Multi-terminal cooperative control method, system and walking robot

Abstract

The application discloses a multi-terminal cooperative control method and system and a walking robot, and relates to the technical field of cooperative control. The method is applied to a control hub and comprises the following steps: periodically sending a heartbeat signal; in the case that the heartbeat signal is received by other control terminals except the control hub among a plurality of control terminals, and the other control terminals receive a control instruction input by a user, receiving the control instruction forwarded by the other control terminals; generating a control signal according to the control instruction, and controlling an actuator to act according to the control signal. The application receives the control instructions of all the control terminals by the control hub, and generates a control signal to uniformly control the actuator, so that the control conflict problem caused by the direct control of the same actuator by the multiple control terminals is avoided, and the reliability of the equipment is improved.

Description

Technical Field

[0001] This application relates to the field of collaborative control technology, and in particular to a multi-terminal collaborative control method, system and mobility robot. Background Technology

[0002] With the development of intelligent technology, mobility robots such as smart wheelchairs and electric mobility scooters typically integrate multiple control terminals, such as manual controllers, mobile apps, assisted driving modules, autonomous driving modules, and remote controls, to meet the needs of different users in different scenarios. These control terminals all need to communicate with the actuators (such as the robot's chassis) to send control commands.

[0003] In related technologies, multiple control terminals typically communicate directly with the actuator. However, a problem with these technologies is that when multiple control terminals simultaneously send control commands to the same actuator, the actuator may not know which control terminal's command to respond to, leading to control command conflicts, erratic actuator actions, or even malfunction. For example, when a user controls a wheelchair to move forward via a manual controller, the driver assistance module may simultaneously issue a braking command. If the actuator receives both "forward" and "brake" commands at the same time, it may cause abnormal motor operation or even lead to a safety accident. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in the related art. To this end, one objective of this application is to propose a multi-terminal collaborative control method, system, and mobility robot to avoid control conflicts arising from multiple control terminals directly controlling the same actuator, thereby improving the reliability of the equipment.

[0005] In a first aspect, embodiments of this application propose a multi-terminal collaborative control method applied to a control center, wherein the control center is a terminal among multiple control terminals that has control authority and is used to control an actuator; the method includes: periodically sending a heartbeat signal; when the heartbeat signal is received by other control terminals among the multiple control terminals besides the control center, and the other control terminals receive a control command input by a user, receiving the control command forwarded by the other control terminals; generating a control signal according to the control command, and controlling the actuator to operate according to the control signal.

[0006] In some embodiments, when the other control terminal receives the heartbeat signal and determines that its own priority is higher than that of the control center, it replaces the control center as the new control center and periodically sends the heartbeat signal; the method further includes: when it receives the heartbeat signal sent by another control terminal with a priority higher than that of the control center, it stops working as the control center.

[0007] In some embodiments, generating a control signal according to the control instruction includes: when the control instruction is a single control instruction from another control terminal, directly generating the control signal according to the single control instruction; and / or when the control instruction includes multiple control instructions from multiple other control terminals, performing fusion processing on the multiple control instructions, and generating the control signal according to the result of the fusion processing.

[0008] In some embodiments, the step of fusing the multiple control commands and generating the control signal based on the result of the fusing process includes: obtaining priority information of each of the multiple control commands; selecting the control command with the highest priority from the multiple control commands as the result of the fusing process based on the priority information; and generating the control signal based on the selected control command.

[0009] In some embodiments, the method further includes: acquiring the status information of the actuator; and generating the control signal based on the control command and the status information.

[0010] In some embodiments, generating the control signal based on the control command and the status information includes: determining the current operating state of the actuator based on the status information; determining whether the control command matches the current operating state; if they match, generating the control signal based on the control command; if they do not match, correcting the control command based on the current operating state, and generating the control signal based on the corrected control command.

[0011] In some embodiments, the control center is the initial control center that is set by default after the device where the actuator is located is powered on, or it is dynamically elected by the plurality of control terminals.

[0012] Secondly, this application proposes a multi-terminal collaborative control method, applied to any non-control center among multiple control terminals, wherein the multiple control terminals are respectively communicatively connected to an actuator; the method includes: when receiving a control command input by a user, determining whether a heartbeat signal sent by the current control center is received, wherein the current control center is the control terminal among the multiple control terminals that currently has control authority and is used to control the actuator; if the heartbeat signal is received, then the control command is sent to the current control center so that the current control center controls the actuator based on the control command; if the heartbeat signal is not received, then the current control center is replaced as the new control center, directly controlling the actuator based on the control command, and periodically sending the heartbeat signal.

[0013] Thirdly, embodiments of this application propose a multi-terminal collaborative control system, comprising: an actuator; and multiple control terminals, each communicatively connected to the actuator; wherein the multiple control terminals are configured to execute the multi-terminal collaborative control method as described in the first and / or second aspects.

[0014] Fourthly, embodiments of this application propose a personal mobility robot, comprising: a body; an actuator disposed on the body for driving the body to move; and at least one control terminal communicatively connected to the actuator, wherein the control terminal is configured to execute the multi-terminal collaborative control method as described in the first and / or second aspects.

[0015] According to the multi-terminal collaborative control method, system, and mobility robot of this application embodiment, the control center receives control commands from all control terminals and generates control signals to uniformly control the actuator, thereby avoiding control conflicts caused by multiple control terminals directly controlling the same actuator, and thus improving the reliability of the equipment.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] Figure 1 This is a flowchart of a multi-terminal collaborative control method according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a multi-terminal collaborative control system according to an embodiment of this application; Figure 3 This is a timing diagram of a multi-terminal collaborative control method according to an embodiment of this application; Figure 4 This is a timing diagram of a multi-terminal collaborative control method according to another embodiment of this application; Figure 5 This is a flowchart illustrating the generation of control signals by incorporating actuator status information according to one embodiment of this application; Figure 6 This is a flowchart illustrating the generation of control signals based on control commands and status information according to one embodiment of this application; Figure 7 This is a flowchart of a multi-terminal collaborative control method according to another embodiment of this application; Figure 8 This is a schematic diagram of the structure of a personal mobility robot according to an embodiment of this application. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0019] The following description, with reference to the accompanying drawings, describes a multi-terminal collaborative control method, system, and personal mobility robot according to embodiments of this application.

[0020] Figure 1 This is a flowchart of a multi-terminal collaborative control method according to an embodiment of this application.

[0021] In one embodiment of this application, such as Figure 1 As shown, the multi-terminal collaborative control method includes: S1 periodically sends heartbeat signals.

[0022] Specifically, such as Figure 2 As shown, the multi-terminal collaborative control system 100 includes an actuator 10 and multiple control terminals 20 (such as manual controllers, mobile apps, driver assistance modules, remote controls, etc., which are wirelessly connected to the actuator) that are communicatively connected to the actuator. In this embodiment of the application, one of the control terminals 20 needs to be designated as the control center 21 (the manual controller is designated as the control center in the figure) to receive control commands from other control terminals 20 and generate control signals to uniformly control the actuator 10, thereby avoiding control conflicts caused by multiple control terminals 20 directly controlling the same actuator 10.

[0023] More specifically, in this embodiment of the application, the control center 21 needs to periodically send heartbeat signals to the communication bus 30 (e.g., CAN, SPI, USB bus, etc.) to inform other control terminals 20 of its own control center identity and prove that it is in normal working condition.

[0024] For example, in one embodiment of this application, the control center is the initial control center that is set by default after the device where the actuator is located is powered on, or it is dynamically elected by multiple control terminals.

[0025] Specifically, after the device is powered on, the highest priority control terminal 20 can be selected as the control center 21.

[0026] It should be noted that the control center 21 is not limited to the form of a physical entity, but can also exist in the form of a process or task. Furthermore, the control center 21 will only be generated in the control terminal 20 that has the function of a control center. For example, a remote control that only has the function of sending control commands in one direction or a malfunctioning control terminal 20 cannot serve as the control center 21.

[0027] S2, when the heartbeat signal is received by other control terminals besides the control center among multiple control terminals, and other control terminals receive control commands input by the user, receive control commands forwarded by other control terminals.

[0028] Specifically, in this embodiment of the application, when a non-central control terminal 20 receives a control command input by a user (which may include voice commands, infrared commands, touch commands, or wireless communication commands, depending on the type of control terminal), it first listens for a heartbeat signal sent by the central control unit 21 on the communication bus 30. If a heartbeat signal is present, it indicates that the central control unit 21 is currently in normal working condition. At this time, the control terminal 20 sends the user-input control command to the central control unit 21 through the communication bus 30, so that the central control unit 21 can indirectly control the actuator 10 to execute the user-input control command.

[0029] More specifically, such as Figure 3 As shown in this embodiment of the application, when a non-control center control terminal 20 receives a control command input by a user and listens to a heartbeat signal sent by the control center 21 on the communication bus 30, it will send a control signal of type ID2 to the communication bus 30. The control center 21 then listens to the control signal of type ID2 on the communication bus 30 to receive control commands forwarded by other control terminals 20.

[0030] To standardize the actuator 10 and ensure its reliability and stability, in this embodiment of the application, the actuator 10 will only respond to control signals of type ID1 on the communication bus 30. Therefore, the control center 21 will generate a control signal of type ID1 according to the received control command and send it to the communication bus 30 to control the operation of the actuator 10.

[0031] On the other hand, such as Figure 4 As shown in this embodiment of the application, if a non-control center control terminal 20 receives a control command input by the user, but does not detect a heartbeat signal sent by the control center 21 on the communication bus 30, it indicates that the current control center 21 may be malfunctioning. At this time, the control terminal 20 can act as a new control center to directly control the actuator 10 and periodically send heartbeat signals to the communication bus 30 to avoid control conflicts caused by multiple control terminals 20 directly controlling the same actuator 10.

[0032] Specifically, in this embodiment of the application, when a control terminal 20 that is not a control hub receives a control command input by a user, and when the communication bus 30 does not detect a heartbeat signal sent by the control hub 21 (waiting for the heartbeat signal timeout), it will send a control signal of type ID1 to the communication bus 30 to directly control the actuator 10 to execute the control command input by the user.

[0033] S3 generates control signals based on control commands and controls the actuators to operate based on the control signals.

[0034] Specifically, in this embodiment of the application, the control center 21 receives control commands from all control terminals 20 and generates control signals to uniformly control the actuator 10, thereby avoiding control conflicts caused by multiple control terminals 20 directly controlling the same actuator 10, and thus improving the reliability of the equipment.

[0035] It should be noted that this application is also applicable to systems with non-bus communication (such as Bluetooth, ZigBee, UART, etc.), simply by changing the communication method between the control center 21, the control terminal 20 and the actuator 10 to broadcast communication.

[0036] In one embodiment of this application, the method further includes: stopping the operation of the control center when a heartbeat signal sent by another control terminal with a higher priority than the control center is received.

[0037] Specifically, in this embodiment of the application, the control terminals 20 have different priorities, and it is agreed that the control terminal 20 with higher reliability has a higher priority. When other control terminals 20 besides the control center receive a heartbeat signal, if they determine that their own priority is higher than that of the control center 21, they will replace the control center 21 as the new control center and periodically send heartbeat signals. Correspondingly, when the control center 21 receives a heartbeat signal from another control terminal 20 with a higher priority than itself, it will cease operating as the control center.

[0038] For example, in this embodiment of the application, the manual controller and the domain controller are two control terminals 20 in the multi-terminal collaborative control system 100, and the manual controller has a higher priority than the domain controller. Suppose that when the device powers on, the manual controller malfunctions and cannot act as the control center, the domain controller is elected as the control center. Subsequently, the manual controller's malfunction is repaired and it comes back online. At this time, the manual controller receives a heartbeat signal sent by the domain controller as the control center. Because the manual controller has a higher priority than the current control center (domain controller), the manual controller replaces the current control center (domain controller) as the new control center and periodically sends heartbeat signals. Immediately afterwards, the domain controller receives the heartbeat signal sent by the manual controller as the new control center. Because its priority is higher than its own, the domain controller immediately stops acting as the control center.

[0039] Therefore, this application ensures that the high-priority control terminal 20 can always hold the control of the actuator 10 through the above-mentioned priority-based control preemption mechanism. This not only conforms to the user's operating intuition and enables the actuator 10 to achieve the expected execution results, but also improves the reliability and scalability of the multi-terminal collaborative control system 100.

[0040] In one embodiment of this application, generating a control signal according to a control instruction includes: when the control instruction is a single control instruction from another control terminal, directly generating a control signal based on the single control instruction; and / or when the control instruction includes multiple control instructions from multiple other control terminals, performing fusion processing on the multiple control instructions, and generating a control signal based on the result of the fusion processing.

[0041] Specifically, in this embodiment of the application, if the control center 21 receives control commands from multiple control terminals 20 in one communication cycle, control command conflicts may occur. At this time, the control center 21 needs to perform fusion processing on the multiple control commands and generate control signals based on the fusion processing results to avoid control command conflicts.

[0042] In one embodiment of this application, multiple control commands are fused and a control signal is generated based on the fused result. This includes: obtaining priority information of each of the multiple control commands, selecting the highest priority control command from the multiple control commands as the result of the fused process based on the priority information, and then generating a control signal based on the selected control command.

[0043] Specifically, in this embodiment of the application, the higher the priority of the control terminal 20, the stronger its reliability. Therefore, when the control commands of multiple control terminals 20 conflict, the control command with the highest priority of the corresponding control terminal is selected from the multiple control commands as the result of the fusion processing, and a control signal is generated to control the actuator 10, which can ensure the reliability of the device to the greatest extent.

[0044] It should be noted that different control centers 21 may have different control command processing strategies. For example, for a control center 21 with predictive intelligence (such as an autonomous driving module), the best control command can be dynamically selected by combining information such as the status of the actuator 10, user intent, and road conditions, and then compensated or restricted to achieve a smoother, more accurate, and more reliable control effect.

[0045] In one embodiment of this application, such as Figure 5 As shown, the method also includes: S41, Obtain the status information of the actuator; For example, in this embodiment of the application, the state information of the personal mobility robot can be obtained through sensors. For instance, the motor speed of the personal mobility robot can be obtained through a speed sensor, the obstacle information around the personal mobility robot can be obtained through an infrared sensor, and the posture information of the personal mobility robot can be obtained through a gyroscope sensor.

[0046] S42 generates control signals based on control commands and status information.

[0047] Specifically, in this embodiment of the application, when generating the final control signal, the control center 21 also considers the operating state of the actuator 10 itself, so as to avoid the actuator 10 from executing control commands that may cause danger, thereby improving the reliability of the device.

[0048] In one embodiment of this application, such as Figure 6 As shown, control signals are generated based on control commands and status information, including: S421, Determine the current operating status of the actuator based on the status information; For example, in this embodiment of the application, the speed of the personal mobility robot can be determined by the rotational speed of its motor, and the robot's posture can be used to determine whether it is going uphill or downhill.

[0049] S422, determine whether the control command matches the current operating state; Specifically, in this embodiment of the application, if the actuator 10 does not cause danger (such as speeding or colliding with an obstacle) after executing the control command in the current operating state, it can be determined that the control command matches the current operating state; otherwise, it is determined that the control command does not match the current operating state.

[0050] S423, if matched, then a control signal is generated according to the control command; Specifically, if the control command matches the current operating state, it indicates that the actuator 10 will not cause danger after executing the control command in the current operating state. In this case, the control center 21 will directly generate a control signal based on the control command. For example, executing a "decelerate" command when the mobility robot is running at a constant speed usually does not cause danger, so the control center 21 can directly generate a control signal based on the "decelerate" control command.

[0051] S424, if mismatched, then the control command is corrected according to the current operating state, and a control signal is generated based on the corrected control command: Specifically, if the control command is determined to be mismatched with the current operating state, it indicates that executing the control command by the actuator 10 in the current operating state may cause danger. In this case, the control center 21 needs to correct the control command according to the current operating state and generate a control signal based on the corrected control command. For example, executing an "accelerate" command when there is an obstacle (such as a pedestrian) in front of the mobility robot may cause danger. Therefore, the control center 21 will correct the control command and generate a "decelerate" or "brake" control signal based on the distance to the obstacle to avoid the mobility robot colliding with the obstacle in front.

[0052] In summary, this application receives control commands from all control terminals 20 through the control center 21 and generates control signals to uniformly control the actuator, thereby avoiding control conflicts caused by multiple control terminals 20 directly controlling the same actuator 10, and thus improving the reliability of the equipment.

[0053] Figure 7 This is a flowchart of a multi-terminal collaborative control method according to another embodiment of this application.

[0054] This application also proposes a multi-terminal collaborative control method, applied to any non-central control terminal among multiple control terminals, wherein the multiple control terminals are respectively communicatively connected to an actuator; the method includes: S51, when a control command input by the user is received, it is determined whether a heartbeat signal sent by the current control center has been received. The current control center is the control terminal with control authority among multiple control terminals that is used to control the actuator.

[0055] Specifically, in this embodiment of the application, when a control command input by the user is received, it is necessary to first determine whether a heartbeat signal sent by the current control center 21 has been received, so as to determine whether the current control center 21 is in a normal working state.

[0056] S52, if a heartbeat signal is received, a control command is sent to the current control center so that the current control center controls the actuator based on the control command.

[0057] Specifically, in this embodiment of the application, if a heartbeat signal is received, it indicates that the current control center 21 is in normal working condition. At this time, the control commands input by the user are sent to the control center 21 through the communication bus 30, so that the control center 21 can indirectly control the actuator 10 to execute the control commands input by the user.

[0058] S53, if no heartbeat signal is received, the current control center will be replaced as the new control center, directly controlling the actuator based on control commands, and periodically sending heartbeat signals.

[0059] Specifically, in this embodiment of the application, if no heartbeat signal is received, it indicates that the current control center 21 is in an abnormal state. At this time, replacing the current control center 21 as the new control center to directly control the actuator 10 and periodically sending heartbeat signals to the communication bus 30 can avoid the control conflict problem caused by multiple control terminals 20 directly controlling the same actuator 10, thereby improving the reliability of the device.

[0060] Figure 2 This is a schematic diagram of the structure of a multi-terminal collaborative control system according to an embodiment of this application.

[0061] In this embodiment of the application, as Figure 2 As shown, the multi-terminal collaborative control system 100 includes: an actuator 10; and multiple control terminals 20, which are respectively communicatively connected to the actuator 10; wherein the multiple control terminals 20 are configured to execute the above-described multi-terminal collaborative control method.

[0062] Figure 8 This is a schematic diagram of the structure of a personal mobility robot according to an embodiment of this application.

[0063] In this embodiment of the application, as Figure 6 As shown, the personal mobility robot 200 includes: a body 40; an actuator 10 disposed on the body 40 for driving the body 40 to move; and at least one control terminal 20 communicatively connected to the actuator 10, wherein the control terminal 20 is configured to execute the above-described multi-terminal collaborative control method.

[0064] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0065] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0068] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0069] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0070] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0071] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A multi-terminal collaborative control method, characterized in that, The method is applied to a control center, which is a terminal among multiple control terminals that currently has control authority and is used to control actuators. The multiple control terminals and the actuators communicate via a communication bus, and the actuators only respond to control signals of type ID1 on the communication bus. The method includes: The system periodically sends heartbeat signals to the communication bus to inform other control terminals besides the control center of the identity of the control center and to indicate that the control center is in normal working condition. When the heartbeat signal is received by other control terminals among the plurality of control terminals besides the control center, and the other control terminals receive control commands input by the user, the system receives a control signal of type ID2 sent by the other control terminals through the communication bus. The control signal of type ID2 is used to forward the control command to the control center. Obtain the status information of the actuator; The current operating status of the actuator is determined based on the status information; Determine whether the control command matches the current operating state; If a match is found, a control signal of type ID1 is generated according to the control instruction. If they do not match, the control command is corrected according to the current operating state, and a control signal of type ID1 is generated according to the corrected control command. The control signal of type ID1 is sent to the communication bus so that the actuator performs the corresponding action.

2. The multi-terminal collaborative control method according to claim 1, characterized in that, Upon receiving the heartbeat signal, if the other control terminals determine that their priority is higher than that of the control center, they replace the control center as the new control center and periodically send the heartbeat signal; the method further includes: When the heartbeat signal is received from another control terminal with a higher priority than the control center, the operation as the control center is stopped.

3. The multi-terminal collaborative control method according to claim 1, characterized in that, Generate a control signal of type ID1 according to the control command, including: When the control command is a single control command from another control terminal, the control signal of type ID1 is directly generated based on the single control command; and / or When the control command includes multiple control commands from multiple other control terminals, the multiple control commands are fused together, and a control signal of type ID1 is generated based on the result of the fusion process.

4. The multi-terminal collaborative control method according to claim 3, characterized in that, The step of fusing the multiple control commands and generating the control signal of type ID1 based on the result of the fusing process includes: Obtain the priority information of each of the multiple control commands; Based on the priority information, the control instruction with the highest priority among the multiple control instructions is selected as the result of the fusion processing; A control signal of type ID1 is generated based on the selected control command.

5. The multi-terminal collaborative control method according to any one of claims 1 to 4, characterized in that, The control center is the initial control center that is set by default after the device where the actuator is located is powered on, or it is dynamically elected by the multiple control terminals.

6. A multi-terminal collaborative control method, characterized in that, The method applies to any non-central control terminal among multiple control terminals, wherein the multiple control terminals and actuators communicate via a communication bus; the method includes: When a control command input by the user is received, the communication bus is monitored to determine whether a heartbeat signal sent by the current control center is received. The current control center is the control terminal among the plurality of control terminals that currently has control authority and is used to control the actuator. If the heartbeat signal is received, a control signal of type ID2 is sent to the communication bus. The control signal of type ID2 is used to forward the control command to the control center, so that the current control center receives the control signal of type ID2, generates a control signal of type ID1 according to the control command, and sends it to the communication bus to control the actuator. If the heartbeat signal is not received, the current control center is replaced as the new control center. The status information of the actuator is obtained, and the current operating state of the actuator is determined based on the status information. It is then determined whether the control command matches the current operating state. If they match, a control signal of type ID1 is generated based on the control command. If they do not match, the control command is modified based on the current operating state, and a control signal of type ID1 is generated based on the modified control command. The control signal of type ID1 is sent to the communication bus to directly control the actuator, and the heartbeat signal is periodically sent to the communication bus.

7. A multi-terminal collaborative control system, characterized in that, include: Executive agency; Multiple control terminals are respectively connected to the actuator in communication. The plurality of control terminals are configured to execute the multi-terminal collaborative control method as described in any one of claims 1 to 6.

8. A personal mobility robot, characterized in that, include: body; An actuator, disposed on the fuselage, is used to drive the movement of the fuselage; At least one control terminal is communicatively connected to the actuator, and the control terminal is configured to perform the multi-terminal collaborative control method as described in any one of claims 1 to 6.

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