative (acceleration) representing the positional error of the right knee or right hip joint; F r Indicates the required force on the right knee or right hip joint; K d B d M d It is a set of impedance parameters that are set.

[0052] In some embodiments, the controller is further configured to:

[0053] When the bearing surface tilts to the right, the current left knee joint angle is obtained, a reference value for the left knee joint angle is determined based on the current left knee joint angle and the current roll angle, a reference value for the left hip joint angle is determined based on the current pitch angle and the reference value for the left knee joint angle, the left knee joint motor is driven based on the reference value for the left knee joint angle, and the left hip joint motor is driven based on the reference value for the left hip joint angle.

[0054] Specifically, the reference value for the left knee joint angle is determined based on the current left knee joint angle and the current roll angle, as shown in the following expression:

[0055]

[0056] Where, θ′ k2 θ is the reference value for the left knee joint angle.k2 The current angle of the left knee joint is given by B, the distance between the left hip joints is given by L, and the length of the thigh is given by L. The current roll angle;

[0057] Specifically, the calculation method based on formula (2) in this embodiment is designed based on the principles of geometry and mechanics of smart mobile terminals, sinθ k2 This is the sine value of the current angle of the left knee joint, which represents the degree of tilt of the left knee joint in the horizontal direction. The influence of the roll angle of the smart mobile terminal on the left knee joint angle was considered. The arcsin function was used to solve for the angle to obtain the reference angle that the left knee joint needs to be adjusted to. Based on this formula (2), the reference angle that the left knee joint should reach in order to maintain balance under the influence of the current roll angle can be calculated. The reference value of the left hip joint angle is determined according to the current pitch angle and the reference value of the left knee joint angle, as shown in the following expression:

[0058] θ′ h2 =θ′ k2 +γ(4)

[0059] Where, θ′ h2 γ is the reference value for the left hip joint angle, and γ is the current pitch angle.

[0060] Specifically, γ is the current pitch angle of the smart mobile terminal, which represents the degree of forward and backward tilt of the smart mobile terminal. Formula (4) indicates that the angle reference value of the left hip joint is determined based on the angle reference value of the left knee joint and the pitch angle of the smart mobile terminal. The movements of the left hip joint and the left knee joint are related, and the change in pitch angle will directly affect the angle of the left hip joint.

[0061] In some embodiments, the controller is further configured to:

[0062] When the bearing surface tilts to the right, the system obtains the left knee joint position error between the reference value of the left knee joint angle and the current left knee joint angle, obtains the left knee joint force for adjusting the left knee joint based on the left knee joint position error, and drives the left knee joint motor based on the left knee joint force; and obtains the current left hip joint angle, calculates the left hip joint position error between the reference value of the left hip joint angle and the current left hip joint angle, obtains the left hip joint force for adjusting the left hip joint based on the left hip joint position error, and drives the left hip joint motor based on the left hip joint force.

[0063] Specifically, the position of the left knee joint and the current position of the left knee joint, as well as the position of the left hip joint and the current position of the left hip joint, are solved in Cartesian space.

[0064] In the joint space, the damping system is designed as follows:

[0065]

[0066]

[0067] in, This indicates the positional error of the left knee joint or the left hip joint; X represents the current angle of the left knee or left hip joint. r This indicates the reference value for the angle of the left knee or left hip joint to be adjusted; The first derivative (velocity) represents the positional error of the left knee or left hip joint; The second derivative (acceleration) representing the positional error of the left knee or left hip joint; F r Indicates the required force on the left knee or left hip joint; K d B d M d It is a set of impedance parameters that are set.

[0068] Another embodiment of this application provides a balance control method for a smart mobile terminal as described in the above embodiments, the method comprising:

[0069] Step S10: Obtain the current pitch angle and current roll angle of the bearing surface;

[0070] Step S20: Determine the tilt of the bearing surface based on the current roll angle;

[0071] Step S30: When the bearing surface tilts to the left, obtain the current right knee joint angle, determine the right knee joint angle reference value based on the current right knee joint angle and the current roll angle, determine the right hip joint angle reference value based on the current pitch angle and the right knee joint angle reference value, drive the right knee joint motor based on the right knee joint angle reference value, and drive the right hip joint motor based on the right hip joint angle reference value.

[0072] Step S40: When the bearing surface tilts to the right, obtain the current left knee joint angle, determine the left knee joint angle reference value based on the current left knee joint angle and the current roll angle, determine the left hip joint angle reference value based on the current pitch angle and the left knee joint angle reference value, drive the left knee joint motor based on the left knee joint angle reference value, and drive the left hip joint motor based on the left hip joint angle reference value.

[0073] In some embodiments, the step of determining the reference value of the right knee joint angle based on the current right knee joint angle and the current roll angle is shown in the following expression:

[0074]

[0075] Where, θ′ k1 θ is the reference value for the right knee joint angle. k1 The current angle of the right knee joint is given by B, the distance between the left and right hip joints is given by L, and the length of the thigh is given by L. The current roll angle;

[0076] The reference value for the right hip joint angle is determined based on the current pitch angle and the reference value for the right knee joint angle, as shown in the following expression:

[0077] θ′ h1 =θ′ k1 +γ

[0078] Where, θ′ h1 γ is the reference value for the right hip joint angle, and γ is the current pitch angle.

[0079] In some embodiments, the determination of the left knee joint angle reference value based on the current left knee joint angle and the current roll angle is shown in the following expression:

[0080]

[0081] Where, θ′ k2 θ is the reference value for the left knee joint angle. k2 The current angle of the left knee joint is given by B, the distance between the left hip joints is given by L, and the length of the thigh is given by L. The current roll angle;

[0082] The left hip joint angle reference value is determined based on the current pitch angle and the left knee joint angle reference value, as shown in the following expression:

[0083] θ′ h2 =θ′ k2 +γ

[0084] Where, θ′ h2 γ is the reference value for the left hip joint angle, and γ is the current pitch angle.

[0085] In some embodiments, driving the right knee joint motor according to the right knee joint angle reference value further includes:

[0086] When the bearing surface tilts to the left, the right knee joint position error between the reference value of the right knee joint angle and the current right knee joint angle is obtained. The right knee joint force for adjusting the right knee joint is obtained based on the right knee joint position error, and the right knee joint motor is controlled to output a corresponding torque based on the right knee joint force.

[0087] The step of driving the right hip joint motor according to the right hip joint angle reference value further includes:

[0088] The current right hip joint angle is obtained, the right hip joint position error between the reference value of the right hip joint angle and the current right hip joint angle is calculated, the right hip joint force for adjusting the right hip joint is obtained based on the right hip joint position error, and the right hip joint motor is controlled to output a corresponding torque based on the right hip joint force.

[0089] In some embodiments, driving the left knee joint motor according to the left knee joint angle reference value further includes:

[0090] When the bearing surface tilts to the right, the left knee joint position error between the reference value of the left knee joint angle and the current left knee joint angle is obtained. The left knee joint force for adjusting the left knee joint is obtained based on the left knee joint position error, and the left knee joint motor is controlled to output a corresponding torque based on the left knee joint force.

[0091] The step of driving the left hip joint motor according to the left hip joint angle reference value further includes:

[0092] Obtain the current left hip joint angle, calculate the left hip joint position error between the reference value of the left hip joint angle and the current left hip joint angle, obtain the left hip joint force for adjusting the left hip joint based on the left hip joint position error, and control the left hip joint motor to output the corresponding torque based on the left hip joint force.

[0093] It should be noted that the method in this embodiment is implemented based on the controller of the smart mobile terminal described in the above embodiments. Therefore, the contents not described in detail in this embodiment can be obtained by referring to the contents of the smart mobile terminal described in the above embodiments, so the method in this embodiment will not be described again.

[0094] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A smart mobile terminal, characterized in that, It includes a controller, a bearing surface, a left thigh, a right thigh, a left calf, a right calf, a left hip joint motor, a left knee joint motor, a right hip joint motor, a right knee joint motor, an inertial measurement unit, and multiple drive wheels; The bearing surface is used to bear the load; one end of the left thigh is connected to the bottom left side of the bearing surface via the left hip joint motor, and the other end of the left thigh is connected to the left lower leg via the left knee joint motor; one end of the right thigh is connected to the bottom right side of the bearing surface via the right hip joint motor, and the other end of the right thigh is connected to the right lower leg via the right knee joint motor; the plurality of drive wheels are respectively disposed on the left lower leg and the right lower leg; the inertial measurement unit is used to measure the current pitch angle and the current roll angle of the bearing surface; The controller is used to determine the tilt of the bearing surface based on the current roll angle; when the bearing surface tilts to the left, it obtains the current right knee joint angle and controls the right hip joint motor and right knee joint motor to work based on the current pitch angle, current roll angle and current right knee joint angle; when the bearing surface tilts to the right, it obtains the current left knee joint angle and controls the left hip joint motor and left knee joint motor to work based on the current pitch angle, current roll angle and current left knee joint angle.

2. The intelligent mobile terminal according to claim 1, characterized in that, The controller is further used for: When the bearing surface tilts to the left, the current right knee joint angle is obtained, a reference value for the right knee joint angle is determined based on the current right knee joint angle and the current roll angle, a reference value for the right hip joint angle is determined based on the current pitch angle and the reference value for the right knee joint angle, the right knee joint motor is driven based on the reference value for the right knee joint angle, and the right hip joint motor is driven based on the reference value for the right hip joint angle.

3. The intelligent mobile terminal according to claim 2, characterized in that, The controller is further used for: When the bearing surface tilts to the left, the system obtains the right knee joint position error between the reference value of the right knee joint angle and the current right knee joint angle, obtains the right knee joint force for adjusting the right knee joint based on the right knee joint position error, and drives the right knee joint motor based on the right knee joint force; and obtains the current right hip joint angle, calculates the right hip joint position error between the reference value of the right hip joint angle and the current right hip joint angle, obtains the right hip joint force for adjusting the right hip joint based on the right hip joint position error, and drives the right hip joint motor based on the right hip joint force.

4. The intelligent mobile terminal according to claim 1, characterized in that, The controller is further used for: When the bearing surface tilts to the right, the current left knee joint angle is obtained, a reference value for the left knee joint angle is determined based on the current left knee joint angle and the current roll angle, a reference value for the left hip joint angle is determined based on the current pitch angle and the reference value for the left knee joint angle, the left knee joint motor is driven based on the reference value for the left knee joint angle, and the left hip joint motor is driven based on the reference value for the left hip joint angle.

5. The intelligent mobile terminal according to claim 4, characterized in that, The controller is further used for: When the bearing surface tilts to the right, the system obtains the left knee joint position error between the reference value of the left knee joint angle and the current left knee joint angle, obtains the left knee joint force for adjusting the left knee joint based on the left knee joint position error, and drives the left knee joint motor based on the left knee joint force; and obtains the current left hip joint angle, calculates the left hip joint position error between the reference value of the left hip joint angle and the current left hip joint angle, obtains the left hip joint force for adjusting the left hip joint based on the left hip joint position error, and drives the left hip joint motor based on the left hip joint force.

6. A balance control method for a smart mobile terminal as described in claim 1, characterized in that, The method includes: Obtain the current pitch angle and current roll angle of the bearing surface; The tilt of the bearing surface is determined based on the current roll angle; When the bearing surface tilts to the left, the current right knee joint angle is obtained, a reference value for the right knee joint angle is determined based on the current right knee joint angle and the current roll angle, a reference value for the right hip joint angle is determined based on the current pitch angle and the reference value for the right knee joint angle, the right knee joint motor is driven based on the reference value for the right knee joint angle, and the right hip joint motor is driven based on the reference value for the right hip joint angle. When the bearing surface tilts to the right, the current left knee joint angle is obtained, a reference value for the left knee joint angle is determined based on the current left knee joint angle and the current roll angle, a reference value for the left hip joint angle is determined based on the current pitch angle and the reference value for the left knee joint angle, the left knee joint motor is driven based on the reference value for the left knee joint angle, and the left hip joint motor is driven based on the reference value for the left hip joint angle.

7. The method according to claim 6, characterized in that, The reference value for the right knee joint angle is determined based on the current right knee joint angle and the current roll angle, as shown in the following expression: Where, θ ′ k1 θ is the reference value for the right knee joint angle. k1 The current angle of the right knee joint is given by B, the distance between the left and right hip joints is given by L, and the length of the thigh is given by L. The current roll angle; The reference value for the right hip joint angle is determined based on the current pitch angle and the reference value for the right knee joint angle, as shown in the following expression: i ′ h1 =θ ′ k1 +g Where, θ ′ h1 γ is the reference value for the right hip joint angle, and γ is the current pitch angle.

8. The method according to claim 6, characterized in that, The reference value for the left knee joint angle is determined based on the current left knee joint angle and the current roll angle, as shown in the following expression: Where, θ ′ k2 θ is the reference value for the left knee joint angle. k2 The current angle of the left knee joint is given by B, the distance between the left hip joints is given by L, and the length of the thigh is given by L. The current roll angle; The left hip joint angle reference value is determined based on the current pitch angle and the left knee joint angle reference value, as shown in the following expression: i ′ h2 =θ ′ k2 +g Where, θ ′ h2 γ is the reference value for the left hip joint angle, and γ is the current pitch angle.

9. The method according to claim 6, characterized in that, The step of driving the right knee joint motor according to the right knee joint angle reference value further includes: When the bearing surface tilts to the left, the right knee joint position error between the reference value of the right knee joint angle and the current right knee joint angle is obtained. The right knee joint force for adjusting the right knee joint is obtained based on the right knee joint position error, and the right knee joint motor is controlled to output a corresponding torque based on the right knee joint force. The step of driving the right hip joint motor according to the right hip joint angle reference value further includes: The current right hip joint angle is obtained, the right hip joint position error between the reference value of the right hip joint angle and the current right hip joint angle is calculated, the right hip joint force for adjusting the right hip joint is obtained based on the right hip joint position error, and the right hip joint motor is controlled to output a corresponding torque based on the right hip joint force.

10. The method according to claim 6, characterized in that, The step of driving the left knee joint motor according to the left knee joint angle reference value further includes: When the bearing surface tilts to the right, the left knee joint position error between the reference value of the left knee joint angle and the current left knee joint angle is obtained. The left knee joint force for adjusting the left knee joint is obtained based on the left knee joint position error, and the left knee joint motor is controlled to output a corresponding torque based on the left knee joint force. The step of driving the left hip joint motor according to the left hip joint angle reference value further includes: Obtain the current left hip joint angle, calculate the left hip joint position error between the reference value of the left hip joint angle and the current left hip joint angle, obtain the left hip joint force for adjusting the left hip joint based on the left hip joint position error, and control the left hip joint motor to output the corresponding torque based on the left hip joint force.

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