CN114715298A

CN114715298A - Mobile device, control method, control apparatus, storage medium, mobile platform, and accessory

Info

Publication number: CN114715298A
Application number: CN202210006036.5A
Authority: CN
Inventors: 冯春魁
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-04
Filing date: 2022-01-04
Publication date: 2022-07-08
Also published as: WO2022144029A1; WO2023131205A1

Abstract

The invention discloses movable equipment, which comprises a rack and a third lifting mechanism, wherein the rack is provided with a first lifting mechanism; the equipment further comprises a first lifting mechanism and/or a second lifting mechanism; one end of each of the first lifting mechanism, the second lifting mechanism and the third lifting mechanism is connected with the rack; the other end of the first lifting mechanism is connected with a first travelling mechanism; the other end of the second lifting mechanism is connected with a second travelling mechanism; the other end of the third lifting mechanism is connected with a third travelling mechanism; and the first travelling mechanism and the second travelling mechanism are arranged at intervals along the travelling direction, and the third travelling mechanism is positioned between the first travelling mechanism and the second travelling mechanism. The movable equipment can perform operations such as ladder climbing, obstacle crossing and the like.

Description

Mobile device, control method, control apparatus, storage medium, mobile platform, and accessory

The present application claims priority from a chinese patent application entitled "removable apparatus, control method, control device, storage medium, and accessories" filed by the national intellectual property office at 04/01/2021 under the application number 202110005046.2, the entire contents of which are incorporated herein by reference.

Technical Field

The invention belongs to the field of robot technical equipment, and particularly relates to movable equipment, a control method, a control device, a storage medium, a movable platform and accessories.

Background

Outdoor running is restricted by weather and places; running on mobile equipment (fitness equipment) and improving the obstacle crossing capability of wheeled mobile devices are very important requirements. Core components such as two devices which are incompatible and comprise a movement device for driving the belt-shaped piece to run cannot be shared, so that huge social resources, manufacturing cost, energy and raw materials are wasted. In the prior art, new technologies for improving the obstacle crossing capability of movable equipment are urgently needed.

The following problems exist in the prior art mobile devices: problem 1: the running exercise apparatus in the treadmill can only be used for a person running thereon, and cannot be used to move the apparatus; the track walking mechanism in the movable equipment can only be used for moving the equipment and cannot be used as a treadmill; the prior art meets the two requirements simultaneously if the two requirements are required, so that two different devices (a crawler walking mechanism and a treadmill) are required to be purchased, thereby causing great waste of resources (materials, manufacturing cost and floor area). Problem 2: the society urgently needs to update the technology to improve the obstacle crossing capability of movable equipment during wheeled movement; problem 3: new technologies are urgently needed to improve the performance of amphibious equipment; problem 4: the walking robot can carry out the transport of material. In order to meet the requirements of driving stability and running environment, the chassis of the walking robot is made to be relatively low, the walking robot has poor capability of passing through obstacles, and particularly, the walking robot is difficult to pass through the obstacles such as stairs. Therefore, it is urgently required to improve the obstacle surmounting capability of the walking robot. Therefore, there is a strong need for new solutions to solve any one or more of the above problems.

Disclosure of Invention

An object of the embodiment of the present application is to provide a mobile device, which aims to solve the problem of how to make the mobile device climb stairs.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

there is provided a mobile device comprising

A rack and a third lifting mechanism;

the equipment further comprises a first lifting mechanism and/or a second lifting mechanism;

one end of each of the first lifting mechanism, the second lifting mechanism and the third lifting mechanism is connected with the rack;

the other end of the first lifting mechanism is connected with a first travelling mechanism; the first lifting mechanism is used for adjusting the distance of the first travelling mechanism relative to the rack;

the other end of the second lifting mechanism is connected with a second travelling mechanism; the second lifting mechanism is used for adjusting the distance between the second walking mechanism and the rack;

the other end of the third lifting mechanism is connected with a third travelling mechanism; the third lifting mechanism is used for adjusting the distance of the third travelling mechanism relative to the rack;

the first travelling mechanism and the second travelling mechanism are arranged at intervals along the travelling direction;

the third running gear is located between the first running gear and the second running gear.

In some embodiments, a mobile device comprising a second movement apparatus (07) configured for operating a belt (070), the belt (070) for use by the device for driving along a road surface and for running by a person.

In some embodiments, the belt for a person to run is divided into a left belt (070a), a right belt (070 b); the running speed of the left belt (070a) and the running speed of the right belt (070b) may be set to be different.

In some embodiments, the belt for person running is connected with the output end of the second movement device (07) through a disjunctive part for connecting or disconnecting the belt for person running (070) with the output end of the second movement device (07); and/or the belt for the equipment to run along the road surface is connected with the output end of the second motion device (07) through a part capable of being divided, and the part capable of being divided is used for connecting or disconnecting the belt for the equipment to run along the road surface with the output end of the second motion device (07).

In some embodiments, the apparatus includes a lift mechanism (1307) for adjusting the height of the bottom of the belt (070) relative to the bottoms of other components in the apparatus, which are supports other than the belt (070).

In some embodiments, the second motion device (07) is configured to: the bottom of the belt (070) is lower than the bottoms of the other components in the second movement device (07).

The mobile device of the application has the beneficial effects that: when the movable equipment runs on a first step and runs to a second step along a preset direction X1, a first lifting mechanism drives a first travelling mechanism to ascend, the height of the lower surface of the first travelling mechanism is not less than that of the second step, a second travelling mechanism is matched with a third travelling mechanism, a driving rack and the first travelling mechanism continuously move towards the second step for a preset distance, the first travelling mechanism is positioned right above the table top of the second step, the first lifting mechanism drives the first travelling mechanism to descend and abut against the table top of the second step, the third lifting mechanism drives the third travelling mechanism to ascend and be positioned above the second step, the first travelling mechanism is matched with the second travelling mechanism, the driving rack and the third travelling mechanism continuously move, the third travelling mechanism is positioned right above the second step, the third lifting mechanism drives the third travelling mechanism to descend and abut against the table top of the second step, the second lifting mechanism drives the second travelling mechanism to ascend and is positioned above the second step, and the first travelling mechanism is matched with the third travelling mechanism, so that the rack and the second travelling mechanism are driven to continuously move and finish the ladder climbing. And the rest can be done in sequence, so that the movable equipment can perform continuous ladder climbing operation. Through the cooperation of the first traveling mechanism, the second traveling mechanism and the third traveling mechanism, the movable equipment can climb stairs, so that the obstacle crossing capability of the movable equipment is improved.

Outdoor running is restricted by weather and places; running on mobile equipment (fitness equipment) and improving the obstacle crossing capability of a wheeled mobile device are very important requirements. The technology enables the compatibility of two devices, and core components including a second motion device (07) for driving the belt-shaped member to operate can be shared, thereby being very beneficial to huge social resources, manufacturing cost, energy and raw material conservation. And various brand-new obstacle crossing schemes are provided, so that the method is very beneficial to improving the cost performance of equipment.

The present invention also provides: a mobile apparatus comprising a wheeled movement device (5), a marine propulsion device (09), a second movement device (07) for driving the apparatus along a road surface via a belt (070); the device further comprises a lifting mechanism for adjusting the height of the belt-shaped member (070) relative to the frame of the device and/or the device further comprises a distance adjusting mechanism for adjusting the distance between the travelling wheels of the device and the frame of the device in the up-down direction. The device is used for amphibious driving. Amphibious is two-purpose.

After years of thinking and exploration, the company team overcomes the industry prejudice and the technical difficulty, and finds out that the problems are as follows: the crawler tank can be used by a water channel, but just because the tank crawler is fixed, the vehicle type is heavy, the conventional movement capacity of the tank is reduced, the water movement performance is inferior to that of a ship, the running speed efficiency on the road is further lower than that of a 4-wheel automobile, and therefore the fixed crawler vehicle cannot become a main civil device. Meanwhile, equipment provided with a land driving device (wheel leg) and an underwater propulsion device (propeller) is likely to encounter soft silt, shallow water and a beach area during land and water switching, and the conventional wheel leg in the area is easy to sink into the silt and cannot be used, and the equipment cannot be used by the stranded underwater propulsion device at the moment. The scheme 1T379 perfectly overcomes the technical prejudice of the industry and solves the technical problem. When the equipment needs wheel driving, the step 1T3 carries out wheel driving; when the equipment enters a soft section, a waterway junction or a section with obstacles, the equipment is driven in a belt type; when the device is driven in water, the underwater propulsion device (09) is controlled to drive the device in water. Because the waterway switching is bound to go through a soft section, the belt-type driving position of the belt-type member (070) is switched by the lifting mechanism, and the driving speed efficiency of the equipment on the highway can be greatly improved when the equipment runs on the highway. In soft areas, the obstacle-crossing advantage of belt-type driving can be perfectly exerted.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or exemplary technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

FIG. 1 is a schematic view of a mobile apparatus including a belt-type motion mechanism;

FIG. 2 is a schematic view of a mobile apparatus including a belt-type motion mechanism;

FIG. 3 is a schematic view of a mobile apparatus including a belt-type motion mechanism;

FIG. 4 is a schematic view of a mobile machine including a belt-type movement mechanism;

FIG. 5 is a schematic view of a mobile apparatus including a belt-type motion mechanism;

FIG. 6 is a schematic view of a mobile device;

FIG. 7 is a schematic view of a mobile device (side view);

FIG. 8 is a schematic view of a mobile device (top view);

FIG. 9 is a schematic view of a mobile device (side view);

FIG. 10 is a schematic view of a mobile device;

FIG. 11 is a schematic view of a mobile device;

FIG. 12 is a schematic view of a mobile device;

FIG. 13 is a schematic perspective view of a mobile device according to an embodiment of the present application;

fig. 14 is a boat-movable apparatus according to an embodiment of the present application: the third traveling mechanism descends to support the ground and travels, and the first traveling mechanism and the second traveling mechanism ascend;

fig. 15 is a boat-movable apparatus of an embodiment of the present application: the third traveling mechanism ascends, and the first traveling mechanism and the second traveling mechanism descend to support the ground and travel;

fig. 16 is a boat-movable apparatus of an embodiment of the present application: a schematic diagram of the first traveling mechanism, the second traveling mechanism and the third traveling mechanism all rising and being supported by the fourth traveling mechanism 15 for (fast) traveling;

fig. 17 is a vehicle-type movable apparatus according to an embodiment of the present application: the third traveling mechanism descends to support the ground and travels, and the first traveling mechanism and the second traveling mechanism ascend;

fig. 18 is a vehicle-type movable apparatus according to an embodiment of the present application: the third lifting mechanism drives the third travelling mechanism to ascend, and the first travelling mechanism and the second travelling mechanism descend to support the ground and travel;

fig. 19 is a vehicle-type movable apparatus according to an embodiment of the present application: a schematic diagram of the first traveling mechanism, the second traveling mechanism and the third traveling mechanism all rising and being supported by the fourth traveling mechanism 15 for (fast) traveling; (ii) a

Fig. 20 is a vehicle-type movable apparatus according to an embodiment of the present application: the first traveling mechanism, the second traveling mechanism and the third traveling mechanism all descend, and the third traveling mechanism is a wheel type traveling mechanism;

FIG. 21 is a schematic top view of a mobile device according to an embodiment of the present application;

FIG. 22 is a schematic illustration of a mobile device, such as an automobile, climbing a continuous staircase according to an embodiment of the present application.

Reference numerals:

01. a frame; 070. a band; 070a, a first side strap; 070b, a second side strap; 18051. a first movement mechanism; 18052, a second motion mechanism; 211. a first lifting mechanism; 212. a third lifting mechanism; 222. a second lifting mechanism; 511. a first front wheel; 512. a wheel with a forward middle portion; 521. a wheel with a rear middle part; 522. a second rear wheel; 0721. a first rotating member; 0721a, a first rotating member of a first side; 0721b, a first rotating member of a second side; 0722. a second rotating member; 0722a, a second rotating member of the first side; 0722b, a second side second rotating member; 115. the top of the device; 07. a crawler-type traveling device; 15A, a first wheel; 15B, a second wheel; 09. an underwater propulsion device; 10000. a road surface; 10005. an obstacle V; o-device center of gravity position; 08-environment awareness module; 801-motion manipulation device.

Detailed Description

According to the invention, through deep research on the overall topological structure, the motion characteristic and the motion mechanism of the movable equipment, a scientific and reasonable overall structural design of the equipment is provided, and the obstacle crossing of high difficulty such as climbing steps, hurdles (even climbing) and the like of automobiles and yachts is facilitated. As the automobile yacht is important equipment and an important industry of human beings, the invention has important economic and social values.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and operate, and thus are not to be construed as limiting the present application, and the specific meanings of the above terms may be understood by those skilled in the art according to specific situations. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

Referring to fig. 1 to 12, an embodiment of the present application provides a movable apparatus, which moves along a predetermined direction X1 and includes a frame 01 and a third lifting mechanism 212. Alternatively, the third elevating mechanism may also be referred to as a third elevating mechanism 221. The movable apparatus further includes the first lifting mechanism 211 and/or the second lifting mechanism 222 and is capable of climbing stairs, thereby having a relatively high obstacle crossing capability. Alternatively, the predetermined direction X1 may be a horizontal direction, or an inclined direction having an angle with the horizontal direction. It will be appreciated that when the predetermined direction X1 is horizontally oriented, the frame 01 is horizontally moved along the horizontal direction, such as along a horizontally oriented ground surface. And the predetermined direction X1 is an inclined direction, the rack 01 can move in the inclined direction, such as climbing a slope or climbing stairs.

Optionally, the frame 01 is provided in a hollow shape, the frame 01 is horizontally arranged relative to a horizontal plane and comprises a plurality of longitudinal beams and a plurality of cross beams, and two ends of each cross beam are respectively connected with two corresponding longitudinal beams. It can be understood that a plurality of longitudinal beams can be stacked in the vertical direction, and a plurality of transverse beams can be stacked in the vertical direction, so that the longitudinal beams and the transverse beams jointly enclose a cabin for human body to enter. In this embodiment, the longitudinal beams and the cross beams are made of metal materials, such as stainless steel square tubes, and a plurality of square tubes are welded to form the engine room.

One end of each of the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism 212 is connected with the frame 01;

the other end of the first lifting mechanism 211 is connected with a first travelling mechanism; the first lifting mechanism 211 is used for adjusting the distance of the first walking mechanism relative to the frame 01;

optionally, the first lifting mechanism 211 is connected to the frame 01 in a vertical direction, the first traveling mechanism is located below the frame 01 and connected to the first lifting mechanism 211, so that the first lifting mechanism 211 extends or lifts in the vertical direction to adjust the supporting length of the first lifting mechanism 211, so as to adjust the vertical height of the frame 01, or the height of the frame 01 remains unchanged, and the first lifting mechanism 211 can enable the first traveling mechanism to approach a predetermined distance relative to the frame 01, so as to enable the first traveling mechanism to be separated from the ground, so that the first traveling mechanism can pass over an obstacle from above the obstacle, i.e., the height of the lower surface of the first traveling mechanism is not less than the height of the upper surface of the obstacle; or the first elevating mechanism 211 may move the first traveling mechanism away from the frame 01 by a predetermined distance so that the first traveling mechanism abuts the ground.

The other end of the second lifting mechanism 222 is connected with a second running mechanism; the second lifting mechanism 222 is used for adjusting the distance of the second travelling mechanism relative to the frame 01;

it can be understood that the second lifting mechanism 222 is connected to the frame 01 in the vertical direction, the second traveling mechanism is located below the frame 01 and connected to the second lifting mechanism 222, so that the second lifting mechanism 222 extends and retracts in the vertical direction to adjust the length of the second lifting mechanism 222 in the vertical direction, so as to adjust the vertical height of the frame 01, or the height of the frame 01 remains unchanged, and the second lifting mechanism 222 can enable the second traveling mechanism to approach a predetermined distance relative to the frame 01, so that the second traveling mechanism is separated from the ground, so that the second traveling mechanism can pass over an obstacle from above the obstacle, that is, the height of the lower surface of the second traveling mechanism is not less than the height of the upper surface of the obstacle; or the second elevating mechanism 222 may move the second traveling mechanism away from the frame 01 by a predetermined distance so that the second traveling mechanism abuts the ground.

The other end of the third lifting mechanism 212 is connected with a third travelling mechanism; the third lifting mechanism 212 is used for adjusting the distance of the third travelling mechanism relative to the rack 01;

alternatively, one end of the third lifting mechanism 212 is connected to and supports the frame 01, and the other end of the third lifting mechanism 212 can extend and contract relative to the frame 01 and is connected to the third traveling mechanism. It can be understood that the third lifting mechanism 212 is connected to the frame 01 in the vertical direction, the third traveling mechanism is located below the frame 01 and connected to the third lifting mechanism 212, so that the third lifting mechanism 212 extends and retracts in the vertical direction to adjust the length of the third lifting mechanism 212 in the vertical direction, so as to adjust the vertical height of the frame 01, or the height of the frame 01 remains unchanged, and the third lifting mechanism 212 can enable the third traveling mechanism to approach a predetermined distance relative to the frame 01, so that the third traveling mechanism is separated from the ground, so that the third traveling mechanism can pass over an obstacle from above the obstacle, i.e. the height of the lower surface of the third traveling mechanism is not less than the height of the upper surface of the obstacle; or the third lift mechanism 212 may move the third travel mechanism a predetermined distance away from the frame 01 to cause the third travel mechanism to abut the ground. The method is not limited and can be selected according to actual conditions.

The first travelling mechanism and the second travelling mechanism are arranged at intervals along the travelling direction, and the first travelling mechanism and/or the second travelling mechanism are/is used for driving the movable equipment to travel along the ground; alternatively, the first traveling mechanism and the second traveling mechanism may drive the frame 01 to move individually, or the first traveling mechanism and the second traveling mechanism cooperate with each other to drive the frame 01 to move.

Optionally, the third running gear is located between the first running gear and the second running gear.

Referring to fig. 13 to 21, the process of climbing stairs will be described below with reference to the structure of the mobile device. It will be appreciated that the mobile device climbs from the first step to the second step, the height of the second step being greater than the height of the first step.

Referring to fig. 22, when the movable apparatus travels on a first step and travels to a second step along a predetermined direction X1, the first lifting mechanism 211 drives the first traveling mechanism to ascend, the height of the lower surface of the first traveling mechanism is not less than the height of the second step, the second traveling mechanism is engaged with the third traveling mechanism, the driving frame 01 and the first traveling mechanism continue to move a predetermined distance toward the second step, the first traveling mechanism is located right above the top of the second step, the first lifting mechanism 211 drives the first traveling mechanism to descend and abut against the top of the second step, the third lifting mechanism 212 drives the third traveling mechanism to ascend and be located above the second step, the first traveling mechanism is engaged with the second traveling mechanism, the driving frame 01 and the third traveling mechanism continue to move, the third traveling mechanism is located right above the second step, the third lifting mechanism 212 drives the third traveling mechanism to descend and abut against the top of the second step, the second lifting mechanism 222 drives the second running gear to ascend and be positioned above the second step, and the first running gear and the third running gear are matched, so that the machine frame 01 and the second running gear are driven to move continuously and finish the ladder climbing. And the rest can be done in sequence, so that the movable equipment can perform continuous ladder climbing operation. Through the cooperation of the first traveling mechanism, the second traveling mechanism and the third traveling mechanism, the movable equipment can climb stairs, so that the obstacle crossing capability of the movable equipment is improved.

Alternatively, the first traveling mechanism is located forward of the second traveling mechanism in the traveling direction X1, or the first traveling mechanism is located rearward of the second traveling mechanism in the traveling direction X1.

In some embodiments, the first lift mechanism 211, the second lift mechanism 222, and/or the third lift mechanism 212 are linear motion mechanisms. The selection can be performed according to actual requirements, and is not limited herein.

Alternatively, the first lifting mechanism 211, the second lifting mechanism 222 and/or the third lifting mechanism 212 are swing mechanisms driven by telescopic mechanisms. The selection can be performed according to actual requirements, and is not limited herein.

Optionally, the first lifting mechanism 211, the second lifting mechanism 222 and/or the third lifting mechanism 212 are swinging mechanisms driven by a worm gear mechanism. The selection can be performed according to actual requirements, and is not limited herein.

In some embodiments, the first travel mechanism includes a first front wheel 511 coupled to the first lift mechanism 211; the second travel mechanism includes a second rear wheel 522 coupled to the second lift mechanism 222. Optionally, the first front wheel 511 and/or the second rear wheel 522 are drive wheels. The first front wheel 511 and/or the second rear wheel 522 are driven wheels.

In some embodiments, at least two first front wheels 511 are arranged transversely to the driving direction of the movable device, and each first front wheel 511 is connected with the first lifting mechanism 211, and it is understood that a bracket can be arranged between the first lifting mechanism 211 and the two first front wheels 511, so that the two first front wheels 511 can be driven to synchronously ascend or synchronously descend by one first lifting mechanism 211.

Optionally, each first front wheel 511 is correspondingly connected to a first lifting mechanism 211; in this embodiment, two first front wheels 511 and two first lifting mechanisms 211 are provided, and the two first lifting mechanisms 211 are respectively connected to the two first front wheels 511, so that the two first front wheels 511 are respectively driven to ascend or descend by the two first lifting mechanisms 211.

Alternatively, at least two second rear wheels 522 are arranged transversely to the direction of travel of the movable apparatus, each second rear wheel 522 being connected to the second lifting mechanism 222, it being understood that a support may be provided between the second lifting mechanism 222 and the two second front wheels, so that the two second front wheels are driven to synchronously lift or synchronously lower by one second lifting mechanism 222.

Optionally, each second rear wheel 522 is correspondingly connected to a second lifting mechanism 222. In this embodiment, two second front wheel devices and two second lifting mechanisms 222 are provided, and the two second lifting mechanisms 222 are respectively connected to the two second front wheels, so that the two second front wheels are respectively driven to ascend or descend by the two second lifting mechanisms 222.

In some embodiments, the third travel mechanism comprises: a first rotating member 0721, a second rotating member 0722 and a belt member 070, the belt member 070 being wound around the first rotating member 0721 and the second rotating member 0722. The third lifting mechanism 212 is directly connected to the first rotating member 0721 and the second rotating member 0722 or indirectly connected thereto through a bracket. Alternatively, the belt 070 is a track and the first 0721 and second 0722 are rollers. One end of the crawler belt is sleeved with one of the rollers, and the other end of the crawler belt is sleeved with the other roller. Alternatively, the third traveling mechanism may be a crawler-type or belt-type traveling mechanism, so that when the ladder is climbing, the frame 01 may be moved along the stairs to climb the ladder by cooperation of the crawler and the two rollers, so that the climbing motion of the movable apparatus may be realized by the third traveling mechanism.

Alternatively, the track is driven to ascend by a predetermined distance by the third elevating mechanism 212, and the first and second traveling mechanisms statically or dynamically support the frame 01 while the human body is in the cabin and performs running exercise on the track, thereby increasing the range of use of the movable apparatus.

It can be understood that the third traveling mechanism further comprises a connecting frame 01 and a driving motor for driving the two rollers to rotate, and the driving motor and the rollers can be connected through belt transmission, gear transmission or chain transmission; or the roller is a roller with an integrated driving motor and a hub. The method is not limited and can be selected according to actual conditions.

In some embodiments, the ribbon 070 comprises a first side ribbon 070a and a second side ribbon 070b, the first rotating member 0721 comprises a first side first rotating member 0721a and a second side first rotating member 0721b, the second rotating member 0722 comprises a first side second rotating member 0722a and a second side second rotating member 0722b, the first side ribbon 070a is wrapped around the first side first rotating member 0721a and the first side second rotating member 0722a, the second side ribbon 070b is wrapped around the second side first rotating member 0721b and the second side second rotating member 0722b, and the first side ribbon 070a and the second side ribbon 070b are capable of differential operation; the differential operation enables the third traveling mechanism to have a differential function, so that the movable equipment can be conveniently steered when traveling along the road surface. Encircling is also known as sleeving or socketing.

The first rotating part 0721a of the first side and the second rotating part 0722a of the first side are connected to at least one third lifting mechanism 212, and the first rotating part 0721b of the second side and the second rotating part 0722b of the second side are connected to at least one third lifting mechanism 212.

Referring to fig. 1 and 10, in some embodiments, the first rotating member 0721 and the second rotating member 0722 may be segmented rollers, so that the two tracks are respectively sleeved on two segments of the same roller, or two rollers are respectively disposed on the same end of the two tracks, and the same end of the two tracks is respectively sleeved on the two rollers.

Referring to fig. 13 and 22, it can be understood that the third traveling mechanism independently supports and drives the frame 01, so that the movable equipment can travel in soft silt, shallow water, tidal flat areas, and the like. When the movable equipment needs to run in a wheel type mode, the frame 01 is supported and driven to move through the first travelling mechanism and the second travelling mechanism; when the movable equipment enters a soft section, a waterway junction or a section with obstacles, the third travelling mechanism independently supports and drives the frame 01 to carry out belt type travelling; when the movable equipment runs in water, the frame 01 is also provided with an underwater propulsion device, such as a propeller, and the movable equipment is driven to run in water through the third travelling mechanism and the underwater propulsion device. It will be appreciated that the cooperation of the first, second and third travelling mechanisms may increase the speed of travel of the mobile device on the highway. In soft areas, the third travelling mechanism can perfectly exert the obstacle-crossing advantage of belt type travelling.

In some embodiments, the center of gravity of the movable apparatus is located within the area covered by the orthographic projection of the third travel mechanism belt 070 onto the ground. So that the frame 01 can be stably supported by the third traveling mechanism, or the third traveling mechanism independently drives the frame 01 to move, wherein at least one of the first rotating part 0721 and the second rotating part 0722 is a driving part.

In some embodiments, the third travel mechanism includes a front middle wheel 512 and a rear middle wheel 521; at least two of the middle front wheels 512 are arranged laterally in the traveling direction, or at least two of the middle rear wheels 521 are also arranged laterally in the traveling direction. The third travel mechanism is a wheel type travel mechanism, so that the frame 01 has a wheel type travel function.

Alternatively, in the present embodiment, two

wheels

512 and 521 are provided. The third lifting mechanism 212 is connected to two front middle wheels 512 and two rear middle wheels 521 at the same time, or a third lifting mechanism 212 is correspondingly arranged on each front middle wheel 512 and a third lifting mechanism 212 is correspondingly arranged on each rear middle wheel 521.

In some embodiments, the orthographic projection of the gravity center of the movable device on the ground is positioned in an area formed by the contact points of the third travelling mechanism which are sequentially connected in a surrounding way. Optionally, contact points formed by the contact of each wheel 512 at the front middle part and each wheel 521 at the rear middle part with the ground are sequentially connected in a line to form an area, and the orthographic projection of the gravity center of the movable equipment on the ground is positioned in the area, so that the third travelling mechanism can stably support the rack 01.

In some embodiments, the movable apparatus further includes a first moving mechanism 18051 and a second moving mechanism 18052, both ends of the first moving mechanism 18051 are respectively connected to the first lifting mechanism 211 and the frame 01, and are configured to adjust a distance of the first traveling mechanism from a center of the frame 01 in the traveling direction, and have a first obstacle-accommodating section between the first traveling mechanism and the third traveling mechanism in the traveling direction; two ends of the second moving mechanism 18052 are respectively connected to the second traveling mechanism and the rack 01, and are used for adjusting the distance between the second traveling mechanism and the center of the rack 01 along the traveling direction, and a second obstacle accommodating area is provided between the second traveling mechanism and the third traveling mechanism along the traveling direction.

Alternatively, when there are a plurality of components arranged in the traveling direction, the reference numerals are given by L and R in the following, where L denotes the left side of the frame in the traveling direction and R denotes the right side of the frame in the traveling direction. For example, there are two front-of-middle wheels 512, one labeled 512R and the other labeled 512L, where the front-of-middle wheel 512L is located on the left side of the frame and the front-of-middle wheel 512R is located on the right side of the frame. For example, if two second lifting mechanisms 222 are provided, one of which is denoted by 222L and the other of which is denoted by 222R, the second lifting mechanism 222L is located on the left side of the rack in the traveling direction, and the second lifting mechanism 222R is located on the right side of the rack in the traveling direction. And so on for others. It can be understood that when the movable equipment is used for obstacle crossing, the obstacle can be accommodated in the first obstacle accommodating area firstly and then accommodated in the second obstacle accommodating area; or the barrier is accommodated in the second barrier accommodating area firstly and then accommodated in the first barrier accommodating area, and the barrier is not limited and can be selected according to the actual situation. The obstacle crossing process is explained below with reference to the structure of the movable equipment:

when the movable equipment horizontally moves along the ground and crosses the obstacle, the first lifting mechanism 211 drives the first travelling mechanism to move upwards for a preset distance, so that the first travelling mechanism is positioned above the obstacle, the third travelling mechanism is matched with the second travelling mechanism, and the rack 01 is driven to move along the travelling direction X1, so that the obstacle is contained in a first obstacle containing area; the first lifting mechanism drives the first travelling mechanism to move downwards to abut against the ground, and meanwhile, the third lifting mechanism 212 drives the third travelling mechanism to move upwards for a preset distance and is positioned above the obstacle; the first travelling mechanism and the second travelling mechanism are matched to drive the rack 01 to move continuously along the travelling direction X1, and meanwhile, the third travelling mechanism crosses the obstacle, and the obstacle is contained in the second obstacle containing area; the third lifting mechanism 212 drives the third traveling mechanism to move downwards to abut against the ground, meanwhile, the second lifting mechanism 222 drives the second traveling mechanism to move upwards and is located above the obstacle, and the third traveling mechanism is matched with the first traveling mechanism to drive the rack 01 to continuously move along the traveling direction X1 until the obstacle is separated from the second obstacle accommodating area, so that obstacle crossing is completed. Through the cooperation of the third travelling mechanism, the first travelling mechanism and the second travelling mechanism, the movable equipment can cross over the obstacle met by the movable equipment, and therefore the obstacle crossing capability of the movable equipment is improved.

It will be appreciated that the obstacle crossing process of the mobile device in the inclined direction is similar to the obstacle crossing process in the horizontal direction, and will not be described in detail here.

It can be understood that the size of the space between the first barrier area and the second barrier area is adapted to the size of the obstacle, i.e. the obstacle can be completely accommodated in the first barrier area or the second barrier area along the driving direction X1.

In some embodiments, the first motion mechanism 18051 is a linear motion mechanism, a swing mechanism driven by a telescoping mechanism, or a swing mechanism driven by a worm gear mechanism. Optionally, in this embodiment, the first moving mechanism 18051 is a linear moving mechanism, specifically, a first electric push rod.

In some embodiments, the second motion mechanism 18052 is a linear motion mechanism, a swing mechanism driven by a telescoping mechanism, or a swing mechanism driven by a worm gear mechanism. Optionally, in this embodiment, the second moving mechanism 18052 is a linear moving mechanism, specifically, a second electric push rod.

Referring to fig. 1 and 10, in some embodiments, the first moving mechanism 18051 includes a first electric push rod having one end connected to the frame 01 and the other end disposed along the traveling direction X1, the first lifting mechanism 211 is provided with a first guide hole, and a free end of the first electric push rod is slidably disposed through the first guide hole to connect the first lifting mechanism 211.

In some embodiments, the second moving mechanism 18052 includes a second electric push rod having one end connected to the frame 01 and the other end arranged along the traveling direction X1, the second lifting mechanism 222 is opened with a second guiding hole, and a free end of the second electric push rod is slidably inserted through the second guiding hole to connect to the second lifting mechanism 222.

Optionally, the size of the first barrier zone is adjusted by the first movement mechanism 18051; the size of the second obstacle-accommodating area is adjusted through the second movement mechanism 18052, so that the movable device can adapt to obstacles with different sizes, and the obstacle-crossing capability of the movable device is improved.

Optionally, the two first front wheels 511 are a left front wheel 051 and a right front wheel 053 respectively, the left front wheel 051 is correspondingly provided with a first moving mechanism 18051, and the right front wheel is correspondingly provided with a first moving mechanism 18053.

Optionally, the two first rear wheels 522 are respectively a left rear wheel 052 and a right rear wheel 254, the left rear wheel 052 is correspondingly provided with a second motion mechanism 18052, and the right rear wheel 054 is correspondingly provided with a second motion mechanism 18054.

Optionally, the first motion mechanism is numbered 18051 or 18053; the second motion mechanism is numbered 18052 or 18054.

In some embodiments, the mobile apparatus further comprises an underwater propulsion device or flying device coupled to the frame 01.

In some embodiments, the linear motion mechanism or the telescoping mechanism is an electric push rod, a telescopic hydraulic cylinder, or a rail type mechanism.

In some embodiments, the mobile device further comprises: and a fourth traveling mechanism (15) connected to the frame 01, the fourth traveling mechanism (15) being used for driving the equipment along the road surface, the fourth traveling mechanism (15) comprising a first wheel and a second wheel which are arranged at intervals along the driving direction.

Optionally, the fourth travelling mechanism (15) comprises two groups of wheels arranged at intervals along the travelling direction, or the fourth travelling mechanism (15) comprises a second crawler-type travelling mechanism or a roller-type travelling mechanism. For example, the drum-type traveling mechanism may be a drum disposed laterally to the traveling direction, or a drum disposed in the same direction to the traveling direction. The transversely disposed drum is for example a roller drum. For example, the rollers arranged in the same direction are spiral roller type traveling mechanisms, and the rollers are provided with threads. The fourth running gear (15) can be of the wheel-type running gear type. Optionally, the fourth travel mechanism comprises two first wheels 15A and two second wheels 15B for moving the movable apparatus in wheels. Alternatively, the fourth travel mechanism may include more sets of wheels. Alternatively, the two first wheels 15A are arranged laterally in the travel direction and are respectively the first wheel 15A located at the front left and the first wheel 15A located at the front right, and/or the two second wheels 15B are arranged laterally in the travel direction and are respectively the second wheel 15B located at the rear left and the second wheel 15B located at the rear right.

Alternatively, two first wheels 15A are located between the first and third travel mechanisms and two second wheels 15B are located between the second and third travel mechanisms.

The first traveling mechanism, the second traveling mechanism and the third traveling mechanism are called lifting traveling mechanisms.

In the same equipment, the liftable travelling mechanism and the fourth travelling mechanism cannot interfere with each other. Optionally, the liftable traveling mechanism and the fourth traveling mechanism can jointly support the ground and jointly drive the device to travel along the road surface. The bottom of the liftable travelling mechanism and the bottom of the fourth travelling mechanism can be equal in height under the driving of the lifting mechanism correspondingly connected with the liftable travelling mechanism. The bottom of the lifting traveling mechanism can be positioned above the bottom of the rack 01. The bottom of any walking mechanism can be positioned below the frame 01.

The fourth travel mechanism is driven by a fourth drive, the output of which is connected to the power input of the fourth travel mechanism, in order to drive the device along the road. The lifting travelling mechanism can be driven by a driver of the lifting travelling mechanism (power input part) connected with the output part, so that the equipment can run along the road surface.

The fourth traveling mechanism 15 has parameters higher than those of the lifting traveling mechanism. The parameters include travel speed, output power, load capacity or impact resistance. The fourth running gear is also referred to as the main running gear. The first wheel 15A and the second wheel 15B are both fast wheels or main wheels. The fourth traveling mechanism 15 is attached to the body 01 of the movable platform to improve reliability. The fourth travel mechanism is used for rapidly moving the movable equipment along the road surface. The fast speed means that the running speed is faster than that of the lifting running mechanism.

The lifting travelling mechanism is also referred to as an auxiliary travelling mechanism. Any one of the lifting travelling mechanism and the lifting mechanism correspondingly connected with the lifting travelling mechanism belongs to the obstacle crossing device of the movable equipment. The lifting travelling mechanism is used for enabling the movable equipment to slowly run along the road surface and cross obstacles.

In some embodiments, the movable apparatus further comprises a control structure for controlling any one or any plurality of the first, second and third lifting mechanisms, such that the control structure is capable of controlling the travel of the apparatus, i.e. the first, second and third travelling mechanisms by controlling the first, second and third lifting mechanisms.

Optionally, the movable equipment comprising the fourth travel mechanism is a car or a yacht. Optionally, the device of any one of the herein configured to be mobile for an adult. The weight and height of the adult can be set according to national standards or industry standards.

A control method for controlling a movable apparatus,

in the case of the example 1, the following examples are given,

the control method comprises the following steps:

s1: controlling the first lifting mechanism 211, the second lifting mechanism 222, and the third lifting mechanism 212 of the movable equipment to respectively lift the first traveling mechanism, the second traveling mechanism, and the third traveling mechanism relative to the frame 01 to support the fourth traveling mechanism 15, and controlling the fourth traveling mechanism 15 to cause the movable equipment to travel along the road surface;

s2: the first lifting mechanism 211, the second lifting mechanism 222, and the third lifting mechanism 212, which control the movable equipment, respectively lower the first traveling mechanism, the second traveling mechanism, and the third traveling mechanism with respect to the frame 01 to prop up the ground to raise the fourth traveling mechanism 15 to get over the obstacle.

The above steps S1 and S2 are executed separately at different times. The source of the control instruction can be an operator or a network or an automatic driving module in the equipment. Optionally, step S2 includes: the device is driven to run by any one or any plurality of the first running mechanism, the second running mechanism and the third running mechanism. In step S2, the fourth travel mechanism 15 is mounted on a liftable travel mechanism to travel. In step S1, the liftable traveling mechanism is lifted off the ground, and the fourth traveling mechanism 15 can be driven by the liftable traveling mechanism. The first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism 212 of the movable device are controlled to lift/lower the corresponding first traveling mechanism, second traveling mechanism and third traveling mechanism respectively, that is, the first lifting mechanism, the second lifting mechanism and the third lifting mechanism control the lifting/lowering of the first traveling mechanism, the second traveling mechanism and the third traveling mechanism respectively. The obstacle crossing method described in step S2 may be performed using the obstacle crossing method described in any of the paragraphs herein.

The step S1 is for the mobile device to travel on an unobstructed road segment. Namely: when the movable apparatus is on an unobstructed road segment, the step S1 is performed. The step S2 solves the problem that the rack 01 encounters an obstacle and needs to be over-ridden or the problem that the fourth traveling mechanism 15 encounters an obstacle and needs to be over-ridden.

The technical scheme has the beneficial effects that: the conventional automobile has only the fourth traveling mechanism 15, and when an obstacle is encountered, the automobile is difficult to pass, so that the conveying task cannot be smoothly executed. The technical scheme provided by the invention enables the automobile to be hurdled and walk. The problems that the automobile is difficult to pass when meeting obstacles, slips on the snowfield and the conveying task cannot be smoothly executed are solved. Has important economic value and social significance.

Example 2:

the control method comprises the following steps:

(first stage: the middle wheel is used for propping up and lifting the frame 01, translating and hurdling the first wheel):

c1: controlling the third lifting mechanism 212 to lower the third traveling mechanism relative to the frame 01 to support the ground, and raising the frame 01 and the traveling mechanism in front relative to the road surface to cross the obstacle; controlling the equipment to run so that a running mechanism in front passes over the raised barrier; controlling a corresponding lifting mechanism to enable a front travelling mechanism to descend relative to the rack 01 so as to support the ground;

(second stage: raising middle wheel to cross obstacle, translating hurdle, lowering to prop up ground):

c2: the front and rear traveling mechanisms are in a ground supporting state, and the third lifting mechanism 212/221 is controlled to lift the third traveling mechanism relative to the frame 01 to cross obstacles;

c3: controlling the apparatus to travel such that the third travel mechanism passes over the raised barrier;

c4: controlling the third lifting mechanism 212 to lower the third traveling mechanism relative to the frame 01 for supporting;

(third stage: raising the last wheel to cross obstacle, translating the hurdle, lowering to prop up the ground):

c5: controlling a corresponding lifting mechanism to enable a rear travelling mechanism to ascend relative to the rack 01 so as to cross obstacles;

c6: and controlling the equipment to run so that the rear running gear passes over the raised obstacle.

Optionally, the second control method further includes: the first moving mechanism 18051 is controlled to adjust the distance of the first traveling mechanism in the front-rear direction from the center of the frame 01, and/or the second moving mechanism 18052182 is controlled to adjust the distance of the second traveling mechanism in the front-rear direction from the center of the frame 01. The steps are for: the landing point of the first running gear and/or the second running gear is adjusted according to the width of the obstacle. So as to better straddle and cross obstacles.

The step C2, in which the front and rear running gears are in a ground supporting state, may include a step: the corresponding lifting mechanism is controlled to lead the rear running mechanism to descend relative to the frame 01 so as to support the ground.

And controlling a corresponding lifting mechanism to enable a certain travelling mechanism to ascend or descend, wherein the corresponding lifting mechanism is connected with the travelling mechanism at the other end of the lifting mechanism. The lifting mechanism corresponds to the walking mechanism. For example, with the third travel mechanism, the corresponding lift mechanism is the third lift mechanism 212. The raised finger is raised relative to the ground.

If the direction of travel of the device is the same as the forward direction of the device configuration: the front running gear is a first running gear, and the rear running gear is a second running gear. If the traveling direction of the equipment is opposite to the forward direction of the equipment structure, the front traveling mechanism is the second traveling mechanism, and the rear traveling mechanism is the first traveling mechanism.

The present invention also provides another transportable apparatus comprising: a wheeled moving device (5) for moving the equipment along the ground by means of wheels (05) for walking, a crawler-type walking device (07) for moving the equipment along the ground by means of a belt (070), and an underwater propulsion device (09) for driving the equipment to travel in water;

the apparatus further comprises a lifting mechanism for lifting the belt (070) relative to the frame (01) and/or the apparatus further comprises a lifting mechanism for lifting wheels (05) for walking relative to the frame (01) to: switching the device between a wheel mode of travel and a belt mode of travel, and/or: so that the equipment is over-ridden.

The device can be widely applied to amphibious. Optionally, the device (1), the crawler track (07) is further adapted to drive the belt (070) for running a person on the belt (0702).

The present invention also provides another control method of a mobile device, including steps Y11 and/or Y12:

y11: controlling the equipment to run, controlling a lifting mechanism for driving a running mechanism to be over-barrier to lift relative to a frame (01) of the equipment, enabling the running mechanism to be over-barrier to lift relative to the frame (01) to over-barrier, and/or controlling a lifting mechanism for driving a plurality of running mechanisms except the running mechanism to be over-barrier to lift relative to the frame (01) of the equipment, enabling the plurality of running mechanisms to descend relative to the frame (01) to support the ground, and enabling the running mechanism to be over-barrier to lift relative to the frame (01) to over-barrier.

Y12: controlling the equipment to drive towards the direction of a lower step, and enabling a plurality of travelling mechanisms except the travelling mechanism to be over-obstacle in the equipment to touch the ground, wherein a graph surrounded by the contact points of the plurality of travelling mechanisms in the overlooking direction comprises the gravity center (O point) of the equipment; and controlling a lifting mechanism for driving a travelling mechanism suspended above a section below the step to lift relative to a frame (01) of the equipment, and enabling the travelling mechanism to descend relative to the frame (01) so as to support the section below the step of the travelling mechanism. The method is used for obstacle crossing of a wide range of control equipment.

Any scheme for controlling equipment to run or controlling equipment to cross obstacles can comprise the following steps: the method comprises the steps of enabling a plurality of travelling mechanisms except the travelling mechanism to be over-ridden in the equipment to touch the ground, wherein a figure enclosed by the contact points of the plurality of travelling mechanisms in the overlooking direction comprises the gravity center (O point) of the equipment.

The running gear that waits to hinder more indicates: a running gear that encounters obstacles while the mobile device is traveling along a road surface. Encountering an obstacle is also referred to as approaching an obstacle. The running mechanism is the first running mechanism, the second running mechanism or the third running mechanism. Make running gear rise in order to surmount the obstacle, indicate: the lower surface of the running gear is raised to a height not lower than the upper surface of the obstacle, so that the running gear can cross the obstacle. The obstacle crossing finger of the walking mechanism enables the walking mechanism to be positioned on the obstacle or enables the walking mechanism to pass over the obstacle. Obstacle surmounting is the purpose. Raising the traveling mechanism is an obstacle crossing means. The running gear is raised not all but one or both of the running gears near the obstacle.

The embodiment of the present application also provides a storage medium, namely a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the processor is enabled to implement the control method.

The present embodiment also provides a control apparatus for implementing a control method, the control apparatus comprising one or more processors, the control apparatus further comprising a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the control method.

The embodiment also provides a mobile platform which comprises the control device.

The mobile device of this embodiment comprises a second movement means (07) for operating the belt 070 for running the mobile device along a road surface, and the second movement means (07) is further adapted for operating the belt 070 for a person running on the belt 070.

In some embodiments, the mobile apparatus further comprises a sensor module, the sensor module being connected to the frame 01, the sensor module being configured to transmit a detection signal to the control device, and the control device being configured to control the first, second and third travelling mechanisms in response to the detection signal. And the control device controls the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism 212 according to the detection signal.

Optionally, the sensor module may acquire a control instruction including acquiring a person through the human-computer interaction module, acquire road condition information based on the environment sensing module, and select a corresponding motion device to control movement of the mobile device according to the road condition information.

Alternatively, the processing of the environment sensing module may be performed by an artificial intelligence module. The artificial intelligence processing includes image recognition, i.e., mobile device visual recognition, speech recognition, semantic recognition, natural language recognition, and the like. The environment information includes target information. The target information includes: target condition and/or target location. In this embodiment, the environment refers to an environment in which the mobile device is located or an environment in which the device is located. The environmental information includes visual information of the traveling direction of the device or the movable device, road conditions, a two-dimensional map, a three-dimensional map, navigation information, and the like.

Referring to fig. 13 to 20, any of the drawings herein is a schematic view of a mobile device. In any of the figures, the direction indicated by X1 and the arrow is forward.

The wheels include a front wheel (511), a wheel (512) near the front of the middle, a wheel (521) near the rear of the middle, and a rear wheel (522). The front wheels (511) include a left front wheel (051) and a right front wheel (053). The front middle wheels (512) comprise a front middle left wheel (512L) and a front middle right wheel (512R). The middle rear wheels (521) comprise a middle rear left wheel (521L) and a middle rear right wheel (521R). The rear wheels (522) include a left rear wheel (052) and a right rear wheel (054). The front wheel (511) is also referred to as a first front wheel. The rear wheel (522) is also referred to as a second rear wheel. The left front wheel (051) is also called the first left front wheel. The right front wheel (053) is also referred to as the first right front wheel. The middle forward wheel (512) is also referred to as the second front wheel. The middle rear wheel (521) is also referred to as the first rear wheel. The left wheel (512L) forward of the middle portion is also referred to as a second left front wheel. The right wheel (512R) with the center portion forward is also referred to as a second right front wheel. The middle rear wheel (521) is also referred to as the first rear wheel. The left wheel (521L) at the rear of the middle portion is also referred to as a first left rear wheel. The right wheel (521R) at the rear of the middle portion is also referred to as a first right rear wheel. The left rear wheel (052) is also referred to as the second left rear wheel. The right rear wheel (054) is also referred to as a second right rear wheel.

Fig. 1, 2, 3, 4, 5, 11, 12 are the same type of mobile device. It mainly describes a schematic view of the cooperation of the front wheels, the rear wheels and the second kinematic means (07) of the device. The second movement device (07) comprises a belt member (070), a first rotation member (0721) and a second rotation member (0722). This series of figures is particularly useful for explaining the 1T7 scheme described below.

Fig. 1 is a perspective view, and fig. 2, 3, 4, and 5 are side views of the type of apparatus shown in fig. 1. The lifting mechanism (1307) of the equipment specifically comprises a lifting mechanism (212) with a front middle part and a lifting mechanism (221) with a rear middle part. In fig. 1 and 2, the belt (070) is lifted (enters a wheel-type traveling mode). The bottom of the belt (070) of fig. 3, 4 is lowered to contact the road surface for the equipment to travel over soft sections, climbing stairs, in a belt-type travel. In fig. 4, the belt (070) is driven by the lifting mechanism in the middle to descend and support relative to the frame 01, so that the frame 01 and/or the first walking part connected to the frame 01 can ascend to cross the obstacle.

In fig. 5 the belt (070) rises to avoid obstacles. Fig. 10 is a dynamic diagram of a wheel type obstacle crossing mode. The obstacle crossing system combining wheel travel and belt travel can also be performed with reference to fig. 10.

As shown in fig. 1, 11 or 12, a left belt 070a of the crawler type traveling mechanism is provided to the left of the point of center of gravity O of the movable apparatus, and a right belt 070b of the crawler type traveling mechanism is provided to the right of the point of center of gravity O;

as shown in fig. 1, fig. 2, fig. 5, fig. 3, fig. 4, fig. 5, fig. 11, or fig. 12, the first rotating member 0721 in the crawler type traveling mechanism is disposed forward of the center of gravity O; the second rotating part 0722 in the crawler-type travelling mechanism is arranged behind the gravity center O point; the belt (070) surrounds the first and second rotating members, the front belt being disposed in front of the center of gravity (O) point and the rear belt being disposed behind the center of gravity (O) point. A belt (070) used as a crawler in a crawler type traveling mechanism is provided in front, rear, left, and right of a center of gravity (O) point of a movable device.

Fig. 6 (perspective view), fig. 7, fig. 8 are used to describe the same mobile device. Fig. 7 is a side view of fig. 6. Fig. 8 is a top view of fig. 6. In the apparatus, the front and rear wheels are first (large diameter) wheels, the first wheels including a front wheel (511) and a rear wheel (522). The intermediate wheel is a second (small diameter) wheel. The second wheels are unpowered wheels, and the middle wheels comprise a middle front wheel (512) and a middle rear wheel (521). This series of figures is particularly useful for explaining the 1T3 scheme described below.

And the present invention provides a mobile device or a control method of a mobile device or a control apparatus of a mobile device; the technical scheme comprises any one or more of the following 1T3, 1T7, 1T8 and 1T 9.

1T 3: the mobile device includes: means (5) for moving the apparatus along the ground by means of wheels (05). The device for moving the apparatus along the ground by means of wheels (05) is a wheeled moving device (5). The wheeled movement device comprises a wheel (05) and/or a connection for mounting the wheel (05). The wheel (05) is used for moving the equipment in a wheel type, namely the wheel (05) refers to a wheel in a wheel type moving device. Wheels (05) for moving the device in wheels, i.e. wheeled walking mechanisms. The wheels (05) for moving the device in wheel form are also referred to as road wheels (5). The mounting position of the wheel (05) of the device comprises: front and rear of the device. Front includes left front and/or right front, and/or rear includes left rear and/or right rear.

Preferably, the 1T3 protocol includes the following 1T31 protocol.

1T 31: the mobile device includes: and a device (135) for adjusting the distance between the wheels of the equipment and the frame of the equipment in the vertical direction. The vertical distance between the wheel (05) used for adjusting the equipment and the frame of the equipment is also called the distance used for lifting the wheel (05) of the equipment relative to the frame of the equipment. The mounting position of the wheel (05) of the device comprises: front and rear of the device.

The device (135) is a distance adjusting device, namely a lifting device. The device (135) comprises a distance adjustment mechanism (1305) and/or a connection for mounting the distance adjustment mechanism (1305) and/or a drive for driving the distance adjustment mechanism (1305). The distance adjustment device is in particular a distance adjustment mechanism (1305). The distance adjustment mechanism is in particular a lifting mechanism. As shown in any one of fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, and 12, the base of the elevating mechanism is connected to the frame (01), and the output member of the elevating mechanism is connected to the wheel (05).

The control method (1T31) of the mobile device includes: when the device is moved along the ground (by wheel (05) and/or belt (070)) and the wheel (05) of the device encounters an obstacle, step 1T31 is performed, causing the device to pass over the obstacle. Herein, the obstacle refers to an obstacle protruding from the ground when not described in any way. Step 1T31 is: and controlling a lifting mechanism for driving the wheels close to the obstacle to lift, so that the wheels rise and are used for avoiding the obstacle. The avoidance is in particular referred to as surmounting. This step 1T31 is also the a step. When the deformed traveling member is not used, the bottom of the traveling member is lifted and lowered, that is, the entire traveling member is lifted and lowered, that is, the traveling member is lifted and lowered. Preferably, the step 1T31 further includes the steps of: the distance adjustment mechanism (1305) is controlled to lower the wheel (05) that has passed over the obstacle. This step is used to support and move the device. The mounting position of the wheel (05) of the device comprises: front and rear of the device. In this 1T31 embodiment, the bottoms of the wheels (05) are raised, but not all the wheel bottoms are raised at the same time. But to raise or lower (one or both) adjacent the obstacle. And the control principle of the equipment is as follows: in a top view, the other supports of the apparatus except the wheels near the obstacle are grounded and a pattern surrounded by the touchdown points of the other supports includes a center of gravity (point O) of the apparatus. The implementation of this scheme is shown in particular in fig. 10. The other supports include other wheels and/or belts (070).

And the lifting mechanism (1305) is used for driving the wheel (05) close to the obstacle to lift, namely the lifting mechanism (1305) corresponding to the wheel (05) close to the obstacle. The wheels (05) are connected with corresponding lifting mechanisms (1305). The bottom or lower surface.

The 1T31 includes one or more of subdivision schemes 1T311, 1T312, and 1T 313.

1T 311: the front portion comprises a first front portion, a second front portion; and/or the back portion comprises a first back portion and a second back portion. The first front portion is more forward than the second front portion. The second rear portion is more rearward than the first rear portion. The wheel (05) comprises a wheel (51) before the point of the centre of gravity (O) of the apparatus and a wheel (52) after the point of the centre of gravity (O) of the apparatus. The wheels in front of the centre of gravity (O) point of the apparatus include the front wheels (511) and/or the mid-forward wheels (512). The front wheel (511) is located forward of the middle forward wheel (512). The mid-forward wheel (512) is located forward of the center of gravity (O) point of the apparatus. The wheels behind the point of the centre of gravity (O) of the apparatus include the middle rear wheel (521) and/or the rear wheel (522). The middle rear wheel (521) is located behind the center of gravity (O) point of the device. The middle rear wheel (521) is located forward of the rear wheel (522). The apparatus may comprise at least 3 wheels on either longitudinal axis. The 1T311 scheme is also: the device comprises an intermediate support arranged between a front wheel (51) and a rear wheel (52). The middle refers to the position between the front and back.

1T 312: the front portion comprises a first front portion, a second front portion; and/or the back portion comprises a first back portion and a second back portion. (the original text 1T312 describes:) the front includes left front and/or right front, and/or the back includes left back and/or right back. The first front portion is more forward than the second front portion. The second rear portion is more rearward than the first rear portion. The first front portion comprises a first left front portion and/or a first right front portion, and/or the second front portion comprises a second left front portion and/or a second right front portion, and/or. The front, rear, left, and right orientations refer to the center of gravity (O) with respect to the equipment (rack).

The wheel (05) comprises a front wheel (511), a wheel (512) with a front middle part, a wheel (521) with a rear middle part and a rear wheel (522). The scheme can refer to the attached figures 5, 6, 7, 8, 9 and 10.

The front wheels (511) include a left front wheel (051) and/or a right front wheel (053). The mid-forward wheels (512) include a mid-forward left wheel (512L) and/or a mid-forward right wheel (512R). The mid-rearward wheels (521) include a mid-rearward left wheel (521L) and/or a mid-rearward right wheel (521R). The rear wheels (522) include a left rear wheel (052) and/or a right rear wheel (054). This scheme can be referred to fig. 6.

In the subdivision schemes 1T311 and 1T312, the a step includes a plurality of subdivision steps. The technical scheme can refer to the content shown in the attached figure 10.

Fig. 10 is a schematic view of a mobile equipment obstacle surmounting. The fig. 10 is divided into (a), (B), (C), (D), (E) and (F)6 steps to dynamically demonstrate the obstacle crossing process of the movable equipment. In fig. 10, the 6 parts are all side views, i.e., front views. The X1 arrow indicates front. The center of gravity of the mobile device is O. The frame of the equipment is (01); the device is provided with an environment information acquisition sensor for detecting the moving direction barrier (10005) and an environment sensing module (08).

For example, the forward and backward movement is a forward movement; the a step includes a1 step and a2 step. The A1 step is: distance adjusting mechanisms (211, 212) for driving the front wheels close to the obstacle to ascend and descend are controlled, and the wheels are ascended to enable the wheels (51) to avoid the obstacle. The A2 step is: distance adjusting mechanisms (221, 222) for driving the rear wheel (52) close to the obstacle to move up and down are controlled, and the wheel (52) is moved up to avoid the obstacle.

When the wheel (51) before the center of gravity (O) point of the apparatus includes the front wheel (511) and the middle-forward wheel (512), the a1 step includes a11 step and a12 step. The A11 step is as follows: a distance adjusting mechanism (211) for driving a front wheel (511) close to the obstacle to move up and down is controlled, and the front wheel (511) is moved up to avoid the obstacle. The a11 step is shown in fig. 10 (B). The A12 step is: and controlling a distance adjusting mechanism (212) for driving a middle front wheel (512) close to the obstacle to ascend and descend, so that the middle front wheel (512) ascends and is used for enabling the middle front wheel (512) to avoid the obstacle. The a12 step is shown in fig. 10 (C). The step a11 precedes the step a 12.

When the wheels (52) behind the center of gravity (O) point of the apparatus include the middle rear wheel (521) and the rear wheel (522), the a2 step includes a21 step and a22 step. The A21 step is as follows: and controlling a distance adjusting mechanism (221) for driving the wheel (521) close to the rear middle part of the obstacle to ascend and descend, so that the wheel (521) close to the rear middle part ascends and is used for enabling the wheel (521) close to the rear middle part to avoid the obstacle. The a21 step is shown in fig. 10 (D). The A22 step is as follows: a distance adjustment mechanism (222) for driving the rear wheel (522) close to the obstacle to move up and down is controlled, and the rear wheel (522) is moved up to avoid the obstacle. The a22 step is shown in fig. 10 (E). The step a21 precedes the step a 22. As shown in part (F) of fig. 10, when all the wheels pass over the obstacle, the heights of the bottom surfaces of all the wheels may be set to be uniform. As known in the common knowledge, if the motion mechanism is used for driving the walking part, and the base of the motion mechanism is connected with the frame (01) of the equipment, the output part of the motion mechanism is connected with the base of the walking part, and the walking part has the walking function. When the obstacle crossing step is executed, the equipment is in a moving state. The device is in motion, including moving the device due to inertia, and other grounded wheels driven by power.

Based on the drawings herein, the wheels may be mounted to a lower portion of the frame.

The mobile device, as shown in fig. 6 (perspective), fig. 7, fig. 9, comprises a frame (01) and wheels. The wheel includes a first wheel and a second wheel. The first wheel has a larger diameter than the second wheel. The first wheel includes a front wheel (511) and a rear wheel (522). The second wheels are unpowered wheels and comprise front wheels (512) near the middle and rear wheels (521) near the middle. Fig. 7 is a side view of fig. 6, and fig. 8 is a top view of fig. 6.

1T 7: the mobile device comprises a second movement apparatus (07) for driving the device along a road surface by means of a belt (070) (i.e. the second movement apparatus (07) is configured as a moving belt walking device (07d)), and/or the second movement apparatus (07) is used for running a person by means of the belt (070) (i.e. the second movement apparatus (07) is configured as a treadmill (07 p)). The belt (070) runs through the belt (070). The operation refers to a rotation or a rotational operation. The means for running the device along the road surface is for contacting the road surface and for running the device along the road surface. The belt (070) is operated, in particular driven. The device is driven along the road surface by means of a belt (070), i.e. a belt. In this context, a moving belt is a belt. The walking is that the running is that the ground moves, and the three are equal. Running for a person means running for a person on the belt (0702). The moving belt type running gear (07d) is especially a crawler type running gear. The moving belt type running gear is a moving belt type running mechanism. The crawler type running gear is a crawler type running mechanism. A belt (070) for a person to run is a running belt. A belt (070), i.e. a track, for the apparatus to run along a road surface.

An accessory of a movable apparatus, the accessory of the movable apparatus being a second motion device (07), the second motion device (07) being configured to: for operating the belt (070) for the purpose of running along a road surface (i.e. the second movement device (07) is configured as a movement belt (07d)) function) and/or for the purpose of running (i.e. the second movement device (07) is configured as a treadmill (07 p)).

The beneficial value of the 1T7 protocol: the device may be used as a core, vendible sport module (accessory) and the user may freely choose to fit a belt (0701) for running the device along the road and/or a belt (0702) for running the person after purchase, which is convenient for the user. Outdoor running is restricted by weather and places; running on mobile equipment (fitness equipment) and improving the obstacle crossing capability of wheeled mobile devices are very important requirements. The technology enables two kinds of equipment to be compatible, enables core components such as a second movement device (07) for running the belt-shaped piece (070) to be shared, has two functions, and saves a large amount of raw material consumption and manufacturing cost for the society.

The 1T7 embodiment can be implemented as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 11, and fig. 12, the apparatus comprising: a frame (01), a belt-shaped part (070), a first rotating part (0721) and a second rotating part (0722)

Preferably, this scheme 1T7 includes the following scheme 1T7a1 and/or 1T7a 2.

1T7A 1: the device comprises the belt (0701) for running the device along a road surface. And the belt member (0701) and the second movement means (07) are set to be operable. This works even if the device is driven along a road surface. Namely: the apparatus comprises a moving belt running gear (07 d). The moving belt type traveling device (07d) includes the belt member (0701) and the second moving device (07)). The belt (0701) is intended to come into contact with the road surface and to run the device along the road surface. The belt (0701) used to run the apparatus along a roadway surface may be referred to as a running belt. The belt (0701) functions similarly to a track. The moving belt running gear (07d) is in particular a crawler running gear. The moving belt type running gear is a moving belt type running mechanism. The crawler type running gear is a crawler type running mechanism.

The scheme has the beneficial values that: the user does not need to assemble the belt-shaped piece (0701) by himself after purchasing, and great convenience is brought to the user.

1T7A 2: the apparatus comprises the belt (0702) for a person to run. And the belt (0702) for the person to run and the second exercise device (07) are set in an operable state. The work is for a person to run. The 1T7a2 scheme is also: the apparatus includes a treadmill (07 p). The treadmill (07p) comprises the belt (070) for a person to run and the second exercise device (07). A belt (0702) for a person to run is also known as a running belt.

The scheme has the beneficial values that: the user does not need to assemble the belt-shaped member (0702) for running by himself after purchasing, and great convenience is provided for the user.

This scheme 1T7 can also be described as any of 1T7B, 1T7C below.

1T 7B: a mobile device comprises a second movement device (07) for moving a belt (0701) to cause the device to travel along a surface. Preferably, the second movement device (07) is configured to: a belt (0702) for a person to run runs for a person to run. Naturally, the device also comprises a connection part of the belt (0702) for the person to run. The beneficial effects of the scheme are the same as the 1T7 scheme.

Preferably, this scheme 1T7B includes the following scheme 1T7B 1 and/or 1T7B 2.

1T7B 1: the apparatus comprises a belt (0701). Namely: the apparatus comprises a moving belt running gear (07 d). The beneficial effects of the scheme are the same as the scheme 1T7A 1.

1T7B 2: the apparatus comprises the belt (0702) for a person to run. Namely: the apparatus includes a treadmill. The beneficial effects of the scheme are the same as the scheme 1T7A 2.

1T 7C: a mobile apparatus comprising a second exercise device (07) for running a belt (0702) for a person to run, and the second exercise device (07) is configured to: and for operating a belt (0701) for the device to be driven along a roadway surface to drive the device along the roadway surface. Preferably, this scheme 1T7C includes the following scheme 1T7C 1 and/or 1T7C 2.

1T7C 1: the apparatus comprises the belt (0701) for the apparatus to travel along a roadway. Namely: the apparatus comprises a moving belt running gear (07 d). The beneficial effects of the scheme are the same as the scheme 1T7A 1.

1T7C 2: the apparatus comprises the belt (0702) for a person to run. Namely: the apparatus includes a treadmill. The beneficial effects of the scheme are the same as the scheme 1T7A 2.

The second movement device (07) moves the belt (0701) for the apparatus to travel along the road and the second movement device (07) moves the belt (0702) for the person to run either simultaneously or at different times. Optionally: the belt (0701) for running the device along a road surface and the belt (0702) for running a person may be the same component or different components.

The belt (070) is operated, in particular driven. The second movement device (07) is in particular a primary movement element in a movement mechanism (07m) for driving the belt (070) in operation and/or a power device (07n) for driving the movement mechanism (07 m).

The second movement device (07) comprises a movement mechanism (07m) and/or a connection (07j) of the movement mechanism (07m) and/or a power device (07n) for driving the movement mechanism (07 m). The running belt is used for a person to run on. The connecting part (07j) is used for installing and supporting the movement mechanism (07 m). The movement mechanism (07m) is a belt type movement mechanism. For example, common belt type motion mechanisms include chain type motion mechanisms, synchronous belt type motion mechanisms, and crawler type motion mechanisms.

Embodiments of this 1T7 embodiment: the movement mechanism (07m) comprises a first rotating part (0721) and a second rotating part (0722); the belt (070) surrounds the first rotating member (0721) and the second rotating member (0722). The first rotating member (0721) and the second rotating member (0722) are used for supporting the belt member (070). Optionally, the movement mechanism (07m) may further comprise one or more intermediate pieces. The intermediate piece is arranged in a loop surrounded by the belt-shaped piece (070). The intermediate member is an intermediate rotating member or a support plate. For example, the support plate is a running plate. Or, for example, the intermediate rotating member is a weight rotating member, an induction rotating member, or a carrier rotating member. The belt (070) is an annular belt (070), i.e. the belt (070) is a closed ring. The belt (070) is an endless conveyor belt. The first rotating member (0721) and the second rotating member (0722) are both within the loop of the belt (070). The belt may also be referred to as a sport belt. The belt (070) bridges the first rotating member (0721) and the second rotating member (0722).

The 1T7 embodiment can be implemented as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 11, and fig. 12, the apparatus comprising: a frame (01), a belt member (070), a first rotating member (0721) and a second rotating member (0722). Any of the above rotating members may be of the type of wheel or roller. The roller is a drum. The wheel may be a track wheel (the belt (070) respectively is a track) or a sprocket (the belt (070) respectively is a chain) or other pulley. The other pulleys may be pulleys, timing pulleys. The shaft of the rotating member is connected to the base of the movement mechanism (07 m).

The base of the movement mechanism (07m) is connected with the frame of the movable equipment. The frame connected with the movable equipment is also provided with a connecting part (07j) mounted on the frame. The base of the motion mechanism (07m) and the connecting portion (07j) may be an integrated member. That is, the shaft of the rotating member may be connected to a connecting portion (07j) of the frame of the apparatus. Herein, any connecting member may be referred to as a connecting portion. The connecting part is arranged on the frame of the equipment. The connecting part is used for supporting and connecting (especially fixing) a part to be connected (such as any motion mechanism or a base of any motion mechanism) in a frame of the equipment. And the connection is made to perform a process for connection (e.g. provided with corresponding holes, slots or pins). The frame is also called the frame.

In the movement mechanism (07m), at least one of the first rotating member (0721) and the second rotating member (0722) is a driving member, and the driving member is a driving wheel or a driving roller. The prime mover of the motion mechanism (07m) is connected with the power device (07 n). The power device (07n) drives the motion mechanism (07m) to move. The prime mover is connected with the power device (07n), and the prime mover is connected with the power device (07n) through a transmission mechanism. The power plant (07n) is, for example, an electric motor or a fuel-powered engine. For example, the transmission mechanism is a speed reducer. The prime mover is also the input of power. The motion mechanism (07m) can comprise a plurality of driven members. Several means one or more. The driving part (through a transmission mechanism) is driven by the power device (07n) to rotate, so that the belt-shaped part (070) is driven to rotate, and the driven part rotates.

The principle of the movement of the belt member (070) and the second movement device (07) of the treadmill is also the principle of the belt member (070) and the second movement device (07) of the movement belt type walking device (07 d).

Preferably, the 1T7 solution includes any one or more of the following 1T71, 1T72, 1T73, 1T74, 1T75 and 1T 76:

1T 71: the belt (070) of the crawler type traveling device is divided into a left belt (070a) and a right belt (070b) with reference to the center of gravity (O) of the movable equipment (movable equipment shown in FIG. 1, FIG. 11, FIG. 12). The operation of the left belt (070a) and the operation of the right belt (070b) can be independent of each other. The movable part of the second movement device (07a) which moves the left belt-shaped member (070a) and the movable part of the second movement device (07b) which moves the right belt-shaped member (070b) are not mechanically connected. The running speed of the left belt (070a) and the running speed of the right belt (070b) may be set to be different. The belt (070) is ready for a person to run. The belt-shaped member (070a) rotates and moves in the mechanism (07m) along the direction of the primary moving members (driving wheel and driving roller), namely the front-back direction.

The first side belt-shaped member (070a) is driven to operate by a first side movement mechanism (07m 1); the belt member (070b) on the second side is driven to operate by a second side movement mechanism (07m 2). The first side is the left side. The second side is the right side.

The motion mechanism (07m) is divided into a first side motion mechanism (07m1) and a second side motion mechanism (07m 2). The first side movement mechanism (07m1) includes a first rotating member (0721a) of a first side and a second rotating member (0722a) of the first side. The second side movement mechanism (07m2) includes a first rotation member (0721b) of the second side and a second rotation member (0722b) of the second side. This scheme is shown in figure 1.

In the 1T71 version, the belt (070) is particularly a belt (0702) for a person to run. The first belt (070a) is in particular a belt (0702a) for a person to run on. The second belt (070b) is in particular a belt (0702b) for a person to run on the second side. A belt for a person to run is a running belt.

Herein, the first side and the second side are opposite orientations. Preferably: the first side is the left side, i.e., the left side. The second side is the right side, i.e., the right side.

The beneficial effects of the 1T71 solution compared to the monolithic tape (070): the belt (070) is divided into a first side belt (070a) and a second side belt (070b), the two sides belts can run in a differential mode, and the belts (070) can be used for conveniently steering when the equipment is used for contacting the ground and running along a road surface.

1T 72: the belt-shaped element for people to run is connected with the output end of the second motion device (07) through a part capable of being divided, and the part capable of being divided is used for connecting or disconnecting the belt-shaped element (070) for people to run with the output end of the second motion device (07); and/or the belt for the equipment to run along the road surface is connected with the output end of the second motion device (07) through a part capable of being divided, and the part capable of being divided is used for connecting or disconnecting the belt for the equipment to run along the road surface with the output end of the second motion device (07). The part capable of being disconnected is the clutch.

The control method of the device comprises the following steps: the belt-shaped element (0702) for people to run is connected with the output end of the second movement device (07) through a part capable of being divided, and if the equipment needs to drive along the road through the belt-shaped element (0701) for the equipment to drive along the road, the part capable of being divided is controlled to disconnect the belt-shaped element (0702) for people to run from the output end of the second movement device (07).

Compared with an unbroken connection (especially a fixed connection), the 1T72 scheme has the following beneficial effects: when the second motion device (07) needs to control the belt-shaped members (0701) on two sides for the equipment to run along the road to perform differential motion, the belt-shaped members (0702) for people to run and the second motion device (07) can be separated through energy, so that the belt-shaped members (0701) on two sides for the equipment to run along the road are prevented from being influenced to perform differential motion or energy conservation is facilitated; and/or when the second motion device (07) drives the belt member (0702) for people to run for running, the belt member (0701) for the equipment to run along the road surface can be separated from the second motion device (07) so as to prevent the belt member from influencing running or save energy.

1T 73: the apparatus comprises a lifting mechanism for adjusting the height of the tape (070) relative to the frame of the apparatus. The lifting mechanism is used for switching application scenes 1, 2 and 3 of the belt-shaped member (070). The falling and the rising occur at different time periods. The base of the lifting mechanism is connected with the frame 01. The output piece of the lifting mechanism is connected with the base of the movement mechanism. The prime mover of the lifting mechanism is connected to a driver, and the driver drives the base of the moving mechanism to lift relative to the frame 01. The base of the motion mechanism is lifted to drive the belt-shaped piece to lift.

As shown in fig. 1, 2, 3, 4, and 5, the lifting mechanism (1307) of the apparatus specifically includes a lifting mechanism (212) with a front middle part and a lifting mechanism (221) with a rear middle part. In the series of drawings, several components are not shown for ease of viewing.

Tape (070) application scenario 1 (e.g. as shown in fig. 3, 4): the bottom of the belt (070) is lowered relative to the frame (01) of the apparatus to contact the road surface so that the belt (070) is used to drive the apparatus along the road surface. The belt (070) is applied to the scene 1, i.e. reaches the belt travel position. The belt (070) is used in scenario 1, i.e. in a belt drive mode. This mode is used in particular for passing soft terrain, climbing stairs, in a belt-type driving manner.

Tape (070) application scenario 2 (e.g., as shown in fig. 1, 2): the bottom of the belt (070) is raised relative to the frame of the apparatus so that the belt (070) is out of position for the belt (070) to drive the apparatus along the road. This position is the belt travel position. Out of this position, i.e. off the ground. The belt (070) is out of the belt travel position in application scenario 2, also referred to as non-belt travel mode. The belt-shaped member (070) is lifted, namely the bottom of the belt-shaped member (070) is lifted.

Tape (070) application scenario 3 (e.g., as shown in fig. 5): the bottom of the belt-shaped member (070) is lifted relative to the frame of the equipment, so that the belt-shaped member (070) is kept away. The belt (070) is applied to a scene 3, namely, an ascending obstacle avoidance. The bottom or lower surface.

The control method of the movable equipment comprises the following steps: when the device is moved along the ground and the belt (070) of the device encounters an obstacle, step D is performed, causing the device to pass over the obstacle. The step D is as follows: controlling a lifting mechanism (1307) for adjusting the height of the belt (070) relative to the frame of the apparatus, so that the belt (070) is lifted for keeping the belt (070) clear of the obstacle. The avoidance is in particular referred to as surmounting. Preferably, the step D further comprises the steps of: controlling the lifting mechanism (1307) to lower the belt (070) that has passed over the obstacle. This step is used to support and move the device.

The bottom of the tape (070), i.e. the tape (070) at the bottom. The belt (070) surrounds the first rotating member (0721) and the second rotating member (0722). As shown in fig. 5, the location indicated by the reference numeral (070) is the bottom of the tape (070). As shown in fig. 3 and 4, the position indicated by the reference numeral (070) is the top of the belt-shaped member (070).

The beneficial effects of the 1T73 scheme are as follows: the switching of the application scenes 1 and 2 is facilitated, and the realization of the functions of equipment (for running and running of people) is facilitated. Without the 1T73 solution, the strap (070) would need to be manually disengaged (e.g. by racking the brick, wood on the bottom) from a position for driving the apparatus along the road for running or the like.

1T 74: the second movement device (07) is designed to: the bottom of the belt (070) is lower than the bottom of the other parts of the second movement means (07). The second movement device (07) is in particular the movement mechanism (07 m). Other components of the second movement device (07) are, in particular, the base of the movement mechanism (07 m). The bottom of the belt-shaped member (070) is the bottom of the movement mechanism (07 m). In the 1T74 version, the belt (070) is particularly a belt (0702) for a person to run.

In the prior art, the bottom of the belt (0702) for a person to run of the treadmill is higher than the bottom of the frame for mounting the belt (0702) for a person to run. The belt (0702) for a person to run is supported from the bottom of the frame and the person is running on top of the belt (0702) for a person to run. This prior art solution leads to the realization of functions that are not convenient (to make the device travel along the road).

The beneficial effects of the 1T74 scheme are as follows: compared with the prior art, the function is more convenient to realize (the equipment is driven along the road surface).

1T 75: the second movement device (07) is designed such that: the bottom of the belt (0701) for the apparatus to travel along the road is lower than the bottom of the belt (0702) for the person to run. This 1T75 is: the bottom of the running belt (0701) is lower than the bottom of the running belt (0702). The beneficial effects of the 1T75 scheme are as follows: compared with the prior art, the bottom of the belt-shaped member (0701) for the equipment to run along the road contacts with the ground before the bottom of the belt-shaped member (0702) for the person to run, so that the belt-shaped member (0701) for the equipment to run along the road and the belt-shaped member (0702) for the person to run can realize the running function, and the feasibility of interference between the running function and the running function is reduced. The second movement device (07) is in particular the movement mechanism (07 m).

An example of this 1T75 embodiment: the movement means (07m) are designed to support the rotating part of the belt (0701) for the device to travel along the road with a larger diameter than the rotating part of the belt (0702) for the person to run. The rotary member for supporting the belt (0701) for the apparatus to travel along a road surface comprises a first rotary member (0721d) and/or a second rotary member (0722 d). The rotating member for supporting the belt (0702) for a person to run comprises a first rotating member (0721p) and/or a second rotating member (0722 p).

In the prior art, in movable equipment comprising a crawler, the bottom of a belt (0701) for the equipment to run along a road surface is lower than the bottom of a frame for mounting the belt (0701) for the equipment to run along the road surface, and the bottom of the belt (0701) for the equipment to run along the road surface is in contact with the ground for running the equipment along the road surface.

1T 75: the apparatus is configured to: the second movement means (07) (the middle mechanical part) serves as a component of the base plate (116) of the device. The second movement device (07) (the middle mechanical part) can be used as a main component of the base plate (116) of the device, and the person in the device can directly step on the belt-shaped member (070). Or a sheet may be provided on the belt (070).

The beneficial effect of this scheme: for the running and reliable operation of the equipment; the floor (116) of the device is typically strong, heavy and expensive. The second motion device (07) is configured as a motion belt type walking device (07d) and/or a treadmill (07p), and has heavy self-weight and good reliability. The scheme skillfully combines the bottom plate (116) and the second movement device (07) of the equipment into a whole, thereby greatly reducing the manufacturing cost and the weight of the equipment. Either component achieves its purpose, i.e. is in operation.

1T 76: the device comprises means for supporting the belt (070) at the bottom, for releasing the belt (070) from the belt travel position, which means are supports (117) mechanically connected to the device frame or connections of the supports (117), and which means are configured to allow the supports (117) to move into the operating position. The component is non-fixedly connected with the frame of the equipment. The ground support means contacting the road surface and applying (downward) pressure to the road surface. The belt-shaped member (070) is moved out of the belt-type travel position, i.e. the belt-shaped member (070) is moved out of the road surface. As shown in fig. 12, a support (117) is provided around the bottom of the second motion device (07). The support (117) is lower at its base than the band (070) when in the operating condition. The beneficial effect of this scheme does: although the wheel (05) may be used to prop the ground, and to move the belt (070) out of the belt travel position. However, in order to ensure the running performance, the wheel (05) may be made of a rubber tire or a pneumatic tire with certain elasticity. If the second exercise device (07) is configured as a treadmill (07p) for a person to run, or if the apparatus is set in a human exercise fitness mode during non-driving, the support member (117) can provide a more rigid ground support effect or prevent damage to the wheels (5) and their support members.

The implementation mode of the scheme is as follows: the support (117) is a threaded foot cup, and the support (117) is connected with the bottom plate of the equipment (or the base of the second moving device (07)) and is provided with a threaded hole. Or the support (117) is hinged to the floor of the apparatus (or to the base of the second movement means (07)). When the support member (117) is rotated to the operative position, the belt member (070) is disengaged from the belt travel position. When the apparatus requires belt travel, the support (117) can be rotated to an inoperative position so as not to obstruct the belt (070) from entering a belt travel position.

1T 8: the mobile equipment also comprises a third movement device (18) for enabling the root of the walking part of the equipment to displace in the horizontal direction relative to the frame (01) (center) of the equipment. The third movement device (18) comprises a movement mechanism (1825) and/or a connection for mounting the movement mechanism (1825). The third movement device (18) is in particular a movement mechanism (1825). The horizontal direction particularly refers to the front-rear direction. The movement mechanism (1805) may be a telescopic mechanism, for example, an electric push rod, or a piston cylinder or a telescopic hydraulic cylinder. The base of the motion mechanism (1825) is connected with the frame (01), and the output piece of the motion mechanism (1825) is connected with the root of the walking part.

The running means comprise wheels (05) and/or a belt-type movement mechanism (07) for moving the device. The third motion device (181T) includes: third movement means (18) for enabling the wheels (05) of the apparatus to be displaced in a horizontal direction relative to the frame (01) (center) of the apparatus.

The movement mechanism (1825) comprises a movement mechanism (1805) for enabling a horizontal displacement of the wheel (05) of the device relative to the frame (01) (center) of the device, the base of the movement mechanism (1805) being connected to the frame (01), the output of the movement mechanism (1805) being connected to the root of the wheel (05) of the device. The root of the wheel (05) is the wheel axle. By default, in this device, (the roots of) the walking members of different areas correspond to respective independent third movement means (181T).

Uses and benefits of the 1T8 protocol: the walking part can move in a larger space, avoid obstacles and cross obstacles of the equipment. If the (root part of the) walking part is positioned outside the contour line of the frame (01) of the equipment in the top view direction, the third movement device (18) is used for adjusting the distance between the (root part of the) walking part and the frame (01) of the equipment in the horizontal direction. The third movement means (18) is distance adjustment means.

There are additional uses and benefits of the 1T8 approach: the horizontal dimension of the device for adjustment. The horizontal dimension includes a length and/or a width. Reducing the horizontal dimension of the device reduces the footprint of the device, allowing the device to enter elevators, public transport vehicles, etc.

Examples of this 1T8 embodiment: as shown in fig. 6, 7, 8 and 9, the wheels (05) of the apparatus are connected to the frame (01) by a moving mechanism (1805) for displacing the wheels (05) of the apparatus in a horizontal direction with respect to the frame (01) (center) of the apparatus. Wherein, the wheel (051) of the first area is connected with the frame (01) through a movement mechanism (18051); the wheel (052) of the second area is connected with the frame (01) through a moving mechanism (18052); the wheel (053) of the third area is connected with the frame (01) through a movement mechanism (18053); the wheel (054) of the fourth area is connected with the frame (01) through a movement mechanism (18054). The frame is the same as the frame.

The apparatus includes a people pod. The area for accommodating persons in the device (the people pod) is bounded all around by boundaries (a first boundary 111, a second boundary 112, a third boundary 113, a fourth boundary 114).

The power wheel in the movable equipment is lifted off and the unpowered wheel is used for landing, and the scheme enables the equipment to be pushed by manpower. Is very convenient. The unpowered wheel is preferably a reversible wheel. When the device lands by the unpowered and direction-changeable wheels, the device is pushed to move in a direction-changeable way (especially in a transverse direction or a direction-changeable way). Is very convenient. The steerable wheel can preferably be a universal wheel.

As shown in fig. 6, 7 and 8, the (first area) movement mechanism (18051) extends the wheel (051) forwards; (third region) the movement mechanism (18053) causes the wheels (053) to extend forward; (second region) moving mechanism (18052) causes wheel (052) to extend backward; (fourth region) the movement mechanism (18054) causes the wheels (054) to extend backwards, at which the overall length of the apparatus is at its maximum. As shown in fig. 9, the movement mechanism (1805) brings each wheel (05) close to the frame (01) (center) of the apparatus, where the overall length of the apparatus becomes significantly smaller. Driven by a distance adjustment mechanism (1305) for adjusting the distance in the up-down direction between a wheel (05) of the apparatus and a frame of the apparatus: as shown in fig. 6 and 7, all wheels (05) of the apparatus are lowered relative to the frame of the apparatus, when the apparatus is used for driving along a road surface. As shown in fig. 9, all wheels (05) in the apparatus are raised relative to the frame of the apparatus, when the apparatus is in a non-driving state. The non-driving state is, for example, running of a person.

Preferred embodiment of the 1T8 embodiment: in the equipment, the walking parts (roots) in different areas correspond to respective independent third motion devices (181T), and the third motion devices (181T) in at least one area can drive the walking parts (roots) in the area to move independently. That is, (the roots of) the left and right traveling members can be disposed at positions of different lengths (with respect to the frame (01) of the apparatus). The use of this solution is for beneficial effects: the walking device is used for making the left and right walking parts in the front part and/or the rear part of the equipment step in a crossed way, so that the walking parts avoid obstacles and the obstacle crossing capability of the equipment is enhanced.

The 1T8 scheme (enabling the walking part to move horizontally) is combined with the 1T31 scheme (lifting wheels), so that the walking part can realize two-dimensional movement combining translation and lifting, similar to stepping action of articulated mechanical legs, and the movement capability and obstacle crossing capability of equipment can be greatly enhanced.

1T 9: (as shown in fig. 12) the mobile apparatus further comprises an underwater propulsion device (09). For example, the underwater propulsion device is a propeller or a water jet. As is known, a mobile device may be constructed so that the buoyancy in the water is greater than the total gravity of the device itself and the load. For example, the lower middle portion or the whole of the apparatus is constructed to contain a closed space; and/or the device is provided with an airbag (inflator). When in water, the air bag generates buoyancy. The apparatus is configured to: the parts contacting with water can be waterproof. The device can be driven in water. Optionally, the movable device or mobile platform herein includes an autopilot module or a wireless remote control module to control the travel and/or obstacle crossing of the device.

Protocol 1T379 was obtained in combination with 1T3, 1T73, 1T 9: a mobile apparatus comprising a wheeled mobile device (5), a marine propulsion device (09), a second movement device (07) for moving the apparatus along a road surface via a belt (070); the device further comprises a lifting mechanism (1307) for adjusting the height of the belt (070) relative to the frame of the device and/or the device further comprises a distance adjustment mechanism (1305) for adjusting the distance in the up-down direction between the wheels of the device and the frame of the device. The device is used for amphibious driving. Amphibious is two-purpose. The wheel goes up and down, namely the bottom of the wheel goes up and down.

The control method of the device comprises the following steps: the method comprises a step 1T3, a step 1T73 and a step 1T 9. And can be switched among the three steps.

Step 1T 3: controlling the wheel type moving device (5) to enable the equipment to travel along the road surface (when the equipment needs to travel in a wheel type mode);

step 1T 73: controlling a distance adjusting mechanism (1305) to enable a wheel (05) to ascend and/or controlling a lifting mechanism (1307) to enable a belt-shaped member (070) to descend (when the equipment needs belt-type running), so that the belt-shaped member (070) enters a belt-type running position, and controlling a second movement device (07) to carry out belt-type running;

step 1T 9: the underwater propulsion device (09) is controlled to drive the apparatus in water (when the apparatus is driven in water).

Optionally, the step 1T73 may further include the steps of: a distance adjusting mechanism (1305) for controlling the lifting of the driving wheel (05) raises the wheel (05).

Optionally, the step 1T3 may further include the steps of: a distance adjusting mechanism (1305) for controlling the lifting of the driving wheel (05) to lower the bottom of the wheel (05) to touch the ground; and/or controlling the lifting mechanism (1307) to enable the belt-shaped member (070) to be separated from the belt-type running position.

The amphibious water channel is amphibious in water, free, flexible and efficient, is a dream for many people, and is also a technical problem in the industry. However, in this field, there are two serious industrial prejudices, one is that the equipment can be amphibious only by being provided with a land driving device (wheel leg) and a water propulsion device (propeller); and the second mode is that the conventional tracked vehicle can be amphibious in a water way. In fact, four-wheel automobiles, ships and caterpillar tanks have been invented and popularized for hundreds of years. However, the efficiency and energy consumption of the existing amphibious equipment are not satisfactory, and a product which can be popularized in a large area is not provided so far to solve the market pain point.

Herein, a movable apparatus includes a moving device for moving the movable apparatus. The movement is the running. The side (11) of the movable device comprises any one or more of a front side (111), a back side (112), a left side (113), a right side (114), a top side (115) and a bottom side (116). The movable equipment can deform, and the adaptability is greatly improved. As shown in fig. 11 and 12, the apparatus includes a movement mechanism (1315) for adjusting the height of the top (115) of the apparatus. The device of fig. 11, the height between the top (115) and bottom (116) is set to a standing or sitting height. The device of fig. 12, with the top (115) opened. Standing height refers to the height at which a person can stand in the apparatus. The sitting height refers to the height that a person can sit on the seat (16) of the equipment. Herein, a person refers to a person of standard height.

In the present invention, any of the descriptions can be used in any of the schemes herein: this is particularly true for any mobile device solution. Herein, the following: the equipment is a machine or a robot, and the three are equivalent.

1. Azimuth, direction, angular position, orientation. When not limited to this, the reference object is the center of the frame (01) of the movable equipment in any one of the front, rear, left, right, up and down directions. Unless otherwise specified, any component refers to the center of that component. Herein, inward or outward, refers to inward, based on a reference, to: a direction pointing to the reference object; outwards is: pointing in the opposite direction of the reference object. When not otherwise stated: front, the finger; the direction of travel of the mobile device; refer to the direction indicated by X1 in the drawings. X1 indicates front, then X2 indicates rear. Left and right refer to left and/or right, and front and back refer to front and/or back. The advancing and retreating means advancing and/or retreating. Herein, front view is the front-to-back direction, front view is the left side view; a side view, i.e., a front view, which is viewed from the left to the right; the top view is a view from the top to the bottom.

The front part comprises a front part, a left front part and a right front part. The back includes right back, left back and right back. The left side includes right left, left front and left back. The right side includes right, right front and right back. The longitudinal direction is the X direction and the front-back direction. The lateral direction is the Y direction and the left and right direction. The translation comprises a front-back movement and/or a left-right movement and an upper part comprises a right upper part and a side upper part, namely an oblique upper part. The top is the upper side. The lower part includes the right lower part and the side lower part, namely the oblique lower part. The vertical direction is the Z direction and refers to the up-down direction. The ground refers to the bottom surface of the device, in particular the ground.

In a top view, the movable apparatus may include a first region, a second region, a third region, and a fourth region. The 4 areas are distributed over 4 corners of the movable device. The first region and the second region are adjacent. The first region and the third region are adjacent. The second region and the fourth region are adjacent. The third region and the fourth region are adjacent. The first region and the fourth region are located opposite to each other. The second region and the third region are located opposite to each other. Preferably: the first region is the front left region; the second area is the left rear part, namely a left rear area; the third area is the right front part, namely the right front area; the fourth area is right rear, namely the right rear area. The location of the region is the position, and the three are equivalent. A region in a location is divided into all regions in the location or a part of the regions in the location. A space includes all of the space or a portion of the space.

Any part has two ends, one end of the part being the root of the part and the other end of the part being the tip of the part. In the connection relation: root means the part close to the frame. The end refers to a part far away from the frame. The component is in particular a leg, an arm, a mechanism or a joint. The root part is the base, namely the fixed end is the fixed part, namely the head end is the inner end, and the six parts are equal. The tail end is the movable end, namely the movable part, namely the output end, namely the outer end, namely the output part, and the six are equal.

2. Herein, the same as any one of them means substantially the same. The substantial identity may be identical. In either scenario, close to, i.e., substantially, i.e., essentially, the three are equivalent. Substantially, i.e. close to. Is generally comprised by, and especially meant is. Close to including equal. For example, a flat finger is generally horizontal. The flat may be horizontal. Straight means substantially straight. Herein, adjustment means increasing or decreasing within an adjustable range. Adjustment, refers to controlled adjustment.

3. The meaning of the commonly used nouns (scheme, energy, possible, set, have, include):

if any claim in this document includes the word "can" or "may" or "with", that claim includes the word "can" or "may" or "with" removed. If a "()" is included in any of the schemes herein, it is optional that the scheme includes the contents within the "()". The "()" can be removed, for example, to climb (along an external object), and can be to climb along an external object. If the content in the "()" starts with or begins, the content in the "()" is allowed to replace the content previously described for the "()" content. It is also allowed to remove the whole content in "()".

Default refers to selection when no description is defined. Arbitrarily refers to several. Several may be one or more. One kind or any one or more kinds. The driving is driven, and the two are equal. The acquisition and retrieval are equivalent.

Herein, any functional object is named a function + object. Any functional object means that the object is configured to have an attribute that implements the function. Such as a mobile device, i.e. a device for moving. For example, the lifting mechanism is a motion mechanism for realizing a lifting function. Such as wheeled mobile devices, i.e. devices for wheeled movement. A comprises B, including: a is linked to B or A is B. The method comprises the following steps: including only. Including only that. The object is used as the component A, namely the object has the function of the component A, namely the object is the component A. The function of a component includes a, meaning that the component is for a. A component or part a, may be any of the parts herein, for example the part is a joint or a leg or arm etc. The a and B may be any of the schemes herein.

4. The connection includes a direct connection or a connection through an intervening piece. When an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. Joined or connected.

Connecting, comprising: mechanical connection (between mechanical components), electrical connection (between electrical components), and the like. The electrical connection includes a wired connection, a wireless connection. Direct connection, such as welding or crimping or screwing or hooking or snap-on connection, etc. At infinite timing, the connections are all in series. The multiple components are connected in sequence, the tail end of the former component is connected with the root end of the latter component, namely the tail ends of the multiple components are connected in sequence.

By default, the connection is a mechanical connection. The kind of (mechanical) connection, including: fixed connection, swing joint, detachable connection. The two can also be integrated. Detachable connection, i.e. a connection in such a way that it can be released in a controlled manner. The movable connection comprises a sliding connection or a rotatable connection; the rotatable connection is a hinge. And fixedly connecting and installing.

Herein, any connection portion refers to a component in the device for connecting components to be connected. The connecting part refers to a part for supporting and connecting the parts to be connected. For example, the member to be connected is a moving mechanism. The connection portion means a portion configured to have an attribute for connecting members to be connected or to have been subjected to a process for connection. The connecting part is a connecting part which is configured to bear the force generated by the part to be connected and can also be a connecting part. The component is a hole, slot or pin or stiffener. Having a property for connecting the parts to be connected, the process for connecting the parts has been performed. The coupling member may be part of a housing (01) of the apparatus. The connecting part can also be a part which is independent from the frame (01) but connected with the frame (01). In the infinite description, the connection portion is provided on a rack of the device. In the infinite specification, any arm or leg is attached to an object, meaning that the end of the arm or leg is attached to the object. Connectable means that a connecting portion is provided for connection.

5. The unit, i.e. the apparatus, i.e. the system, i.e. the module, i.e. the component, i.e. the device, i.e. the assembly, is equivalent to the eight. The apparatus may include one or more components, without limitation. Any component may be distributed in multiple physical entities or in a single physical entity; multiple components may also be arranged in the same physical object. The drive means are also referred to as drivers. The drive means are also referred to as actuators. The actuators may be responsible for movement of the robotic arms, legs, hands, head, and the like.

6. The frame is the body, namely the trunk is the fuselage, these five are equal. Any of the mobile devices has a frame. An external object refers to an object external to the mobile device. Herein, without limitation or additional explanation: a movable apparatus refers to a frame of the movable apparatus, i.e., a body of the movable apparatus. Movement refers to movement of the frame of the movable equipment. The frame, i.e. the parts of the movable apparatus that are fixedly connected to each other and which have the highest quality among all the parts of the movable apparatus. The mass is the weight.

7. Herein, any of the apparatuses includes all devices required to implement a job. Any of the devices herein comprises: control device, operation device and energy supply device. It will be appreciated that the mobile device may also include electrical components and/or mechanical components as desired. Electrical components (e.g., wires) are used to electrically connect the components. The mechanical part is used for connecting and supporting all parts. Herein, the movable apparatus, the control device, the working device, and the energy supply device are each configured to: for implementing the methods, steps and functions described herein anywhere.

7.1, the operation is the task, and the three are equivalent. The operation includes moving the equipment and special operation. The operation device comprises a special operation device and a moving device. The moving device is used for moving the movable equipment. The moving finger moves under the drive of a power system. The movement includes movement on the ground, movement in water, movement in the air. The moving means comprise ground moving means and/or underwater propulsion means and/or flying means. The mobile device is a running device. Analysis from components: any one of the working devices includes a moving device for driving the work implement to perform work or a connecting portion for mounting the moving device. The motion device is also referred to as a motion assembly.

Herein, any exercise device refers to a device for exercise. The motion device comprises any one or more of a motion mechanism, a connecting part for mounting the motion mechanism, and a driver for driving the motion mechanism. The movement mechanism and its drive may be integrated. For example, an integrated joint means that the joint is integrated with the drive means of the joint. The output end of the motion device is the output end of the motion mechanism. The driver is also referred to as a drive assembly.

The crawler-type travelling mechanism is connected with a driver for driving the crawler-type travelling mechanism, the crawler-type travelling mechanism and the driver belong to crawler-type travelling devices, and the crawler-type travelling devices belong to equipment comprising the crawler-type travelling mechanism. The base of the crawler-type traveling mechanism is a bracket for connecting a rotating shaft of the first rotating member (0721) and a rotating shaft of the second rotating member (0722). The third travel mechanism may be a tracked travel mechanism or a travel wheel. The connecting line of the landing points of the walking mechanism refers to the connecting line of the outer rings of the landing points of the walking mechanism. The landing point of the crawler-type travelling mechanism is the landing point of the crawler. The contact points are sequentially connected with a line to surround a formed area, namely a pattern surrounded by the contact points. A mobile platform is a movable platform.

Any mechanism, the input end of the mechanism is connected with the output end of a driver for driving the mechanism. The control device of the apparatus is connected to the drive. The control device controls the actuator, and the control device controls the operation of the mechanism. In this context, a driver for driving the lifting mechanism is connected to any one of the lifting mechanisms, and the lifting mechanism and the driver belong to a lifting device belonging to an apparatus including the lifting mechanism.

The output of the wheel mechanism is the rim and/or the tire fitted on the rim. The output member of the wheel mechanism is connected with the outer ring of the bearing sleeved on the wheel shaft through a spoke. The outer race, spokes, rim and tire of the bearing are rotatable about the axle. The running wheels are connected to a frame (01) of the movable equipment, and the running wheels roll along the road surface to drive the movable equipment to run.

In this context, a drive for driving the movement mechanism is connected to any movement mechanism that can be controlled by the control device, and the movement mechanism and the drive belong to a movement device belonging to an apparatus that includes the movement mechanism. Controlling either mechanism refers to controlling the drive used to drive the mechanism. The power input end of the mechanism is connected with the power output end of the driver. The driver is electrically connected with the control device.

The types of movement include lifting, horizontal distance adjustment, legged walking, wheeled walking, tracked walking, flying, and underwater propulsion. The motion mechanism can be divided into a lifting mechanism, a horizontal distance adjusting mechanism, a leg type walking mechanism, a wheel type walking mechanism, a crawler type walking mechanism, a flying mechanism and an underwater propulsion mechanism corresponding to the motion type. The motion devices may be classified into a lifting device, a horizontal distance adjusting device, a leg type walking device, a wheel type walking device, a crawler type walking device, a flying device, and an underwater propulsion device, corresponding to the type of motion. Walking with legs is known as walking. Walking is also known as running or moving. The walking refers to ground movement. The running gear is also referred to as a ground moving device. As is known in the art, in view of the prior art,

the center of gravity (O) of a movable apparatus refers to the structural center of gravity (O) of the apparatus. The standard refers to national standard or industry standard or manufacturer standard or the mean value of products in the market. The center portion as used herein refers to a portion between the first travel mechanism and the second travel mechanism, when not limited to the description.

Due to the inertia of thinking (the legs of people and animals are visible everywhere), the obstacle crossing technical scheme of the existing equipment is a multi-link swing joint scheme imitating the legs of people or animals, so that the heavier equipment (such as an automobile) cannot cross the obstacle with high performance (an upper step, a lower step and a hurdle) until now. Compared with a multi-connecting-rod swinging mechanism, the linear movement mechanism has the outstanding advantages of large bearing capacity, small volume, low cost and high speed, and has outstanding advantages when being used for being combined with a walking mechanism to enable equipment to cross obstacles. For example, a jack is a typical linear motion mechanism, the price of the jack is less than 100 yuan, the bearing capacity of the jack reaches 1000KG, a joint-rotating mechanical arm carrying 50KG is a typical multi-link swing mechanism, the lowest price of the multi-link swing mechanism is 25000 yuan, the price difference is 250 times, and the bearing capacity difference is 20 times.

The first movement mechanism and the second movement mechanism enable the wheeled vehicle to freely adjust the landing point of the walking mechanism according to the width of the fence when the fence is spanned and according to the size of the pit when the pit is stepped, and greatly improve the obstacle crossing capability of the wheeled equipment. Meanwhile, the technical scheme also enables the length of the equipment to be freely adjusted, and the equipment also has a deformation function. When the vehicle runs at high speed or a person needs to lie in the equipment for rest or go up and down a slope, the safety and the stability of the equipment are improved. When the length of the frame is shortened, the equipment can enter an elevator to go home, or the floor area in public places, vehicles, ships and airplanes is reduced.

Herein, the meaning of including may be only including. Including only that.

A first travel assembly including a first travel mechanism and a second travel mechanism is used to drive the movable apparatus along the ground. The first running gear further comprises a first drive for driving the first running gear and/or a second drive for driving the second running gear. Optionally, the first traveling device is a wheel-type moving device, the first traveling mechanism is a first front wheel 511, and the second traveling mechanism is a second rear wheel 522.

The third travel mechanism may be a crawler-type travel mechanism. The second movement device (07) comprising the third travel mechanism is a crawler-type travel device. Herein, one end of any mechanism refers to the base of the mechanism and the other end of the mechanism refers to the output of the mechanism.

The first travelling mechanism and the second travelling mechanism can support the rack to lift off the ground. And the third travelling mechanism can support the rack to lift off the ground. The third travel mechanism is used for driving the movable equipment to travel along the ground. The first and/or second travelling mechanism can each cooperate with the third travelling mechanism for driving the movable apparatus along the ground. The front edge of the third chassis 573 can be located behind the front edge of the first chassis 571, and the rear edge of the third chassis 573 is located in front of the rear edge of the second chassis 572.

Either component has two ends, by default one end of the component is referred to as the base of the component and the other end of the component is referred to as the output end of the component. The component is in particular a leg, an arm, a mechanism or a joint. Herein, without limitation or additional explanation: the movable equipment refers to a frame 01 of the movable equipment. Movement of the device refers to movement of the housing 01. The body is the body, namely the trunk, namely the body, namely the frame, and the five are equivalent. In this context, the ground is the road surface. The ground refers to the bottom surface below the equipment for supporting the equipment. Herein, any connecting wheel refers to the shaft of the connecting wheel. The installation positions of the crawler-type travelling mechanism and the crawler are the middle parts below the equipment. The positional relationship of any one member with respect to the other member is based on the center of the two members as a reference for comparison.

When the work is moving, the work executing device is a moving tool. Such as moving implements including feet, climbing implements, wheels, wings (e.g., rotors, flat wings, or flapping wings), and the like. When the work is a special work, the work implement comprises a pick-up device and/or a work tool. Optionally, the work implement further comprises an attachment for work.

The energy supply device comprises a power supply or is a power supply. In any device herein, the power supply is connected to the control device to supply power to the control device. In any of the devices herein, the energy supply device is connected to the operation device to provide energy for the operation. Furthermore, the energy supply device is connected with the driving device in the operation device to provide energy for the operation. The supply of energy means in particular the supply of electricity. The energy supply device may be a fuel supply system, such as a fuel tank. The power source may be a battery.

The drive device is the drive unit, namely the power system, namely the drive component, namely the drive assembly, and the six are equivalent. The driving device comprises a power conversion device. (e.g., the power conversion device is an electric motor, a fuel engine, a hydraulic cylinder, a hydraulic motor, a cylinder, or a pneumatic motor, etc.). Optionally, the drive means further comprises power control means for controlling the power component. (for example, the power control device may be a motor drive, a hydraulic valve, a fuel injection system, or a gas valve.

7.2, the control device is configured for implementing any of the control methods herein. Further, the control device comprises a processor configured to implement any of the control methods herein and a storage module for storing instructions executable by the processor.

The control device is configured for controlling the movable apparatus to perform any of the tasks herein. Controlling the equipment, i.e. controlling the working device of the equipment. The control device is electrically connected with the operation device to control the operation of the operation device. Specifically, the method can be as follows: the control device is electrically connected with the motion device in the working device, controls the motion device, and drives the working tool connected with the motion device to perform work. More specifically, it may be: the control device is electrically connected with the driving device in the working device, controls the driving device, drives the motion mechanism connected with the driving device (mechanically) by the driving device, and drives the working tool connected with the motion mechanism (mechanically) by the motion mechanism to perform work. According to different operation types, the driving device, the movement mechanism and the operation tool which are connected in sequence can be a plurality of sets. For the sake of simplicity of description herein, "controlling the drive means for driving the motion mechanism" may be referred to as "controlling the motion means", or "controlling the motion mechanism", which are equivalent to the three.

The control device (electrically) controls the driving device and is characterized in that: the control device (processing module therein) can process the information related to the job, execute the program related to the job, and the control device can send out the control signal related to the job to the driving device.

The control may be manual or automatic. Manual control, namely a control device receives a manual control instruction through a man-machine interaction module and a communication module; a control job is performed based on the instruction. The automatic control module receives a control instruction sent by the automatic control module; control is performed based on the instruction. The control device can comprise an automatic control module or the control device obtains an instruction sent by an external automatic control device through a communication module.

The control device includes software, hardware and structural components for implementing control functions. The processor is at least one of a CPU, a DSP, an FPGA or a CPLD. The control device also comprises a communication module. Further, the control device further comprises at least one of a human-computer interface and a sensor module. The control device is configured to connect any components required for control. The processor is used for processing, executing programs and operating data. The storage module is used for storing programs and data.

The communication module is used for communication between components in the control device and/or communication between the control device and an external system. The communication module comprises a wired communication module and a wireless communication module. For example, the wired communication module is 485 bus, CAN bus or ethernet bus. The external system is in particular an external information processing center, in particular a network system. For example, the wireless communication module is a mobile communication module or an infrared communication module. The human-computer interface comprises a voice input system, a display system, a keyboard, a mouse, keys, a human body posture recognition system and the like. Display system is a display device, especially a touch screen. The human-machine interface is used for acquiring control instructions and/or acquiring data required by control and/or indicating state information of the movable equipment. The software program may be from a memory module built in the control device or from a memory module other than the control device. The control device can obtain an external software program through the communication module.

The sensor module comprises a sensor for acquiring the condition information of the device and/or an environment perception module (08) for acquiring the environment information. The sensor module is used for acquiring the self condition information and/or the environmental information of the equipment through the sensor.

The control device can also acquire information collected by an external sensor module through the communication module. The self condition may be an angle of the body, a moving speed, an acceleration, an angle of each joint, an angular velocity, a position of each arm, or the like. The sensors include IMUs, gyroscopes, acceleration sensors, encoders, voltage sensors, current sensors, etc. The environment refers to the environment in which the device is located. The sensor for acquiring the environmental information comprises at least one of a vision sensor, a radar, an ultrasonic wave, a satellite positioning module and a radio frequency positioning module. The radar comprises at least one of laser radar and millimeter wave radar.

The control device comprises a motion control module or is connected with an external automatic driving module through a communication module. The motion control module is used for controlling the movable equipment to move. The motion control module includes: any one or more of a motion control device and an automatic driving module.

In any of the apparatuses herein, a steering mechanism, a driver for driving the steering mechanism is included. The steering mechanism is connected with a steering wheel. The steering wheel can be steered by controlling the steering manipulator. Here, the differential speed of the wheels on both sides of the apparatus may also be controlled to steer. The steering mechanism of the three-wheeled travel apparatus may be the steering mechanism of a three-wheeled truck. The steering mechanism of the four-wheel drive apparatus may be a steering mechanism of an automobile. The steering mechanism can be a digital steering engine. The digital steering engine is connected to a driving wheel needing to be steered. The steering engine is controlled by the control device to drive the steering wheel to steer.

7.2.1, the movement control device comprises a movement control means or the connecting means for connecting the means. The motion control device can be a steering wheel, an accelerator, a brake, a rocker and a position detection device; the position detection device is a potentiometer or an encoder or a grating ruler or a Hall induction type position detection device. The motion maneuver includes a forward and reverse maneuver and/or a steering maneuver.

7.2.3, an autopilot module for controlling the movement of the mobile device in an autopilot mode. Automatic driving means unmanned driving. The automatic driving module carries out unmanned driving based on satellite and map information; the automatic driving can be realized by referring to the prior known technology.

8. Each mode has a software program or control law corresponding to the mode.

9. The mobile apparatus is configured to be moved by a person, and the apparatus has a space therein for accommodating the person. The apparatus has a people pod. The frame of the mobile device or its associated components (e.g., a seat) is structurally designed to withstand a standard predetermined force (e.g., 100 KG). In this context wheeled mobile equipment, i.e. vehicles. The water includes completely in water and partially in water, i.e., the water surface. Herein, the following: the equipment is a robot or a machine, and the three are equivalent. A robot is a mobile robot.

10. A movement mechanism in an apparatus as described in any one of the above, a connection portion connected to the apparatus for connecting the movement mechanism. The connecting part is arranged on the frame of the equipment. The base of the movement mechanism is connected with a connecting part which is used for connecting the movement mechanism in the frame. The connection for connecting the movement means is also referred to as a part connecting the movement means. The exercise is an activity. The movement comprises any one or any more of rotation, movement, stretching and rolling. The movement comprises translation and lifting. The translation includes side-to-side movement and/or back-and-forth movement.

The motion mechanism is the driving mechanism, namely the moving mechanism, namely the mechanism, and the four mechanisms are equivalent. The mechanism comprises a first member and a second member; the first member is connected with the second member; and the second member is movable relative to the first member. The two components are connected through a kinematic pair. The first member is relatively stationary in the mechanism and is used to support the second member. The first component, namely the base, namely the machine base, namely the fixing component, namely the fixed component, namely the machine frame, is equal to the fifth component. The base is used for connecting or is a constituent part of the rack of the device. The second component moves in the moving path and/or the moving range set by the first component. The second component is the movable piece. The moving parts can also be divided into a prime moving part, a driven part and an intermodal part. The prime mover is the main mover and the input member is the input member, and the prime mover, the main mover and the input member are equivalent. The input member is a power input member. The prime mover is used for connecting a power device or a motion control device; the motive power device drives the motive power piece to move or the motion control device drives the motive power piece to move. Or the prime mover is a power piece. The driving element is connected with the driven element. The driven member is the working member, the output member is the output end, the output member, and the five are identical. The output member is the motion output member or the power output member. The intermodal member is an intermediate member that links the prime mover and the driven member. The intermodal elements are used to transmit power, i.e., transmission elements. The driven part drives the connected load object to move. The load object is an implement or end effector for work. The motion mechanism is connected with the power device, and the motive power piece of the motion mechanism is connected with the power device. The movement of the movement mechanism is driven by a power device. The control device is used for controlling the power device to drive the movement mechanism to move, and the control device is used for controlling the movement mechanism to move. The power plant is also referred to as a drive. By default, the moving part refers to the output part. For ease of reading, the device's mechanism may be directly referred to by the device's name. For example, a wheel-finger mechanism. The electric push rod refers to an electric push rod mechanism. The cylinder refers to a cylinder mechanism. The hydraulic cylinder refers to a hydraulic cylinder mechanism. The mechanical arm refers to a mechanical arm mechanism.

The end effector of (the output of) the movement mechanism or running gear for adjusting the position of the running gear is the running gear. The walking part is a walking wheel, a belt type walking mechanism or a foot. The end effector of the moving mechanism for flying is a rotor wing or a flapping wing or a fan blade. The end effector of (the output of) the power arm or the robot arm is the picking device (06) and/or the work tool. The object-picking device and/or the work tool is an implement for work.

The motion mechanism includes a rotary-type motion mechanism, a linear-movement mechanism, and the like, distinguished from the motion characteristics (of the output member). Depending on the type of movement mechanism involved: the driving device may be classified into a rotary driving device, a linear driving device, and the like. The motion device is divided into a rotary motion device and a linear motion device. For example, the rotary-type exercising device is a rotary motor. The linear driving device means that an output part of the device can linearly reciprocate relative to a base of the device. The movement of the output member is the movement of the load object to which the movement of the output member is connected. The telescopic device refers to a device for telescoping, which comprises a telescopic mechanism and a driver for driving the telescopic mechanism. For example, the telescopic device is an electric push rod device, or a piston cylinder device or a telescopic hydraulic cylinder device.

A rotary-type motion mechanism, the output of which is rotatable relative to the base of the mechanism. The output member may be a rotating shaft. The rotary-type motion mechanism may be a gear train mechanism, a worm gear mechanism, or a rotary motor mechanism. The rotary-type motion mechanism may be a rotary joint.

The base of the gear set mechanism is a bracket used for connecting a shaft of a gear; the gear can rotate relative to the bracket, and the output piece of the gear set mechanism is an output gear. The input member of the gear train mechanism is an input gear. The gear train mechanism is also referred to as a (rigid) gear transmission mechanism. The base of the worm gear and worm mechanism is a bracket for connecting the worm gear and the worm, the worm gear and the worm can rotate relative to the bracket, the output part of the worm gear and worm mechanism is the worm gear, and the worm is the input part. The axis of the worm wheel intersects the axis of the worm (which may be perpendicular). The worm gear mechanism is a worm gear (transmission) mechanism. The base of the rotary motor mechanism is the stator of the motor and the output of the rotary motor is the rotor, which is rotatable relative to the stator. The input of the mechanism is a coil for generating a magnetic field. The rotor is driven by the magnetic field generated by the coil.

Linear movement is linear motion. Linear especially means straight. The linear motion mechanism means that the output piece of the motion mechanism is a sliding piece, and the sliding piece can linearly reciprocate relative to the base of the motion mechanism. The linear motion mechanism is a linear joint. The slider is a slide.

From a commercially available, implementable perspective, the linear-motion mechanism can be a rail-type motion mechanism or a telescoping mechanism. The guide rail is a slide rail. The base of the guide rail type movement mechanism is a guide rail, and the output piece is a slide block. Alternatively, the slider may contact the guide rail via a roller to reduce resistance during sliding.

The telescoping mechanism is a linear moving mechanism with a telescoping function. The output member of the telescoping mechanism is movable and telescoping relative to the base of the mechanism. The length of the output member is close to the length of the base. The output piece moves relative to the base to enable the distance between the free end of the output piece and the base to be adjusted. The output member of the telescopic mechanism is a telescopic rod. One end of the two ends of the output piece, which is far away from the base, is a free end or a movable end. Optionally, the telescopic mechanism may be an electric push rod, a piston cylinder or a telescopic hydraulic cylinder.

The screw rod mechanism comprises a base (201), a screw rod (202) and an output piece (203) with a screw hole. The base (201) is a bracket connecting the screw rod (202) and the output member. The output piece (203) with a screw hole means that the output piece (203) is provided with the screw hole or the output piece (203) is connected with a nut (203A). The screw hole or the nut (203A) is provided with a thread matching with the screw rod. The screw hole or the nut (203A) is sleeved on the screw rod (202) and is in threaded connection with the screw rod. The drive (204) of the mechanism is a motor. The input of the mechanism is a lead screw (202). The base of the motor is connected with the base (201) of the screw rod mechanism. The output shaft of the motor is connected with one end of a screw rod (202) of the mechanism, and the motor can drive the screw rod (202) to rotate around the axis of the motor. The rotation of the lead screw (202) can drive the output piece (203) to move along the length direction of the lead screw. That is, the output piece is matched with the screw rod (202) to convert the rotation of the screw rod (202) into the linear movement of the output piece. Under the constraint of the base (201): the lead screw (202) is rotatable but immovable, and the output member (203) is immovable but movable relative to the base (201).

In the electric push rod and the screw rod mechanism, the base (201) and the bracket are outer tubes; the output piece (203B) of the mechanism is a telescopic rod (203B) connected with the nut or a telescopic rod (203B) with a screw hole. In the guide rail type screw rod mechanism, a base of the mechanism is a slide rail, and an output part of the mechanism is a slide block with a screw hole. In the electric push rod, the base is an outer tube, and the output piece is a telescopic rod with a screw hole.

A piston cylinder, i.e., a telescopic cylinder, is a cylindrical metal device in which a piston is guided to perform a linear reciprocating motion. The telescopic hydraulic cylinder is especially a piston type hydraulic cylinder. The base of the piston type cylinder is a cylinder body, and the output part is a telescopic rod connected to the piston. The base of the telescopic hydraulic cylinder is a hydraulic cylinder body, and the output piece is a telescopic rod connected to the piston.

The guide rail type motion mechanism or the electric push rod can be a screw rod mechanism or a gear rack mechanism. The base of the gear rack mechanism is a bracket for connecting a gear and a rack; the rack can move to and fro relative to the bracket, and the output part of the mechanism is the rack. The input of the mechanism is a gear.

The guide assembly comprises a slide rail and a slide block which is connected with the slide rail in a sliding manner. It is apparent that the base of the linear moving mechanism is long. The direction of the base is the direction of the linear movement mechanism. The direction of the lead screw in the lead screw mechanism is the direction of the base in the mechanism. The direction of the rack in a rack and pinion mechanism is the direction of the base in that mechanism. The types of movement mechanisms (from the functional point of view) include travel mechanisms, steering mechanisms, distance adjustment mechanisms, translational movement mechanisms (18), lifting movement mechanisms, (rotary) joints, telescoping mechanisms, swinging mechanisms, winding mechanisms, etc. The chassis is also referred to as a chassis. The lifting movement mechanism is also referred to as a lifting mechanism. The lifting mechanism is a motion mechanism for realizing the lifting function. The output piece of the motion mechanism can be lifted relative to the base of the motion mechanism. Each joint may include 1 or more degrees of freedom. For example, a cruciform joint includes 2 degrees of freedom. The spherical joint includes 3 degrees of freedom. Each degree of freedom corresponds to a set of drive means. Unless specifically stated otherwise, the multi-link swing mechanism is referred to herein as a single-link swing mechanism, i.e., a single-stage swing mechanism. Obviously, the lifting mechanism can be a vertical linear moving mechanism; the output member of the linear moving mechanism moves up and down relative to the base. The motion mechanism can generate displacement in the horizontal direction and can be a horizontally arranged linear motion mechanism; the output member of the linear motion mechanism is reciprocally translated relative to the base. The motion mechanism capable of generating displacement in the front-rear direction may be a linear motion mechanism pointing in the front-rear direction.

Preferably, at least two of the lifting motion mechanism, the front-back motion mechanism, the left-right motion mechanism and the rotary joint are linked to form the multi-dimensional motion mechanism. More than two or more than two. Preferably, the motion mechanism herein is a multi-dimensional motion mechanism.

The distance adjusting device comprises a telescopic device or a hinged distance adjusting device. Preferably, the distance adjusting device is a telescopic device. The distance adjusting mechanism comprises a telescopic mechanism or a hinged distance adjusting mechanism. Preferably, the distance adjusting mechanism is a telescopic mechanism.

The articulated distance adjustment mechanism is also referred to as an oscillating distance adjustment mechanism or an angular distance adjustment mechanism. The swing type distance adjusting mechanism is a swing mechanism which is a swing joint. Articulated distance adjustment mechanism indicates: the output piece of the mechanism is hinged with the base of the mechanism; the output member is rotatable about a hinge, one end of the output member being a hinged end and the other end of the output member being a free end or a free end. When the output piece rotates around the hinge (namely, the angle of the output piece relative to the base is adjusted), the horizontal distance or the vertical distance between the free end of the output piece and the hinge end can be adjusted. The output piece of the swing mechanism is a swing arm. The output member moves the connected load along an arc.

The lifting mechanism may also be the articulated distance adjustment mechanism for adjusting the distance in the up-down direction of the free end of the output member from the articulated end. The movement mechanism capable of generating a displacement in the horizontal direction may also be an articulated distance adjustment mechanism for adjusting the horizontal distance of the free end of the output member from the articulated end.

The output member rotates about the hinge, i.e., the output member swings relative to the base. The axis of the output member intersects the rotary shaft. The swing joint and the swing joint can be driven by a telescopic mechanism. The base of the telescopic mechanism is hinged with the first component of the swing joint, and the output end of the telescopic mechanism is hinged with the second component of the swing joint. The telescoping mechanism telescopes to cause the second member to swing (rotate about the hinge) relative to the first member. For example, the telescopic mechanism is an electric push rod, a piston type hydraulic cylinder or a cylinder.

The oscillating mechanism may also be driven by a rotary-type driving device (e.g., a rotary motor). The base of the swing mechanism is connected with the base of the rotary type driving device, the output piece (namely, the swing arm) of the swing mechanism is connected with the output shaft of the rotary type driving device, and the axis of the output piece (namely, the swing arm) is crossed with the rotating shaft.

The present invention also provides a computer-readable storage medium, which may be a memory, that is, a storage module, and the computer-readable storage medium may be a removable device, a control apparatus, an electronic apparatus, a component, or an apparatus, which are provided in the above embodiments. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, is adapted to implement any of the control methods herein. Further, the computer-readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a read-only memory, a readable and writable memory, a RAM, a magnetic disk, or an optical disk. The computer-storable medium may also be a remote or network or cloud-storable medium; the remote or network or cloud storage medium controls the device through the communication module to realize the transmission of programs and information.

The above are merely alternative embodiments of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A mobile device, characterized by: comprises that

A frame (01) and a third lifting mechanism (212);

the apparatus further comprises a first lifting mechanism (211) and/or a second lifting mechanism (222);

one end of each of the first lifting mechanism (211), the second lifting mechanism (222) and the third lifting mechanism is connected with the rack (01);

the other end of the first lifting mechanism (211) is connected with a first travelling mechanism (571); the first lifting mechanism (211) is used for adjusting the distance of the first travelling mechanism (571) relative to the rack (01);

the other end of the second lifting mechanism (222) is connected with a second walking mechanism (572); the second lifting mechanism (222) is used for adjusting the distance of the second walking mechanism (572) relative to the frame (01);

the other end of the third lifting mechanism is connected with a third travelling mechanism (573); the third lifting mechanism is used for adjusting the distance of the third travelling mechanism (573) relative to the frame (01);

the first travelling mechanism (571) and the second travelling mechanism (572) are arranged at intervals along the travelling direction;

the third travel mechanism (573) is located between the first travel mechanism (571) and the second travel mechanism (572).

2. The mobile device of claim 1, wherein: the first lifting mechanism (211), the second lifting mechanism (222) and/or the third lifting mechanism are linear motion mechanisms, swing mechanisms driven by telescopic mechanisms or swing mechanisms driven by worm and gear mechanisms.

3. The mobile device of claim 1, wherein: the first travelling mechanism (571) comprises a first front wheel (511) connected with the first lifting mechanism (211); the second running mechanism (572) includes a second rear wheel (522) connected to the second lifting mechanism (222).

4. The mobile device of claim 3, wherein: at least two first front wheels are transversely arranged relative to the driving direction of the movable equipment, each first front wheel is connected with the first lifting mechanism (211), or each first front wheel is correspondingly connected with one first lifting mechanism (211); and/or at least two second rear wheels are transversely arranged relative to the driving direction of the movable equipment, and each second rear wheel is connected with the first lifting mechanism (211), or each second rear wheel is correspondingly connected with the first lifting mechanism (211).

5. The mobile device of claim 1, wherein: the third travel mechanism (573) includes: a first rotating member, a second rotating member, and a belt member, the belt member (070) surrounds the first rotating member (0721) and the second rotating member (0722), and the third lifting mechanism connects the first rotating member and the second rotating member.

6. The mobile device of claim 5, wherein: the belt (070) comprises a first side belt (070a) and a second side belt (070b), the first rotating member comprises a first side rotating member (0721a) and a second side rotating member (0721b), the second rotating member comprises a first side second rotating member (0722a) and a second side second rotating member (0722b), the first side belt (070a) surrounds the first side first rotating member (0721a) and the first side second rotating member (0722a), the second side belt (070b) surrounds the second side first rotating member (0721b) and the second side second rotating member (0722b), and the first side belt (070a) and the second side belt (070b) are operable; the first rotating piece of the first side and the second rotating piece of the first side are at least connected with one third lifting mechanism, and the first rotating piece of the second side and the second rotating piece of the second side are at least connected with one third lifting mechanism.

7. The mobile device of claim 5, wherein: the center of gravity of the movable apparatus is located within an area covered by an orthographic projection of the belt of the third travelling mechanism on the ground.

8. The mobile device of claim 1, wherein: the third travel mechanism (573) comprises a front middle wheel (512) and a rear middle wheel (521); at least two wheels (512) arranged in the front of the middle part are arranged in the transverse direction of the driving direction, or at least two wheels (521) arranged in the rear of the middle part are also arranged in the transverse direction of the driving direction.

9. The mobile device of claim 8, wherein: the orthographic projection of the gravity center of the movable equipment on the ground is positioned in an area formed by the contact points of the third travelling mechanism (573) which are sequentially connected with one another to form a line.

10. The mobile device of any of claims 1-9, wherein: the movable equipment further comprises a first movement mechanism (181) and/or a second movement mechanism (182), two ends of the first movement mechanism (181) are respectively connected with the first lifting mechanism (211) and the frame (01) and used for adjusting the distance of the first travelling mechanism (571) relative to the center of the frame (01) along the travelling direction; two ends of the second movement mechanism (182) are respectively connected with the second walking mechanism (572) and the frame (01) and are used for adjusting the distance between the second walking mechanism (572) and the center of the frame (01) along the traveling direction.

11. The mobile device of claim 10, wherein: the first movement mechanism (181) and/or the second movement mechanism (182) is a linear movement mechanism, a swing mechanism driven by a telescopic mechanism, or a swing mechanism driven by a worm gear mechanism.

12. The transportable device of any one of claims 1-9, wherein: the mobile device further comprises an underwater propulsion device or a flying device connected to the frame (01).

13. The mobile device of claim 2 or 11, wherein: the linear motion mechanism or the telescopic mechanism is an electric push rod, a telescopic hydraulic cylinder or a guide rail type motion mechanism.

14. The mobile device of any of claims 1-9, wherein: the mobile device further comprises: a fourth travelling mechanism (15) connected to the machine frame (01), the fourth travelling mechanism (15) being used for driving the equipment along a road surface, the fourth travelling mechanism (15) comprising two groups of wheels arranged at intervals along the driving direction or the fourth travelling mechanism (15) comprising a second crawler-type travelling mechanism or a roller-type travelling mechanism.

15. The mobile device of any of claims 1-9, wherein: the movable equipment further comprises a control structure, wherein the control structure is used for controlling any one or more of the first lifting mechanism, the second lifting mechanism and the third lifting mechanism, so that the control structure can control the equipment to run.

16. Control method for controlling a mobile device according to any of claims 14-15, characterized in that the control method comprises the steps of:

s1: -controlling the first lifting mechanism (211), the second lifting mechanism (222) and the third lifting mechanism of the movable apparatus to raise the first travelling mechanism (571), the second travelling mechanism (572) and the third travelling mechanism (573) relative to the frame (01) to prop the fourth travelling mechanism (15), controlling the fourth travelling mechanism (15) to cause the movable apparatus to travel along a road surface;

s2: the first lifting mechanism (211), the second lifting mechanism (222), and the third lifting mechanism that control the movable equipment lower the first traveling mechanism (571), the second traveling mechanism (572), and the third traveling mechanism (573) with respect to the rack (01) to support the ground to raise the fourth traveling mechanism (15) to cross the obstacle.

17. A storage medium, characterized by: the storage medium stores a computer program which, when executed by a processor, causes the processor to implement the control method of claim 16.

18. A control device, characterized by: the control device for performing the control method of claim 16, the control device comprising one or more processors, a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, cause the one or more processors to implement the control method of claim 16.

19. Moving platform, its characterized in that: comprising a control device according to claim 18.

20. A mobile device, characterized by: comprises a second movement device (07) for moving the belt (070) along the surface of the road, and the second movement device (07) is also used for moving the belt (070) for running on the belt (070).