WO2020187210A1 - 一种可移动的设备、控制方法、存储介质及控制装置 - Google Patents

一种可移动的设备、控制方法、存储介质及控制装置 Download PDF

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Publication number
WO2020187210A1
WO2020187210A1 PCT/CN2020/079796 CN2020079796W WO2020187210A1 WO 2020187210 A1 WO2020187210 A1 WO 2020187210A1 CN 2020079796 W CN2020079796 W CN 2020079796W WO 2020187210 A1 WO2020187210 A1 WO 2020187210A1
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Prior art keywords
equipment
machine
movement mechanism
movement
distance
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PCT/CN2020/079796
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English (en)
French (fr)
Inventor
冯春魁
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冯春魁
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Publication of WO2020187210A1 publication Critical patent/WO2020187210A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D47/00—Motor vehicles or trailers predominantly for carrying passengers
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate

Definitions

  • the invention relates to a movable device, belonging to the field of machines serving human life. More specifically, it relates to a movable device, a control method, a storage medium and a control device.
  • equipment is machine; machine is equipment; machine is equipment.
  • a movable device can be a moving machine.
  • the technical problem to be solved by the present invention lies in the technical solution adopted by the present invention to solve the above-mentioned shortcomings of the prior art (new equipment for human life services is required to increase functions or enhance safety or reduce costs).
  • a movable device characterized by: A and B
  • the device can carry people and/or the device has a space that can accommodate people; the device includes components for human life services, or the device is a micro device, or the device is a micro device and the device includes Parts of life services;
  • the miniature refers to an elevator that can enter a civil building or can pass through the door of a civil building or can take public transportation, or the micro device refers to: the minimum length of the device is not more than 1.6 meters, and the minimum width of the device is not more than 1.6 meters , The length is the distance between the front and rear edges of the device, and the front is the driving direction of the device;
  • the components used for human life services include devices used for human life services or components connected to devices used for human life services;
  • the device used for human life services is any one of a living operation device, a movement mechanism for moving personnel and articles, a movement mechanism for special operations, a component used to prevent people from falling, or the device used for human life services
  • the device is any of a variety of life operation devices, a movement mechanism for moving personnel and articles, a movement mechanism for special operations, and a component for preventing people from falling;
  • the personnel and articles are personnel and/or articles;
  • the movement includes lifting, Any one of the translational movement or the movement includes lifting and translation;
  • the movable device includes a component for adjusting the external dimensions of the device, and the component is used for any of B1, B2, and B3, or the component is used for any of B1, B2, and B3;
  • B1 Adjust the horizontal distance between the edges of at least one set of opposite directions of the equipment to increase the working space or adjust the distance between the edges of at least one set of opposite directions of the equipment in the horizontal direction to reduce the distance.
  • This operation includes daily Life affairs and/or articles are formed;
  • the device includes components used to form a boundary
  • the setting direction of the boundary includes the setting direction of the space for accommodating people of the device, and the setting direction is: around, or above, or around and above;
  • B3 Adjust the height of the device to increase the height so that people can stand in the device, or adjust the height of the device to reduce the height of the device;
  • the device includes components for forming a boundary, and the setting direction of the boundary includes the device
  • the setting position of the accommodating space of, the setting position is: around, or above, or around and above;
  • the special operation is any one of daily life affairs, spraying, and article forming, or the special operation is any kind of daily life affairs, mechanical processing, handling, spraying, and article forming of external objects;
  • the article forming includes any one of printing, additive forming, and engraving or the article forming includes any of printing, additive forming, and engraving;
  • the daily life affairs include any one of food processing, bathing, washing hair, washing, and toileting, or the daily life affairs include any of food processing, bathing, washing hair, washing, and toileting; food processing includes cooking, washing Any one of vegetables and cutting vegetables, or the food processing includes any of cooking, washing vegetables, and cutting vegetables;
  • the living operation device includes any one of cooking device, vegetable cutting device, bathing device, hair washing device, washing device, spraying device, or the living operation device including cooking device, vegetable cutting device, bathing device, hair washing device, washing machine Any number of devices and spray devices.
  • a control method of a movable device includes components for human life services, the device includes components for adjusting the external dimensions of the device, and the control method includes the steps of: acquiring personnel and/or an external information processing center The control command of S1, S2, S3, S4 or any one of S1, S2, S3, S4;
  • S1 Control the components used to adjust the external dimensions of the device: used for any one or any of the following B1, B2, and B3;
  • B1 Adjust the horizontal distance between the edges of at least one set of opposite directions of the equipment to increase the working space or adjust the distance between the edges of at least one set of opposite directions of the equipment in the horizontal direction to reduce the distance.
  • This operation includes daily Life affairs and articles are formed;
  • B2 Adjust the horizontal distance of at least one set of opposite edges of the device to increase the distance so that people can lie in the machine, or adjust the horizontal distance of at least one set of opposite edges of the device to reduce the distance in the horizontal direction The distance
  • B3 Adjust the height of the equipment to increase the height so that people can stand on the equipment, or adjust the height of the equipment to reduce the height of the equipment.
  • S2 Obtain the location of the person; control the movement of the device so that the passage for the person to enter and exit the device passes through the person, so that the device contains the person or the device leaves the person;
  • S4 Control the living operation device to perform daily operations, or control the motion mechanism to move personnel and articles, or control the motion mechanism to perform special operations;
  • the special operations include any of daily affairs, spraying, and article forming.
  • Daily life affairs include any one of cooking, cutting vegetables, bathing, washing hair, and laundry;
  • the shaping of the item includes any of printing, additive shaping, and carving;
  • S5 Communicate with the channel control device during the movement of the device to open the channel during the movement so as to control the device to pass through the channel during the movement;
  • the channel during the movement includes the door and/or elevator and/or community barrier;
  • the device includes components for forming a boundary, and the setting position of the boundary includes the setting position of the occupant space of the device, and the setting position is: around, or above, or around And above.
  • 8S1 Select the type of special operation, generate a control command corresponding to the type of special operation, and control the motion mechanism to perform this type of operation.
  • the distance between the edges of at least one set of relative directions of the device in the horizontal direction is increased to increase the distance to the distance that enables people to lie in the machine, and also includes: controlling the movable mechanism for adjusting the height of the device To reduce the height of the device;
  • 8S3 In the B3, adjusting the height of the device to increase the height to a height that enables a person to stand in the device, and further includes: controlling the horizontal distance of at least one set of relative edges of the device for adjusting the distance The movable mechanism reduces the distance.
  • a computer-readable storage medium with a computer program stored on the computer-readable storage medium which, when executed by a processor, realizes the control method of a removable device as described in Scheme 7 or 8.
  • a control device for movable equipment which is used to implement the control method for movable equipment as described in scheme 7 or 8.
  • the purpose of the present invention is to create a new type of portable equipment that allows the machine to better serve human life (especially to assist humans in living under natural disasters or plague epidemics (such as the new coronavirus epidemic in 2020), with all-weather , Don’t be afraid of rain and sun, the need to enter crowded, narrow spaces (such as entering elevators, entering rooms, taking buses, in crowded places such as station conference rooms, shopping malls), outdoor tourism, short-distance transportation, and the ability to survive in the wild. To the role similar to Arthur's Ark).
  • Feature (and value) 1 Human survival instincts for millions of years must include eating, drinking, and excretion, otherwise they will die soon; and humans have long passed the age of eating and drinking blood, used for food processing, cooking (for cooking food), and toileting , Washing, washing, washing, and bathing life operation devices are important contents of modern human life services; mobile equipment including life operation devices can meet the needs of personnel anytime and anywhere; no need to go out in a very small (occupant cabin) space Just solve the problem of lying and standing cooking, washing, eating, drinking and Lazar (very conducive to fighting the threats of external insects, snakes, beasts, diseases and plagues)
  • Moving (especially moving) personnel and goods plays an important role in human life services.
  • the movement mechanism also helps to move (especially carry) objects (such as food and water) into the equipment. It is more important for the elderly, weak, sick, women and children; for disabled and paralyzed people who need frequent movement, turning over, and more help from sports organizations; otherwise, moving an average body weight of 75 kg is a heavy burden for nursing staff. .
  • people who fall into a coma they can only be moved into the equipment through the movement mechanism (especially on the floor, sitting and lying appliances).
  • Feature (and value) 3 The formation of objects is a long-term and more advanced basic equipment for survival, especially for survival in the wild; the main difference between humans and animals, human beings can defeat animals and become the ruler of the earth, one of the important reasons lies in people Can make objects (especially tools); shape objects (make more tools) to adapt to the wild environment (such as hunting, drifting, nesting and building holes), shape objects (such as wood), and replace damaged machine parts (such as Wheels) maintain the normal functions of the machine (such as driving ability); it can survive in the wild for a long time.
  • Printing is a flat shape. A piece of white paper and paper with graphics or text are two different items. Printing documents and pictures anytime and anywhere is an important life content; additive forming, or 3D printing, is an important way to manufacture objects (especially tools); carving is used to turn existing objects (such as wild wood and stones) into needs Shaped items.
  • the article forming device suggested by the present invention has another important feature, that is, it can use the same movement mechanism with the living operation device, which can greatly reduce the manufacturing cost and use cost of the equipment.
  • Feature (and value) 4 At present, the main living equipment of human beings are houses, elevators, and public transportation. 99% of modern people cannot do without these. If the newly designed living robot cannot be miniaturized, it cannot enter the existing equipment and cannot be compatible with the existing equipment (house), which will be extremely inconvenient. For saving people, miniaturization to access residential elevators and public transportation tools is an important feature that avoids the current large ark (such as RV) cannot take the elevator and cannot enter the room to save people; the present invention is easier to rescue indoor personnel and maintain their survival.
  • RV current large ark
  • Feature (and value) 5 Adjusting the external dimensions (ie deformation) of the equipment is the core function of this equipment (the manned ark); human nature inevitably needs to switch between standing, sitting and lying; lying down can better fall asleep and stay healthy. Only standing can stretch your muscles and bones; at the same time, you must frequently face the need to minimize the product volume, enter small or crowded spaces (such as entering elevators, entering rooms, taking public transportation (civil aircraft, high-speed rail and subway), in crowded places such as station conference rooms, shopping malls), Only deformation can meet the demand; to allow more people to use the survival function of the equipment (the manned ark). Utilizing the deforming function of the equipment (the manned ark), the work space is increased to facilitate the work when the work is required, and the work space is reduced when the work is not required, and the footprint of the equipment (the manned ark) is reduced.
  • Feature (and value) 6 Form a boundary around and/or above the equipment (used to protect personnel). This is an important function of Arthur's Ark. Otherwise, like an open wheelchair, it cannot withstand rain and sun, nor can it withstand snakes. Insects and beasts, plague diseases. Its isolation and safety protection against the plague is not as good as a mask. This equipment can form a super-functional, large-scale, man-carrying, and movable machine protective cover.
  • Feature (and value) 7 The S2 control method provides a function of actively dressing and wearing armor.
  • the present invention provides a dream solution. With a wave of the human hand (instruction), the robots with mechas and manned cabins roared out and took the initiative to load people into the cabin; it was equivalent to actively putting on the iron jacket for the host, realizing the function of Iron Man. This scheme is especially suitable for the mecha robot to protect the owner when the owner is in danger.
  • Feature (and value) 9 In the S3 control method, a robot is provided to accompany the owner to walk and hold an umbrella to avoid the trouble of human beings facing the rain and sun for millions of years.
  • Feature (and value) 8 Preventing people from falling, plays an important role in the lives of people who use mobile devices (Noah's Ark) (especially the elderly, weak, sick and disabled); people will grow old, and fall casualties all over the world every year There are millions of people, causing great suffering and economic losses.
  • the effect of work in feature 1 for example, bathing by a machine
  • feature 2 moving the human body
  • Feature 8 anti-falling
  • feature 2 mechanical lifting of the human body
  • Feature 3 item molding
  • feature 2 carrier objects
  • the solution of the present invention reasonably realizes the core purpose of the present invention and allows the machine to better serve human life (especially assisting human beings to live in the environment of natural disasters or plague epidemics (such as the new coronavirus epidemic in 2020). Similar to the role of Arthur's Ark).
  • the core of the present invention is not to design military and killing programs for mecha robots, but to better protect and serve centuries.
  • Figure 1 is a schematic diagram of a device including components for human life services
  • Figure 2 is a schematic diagram of the adjustable length parts, the opening and closing of the plate, and the rotatable parts;
  • Figure 3 is a schematic diagram of movable parts
  • Figure 4 is a schematic diagram of a telescopic component or a lifting movement mechanism or a height-adjustable machine
  • Fig. 5 is a schematic diagram of a method for setting a movement control device of a movable device
  • Figure 6 is a schematic diagram of a movable device capable of forming a working space and/or having a working device
  • Figure 7 is a schematic diagram of a multifunctional mobile device
  • Figure 8 is a schematic diagram of a device capable of adjusting the distance between the set edges
  • Figure 9 is a schematic diagram of a working space and working device
  • Fig. 10 is a schematic diagram of a method for setting a movement mechanism of a movable device.
  • Figure 3 is Figure 16 in the original priority document.
  • Figure 4 is Figure 17 in the original priority document.
  • Figure 8 is Figure 18 in the original priority document.
  • Figure 9 is Figure 15 in the original priority document.
  • the original priority documents of the present invention are the Chinese invention application file with the application number 2019102055425 and the application date 2019-03-18 and the Chinese invention application file with the application number 201910214560X and the application date 2019-03-20.
  • a movable device can be a moving machine.
  • a movable machine can be a mobile device.
  • Figure 1 is a schematic diagram of a device including components used for human life services; (A), (D), (E), (F), (G), (H), (I), ( Parts J) and (K) are side views; parts (B), (L) and parts in Fig. 1 are top views; part (C) and parts in Fig. 1 are rear views.
  • equipment is machine; machine is equipment; machine is equipment.
  • Equipment refers to the boundary of the manned cabin to protect the personnel in the equipment.
  • Homework is the homework of daily life affairs.
  • the device can carry people and/or the device has a space that can accommodate people; this space is the first space.
  • the equipment has installation space for components used in human life services. To serve human life is to serve human life.
  • the solution of the present invention is:
  • a movable device or a control method of a movable device or a control device of a movable device includes the following 1A, 1B, 1C, Any plan among 1D, 1E, 1F, 1G, 1H, 1I, 1J, 1K, 1L, 1M, 1N, 1O or any multiple plans:
  • the device includes any one or more of 1A1, 1A2, 1A3, and 1A4, or the device includes components connected to any one or any of 1A1, 1A2, 1A3, and 1A4. Any one of 1A1, 1A2, 1A3, and 1A4 is used for human life services. Any one of 1A1, 1A2, 1A3, and 1A4 is a device used to serve human life.
  • the movement mechanism is used to perform special operations, that is, the movement mechanism is used to connect special operation components, and the movement mechanism drives the special operation components to perform special operations.
  • Special operating components are special operating tools, and the two are equivalent.
  • Special operations are daily life affairs, any one or any number of operations of mechanical processing, spraying, and article forming of external objects.
  • Daily affairs include any one or more of food handling, bathing, washing hair, laundry, and toileting.
  • Food processing includes any one or more of cooking, washing and cutting vegetables.
  • Mechanical processing of external objects includes any one or more of drilling, milling, grinding, cutting, shearing, and beating.
  • Article shaping includes any one or more of printing, additive shaping, and engraving. The additive forming is preferably 3D printing.
  • the movement mechanism includes any one or more of a lifting mechanism and a translation mechanism.
  • the lifting mechanism is used to lift personnel and articles.
  • the translation mechanism is used to translate people and articles.
  • the translation refers to the translation of personnel and articles loaded or suspended on the lifting mechanism.
  • Personnel items refer to persons and/or items.
  • the item includes luggage, cargo, or the item includes food and/or water.
  • the movement mechanism especially refers to a transport mechanism.
  • the moving part of the movement mechanism can be connected with the object fetching part.
  • the fetching part is used to fetch people and/or objects.
  • the fetching part is a hook or ring or a manipulator.
  • the tick is shown in Figure 7 (B).
  • the ring (9) is shown in part (J) and (L) in Fig. 10 or as shown in (A) and (E) in Fig. 4.
  • Part (E) in Fig. 4 and part (C) in Fig. 10 are front views as shown: the cable connecting ring loading and unloading component (9) in the lifting mechanism (29) is used to lift personnel and articles.
  • This program is especially suitable for services for the disabled.
  • the fetching part (9) and the part (9) preventing persons from falling are the same part.
  • the lifting mechanism in the movement mechanism for moving people and articles preferably, the lifting mechanism is a hoisting mechanism; and/or, the lifting mechanism is installed in the upper middle part of the equipment; and/or, as shown in Figure 10 (E Part) shows: the base (29) of the lifting mechanism is installed on the movable member of the translation mechanism, and the translation mechanism drives the lifting mechanism to translate. .
  • part (A) in Figure 4 is a schematic diagram of a lifting mechanism: the reel (4) is wound with cables (2_3); the reel (4) is in The power device (2) is driven to rotate, so that the object connected at the lower end of the cable (2_3) can be raised and lowered.
  • the reel (4) is connected to the base (2_2); the reel (4) can rotate relative to the base (2_2).
  • the cables (2_3) of the hoisting mechanism (29) can be flexible, which can lift people and objects (100KG level) vigorously, and has little harm to the human body. If an articulated robotic arm is used to move people and objects, it will inevitably increase the risk of harm to the human body.
  • the lifting mechanism is installed in the upper middle part of the equipment, which has a larger lifting space than the lower part of the equipment.
  • part (M) in Fig. 10 when the person lies on the ground, the device moves to the person’s position (the direction indicated by X1); as shown in the front view of part (C) and (I) in Fig. 10: this
  • the bottom plate and entrance of the equipment can be opened to form a passage for people to enter and exit the equipment.
  • the top views of parts (M) and (N) in Fig. 10 show that the device moves to make the person located in the device.
  • the parts (I), (J), (K) (L) in Figure 10 are shown in the front view: it demonstrates the process of gradually lifting people from the ground by the movement mechanism.
  • the movement mechanism includes a lifting movement mechanism (201), a translation movement mechanism (202), and a manipulator (205).
  • the manipulator (205) can be divided into a right manipulator (2051) and a left manipulator (2051).
  • the movable part of the translation movement mechanism (202) is connected with the manipulator (205) to make the manipulator (205) translate.
  • the movable part of the lifting movement mechanism (201) is connected to the base of the translation movement mechanism (202), and is used to lift the translation movement mechanism (202) and the manipulator (205).
  • the living operation device includes any one or more of a cooking device, a vegetable cutting device, a bathing device, a hair washing device, a washing device, a stool collecting device, and a water supply and drainage device.
  • the laundry device (1622) includes a clothes container.
  • the cooking device further includes a food container.
  • the component that prevents a person from falling is a fence or a restraining component for connecting with the human body, and the connection point of the restraining component and the device is higher than the center of gravity of the person.
  • the fence is higher than the center of gravity of the human body; the component parts of the fence include the boundary part of the device, or the restraining part is the same part as the safety belt used to protect the seated person in the device.
  • the component that prevents people from falling is used to prevent people from falling while walking on the ground. When a person walks on the ground and falls, the component that prevents the person from falling applies a pulling force or a supporting force to the person to prevent the person from falling.
  • the constraining component includes any one or more of ropes, loops, belts, bags, and clothes.
  • the restraining component is a wearable component.
  • the connection to the human body includes any one or more of sleeves or tying or pulling or piercing.
  • the constraining component is a flexible object; or, the constraining component includes: an accessory for connecting to the target, the accessory can be clothes, a bag, a belt, etc.; the connection part can be the back, waist, chest, ribs , Arms and other parts; the accessory is attached (for example, worn, tied, or sleeved) to the target.
  • the constraining component is a rigid object; preferably, the rigid object is a rigid object that can slide and rotate within a set range.
  • the constraining component includes a ring, a U-shaped component, a C-shaped component, etc.; and the size of the component can be configured to avoid falling from below the target (such as the foot) over the shoulder, and over the shoulder finger over the shoulder.
  • the fence is higher than the human center of gravity.
  • the connection point between the restraining component and the human body is higher than the center of gravity of the person.
  • connection point between the restraining component and the device is not higher than the position of the shoulders of the human body.
  • the beneficial effect of the solution if the connection point is higher than the position of the shoulders of the human body, the user has the psychological feeling of hanging or going on the gallows, which seriously affects self-esteem and restricts the use of equipment.
  • the connection point is not higher than the position of the shoulders of the human body, and the user has a feeling of riding in a car, which makes the user psychologically comfortable.
  • the movable device includes components for adjusting the external dimensions of the device, and the components are used for any one or more of B1, B2, and B3.
  • the dimensions include the dimensions and height in the horizontal direction.
  • the external dimensions in the horizontal direction include any one or more of length and width.
  • the horizontal dimension is the distance between at least one set of edges in the opposite direction in the horizontal direction, and the two are equal.
  • the B1 Adjust the horizontal distance between the edges of at least one set of opposite directions of the equipment to increase the working space or adjust the distance between the edges of at least one set of opposite directions of the equipment in the horizontal direction to reduce the distance.
  • This operation includes daily Life affairs and/or objects take shape.
  • the at least one set of relative directions includes: a first party and a second party, and/or, a third party and a fourth party.
  • the horizontal distance of at least one set of edges in opposite directions includes length and/or width.
  • the equipment has working space. Increase the working space for work. Increase the working space to facilitate the operation. Small working space is naturally inconvenient to work.
  • the device includes a component used to form a boundary
  • the setting direction of the boundary includes the setting direction of the space for accommodating people of the device, and the setting direction is: around, or above, or around and above.
  • B3 Adjust the height of the device to increase the height so that people can stand in the device, or adjust the height of the device to reduce the height of the device;
  • the device includes components for forming a boundary, and the setting direction of the boundary includes the device
  • the setting orientation of the space for accommodating personnel, the setting orientation is: around, or above and below, or around and above and below.
  • the distance between the edges of at least one set of relative directions in the horizontal direction, and the relative direction is at least one set of relative directions.
  • At least one group includes one or more groups.
  • the at least one set of relative directions in B1 is preferably the same direction as the at least one set of relative directions; and/or, the at least one set of relative directions is the front-rear direction; and/or the working space is located behind the seat in the equipment;
  • the components used for adjusting the external dimensions of the equipment used in B2 are the same components used for adjusting the external dimensions of the equipment; and/or the working space can be set as a part for people to lie down.
  • the height of the device is adjusted to increase the height so that a person can stand in the device; it also includes a solution: adjusting the horizontal distance of at least one set of opposite edges of the device to reduce Make the distance smaller or make the distance smaller than the riding distance.
  • the distance between the edges of at least one set of opposite directions of the device in the horizontal direction is adjusted to increase the distance so that people can lie in the machine; it also includes a solution: adjusting the height of the device to reduce The height may be smaller than the standing height. Further preferably, making the height smaller than the standing height is: making the height smaller than the sitting height. Standing height even if a person can stand at the height of the device. Sitting height even if a person can sit in the height of the device.
  • the reduction of this distance is used to reduce the footprint of the device and/or to turn the device into a miniature device.
  • the reduction in the height of the device is used to make the device a miniature device, lower the center of gravity of the device, and increase any one or more of the device's passing capacity. Lowering the center of gravity of the equipment naturally increases the moving stability of the equipment and the ability to resist falling when stationary. The passage of low space requires lower height.
  • Floor space is a precious resource, especially for adapting the machine to the miniaturization of external equipment.
  • the device is the same as the device. Even if people can sit within the distance of the device.
  • the movable device includes multiple components for adjusting the external size of the device; and/or, multiple orientations of the device are adjusted External dimensions to increase the space inside the device; and/or adjust the horizontal distance between the edges of the multiple sets of opposite directions of the device to increase the space inside the device. In non-moving and non-crowded places, the larger the internal space, the better.
  • the component used to adjust the external size of the device is a movable mechanism or a component connected to the movable mechanism.
  • the movable mechanism refers to: a component includes a movable part and a fixed part, and the movable part can move relative to the fixed part, and the fixed part defines the moving path and/or the moving range of the movable part; the fixed part is connected to the body of the equipment or the The component is the body of the device.
  • the movable organization is the movable component.
  • the movable mechanism refers especially to the movable part.
  • the certain component is a movable component, and the movable component is a movable component.
  • the external dimensions include any one or more of the set distance between edges and height.
  • the movable component is the movable device and the movable mechanism is the movable mechanism, and the four are equivalent.
  • equipment includes activity agencies.
  • the movable part can move outwardly and/or inwardly and/upwardly and/downwardly relative to the equipment body. Reducing this distance is used to reduce the equipment footprint.
  • the movable piece includes a telescopic piece and/or a hinged movable piece; and/or, the movement of the movable piece includes the rotation of the telescopic piece relative to the telescopic and/or hinged movable piece relative to the device body .
  • the hinged movable part is hinged with the outer part of the body of the device.
  • Telescopic parts are parts that can be telescopic. In this article, extending outward means expanding outward.
  • the outward movement of the movable part includes: the telescopic part extends outward and/or the hinged movable part rotates outward. Inward movement means inward withdrawal. Take it back and take it back.
  • the inward movement of the movable part includes the inward retraction of the telescopic part and/or the inward rotation of the hinged movable part.
  • the outward rotation of the movable part refers to the rotation around a set axis; the axis of rotation at the hinge is the set axis. This outward rotation particularly refers to rotation to the first state.
  • the first state means that the angle between the upper surface of the movable part and the horizontal plane is within plus or minus 30 degrees.
  • the outward movement means expansion or extension, so that the floor area of the movable part increases even if the vertical projection area of the movable part increases, and corresponding operations can be performed after the expansion.
  • the movable part extends, or the movable part rotates around a set axis to make the part in the first state or make the part folded.
  • the movable part can be partially or fully accommodated in the machine, or the angle between the hinged movable part and the horizontal plane is within 60 degrees and 120 degrees, that is, the angle between the hinged movable part and the main body is 60 degrees Between and 120 degrees, that is, the hinged movable part is in the second state.
  • the activities of the movable mechanism and movable parts are used for at least one of telescopic, lifting, translation, and parameter adjustment.
  • the parameters include at least one of distance, length, and height between objects.
  • Parameter adjustment refers to changing the parameter.
  • the equipment includes a movable mechanism, and the movable parts of the movable mechanism move outward or inward relative to the body of the equipment.
  • the hinged movable part rotates outward or inward relative to the body of the device.
  • the telescopic element extends outward or retracts inward relative to the body of the device.
  • the movable part of the movable mechanism moves upward or downward relative to the body of the equipment.
  • the hinged movable part rotates upward or downward relative to the body of the device.
  • the telescopic element extends upward or retracts downward relative to the body of the device.
  • the movable mechanism is connected to the power device. That is: the movable part is connected to the power device. The activity of the movable part driven by the power device; and/or, the activity is the activity under the control of the control device.
  • the control device is connected to the power device. The control device is used to control the power device to drive the movable component to move. That is, the control device is used to control the movement of the movable component.
  • the height of the device is adjusted to increase the height to the standing height; further comprising a solution: adjusting the distance of the edge of at least one set of opposite directions of the device in the horizontal direction to make the distance less than the riding distance.
  • Standing height even if a person can stand at the height of the device.
  • the device includes components used to form a boundary, and the setting position of the boundary includes the setting position of the space for accommodating people of the device.
  • the setting position is: around, or above, or around and above.
  • the components used to form boundaries to protect personnel are: boundary components, or components connecting boundary components.
  • the edge is the edge and the boundary is the wall, and the four are equivalent.
  • This boundary is a mechanical boundary.
  • the boundary particularly refers to the boundary component.
  • the boundary component is the component that forms the boundary. It can be referred to as the boundary component, or the first component.
  • the boundary member may include doors and/or windows that can be opened and closed. Borders and border components are used to protect personnel. Boundary components are used to isolate external objects and people. This person is inside the equipment. This person is a person in the space where the equipment is accommodated. The opening and closing of the door and/or window can be controlled.
  • the top and bottom parts of the equipment are also boundary parts.
  • the borders and border components are arranged at the top, bottom, front, rear, left, and right of the space for accommodating personnel. That is, the boundary and boundary components surround the front, back, bottom, left, and right sides of the accommodating space.
  • the boundary can close the space for accommodating personnel.
  • Enclosing the space for accommodating personnel includes closing the space in the entire device to close the space for accommodating personnel.
  • To close a space means to make the space a closed space.
  • the boundary component includes a housing. Include partial inclusion or all partial inclusion. All parts are included.
  • the shell refers to a boundary component with a set hardness.
  • the shell is a mechanical armor. Mechanical armor is mecha.
  • the enclosed space for accommodating personnel can be used to isolate the air inside and outside the space. Prevent toxic and harmful air from entering the equipment, which will help fight the plague. Compared with the soft boundary (such as the film), the shell can resist the extrusion and impact of foreign objects. This program is conducive to human life services; it is of important value.
  • the shell refers to the shell distributed on the periphery;
  • the device is a micro device. Miniature means small size.
  • the machine is a small volume machine.
  • the miniature refers to: elevators that can enter civil buildings, and/or can pass through doors of civil buildings, and/or can take public transportation. The door is for people to enter and exit.
  • the micro device refers to: the minimum length of the device is not more than 1.6 meters, the minimum width of the device is not more than 1.6 meters, the minimum height of the device is not more than 1.6 meters, the length is the distance between the front and rear edges of the device, and the front is the driving direction of the device .
  • Civil buildings refer to non-productive residential buildings and public buildings. Civil buildings are any one or more of residential buildings, office buildings, kindergartens, schools, canteens, theaters, hospitals, hotels, and shopping malls.
  • the minimum length is not greater than 1.6 meters as the minimum length is not greater than 1.5 meters; and/or, the minimum width is not greater than 1.6 meters as the minimum width is not greater than 1.2 meters.
  • the minimum length is not greater than 1.5 meters as the minimum length is not greater than 1.4 meters; and/or, the minimum width is not greater than 1.2 meters as the minimum width is not greater than 1.0 meter.
  • the minimum length is not greater than 1.4 meters as the minimum length is not greater than 1.3 meters, and/or the minimum width is not greater than 1.0 meters as the minimum width is not greater than 0.8 meters.
  • An elevator that can enter a civil building means that the width of the equipment does not exceed the width of the entrance and exit when the elevator is opened; the height of the equipment does not exceed the height of the entrance and exit when the elevator is opened; the length of the equipment does not exceed the length of the elevator inner frame.
  • the entrance is also the exit and the entrance. Entering or leaving means entering or leaving. Passing through a door of a civil building means that the width of the device does not exceed the width of the entrance when the door is opened; the height of the device does not exceed the height of the entrance when the door is opened.
  • the elevator inner frame is the inner frame of the elevator car.
  • the civil buildings include any one or more of houses, shopping malls, stations, and airports.
  • the public transportation includes any one or more of civil aviation aircraft, rail public transportation, and buses.
  • the civil building is a standard civil building.
  • the public transport is a standard public transport.
  • the elevator is a standard elevator.
  • the door is a standard door.
  • the elevator is an elevator in a civil building.
  • the doors and elevators are conventional products. Conventional refers to common specifications. Conventionally, that is, the usage of this specification accounts for more than 60% of the total market or the usage of this specification accounts for the largest share of the total market. The above 60% includes: a single specification exceeds 60%, or a combination of multiple specifications with the top market share exceeds 60%. The equipment is manufactured based on multiple known specifications. In this article, the conventional is the standard. Doors and elevators are standard and conventional products. Standard refers to the production according to the standard. In this article, conventional is also standard. Standards are industry standards or legal standards. In this article, doors and elevators do not include non-standard size products.
  • the civil building is a residence; the elevator is a residential elevator; and the door is a residential door.
  • the residence is a domestic residence; the elevator is a domestic residence elevator; the door is a domestic residence door.
  • domestic residential elevators are home elevators.
  • the length of the movable equipment is adjustable so that the machine can enter a standard home elevator.
  • entering and exiting and passing both refer to driving in and out and driving through.
  • the minimum width of the device does not exceed 1.6 meters, 1.5 meters, 1.4 meters, 1.3 meters, 1.2 meters, 1.1 meters, 1.0 meters, 0.9 meters, 0.8 meters, 0.6 meters, or 0.5 meters.
  • the minimum height of the top of the machine above the ground does not exceed 2.4 meters, 2.2 meters, 2 meters, 1.9 meters, 1.8 meters, 1.7 meters, 1.6 meters, 1.5 meters, 1.4 meters, 1.3 meters, 1.2 meters, 1.1 meters, 1 meter, 0.9 meters, 0.8 meters, 0.7 meters, 0.6 meters or 0.5 meters.
  • the minimum length of the machine does not exceed 1.7 meters, 1.6 meters, 1.5 meters, 1.4 meters, 1.3 meters, 1.2 meters, 1.1 meters, 1 meter, 0.9 meters, 0.8 meters, 0.7 meters, 0.6 meters or 0.5 meters.
  • a parameter such as length or width or height
  • the driving direction of the machine is front; the direction opposite to the front is rear.
  • the length is the distance between the front and rear edges of the device in the driving direction.
  • the length of the machine refers to the distance between the outer sides of the front and rear directions.
  • the width is the distance along the left and right edges of the device's driving direction. Width refers to the distance between the outer sides of the left and right sides of the machine.
  • the distance between the front and rear edges refers to the distance between the outer sides of the two sides in the front and rear direction.
  • the center distance (that is, the distance in the horizontal direction) of the front moving device (such as front wheels and/or forefoot) and the rear moving device (such as rear wheels and/or hind feet) of the machine can be adjusted;
  • the distance (that is, the distance in the horizontal direction) increases, which can increase the stability of the machine (especially when the speed is high or higher) and/or enable people to lie on the machine;
  • the center distance (that is, in the horizontal direction) The reduction of the distance) can shorten the length of the machine and/or reduce the footprint of the machine and/or allow the machine to enter a space with a short distance, such as an elevator.
  • the movable device includes a component for moving the movable device; the component is a mobile device or a component connected to the mobile device.
  • the movement includes at least one of movement on the ground, movement in the water, and movement in the air.
  • the machine is constructed as a movable machine.
  • the movable equipment includes special operating devices or parts connected to special operating devices.
  • Special operating devices are equipment with specific functions. This special operation is any operation or any operation of daily life affairs, mechanical processing, transportation, spraying, and article forming of external objects.
  • the mechanical processing of the external object includes any one or more of drilling, cutting, and beating.
  • the article shaping includes any one or more of printing, additive shaping, and engraving.
  • the additive forming is 3D printing.
  • the equipment includes components used to make the air pressure in the equipment lower than the air pressure outside the equipment.
  • the components used to make the air pressure in the equipment lower than the air pressure outside the equipment are: negative pressure device, or connected to negative pressure device Parts.
  • the equipment includes a movable mechanism for opening and closing the bottom plate of the equipment to form an area for personnel to stand on the ground. At least two sides of the four sides of the area are formed by the machine. That is, the area is the area enclosed by the side of the machine.
  • the bottom plate is the bottom plate under the seat in the device; the seat can move. Disposing of the seat and the components under the seat can make the area in the seat available for people to stand on the ground.
  • the parts under the seat or under the seat especially the parts at the bottom of the machine.
  • the standing refers to standing on the part; the part especially refers to the part at the bottom of the machine.
  • the equipment can form a channel for personnel to enter and exit the equipment; the personnel entry and exit refers to the passive entry and exit of the personnel; the personnel entry and exit refers to the movement of the equipment to enable the personnel to enter and exit.
  • the device includes components used to form a passage for people to enter and exit the device; or, the device's set orientation bottom plate and entrance can be opened to form a passage for people to enter and exit the device.
  • the machine can form a passage for people to enter and exit the area inside the machine.
  • the control device of the equipment is used to realize the control method: obtain the target position; control the movement of the machine to make the machine and/or the passage move; make the target located in the area of the machine or make the target leave the machine.
  • the equipment includes a table; the table can be unfolded relative to the seat of the machine; that is, the table and the seat can be set to work together.
  • the table board is used for any one or more of dining, learning utensils, office utensils, and computers.
  • the equipment includes objects used to shade and/or protect people from rain.
  • the object used for shading and/or protecting people from rain is the blocking object (Z) or the component connecting the blocking object (Z).
  • the device can be moved so that the blocking object (Z) covers the target, that is, shading and/or protecting the target from rain.
  • the target refers to people.
  • the equipment is movable, which means that the equipment can be moved under the control of the control device. Preferably, the movement refers to moving with the target.
  • the blocking object (Z) is set at a position above the target.
  • the equipment includes parts for disinfection and sterilization, the parts for disinfection and sterilization are: a disinfection and sterilization device, or a part connected to the disinfection and sterilization device; the disinfection and sterilization is used to disinfect and/or sterilize food or air.
  • the equipment includes components for purifying the air in the equipment, the components for purifying the air in the equipment are: an air purification device, or a component connected to an air purification device; the purification includes filtering and/or disinfection and / Or sterilization. Both the negative pressure device and the air purification device have ventilation ports for circulating the air inside and outside the equipment after disinfection.
  • the movement mechanism for special operations includes a linear movement mechanism.
  • the base (such as a guide rail) of the linear movement mechanism can be installed on the side of the device; it takes up very little space.
  • the motion mechanism used in any of the various operations of machining, transporting, and spraying external objects is the same motion mechanism, or is driven by the same motion mechanism to perform any of the machining, transport, and spraying of external objects operation.
  • the movement mechanism used in any of the printing, additive forming, and engraving operations is the same movement mechanism.
  • the motion mechanism used in any of the printing, additive forming, and engraving operations is the same motion mechanism.
  • the motion mechanism used for the work in at least two operations of food processing, bathing, washing hair, and laundry is the same motion mechanism.
  • the movement mechanism is also used for any one or any of various operations of opening the door, unlocking, turning on the light, turning on the faucet, charging the equipment, adding water to the equipment, drilling and cutting.
  • the movement mechanism is used for drilling means that the movement mechanism is connected to the drill bit for drilling.
  • the movement mechanism is used for cutting means that the movement mechanism is connected with the cutting tool to cut.
  • the cutting tool is a grinding wheel or a saw.
  • the movement mechanism for moving personnel and articles includes a manipulator and/or the movement mechanism for special operations includes a manipulator.
  • the manipulator is used as a special operation part; and/or, the special operation part is connected to the linear movement mechanism through the manipulator; and/or, the manipulator is also used for: replacing special operation parts, charging the equipment, and adding water to the equipment.
  • Replacement includes removal and/or installation.
  • the installation or removal includes replacement.
  • Charging a device especially refers to connecting the power supply inside the machine to an external power supply. To add water to the equipment, connect the water inlet of the water intake device of the machine to an external water source.
  • the living operation device is installed in the equipment; and/or the movement mechanism for moving personnel and articles, and the movement mechanism for special operations are installed in the equipment;
  • the motion mechanism is used for special operations: the motion mechanism is used to connect special operation parts, and the motion mechanism drives the special operation parts to perform special operations;
  • the working space is set in the equipment.
  • the living operation device is installed in the equipment; and/or the movement mechanism for moving personnel and articles, and the movement mechanism for special operations is installed in the equipment; and/or, the movement mechanism for moving personnel and articles ,
  • the movement mechanism for special operations is installed in the equipment. It's not just the manned space in the equipment.
  • the working space movement mechanism and the installation in the equipment help maintain privacy. Conducive to daily work (cooking, bathing and toileting). Solve the problem of ventilation through the doors and windows on the boundary components.
  • the mobile device according to technical solution 2 preferably, further has any one or any of the following features 3.1, 3.2, 3.3, 3.4, 3.5, 3.6, 3.7, 3.8, and 3.9:
  • the "movement mechanism is connected to a special operation component, and the special operation component is driven by the movement mechanism” means: the movement mechanism is connected to at least two different special operation components, and the movement mechanism drives the at least two Different special operation components perform at least two different special operations; or, the movement mechanism and the special operation components are detachably connected so that the movement mechanism can replace the connected special operation components to perform different types of special operations;
  • the control device of this equipment is used to: generate different kinds of control instructions to control the motion mechanism to perform different kinds of special operations;
  • Linear movement mechanism includes lifting movement mechanism and/or translation movement mechanism;
  • translation movement mechanism includes forward and backward movement movement mechanism and/or left and right movement movement mechanism;
  • the manipulator is connected to the movable parts of the linear movement mechanism, and the linear movement mechanism drives the movement of the manipulator to expand the operating range of the manipulator.
  • the guide rail in the linear moving mechanism spans at least two azimuth areas and is used to expand the operating range of special operating components. For example, the rail crosses the first party area and the second party area; or the rail crosses the third party area and the fourth party area.
  • the manipulator and the linear moving mechanism are detachably connected; the manipulator can be connected to the linear moving mechanism in different areas; it is used to expand the operating range of the manipulator.
  • the base (such as the guide rail) of the linear movement mechanism is set behind the back of the seat or above the back of the seat, or on the side of the back of the seat. And/or, the special operating components connected to the linear moving mechanism are arranged behind the back of the seat, above the back of the seat, and on the side of the back of the seat.
  • This solution is used (ingeniously) to avoid harm to the human body by the linear moving mechanism.
  • the seat refers to the seat in the center of the device body or the seat with the largest area. Even during deformation adjustment, the base is arranged on the side of the backrest, allowing it to move forward without harming the human body.
  • the manipulator is configured such that the maximum force generated by the manipulator is limited to the range that does not harm the human body.
  • the maximum force generated by the manipulator is controlled by a software algorithm.
  • Part (A) in Figure 10 is a side view; the guide rail (18) of the translational movement mechanism and the guide rail (13) of the lifting movement mechanism are arranged in front, above and behind the space for accommodating people (especially the seat (7)).
  • Part (B) in Figure 10 is a side view; part (C) in Figure 10 is a front view; as shown in the two figures, the guide rail (18) of the translational movement mechanism and the guide rail (13) of the lifting movement mechanism are arranged to accommodate personnel The space (especially the side of the seat (7)).
  • the guide rails (181) and guide rails (182) of the translational movement mechanism are arranged side by side and staggered, and can move relatively;
  • the movable part (180) can move left and right along the guide rail (181) and the guide rail (182).
  • the motion control device is arranged at a position that can be triggered by the movement of the person's body; the motion control device is triggered by the movement of the person's body.
  • the position is the position where the part (9) preventing the person from falling is in contact with the body of the person, or the position is located on the connecting piece of the part (9) preventing the person from falling and the body of the equipment.
  • the black dots in parts (A), (B), (C) in Fig. 5 are the positions of the motion control devices.
  • the component (9) that prevents the target from falling down is a ring-shaped component (9) connected to the target body (especially the torso), and the motion control device can be arranged on the ring-shaped component (9). ) The surface in contact with the target body.
  • At least one motion control device can be arranged in each of the front, back, left, and right directions of the space for accommodating people, or at least one pair of opposite positions in the space for accommodating people.
  • the motion control device can also be arranged at the connection position between the restraining component (9) and the body or the first component of the device, such as positions 10d, 10c in Fig. 5(B), positions 10b, 10a in Fig. 5(C).
  • the component (9) that prevents the target from falling is the restraining component.
  • the set life operation device includes any one or more of a food inspection system, a food processing system, a toilet, a device for washing the human body, a clothing processing device, an air jet device, and a water circulation processing system.
  • Laundry treatment especially refers to laundry.
  • the laundry processing equipment includes a laundry device (1622).
  • the toilet is the stool collection device; the two are equivalent.
  • Defecation means going to the toilet.
  • Food processing includes any one or more of cooking, washing and cutting vegetables.
  • the food processing system includes any one or more of a cooking device, a vegetable washing device, and a vegetable cutting device.
  • the water supply and drainage device is the water circulation treatment system.
  • the water supply and drainage device includes any one or more of a water intake device, a water storage device, a water discharge device, a water treatment device, and a drainage device.
  • Spraying means spraying a substance; the substance includes any one of gas, liquid, and powder, or any of gas, liquid, and powder.
  • the spray device includes a pressure forming part; the pressure forming part is used to increase the pressure of the substance.
  • the liquid is water or disinfectant liquid.
  • the pressure forming component is a pressurized water pump or air pump.
  • Working space is the space used for special operations.
  • the working space is a space including living working devices or parts connected to the living working devices.
  • the work space and/or work equipment and/or work tools are used for work.
  • the work space includes any one or more of food processing space, defecation space, human body washing space, and laundry space.
  • the space for washing the human body especially refers to the bathing space.
  • Food processing space refers to the space where the food processing system can be placed.
  • the food processing space is the space where the food processing system can be placed.
  • the food processing space includes a washing and/or cooking space.
  • the dish washing and/or cooking space is the space where the dish washing and/or cooking device can be placed.
  • the clothing processing space refers to the space where the clothing processing equipment is placed.
  • the clothes handling space especially refers to the laundry space.
  • the laundry space is the space where the laundry device can be placed. Defecation means going to the toilet.
  • the machine can carry people. Naturally, the machine has space for people.
  • the space for accommodating personnel can be set in: the middle of the machine and/or any side of the periphery of the machine; and/or, the work space can be set in: the middle of the machine and/or any one of the periphery of the machine;
  • the working device (especially) can be connected to either the middle of the machine and/or the periphery of the machine.
  • the working device particularly refers to a set life working device.
  • the space for accommodating personnel and the working space can be separated or overlapped.
  • the overlap includes all overlap or partial overlap; and/or, the space for accommodating personnel and the work space are adjacent spaces.
  • Equipment with specific functions includes special operating parts or can be connected to special operating parts.
  • Figure 9 is a schematic diagram of a working space and working device;
  • Figure 9 (A) is a top view,
  • (B) is a side view,
  • (C), (D), (E), (F) are all rear View;
  • the working space and working device shown in Figure 9 can be formed separately; it can also be combined with the description of the working space and/or working device in the movable equipment shown in Figure 6; as part (E) in Figure 6 To understand the work space and/or work equipment.
  • the movement mechanism is connected with the special operation parts (17).
  • the connection includes multiple ways: the special operation component (17) is connected to the lifting movement mechanism (13), the lifting movement mechanism (13) is connected to the translation movement mechanism (18); or the special operation component (17) is connected to the translation movement On the mechanism (18), the translation movement mechanism (18) is connected to the lifting movement mechanism (13).
  • the latter connection method is preferred.
  • the connection of the movement mechanism to the special operation parts refers to the connection of the movable parts of the movement mechanism to the special operation parts.
  • the connection of the special operation component to the movement mechanism refers to the connection of the special operation component to the movable part of the movement mechanism.
  • the special operation component (17) is connected to the translation movement mechanism (18), including: the special operation component (17) is connected to the forward and backward movement movement mechanism, the forward and backward movement movement mechanism is connected to the left and right movement movement mechanism; the forward and backward movement movement mechanism drives the special The working part (17) moves back and forth; the left and right movement movement mechanism drives the front and back movement movement mechanism and the special working part (17) to move left and right. It may also include: the special operation component (17) is connected to the left and right movement movement mechanism; the left and right movement movement mechanism is connected to the front and back movement movement mechanism.
  • the translational movement mechanism (18) drives the movement of the special operation component (17), including: the translational movement mechanism (18) drives the special operation component (17) to translate; the lifting movement mechanism (13) drives the translational movement mechanism (18) and the special operation components ( 17) Lifting.
  • the working space or movement mechanism or special working component (17) has at least two functions. Can significantly reduce the cost of single-purpose components and save space.
  • a work space and/or work device, or work space of the machine can be used as a 3D printing space, that is, the working space can be used for 3D printing; and/or, the machine has a 3D printing device or can be connected to a 3D printing device.
  • the special operation component (17) is the print head.
  • a 3D printer such as an FDM printer
  • the print head includes hot-melt parts and extrusion parts.
  • the print head is used to melt (strip-shaped rolls) materials (such as ABS or PLA strands) (at a temperature of about 200 degrees) and then extrude them to make the materials adhere to the workbench or the next layer of material. The material cools and solidifies naturally.
  • the print head is the print head. After printing a layer driven by the (X/Y axis) motion mechanism, the Z-axis motion mechanism drives the print head to move up or the workpiece down a set distance, and then print the next layer to print out the three-dimensional workpiece.
  • part (A) top view
  • part (B) side view
  • part (C) rear view
  • the movement mechanism (13, 18) is used to make the print head up and down relative to the worktable Move back and forth, left and right; to realize the movement function in 3D printing.
  • the special operation component (17) is used as a printing head;
  • the article support (16) is the workbench;
  • the workbench is used to place the workpiece.
  • the print head is used for printing.
  • the print head is a 3D print head.
  • the movement mechanism for moving personnel and articles and the movement mechanism for special operations are the same movement mechanism.
  • Device sharing not only saves costs, but also reduces the size of the machine.
  • the movement in 3D printing is reduced by one dimension of movement, and the 3D printing is changed to 2D printing, that is, plane printing.
  • the printing includes printing on the wall.
  • the 2D print head includes any one or more of inkjet, laser, and powder spraying.
  • Additive forming is 3D printing, and the specific printing scheme is the same as that of the 3D printer in the prior art.
  • Engraving refers to the movement of the engraving object by the connected tool driven by the motion mechanism.
  • the work space can be used as a food inspection space and/or food processing space; and/or, the machine has a food inspection system or can be connected to a food inspection system or the machine has a food processing system or can be connected to a food processing system (1623 ).
  • the work space can be used for food inspection and/or food processing.
  • Food processing includes any one or more of cooking, washing and cutting vegetables.
  • Food processing is preferably cooking.
  • Cooking is the thermal processing of food raw materials, and the raw food raw materials are processed into mature foods.
  • Cooking includes adding water and/or ingredients.
  • the cooking device includes a water adding device and/or a feeding device and/or a gas adding device. Cooking is preferably stir fry.
  • the components in the food inspection system or food processing system include: movable tools and food containers.
  • the food container is used to hold food.
  • the food container is a pot or basin or box or bowl.
  • the heating part or the cooling part is arranged below and/or on the side and/or above the food container.
  • Movable tools are used to process food.
  • Movable tools are food processing tools; activities especially refer to mechanical activities.
  • Movable tool refers to a tool used to process food and movable relative to the food container. Relative to the food container being able to move, especially the ability to move inside the food container.
  • the movable tool includes at least one of a shovel, a scoop, a spoon, a stirrer, a knife, or a lever.
  • Shovel or lever is used to turn vegetables.
  • a scoop or spoon is used to hold food.
  • the knife is used to cut vegetables.
  • the vegetable cutting device includes: a knife.
  • the vegetable cutting device may also include a delivery device and/or a power device.
  • the delivery device is used to deliver food ingredients to the knife edge. For example, use a knife to cut vegetables or use a spatula to stir-fry or use a spoon to fill soup.
  • the movable equipment includes a food processing system.
  • This operation can be food processing.
  • the special operation component (17) includes or is: a tool used for food processing, that is, a movable tool.
  • the movable tool includes at least one of a shovel, a scoop, a spoon, a stirrer, a knife, or a lever.
  • Food processing includes any one or more of washing vegetables, cutting vegetables, and cooking. Food handling especially refers to cooking. Cooking especially refers to stir-fry.
  • the cooking device includes any one or more of food containers, movable tools, and heating components. The heating part and the food container are connected as a whole.
  • the vegetable cutting device includes a knife.
  • the movable tool used for cutting vegetables is the knife.
  • the movement mechanism is connected to the special operation component (17), and the movement mechanism (13, 18) is used to connect the movable tool, and the movement mechanism drives the movable tool to move in the food container (1623) for food processing; and/or, Or the movement mechanism is used to connect the food container, and the movement mechanism drives the food container (1623) to move for food processing.
  • the activity includes any one or more of up and down movement, translation, and rotation. Move up and down, especially for tossing or overturning pots in cooking.
  • the work space is used as a washing space; and/or, the machine includes a component for washing; the component for washing is a washing device (1622) or a component connected to the washing device (1622). .
  • This working space is used for laundry.
  • the laundry device (1622) includes a clothes container and/or mechanical tools;
  • the movable equipment includes a washing device (1622).
  • the special operation parts (17) include or are: machine tools.
  • the movement mechanism (13, 18) is used for laundry treatment. Laundry treatment especially refers to laundry.
  • the movement mechanism is used for washing clothes, and is: the movement mechanism is used for connecting a special operation component (17), and driving the special operation component (17) to move the mechanical tool in a clothes container to perform washing.
  • the special operation component (17) is a machine tool.
  • the activity particularly includes at least one of stirring, rubbing, tapping, scouring, and flicking clothes.
  • This program is used for laundry.
  • Mechanical tools include at least one of agitators, mallets, kneading tools, brushes, impact tools, and swing tools. The mechanical tool generates mechanical force to separate the dirt from the clothes for washing.
  • Mechanical tools refer to tools used for washing clothes and movable relative to the clothes container. Relative to the clothes container, it can move, especially in the clothes container.
  • the working space is used as a toilet space, that is, the working space is used for toileting; and/or, the machine has a stool collection device (1621) or can be connected to a stool collection device (1621).
  • Defecation means going to the toilet. Defecate immediately after going to the toilet.
  • the stool collection device (1621) is arranged in the lower part of the working space.
  • the stool collection device has a filtering component; it is used to separate sewage into waste and clean water.
  • the stool collection device has a disinfection and/or sterilization device; it is used to disinfect and/or sterilize waste.
  • the stool collection device is the toilet.
  • the equipment includes components for sewage treatment.
  • the component used for sewage treatment is a sewage processor or a component connected to the sewage processor.
  • the sewage processor is used to treat the sewage in the equipment.
  • the movement mechanism (13, 18) is used for cleaning the stool collection device (1621), and/or, sending out the stool collection device (1621) and/or waste in the stool collection device (1621).
  • the working space can be used as a space for washing the human body.
  • the job is to clean the human body.
  • Washing the human body includes at least one of bathing and shampooing.
  • the human body refers to the body or the head.
  • Cleaning includes rinsing or scrubbing.
  • the equipment includes or can be connected: a device for washing the human body.
  • the bathing device and the shampooing device include: a water outlet device (1624) scrubbing tools. Flushing means washing the human body with water. Scrubbing means using a scrubbing tool to move in contact with the surface of the human body to clean the human body. Scrub the human body, including scrubbing the body or scrubbing the hair. Scrub your body and take a shower.
  • the machine has or can be connected with a water outlet device (1624); the water outlet device (1624) is used for water outlet and used for washing the human body.
  • the water outlet device is preferably a spray device.
  • the emptying includes removal and/or disassembly and/or storage and/or folding and/or retracting and/or shrinking.
  • the movement mechanism (13, 18) is used to clean the human body.
  • the movement mechanism (13, 18) is connected with a special operation component (17).
  • the special operation component (17) is: a scrubbing tool and/or a spray device.
  • the movement mechanism (182) drives the special operation component (17) to move in the space for washing the human body; it is used for washing the human body.
  • This activity especially refers to scrubbing or washing hair; this program is used for scrubbing or washing hair.
  • the scrubbing tool is used to scrub the human body in contact with the human body.
  • the scrubbing tool includes: flexible objects or grips or claws or combs or teeth, such as towels or silk scarves or steps. Scrub your body and take a shower.
  • Figure 1 (G) part shows a schematic diagram of shampooing operations.
  • the backrest (71) is tilted backward; the head is placed above the container (1622).
  • the device (172) for scrubbing the human body includes a control module for controlling the scrubbing tool to scrub the human body.
  • the control module also includes functions; when scrubbing the human body, the contact force between the scrubbing tool and the human body is kept within a set range.
  • the setting range is such that the scrubbing tool does not damage the human body and can scrub the human body clean; and/or obtain the body shape information of the person based on the machine vision analysis module; and formulate the movement path of the scrubbing tool according to the body shape information.
  • Various living work devices include any of a toilet (1621), a washing device (1622), a vegetable washing and/or cooking device (1623), and a spray device (1624).
  • Life work equipment is life service equipment.
  • the set life work device is installed or can be installed in the space beside the seat (7) of the machine; the set life work device is naturally preferably a small-sized device.
  • the space beside the seat (7) that is, the space beside the seat (7).
  • the side refers to the second party (especially the back side); and/or, the seat refers to the main seat.
  • the space behind the seat of the machine, the space especially refers to the space inside the machine.
  • the bathing or defecation or washing clothes or washing vegetables or cooking food especially refers to being performed in the space.
  • the washing device (1622) is located above the toilet (1621); and/or the food processing system (1623) is located above the washing device (1622); and/or the food processing system (1623) is located Above the toilet (1621); and/or, the spray device (1624) is located above any one of the food processing system (1623), the washing device (1622), and the toilet (1621).
  • Food processing systems especially refer to cooking devices.
  • the workbench is connected to the tool, and the connection particularly refers to installation and/or clamping.
  • FIG 1 Connect the components of the living working device, especially the working support (19); used to connect the living working device.
  • the food container (1623), the clothes container (1622), and the stool collection device (1621) are connected to the work support (19).
  • the vertical projection area of the living working device in the working space can be adjusted in the working space. It is used to put the living working device in the working state or reduce its vertical projection area in the working space.
  • the living working device is movably arranged in the equipment; or the living working device is deformable to adjust the vertical projection area.
  • the activity is configured as a hinged or slidable connection.
  • the food container (1623) is hinged to the work support (19) or the body of the equipment. As shown in part (A) of Fig. 1, the food container (1623) is laid flat for food processing. When performing other operations or reducing the distance of the set edge of the equipment, the food container (1623) is erected. The erection is performed by rotating the food container (1623) along the hinge point. As shown in part (D) of Fig. 1, the food container (1623) is upright; the movable equipment is used for laundry processing operations. Or as shown in part (G) of Fig. 1, the food container (1623) is upright; the movable device is used for shampooing.
  • the clothing container (1622) can be deformed to adjust the vertical projection area, such as a water bag containing a flexible material. As shown in part (E) of Fig. 1, the clothes container (1622) is reduced or folded, so that the working space is used for toilets or for people to sit on. As shown in part (F) of Fig. 1, the clothes container (1622) is reduced or folded to make the working space for bathing. As shown in part (H) of Fig. 1, the clothes container (1622) is reduced or folded to make the working space for people to lie down. As shown in part (I) of Figure 1, the clothing container (1622) is reduced or folded to reduce the distance of the set edge of the device to L121. The distance L121 is smaller than the distance L122 shown in part (H) in FIG. 1.
  • the stool collection device (1621) is slidably connected to the work support (19) or the body of the equipment.
  • the stool collection device (1621) moves under the seat (7), so that the working space is used for bathing.
  • the stool collection device (1621) moves below the seat (7) to reduce the distance of the set edge of the device to L121.
  • the translational movement mechanism (18) can move to an area outside the passenger space; for example, the area is higher than the backrest, or on the other side of the backrest (especially the rear side, both sides).
  • the equipment includes components used to isolate the passenger's seating space and special operating devices.
  • the component is a board that can be erected.
  • the component is a backrest.
  • Special operating devices are the moving parts of the motion mechanism.
  • the translational movement mechanism (18) is blocked by the backrest behind or above or on the side to protect it from harming the human body.
  • the components connected to the devices used for human life services especially refer to the work support (19).
  • the work support (19) is movably connected to the machine, and the equipment is equipped with sliding parts to enable the work support (19) to slide; the equipment is equipped with hinge parts to allow the work support (19) to rotate around the set axis; when moving backward, It is convenient for personnel in the equipment to work; when moving forward, it is convenient for personnel to work from the rear of the outside of the equipment; the side of the bracket or backrest is hinged to the side wall, and the hinged rotation axis is close to the side wall and is vertical; the backrest bracket is made.
  • the movable device includes components for adjusting the external size of the device, and the external size of the device is adjusted, even if the external size of the device can be adjusted.
  • the external dimensions include the horizontal distance and/height of at least one set of edges in opposite directions. That is: a movable device in which the distance in the horizontal direction of at least one set of opposite edges in the machine can be adjusted; and/or the height of the machine can be adjusted.
  • the parts in the working space are designed not to hinder the adjustment of the external dimensions of the equipment.
  • the at least one set of edges in opposite directions is the set edge.
  • the machine can be set to at least two of vertical, sitting and lying types.
  • the distance between the set edges of the machine can be set to a third distance, and the third distance is the distance that enables a person to lie in the machine; this solution is suitable for the machine to be set in a lying type. Lying refers to the person lying down with his head or feet facing one of the set edges.
  • the distance between the set edges of the machine can be set as the second distance.
  • the second distance is less than the third distance; this solution is suitable for the machine to be set in a sitting position.
  • the first distance is smaller than the second distance; this solution is suitable for the machine to be set up in a vertical position.
  • the distance between the set edges of the machine can be set as the first distance.
  • the distance between the edges of the machine can be adjusted in the range of at least two distances among the first distance, the second distance, and the third distance.
  • the distance between the edges of the machine can be adjusted in the first distance and the third distance.
  • the adjustment is not limited to the first distance, the second distance, or the third distance; the adjustment is included in any number of the two distances.
  • the first distance is 0.7 meters; the third distance is 2 meters; the distance between the edges of the machine can be set to any distance from 0.7 to 2 meters.
  • vertical means that a person can stand in a machine.
  • Standing in the machine means standing in the machine.
  • Standing in the machine includes people being able to stand on the bottom of the machine body or people being able to stand on the ground.
  • standing in the machine means standing on the bottom of the machine body.
  • the sitting position enables a person to sit on the seat in the machine.
  • the lying type means that a person can lie in the machine.
  • Standing is standing.
  • Sitting is sitting.
  • the lying position is the lying position.
  • the formation of the recliner includes the reclining of the backrest or the extension of the side parts of the seat.
  • the set edge refers to the edge whose distance from the center of the machine can be adjusted, and/or the adjustment of the edge is used to switch the machine between at least two types of vertical, sitting and lying modes.
  • the distance between the edges of the machine is the horizontal distance of at least one set of edges in opposite directions in the periphery of the machine, that is, the distance between at least one set of edges in the opposite direction in the horizontal direction.
  • the set distance between edges includes length and/or width.
  • the at least one relative direction particularly refers to the first side and the second side, the first side refers to the front in particular, and the second side refers to the rear.
  • the at least one relative direction may also refer to a third party and a fourth party.
  • the horizontal distance of at least one set of edges in opposite directions includes the length and/or width of the machine. In this article, all the azimuth reference points refer to the center of the machine body.
  • the distance between the set edges of the machine can be adjusted, that is, the distance between the edges of at least one set of opposite directions of the machine can be adjusted in the horizontal direction, that is: the edge of at least one of the periphery of the machine and the center of the machine are horizontal
  • the distance of the direction can be adjusted.
  • the center of the machine is the center of the body.
  • the center of the machine particularly refers to the center of the area that accommodates the personnel.
  • the at least one party specifically refers to the second party; the second party specifically refers to the rear.
  • the machine (at least one part) has a movable mechanism or can be connected to the movable mechanism; the movable part can move inward and/or outward; make the edge of at least one position in the machine and the center of the body of the machine
  • the distance of the machine can be adjusted even if the distance between the edges of at least one set of opposite directions of the machine in the horizontal direction can be adjusted.
  • At least one component of the machine can move outwards.
  • the at least one component is a movable part. Increase the distance between the edges of the machine, even if at least one component of the machine moves outwards.
  • the outward movement includes: the telescopic element extends outward, and/or the hinged movable element rotates outward. Move outwards to increase working space. Activities are activities within the scope of activities.
  • the working space By increasing the distance between the set edges of the machine, the working space can be increased; this increase is formed; increasing the working space especially refers to increasing the plane of the working table. And/or: 1.2.
  • the working space can be reduced by reducing the distance between the set edges of the machine; reduction means reduction. Reducing the working space especially refers to reducing the plane of the working table.
  • the equipment has working space.
  • the working space is the space required by the daily life office and/or the space with specific functions. Specific functions are special operations.
  • the working space is the space used for special operations, that is, the working space. Special operations are operations.
  • the work space is a space including parts used for human life services.
  • the components used for human life services include devices used for human life services or components connected to devices used for human life services.
  • the device used for human life services particularly refers to a living working device and/or an article forming device.
  • the working space refers to the working space around the seat (7) of the machine.
  • the working space, living working device and article forming device are all located on the parts of the equipment.
  • the living work device is installed in the equipment; and/or, the working space of the transporting device or the printing device or the 3A printing device or the engraving device is located in the equipment.
  • the working space is within the edge of the equipment.
  • Working space is within the edge contour line of the equipment
  • the space above or below or inside the movable part is used for work.
  • This space is the work space.
  • the moving parts move outward to increase the working space and form the working space.
  • the movable parts move inward, which can reduce the working space.
  • the area of the vertical projection in the contour line of the outer edge of the moving part increases, and the upper or lower part of the projection is used for work; the area is the work area.
  • the space used for work in the space above and/or below the area is the work space.
  • the work space is enclosed by the edge of the equipment, the work space is inside the equipment.
  • the working space is surrounded by at least three sides by the edge of the equipment, the working space is the space surrounded by the edge of the equipment.
  • the edge of the equipment does not enclose the space: the upper part of the work space is bounded by the height of the top of the equipment to the ground; the lower part of the work space is bounded by the height of the bottom of the equipment; The edges of the components are bounded.
  • the working space can be increased or reduced; that is, the size of the working space is adjustable. For example, if the movable part is a board extending outward from the bottom of the equipment, the working space is the space on the board; and the upper part of the space is bounded by the height of the top of the equipment to the ground.
  • the working space is the space under the board; and the bottom of the working space is bounded by the height of the bottom of the equipment to the ground.
  • the space includes components used for human life services.
  • the machine can be formed, especially the body of the machine can be formed. It includes: being formed by the body of the machine, and/or, or, the body of the machine can be connected to other objects and formed by the other objects; and/or, being formed by the body and the other objects. Other objects are external parts. Seats and/or ride parts refer especially to seats (7).
  • the set distance between the edges especially refers to the length.
  • by increasing means increasing. By reducing it is also reducing.
  • the second side (especially the rear) space of the seat and/or the riding part (7) of the machine can be provided with seats, food processing systems, toilets, and equipment for washing the human body , Any one or more of clothing processing equipment, printing devices, and 3D printing equipment.
  • the space refers to the space inside the machine.
  • the at least one operation of food processing, human body washing, and clothing processing is particularly carried out in a space.
  • this solution is implemented when the distance between the set edges of the machine is set to the third distance.
  • the horizontal distance (especially length) between the edge of the first party (1) and the edge of the second party (2) is L12 .
  • the horizontal distance (especially the width) between the third party's edge (3) and the fourth party's edge (4) is L34.
  • the height (Z1) is the height of the riding space.
  • the first party is the front.
  • the height of the machine refers to the length of the main body of the machine in the vertical direction.
  • the height of the machine especially refers to the vertical distance between the bottom (6) of the main body of the machine and the upper part (12) of the machine.
  • the height of the machine especially refers to the height inside the machine body.
  • the upper part (12) especially refers to the top.
  • the bottom (6) particularly refers to the inner side of the bottom, that is, the upper surface of the bottom; the upper component (12) particularly refers to the inner side of the component, that is, the lower surface of the component.
  • the direction of the machine against the ground is the bottom; the direction against the sky is the top; the bottom and the top are opposite.
  • the upper part (12) can be either the top of the machine or the top of the object installed on the machine.
  • the object is a blocking object (especially an umbrella, etc.).
  • the occupant area is between the edges of the machine in any opposite direction. That is, the area for accommodating people is between the edge (1) of the first party and the edge (2) of the second party.
  • the edge refers to the outer side of the edge.
  • the horizontal distance between at least one set of edges in opposite directions is the horizontal distance between the outer surface of the edge of the first party and the outer surface of the edge of the second party in the horizontal direction.
  • the edge refers to the inner side of the edge. All the inside and outside are based on the area in the machine for people to ride as the reference point; points to the area for people to ride are inside; the opposite to the inside is outside. Relative, that is, relative to the area in the machine for people to ride.
  • the backrest of the seat and/or the riding part (7) is not the edge of the machine; that is, the backrest and the edge of the machine are two different parts.
  • the backrest of the seat and/or the riding part (7) is also between the edges in the opposite direction in the periphery of the machine.
  • the backrest is on the second side (especially the rear) of the seat and/or riding part (7); the edge of the second side (especially the rear) of the machine is on the second side (especially the rear) of the backrest. rear).
  • the setting of the distance between the edges of the machine can be adjusted, not simply formed by the backward tilt of the backrest.
  • the table is expanded relative to the seat, even if the table and the seat are in a cooperative state.
  • the height of the machine can be adjusted. That is: the machine (in the height-related parts) includes a movable mechanism or can be connected to a movable mechanism; the movable part can move up or down in the range of movement; the height of the machine can be adjusted. Activities include telescope and/or rotation.
  • the height of the machine can be set to a third height, and the third height is a height at which a person can stand; this solution is suitable for the machine to be set up in a vertical type. And/or, the height of the machine can be set to the second height; the second height is smaller than the third height; this solution is suitable for the machine to be set in a sitting position. And/or, the height of the machine can be set to a first height, and the first height is smaller than the second height; this solution is suitable for the machine to be set in a lying type. That is, the height of the machine can be adjusted in the range of at least two heights among the first height, the second height, and the third height. Especially: the height of the machine can be adjusted between the third height and the first height.
  • This adjustment is not limited to only being set to the first height, the second height, or the third height; it includes adjustment in any of the two heights.
  • the first height is 0.8 meters
  • the third height is 2 meters; then the height of the machine can be set to either 0.8 meters or 2 meters; it can also be set to any distance from 0.8 to 2 meters; for example, 1 or 1.5 Or 1.8 meters.
  • it also includes a solution: adjusting the distance of the edge of at least one set of opposite directions of the device in the horizontal direction so that the distance is smaller than the riding distance.
  • This solution is used to reduce the footprint of the machine.
  • making the distance smaller than the riding distance is to make the distance the first distance.
  • the solution 1.3 may also include a solution: adjusting the height of the device so that the height is smaller than the standing height. More preferably, making the height smaller than the standing height is to make the height the second height. It is further preferred that the height is smaller than the standing height so that it is the first height. Reducing the height is used to: increase the stability of the equipment, and/or, increase the passing capacity of the machine. Passing ability refers to the ability to pass through low spaces.
  • the set edges are the front and the back; the distance between the set edges is the length, and the third distance is the third length.
  • the second distance is the second length; the first distance is the first length.
  • the height of the machine in seated manned mode is the second height, and the length of the machine in seated manned mode is the second length; the first length is less than the second length, the second length is less than the third length; the first height is less than the second Height, the second height is smaller than the third height.
  • reducing the height of the device is used to turn the device into a miniature device, lower the center of gravity of the device, and increase any one or more of the device's passing capacity.
  • the machine is provided with seats and/or ride parts (7) or the ride parts (7) can be installed in the machine; the machine is also in the area for accommodating personnel of the machine; the area for accommodating personnel is especially seat.
  • the horizontal distance of at least one set of opposite edges in the periphery of the machine can be adjusted.
  • the sitting position enables a person to sit on the seat in the machine.
  • the lying type means that a person can lie in the machine. Any one or any of multiple parameters from the height that enables a person to stand and the distance that enables a person to lie in the machine: This parameter can be adjusted.
  • the height of the user of the device is different from the normal height, it will be based on the difference Value to adjust the parameter: or, the parameter is formulated according to the user's choice; or, the parameter is formulated according to the adult's conventional height settings.
  • the normal height is the average height of adults in the country where the device is used.
  • the movable device in this article Based on the average height of Chinese adult women, the movable device in this article: the distance that enables a person to lie in the machine is a distance greater than 1.6 meters; the height that enables a person to stand in the device is a height greater than 1.6 meters. Even a user with a height of 180 cm is only slightly bent (legs) standing or lying in the device, which does not affect the use of the device. For equipment designed for a group of people whose height is not 1.6 meters, any parameter of the length and height is adjusted correspondingly according to the deviation value of the height of the group of people and 1.6 meters.
  • the movable part can be a moving mechanism.
  • part (A) in Figure 3 (side view) and part (B) in Figure 3 (front view) are schematic diagrams of the moving mechanism; the movable part (2_2) is connected to the connecting part (2_1), and the connecting part ( 2_1) defines the movement mode of the movable part, and the connecting part (2_1) is the base (2_1).
  • the connecting part (such as the drive screw (3)) is the driving part.
  • the movable part can move relative to the base (2_1); and is structured as follows: the movable part can move in the base (2_1) but cannot rotate; the active part is connected with the power device (electric drive module (4)); the power device (electric drive) The module (4) can drive the driving member (3) to move (for example, rotate), thereby enabling the driven member (2_2) to move.
  • the movable mechanism may be a telescopic mechanism.
  • part (D) (side view) and part (H) (front view) in Figure 3 are shown.
  • the movable part (2_3) can be telescoped relative to the base (2_2).
  • the telescopic mechanism is configured such that the movable part (2_3) can move but cannot rotate relative to the base (2_2).
  • the movable part (2_3) is connected with the base (2_2).
  • the base (2_2) is a tubular member; the outer dimension (for example, outer diameter) of the movable part (2_3) is smaller than the inner dimension of the base (2_2); the outer dimension especially refers to the outer diameter; the inner dimension especially refers to the inside diameter of.
  • a part of the movable part (2_3) can be extended or retracted from the base (2_2).
  • the bottom view is also viewed from the bottom up.
  • the movable part is connected with the power device (4) through the driving part (the transmission screw (3)).
  • the equipment includes a braking component (5) for braking the active part in the movable mechanism or the power device (4).
  • the connection between the movable part and the driving part is a gear (3) rack connection.
  • the connection between the movable part and the active part is a piston connection.
  • Piston type connection includes air cylinder or hydraulic cylinder type connection.
  • the movable part can be a manipulator; for example, as shown in part (E) in Figure 3.
  • H is the target, which is the person; the seat (7) and the components at the bottom of the machine (6) can move; the machine can be formed for people to contact the ground (In contact with the ground, especially standing on the ground) The area where you walk on the ground; this area is the area where the target H is located; the first component includes the first party's component (1), the second party's component (2), and the third party's component (3) At least 3 types of the fourth party components (4); the machine has a ground moving device (5); the machine has a top component (12).
  • Part (A) (side view) and part (B) (top view) in Figure 1 show the same machine; or as shown in Figure 6, the machine includes a target monitoring module (8), which is used to obtain targets Location and/or identification of target conditions.
  • the machine can be set to seated manned mode.
  • the rear end of the seat (7) in the seat is connected to the components on both sides of the machine through connecting devices (11c2, 11d2). This connection refers in particular to articulation.
  • the seat (7) is for personnel to sit when placed horizontally.
  • the front end of the seat (7) can be rotated around the rotation axis of the hinge. When the front end of the seat (7) rotates downward to the second side (especially the rear side), the area in the master seat can be turned into a standing area.
  • the seat (7) can also be detachably connected; by disassembling the seat (7), the area in the seat or the seat (7) can be a standing area.
  • machine It can be set to stand-up manned mode.
  • the seat and/or riding part (7) are handled as follows: make the area in the seat and seat (7) a standing area; the standing is to stand on the part (6) at the bottom of the machine.
  • Part (M) in Figure 6 (top view) is part (G) in Figure 3 of the original priority document.
  • the part (N) in this Figure 6 (front view) is the part (I) in Figure 3 of the original priority document.
  • the part (O) in this Figure 6 (side view) is the part (H) in Figure 3 of the original priority document.
  • part (D) top view
  • part (E) side view
  • part (F) front view
  • part (M) top view
  • part (N) side view
  • part (O) front view
  • the machine can form an area for the target to stand or walk on the ground
  • the standing is standing on the ground.
  • the standing may be walking.
  • Figure 6 (D) part (top view) As shown in Figure 1 (B) and (L) (top view), Figure 6 (D) part (top view) as shown; the third party (preferably the left) component (3) can be divided into the first party The part (3a), the middle part (3b) and the second part (3e).
  • the fourth (preferably right) component (4) can be divided into the first component (4a), the middle component (4b) and the second component (4e). And when the parts (3a), (3b) and (3e) move in the first direction and/or the second direction, any part will not interfere and prevent the movement of other parts. And when the parts (4a), (4b) and (4e) move in the first direction and the second direction, any part will not interfere and prevent the movement of other parts.
  • Part (the series of drawings are all side views): the upper part (especially the top part) (12) can be divided into the first part (12a), the middle part (12b) and the second part Part (12e).
  • the lower part (that is, the bottom part) (6) can be divided into the first part (6a), the middle part (6b) and the second part (6e).
  • any part will not interfere and prevent the movement of other parts.
  • any part will not interfere and prevent the movement of other parts.
  • the first part (including the parts at 1, (3a), (4a), (6a), (12a) position) can be retracted inward (that is, to the center) or can be Expand outward (that is, the first direction).
  • the components on the second side (including the components at positions 2, (3e), (4e), (6e), and (12e)) can be retracted inward (that is, toward the center) or can be outward (that is, the second Direction) expand. Retracting, expanding, or moving are preferably movement; it can also be rotation or swing around a set axis.
  • the parts of any party can be divided into upper parts and lower parts.
  • the upper part or the lower part moves up and down (especially moving), any part will not interfere or prevent the movement of other parts.
  • Figure 4 is a schematic diagram of a telescopic mechanism or a lifting mechanism or a height-adjustable machine; each part in Figure 4 is a side view; part (C) in Figure 4 is a schematic diagram of a telescopic mechanism: component one (2_3) is relative to The second component (2_2) can expand and contract.
  • (B), (D), (E) in FIG. 4 are schematic diagrams of height adjustment of the same movable device.
  • the machine has two telescopic mechanisms that can be telescoped in the up and down directions; a telescopic mechanism (131) and a telescopic mechanism (132), and the two telescopic mechanisms are connected step by step. As shown in part (E) of Fig.
  • the telescopic element (131) and the telescopic element (132) both extend outwards. At this time, the height of the machine is higher, for example, the third height. As shown in part (D) of FIG. 4, when either the telescopic element (131) or the telescopic element (132) is retracted, the height of the machine is lower than the third height, for example, the second height. As shown in part (B) of Fig. 4, when the telescopic element (131) and the telescopic element (132) are both retracted, the height of the machine is lower than the second height, for example, the first height. Stretch is to stretch. Shrink is shorten
  • This embodiment provides a solution in which multiple telescopic components are connected step by step; it is used to expand the telescopic range.
  • the base the fixed part, has two ends, the end close to the movable part is called the top end, and the other end is the bottom end; the movable part also has two ends, and the one end connected to the fixed part is the inner end and the other end is the outer end.
  • the bottom end of the base of the first telescopic mechanism is connected to the main body of the machine; if the telescopic direction is up and down, the telescopic can be used to adjust the height of the machine; if the telescopic direction is the front-to-back or left-right direction, the telescopic can be used for adjustment The length or width of the machine.
  • the outer end of the movable part of the first telescopic mechanism is connected to the top end of the fixed part of the second telescopic mechanism, and the telescopic directions of the two telescopic parts are in the same direction; and the telescopic axis of the movable part of the first telescopic mechanism is the same as that of the second telescopic mechanism.
  • the moving axes of the fixed parts of the telescopic mechanism are staggered.
  • any component will not interfere and prevent the activities of other components. So that any component will not interfere and prevent the activities of other components; there are many existing technologies that can be implemented.
  • the components are misaligned with each other.
  • (B) and (F) in FIG. 2, (C) and (G) in FIG. 2, and (D) and (H) in FIG. 2 are length-adjustable mechanisms that slide along a straight line.
  • the distance of any part can be adjusted; both means: any two parts can move relative to each other, that is, one part can move relative to the other part; and the opposite ends of the two parts are staggered in the moving direction.
  • Figure 6 (A), (B), (C) part Figure 6 (A), (B), (C) part; Figure 6 (A) is a top view, (B) is a side view, (C) is a front view.
  • the upper part can move upwards.
  • the height of the machine can be set to the third height.
  • the machine can be set to stand-up manned mode.
  • the first-party component can move inward (that is, to the center); this movement especially refers to retracting.
  • the components on the second side can move inward (that is, to the center); this activity especially refers to indentation.
  • the horizontal distance L12 (preferably the length) between the edges of the first party and the second party can be adjusted to the first distance.
  • the first distance is preferably the first length.
  • Parts (H) and (I) (side view) in Figure 1 show the same device; the distance between the edges of the first and second sides in the horizontal direction can be adjusted; the distance is preferably the length.
  • the components on the second side can move outward (that is, to the second direction); the distance can be adjusted to L122, which can make people lie in the device.
  • the components on the second side can move outwards (that is, to the second direction); the distance can be adjusted to L121, which is less than the distance that allows a person to lie in the device. To reduce the footprint of the machine.
  • Figure 6 (D) is a top view
  • (E) is a side view
  • (F) is a front view.
  • the component on the first side can move outward (that is, the first direction); this activity especially refers to unfolding; and/or the component on the second side can move outward (that is, in the second direction); this activity is particularly Means to expand.
  • the horizontal distance L12 preferably length
  • the machine can be set to a seated manned mode.
  • the upper part can move downward; the height of the machine can be set to the second height.
  • the components on the first side can move outward (that is, the first direction); this activity especially refers to unfolding; the components on the second side (especially the rear) can move outward (that is, in the second direction) ) Activity; this activity especially refers to unfolding.
  • the horizontal distance L12 (preferably length) between the edges of the first and second parties can be adjusted to a third distance (preferably a third length).
  • the distance L12 is preferably a length.
  • the machine can be set to a lying manned mode.
  • the third distance (preferably the third length) enables a person to lie in the machine and set the machine to a lying manned mode.
  • the upper part can move downward; the height of the machine can be set to the first height.
  • the motion control device and/or the table board (10a) can be set at the front of the machine .
  • the motion control device (10a) can be a handle or a steering wheel or a rocker; the motion control device (10d) can be set on the side of the machine, and the motion control device (10d) can be a rocker; it can also be a target monitoring module (8) Obtain the position of the target and/or the direction of the target's movement, and control the movement of the machine.
  • the target movement especially refers to the target walking.
  • the motion control device and the target monitoring module (8) can also be set at any position in the machine.
  • the article (component) is adjustable, that is, the article (component) can move, and the two are equivalent.
  • extension means unfolding, and the two are equivalent.
  • FIG. 7 is a schematic diagram of a machine with adjustable length in a certain direction.
  • (A), (B), (C), (D), (I) in Fig. 7 are the contents of Fig. 14 in the original priority document.
  • the rear part of the machine is provided with or connectable movable parts (L3) including: connecting device LNK3 and wheels (W5, W6); the movement of the motion mechanism, for example, adopts Figure 2 (I ), (J) shows the opening and closing mechanism.
  • the inner end of the movable part (L3) is hinged to the body (BOX) of the machine; the outer end of the movable part (L3) can move.
  • the bottom member of the movable part (L3) can be moved; the bottom of the movable part (L3) is formed with an outward opening and/or the middle part of the bottom is emptied; the movement of the machine is controlled so that the objects on the ground can be located at the bottom (especially the bottom In the middle). Items include luggage or cargo.
  • the inner end of the outwardly movable part LNK3 is hinged to the machine body (BOX); the outer end of the outwardly movable part LNK3 It can be turned up (that is, rotate around the pivot axis of the hinge) to shorten the length of the machine.
  • the machine is provided with or connectable: a lifting device (14) for lifting objects.
  • the bottom member is the bottom plate.
  • the lifting device (14) for lifting objects is the same device as the lifting device for restraining objects or objects that prevent the target from falling (9) or the lifting device for the seat (7); it can reduce the cost .
  • the lifting device is the lifting motion mechanism and the lifting mechanism, and the three are equivalent.
  • working space refers to the space above the bottom part (6) of the machine; and/or refers to the space below the part (12) above the machine; and/or refers to the space below the machine At least the space formed on both sides.
  • the at least two sides especially refer to three sides, especially four sides.
  • the bottom part (6) especially refers to the bottom part (6a) of the first party and/or the bottom part (6e) of the second party.
  • the formed space refers to the space below the upper part (12) of the machine; the upper part (12) especially refers to the upper part (12a) of the first party and/or the upper part of the second party (12e).
  • Fig. 8 is a schematic diagram of a machine with adjustable distance between the edges; in Fig. 8, the movement means expansion and contraction; the outward movement means that the telescopic parts extend outward.
  • Point O is the center of the machine.
  • the distance (especially the length) between the edge (1) of the first side (preferably the front) and the edge (2) of the second side (preferably the rear) is L12.
  • the distance (especially the width) between the edge (3) of the third party (preferably the left) and the edge (4) of the fourth party (preferably the right) is L34.
  • the distance between the edge of the first party (1) and O is L01
  • the distance of the edge of the second party (2) and O is L02
  • the distance of the third party's edge (3) and O is L03
  • the distance from O is L04.
  • side (1), side (2), side (3), side (4) are all movable parts.
  • part (E) in Figure 8 (a top view); between the part (3) and the part (4) is the main body of the machine.
  • L12 is increased; it can be adjusted to the maximum; for example, the third distance (preferably the third length).
  • the distance between the set edges increases, the area enclosed by each side of the component (1) or component (2) and the side of the machine body increases, and the working space above the area increases; that is, Form a working space.
  • L12 can increase; for example, Three distances; L34 can also be increased.
  • the distance between the set edges increases, the area enclosed by the respective sides of the parts (1), (2), (3), (4) and the sides of the machine body increases, and the upper operation of the area
  • the increase in space forms the working space.
  • Parts (F) and (G) in FIG. 8 are schematic diagrams of the same movable device after adjusting the external dimensions (that is, deforming).
  • H is personnel; X1 points forward.
  • the position of the person (H) is not moving; compared to (F) in Figure 8, as shown in Figure 8 (G): the edge (1) of the first party extends to the first party, and the second The edge (2) of the square extends to the second party, and the edge (3) of the third party extends to the third party, and the volume of the device is greatly increased.
  • the equipment can extend to the surrounding four directions and upwards under the drive of the movable mechanism.
  • the boundary component of the device may include a housing and an elastic component, and the elastic component cooperates with the housing to form a boundary.
  • the side that needs to be moved or the side that needs to be moved and the body are connected by elastic components. It is convenient for shape adjustment and deformation.
  • the axis distance of the two movable parts of the first movable mechanism (1) is L341
  • the two movable parts of the second movable mechanism (2) The axis distance of is L342; L341 is not equal to L342; the moving paths of the two movable parts (that is, the telescopic axes) can be in the same plane but staggered.
  • the axis distance of the two movable parts of the third party's movable mechanism (3) is L123
  • the fourth party's movable mechanism ( 4) The distance between the axes of the two movable parts is L124; L124 is not equal to L123; the movable paths (that is, the telescopic axes) of the two movable parts can be in the same plane but staggered.
  • the movable parts (1) and (2) of the first and second parties are in the same plane; as shown in part (B) in Figure 8 (side view); but the movable parts of the third and fourth parties are on a plane higher than (1) ) And (2) are on the plane; that is, the moving paths of the moving parts in the four directions (that is, the axis of expansion and contraction) can be staggered; that is, the moving parts in the four directions can be moved arbitrarily without obstructing or interfering with each other; that is, the machine
  • the distance between the edge of any one or any number of the machine center can be adjusted arbitrarily; that is, the length and width of the machine can be adjusted arbitrarily.
  • Figure 2 (A) and (E) are the length adjustment mechanism that can rotate around the joint; the second member Lk1 and the first member Lk2 are hinged, the other end of the second member Lk1 is L1, and the other end of the first member Lk2 is L2, the two members Lk1 and Lk2 can rotate around the hinge point R0, and the distance between L1 and L2 is adjustable at this time.
  • the parts shown in part (B) (side view) and part (F) (front view) in Figure 2, part (C) (side view) and part (G) (front view) in Figure 2, or (front view) in Figure 2 are linear sliding type length adjustment mechanisms.
  • the second member for example, Fb1 or Lk1
  • the first member for example, Bd1 or Lk2
  • the first member restricts the movement path or mode of the second member.
  • FIGS. 1 and (J) in Figure 2 are schematic diagrams of the opening and closing of the board.
  • the bottom part (6) of the machine is hinged with the fourth part (4); the bottom part (6) can rotate along the axis (R1); when the bottom part (6) is flat , Close the bottom of the machine; when the bottom part (6) is upright, open the bottom of the machine.
  • the fourth bottom part (6d) of the machine is hinged with the fourth part (4) and can rotate along the axis (R1); the third bottom part (6c) of the machine and the The three-way component (3) is hinged and can be rotated along the axis (R2); when the bottom component (6c, 6d) is relatively flat, the bottom of the machine is closed; when the bottom component (6c, 6d) is upright, the bottom of the machine is opened .
  • the length adjustment mechanism when the length adjustment mechanism is placed vertically, it is a height adjustment mechanism; when it is placed horizontally, it is a width adjustment mechanism.
  • Horizontal refers to the left-right direction.
  • Vertical means up and down.
  • Longitudinal refers to the front and back direction.
  • the equipment has or can be connected: a human drive device (M1); a human drive device (M1) including pedals (H1, H2); a motor and/or a differential (M2) and / Or the wheel, and the human drive device (M1), can be connected through a chain mechanism, a belt mechanism, a gear mechanism; pedal force is transmitted to the pedals (H1, H2), so that the connected motor or differential or wheel Rotate, the motor can rotate to generate electricity, and the differential and wheels can rotate to move the movable device.
  • a human drive device M1
  • a human drive device including pedals (H1, H2)
  • the human drive device (M1) can be connected through a chain mechanism, a belt mechanism, a gear mechanism
  • pedal force is transmitted to the pedals (H1, H2), so that the connected motor or differential or wheel Rotate, the motor can rotate to generate electricity, and the differential and wheels can rotate to move the movable device.
  • the description of any place can be used in any scheme in this text: the scheme especially refers to the scheme in any equipment and any machine.
  • equipment is the machine is the device; the machine is the equipment; the machine is the equipment.
  • Equipment is a device, and the two are equivalent.
  • Direction 1.1.
  • the position is the direction. Any one of front, back, left, right, up, down, refers to the orientation relative to a reference object.
  • the reference object is the main body of the machine, the space for accommodating personnel and articles, the person carrying device, the seat or the seat (7).
  • any part refers to the center of the part.
  • inward or outward refers to the reference object. Inward refers to the direction pointing to the reference object; outward refers to the opposite direction to the reference object.
  • the inner end of the device refers to the end of the device against the reference object, and the outer end of the device refers to the other end of the device, that is, the end not against the reference object.
  • the outward extension is preferably backward extension.
  • the front view is the view viewed from the front and back direction, which is the left view; the side view is the front view, and the view direction is viewed from the left to the right; the top view is the view viewed from the top to the bottom.
  • Back view refers to the view direction is from back to front.
  • Front refers to; the direction in which the machine travels; refers to the direction indicated by X1 in the drawing.
  • X1 indicates the front
  • X2 indicates the rear.
  • Front includes front right, front left and front right.
  • Back includes right back, left back and right back.
  • Left includes front left, front left, and rear left.
  • Right includes front right, front right, and rear right.
  • the front and back are especially the front, and the up and down are especially the down. Go ahead when you drive.
  • Front can also refer to the orientation of the seat in the device. Move, including forward and backward;.
  • Left and right refer to left and/or right, referring to the left and right of the machine;
  • front and rear refer to the front and/or back, refer to the front and back of the machine.
  • advance and retreat refer to advance and/or retreat.
  • the distance between the two refers to the distance between the centers of the two; the four directions are the periphery, that is, the surrounding four different directions, the four different directions are the first, the second, and the first.
  • the first party and the second party are in opposite directions; the third party and the fourth party are in opposite directions; the line between the point on the first party and the point on the second party is the first-second direction line;
  • the line between the point on the third party and the point on the fourth party is the line in the third and fourth directions; the line in the first and second directions and the line in the third and fourth directions cross in the horizontal direction, that is; In the direction, the first second direction line crosses the third fourth direction line; preferably, the intersection is a vertical cross.
  • At least two parties shall be any of two parties, three parties, and four parties.
  • the two parties are any of the rear and the right, the rear and the left, the front and the left, the front and the right; for example, the three parties are the front and the left and the right, the rear and the left and the right, the left Any one of square and front and rear, right and front and rear; Sifang means front, back, left, and right.
  • the first party refers especially to the front; the second party refers particularly to the back; the third party refers particularly to the left; and the fourth party refers particularly to the right.
  • the certain side mentioned anywhere is preferably a certain side.
  • the side includes any one of the front, back, left, and right.
  • the side is the surrounding surface.
  • the side includes any one of front, back, left, and right, or any two joint parts; the side of the sphere or cylinder is also the side.
  • the orientation includes any one of front, back, left, and right.
  • side refers to the side, and refers to the left and right.
  • Side refers to the front side or the side front or the side rear.
  • top, bottom, top, bottom the top includes the straight top, and the side top is diagonally above.
  • the obstructing object usually needs to be located above the target.
  • the top is above.
  • Bottom includes directly below, side bottom or diagonally below. The bottom is below.
  • Vertical refers to the up and down direction.
  • Vertical direction refers to the generally vertical direction relative to the horizontal plane; when infinite time: the vertical direction is the up and down direction.
  • the elevation refers to the vertical elevation.
  • the facade is also the side, especially the wall.
  • the bottom surface especially refers to the ground.
  • the top surface refers to the surface above the special operating device.
  • Horizontal is horizontal.
  • Horizontal refers to the direction that crosses the vertical. Horizontal means flat; horizontal means roughly horizontal; horizontal means horizontal, and horizontal means roughly horizontal. Translation includes forward and backward movement and/or left and right movement, preferably forward and backward movement. In this article, the horizontal direction, especially the front and back direction.
  • the area in a certain position is divided into all areas in the position or some areas in the position.
  • a certain space includes all or part of the space.
  • hanging means hanging.
  • Hanging fingers use cables and high objects to attach objects to high places.
  • Setting range and setting value all refer to the data obtained through type test, limited test, and theoretical calculation in line with national or regional regulations.
  • the setting range is equivalent to the normal range.
  • Permitted parameters refer to parameter values within the normal range. Within the setting range, the setting value is not exceeded, and the two are equal.
  • any object refers to a standard object.
  • Any parameter refers to a standard parameter.
  • the standard is the industry standard or the specifications of the model with the largest market share in the country where the equipment is used.
  • people and personnel refer to adults; and weight, height, and figure are all standard and conventional values; children refer to people of a specific age.
  • this parameter is a standard parameter; this standard is the largest number of people in the country where the device is used.
  • the standard may further include subdivision standards. For example, the standard for people who are 170 cm tall, or the standard for people who are 180 cm tall, or the standard for children.
  • Parameter 1 is roughly parameter 2; it means that the difference between parameter 1 and parameter 2 is within the setting range.
  • the parameter includes at least one of angle, length, height, width, or shape difference.
  • the angle especially refers to the angle or the angle of offset.
  • the horizontal direction refers to a generally horizontal direction; it includes: the horizontal direction is the horizontal direction, or the angle between the horizontal direction and the horizontal direction is less than a set value.
  • Activities can be activities. Can move is move. Movement is running, and the two are equivalent. If you have it, you can set it. The two are equivalent. Many, that is, at least two.
  • the energy formation includes having and provided with.
  • enabling an object to perform an action includes: enabling an object to perform an action. If any of the schemes in this article includes the word Neng or Ke, the scheme includes the scheme after removing the word Neng or Ke.
  • relevant means corresponding and corresponding.
  • Can exercise is able to exercise. Can refer to ability and permission. In order to refer to. To make, means to make. If you have it, you can set it. The two are equivalent. Can be used immediately. Mode is way.
  • Formation means to enclose According to the equivalent of being based, passing and passing; in the present invention, any scheme or data can be equivalently substituted into other technical schemes; “some”, English characters or “XX” symbols anywhere in this text can refer to the set A set attribute or function or object or action or behavior described anywhere in this text; the English character is, for example, A or B or U. "And/or” refers to objects or behaviors or attributes with parallel and equivalent attributes before and after the "and/or", which is a "he relationship" or an "or relationship”.
  • A includes B, including: A is connected with B, A is B, and A has B.
  • An object is a component of another object, that is, the other object includes the object.
  • the A and B can be attributes, functions, or objects described anywhere in this document.
  • connection 4.1. Can be connected, which means: connected, or provided with a connecting device for connection, or having a connection part for connection.
  • the connection is preferably installation.
  • Connectable is preferably installable.
  • the connecting device is the connecting part.
  • the connecting part is the connecting device.
  • the connecting part is the part used to connect.
  • the connecting part can be a part independent of the machine body, or a part of the machine, especially a part of the machine body.
  • the connecting part is the connecting part and/or the connecting part.
  • Two objects can be connected, and there are multiple conditions: object A and object B are connected, object A and object B can be connected but not connected, and they are in a split state.
  • A is connected to B, including the integrated connection of A and B, that is, A is B, or A is part of B or B is part of A.
  • connection part is the part used for connection, that is, the part that has been processed for connection.
  • Connectable means having the property of being able to connect for connection.
  • the connection particularly refers to a mating connection; for example, an object is provided with a hole or a hole or a concave part; then another object is provided with a rod, a cone or a convex part that is matedly connected with the hole, a hole or the concave part.
  • Connections include: fixed connection, movable connection, detachable connection or integral connection.
  • the connection is a detachable connection, that is, a connection in a manner that can be controlled to release the connection.
  • the movable connection includes a detachable connection or a slidable connection or a rotatable connection; the rotatable connection is a hinged connection.
  • Connection includes: mechanical connection and electrical connection.
  • the connection includes a direct connection, a connection through a centering piece, and a connection between two components.
  • the connection of two objects includes the connection of the two objects and/or the connection of the two objects through other components.
  • the intermediary is the center piece.
  • the other parts are the centered parts.
  • Direct connection such as welding or crimping or threaded connection or hooking or hooking or snap-in connection.
  • the machine can connect to an object; it means that the parts in the machine can connect to the object; the parts in the machine especially refer to the machine body. Connection, especially installation.
  • the machine can be connected to an object, especially the object that can be installed on the machine body; it means that the machine body has a location for installing the object and a connection device for connecting the object.
  • the certain object or the object refers to any object or component or device or module or unit described herein.
  • any component may refer to the entire component or the device included in the component.
  • the component can be any of machines, devices, modules, and components.
  • the machine can refer to any device among the whole machine, the main body of the machine, the working device (1) of the machine, and the parts in the machine. Any number is not limited to only one; it can be more than one. Some kind is any one or any multiple.
  • any functional object is named function+object; the function can refer to any function in this document; the object can refer to any object (such as a device or a component) in this document.
  • Any functional object means that the object has the function; that is, the object is used to realize the function.
  • any noun before and after is the same as adding " ⁇ " to any part of the noun.
  • XX sports mode that is, XX sports mode;
  • the table board is the board of the table.
  • the body is the body and the torso is the body. Any machine has a body. External objects refer to objects outside the machine.
  • the machine refers to the main body of the machine, that is, the body of the machine; movement, movement, movement of the machine, and movement of the machine all refer to the movement of the main body of the machine.
  • the parts that are fixedly connected to the body belong to the body.
  • the movement of the machine body is the driving of the machine, which can be referred to as driving.
  • the main body is the parts that are fixedly connected to each other in the machine, and the parts that are fixedly connected to each other have the highest quality among all the parts of the machine. This mass is weight.
  • Units, devices, systems, modules, components, components, devices, mechanisms, and structures are equivalent; unit is device, system, module, component, device, mechanism, structure, power system, power unit, drive unit, drive device, All four are equal.
  • the organization is the structure, and the two are equivalent.
  • the linear motion mechanism is the linear motion structure, and the two are equivalent.
  • the steering mechanism is the steering device, and the two are equivalent.
  • the telescopic mechanism is the telescopic device, and the two are equivalent.
  • the component is the component, and the component is the component. In this article: equipment is machine; machine is equipment; machine is equipment. Equipment or machinery, especially robots.
  • the strip-shaped component is the cable.
  • any machine in this article or any of the solutions in this article all include the main body; the machine includes or can be connected to: control devices, working devices, and energy supply devices. And/or, the machine also includes or can be connected with: a working device for working.
  • the machine is preferably a robot.
  • the control device is connected to the working device for controlling the working device to perform operations.
  • the energy supply device is connected to the control device and supplies power to the control device.
  • the energy supply device is connected to the working device to provide energy for the working device.
  • the provision of energy refers especially to electricity.
  • Operating devices include special operating devices.
  • Operations include special operations.
  • the working device is the working device.
  • Homework is work.
  • the work device includes a work execution device.
  • the working device is connected to the drive unit.
  • the drive unit is the power system.
  • the job execution device is the job execution device.
  • the control device includes motion control components or the control device can be connected to the motion control components.
  • Motion control components are used to control the movement of the machine.
  • the movement of the control machine is to control the movement device to move the machine.
  • the motion control component includes any one or more of a motion control device, a target monitoring module (8), and an automatic driving module.
  • the motion control device is controlled by the human body or triggered by the movement of the human body, and generates and issues control instructions to control the movement of the machine.
  • the motion control device can be a steering wheel, an accelerator, a brake, a rocker, a moving rod, a position detection device, etc.; the position detection device is a potentiometer or an encoder or a grating ruler or a Hall induction type position detection device.
  • the motion control device includes the advance and retreat control device of the machine and/or the steering control device of the machine.
  • Any equipment or machine in this article includes parts used for steering.
  • the component used for steering is a steering device or a component connected to the steering device.
  • Target monitoring module (8) used to obtain the target position and/or the direction of target movement, and control the machine to move with the target.
  • the target is the person.
  • the target monitoring module (8) especially refers to the tracking module.
  • the target monitoring module (8) includes: a target status recognition module and/or a target location acquisition module.
  • the target status includes the target's movement status and/or the target's health status; the movement status includes such parameters as the direction, speed, acceleration, jerk, and logical rationality of the movement behavior;
  • Target location monitoring and location information acquisition can be divided into passive positioning and active positioning.
  • Passive positioning means that the target (person) does not send out a signal, and relies on the signal reflection from the machine (luggage) to obtain the target's image recognition system positioning; passive positioning includes: image recognition positioning, or ultrasonic, infrared, radar signal, ultrasonic Signal, laser signal, lidar signal and other signal methods for ranging and positioning.
  • Active positioning means positioning with the equipment carried by the target.
  • the positioning scheme includes satellite positioning and mobile communication positioning. Mobile communications include WiFi, Bluetooth, UWB communications, etc.
  • the acquisition of location information, especially the location of the target can be based on machine vision analysis of image information.
  • Target location monitoring or target status recognition can be performed by artificial intelligence modules, based on artificial intelligence technology, and/or by sensor monitoring signals; this artificial intelligence technology includes image recognition, namely machine vision recognition, speech recognition, semantic recognition, and natural language Recognition etc.
  • image recognition namely machine vision recognition, speech recognition, semantic recognition, and natural language Recognition etc.
  • a tension sensor and a mechanical switch are provided to monitor whether the tension of the object used for restraint is normal, so as to identify whether the target falls or falls.
  • the machine can move with the target: it does not specifically mean that the machine is behind the target; the machine is located to the left or right or in front of the target, and the machine can also move with the target.
  • the automatic driving module used to control the movement of the machine in the automatic driving mode.
  • Autonomous driving means unmanned driving.
  • the automatic driving module is based on satellite and map information for unmanned driving;
  • the working device especially refers to the mobile device; the working refers especially to the movement.
  • the job execution device especially refers to the motion execution device.
  • the control device is connected to the mobile device for controlling the mobile device to move the machine.
  • the energy supply device is connected to the control device and supplies power to the control device.
  • the energy supply device is connected to the mobile device and provides energy for the mobile device.
  • the provision of energy refers especially to electricity.
  • the control device is used to control the machine to perform certain tasks.
  • the certain operation or the certain operation to be performed especially refers to moving.
  • Control including manual control, automatic control, etc.
  • Manual control refers to receiving manual control instructions through the human-computer interaction module and communication module; controlling based on the instructions.
  • Automatic control refers to receiving control instructions issued by automatic control devices; controlling based on the instructions. When the automatic control device is located outside the machine, the control instruction is introduced into the internal control device through the communication module. Automatic refers to the direct operation of mechanical, electrical and other devices without human power.
  • Manual refers to manual operation and manual operation.
  • the assignment can be any action in this article.
  • the task is to move the mobile device back and forth relative to the body of the machine, the mobile device expands and contracts, the connecting member (2_1) connecting the mobile device in the body of the machine turns relative to the body of the machine, and the machine moves in a wheeled manner.
  • Any machine in this text or any of the solutions in this text all include a body; the machine includes a mobile device or the machine can be connected to a mobile device.
  • the moving device is used to move the machine. This movement refers to movement driven by the power system. This movement includes movement on the ground, movement in the water, and movement in the air.
  • the mobile device includes a ground mobile device and/or an underwater propulsion device and/or a flying device.
  • the ground moving device includes a wheeled moving device and/or a foot moving device and/or a crawler moving device.
  • the ground moving device is used to move the machine on the ground. That is: the wheeled moving device is used to make the machine move in a wheeled manner.
  • the foot-type moving device is used to move the machine in a foot-type manner.
  • the crawler type moving device is used to move the machine in a crawler mode.
  • the ground moving device also has the function of supporting the machine body and moving the machine body off the ground.
  • the underwater propulsion device is used to move the machine in the water.
  • the flying device is used to make the machine fly. It is further preferred that the body of the machine is configured to be able to move people and/or objects on the ground, and/or the body of the machine is configured to be able to move people and/or objects in water.
  • the articulated mobile device is the leg mobile device or the foot mobile device.
  • the energy supply device especially refers to the power source, especially the battery; used to provide energy for other parts of the machine, that is, power supply.
  • the movement system that is, the mobile device, includes the power system.
  • the mobile device is the motion system. Movable means that the machine can move under the drive of the power system.
  • the drive component is a drive device, preferably an electric drive component.
  • the electric drive components include the motor and its driver, electromagnet and its driver.
  • any action can be set by a drive component corresponding to the action; the control device can issue a control instruction to make the drive component perform the action.
  • the motion system, control device, and power system of the machine can be installed in the body of the machine.
  • the motion system is the mobile device.
  • the U-related system is a U system.
  • the U-related control device U_1, the drive unit U_23, and the motion execution device (or work execution device) U_4 are connected in sequence; and corresponding control and drive are performed.
  • the control device U_1 (especially the processing module in the control device) can process and execute logic instructions and/or software programs related to U, and the control device U_1 can send out control signals related to U; in this context, control signals refer to Control the signal of the driving unit; the driving unit U_23 can receive the control signal, and can drive the motion execution device (such as the rotor, or the wheel, or the foot joint of the robot, etc.) to perform U-type motion or U-purpose operations. Most of the motion execution device or work execution device can be operated in the state of rotating around its own axis, the device can also be a rotatable motion execution device or a rotatable work execution device; such as wheels, propellers, and feet can rotate Joints and so on. In this article, rotation means rotation, and the two are equivalent.
  • Related to U refers to what is required to perform the U, that is, what is required for the machine equipment to work in the U mode. Components in the U system, that is, components related to the U.
  • the drive unit is the power unit or the power system.
  • the drive unit includes a power control device U_2 and a power conversion device U_3; the power control device U_2 (for example, a motor driver, a hydraulic valve, a fuel injection system, a gas valve) can receive the control signal, and the power control device U_2 also controls the power conversion device U_3 (such as electric motors, fuel engines, hydraulic cylinders, hydraulic motors, cylinders, pneumatic motors, etc.); the power conversion device U_3 drives the motion execution device (such as rotors, or wheels, or robot foot joints, etc.) to Perform U-type sports or U-purpose operations; and the power control device U_2 and/or power conversion device U_3 needs to be connected to the energy supply device U_0 (such as power supply, battery, fuel tank, oil pump, air pump) that transmits energy to it.
  • the energy supply device U_0 such as power supply, battery, fuel tank, oil pump, air pump
  • the U system is usually used to output power and energy for U-type sports or U-type applications.
  • the power system includes at least one of a fuel power system, an electric power system, that is, an electric system, a hydraulic power system, and a gas power system, that is a pneumatic system.
  • the fuel includes at least one of gasoline, diesel, kerosene, natural gas, hydrogen, and biogas.
  • the energy supply device is a power supply device, especially a battery
  • the power control device is a motor drive device
  • the power device is an electric power device, that is, a motor.
  • U in the above content can refer to any assignment in this article.
  • the job is moving, sports, and activity.
  • U-type movement refers to any type of movement in this article.
  • U-purpose jobs are jobs described anywhere in this article.
  • the control device is the control unit, which includes software and/or hardware and/or structural components.
  • the control device is a component including at least a processing module.
  • the control device also includes at least one of a storage module, a communication module, a man-machine interface, and a sensor module.
  • the processing module is used to process and execute programs.
  • the storage module is used to store programs.
  • the communication module is used to communicate with the information processing center outside the machine to transmit information. To transmit information especially refers to obtaining control instructions.
  • the communication module especially refers to the mobile communication module.
  • the external information processing center especially refers to the network system.
  • Human-machine interface includes voice input system, video processing system, display system, keyboard, mouse, touch screen interaction system, button trigger system, human body gesture recognition system, wireless remote control system, infrared remote control system, mobile phone communication system, etc.
  • the display system is the display device, especially the touch screen.
  • the man-machine interface is used to obtain personnel's control instructions and/or indicate equipment status information.
  • Human body gesture recognition can be especially based on machine vision analysis of image information; control information is control instructions.
  • the instructions may include instructions for machine movement.
  • any two or any number of devices can be integrated in structure; they are arranged in the same space or component.
  • the software program can be derived from a built-in storage module of the control device, an external storage module (such as a pluggable U disk), or a network system.
  • Movement and movement includes movement.
  • movement is preferably movement; movement is preferably movement; in this context, when there is no limitation, movement is movement; movement can be moved; movable machine can be a mobile machine.
  • Linear movement means that the moving track is a line. The line is generally straight. Linear movement, especially linear movement.
  • each type of work U device, that is, corresponding to U, corresponding motion execution device, and corresponding working mode.
  • Each mode has a corresponding control law.
  • Mode is method is method.
  • Control laws are also logic instructions and/or software programs (including software algorithms). .
  • U1 is a two-wheel movement forward and backward
  • U2 is a two-wheel movement left and right
  • its mode and control law are different.
  • U1 is a four-wheel movement
  • U2 is a two-wheel movement; its mode is different from the control law.
  • An object can achieve a certain function, which means that the object is set up and designed to have a certain attribute, allowed, and used to realize a certain function. Yes, it means being able, permitted, and allowed; it means that an object is designed and constructed to have certain attributes to achieve the set function.
  • movable means that an object is designed and constructed to be movable; it means that the object has the property of being able to move.
  • An object is used to implement a set function. The use does not mean that it is dedicated. The object can also be used to implement other functions.
  • a mobile machine which is preferably a robot.
  • machine (1) refers to the machine body or working device (1).
  • things are articles, including luggage or cargo.
  • the operation device (1) is the main body of the machine.
  • Working device (1) especially refers to a device for carrying people and/or objects.
  • Carrying people and/or loads means carrying people and loads.
  • the device used to carry people and/or loads means the means for carrying people and/or loads means carrying people and/or the means for carrying people and/or loads means means for carrying people and loads.
  • Ride includes sitting and/or standing.
  • the machine can carry people and/or objects, which means that the machine is configured to carry people and/or objects to move, and it means that the main body of the machine or its related parts (such as base plate, body, seat) are structurally It is designed to withstand a preset (for example, 100KG) force; and it means that the machine or its related parts have space for passengers and/or objects.
  • the machine includes or can be connected: seat, backrest BKR.
  • Seats and/or ride parts (7) are arranged in the area for accommodating persons or seats and/or ride parts (7) can be installed in the area for accommodating persons.
  • Seats and/or ride parts refer especially to seats (7).
  • the machine includes a seat and a seat (7) or the machine can be connected to a seat (7); the seat (7) can be set in the seating position for people to ride; by disposing of the seat (7), the seating position can be made The area where people stand or walk.
  • the machine has a backrest (2) or the machine can be connected to the backrest (2); the backrest (2) can be laid flat for people to lie on; the backrest (2) can be upright for the backrest and/or Reduce the footprint and/or reduce the length of the machine to allow access to the elevators of civil buildings.
  • wheeled sports machines are also vehicles.
  • Water includes being completely in the water and partly in the water, that is, the surface.
  • the flying device includes at least one of a rocket, a rotary wing flying device, a flapping wing flying device, a jet flying device, a propeller flying device, and a fan flying device.
  • the flying device is a rotary-wing flying device. .
  • the device or the machine includes: a movement mechanism or a component connected to the movement mechanism.
  • the movement mechanism is the movement unit, that is, the movement device is the movable part of the movement mechanism, and the five are equivalent.
  • Mechanism refers to a component system formed by movably connecting two or more components.
  • Mechanism It is a combination of components that determine relative motion, and it is a component system used to transmit motion and force.
  • the mechanism can be divided into guide type mechanism, linkage mechanism, gear set mechanism, inclined plane mechanism, ratchet mechanism, screw mechanism, rack and pinion mechanism, worm gear mechanism, belt drive mechanism, synchronous belt drive mechanism, universal joint Institutions, etc.
  • the movement mechanism refers to: in any part, the part includes a first member and a second member; the first member is connected to the second member; and the second member can move relative to the first member. Movements include any one or more of rotation, movement, telescopic, steering, folding, rewinding, lifting, and tilting. The movement of the second member relative to the first member is a certain movement.
  • This type of component is the moving mechanism or the moving mechanism.
  • the first member is relatively stationary in the mechanism and is used to support the second member.
  • the second component moves within the movement path and/or movement range set by the first component, that is, the two components are in direct contact and can produce a certain relative movement; that is, the two components are connected by a kinematic pair.
  • the setting is to form a constraint or limit or restrict.
  • Connection means connection, and the two are equivalent.
  • the second component is the movable part, which is part one.
  • the first component is the base, the machine base, the fixed part, or the second component.
  • Components are components. Parts are components.
  • the first member is connected to the body of the device or is the body of the device or a part of the body of the device; the movement of the movable piece is relative to the body of the machine; the movable piece can move relative to the body of the machine.
  • Disposal includes any one or more of disassembly or sliding or rotation or folding or telescoping or winding.
  • the moving parts are all moving parts in the motion mechanism.
  • the rotation includes the rotation of the shaft and the rotation of the hinge.
  • Movement includes translation.
  • the movement mechanism is the movement mechanism.
  • the movement mechanism includes a rotating mechanism, a moving mechanism, a telescopic mechanism, a steering mechanism, a folding mechanism or a winding mechanism, a lifting mechanism, an articulation mechanism, a plane four-bar mechanism, any one or any of them.
  • Change is to change.
  • Variable speed means speed regulation.
  • To change direction is to change direction.
  • the movable part of the telescopic mechanism is the telescopic part.
  • the planar four-bar mechanism especially refers to the hinged four-bar mechanism.
  • the moving mechanism that is, the guide rail type motion mechanism, that is, the linear moving mechanism, that is, the linear motion mechanism, that is, the linear reciprocating motion mechanism, which is the same mechanism.
  • the linear motion mechanism is a mechanism that makes a point on the component perform an accurate linear motion or an approximate linear motion.
  • the base in the linear movement mechanism especially refers to the guide rail, and the movable part in the linear movement mechanism especially refers to the slider.
  • the guide rail refers to the guide rail in the linear movement mechanism.
  • Moving parts are moving parts. Exercise is activity. Moving parts can also be divided into active parts, driven parts and intermodal parts. The active part is the original moving part and the input part.
  • the active part is used to connect the power device or the motion control device; the power device drives the active part to move or the motion control device drives the active part to move. Or the active part is a power part.
  • the driving part is connected to the driven part.
  • the follower is the work piece.
  • the intermodal component is an intermediate component connecting the active component and the driven component. Intermodal parts are used to drive power, that is, transmission parts.
  • the follower drives the connected load object to move.
  • the motion mechanism is connected to the power device, that is, the active part of the motion mechanism is connected to the power device.
  • the movement of the motion mechanism is driven by the power unit.
  • the control device is used to control the power device to drive the motion mechanism to move. That is, the control device is used to control the movement of the movement mechanism.
  • the movement mechanism is the mechanism used for movement. Movement of the kinematic mechanism: Driven by the power device and controlled by the control device.
  • the motion mechanism includes any one or more of linear motion mechanism, hoisting mechanism, rotary motion mechanism, and joint rotation motion mechanism.
  • a joint-rotating motion mechanism is a joint motion mechanism, that is, a robotic arm and/or a manipulator.
  • the mechanical arm is a device that imitates the function of a human arm for grasping, carrying objects or operating tools.
  • a manipulator is a device that can imitate the function of a human hand and is used to grasp, carry objects or operate tools.
  • the linear movement mechanism includes a translation movement mechanism (18) and a lifting movement mechanism (13).
  • the translation device is the translation mechanism or the translation movement mechanism, and the three are equivalent.
  • the lifting motion mechanism is the lifting device or lifting mechanism, and the three are equivalent.
  • the translation includes left and right movement and/or forward and backward movement.
  • the translational movement mechanism includes a forward and backward movement movement mechanism and/or a left and right movement movement mechanism.
  • the left-right movement mechanism is the left-right movement device, and the two are equivalent.
  • the forward and backward movement mechanism is the forward and backward movement device, the two are equivalent.
  • the left-right movement mechanism is the Y-axis motion mechanism/or the X-axis motion mechanism.
  • the forward and backward movement mechanism is the X axis movement mechanism/or the Y axis movement mechanism.
  • the lifting motion mechanism is the Z-axis motion mechanism.
  • the Y-axis motion mechanism is the Y-axis adjustment mechanism.
  • the X-axis motion mechanism is the X-axis adjustment mechanism.
  • the Z-axis motion mechanism is the Z-axis adjustment mechanism.
  • the X axis and the Y axis are in the same plane, and the X axis is perpendicular to the Y axis; the plane is the XY plane; the Z axis is perpendicular to the XY plane.
  • the Z axis points up and down.
  • the joint-rotating motion mechanism is the joint-rotating manipulator, referred to as the manipulator for short.
  • the manipulator connects the tool, the connection especially refers to grasping or holding or suction. Grasping includes gripping or pinching or pinching.
  • the movement mechanism is connected with special operating parts.
  • the movement mechanism is connected to the control device.
  • the motion control instruction is issued from the control device, and the motion mechanism executes the instruction; drives the special operation component to move to perform special operations.
  • Driving means driving, driving means driving, the two are equivalent. Movement includes any one or more of lifting, translation, and rotation.
  • the life work device is the set life service equipment.
  • the lifting movement mechanism, the forward and backward movement movement mechanism, and the left and right movement movement mechanism are linked with each other to form a multi-dimensional movement mechanism.
  • the multi-dimensional motion mechanism is the multi-dimensional adjustment device, that is, the multi-axis adjustment device.
  • Multi-dimensional includes two or three-dimensional or four or five or six or an integer greater than 6.
  • the movement mechanism herein is a multi-dimensional movement mechanism.
  • the lifting motion mechanism is the lifting motion mechanism in the multidimensional motion mechanism
  • the translation motion mechanism is the translation motion mechanism in the multidimensional motion mechanism
  • the rotary motion mechanism is the rotary motion mechanism in the multidimensional motion mechanism.
  • Operating parts are special operating parts; special operating parts are special operating parts with special functions.
  • the assignment refers to the set assignment.
  • adjustment refers to increase or decrease within the adjustable range. Adjustment, especially controlled adjustment.
  • the above increase refers to the increase in the adjustable range; the above decrease refers to the decrease in the adjustable range; the above increase or decrease is reversible; especially the controlled reversible.
  • the increase or decrease is preferably controlled.
  • the machine further has a control device or can be connected to a control device, and the control device is used to control the aforementioned increase and/or control the aforementioned decrease.
  • To reduce means to eliminate and/or reduce.
  • Auxiliary solution 2 The machine as described in the technical solution 1, characterized in that: the machine has a set function for indoor movement and/or travel and/or outdoor activities.
  • the service provided for indoor movement and/or travel and/or outdoor activities includes or is any one or more of: manned movement, luggage movement, cargo transportation, clean and environmental protection, and safety monitoring;
  • the machine With or connectable mobile communication module or device for air circulation or refrigeration equipment or heating equipment or human interface;
  • the clean and environmental protection refers to: sweeping or vacuuming or air purification or garbage disposal;
  • the safety monitoring refers to: environmental safety monitoring Or security;
  • the machine has a set function for indoor movement and/or travel and/or outdoor activities, including or being: any of the following 2A, 2B, 2C, 2D, 2E, 2F, 2G, 2H, 2I, One or any number of functions:
  • the machine can be used to transport goods, or the machine is an AGV robot;
  • the machine can move with the target under the control of the control device to shade and/or protect the target from rain; the target is outside the machine or on the ground or in the water, and the target is a person.
  • the machine has or can be connected: a communication module; this communication module especially refers to a mobile communication module.
  • the machine has or can be connected; a device for circulating air or a refrigeration device or a heating device or an air purification device or a garbage disposal device;
  • the refrigeration device can be used to cool the air in the machine and/or cool food and/or water;
  • the The heating device can be used to heat the air in the machine and/or heat the food and/or heat the water;
  • the device for circulating the air is used to blow the target.
  • Technical solution 3 The machine described in this technical solution 1, characterized in that: the machine also has the following 3A, 3B, 3C, 3D, 3E, 3F, 3G, 3H, 3I, 3J, 3K, 3L, 3M, Any one or any multiple features among 3N, 3O, 3P, 3Q, 3R, 3S, 3T;
  • the machine can move with the target under the control of the control device, which means: the machine has or can be connected to: the target monitoring module (8), used to obtain the target's position and/or target moving direction; the control device controls the machine to accompany Target move
  • the machine has or can be connected to image information collection equipment to collect image information;
  • the machine has a power system or can be connected to a power system; and/or, the movement or activity means moving under the drive of the power system;
  • the machine has or can be connected to: a human drive device; the human drive device can be used to generate electricity and/or the human drive device can be used to drive the wheels of the machine to move the machine.
  • Technical solution 4 The machine according to the technical solution 3, characterized in that: the machine further has any one or any of the following 4A, 4B, 4C features;
  • the position of the target includes the relative position of the target and the machine and/or the longitude and latitude information of the target; 4C.
  • the manpower driving device is a foot-operated manpower driving device; and / Or:
  • the connecting mechanism between the human drive device and the wheels of the machine is a chain mechanism, a gear mechanism, or a belt mechanism;
  • the connecting mechanism between the human drive device and the motor is a chain mechanism, a gear mechanism, or a belt mechanism.
  • Technical solution 5 The machine as described in the technical solutions 1 to 4, characterized in that: the machine also has any one or any of the following 5A, 5B, 5C, 5D, 5E, 5F, 5G, 5H, and 5I Multiple characteristics;
  • the movable machine is: robot or car or wheelchair or luggage or ship or aircraft;
  • the mobile communication module or the refrigeration equipment or heating equipment or the device for air circulation or the air purification device and/or the garbage disposal device are connected to the power source of the machine and powered by the machine; it is beneficial to save the cost of power and battery.
  • Technical Solution 6 The machine as described in Technical Solution 5, characterized in that:
  • the vehicle is a car or electric scooter or balance car or scooter or bicycle or motorcycle or tricycle;
  • the robot is an AGV robot, a sweeping robot, a patrol robot, a security robot, a patrol robot, an educational robot, an entertainment robot, or a toy robot;
  • the robot is a wheeled mobile robot, a foot mobile robot, a crawler mobile robot, an underwater robot, or a flying robot.
  • the present invention also provides a computer-readable storage medium.
  • the computer-readable storage medium may be the machine, control device, electronic device, component, and device provided in each of the foregoing embodiments.
  • the computer-readable storage medium can be a memory.
  • a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, any control method in this document is realized.
  • the computer storage medium may also be a U disk, a mobile hard disk, a read-only memory, a RAM, a magnetic disk, or an optical disk, etc., which can store program codes.
  • the computer storage medium may also be a remote or network or cloud storage medium; the remote or network or cloud storage medium controls the device through a communication module to realize the transmission of programs and information.

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Abstract

一种可移动的设备，A：该设备能载人和/或该设备具有能容纳人员的空间；该设备包括用于人类生活服务的部件；该用于人类生活服务的部件包括用于人类生活服务的装置或连接用于人类生活服务的装置的部件；该用于人类生活服务的装置为生活作业装置、用于移动人员物品的运动机构、用于特种作业的运动机构、用于阻止人员跌倒的部件中任一种或任意多种；B：该可移动的设备包括用于调整该设备外形尺寸的部件，该部件用于调整该设备的至少一组相对方向的边缘在水平方向的距离以增大作业空间或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离，该作业包括日常生活事务和/或物品成形。具有以下有益效果：让机器更好的服务人类生活，尤其是协助人类在自然灾难或瘟疫流行环境下生活，具有全天候、不惧怕雨淋日晒、能进入拥挤、狭窄空间的需求，例如进电梯、入室、乘坐公交、处于车站会议室商场等人员密集场所、户外旅游、短途代步、野外兼顾的生存能力。

Description

一种可移动的设备、控制方法、存储介质及控制装置 技术领域
本发明涉及一种可移动的设备，属于为人类生活服务机器领域。更具体地说，涉及一种可移动的设备、控制方法、存储介质及控制装置。本文中：设备即机器；机器即设备；机器等同设备。设备或机器，尤其指机器人。可移动的设备即可运动的机器。
背景技术
现有技术，对于如何让机器更好的为人类生活服务的研究不足。房屋也是生活设备，但其不能移动。大型的邮轮、船舶、房车，可视为大型可移动生活设备，但其毕竟造价昂贵、停靠不便；且其体积过于庞大，且无法进入住宅、与房子兼容。
而让机器更好的服务人类生活(尤其是协助人类在自然灾难或瘟疫流行(例如2020年的新冠状病毒疫情)环境下生活，起到类似于诺亚方舟的作用)，，是人类的千年夙愿。所以迫切的需要新型的用于人类生活服务的设备，以增加功能或增强安全性或降低成本。
发明内容
本发明要解决的技术问题在于，针对现有技术的上述缺陷(需要新型的用于人类生活服务的设备，增加功能或增强安全性或降低成本)，本发明解决其技术问题所采用的技术方案是：
1、一种可移动的设备，其特征在于：A和B
A：该设备能载人和/或该设备具有能容纳人员的空间；该设备包括用于人类生活服务的部件，或该设备为微型设备，或该设备为微型设备且该设备包括用于人类生活服务的部件；
该微型指能进入民用建筑物的电梯或能通过民用建筑物的门或能乘坐公共交通工具，或该微型设备指：该设备的最小长度不大于1.6米，该设备的最小宽度不大于1.6米，长度为设备前后边缘的距离，该前为设备行驶的方向；
该用于人类生活服务的部件包括用于人类生活服务的装置或连接用于人类生活服务的装置的部件；
该用于人类生活服务的装置为生活作业装置、用于移动人员物品的运动机构、用于特种作业的运动机构、用于阻止人员跌倒的部件中任一种，或该用于人类生活服务的装置为生活作业装置、用于移动人员物品的运动机构、用于特种作业的运动机构、用于阻止人员跌倒的部件中任意多种；该人员物品为人员和/或物品；该移动包括升降、平移中任一种或该移动包括升降及平移；
B：该可移动的设备包括用于调整该设备外形尺寸的部件，该部件用于B1、B2、B3中任一种或该部件用于B1、B2、B3中任意多种；
B1：调整该设备的至少一组相对方向的边缘在水平方向的距离以增大作业空间或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离，该作业包括日常生活事务和/或物品成形；
B2：调整该设备的至少一组相对方向的边缘在水平方向的距离使该距离增大使人能躺于机器内，或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离；该设备包括用于形成边界的部件，该边界的设置方位包括该设备的容纳人员空间的设定方位，该设定方位为：四周，或上方，或四周及上方；
B3：调整该设备的高度使该高度增大使人能站于该设备中，或调整该设备的高度以减小设备高度；该设备包括用于形成边界的部件，该边界的设置方位包括该设备的容纳人员空间的设定方位，该设定方位为：四周，或上方，或四周及上方；
该特种作业为日常生活事务、喷射、物品成形中任一种作业，或该特种作业为日常生活事务、对外部物体进行机械加工、搬运、喷射、物品成形中任意多种作业；
该物品成形包括打印、增材成形、雕刻中任一种或该物品成形包括打印、增材成形、雕刻中任意多种；
该日常生活事务包括食物处理、洗澡、洗头、洗衣、如厕中任意一种或该日常生活事务包括食物处理、洗澡、洗头、洗衣、如厕中任意多种；食物处理包括烹饪、洗菜、切菜中任一种或该食物处理包括烹饪、洗菜、切菜中任意多种；
该生活作业装置包括烹饪装置、切菜装置、洗澡装置、洗头装置、洗衣装置、喷射装置中任意一种，或该生活作业装置包括烹饪装置、切菜装置、洗澡装置、洗头装置、洗衣装置、喷射装置中任意多种。
7、一种可移动设备的控制方法，该设备包括用于人类生活服务的部件，该设备包括用于调整该设备外形尺寸的部件，控制方法包括步骤：获取人员和/或外部的信息处理中心的控制指令，实现S1、S2、S3、S4中任一种功能或包括S1、S2、S3、S4中任意多种；
S1：控制用于调整该设备外形尺寸的部件：用于下述B1、B2、B3中任一种或任意多种；
B1：调整该设备的至少一组相对方向的边缘在水平方向的距离以增大作业空间或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离，该作业包括日常生活事务、物品成形；
B2：调整该设备的至少一组相对方向的边缘在水平方向的距离使该距离增大使人能躺于机器内，或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离；
B3：调整该设备的高度使该高度增大使人能站于该设备，或调整该设备的高度以减小设备高度。
S2：获取人员位置；控制该设备移动，使供人员出入设备的通道经过该人员，使该设备包含该人员或使该设备离开该人员；
S3：当目标位于地上时，获取目标位置和/或目标移动的方向，控制设备伴随目标移动，以使设置于设备上方的遮挡物体该目标遮阳和/或挡雨，该目标即人员；
S4：控制生活作业装置进行生活作业，或控制运动机构移动人员物品，或控制运动机构进行特种作业；该特种作业包括日常生活事务、喷射、物品成形中任一种作业。日常生活事务包括烹饪、切菜、洗澡、洗头、洗衣中任意一种；该物品成形包括打印、增材成形、雕刻中任一种；
S5：与该设备移动途中的通道控制设备通讯以打开该动途中的通道，以控制设备通过该动途中的通道；该动途中的通道包括门和/或电梯和/或社区道闸；
该B2、B3或S2方案中，该设备中包括用于形成边界的部件，该边界的设置方位包括该设备的容纳人员空间的设定方位，该设定方位为：四周，或上方，或四周及上方。
8、如方案7所述的可移动设备的控制方法，其特征在于包括8S1、8S2、8S3中任一种或任意多种方案：
8S1：选择特种作业的种类，生成与该特种作业种类对应的控制指令，控制运动机构进行该种类的作业。
8S2：该B2中该调整该设备的至少一组相对方向的边缘在水平方向的距离使该距离增大为使人能躺于机器内的距离，还包括：控制用于调整设备高度的活动机构，使该设备的高度降低；
8S3：该B3中该调整该设备的高度使该高度增大至使人能站于该设备中的高度，还包括：控制用于调整该设备的至少一组相对方向的边缘在水平方向的距离的活动机构，使该距离减小。
9、一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该程序被处理器执行时实现如方案7或8所述的可移动设备的控制方法。
10、一种可移动设备的控制装置，该控制装置用于实现如方案7或8所述的可移动设备的控制方法。
本发明的有益价值：
本发明的目的，是创造一种新型的可移动设备，让机器更好的服务人类生活(尤其是协助人类在自然灾难或瘟疫流行(例如2020年的新冠状病毒疫情)环境下生活，具有全天候、不惧怕雨淋日晒、能进入拥挤、狭窄空间的需求(例如进电梯、入室、乘坐公交、处于车站会议室商场等人员密集场所)、户外旅游、短途代步、野外兼顾的生存能力，起到类似于诺亚方舟的作用)。
本发明的中每一个特征，对于实现本发明的目的均有重要意义。例如：
特点(及价值)1：百万年以来人类的生存本能必然包括吃、喝、排泄，否则很快死亡；且人类早已过茹毛饮血时代，用于食物处理烹饪(用于煮熟食物)、如厕、洗衣、洗头、洗澡的生活作业装置，是现代人人类生活服务的重要内容；移动设备中包括生活作业装置能随时随地满足人员的需求；在非常狭小的(载人舱)空间内无需出门就搞定躺坐站做饭洗衣吃喝拉撒问题(非常利于对抗外界虫蛇猛兽、疾病瘟疫的威胁)
特点(及价值)2：移动(尤其指搬运)人员物品，对于人类生活服务具有重要作用。例如：对于普通人，运动机构也有助于将物品(例如食物、水)移动(尤其指搬运)至设备内。对于老弱病残妇幼等体力弱的人更加重要；对于失能瘫痪人员需要频繁的移动、翻身，更需要运动机构的帮助；否则，搬动平均重量75公斤人体，对于护理人员是沉重的负担。对于昏迷倒地的人，只有通过运动机构将其移动至设备内(尤其是底板、坐躺用具上)。
特点(及价值)3：物品成形，是长期的、更高级的维持生存的基本设备，尤其是野外生存；人与动物的主要区别、人类能战胜动物成为地球主宰，重要原因之一就在于人能制造物品(尤其为工具)；使物品成形(制造更多工具)才能适应野外的环境(例如捕猎、漂流、筑巢建洞)，将物品(例如木材)成形、替换损坏的机器部件(例如车轮)维持机器的正常功能(例如行驶能力)；才能长期的在野外维持生存。打印是平面成形，一张白纸和带图形或文字的纸，是两种不同的物品。随时随地打印文件和图片，是重要的生活内容；增材成形即3D打印，是制造物品(尤其指工具)的重要途径；雕刻用于将现有物品(例如野外木材、石块)变成需要形状的物品。
且本发明所提示的物品成形装置，还有一个重要特性，即能与生活作业装置使用同一运动机构，能大幅度的降低设备的制造成本、使用成本。
特点(及价值)4：当前，人类最主要的生活设备就是房子、电梯、公共交通工具。99％的现代人都离不开这些。如果新设计的生活机器人不能微型化，就不能进入现有设备、不能现有设备(房子)兼容，将极为不便。对于救人来说，微型化以进入住宅电梯、公交工具，是规避当前大型方舟(例如房车)不能坐电梯、不能入室救人的重要特征；本发明更易于救助室内人员、维持其生存。
特点(及价值)5：调整设备外形尺寸(也即变形)，是本设备(载人方舟)的核心功能；人类的天性必然需要站坐躺三种切换；躺下才能更好入睡保持健康，站立才能舒展筋骨；同时又必然频繁面临尽量缩小产品体积、进入狭小或拥挤空间的需求(例如进电梯、入室、乘坐公交(民航飞机、高铁地铁)、处于车站会议室商场等人员密集场所)，只有变形才能满足需求；才能让更多的民众使用设备(载人方舟)的维持生存功能。利用设备(载人方舟)的变形功能，在需要作业时增大作业空间使作业便利，无需作业时缩减该作业空间、减小设备(载人方舟)的占地面积。
特点(及价值)6：在设备四周和/或上方形成边界(用于保护人员)，这是诺亚方舟的重要功能，否则如同敞开的轮椅，既无法抵挡雨淋日晒，更不能抵挡蛇虫猛兽、瘟疫疾病。其对于瘟疫的隔离安全防护作用还不如一个口罩。本设备能形成一个超级功能、大型、可载人、可移动的机器防护罩。
特点(及价值)7：该S2控制方法中，提供了一种主动式为人穿衣戴甲的功能。现有技术中，即使机甲机器人，也只有人穿衣披甲，而没有甲披人。本发明提供了一种梦幻方案。人手一挥(发出指令)，带机甲、载人舱的机器人呼啸而来，主动的将人载入舱内；相当于主动的为主人穿上钢铁外衣，真正实现钢铁侠的功能。此方案尤其适用于主人危难时机甲机器人保护主人。
特点(及价值)9：该S3控制方法中，提供了一种机器人陪伴主人散步、撑伞免除人类百万年来在室外面临雨淋日晒的困扰的功能。
特点(及价值)8：阻止人员跌倒，对于使用可移动设备(诺亚方舟)的人(尤其指老弱病残人员)的生活的具有重要作用；人都会变老，全世界每年因跌倒伤亡的人员上百万，造成巨大痛苦和经济损失。
综合效果：且本发明中，特点1至8中，多项任意组合、叠加，均能起到意想不到的效果倍增功能(1+1>2)。例如：特征1中作业(例如由机械洗澡)+特征2(移动人体)效果倍增，否则躺在地上洗澡是非常不便利的。特征8(防跌倒)+特征2(机械提升人体)也是效果倍增，否则人半跌倒于地就起不来了。特征3(物品成型)+特征2(搬运物体)也是效果倍增，物品成型前后必然要搬运物体提高效率。例如，特征6(变形功能)对于其他任一特征均有效果倍增的作用。
所以，本发明方案，合理的实现本发明的核心目的而让机器更好的服务人类生活(尤其是协助人类在自然灾难或瘟疫流行(例如2020年的新冠状病毒疫情)环境下生活，起到类似于诺亚方舟的作用)。本发明核心不在于为机甲机器人设计军事、杀戮方案，更在于更好的为保护人类、为人类服务。
附图说明
图1是一种包括用于人类生活服务的部件的设备的示意图；
图2是长度可调整的部件、板的开合、可旋转部件的示意图；
图3是能活动的部件的示意图；
图4是能伸缩的部件或升降运动机构或高度能调整的机器的示意图；
图5是一种可移动的设备的运动操控器件的设置方法的示意图；
图6是一种能形成作业空间和/或具有作业装置的可移动的设备的示意图；
图7是一种多功能可移动的设备的示意图；
图8是设定的边缘之间距离能调整的设备的示意图；
图9是一种作业空间和作业装置的示意图；
图10是一种可移动的设备的运动机构设置方法的示意图。
具体实施方式
图3为原优先权文件中图16。图4为原优先权文件中图17。图8为原优先权文件中图18。图9为原优先权文件中图15。本发明的原优先权文件为申请号为2019102055425申请日为2019-03-18的中国发明申请文件和申请号为201910214560X申请日为2019-03-20的中国发明申请文件。可移动的设备即可运动的机器。可运动的机器即可移动的设备。
图1是一种包括用于人类生活服务的部件的设备的示意图；图1中(A)、(D)、(E)、(F)、(G)、(H)、(I)、(J)、(K)部分为侧视图；图1中(B)、(L)、部分为俯视图；图1中(C)、部分为后视图。
本文中：设备即机器；机器即设备；机器等同设备。设备或机器，尤其指机器人。设备指载人舱边界用于保护设备内人员。生活作业就是日常生活事务作业。该设备能载人和/或该设备具有能容纳人员的空间；该空间即第一空间。即载人舱。该设备内具有用于人类生活服务的部件的安装空间。用于人类生活服务即为人类生活服务。
本发明的解决方案为:
技术方案1：一种可移动的设备或一种可移动的设备的控制方法或一种可移动的设备的控制装置，该机器或该控制方法或该控制装置包括下述1A、1B、1C、1D、1E、1F、1G、1H、1I、1J、1K、1L、1M、1N、1O中任一方案或任意多种方案：
1A、该设备包括1A1、1A2、1A3、1A4中任一种或任意多种，或该设备包括连接1A1、1A2、1A3、1A4中任一种或任意多种的部件。1A1、1A2、1A3、1A4中任一种用于人类生活服务。1A1、1A2、1A3、1A4中任一种为用于人类生活服务的装置。
1A1为用于特种作业的运动机构。该运动机构用于进行特种作业，也即：该运动机构用于：连接特种作业部件，由该运动机构驱动该特种作业部件进行特种作业。特种作业部件即特种作业工具，两者等同。
特种作业为日常生活事务、对外部物体进行机械加工、喷射、物品成形中任一种作业或任意多种作业。日常生活事务包括食物处理、洗澡、洗头、洗衣、如厕中任意一种或任意多种。食物处理包括烹饪、洗菜、切菜中任一种或任意多种。对外部物体进行机械加工包括钻、铣、磨、切割、剪、击打中任一种或任意多种。物品成形包括打印、增材成形、雕刻中任一种或任意多种。该增材成形优选为3D打印。
1A2为用于移动人员物品的运动机构。该运动机构包括升降机构、平移机构中任一种或任意多种。该升降机构用于用于升降人员物品。平移机构用于用于平移人员物品。该平移指使升降机构上装载的或悬挂的人员物品平移。人员物品指人员和/或物品。该物品包括行李、货物，或该物品包括食物和/或水。该运动机构尤其指搬运机构。
该运动机构的活动件上能连接取物部件。取物部件用于取人员和/或物品。例如该取物部件为勾或环或机械手。该勾如图7中(B)中所示。该环(9)如图10中(J)、(L)部分所示或如图4中(A)、(E)中所示。如图4中(E)部分、图10中(C)部分为前视图所示：升降机构(29)中索缆连接环装取物部件(9)用于升降人员物品。该方案尤其适用于失能人士服务。优选的，取物部件(9)和阻止人员跌倒的部件(9)为同一部件。
本文中，用于移动人员物品的运动机构中升降机构：优选的，该升降机构为卷扬机构；和/或，该升降机构安装于设备的中上部位；和/或，如图10中(E)部分所示：该升降机构的基座(29)安装于平移机构的活动构件上，由该平移机构驱动升降机构平移。。
如图4中(A)、(E)部分所示：图4中(A)部分，为一升降机构的示意图：卷筒(4)上绕有索缆(2_3)；卷筒(4)在动力装置(2)的驱动下旋转，使索缆(2_3)下端连接的物体能升降。卷筒(4)连接基座(2_2)；卷筒(4)相对于基座(2_2)能旋转。卷扬机构(29)的索缆(2_3)可为柔性，既能大力提升(100KG级别的)人员物体，对人体的危害也小。如果由关节型机械臂来移动人员物品，必然大增危害人体的风险。升降机构安装于设备的中上部位，相较于安装于设备下部有更大的升降空间。
如图10中(M)部分所示：当人员躺于地上时，设备向人员所在位置(X1所指示方位)移动；如图10中(C)、(I)部分的前视图所示：该设备设定方位底板和入口能打开，以形成供人出入设备的通道。图10中(M)、(N)部分的俯视图所示：由设备移动使人位于设备内。图10中(I)、(J)、(K)(L)部分为前视图所示：演示了运动机构逐步的将人员从地上提升的过程。图10中(M)、(N)、(O)部分为俯视图所示；演示了运动机构逐步的将人员从地上提升的过程。运动机构包括升降运动机构(201)、平移运动机构(202)、机械手(205)。机械手(205)可分右机械手(2051)、左机械手(2051)。平移运动机构(202)的活动件连接机械手(205)使机械手(205)平移。升降运动机构(201)的活动件连接平移运动机构(202)的基座，用于使平移运动机构(202)、机械手(205)升降。
1A3为生活作业装置。该生活作业装置包括烹饪装置、切菜装置、洗澡装置、洗头装置、洗衣装置、集便装置、给排水装置中任意一种或任意多种。优选的，洗衣装置(1622)包括衣服容器。优选的，烹饪装置还包括食物容器。
1A4为用于阻止人员跌倒的部件。该阻止人员跌倒的部件为围栏或为用于与人体连接的约束部件，该约束部件与该设备的连接点高于人员的重心。优选的，该围栏高于人体的重心；该围栏的组成部件包括该设备的边界部件，或该约束部件与为该设备内用于保护坐具上人员的安全带为同一部件。
本文中：阻止人员跌倒的部件用于阻止人员在地上行走时跌倒。当人员在地上行走跌倒时，通过该该阻止人员跌倒的部件对人员施加拉力或支撑力，以阻止人员跌倒。
该约束部件包括绳、环、带、包、衣中任一种或任意多种。该约束部件为穿戴式部件。该与人体连接，该连接包括套或绑或牵或穿中任一种或任意多种。
例如，该约束部件为柔性物体；或，该约束部件包括：用于连接于目标的附属物品上，该附属物品可为衣服、包、带等；该连接部位可为背部、腰部、胸、肋、臂等部位；该附属物品连接(例如穿、绑、套)于目标身上。例如，该约束部件为刚性物体；优选的，该刚性物体为可在设定范围内滑动、转动的刚性物体。例如，该约束部件包括环、U型部件、C型部件等；且该部件的尺寸可构造为避免从目标的下方(例如脚部)越过肩部，越过肩部指越过肩部脱出。
优选的：该围栏高于人体重心。优选的：该约束部件与人体的连接点高于人员的重心。
优选的，该约束部件与该设备的连接点不高于人体的双肩位置。该方案的有益效果：如果该连接点高于人体的双肩位置，则用户有上吊或上绞刑架的心理感觉，严重影响自尊，限制了设备的使用。连接点不高于人体双肩位置，用户有种坐车的感觉，让用户心理舒畅。
1B：该可移动的设备包括用于调整该设备外形尺寸的部件，该部件用于B1、B2、B3中任一种或任意多种。外形尺寸包括水平方向的外形尺寸和高度。水平方向的外形尺寸包括长度、宽度中任一种或任意多种。水平方向的外形尺寸即至少一组相对方向的边缘在水平方向的距离，该两者等同。
B1：调整该设备的至少一组相对方向的边缘在水平方向的距离以增大作业空间或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离，该作业包括日常生活事务和/或物品成形。至少一组相对方向包括：第一方和第二方，和/或，第三方和第四方。至少一组相对方向的边缘在水平方向的距离包括长度和/或宽度。该设备具有作业空间。增大作业空间用于作业。增大作业空间便于作业。作业空间小自然不便作业。
B2：调整该设备的至少一组相对方向的边缘在水平方向的距离使该距离增大使人能躺于机器内，或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离；该设备包括用于形成边界的部件，该边界的设置方位包括该设备的容纳人员空间的设定方位，该设定方位为：四周，或上方，或四周及上方。
B3：调整该设备的高度使该高度增大使人能站于该设备中，或调整该设备的高度以减小设备高度；该设备包括用于形成边界的部件，该边界的设置方位包括该设备的容纳人员空间的设定方位，该设定方位为：四周，或上下方，或四周及上下方。
至少一组相对方向的边缘在水平方向的距离，相对方向为至少一组相对方向。至少一组包括一组或多组。优选为：该B1中至少一组相对方向与至少一组相对方向优选为同一方向；和/或，该至少一组相对方向为前后方向；和/或，作业空间位于设备中座位的后方；B1中所使用用于调整该设备外形尺寸的部件与B2中所使用用于调整该设备外形尺寸的部件为同一部件；和/或，作业空间能设置为供人躺用的一部分。
优选的，该B3方案中，该该调整该设备的高度使该高度增大使人能站于该设备中；还包括方案：调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离或使该距离小于乘坐距离。
优选的，该B2方案中，该调整该设备的至少一组相对方向的边缘在水平方向的距离，使该距离增大使人能躺于机器内；还包括方案：调整该设备的高度，减小该高度或使该高 度小于站立高度。进一步优选的，使该高度小于站立高度为：使该高度小于坐式高度。站立高度即使人能站于该设备中的高度。坐式高度即使人能坐于该设备中的高度。
该减小该距离用于减小设备占地面积和/或使设备变为微型设备。该减小该设备的高度用于使设备变为微型设备、降低设备重心、增加设备通过能力中任一种或任意多种。降低设备重心，自然增加设备移动稳定性、静止时抗倒能力。低矮空间的通过，需要降低高度。
占地面积为宝贵资源，尤其在用于使机器适应外界设设备微型化的需求。适应外界设设备微型化的需求为进入民用建筑物的电梯、位于公共场所、搭乘公共交通工具中任一种或任意多种。本文中，设备中即设备内，两者等同。乘坐距离即使人能坐于设备内距离。
显而易见的，优选为：该用于调整该设备外形尺寸的部件为多个；该可移动的设备包括多个用于调整该设备外形尺寸的部件；和/或，调整该设备的多个方位的外形尺寸以增大设备内空间；和/或，调整该设备的多组相对方向的边缘在水平方向的距离以增大设备内空间。在非移动状态、非拥挤场所下下，内部空间越大越好。
该用于调整该设备外形尺寸的部件为活动机构或连接活动机构的部件。活动机构指：某部件包括活动件和固定件，且活动件相对于固定件能活动，且由固定件限定该活动件的活动路径和/或活动范围；固定件连接于设备的本体上或该部件即设备的本体。本文中，活动机构即能活动的部件。在没有限定说明时，活动机构尤其指活动件。该某部件为用于活动的部件，用于活动的部件即能活动的部件。外形尺寸包括设定的边缘之间距离、高度中任一种或任意多种。能活动的部件即能活动的装置即能活动的机构即活动机构，该四者等同。
本文中，设备包括活动机构。活动件相对于设备本体能向外活动和/向内活动和/向上活动和/向下活动。减小该距离用于减小设备占地面积。
进一步的，该活动件包括伸缩件和/或铰接的活动件；和/或，活动件的活动包括伸缩件的相对于与设备本体的伸缩和/或铰接的活动件的相对于设备本体的旋转。铰接的活动件与设备的本体靠外的部件铰接。伸缩件即能伸缩的部件。本文中，向外延伸即向外活动即展开。活动件向外活动包括：伸缩件向外伸出和/或铰接的活动件向外旋转。向内活动即向内收回。收回即回收。活动件向内活动包括伸缩件向内缩回和/或铰接的活动件向内旋转。活动件向外旋转指绕设定的轴线旋转；该铰接处的旋转轴心，即该设定的轴线。该向外旋转尤其指旋转到第一状态。第一状态，指该活动件的上表面与水平面的夹角在正负30度之内。向外活动即展开即延伸，使活动件的占地面积增大也即使活动件的垂直投影面积增大，且该展开后能进行相应的作业。或包括：活动件伸出，或活动件绕设定的轴线旋转使部件处于第一状态或使折叠的部件。优选的，该活动件能部分或全部容纳入机器内，或该铰接的活动件与与水平面的夹角在60度与120度之内，也即该铰接的活动件与本体夹角在60度与120度之间，也即铰接的活动件为第二状态。
活动机构、活动件的活动用于：伸缩、升降、平移、参数调整中至少一种。参数包括物体之间的距离、长度、高度中至少一种。参数调整，指使该参数变化。
本文中，调整该设备外形尺寸，并非通过载人舱整体倾倒实现。载人舱整体(也即本体)倾倒(高度变为长度)或载人舱上下移动，并不能调整载人舱内作业空间的大小。设备中包括活动机构，活动机构的活动件相对于设备的本体向外活动或向内活动。例如铰接的活动件相对于设备的本体向外旋转或向内旋转。伸缩件相对于设备的本体向外伸出或向内缩回。活动机构的活动件相对于设备的本体向上活动或向下活动。例如铰接的活动件相对于设备的本体向上旋转或向下旋转。伸缩件相对于设备的本体向上伸出或向下缩回。设备外形调整、作业空间大小的调整不需要设备本体的倾倒。调整水平距离，对于高度没有直接影响。
优选的，活动机构连接动力装置。也即：活动件连接动力装置。活动件在动力装置驱动下的活动；和/或，该活动为在控制装置控制下的活动。控制装置连接动力装置。控制装 置用于控制该动力装置驱动该能活动的部件活动。也即该控制装置用于控制该能活动的部件活动。
优选的，该调整该设备的高度使该高度增大至站立高度；还包括方案：调整该设备的至少一组相对方向的边缘在水平方向的距离，使该距离小于乘坐距离。站立高度，即使人能站于该设备中的高度。和/或，优选的，该调整该设备的至少一组相对方向的边缘在水平方向的距离，使该距离增大为躺距；还包括方案：调整该设备的高度，使该高度小于站立高度。躺距即使人能躺于机器内的距离。
1C：该设备中包括用于形成边界的部件，该边界的设置方位包括该设备的容纳人员空间的设定方位，该设定方位为：四周，或上方，或四周及上方。该用于形成边界以保护人员的部件为：边界部件，或连接边界部件的部件。本文中，边即边缘即边界即壁，四者等同。该边界为机械边界。在没有限定说明时，边界尤其指边界部件。边界部件即形成该边界的部件。可称为边界部件也即第一部件。边界部件上可包括能开闭的门和/或窗。边界、边界部件用于保护人员。边界部件用于隔离外部物体和人员。该人员为设备内人员。该人员为设备内容纳人员空间中人员。该门和/或窗的开关可控。设备的顶部部件、底部部件也是边界部件。
优选的：该边界、边界部件设置于容纳人员空间的上下前后左右。也即该边界、边界部件围绕容纳人员空间的前后上下左右。
和/或，优选的：该边界能封闭该容纳人员的空间。封闭容纳人员的空间，包括封闭整个设备内的空间以封闭该容纳人员的空间。封闭某一空间，指使该空间形成密闭空间。
和/或，优选的：该边界部件包括壳体。包括分部分包括或所有的部分包括。所有的部分包括即为。壳体，指具有设定硬度的边界部件。优选的，该壳体为机械盔甲。机械盔甲即机甲。封闭该容纳人员的空间可用于隔离空间内外的空气。防止有毒、有害的空气进入设备内，利于对抗瘟疫。相对于软体边界(例如薄膜)，壳体能抵抗外物的挤压、击打。本方案利于人类生活服务；对于有重要价值。该壳体指分布于周边的壳体；
1D：该设备为微型设备。微型即小体积。该机器为小体积机器。
该微型指：能进入民用建筑物的电梯，和/或能通过民用建筑物的门，和/或能乘坐公共交通工具。该门为供人出入的门。该微型设备指：该设备的最小长度不大于1.6米，该设备的最小宽度不大于1.6米，该设备的最小高度不大于1.6米，长度为设备前后边缘的距离，该前为设备行驶的方向。民用建筑是指非生产性的居住建筑和公共建筑。民用建筑为住宅、写字楼、幼儿园、学校、食堂、影剧院、医院、旅馆、商场中任一种或任意多种。
优选的，该最小长度不大于1.6米为该最小长度不大于1.5米：和/或，该最小宽度不大于1.6米为该最小宽度不大于1.2米。优选的，该最小长度不大于1.5米为该最小长度不大于1.4米；和/或，该最小宽度不大于1.2米为该最小宽度不大于1.0米。优选的，该最小长度不大于1.4米为该最小长度不大于1.3米，和/或，该最小宽度不大于1.0米为该最小宽度不大于0.8米。
能进入民用建筑物的电梯即指该设备的宽度不超过该电梯开门时的出入口宽度；该设备的高度不超过该电梯开门时的出入口高度；该设备的长度不超过该电梯内框的长度。入口也即出口也即出入口。出入也即进入或出。通过民用建筑物的门，即指设备的宽度不超过该门开门时的出入口宽度；该设备的高度不超过该门开门时的出入口高度。电梯内框即电梯轿厢的内框。该民用建筑物包括住宅、商场、车站、机场中任一种或任意多种。该公共交通工具包括民航飞机、轨道公共交通工具、公交车中任一种或任意多种。该民用建筑为标准的民用建筑。该公共交通工具为标准的公共交通工具。该电梯为标准的电梯。该门为标准的门。该电梯为民用建筑物中电梯。
该门、电梯均为常规的产品。常规指常见规格。常规也即该规格的使用量占市场总量的60％以上或该规格的使用量在市场总量中占最大份额。该60％以上包括：单个规格超过 60％，或由市场份额排名靠前的多个规格加起来超过60％。则设备的制作基于已知的多个规格制作。本文中，常规的为标准的。门、电梯均为标准的常规的产品。标准，指按标准生产的。本文中，常规的也即标准的。标准为行业标准或法定标准。本文中，门与电梯不包括非标尺寸的产品。
优选的：民用建筑物为住宅；该电梯为住宅中电梯；该门为住宅门。优选的；该住宅为家用住宅；该电梯为家用住宅电梯；该门为家用住宅门。家用住宅电梯即家用电梯。
优选的，该可移动的设备的长度可调整，使该机器可进入标准的家用住宅电梯。本文中，出入、通过均指行驶出入、行驶通过。
可选的，该设备的最小宽度不超过1.6米、1.5米、1.4米、1.3米、1.2米、1.1米、1.0米、0.9米、0.8米、0.6米或0.5米。该机器的顶部离地的最小高度不超过2.4米、2.2米、2米、1.9米、1.8米、1.7米、1.6米、1.5米、1.4米、1.3米、1.2米、1.1米、1米、0.9米、0.8米、0.7米、0.6米或0.5米。该机器的最小长度不超过1.7米、1.6米、1.5米、1.4米、1.3米、1.2米、1.1米、1米、0.9米、0.8米、0.7米、0.6米或0.5米。当某参数(例如长度或宽度或高度)能调整时；该参数均指调整后的最小值。机器的行驶方向为前；与前相对的方向为后。长度为沿设备行驶方向的前后边缘的距离。机器的长度指前后方向的两边外侧的距离。宽度为沿设备行驶方向的左右边缘的距离。宽度指机器左右方向的两边外侧的距离。前后边缘的距离指前后方向的两边外侧的距离。
优选的，机器的前部的移动装置(例如前轮和/或前足)和后部的移动装置(例如后轮和/或后足)中心距(也即水平方向上的距离)可调整；中心距(也即水平方向上的距离)增大，能增加机器行驶的稳定性(尤其在速度高或变高时)和/或使人可躺于机器上；该中心距(也即水平方向上的距离)减小能缩短机器长度和/或减小机器占地面积和/或使机器可进入短间距的空间，例如电梯。
1E：该可移动的设备包括用于使可移动的设备移动的部件；该部件为移动装置或连接移动装置的部件。该移动包括在地面移动、在水中移动、在空中移动中至少一种。该机器构造为能移动的机器。
1F：该可移动的设备包括特种作业装置或连接特种作业装置的部件。特种作业装置即特定功能的设备。该特种作业为日常生活事务、对外部物体进行机械加工、搬运、喷射、物品成形中任一种作业或任意多种作业。该对外部物体进行机械加工包括钻、切割、击打中任一种或任意多种。该物品成形包括打印、增材成形、雕刻中任一种或任意多种。优选的，增材成形为3D打印。
1G：该设备包括用于使该设备内气压低于该设备外的气压的部件，该用于使该设备内气压低于该设备外的气压的部件为：负压装置，或连接负压装置的部件。
1H：该设备包括活动机构，用于使设备的底板开闭，以形成供人员站立于地上的区域。该区域的四方中至少两方的边由该机器形成。也即该区域为被该机器的边围起来的区域。优选的，该底板为该设备中坐具下的底板；该坐具能活动。处置该坐具和该坐具下的部件，能使该座位中的区域供人站立于地上。坐具之下的部件或座位下的部件，尤其指机器底部的部件。当机器的座位下设置有部件时，该站立指站立该部件上；该部件尤其指机器底部的部件。
1I：该设备能形成供人员出入设备的通道；该人员出入指人员被动式出入；该人员出入指由设备移动使人员出入。该设备包括用于形成供人出入设备的通道的部件；或，该设备设定方位底板和入口能打开，以形成供人出入设备的通道。该机器能形成供人出入机器内区域的通道。该该设备的控制装置用于实现该控制方法：获取目标位置；控制该机器移动，使该机器和/或该通道移动；使该目标位于该机器内区域内或使该目标脱离该机器。
1J：该设备包括桌板；该桌板相对于机器的坐具能展开；也即：桌板和该坐具能设置为配合使用的状态。该桌板用于就餐、放置学习用具、放置办公用具、放置电脑中任一种或任意多种。
1K：该设备包括用于为人遮阳和/或挡雨的物体。用于为人遮阳和/或挡雨的物体即遮挡物体(Z)或连接遮挡物体(Z)的部件。设备可移动，以：使遮挡物体(Z)覆盖目标，也即为该目标遮阳和/或挡雨。本文中，目标指人。该设备可移动，指该设备可在控制装置的控制下移动。优选的，该移动指伴随目标移动。如图7中(L)部分所示：遮挡物体(Z)设置于位于目标的上方的位置。
1L：该设备包括用于消毒杀菌的部件，该用于消毒杀菌的部件为：消毒杀菌装置，或连接消毒杀菌装置的部件；该消毒杀菌用于为食物或空气消毒和/或杀菌。
1M：或，该设备包括用于净化设备内的空气的部件，该用于净化设备内的空气的部件为：空气净化装置，或连接空气净化装置的部件；该净化包括过滤和/或消毒和/或杀菌。负压装置和空气净化装置，均具有换气口，用于流通经过消毒杀菌后的设备内外的空气。
技术方案2、如技术方案1所述的可移动设备，优选的，，还具有下述2.1、2.2、2.3、2.4、2.5、2.6、2.7、2.8、2.9、2.10、2.11、2.12、2.13、2.14、2.15、2.16、2.17、2.18、2.19、2.20中任一种或任意多种特征：
2.1：该用于特种作业的运动机构包括线性移动机构。线性移动机构的基座(例如导轨)能贴设备的边安装；对空间的占用极少。
2.2：该对外部物体进行机械加工、搬运、喷射中任意多种作业中使用的运动机构为同一运动机构，或由同一运动机构驱动进行该对外部物体进行机械加工、搬运、喷射中任意多种作业。
2.3：该打印、增材成形、雕刻中任意多种作业中使用的运动机构为同一运动机构。
2.4：或，该打印、增材成形、雕刻中任意多种作业中使用的运动机构为同一运动机构。
2.5：该食物处理、洗澡、洗头、洗衣中至少两种作业中用于作业的运动机构为同一运动机构。
2.6：该运动机构还用于进行开门、开锁、开灯、开水龙头、为设备充电、为设备加水、钻孔、切割中任一种或任意多种作业。运动机构用于钻孔指运动机构连接钻头钻孔。运动机构用于切割指运动机构连接切割工具切割。切割工具为砂轮或锯。
2.7：该用于移动人员物品的运动机构包括机械手和/或该用于特种作业的运动机构包括机械手。
进一步的优选方案：机械手作为特种作业部件使用；和/或，或特种作业部件通过机械手连接线性移动机构；和/或，机械手还用于：更换特种作业部件、为设备充电、为设备加水中任一种或任意多种。更换包括拆卸和/或安装。该安装或拆卸特种作业部件，尤其指根据作业用途安装或拆卸相应的特种作业部件。该安装或拆卸包括更换。为设备充电尤其指使机器内部的电源接通外部电源。为设备加水将机器的取水装置的入水口接通外部的水源。
2.11：该生活作业装置安装于该设备内；和/或，用于移动人员物品的运动机构、用于特种作业的运动机构安装于该设备内；
2.12：该运动机构用于特种作业为：该运动机构用于：连接特种作业部件，由该运动机构驱动该特种作业部件进行特种作业；
2.13：该作业空间设置于设备内。2.14：该生活作业装置安装于该设备内；和/或，用于移动人员物品的运动机构、用于特种作业的运动机构安装于该设备内；和/或，用于移动人员物品的运动机构、用于特种作业的运动机构安装于该设备内。不仅仅是载人空间在设备内。作业空间运动机构和设置于设备内有助于保持私密性。利于生活作业(烹饪洗澡如厕)。通过边界部件上的门窗解决透气的问题。
3、如技术方案2所述的可移动设备，优选的，还具有下述3.1、3.2、3.3、3.4、3.5、3.6、3.7、3.8、3.9中任一种或任意多种特征：
3.1：用于日常生活事务的运动机构和用于物品成形的运动机构为同一运动机构；
3.2：和/或，该“运动机构连接特种作业部件，由该运动机构驱动该特种作业部件进行”为：该运动机构连接至少两种不同的特种作业部件，由运动机构分别驱动该至少两种不同的特种作业部件进行至少两种不同的特种作业；或，该运动机构与特种作业部件为可拆卸连接以使该运动机构能更换所连接的特种作业部件以进行不同种类的的特种作业；
3.3：该设备的控制装置用于：生成不同种类的控制指令，以分别控制运动机构进行不同种类的特种作业；
3.3：线性移动机构包括升降运动机构和/或平移运动机构；平移运动机构包括前后移动运动机构和/或左右移动运动机构；
3.5：该机械手连接线性移动机构的活动件，由该线性移动机构驱动机械手移动，用于拓展机械手的作业范围。
3.6：线性移动机构中导轨跨越至少两个方位的区域，用于用拓展特种作业部件的作业范围。例如，导轨跨越第一方区域和第二方区域；或该导轨跨越第三方区域和第四方区域。
3.7：该机械手与该线性移动机构为可拆卸的连接；使该机械手能连接至不同区域中线性移动机构；用于拓展机械手的作业范围。
3.8：线性移动机构的基座(例如导轨)设置于座位的靠背的后方或座位的靠背的上方、座位的靠背的侧边。和/或，线性移动机构所连接的特种作业部件设置于座位的靠背的后方、座位的靠背的上方、座位的靠背的侧边。该方案用于(巧妙的)避免线性移动机构伤害人体。当有多个座位时，在没有限定说明时：座位指位于设备本体中心的座位或面积最大的座位。即使在变形调整时，基座设置于靠背的侧边，允许其向前移动不会危害人体。
3.9：该机械手配置为：该机械手产生的最大力限制在不伤害人体的范围。例如，通过软件算法控制机械手产生的最大力。
如图10中(A)部分为侧视图；平移运动机构的导轨(18)、升降运动机构的导轨(13)设置于容纳人员的空间(尤其指坐具(7))的前方、上方、后方。图10中(B)部分为侧视图；图10中(C)部分为前视图；该两图中所示，平移运动机构的导轨(18)、升降运动机构的导轨(13)设置于容纳人员的空间(尤其指坐具(7))的侧边。
如图10中(G1)部分(俯视图)和(G2)部分(侧视图)所示；平移运动机构的导轨(181)和导轨(182)并排且错位设置，且能相对移动；平移运动机构的活动件(180)能沿导轨(181)和导轨(182)左右移动。
如图10中(H1)部分(俯视图)和(H2)部分(侧视图)所示；；导轨(181)和导轨(182)相对移动，减小导轨(181)和导轨(182)的总长；活动件(180)照样能沿导轨(181)和导轨(182)左右移动。也即即使在设备的前方和后方均设置平移运动机构的导轨，也能不阻碍设备长度方向的调整。
如图10中(F)部分所示，通过使平移运动机构的导轨(18)和升降运动机构的导轨(13)衔接，允许特种作业部件(17)在平移运动机构的导轨(18)和升降运动机构的导轨(13)中往复移动。
优选的，该运动操控器件设置于能由人员的躯体移动触发的位置；该运动操控器件由人员躯体移动触发。该位置为阻止人员跌倒的部件(9)与人员躯体接触的位置，或该位置位于阻止人员跌倒的部件(9)与设备的本体的连接件上。该方案的有益效果：现有技术中，轮椅的移动，由手动操控扶手上的摇杆进行。本方案，无需手动操控，就能控制设备的移动，减轻了人员的负担。
例如，图5中(A)、(B)、(C)部分中黑点即运动操控器件的设置位置。如图5中(A)部分所示,阻止目标跌倒的部件(9)约束部件为连接在目标身上(尤其指躯干)的 环状部件(9)，运动操控器件可设置于环状部件(9)与目标躯体接触的面。可在容纳人员空间的前后左右方向中每个方向设置至少1个运动操控器件，或在容纳人员空间的至少一对相对的位置设置运动操控器件。运动操控器件也可设置于约束部件(9)与设备的本体或第一部件的连接位置，例如图5(B)中10d、、10c位置、图5(C)中10b、10a位置。该阻止目标跌倒的部件(9)即约束部件。
本文中，日常生活事务包括食品检验、食物处理、排便、清洗人体、衣物处理中任一种或任意多种。该设定的生活作业装置包括食品检验系统、食物处理系统、马桶、清洗人体的设备、衣物处理的设备、喷气装置、水循环处理系统中任意一种或任意多种。衣物处理尤其指洗衣。衣物处理的设备包括洗衣装置(1622)。马桶即集便装置；两者等同。排便即如厕。食物处理包括烹饪、洗菜、切菜中任一种或任意多种。食物处理系统包括烹饪装置、洗菜装置、切菜装置中任一种或任意多种。给排水装置即水循环处理系统。给排水装置包括取水装置、储水装置、放水装置、水处理装置、排水装置中任意一种或任意多种。
喷射即喷射物质；该物质包括气体、液体、粉末中任一种或气体、液体、粉末中任意多种。该喷射装置包括压力形成部件；压力形成部件用于增加物质的压力。该液体为水或消毒液体。例如，该压力形成部件为增压的水泵或气泵。
作业空间即用于特种作业的空间。作业空间为包括生活作业装置或连接生活作业装置的部件的空间。作业空间和/或作业装置和/或作业用具用于作业。作业空间包括食物处理空间、排便的空间、清洗人体的空间、洗衣空间中任一种或任意多种。清洗人体的空间尤其指洗澡空间。食物处理空间指能放置食物处理系统的空间。食物处理空间即能放置食物处理系统的空间。食物处理空间包括洗菜和/或烹饪空间。洗菜和/或烹饪空间，即能放置洗菜和/或烹饪装置的空间。衣物处理空间，指放置衣物处理的设备的空间。衣物处理空间尤其指洗衣空间。洗衣空间即能放置洗衣装置的空间。排便即如厕。
机器能载人，自然的，该机器具有容纳人员的空间。容纳人员的空间能设置于：该机器的中部和/或该机器的周边的任一方；和/或，该作业空间能设置于：该机器的中部和/或该机器的周边的任一方；该作业装置(尤其指)能连接于：该机器的中部和/或该机器的周边的任一方。该作业装置尤其指设定的生活作业装置。
该容纳人员的空间和该作业空间既可分开，也能能重合。重合包括全部重合或部分重合；和/或，该容纳人员的空间和该作业空间为相邻的空间。
特定功能的设备包括特种作业部件或能连接特种作业部件。
图9是一种作业空间和作业装置的示意图；图9中(A)部分为俯视图，(B)部分为侧视图，(C)、(D)、(E)、(F)部分均为后视图；图9所示作业空间和作业装置，既可单独形成方案；也可结合图6所示的可移动的设备中的作业空间和/或作业装置的描述；作为图6中(E)部分的一部分，来理解作业空间和/或作业装置。
运动机构连接特种作业部件(17)连接。该连接包括多种方式：特种作业部件(17)连接于升降运动机构(13)上，升降运动机构(13)连接于平移运动机构(18)；或，特种作业部件(17)连接于平移运动机构(18)上，平移运动机构(18)连接于升降运动机构(13)上。优选为后一种连接方式。运动机构连接特种作业部件指运动机构的活动件连接特种作业部件。特种作业部件连接于运动机构指特种作业部件连接于运动机构的活动件。
特种作业部件(17)连接于平移运动机构(18)，包括：特种作业部件(17)连接于前后移动运动机构上，该前后移动运动机构连接于左右移动运动机构上；前后移动运动机构带动特种作业部件(17)前后移动；左右移动运动机构带动前后移动运动机构和特种作业部件(17)左右移动。也可包括：特种作业部件(17)连接于左右移动运动机构上；该左右移动运动机构连接于前后移动运动机构上。平移运动机构(18)带动特种作业部件(17)运动，包括：平移运动机构(18)带动特种作业部件(17)平移；升降运动机构(13)带动平移运动机构(18)和特种作业部件(17)升降。
优选的，该作业空间或运动机构或特种作业部件(17)具有至少两种功能。能大幅分摊降低单一用途部件的成本、节省空间。
和/或，一种作业空间和/或作业装置，或该机器的作业空间。该作业空间能作为3D打印空间也即该作业空间能用于3D打印；和/或，该机器具有3D打印设备或能连接3D打印设备。特种作业部件(17)即打印头。
通常：3D打印机(例如FDM打印机)，3D打印机包括打印头、运动机构。打印头包括热熔部件和挤出部件。打印头用于：将(条状成卷)材料(例如ABS或者PLA线料)(用200度左右的温度)熔化后挤出，使该材料附着在工作台或者下一层材料上。该材料自然的冷却凝固成型。打印头即喷头。由(X/Y轴)运动机构驱动打印完一层后，Z轴运动机构驱动打印头上移或工件下移设定的距离，然后打印下一层，以打印出立体工件。如图9中(A)部分(俯视图)，(B)部分(侧视图)、(C)部分(后视图)所示；运动机构(13、18)用于使该打印头相对于工作台上下前后左右移动；以实现3D打印中移动功能。
相对于工作台也即相对于该工作台上的工件。该特种作业部件(17)作为打印头；作为也即为。特种作业装置中，物品支撑件(16)即工作台；该工作台用于放置工件。打印头用于打印。该打印头即3D打印头。
优选的，用于移动人员物品的运动机构、用于特种作业的运动机构为同一运动机构。器件共享，不仅仅节省成本，还可减小机器的体积。
优选的，将3D打印中运动减小一个维度的运动，将3D打印变为2D打印即平面打印。优选的，打印包括对墙面打印。2D打印头包括喷墨、激光、喷粉中任一种或任意多种。；增材成形即3D打印，具体打印的方案同现有技术中3D打印机的技术。雕刻，指由运动机构驱动所连接的刀具运动雕刻物体。
和/或，该作业空间能作为食品检验空间和/或食物处理空间；和/或，该机器具有食品检验系统或能连接食品检验系统或该机器具有食物处理系统或能连接食物处理系统(1623)。该作业空间能用于食品检验和/或食物处理。食物处理包括烹饪、洗菜、切菜中任一种或任意多种。食物处理优选为烹饪。烹饪是对食物原料进行热加工，将生的食物原料加工成熟食品。烹饪包括加水和/或加料。烹饪装置包括加水装置和/或加料装置和/或加气装置。烹饪优选为炒菜。
食品检验系统或食物处理系统中部件包括：活动工具、食物容器。食物容器用于装食物。例如食物容器为锅或盆或盒或碗。通常，加热部件或制冷部件设置于食物容器的下方和/或边上和/或上方。活动工具用于加工食物,活动工具即加工食物的工具；活动尤其指机械活动。活动工具指：用于加工食物，且相对于食物容器能活动的工具。相对于食物容器能活动，尤其指能在食物容器内活动。活动工具包括铲或瓢或勺或搅拌器或刀或拨杆中至少一种。铲或拨杆用于翻菜。瓢或勺用于装食物。刀用于切菜。切菜装置包括：刀。切菜装置还可包括送物装置和/或动力装置。送物装置用于将食物原料往刀口送。例如用刀切菜或用铲炒菜或用勺装汤。
图1中(A)部分所示，或如图9中(F)部分(后视图)所示：可移动的设备包括食物处理系统。该作业可为食物处理。特种作业部件(17)包括或为：用于食物处理的工具即活动工具。活动工具包括铲或瓢或勺或搅拌器或刀或拨杆中至少一种。食物处理包括洗菜、切菜、烹饪中任一种或任意多种。食物处理尤其指烹饪。烹饪尤其指炒菜。烹饪装置包括食物容器、活动工具、加热部件中任一种或任意多种。加热部件和食物容器连接为一体。切菜装置包括刀。用于切菜的活动工具即刀。
运动机构连接特种作业部件(17)，该运动机构(13、18)用于：连接活动工具，由运动机构驱动该活动工具在食物容器(1623)中活动，以进行食物处理；和/或，或运动机构用于：连接食物容器，由运动机构驱动该食物容器(1623)活动，以进行食物处理。该活 动包括上下移动、平移、旋转中任一种或任意多种。上下移动，尤其指用于炒菜中抛锅或颠锅。
和/或，该作业空间作为洗衣空间；和/或，该机器包括用于洗衣的部件；该用于洗衣的部件为洗衣装置(1622)或连接洗衣装置(1622)的部件。。该作业空间用于洗衣。洗衣装置(1622)包括衣服容器和/或机械工具；
如图1中(D)部分(侧视图)所示，或如图9中(E)部分(后视图)所示：可移动的设备包括洗衣装置(1622)。特种作业部件(17)包括或为：机械工具。优选的，运动机构(13、18)用于衣物处理。衣物处理尤其指洗衣。
该运动机构用于洗衣，为：该运动机构用于：连接特种作业部件(17)，驱动特种作业部件(17)该机械工具在衣服容器中活动，以进行洗衣。特种作业部件(17)为机械工具。该活动尤其包括洗衣工具搅拌、搓、棒击、冲刷、甩打衣服中至少一种。该方案用于洗衣。机械工具包括搅拌器、棒槌、揉搓式工具、刷、冲击式工具、甩动式工具中至少一种。机械工具产生机械力使污垢与衣物脱离，以进行洗衣。机械工具指：用于洗衣，且相对于衣服容器能活动的工具。相对于衣服容器能活动，尤其指能在衣服容器内活动。
和/或，该作业空间作为如厕空间也即该作业空间用于如厕；和/或，该机器具有集便装置(1621)或能连接集便装置(1621)。排便即如厕。如厕即排便。如图1或图9中(D)部分(后视图)所示；该集便装置(1621)设置于该该作业空间的下部。优选的，该集便装置具有过滤部件；用于将污水分离为废弃物和清水。集便装置中具有消毒和/或杀菌装置；用于对废弃物消毒和/或杀菌。集便装置即马桶。优选的，该设备包括用于污水处理的部件。例如，该用于污水处理的部件为污水处理器或连接污水处理器的部件。污水处理器用于处理设备内的污水。优选的，运动机构(13、18)用于：清理集便装置(1621)，和/或，外送集便装置(1621)和/或该集便装置(1621)中的废弃物。
和/或，该作业空间能作为清洗人体的空间。该作业为清洗人体。清洗人体包括：洗澡、洗头中至少一种。该人体指身体或头。清洗包括冲洗或擦洗。该设备包括或能连接：清洗人体的装置。洗澡装置和洗头装置包括：出水装置(1624)擦洗工具。冲洗即用水冲的方式清洗人体。擦洗，即用擦洗工具在人体表面接触式移动以清洗人体。擦洗人体，包括擦洗身体或擦洗头。擦洗身体即搓澡。优选的，该机器具有或能连接出水装置(1624)；出水装置(1624)用于出水，用于清洗人体。出水装置优选为喷射装置。
如图1(F)部分(侧视图)或如图6(E)部分(侧视图)所示或如图9(B)部分(侧视图)所示：洗澡作业中，作业空间中的其他部件(例如烹饪装置(1623)和洗衣装置(1622))可被清空。该清空包括移走和/或拆卸和/或收纳和/或折叠和/或缩进和/或缩小。
优选的，该运动机构(13、18)用于清洗人体。运动机构(13、18)连接特种作业部件(17)。该特种作业部件(17)为：擦洗工具和/或喷射装置。运动机构(182)驱动特种作业部件(17)在清洗人体的空间中活动；用于清洗人体。该活动尤其指搓澡或洗头；该方案用于搓澡或洗头。擦洗工具用于与人体接触擦洗人体。该擦洗工具包括：柔性物品或抓或爪或梳或齿，例如毛巾或丝巾或步等。擦洗身体即搓澡。擦洗脸即用擦洗工具洗脸；擦洗头即用擦洗工具洗头。如图1中(G)部分(侧视图)所示为洗头作业的示意图。靠背(71)后倾；头置于容器(1622)上方。
自然的，该擦洗人体的装置(172)包括控制模块用于控制擦洗工具擦洗人体。该控制模块还包括功能；擦洗人体使时擦洗工具与人体之间的接触力保持在设定范围内。该设定范围使擦洗工具不损害人体和能将人体擦洗干净；和/或，基于机器视觉分析模块获取人员的体型信息；根据该体型信息制定接擦洗工具的活动路径。
该设备中个，特种作业部件(17)或平移运动机构(18)或升降运动机构(13)均可为多个；也即该机器或该作业空间或该作业装置能进行多种作业。或同一种作业中，允许多个运动机构(13)驱动多个特种作业部件(17)。如图9(B)部分(侧视图)所示；例 如：能连接于第一平移运动机构(181)的第一特种作业部件(171)；能连接于第二平移运动机构(182)的第二特种作业部件(172)，能连接于第三平移运动机构(183)的支撑件(16)。
和/或，该作业空间中具有多种生活作业装置或该作业空间中能连接多种生活作业装置。多种生活作业装置包括马桶(1621)、洗衣装置(1622)、洗菜和/或烹饪装置(1623)、喷射装置(1624)中任意多种。生活作业装置即生活服务设备。
图1中(A)、(B)、(C)、(D)、(E)、(F)、(G)、(H)、(I)为同一可移动的设备。图1中(A)、(B)、(D)、(E)、(F)、(G)、(H)、(I)均为侧视图。图1中(C)部分为后视图。作业空间位于设备的第二方位。
优选的，该设定的生活作业装置设置于或能安装于该机器的座位(7)旁边的空间；该设定的生活作业装置自然优选为小体积的设备。该座位(7)旁边的空间，也即坐具(7)旁边的空间。优选的，旁边指第二方(尤其指后边)；和/或，该座位指主座位。该机器的座位后的空间，该空间尤其指机器内的空间。该洗澡或排便或洗衣服或洗菜或烹饪食物尤其指在该空间内进行。
如图1中(A)、(D)部分(侧视图)、图1中(C)部分(后视图)，或图6中(E)部分(侧视图)所示：同一方位、同一作业空间中，优选的，该洗衣装置(1622)位于马桶(1621)的上方；和/或，该食物处理系统(1623)位于洗衣装置(1622)的上方；和/或该食物处理系统(1623)位于马桶(1621)的上方；和/或，喷射装置(1624)位于该食物处理系统(1623)、该洗衣装置(1622)、马桶(1621)中任一装置的上方。食物处理系统尤其指烹饪装置。本文中，作业台连接工具，该连接尤其指安装和/或夹持。
如图1所示：连接生活作业装置的部件，尤其指作业支架(19)；用于连接生活作业装置。食物容器(1623)、衣服容器(1622)、集便装置(1621)连接于作业支架(19)上。
作业空间内生活作业装置在作业空间内垂直投影面积能调整。用于使生活作业装置置于作业状态或减小其在作业空间内垂直投影面积。生活作业装置活动设置于设备内；或该生活作业装置为能变形以调整垂直投影面积。例如该活动设置为铰接或能滑动的连接。
食物容器(1623)铰接于作业支架(19)或设备的本体。如图1(A)部分所示，食物容器(1623)平置用于进行食物处理。当进行其他作业或缩小设备的设定边缘的距离时，食物容器(1623)竖置。该竖置通过将食物容器(1623)沿铰接点旋转进行。如图1(D)部分所示，食物容器(1623)竖置；可移动的设备进行衣物处理作业。或图1中(G)部分所示，食物容器(1623)竖置；可移动的设备进行洗头作业。
衣服容器(1622)能变形以调整垂直投影面积，例如包含柔性材料的水袋。如图1中(E)部分所示，衣服容器(1622)缩小或折叠，使作业空间用于如厕或供人乘坐。如图1中(F)部分所示，衣服容器(1622)缩小或折叠，使作业空间用于洗澡。如图1中(H)部分所示，衣服容器(1622)缩小或折叠，使作业空间用于供人躺用。如图1中(I)部分所示，衣服容器(1622)缩小或折叠，使设备的设定边缘的距离减小为L121。该距离L121小于图1中(H)部分所示距离L122。
集便装置(1621)滑动连接于作业支架(19)或设备的本体中。当进行其他作业或缩小设备的设定边缘的距离时，如图1中(F)部分所示，集便装置(1621)移动至坐具(7)之下，使作业空间用于洗澡。如图1中(I)部分所示，集便装置(1621)移动至坐具(7)之下，使设备的设定边缘的距离减小为L121。
优选的，平移运动机构(18)能移动至人员乘坐空间之外的区域；例如，该区域高于靠背，或在靠背的另一侧(尤其指后侧、两边)。设备内，设备中包括用于隔离人员的乘坐空间与特种作业器件的部件。例如，该部件为能竖置的板。例如，该部件为靠背。特种作业器件为运动机构的活动部件。平移运动机构(18)被该靠背挡在后方或上方或侧方，以防护其伤害人体。
连接用于人类生活服务的装置的部件尤其指作业支架(19)。作业支架(19)活动连接于机器中，设备中设有滑动部件使作业支架(19)能滑动；设备中设有铰接部件，使作业支架(19)能绕设定轴线旋转；后移时，便于设备内人员作业；前移时，便于人员从设备外边的后部进行作业；支架或靠背的侧边铰接于侧壁，铰接的旋转轴心靠侧壁且为竖向；使的靠背支架。
该1B方案中：该可移动的设备包括用于调整该设备外形尺寸的部件，调整该设备外形尺寸，也即使该设备外形尺寸能调整。外形尺寸包括至少一组相对方向的边缘在水平方向的距离和/高度。也即：一种可移动的设备，该机器中至少一组相对方向的边缘在水平方向的距离能调整；和/或，该机器的高度能调整。作业空间中部件设计为不阻碍调整设备外形尺寸。该至少一组相对方向的边缘即设定的边缘。
该机器能设置为立式、坐式、躺式中至少两种。机器的设定的边缘之间距离能设置为第三距离，该第三距离为使人能躺于机器内的距离；该方案适用于机器设置为躺式。躺，指人员头或脚朝该设定的边缘中的一方躺下。和/或，机器的设定的边缘之间距离能设置为第二距离。第二距离小于第三距离；该方案适用于机器设置为坐式。第一距离小于第二距离；该方案适用于机器设置为立式。和/或，机器的设定的边缘之间距离能设置为第一距离。也即：该机器的设定的边缘之间距离能在第一距离、第二距离、第三距离中至少两种距离的范围中调整。尤其指，该机器的设定的边缘之间距离能在第一距离、第三距离中调整。该调整，并非限定于只能设置为第一距离或第二距离或第三距离；而包括在两距离中的任意多个距离中调整。例如第一距离为0.7米；第三距离为2米；则该机器的设定的边缘之间距离既可设为0.7～2米中任一距离。
本文中，立式指使人能站立于机器中。站立于机器中即站立于机器中内。站立于机器中包括人员能站立于机体的底部上或人员能站立于地上。在没有限定说明时，站立于机器中为站立于机体的底部上。坐式指使人能坐于机器内坐具上。躺式指使人能躺于机器内。立式即立姿。坐式即坐姿。躺式即躺姿。躺具的形成，包括靠背的后倾或坐具边部件的延伸。
1H1、该机器的设定的边缘之间距离能调整。该方案具有下述1.1-1.9中任一种或任意多种用途。设定的边缘，指与机器中心的距离能调整的边缘，和/或该边缘的调整用于使机器在立式、坐式、躺式中至少两种切换。本文中，机器的设定的边缘之间距离，为该机器的周边中至少一组相对方向的边缘在水平方向的距离，也即：至少一组相对方向的边缘在水平方向的距离。该设定的边缘之间距离包括长度和/或宽度。优选的，该至少一相对方向尤其指第一方和第二方，该第一方尤其指前方，该第二方指后方。该至少一相对方向也可指第三方与第四方。至少一组相对方向的边缘在水平方向的距离包括机器的长度和/或宽度。本文中，所有的方位的参考点均指机器本体的中心。
该机器的设定的边缘之间距离能调整，即该机器至少一组相对方向的边缘在水平方向的距离能调整，也即：该机器的周边中至少一方的边缘与该机器的中心在水平方向的距离能调整。机器的中心为本体的中心。机器的中心尤其指该容纳人员的区域的中心。优选的，该至少一方尤其指第二方；该第二方尤其指后方。
也即：该机器中(至少一方位的部件)具有活动机构或能连接活动机构；活动件能向内活动和/或向外活动；使该机器中至少一方位的边缘与机器的本体的中心的距离能调整，也即使该机器的至少一组相对方向的边缘在水平方向的距离能调整。
也即该机器中至少一方的部件能向外活动。该至少一方的部件为活动件。增大该机器的设定的边缘之间距离，也即使该机器至少一方的部件向外活动。向外活动包括：伸缩件向外伸出，和/或铰接的活动件向外旋转。向外活动，以增大的作业空间。活动均为在活动范围内活动。
1.1、通过增大该机器的设定的边缘之间距离，能增大作业空间；该增大即形成；增大作业空间尤其指增大作业台的平面。和/或：1.2、通过减小该机器的设定的边缘之间距离，能消减作业空间；减小即消减。减小作业空间尤其指减小作业台的平面。
该设备具有作业空间。作业空间为日常生活事务所需求的空间和/或特定功能的空间。特定功能即特种作业。作业空间为用于特种作业的空间即作业的空间。特种作业即作业。作业空间为包括用于人类生活服务的部件的空间。该用于人类生活服务的部件包括用于人类生活服务的装置或连接用于人类生活服务的装置的部件。该用于人类生活服务的装置尤其指生活作业装置和/或物品成形装置。
结合任一附图所示，本文中，在没有限定说明时：作业空间指在机器的座位(7)周围的作业空间。座位(7)周围也即坐具(7)周围。作业空间、生活作业装置和物品成形装置均位于设备的部件上。优选的，该生活作业装置安装于该设备内；和/或，该搬运装置或该打印装置或该3A打印装置或该雕刻装置的作业空间位于该设备内。作业空间在设备的边缘内。作业空间在设备的边缘轮廓线之内
该活动件的上方或下方或内部的空间用于作业。该空间即作业空间。活动件向外活动使作业空间增大即形成作业空间。活动件向内活动，能使作业空间减小。活动件向外活动后相较于向外活动前，该活动件的外边沿轮廓线内的垂直投影的面积增大，该投影的上方或下方用于作业；该面积即作业面积。该面积上方和/或下方的空间中用于作业的空间，即作业空间。当作业空间被设备的边缘封闭时，该作业空间在设备内。当作业空间被设备的边缘从至少三方包围时，该作业空间为被设备的边缘所包围的空间。当设备的边缘未包围该空间时：作业空间的上方以设备的顶部对地的高度为界；作业空间的下方为以设备的底部的对地高度为界；作业空间的四周以设备对外活动的部件的四周的边缘的为界。作业空间能增大或减小；也即作业空间的大小可调。例如，活动件为设备底部向外伸出的一块板，则作业空间为板上的空间；且该空间的上方以设备的顶部对地的高度为界。例如，活动件为设备顶部向外伸出的一块板，则作业空间为板下的空间；且作业空间的下方为以设备的底部的对地高度为界。该空间内包括用于人类生活服务的部件。
机器能形成，尤其指机器的本体能形成。包括：由机器的本体形成，和/或，或，该机器的本体能连接其他物体，由该其他物体形成；和/或，由该本体和该其他物体共同形成。其他物体即外接件。座位和/或乘坐部件尤其指坐具坐具(7)。
和/或，1.3、增大该机器的设定的边缘之间距离，或将该机器的设定的边缘之间距离设置为第三距离；能形成使人能躺于该机器内的空间(也即第二空间)。
和/或：1.4、减小该机器的设定的边缘之间距离：能减小该的空间(也即第二空间)。
和/或：1.5、增大该机器的设定的边缘之间距离，能形成使机器上的桌板相对于机器上的座位和/或乘坐部件展开的空间(也即第三空间)；
和/或：1.6、减小该机器的设定的边缘之间距离，能消减该使机器上的桌板相对于机器上的座位和/或乘坐部件展开的空间(也即第三空间)；
和/或：1.7、增大该机器的设定的边缘之间距离；将乘坐部件设置为供人坐的方式；能使机器由立式载人方式变为坐式载人方式。
和/或：1.8、：增大该机器的设定的边缘之间距离；将乘坐部件设置为供人躺用的方式；能使机器由坐式载人方式变为躺式载人方式或能使机器由立式载人方式变为躺式载人方式。躺，指人员头或脚朝该向外活动的方向躺下。
和/或：1.9：减小该机器的设定的边缘之间距离，用于：减小设备占地面积和/或使设备变为微型设备；使设备变为微型设备尤其指使该机器能进入标准的家用住宅电梯。
该设定的边缘之间距离尤其指长度。本文中，通过增大也即增大。通过减小也即减小。
优选的，该方案1.1中；该机器的座位和/或乘坐部件(7)的第二方(尤其指后方)的空间，能设置供人乘坐的坐具、食物处理系统、马桶、清洗人体的设备、衣物处理的设 备、打印装置、3D打印设备中任意一种或任意多种。该空间指机器内的空间。该食物处理、清洗人体、衣物处理中至少一种作业尤其指在空间内进行。尤其是，当机器的设定的边缘之间距离设置为第三距离时，实施该方案。
如图1中(B)、(H)、(I)或图6所示；第一方的边缘(1)与第二方的边缘(2)在水平方向的距离(尤其指长度)为L12。第三方的边缘(3)与第四方的边缘(4)在水平方向的距离(尤其指宽度)为L34。高度(Z1)为乘坐空间的高度。优选的，该第一方为前方。机器的高度指机器的本体在上下方向的长度机器的高度尤其指该机器的本体的底部(6)与该机器上方的部件(12)之间上下方向的距离。机器的高度尤其指机体内部的高度。上方的部件(12)尤其指顶部。该底部(6)尤其指该底部的内侧也即指底部的上表面；该上方的部件(12)尤其指该部件的内侧即部件的下表面。机器靠地的方向为底；靠天的方向为顶；底与顶是相对的。上方的部件(12)即可为机器所具有的顶部，也可为安装与该机器上的物体的顶部。例如该物体为遮挡物体(尤其指伞等)。
该容纳人员的区域在该机器的周边中任一相对方向的边缘之间。也即该容纳人员的区域在该第一方的边缘(1)与该第二方的边缘(2)之间。
边缘指该边的外侧面。例如，至少一组相对方向的边缘在水平方向的距离，为第一方的边缘的外侧面和第二方的边缘的外侧面在水平方向的距离。或，边缘指该边的内侧面。所有的内外，均以机器中供人乘坐的区域为参考点；指向该供人乘坐的区域为内；指向内的反向为外。相对，也即相对于机器中供人乘坐的区域。
座位和/或乘坐部件(7)的靠背,非机器的边缘；也即靠背与该机器的边缘是两个不同的部件。座位和/或乘坐部件(7)的靠背,也在该机器的周边中相对方向的边缘之间。例如，靠背在该该座位和/或乘坐部件(7)的第二方(尤其指后方)；则该机器的第二方(尤其指后方)的边缘在该靠背的的第二方(尤其指后方)。该机器的设定的边缘之间距离能调整，并非指单纯的由靠背的后倾所形成。使桌板相对于坐具展开，也即使该桌板和该坐具处于配合使用的状况。
和/或，
1H2、该机器的高度能调整。也即：该机器中(与高度相关的部件中)包括活动机构或能连接活动机构；活动件能在活动范围向上活动或向下活动；使该机器的高度能调整。活动包括伸缩和/或旋转。
该机器的高度能设置为第三高度，该第三高度为使人能站立的高度；该方案适用于机器设置为立式。和/或，该机器的高度能设置为第二高度；第二高度小于第三高度；该方案适用于机器设置为坐式。和/或，该机器的高度能设置为第一高度，第一高度小于第二高度；该方案适用于机器设置为躺式。也即：该机器的高度能在第一高度、第二高度、第三高度中至少两种高度的范围中调整。尤其指：该机器的高度能在第三高度与第一高度中调整。该调整，并非限定于只能设置为第一高度或第二高度或第三高度；而包括在两高度中的任意高度中调整。例如第一高度为0.8米；第三高度为2米；则该机器的高度既可设为0.8米，也能设置为2米；也可设置0.8～2米中任一距离；例如1或1.5或1.8米。
使机器的高度在能调整的范围内变大(尤其指比坐式载人方式时机器的高度变大)；使人能站立于机器中；该使人能站立于机器中的高度为第三高度。高度增大使站更便利。
进一步优选的，还包括方案：调整该设备的至少一组相对方向的边缘在水平方向的距离，使该距离小于乘坐距离。该方案用于减小机器的占地面积。优选的，使该距离小于乘坐距离为使该距离为第一距离。
优选的，该方案1.3中，还可包括方案：调整该设备的高度，使该高度小于站立高度。进一步优选的，使使该高度小于站立高度为使该高度为第二高度。进一步优选的，进一步优选的，使该高度小于站立高度使该为第一高度。使高度变小用于：增加设备的稳定性，和/或，增加机器的通过能力。通过能力指通过低矮空间的能力。
优选的，该设定的边缘即前边和后边；该设定的边缘之间距离即长度，第三距离为第三长度。第二距离为第二长度；第一距离为第一长度。坐式载人方式时机器的高度为第二高度，坐式载人方式时机器的长度为第二长度；第一长度小于第二长度，第二长度小于第三长度；第一高度小于第二高度，第二高度小于第三高度。
或，减小该设备的高度用于使设备变为微型设备、降低设备重心、增加设备通过能力中任一种或任意多种。
优选的，该机器中设置有座位和/或乘坐部件(7)或该机器中能安装乘坐部件(7)；该机器中也即该机器的容纳人员的区域中；该容纳人员的区域尤其指座位。该机器的周边中至少一组相对方向的边缘在水平方向的距离能调整。
立式指使人能站立于机器中。坐式指使人能坐于机器中坐具上。躺式指使人能躺于机器内。使人能站立的高度、使人能躺于机器内的距离中任一种或任意多种参数：该参数能调整，当设备的使用者的身高与该常规身高有差值时，根据该差值调整该参数：或，该参数为根据用户的选择制定；或，该参数为根据成年人的常规身高设置制定。常规身高为本设备的使用国的成年人的平均身高。
基于中国成年女人的平均身高，本文中可移动的设备：使人能躺于机器内的距离为大于1.6米的距离；该使人能站于该设备中的高度为大于1.6米的高度。即使180厘米身高的用户也只不过稍微(腿部)弯曲一点站立或躺于设备中，并不影响设备使用。针对身高不为1.6米的人员群体所设计的设备，该长度高度中任一参数均按照该人员群体的身高与1.6米的偏差值进行对应的调整。
能活动的部件，可为移动机构。例如图3中(A)部分(为侧视图)和图3中(B)部分(为前视图)，为移动机构的示意图；活动件(2_2)连接连接部件(2_1)、且该连接部件(2_1)限定该活动件的活动方式，该连接部件(2_1)即基座(2_1)。连接部件(例如传动丝杠(3))即主动件。
活动件相对于基座(2_1)能移动；且构造为：活动件能在基座(2_1)中移动但不能旋转；主动件与动力装置(电驱动模块(4))连接；动力装置(电驱动模块(4))能驱动主动件(3)运动(例如旋转)，从而能使从动件(2_2)移动。
活动机构可为伸缩机构。例如图3中(D)部分(为侧视图)和(H)部分(为前视图)所示。该伸缩机构中，活动件(2_3)相对于基座(2_2)能伸缩。例如，该伸缩机构构造为：活动件(2_3)相对于基座(2_2)能移动但不能旋转。活动件(2_3)与基座(2_2)连接。例如，该基座(2_2)为管状件；活动件(2_3)的外廓尺寸(例如外径)小于基座(2_2)的内廓尺寸；外廓尺寸尤其指外径；内廓尺寸尤其指内径。活动件(2_3)的一部分能从基座(2_2)内伸出或缩回。
例如图3中(C)部分(为侧视图)和图3中(D)部分(为仰视图)所示，仰视也即从下往上看。活动件通过主动件(传动丝杠(3))连接动力装置(4)。优选的，设备中包括制动部件(5)，用于使活动机构中主动件或该动力装置(4)制动。例如图3中(F)部分所示；活动件与主动件的连接为齿轮(3)齿条连接。例如图3中(G)部分所示；活动件与主动件的连接为活塞式连接。活塞式连接包括气缸或液压缸式连接。能活动的部件，可为机械手；例如图3中(E)部分所示。
该图1、图5、图6、图9、图9、图3中；H为目标即人；坐具(7)和机器底部的部件(6)能活动；该机器能形成供人员与地接触(与地接触尤其指站立于地上)在地上行走的区域；该区域即目标H所在区域；第一部件包括第一方的部件(1)、第二方的部件(2)、第三方的部件(3)、第四方的部件(4)中至少3种；该机器具有地面移动装置(5)；该机器具有顶部的部件(12)。
图1中(A)部分(侧视图)、(B)部分(俯视图)所示为同一机器；或如图6该机器包括目标监测模块(8)，该目标监测模块(8)用于获取目标位置和/或识别目标状况。
如图1中(A)、(D)、(E)部分(侧视图)，或如图6中(D)部分(俯视图)、(E)部分(侧视图)、(F)部分(前视图)所示：该机器能设置为坐式载人方式。座位中坐具(7)的后端通过连接装置(11c2、11d2)连接于机器两边的部件上。该连接尤其指铰接。坐具(7)平置时供人员坐。坐具(7)的前端可绕铰接处的旋转轴心旋转。坐具(7)的前端向下向第二方(尤其指后边)旋转时，能使该主控座位中的区域成为供人站立的区域。或，坐具(7)也可为可拆卸连接；通过拆卸该坐具(7)，能使该座位、坐具(7)中的区域成为供人站立的区域。
如图6中(A)部分(俯视图)、(B)部分(侧视图)、(C)部分(前视图)所示,或如图6中(K)部分(前视图)、所示：机器能设置为站式载人方式。该座位和/或乘坐部件(7)处置为：使该座位、坐具(7)中的区域成为供人站立的区域；该站立为站立于机器底部的部件(6)上。
图6中(M)部分(俯视图)即原优先权文件图3中(G)部分。该图6中(N)部分(前视图)即原优先权文件图3中(I)部分。该图6中(O)部分(侧视图)即原优先权文件图3中(H)部分。
如图5中(D)部分(俯视图)、(E)部分(侧视图)、(F)部分(前视图)所示，或如图6中(M)部分(俯视图)、(N)部分(侧视图)、(O)部分(前视图)所示：通过处置该机器底部的部件(6)和该坐具(7)，该机器能形成供目标在地上站立或行走的区域；使该座位和/或坐具(7)和机器底部的部件(6)的共同的区域中区域成为供人与地接触(尤其指在地上站立或行走)的区域；该站立为站立于地上。该站立可为行走。
处置该机器底部的部件(6)和该坐具(7)，参考图2中(I)、(J)板的开合方案；机器的底部部件(6c、6d)对开竖置时，底部部件(6c)底部部件(6d)分别竖置于设定区域的左第四方(尤其指右方)；敞开机器的底部。此时该机器能设置为供人在机器内站立的方式。
如图1中(B)、(L)所示(俯视图)、图6中(D)部分(俯视图)所示；第三方(优选为左方)的部件(3)可分为靠第一方的部件(3a)、靠中的部件(3b)和靠第二方的部件(3e)。第四方(优选为右方)的部件(4)可分为靠第一方的部件(4a)、靠中的部件(4b)和靠第二方的部件(4e)。且该部件(3a)、(3b)和(3e)部件在第一方向和/或第二方向上移动时，任一部件不会干涉、阻止其他部件的移动。且该部件(4a)、(4b)和(4e)部件在第一方向和第二方向上移动时，任一部件不会干涉、阻止其他部件的移动。
如图1中(A)、(D)、(E)、(F)、(G)、(H)、(I)、(J)、(K)部分，或图图(B)、(E)部分所示(该系列图均为侧视图)：上方(尤其指顶部)的部件(12)可分为靠第一方的部件(12a)、靠中的部件(12b)和靠第二方的部件(12e)。下方(也即底部)的部件(6)可分为靠第一方的部件(6a)、靠中的部件(6b)和靠第二方的部件(6e)。且该部件(12a)、(12b)和(12e)部件在第一方向和第二方向上移动时，任一部件不会干涉、阻止其他部件的移动。该部件(6a)、(6b)和(6e)部件在第一方向和第二方向上移动时，任一部件不会干涉、阻止其他部件的移动。
在能调整的范围内，靠第一方的部件(包括1、(3a)、(4a)、(6a)、(12a)位置的部件)，能向内(也即向中)缩进或能向外(也即第一方向)展开。靠第二方的部件(包括2、(3e)、(4e)、(6e)、(12e)位置的部件)，能向内(也即向中)缩进或能向外(也即第二方向)展开。缩进或展开或活动，均优选为移动；也可为绕设定轴线转动或摆动。
参考上述方案，任一方(例如中部、第一方、第二方、第三方、第四方)的部件可分为靠上的部件和靠下的部件。该靠上的部件或该靠下的部件上下活动(尤其指移动)时，任一部件不会干涉、阻止其他部件的活动。
图4是能伸缩机构或升降机构或高度能调整的机器的示意图；图4中各部分均为侧视图；图4中(C)部分，为一伸缩机构的示意图：构件一(2_3)相对于构件二(2_2)能伸 缩。图4中(B)、(D)、(E)为同一可移动的设备的高度调整的示意图。该机器具有两级在上下方向能伸缩的伸缩机构；伸缩机构(131)和伸缩机构(132)，且该两伸缩机构逐级连接。如图4中(E)部分所示，伸缩件(131)和伸缩件(132)均外伸，此时机器的高度较高，例如为第三高度。如图4中(D)部分所示，当伸缩件(131)或伸缩件(132)任一内缩时，此时机器的高度低于第三高度，例如为第二高度。如图4中(B)部分所示，当伸缩件(131)和伸缩件(132)均内缩时，此时机器的高度低于第二高度，例如为第一高度。伸即伸长。缩即缩短
该实施例，提供了一种多个能伸缩的部件逐级连接的方案；用于扩展伸缩范围。伸缩机构中：基座即固定件有两端，靠活动件的一端称为顶端，另一端为底端；活动件也有两端，连接固定件的一端为内端，另一端为外端。第一伸缩机构的基座的底端连接于机器本体上；若伸缩方向为上下方向，则该伸缩能用于调整机器的高度；若伸缩方向为前后或左右方向，则该伸缩能用于调整机器的长度或宽度。该第一伸缩机构的活动件的外端连接第二伸缩机构的固定件的顶端，且该两能伸缩的部件的伸缩方向同向；且第一伸缩机构的活动件的伸缩的轴线与第二伸缩机构的固定件的移动轴线相互错开。
本文中，可设计为：任一部件不会干涉、阻止其他部件的活动。使任一部件不会干涉、阻止其他部件的活动；有多种现有技术能实现。例如在移动方向上，使各部件之间相互错位。例如，图2中(B)和(F)、图2中(C)和(G)、图2中(D)和(H)是沿直线滑动型的长度可调整机构。本文中，任意部件的距离能调整；均指：任意的两部件能相对活动，也即一部件相对于另一部件能活动；且在活动方向上该两部件相对的方向的端部相互错开。
如图6中(A)、(B)、(C)部分所示；图6中(A)为俯视图、(B)为侧视图、(C)为前视图。靠上的部件能向上活动。机器的高度能设置为第三高度。机器能设置为站式载人方式。优选的，靠第一方的部件能向内(也即向中)活动；该活动尤其指缩进。靠第二方的部件能向内(也即向中)活动；该活动尤其指缩进。此时，第一方和第二方的边缘在水平方向的距离L12(优选为长度)能调整为第一距离。该第一距离优选为第一长度。
如图1中(H)、(I)部分(侧视图)所示为同一设备；第一方和第二方的边缘在水平方向的距离能调整；该距离优选为长度。如图1中(H)所示，靠第二方的部件能向外(也即向第二方向)活动；该距离能调整为L122，该距离能使人躺于设备中。如图1中(I)所示，靠第二方的部件能向外(也即向第二方向)活动；该距离能调整为L121，该距离小于能使人躺于设备中的距离，用于缩小机器的占地面积。
如图6中(D)、(E)、(F)部分所示；图6中(D)为俯视图、(E)为侧视图、(F)为前视图。靠第一方的部件能向外(也即第一方向)活动；该活动尤其指展开；和/或，靠第二方的部件能向外(也即向第二方向)活动；该活动尤其指展开。此时，第一方和第二方的边缘在水平方向的距离L12(优选为长度)能调整为第二距离(优选为第二长度)和/或第三距离(优选为第三长度)。机器能设置为坐式载人方式。优选的，相较于立式，靠上的部件能向下活动；机器的高度能设置为第二高度。
如图6中(G)部分(俯视图)、(H)部分(侧视图)、(I)部分(前视图)所示：
靠第一方(尤其指前方)的部件能向外(也即第一方向)活动；该活动尤其指展开；靠第二方(尤其指后方)的部件能向外(也即向第二方向)活动；该活动尤其指展开。此时，第一方和第二方的边缘在水平方向的距离L12(优选为长度)能调整为第三距离(优选为第三长度)。该距离L12优选为长度。机器能设置为躺式载人方式。该第三距离(优选为第三长度)使人能躺于机器内、将机器设置为躺式载人方式。优选的，靠上的部件能向下活动；机器的高度能设置为第一高度。
如图1中(A)、(J)部分(侧视图)和(B)、(L)部分(俯视图)所示：运动操控器件和/或桌板(10a)可设置于该机器的前部，该运动操控器件(10a)可为把手或方向盘或摇杆；运动操控器件(10d)可设置于该机器的边上，该运动操控器件(10d)可为摇杆； 也可通过目标监测模块(8)获取目标的位置和/或目标移动的方向，控制机器的移动。目标移动尤其指目标行走。运动操控器件、目标监测模块(8)也能设置于机器中任何位置。
本文中，物品(部件)可调整，即物品(部件)能活动，两者等同。本文中，延伸即展开，两者等同。
图7是某一方向的长度可调整的机器的示意图。图7中(A)、(B)、(C)、(D)、(I)为原优先权文件中图14中内容。如图7中(A)所示：该机器的后部设置有或可连接活动件(L3)包括：连接装置LNK3和轮(W5、W6)；该运动机构的活动例如采用图2中(I)、(J)所示的开合机构。活动件(L3)的内端铰接机器的本体(BOX)；活动件(L3)的外端能活动。活动件(L3)的底部构件能活动；使活动件(L3)的底部形成向外的开口和/或使底部的中部清空；控制机器的移动，使地上的物品能位于该底部(尤其指底部的中部)。物品包括行李或货物。如图7(D)所示，在图7(C)所示机器的基础上，可向外活动的部件LNK3的内端铰接机器的本体(BOX)；可向外活动的部件LNK3的外端可上翻(也即绕铰接处旋转轴心旋转)，以缩短机器的长度。图7中(B)所示，在图(A)所示机器的基础上，机器设置有或能连接：用于提升物品的提升装置(14)。底部构件即底板。如图7中(I)所示，用于提升物品的提升装置(14)与约束物体或防止目标跌倒的物体(9)的提升装置或坐具(7)的提升装置为同一装置；能降低成本。本文中，提升装置即升降运动机构即提升机构，三者等同。
如图6或图9所示；作业空间，指机器的底部部件(6)上方的空间；和/或，指指机器的上方的部件(12)下方的空间；和/或，指由机器的至少两边所形成的空间。该至少两边尤其指三边，尤其指四边。该底部部件(6)尤其指第一方的底部部件(6a)和/或第二方的底部部件(6e)。优选的，该形成的空间，指机器的上方的部件(12)下方的空间；该上方的部件(12)尤其指第一方的上方的部件(12a)和/或第二方的上方的部件(12e)。形成的作业空间，尤其指机器内部的作业空间。
图8是设定的边缘之间距离能调整的机器的示意图；图8中，活动为伸缩；向外活动为能伸缩的部件向外伸出。O点为机器的中心。第一方(优选为前方)的边缘(1)与第二方(优选为后方)的边缘(2)在的距离(尤其指长度)为L12。第三方(优选为左方)的边缘(3)与第四方(优选为右方)的边缘(4)的距离(尤其指宽度)为L34。第一方的边缘(1)与与O的距离为L01，第二方的边缘(2)与O的距离为L02，第三方的边缘(3)与O的距离为L03，第四方的边缘(4)与O的距离为L04。
由图示可知：距离L01与距离L02相加即距离L12(也即L01+L02＝L12)。距离L03与距离L04相加即距离L34(也即L03+L04＝L34)。且边(1)、边(2)、边(3)、边(4)均为能活动的部件。
如图8中(E)部分(为俯视图)所示；部件(3)和部件(4)之间为机器的本体。当第一方的活动件(1)与第二方的活动件(2)均向外活动。相较于图8中(C)部分所示；此时L12增大；能调整为最大；例如为第三距离(优选为第三长度)。设定的边缘之间距离增大、部件(1)或部件(2)的各自的边与机器本体的边之间的各自包围的面积增大、该面积的上方的作业空间增大；也即形成作业空间。
如图8中(C)部分(为俯视图)所示；当第一方的边缘(1)与第二方的边缘(2)均向内活动。相较于图8中(E)部分所示；此时L12变小；例如为第一距离。设定的边缘之间距离调小、部件(1)或部件(2)的各自的边与机器本体的边之间的各自包围的面积变小、该面积的上方的作业空间减小。
如图8中(D)部分(为俯视图)所示；四方的部件均向外活动；相较于图8中(A)部分(为俯视图)所示；此时L12能增大；例如为第三距离；L34也能增大。设定的边缘之间距离增大、部件(1)、(2)、(3)、(4)的各自的边与机器本体的边之间的各自包围的面积增大、该面积的上方作业空间增大即形成作业空间。
如图8中(A)部分(为俯视图)所示；四边均向内活动；相较于图8中(D)部分(为俯视图)所示；此时L12调小,例如为第一距离；L34也变小。设定的边缘之间距离调小、部件(1)、(2)、(3)、(4)的各自的边与机器本体的边之间的各自包围的面积变小、该面积的上方的作业空间减小。
如图8中(F)、(G)部分为同一个可移动的设备的调整外形尺寸(也即变形)后的示意图。H为人员；X1指向前方。两图中，人员(H)所处位置不动；相较于图8中(F)，如图8中(G)所示：第一方的边缘(1)向第一方延伸，第二方的边缘(2)向第二方延伸，第三方的边缘(3)向第三方延伸，设备的体积大为增加。优选的，设备在活动机构的驱动下，能向周边的四方延伸、能向上延伸。优选的，设备的边界部件中可包括壳体和弹性部件，弹性部件与壳体配合共同形成边界。需要活动的边与边之间或需要活动的边与本体之间通过弹性部件连接。便于外形调整、变形。
如图8中任一附图所示；在相对的方向，第一方的活动机构(1)的两根活动件的轴线距离为L341，第二方的活动机构(2)的两根活动件的轴线距离为L342；L341不等于L342；两方的活动件的活动路径(也即伸缩的轴线)能在同一平面内但相互错开。如图8中(A)、(D)部分(为俯视图)所示；在相对的方向，第三方的活动机构(3)的两根活动件的轴线距离为L123，第四方的活动机构(4)的两根活动件的轴线距离为L124；L124不等于L123；该两方的活动件的活动路径(也即伸缩的轴线)能在同一平面内但相互错开。
第一、二方的活动件(1)与(2)在同一平面内；如图8中(B)部分(为侧视图)所示；但第三、四方的活动件所在平面高于(1)与(2)所在在平面；也即四方的活动件的活动路径(也即伸缩的轴线)能相互错开；也即四方的活动件均可任意活动，能相互不阻碍、干涉；也即机器的任意一方或任意多方的边缘距离机器中心的距离能任意调整；也即机器的长宽尺寸任意可调。
图2中(A)和(E)是可绕关节旋转型的长度调整机构；第二构件Lk1、第一构件Lk2铰接，第二构件Lk1的另一端为L1，第一构件Lk2的另一端为L2，该两个构件Lk1、Lk2可绕铰接点R0旋转，此时L1和L2之间距离可调。
图2中(B)部分(侧视图)和(F)部分(前视图)所示部件、图2中(C)部分(侧视图)和(G)部分(前视图)、或图2中(D)部分(侧视图)和(H)部分(前视图)所示部件，是沿直线滑动型的长度调整机构。第二构件(例如Fb1或Lk1)相对于第一构件(例如Bd1或Lk2)能直线滑动；且第一构件约束第二构件的活动路径或活动方式。
图2中(I)、(J)是板的开合示意图。图2中(I)所示，机器的底部部件(6)与第四方的部件(4)铰接；底部部件(6)可沿轴心(R1)旋转；当底部部件(6)平置时，封闭机器的底部；当底部部件(6)竖置时，打开机器的底部。如图2中(J)所示，机器的第四方底部部件(6d)与第四方部件(4)铰接，可沿轴心(R1)旋转；机器的第三方底部部件(6c)与第三方部件(3)铰接，可沿轴心(R2)旋转；当底部部件(6c、6d)相对平置时，封闭机器的底部；当底部部件(6c、6d)竖置时，敞开机器的底部。
相应的：当长度调整机构竖向放置时即为高度调整机构；当其横向设置时即为宽度调整机构。横向指左右方向。竖向指上下方向。纵向指前后方向。
如图7中(K)所示：该设备具有或能连接：人力驱动装置(M1)；人力驱动装置(M1)包括脚踏(H1、H2)；电机和/或差速器(M2)和/或车轮，与人力驱动装置(M1)之间，可通过链条机构、皮带机构、齿轮机构连接；脚踏力传递给脚踏(H1、H2)，使与其连接的电机或差速器或车轮旋转，电机旋转即可发电，差速器、车轮旋转即可使该可移动的设备移动。
本发明中，任一处的描述，可用于本文中任一方案中：该任一方案尤其指在任一设备、任一机器中方案。本文中：设备即机器即装置；机器即设备；机器等同设备。设备或机器，尤其为机器人。设备即装置，两者等同。
1、方位：1.1、方位即方向。前后左右上下中任一方位，均指相对于某一参照物的方位。在没有限定说明时，该参照物为机器本体、容纳人员物品的空间、载人载物装置、座位或坐具(7)。在没有限定说明时，任一部件均指该部件的中心。
本文中，向内或向外，指以参照物为基准，向内为：指向该参照物的方向；向外为：指向该参照物的相反的方向。器件的内端，指器件靠该参照物一端，该器件的外端，指该器件另一端，也即非靠该参照物的一端。向外延伸优选为向后延伸。
本文中，前视图即从前往后的方向看的视图即左视图；侧视图也即正视图，该视图方向为从左往右方向看；俯视图即从上往下的方向看的视图。后视图，指该视图方向为从后往前方向看。
当无附加说明时：前方，指；机器行驶的方向；指附图中X1所指的方向。X1指示前方，则X2指示后方。该行进即行驶。前包括正前、左前、右前。后包括正后、左后、右后。左包括正左、左前、左后。右包括正右、右前、右后。前后尤其指前，上下尤其指下。行驶即行进。前方也可指设备中座位的朝向。移动，包括前移、后移；。左右指左和/或右，指机器的左右；前后指前和/或后，指机器的前后。本文中，进退指进和/或退。
在没有限定说明时，两者的距离，指该两者的中心的距离；四方即周边即四周即环绕四个不同的方向，该四个不同的方向分别为第一方、第二方、第三方、第四方。该第一方与该第二方为相对的方向；第三方与第四方为相对的方向；第一方上的点与第二方上的点的连线为第一第二方向连线；第三方上的点与第四方上的点的连线为第三第四方向连线；第一第二方向连线与第三第四方向连线在水平方向内交叉，也即；在水平方向上，第一第二方向连线与第三第四方向连线交叉；优选的，该交叉为垂直交叉。
至少两方为两方、三方、四方中任意一种。例如，该两方为后方同右方、后方同左方、前方和左方、前方和右方中任意一种；例如，该三方为前方和左方和右方、后方和左方和右方、左方和前方和后方、右方和前方和后方中任意一种；四方指前后左右方。第一方尤其指前边；第二方尤其指后边；第三方尤其指左边；第四方尤其指右边。本文中，任一处所述某方优选为某边。
1.2、侧包括前后左右中任一侧。侧面即周围的面。侧包括前后左右中任一方或前后左右任意两方的结合部位；球体或圆柱体靠边的面也为侧面。方位包括前后左右中任一方位。优选的，侧方指边上，指左右方。侧方指正侧方或侧前方或侧后方。
1.3、上、下、顶、底：上方包括正上方、侧上方即斜上方。遮挡物体通常需位于目标的上方。顶即上方。下方包括正下方、侧下方即斜下方。底即下方。
竖向，指上下方向。竖向指相对于水平面大体为垂直方向；当无限定时：纵向即上下方向。立面指竖立面。立面也即侧面，尤其指墙面。底面尤其指地面。顶面指位于特种作业装置之上的面。横向即平向。横向，指与竖向交叉的方向。横即平；横指大体为水平；横向即平向，横向指大体为水平方向。平移包括前后移动和/或左右移动，优选为前后移动。本文中，水平方向，尤其指前后方向。
1.4、某位置中的区域分该位置中的全部区域或该位置中的部分区域。某空间包括该空间的全部或该空间中部分空间。
本文中，悬挂即挂。挂指借助索缆、高处物体使物体附着于高处。
2、设定范围、设定值：均指通过型式试验、有限次试验、经过符合国家或地区规范的理论计算所的得到的数据。设定范围等同正常范围。许可的参数指，也即正常范围内的参数值。在设定范围之内即不超过设定值，两者等同。本文中，在没有限定说明时，任一物体均指标准的物体。任一参数均指标准的参数。标准即行业标准或本设备的使用国家的市场最大份额的型号的规格。在没有限定说明时，人、人员均指成人；且体重、身高、身材皆为标准值、常规值；儿童指特定年龄阶段的人。与人相关的参数，该参数为标准的参数； 该标准即本设备的使用国家的数量最多的人群。标准还可进一步包括细分标准。例如身高170厘米的人的标准，或身高180厘米的人的标准，或儿童的标准。
接近于等同于大体为。大体为即接近于。大体为包括为，尤其指为。接近于包括等于。参数1大体为参数2；指该参数1的参数2的差值在设定范围内。该参数包括角度、长度、高度、宽度或外形差别中至少一种。角度尤其指夹角或偏移的角度。例如，横向指大体为水平方向；其包括：横向为水平方向，或横向与水平方向的夹角小于设定值。
3、常用名词的意义：能、可、设置、具有：
能即可，可即能，两者等同。能活动即可活动。可移动即能移动。运动即运行，两者等同。具有即设置有，两者等同。多，也即至少为2个。该能形成包括具有、设置有。本文中，任一方案中，使物体能进行动作，均包括：使物体进行动作。本文中任一方案中如包括能或可字，则该方案均包含将能或可字去掉后的方案。本文中，相关，也即相应，也即对应。可运动即能运动。可指能够、许可。以，指用于。以使，指用于使。具有即设置有，两者等同。能即用于。模式即方式。形成即围成即包围。根据等同于基于即通过即经过；本发明中，任一方案或数据均可等效替换入其他技术方案中；本文中任意处的“某”、英文字符或“XX”符号可指设定的本文中任何处所描述的设定的属性或功能或物体或动作或行为；该英文字符例如为A或B或U。“和/或”,指该“和/或”前后的具有并列、同等属性的物体或行为或属性，为“和的关系”或为“或关系”的。本文中，按本领域技术所知晓、常规习惯，多个名词并列或通过“、”并列或通过“，”并列，该多个名词之间均为“和/或”的关系；多个动作并列或通过“、”并列或通过“，”并列，该多个动词之间均为“和/或”的关系；例如，桌板指桌和/或板；例如，“载人、载物”指“载人和/或载物”。
A包括B，包括：A连接有B、A为B、A具有B等情况。一物体为另一物体的组成部分，即该另一物体包括该物体。该A和B可为本文中任何处所描述的属性、功能、物体。
4、连接：4.1、能连接，指：已连接，或设置有连接装置用于连接，或具有连接部位用于连接。连接优选为安装。能连接优选为能安装。连接装置即连接部件。连接部件即连接装置。连接部件即用于连接的部件。连接部件既可为独立于机器本体的部件，也可为机器中一部分，尤其为机器本体中一部分。连接部即连接部件和/或连接部位。两物体可连接，有多种状况：A物体与B物体已连接，A物体与B物体可连接但未连接，处于拆分状况。A连接B，包括A与B一体化连接，即A为B,或A为B一部分或B为A一部分。
4.2、连接的属性：连接部位即用于连接的部位，即已进行用于连接的处理的部位。能连接，为具有能够连接的属性用于连接。该连接尤其指配合连接；例如一物体上设置有孔或洞或凹件；则另一物体上设置有与该孔或洞或凹件配合连接的杆或锥或凸件。
4.3、连接的种类：连接包括：固定连接、活动连接、可拆卸连接或一体地连接。优选的，连接为可拆卸的连接，也即为以能受控的解除连接的方式的连接。活动连接包括可拆卸连接或可滑动连接或可转动连接；可转动连接即铰接。
连接，包括：机械连接、电连接。连接包括可为直接连接，也可以通过居中件连接，可以是两个元件内部的连通。两物体连接，包括该两物体连接和/或该两物体通过其他部件连接。中间媒介即居中件。其他部件即居中件。直接连接，例如焊接或压接或螺纹连接或勾住或挂接或卡扣式连接等。
4.4、机器能连接某物体；指机器中部件能连接该物体；该机器中部件尤其指机器本体。连接，尤其指安装。机器能连接某物体，尤其指机器本体上能安装该物体；指机器本体上具有安装该物体的位置、具有连接该物体的连接装置。该某物体或该物体指本文中所描述的任一物体或部件或装置或模块或单元。
5、某种、任意、XX：
在没有限定时，任一部件既可指部件整体，也可指部件所包含的器件。该部件可为机器、装置、模块、构件中任一种。例如，在没有限定时，机器，可指机器整体、机器本体、 机器的作业装置(1)、机器中部件中任一器件。任意指若干不限制于仅为一个；可为多个。某种也即任意一种或任意多种。
本文中，任一功能物体的命名为功能+物体；该功能可指本文中任一功能；该物体可指本文中任一物体(例如装置或部件)。任一功能物体，均指该物体具有该功能；也即该物体用于实现该功能。
本文中，前后任一名词的含义，均与在该名词中的任一部分加“的”含义等同。例如，XX运动模式，也即XX运动的模式；例如桌板即桌子的板。
6、本体即躯体也即躯干即机身。任一机器均具有本体。外部物体，指机器外部的物体。本文中，在没有限定或附加说明时：机器指机器的本体即机器的躯体；移动、运动、机器的移动、机器的运动均指机器的本体的移动。与躯体固定连接的部件，均属于本体。机器躯体的移动即机器的行驶，可简称行驶。本体，即机器中相互固定连接的部件，且该相互固定连接的部件在机器的所有部件中质量最大。该质量即重量。
单元、装置、系统、模块、部件、元件、器件、机构、结构九者等同；单元即装置即系统即模块即部件即元件即器件即机构即结构动力系统即动力单元即驱动单元即驱动装置，四着等同。本文中，机构即结构，两者等同。直线运动机构即直线运动结构，两者等同。转向机构即转向装置，两者等同。伸缩机构即伸缩装置，两者等同。构件即部件、构件即部件两者等同。本文中：设备即机器；机器即设备；机器等同设备。设备或机器，尤其指机器人。条状部件即索缆。
7、7.1、本文中任一机器或本文中任一方案中：均包括本体；该机器包括或能连接：控制装置、作业装置、能源供应装置。和/或，该机器还包括或能连接：作业装置，用于作业。机器优选为机器人。控制装置连接作业装置，用于控制作业装置进行作业。能源供应装置连接控制装置，为控制装置供电。能源供应装置连接作业装置，为作业装置提供能源。提供能源尤其指供电。作业装置包括特种作业装置。作业包括特种作业。作业装置即工作装置。作业即工作。作业装置包括作业执行装置。作业装置连接驱动单元。驱动单元即动力系统。作业执行装置即工作执行装置。
7.2、控制装置包括运动控制部件或控制装置能连接运动控制部件。运动控制部件用于控制机器移动。该控制机器移动即控制移动装置使机器移动。运动控制部件包括：运动操控器件、目标监测模块(8)、自动驾驶模块中任一种或任意多种。优选的，运动操控器件由人体操控或由人员躯体移动触发，生成、发出控制指令控制机器移动。
该运动操控器件可为方向盘、油门、刹车、摇杆、移动杆、位置检测器件等；该位置检测器件为电位器或编码器或光栅尺或霍尔感应型位置检测器件。
运动操控器件，包括进机器的进退操控器件和/或机器的转向操控器件。本文中，操纵既操控；转向操控器件即转向操纵器件。本文中任一设备、机器中，包括用于转向的部件。该用于转向的部件为转向装置或连接转向装置的部件。
7.2.2、目标监测模块(8)；用于获取目标位置和/或目标移动的方向，控制机器伴随目标移动。该目标即人员。目标监测模块(8)尤其指寻迹模块。
目标监测模块(8)包括：目标状况的识别模块和/或目标位置的获取模块。本文中，伴随即跟随。目标状况包括目标移动状况和/或目标的健康状况；移动状况包括移动的方向、速度、加速度、加加速度、移动行为的逻辑合理性等参数；。
目标位置的监测、位置信息的获取，可以分为无源定位与有源定位两种。无源定位即目标(人)不发出信号，依靠机器(行李箱)发出的信号反射或获取目标的图像识别系统定位；无源定位包括：图像识别定位，或以超声波、红外、雷达信号、超声波信号、激光信号、激光雷达信号等信号方式进行测距、定位等。有源定位即通过与目标携带的设备定位。该定位方案有：卫星定位、移动通讯定位。移动通讯包括wifi、蓝牙、UWB通讯等。位置信息的获取，尤其是目标的位置，可基于对图像信息进行机器视觉分析所得。
目标位置的监测或目标状况识别，可由人工智能模块、基于人工智能技术进行，和/或由传感器监测信号进行；该人工智能技术包括图像识别也即机器视觉识别、语音识别、语义识别、自然语言识别等。例如，设置有拉力传感器、机械开关监测用于约束的物体所承受的拉力是否正常，以识别目标是否跌倒跌倒。
本文中，机器可伴随目标移动：并非专指机器位于目标后；机器位于目标的左或右或前方，机器也可伴随目标移动。
7.2.3、自动驾驶模块，用于以自动驾驶方式控制机器移动。自动驾驶即无人驾驶。自动驾驶模块为基于卫星、地图信息进行无人驾驶；
作业装置尤其指移动装置；该作业尤其指移动。作业执行装置尤其指运动执行装置。控制装置连接移动装置，用于控制移动装置使机器移动。能源供应装置连接控制装置，为控制装置供电。能源供应装置连接移动装置、，为移动装置提供能源。提供能源尤其指供电。
控制装置用于控制机器进行某种作业。该某种作业或该进行某种作业尤其指移动。控制，包括人工控制、自动控制等。人工控制，指经过人机交互模块、通讯模块接收人工控制指令；基于该指令进行控制。自动控制，指接收自动控制装置所发出的控制指令；基于该指令进行控制。当该自动控制装置位于机器外部时，经过通讯模块将控制指令引入内部控制装置。自动，指不用人力而用机械、电气等装置直接操作的。手动指人工操作、手动操作。
作业可为本文中任一动作。例如，该作业为移动装置相对于机器的躯体前后移动、移动装置伸缩、机器的躯体中连接该移动装置的连接部件(2_1)相对于该机器的躯体转向、使机器以轮式方式移动。
本文中任一机器或本文中任一方案中：均包括本体；该机器包括移动装置或该机器能连接移动装置。
移动装置用于使机器移动。该移动指在动力系统的驱动下移动。该移动包括在地面移动、在水中移动、在空中移动。该移动装置包括地面移动装置和/或水中推进装置和/或飞行装置。地面移动装置包括轮式移动装置和/或足式移动装置和/或履带式移动装置。地面移动装置用于使机器在地面移动。即：轮式移动装置用于使该机器以轮式方式移动。足式移动装置用于使该机器以足式方式移动。履带式移动装置用于使该机器以履带运行方式移动。地面移动装置还具有支撑机器本体、使机器本体离地的作用。水中推进装置用于使机器在水中移动。飞行装置用于使该机器飞行。进一步优选的机器的本体构造为能在地面载人移动和/或载物移动，和/或，机器的本体构造为能在水中载人移动和/或载物移动。关节型移动装置即腿式移动装置即足式移动装置。
能源供应装置尤其指电源尤其指电池；用于为机器中其他部件提供能源也即供电。运动系统也即移动装置包括动力系统。移动装置即运动系统。可运动，指该机器可在动力系统驱动下运动。
驱动部件即驱动装置，优选为电驱动部件。电驱动部件包括电机机其驱动器、电磁铁及其驱动器。本文中，任一动作，均可由设置的与该动作相应的驱动部件；控制装置能发出控制指令，使该驱动部件执行该动作。
机器的运动系统、控制装置、动力系统可安装于机器的本体之内。运动系统即移动装置。
任一U领域技术人员可知晓的：因进行某U用途作业，自然的需要设置有或可连接与U相关的系统。与U相关的系统即某U系统。该U系统中：与U相关的控制装置U_1、驱动单元U_23、运动执行装置(或工作执行装置)U_4依次连接；并进行相应的控制、驱动。该控制装置U_1(尤其指该控制装置其中的处理模块)可处理、执行与U相关的逻辑指令和/或软件程序，该控制装置U_1可发出与U相关的控制信号；本文中，控制信号指控制驱动单元的信号；驱动单元U_23可接收该控制信号，且可驱动该运动执行装置(例如旋翼， 或车轮，或机器人的足关节等)，以进行U类型运动或U用途作业。大部分的运动执行装置或工作执行装置可运行于绕自身轴心旋转的状态，该装置也即可旋转的运动执行装置或可旋转的工作执行装置；例如轮、螺旋桨推进器、足的可旋转的关节等。本文中，旋转也即回转，两者等同。与U相关的，指进行该U所需要的，也即机器设备工作于该U模式中所需要的。U系统中部件，也即与该U相关的部件。
驱动单元即动力单元即动力系统。驱动单元包括动力控制装置U_2、动力转化装置U_3；该动力控制装置U_2(例如电机驱动器、液压阀、燃料喷射系统、气阀)可接收该控制信号，该动力控制装置U_2还控制该动力转化装置U_3(例如电机、燃料发动机、液压缸、液压马达、气缸、气动马达等)的运行；该该动力转化装置U_3驱动该运动执行装置(例如旋翼，或车轮，或机器人的足关节等)，以进行U类型运动或U用途作业；且该动力控制装置U_2和/或动力转化装置U_3，需连接与其传输能源的能源供应装置U_0(例如电源、电池、油箱、油泵、气泵)。在动力转化装置U_3、运动执行装置或工作执行装置U_4之间，还可连接有相应的机械传动系统U_C，用于动力的传递。且控制装置U_1中传感器模块可监测各部件的数据、状况信息。该U系统通常用于输出动力、能量，以进行U类型运动或U类型用途作业。动力系统包括燃料动力系统、电气动力系统也即电动系统、液压动力系统、气体动力系统也即气动系统中至少一种。燃料包括汽油、柴油、煤油、天然气、氢、沼气中至少一种。电气动力系统中，能源供应装置为电源装置尤其为电池、动力控制装置为电机驱动装置、动力装置为电气动力装置也即电机。
上述内容中U可指本文中任一作业。例如该作业为移动、运动、活动。U类型运动指本文中任一种移动。U用途作业为本文中任一处所述作业。
控制装置即控制单元，包括软件和/或硬件和/或结构件等。控制装置为至少包括处理模块的部件。控制装置还包括存储模块、通讯模块、人机界面、传感器模块中至少一个部件。处理模块用于处理、执行程序。存储模块用于存储程序。通讯模块用于与机器外部的信息处理中心通讯以传送信息。以传送信息尤其指获取控制指令。通讯模块尤其指移动通讯模块。外部的信息处理中心尤其指网络系统。人机界面包括语音输入系统、视频处理系统、显示系统、键盘、鼠标、触摸屏交互系统、按键触发系统、人体姿态识别系统、无线遥控系统、红外遥控系统、手机通讯系统等。显示系统即显示装置，尤其指触摸屏。人机界面用于获取人员的控制指令和/或指示设备的状态信息。人体姿态识别尤其可基于对图像信息进行机器视觉分析所得；控制信息即控制指令。指令可包括机器移动的指令。本文中，任意两个或任意多个器件，在结构上均可一体化；设置于同一空间或部件内。软件程序既可来源于控制装置内置的存储模块，也可来源于外置的存储模块(例如可插拔的U盘)，也可来源于网络系统。
8、运动、移动：运动包括移动。本文中，运动优选为移动；可运动优选为可移动；本文中，在没有限定说明时，运动即移动；可运动即可移动；可运动的机器即可移动的机器。线型移动，指移动的轨迹为线。线大体为直线。线型移动，尤其指直线移动。
9、功能、属性、模式、用途的描述：每种工作类型，U装置，即用于U、相应的运动执行装置、相应的工作模式对应。每种模式，有与该模式对应控制规律。模式即方式即方法。控制规律也即逻辑指令和/或软件程序(包括软件算法)。。
本文中，工作即作业，工作尤其指移动。例如，该U1为前后两轮移动，U2为左右两轮移动；其模式与控制规律不同。例如，该U1为四轮移动，U2为两轮移动；其模式与控制规律不同。
某物体可实现某种功能，指物体被设置、设计具有某种属性，允许、用于实现某种功能。可，指能够、许可、允许；指某物体被设计、构造具有某种属性，用于实现设定的功能。例如，可运动，指某物体设计、构造为：能够移动；指该物体具有能够移动的属性。
某物体用于实现设定的功能，该用于并非指专用于，该物体还能用于实现其他功能。可移动的机器，该机器优选为机器人。
10、本发明中：在任一可移动的机器(#1)或本文中任一方案中：机器(1)指机器本体或作业装置(1)。本文中，物即物品，包括行李或货物。该作业为运载人员物品时，作业装置(1)即机器的本体。作业装置(1)尤其指用于载人和/或载物的装置。载人和/或载物，即载人载物。用于载人和/或载物的装置即载人和/或载物的装置即载人和/或载物部件即载人载物装置即载人载物部件。乘坐包括坐和/或站。
和/或，该机器可载人和/或载物，指该机器构造为可载人和/或载物移动，指该机器的本体或其相关部件(例如底板、机体、坐具)在结构上设计为可承受预设(例如100KG)的力；且指该机器或其相关部件具备乘载人和/或载物的空间。和/或，机器包括或能连接：坐具、靠背BKR。容纳人员的区域中设置有座位和/或乘坐部件(7)或该容纳人员的区域中能安装座位和/或乘坐部件(7)。座位和/或乘坐部件尤其指坐具坐具(7)。该机器包括座位和坐具(7)或该机器能连接能坐具(7)；该坐具(7)能被设置于乘坐位置供人员乘坐；通过处置该坐具(7)，能使该乘坐位置成为供人站立或行走的区域。该机器具有靠背(2)或该机器能连接靠背(2)；该靠背(2)能平置以供人员躺于其上；该靠背(2)能竖置，用于供人员靠背和/或减小占地面积和/或使机器的长度缩小以能进入民用建筑物电梯。
本文中轮式运动机器也即车辆。水中包括完全在水中、部分在水中即水面。
11、飞行装置包括火箭、旋翼式飞行装置、扑翼式飞行装置、喷气式飞行装置、螺旋桨飞行装置、风扇式飞行装置中至少一种。优选的，该飞行装置为旋翼式飞行装置。。
10、本发明中：在任一设备、机器或本文中任一方案中：该设备或该机器包括：运动机构或连接运动机构的部件。运动机构即运动单元即运动装置即活动机构即能活动的部件，五者等同。机构，指由两个或两个以上构件通过活动联接形成的构件系统。机构：是具有确定相对运动的构件组合，它是用来传递运动和力的构件系统。
机构按结构特征可分为导轨型机构、连杆机构、齿轮组机构、斜面机构、棘轮机构、丝杆机构、齿轮齿条机构、涡轮蜗杆机构、皮带传动机构、同步带传动机构、万向节机构等。运动机构指：任一部件中，该部件包括第一构件和第二构件；第一构件连接第二构件；且第二构件相对于第一构件能运动。运动包括旋转、移动、伸缩、转向、折叠、收卷、升降、倾转中任一种或任意多种。该第二构件相对于第一构件能运动为确定的运动。该类型部件即运动机构即活动机构。第一构件在机构中相对静止和用于支承第二构件。第二构件在第一构件设定的活动路径和/或活动范围内活动，即：该两构件直接接触而又能产生一定相对运动；也即：该两构件通过运动副联结。该设定即形成即约束即限制即制约。联结即连接，两者等同。第二构件即活动件即部件一。第一构件即基座即机座即固定件即部件二。构件即部件。部件即构件。第一构件连接于设备的本体上或为设备的本体或为设备的本体的一部分；则活动件的活动为相对于机器的本体活动；则该活动件相对于机器的本体能活动。处置包括拆卸或滑动或转动或折叠或伸缩或收卷中任一种或任意多种。
本文中，活动件均为运动机构中活动件。旋转包括转轴旋转、铰接件的旋转。移动包括平移。运动机构即活动机构。运动机构包括旋转机构、移动机构、伸缩机构、转向机构、折叠机构或收卷机构、升降机构、铰接机构、平面四杆机构、中任一种或任意多种。变即调即换。变速即调速。变向即换向。伸缩机构的活动件即伸缩件。平面四杆机构尤其指铰链四杆机构。移动机构即导轨型运动机构即线性移动机构即直线运动机构即线性往复运动机构，均为同一机构。直线运动机构是使构件上某点作准确直线运动或近似直线运动的机构。线性移动机构中基座尤其指导轨，线性移动机构中活动件尤其指滑块。在没有限定说明时，导轨均指线性移动机构中导轨。运动件即活动件。运动即活动。活动件还可分为主动件、从动件和联运件。主动件即原动件即输入件。主动件用于连接动力装置或运动操纵 器件；由动力装置驱动该主动件运动或运动操纵器件驱动该主动件运动。或主动件为动力件。主动件连接从动件。从动件即工作件。联运件是联结主动件和从动件之间的中介构件。联运件用于传动动力即传动件。从动件带动所连接的负载物体运动。运动机构连接动力装置，即运动机构的主动件连接动力装置。运动机构的活动由动力装置驱动。控制装置用于控制动力装置驱动运动机构运动。也即该控制装置用于控制该运动机构运动。
运动机构即用于运动的机构。运动机构的运动：由动力装置驱动，由控制装置控制。
运动机构包括线性移动机构、卷扬机构、旋转运动机构、绕关节旋转型运动机构中任一种或任意多种。绕关节旋转型运动机构即关节型运动机构即机械臂和/或机械手。机械臂是模仿人手臂的功能用于抓取、搬运物体或操作工具的装置。机械手是一种能模仿人手的功能，用于抓取、搬运物件或操作工具的装置。线性移动机构包括平移运动机构(18)、升降运动机构(13)。平移装置即平移机构即平移运动机构，三者等同。升降运动机构即升降装置即升降机构，三者等同。该平移包括左右移动和/或前后移动。平移运动机构包括前后移动运动机构和/或左右移动运动机构。左右移动运动机构即左右移动装置，两者等同。前后移动运动机构即前后移动装置，两者等同。左右移动运动机构即Y轴运动机构/或为X轴运动机构。前后移动运动机构即X轴运动机构/或为Y轴运动机构。该升降运动机构即Z轴运动机构。Y轴运动机构即Y轴调节机构。X轴运动机构即X轴调节机构。Z轴运动机构即Z轴调节机构。X轴与Y轴处于同一平面，且X轴与Y轴垂直；该平面为XY平面；Z轴垂直于XY平面。Z轴指向上下方向。
绕关节旋转型运动机构即绕关节旋转型机械手，简称为机械手。机械手连接工具，该连接尤其指抓或托或吸附。抓包括握或夹或捏。该运动机构连接特种作业部件。运动机构连接控制装置。由控制装置中发出运动控制指令，运动机构执行该指令；驱动该特种作业部件运动，以进行特种作业。驱动即带动、带动即驱动，两者等同。运动包括升降、平移、旋转中任一种或任意多种。生活作业装置即设定的生活服务设备。
优选的，该升降运动机构、前后移动运动机构、左右移动运动机构，相互联动，构成多维运动机构。多维运动机构即多维调整装置即多轴调整装置。多维包括二或三维或四或五或六或大于6的整数。优选的，本文中运动机构为多维运动机构。例如：升降运动机构为多维运动机构中升降运动机构；平移运动机构为多维运动机构中平移运动机构；旋转运动机构为多维运动机构中旋转运动机构。
作业部件即特种作业部件；特种作业部件即特殊功能的作业部件即特种作业部件。本文中，作业指设定的作业。
本文中，调整，指在能调整范围内增大或减小。调整，尤其指受控调整。上述增大均指在能调整的范围增大；上述减小，均指在能调整的范围减小；上述增大或减小是可逆的；尤其是受控可逆的。该增大或减小优选为受控的。优选的，该机器还具有控制装置或能连接控制装置、该控制装置用于控制上述增大和/或控制上述减小。消减指消除和/或减小。
辅助方案2：如该技术方案1所述的机器，其特征在于：该机器具有设定的为室内移动和/或出行和/或户外活动服务的功能。
本文中，设定的为室内移动和/或出行和/或户外活动服务包括或为：载人移动、载行李移动、运输货物、清洁环保、安全监护中任意一种或任意多种；该机器具有或可连接：移动通讯模块或使空气流通的装置或制冷设备或加热设备或人接界面；该清洁环保指：扫地或吸尘或空气净化或垃圾处理；该安全监护指：环境安全状况监测或安保；
或，该机器具有设定的为室内移动和/或出行和/或户外活动服务的功能包括或为：下述2A、2B、2C、2D、2E、2F、2G、2H、2I、中任意一种或任意多种功能：
2B、该机器可用于运输货物，或该机器为AGV机器人；
2C、该机器可在控制装置的控制下伴随目标移动，为目标遮阳和/或挡雨，；该目标在机器外或该目标在地上或该目标在水中，该目标为人。
2E、该机器具有或可连接：通讯模块；该通讯模块尤其指移动通讯模块。
2F、该机器具有或可连接；使空气流通的装置或制冷设备或加热设备或空气净化装置或垃圾处理装置；该制冷设备可用于制冷机器内空气和/或制冷食物和/或制冷水；该加热设备可用于加热机器内空气和/或加热食物和/或加热水；该使空气流通的装置用于为目标吹风。
技术方案3：如该技术方案1所述的机器，其特征在于：该机器还具有下述3A、3B、3C、3D、3E、3F、3G、3H、3I、3J、3K、3L、3M、3N、3O、3P、3Q、3R、3S、3T中任意一种或任意多种特征；
3A、该机器可在控制装置的控制下伴随目标移动，指：该机器具有或可连接：目标监测模块(8)，用于获取目标的位置和/或目标移动方向；由控制装置控制机器伴随目标移动；
3B、该机器具有或可连接图像信息采集设备,用于采集图像信息；
3C、该机器具有动力系统或可连接动力系统；和/或，该移动或活动，指在动力系统的驱动下移动；
3N、该机器具有或可连接：人力驱动装置；该人力驱动装置可用于发电和/或该人力驱动装置可用于驱动该机器的车轮以使该机器移动。
技术方案4：如该技术方案3所述的机器，其特征在于：该机器还具有下述4A、4B、4C中任意一种或任意多种特征；
4A、该3A方案中，该目标的位置包括该目标与该机器的相对位置和/或该目标的经度纬度信息；4C、该3N方案中，该人力驱动装置为脚踏式人力驱动装置；和/或：该人力驱动装置与该机器的车轮的连接机构为链条机构或齿轮机构或皮带机构；
和/或：该人力驱动装置与电机的连接机构为链条机构或齿轮机构或皮带机构。
技术方案5：如该技术方案1至4中所述的机器，其特征在于：该机器还具有下述5A、5B、5C、5D、5E、5F、5G、5H、5I中任意一种或任意多种特征；
5A、该可移动的机器为：机器人或车或轮椅或行李箱或船舶或飞行器；
5B、移动通讯模块或该制冷设备或加热设备或使空气流通的装置或空气净化装置和/或垃圾处理装置连接该机器的电源，由该机器供电；有益于节省电源、电池的成本。
技术方案6：如该技术方案5所述的机器，其特征在于：
该车为汽车或电动代步车或平衡车或滑板车或单车或摩托车或三轮车；
和/或，该机器人为AGV机器人或扫地机器人或巡逻机器人或安保机器人或巡检机器人或教育机器人或娱乐机器人或玩具机器人；
和/或，该机器人为轮式移动机器人或足式移动机器人或履带式移动机器人或水中机器人或可飞行机器人。
进一步的，本发明还提供了一种计算机可读存储介质，该计算机可读存储介质可以是设置于上述各实施例中的机器、控制装置、电子装置、部件、设备中，该计算机可读存储介质可以是存储器。该计算机可读存储介质上存储有计算机程序，该程序被处理器执行时实现本文中任一控制方法。进一步的，该计算机可存储介质还可以是U盘、移动硬盘、只读存储器、RAM、磁碟或者光盘等各种可以存储程序代码的介质。计算机可存储介质也可为远程或网络或云可存储介质；远程或网络或云可存储介质通过通讯模块控制装置，实现程序、信息的传输。
本文中技术方案，可进行前后任意结合、组合；以构成各种不同的方案；均属于本发明提示的技术内容。
上面结合附图对本发明的实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和该方案所保护的范围情况下，还可做出很多形式，这些均属于本发明的保护之内。

Claims (10)

  1. 一种可移动的设备，其特征在于：A和B；
    A：该设备能载人和/或该设备具有能容纳人员的空间；该设备包括用于人类生活服务的部件或该设备为微型设备或该设备为微型设备且该设备包括用于人类生活服务的部件；
    该用于人类生活服务的部件包括用于人类生活服务的装置或连接用于人类生活服务的装置的部件；该用于人类生活服务的装置为生活作业装置、用于移动人员物品的运动机构、用于特种作业的运动机构、用于阻止人员跌倒的部件中任一种，或该用于人类生活服务的装置为生活作业装置、用于移动人员物品的运动机构、用于特种作业的运动机构、用于阻止人员跌倒的部件中任意多种；该人员物品为人员和/或物品；该移动包括升降、平移中任一种或该移动包括升降及平移；该微型指能进入民用建筑物的电梯或能通过民用建筑物的门或能乘坐公共交通工具；
    B：该可移动的设备包括用于调整该设备外形尺寸的部件，该部件用于B1、B2、B3中任一种或该部件用于B1、B2、B3中任意多种；
    B1：调整该设备的外形尺寸以增大作业空间，和/或调整该设备的外形尺寸以减小该设备的外形尺寸，该作业包括日常生活事务和/或物品成形；
    B2：调整该设备的至少一组相对方向的边缘在水平方向的距离使该距离增大使人能躺于机器内，和/或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离；该设备包括用于形成边界的部件，该边界的设置方位包括该设备的容纳人员空间的设定方位，该设定方位为：四周，或上方，或四周及上方；
    B3：调整该设备的高度使该高度增大使人能站于该设备内，和/或调整该设备的高度以减小设备高度；该设备包括用于形成边界的部件，该边界的设置方位包括该设备的容纳人员空间的设定方位，该设定方位为：四周，或上方，或四周及上方；
    该特种作业为日常生活事务、物品成形中任一种作业，或该特种作业为日常生活事务、物品成形中任意多种作业；该物品成形包括打印、增材成形、雕刻中任一种或该物品成形包括打印、增材成形、雕刻中任意多种；
    该日常生活事务包括食物处理、洗澡、洗头、洗衣、如厕中任意一种或该日常生活事务包括食物处理、洗澡、洗头、洗衣、如厕中任意多种；食物处理包括烹饪、洗菜、切菜中任一种或该食物处理包括烹饪、洗菜、切菜中任意多种；
    该生活作业装置包括烹饪装置、切菜装置、洗澡装置、洗头装置、洗衣装置、喷射装置中任意一种，或该生活作业装置包括烹饪装置、切菜装置、洗澡装置、洗头装置、洗衣装置、喷射装置中任意多种。
  2. 如权利要求1所述的可移动设备，其特征在于2.1、2.2、2.3、2.4、2.5、2.6、2.7、2.8、2.9、2.10、2.11、2.12、2.13、2.14、2.15、2.16、2.17、2.18、2.19、2.20、2.21、2.22、2.23、2.24、2.25、2.26、2.27、2.28、2.29、2.30、2.31、2.32、2.33中任一种或任意多种
    2.1：该设备为微型设备，指该设备能进入民用建筑物的电梯或能通过建筑物的门或能乘坐公共交通工具；；
    2.2：民用建筑物为住宅；
    2.3：该用于调整该设备外形尺寸的部件为活动机构或连接活动机构的部件；
    2.4：该减小该距离用于减小设备占地面积；
    2.5：该调整该设备的高度使该高度增大至使人能站于该设备中的高度；还包括方案：调整该设备的至少一组相对方向的边缘在水平方向的距离，使该距离小于乘坐距离；
    2.6：该调整该设备的至少一组相对方向的边缘在水平方向的距离，使该距离增大为使人能躺于机器内；还包括方案：调整该设备的高度，降低设备的该高度；
    2.7：或，该使人能躺于机器内的距离为大于1.6米的距离；和/或,该使人能站于该设备中的高度为大于1.6米的高度；
    2.8：该用于形成边界的部件为边界部件或连接边界部件的部件，边界用于保护人员；和/或，该边界部件能封闭该容纳人员的空间；和/或，该边界部件包括壳体；
    2.9：该用于阻止人员跌倒的部件包括阻止人员跌倒的部件和/或连接阻止人员跌倒的部件的部件；该阻止人员跌倒的部件包括围栏或为用于与人体连接的约束部件，该约束部件与该设备的连接点高于人员重心；该阻止人员跌倒的部件用于阻止人员在地上行走时跌倒；
    2.10：同一作业空间中：该洗衣装置(1622)位于马桶(1621)的上方，或烹饪装置(1623)位于马桶(1621)的上方，或烹饪装置(1623)位于洗衣装置(1622)的上方；
    2.11：该作业空间设置于设备内；和/或，该生活作业装置安装于该设备内；和/或，用于移动人员物品的运动机构、用于特种作业的运动机构安装于该设备内；
    2.12：该运动机构用于特种作业为：该运动机构用于：连接特种作业部件，由该运动机构驱动该特种作业部件进行特种作业；
    2.13：该用于特种作业的运动机构包括线性移动机构；
    2.14：该运动机构用于食物处理为：运动机构用于：连接活动工具，由运动机构驱动该活动工具在食物容器(1623)中活动，以进行食物处理；或运动机构用于：连接食物容器，由运动机构驱动该食物容器(1623)活动，以进行食物处理；该活动工具指用于加工食物且能在食物容器内活动的工具，该活动包括：上下移动和/或平移和/或旋转；或，运动机构连接食物容器，由运动机构驱动该食物容器(1623)活动，以进行食物处理，该活动包括上下移动、平移、旋转中任一种或任意多种；
    2.16：该运动机构用于洗澡，为：运动机构用于：连接擦洗工具，运动机构驱动该擦洗工具在洗澡作业空间中活动，以为人洗澡，该擦洗工具用于与人体接触擦洗人体；
    2.17：该运动机构用于洗头，为：运动机构用于：连接擦洗工具，运动机构驱动该擦洗工具在洗头作业空间中活动，以为人洗头，该洗头工具用于与头接触洗头；
    2.18：该运动机构用于洗衣，为：该运动机构用于：连接用于洗衣的机械工具，驱动该机械工具在衣服容器中活动，以进行洗衣；
    2.19：该用于移动人员物品的运动机构包括机械手和/或该用于特种作业的运动机构包括机械手包括机械手；
    2.20：该打印、增材成形、雕刻中任意多种作业中使用的运动机构为同一运动机构；
    2.21：该食物处理、洗澡、洗头、洗衣中至少两种作业中用于作业的运动机构为同一运动机构；
    2.22：该运动机构还用于进行开门、开锁、开灯、开水龙头、为设备充电、为设备加水、钻孔、切割中任一种或任意多种作业；
    2.23：该设备包括用于使设备移动的部件；该部件为移动装置或连接移动装置的部件；
    2.24：该设备包括用于使该设备内气压低于该设备外的气压的部件，该用于使该设备内气压低于该设备外的气压的部件为：负压装置，或连接负压装置的部件；
    2.25：该设备包括用于消毒杀菌的部件，该用于消毒杀菌的部件为消毒杀菌装置，或连接消毒杀菌装置的部件；该消毒杀菌用于为食物或空气消毒和/或杀菌；
    2.26：该设备包括集便装置或连接集便装置的部件；
    2.27：该设备包括用于净化设备内的空气的部件，该用于净化设备内的空气的部件为：空气净化装置，或连接空气净化装置的部件；该净化包括过滤和/或消毒和/或杀菌；
    2.29：该设备的底板能开闭，以形成供人员站立于地上的区域；
    2.30：该设备能形成供人员出入设备的通道，通过该设备的移动使人员出入设备；
    2.31：该设备包括用于供人乘坐的部件；该用于供人乘坐的部件为坐具(7)或坐具(7)的连接部件；
    2.32：该设备包括用于供人躺靠的部件；该用于用于供人躺靠的部件为床或靠背，或 床或靠背的的连接部件；
    2.33：用于移动人员物品的运动机构中升降机构为卷扬机构；和/或，该升降机构安装于设备的中上部位；
    2.34：该用于移动人员物品的运动机构、该用于特种作业的运动机构为同一运动机构；
    2.35：调整该设备的外形尺寸以增大设备内空间；和/或，调整该设备的多组相对方向的边缘在水平方向的距离以增大设备内空间。
  3. 如权利要求2所述的可移动设备，其特征在于3.1、3.2、3.3、3.4、3.5、3.6、3.7、3.8、3.9、3.10、3.11、3.12、3.13、3.14、3.15、3.16中任一种或任意多种：
    3.1：该壳体为机甲；
    3.2：该升降机构的基座安装于平移机构的活动件上，由该平移机构驱动升降机构平移；
    3.3：使该高度小于使人能站于该设备中的高度；为使该高度小于坐式高度；
    3.4：该住宅为家用住宅；
    3.5：该活动机构指：用于调整该设备外形尺寸的部件包括活动件和固定件，且活动件相对于固定件能活动，且由固定件限定该活动件的活动路径和/或活动范围，固定件连接设备的本体或该固定件即设备的本体；
    3.6：该围栏高于人体的重心，或该约束部件与人体的连接点高于人员的重心；后，该阻止人员跌倒的部件阻止人员在地上行走时跌倒为：当人员在地上行走跌倒时，通过该阻止人员跌倒的部件对人员施加拉力或支撑力以阻止人员跌倒。
    3.7：该围栏的组成部件包括该设备的边界部件，或该约束部件与为该设备内用于保护坐具上人员的安全带为同一部件；
    3.9：该设备设定方位底板和入口能打开，以形成供人出入设备的通道；
    3.9：用于日常生活事务的运动机构和用于物品成形的运动机构为同一运动机构；
    3.10：该“运动机构连接特种作业部件，由该运动机构驱动该特种作业部件进行”为：该运动机构连接至少两种不同的特种作业部件，由运动机构分别驱动该至少两种不同的特种作业部件进行至少两种不同的特种作业；或，该运动机构与特种作业部件为可拆卸连接；
    3.11：线性移动机构包括升降运动机构和/或平移运动机构；平移运动机构包括前后移动运动机构和/或左右移动运动机构；
    3.12：该机械手连接线性移动机构的活动件，由该线性移动机构驱动机械手移动；
    3.13：该机械手配置为：该机械手产生的最大力限制在不伤害人体的范围；
    3.14：线性移动机构中导轨跨越至少两个方位的区域，或该机械手与该线性移动机构为可拆卸的连接；
    3.15：线性移动机构的基座设置于座位的靠背的后方或座位的靠背的上方或座位的靠背的侧边。
  4. 如权利要求3所述的可移动设备，其特征在于：
    该活动件包括伸缩件和/或铰接的活动件；和/或，活动件的活动包括伸缩件的相对于与设备本体的伸缩和/或铰接的活动件的相对于设备本体的旋转；
  5. 如权利要求1所述的可移动设备，其特征在于5.1、5.2、5.3、5.4中任一种或任意多种：
    5.1：该微型设备指：
    该设备的最小长度不大于1.6米和/或该设备的最小宽度不大于1.6米，
    或设备的最小长度不大于1.5米和/或该设备的最小宽度不大于1.2米，
    或设备的最小长度不大于1.4米和/或该设备的最小宽度不大于1.0米，
    或设备的最小长度不大于1.3米和/或该设备的最小宽度不大于0.8米；
    长度为沿设备行驶方向的前后边缘的距离，宽度为沿设备行驶方向的左右边缘的距离；
    5.2：该设备包括运动操控器件，该运动操控器件用于控制移动装置(5)使该设备移 动；该运动操控器件设置于能由人员的躯体移动触发的位置；
    5.3：该设备包括目标监测模块(8)；用于获取目标位置和/或用于获取目标移动的方向，控制该设备伴随目标移动；
    5.4：该设备包括自动驾驶模块，用于以自动驾驶方式控制设备移动；
  6. 如权利要求1所述的可移动设备，其特征在于6.1、6.2、6.3、6.4中任一种或任意多种：
    6.1：该外形尺寸为包括长度、高度、宽度中任一种或任意多种；
    6.2：该烹饪为炒菜，或该增材成形为3D打印；
    或，该电梯或该门或该公共交通工具均为常规产品或标准产品,标准为行业标准或法定标准或该规格的使用量在市场总量中占最大份额；
    6.3：该设备为机器，或该设备为载人舱，或该设备为机器人；
    6.4：或，该移动装置包括轮式移动装置、足式移动装置、履带式移动装置、水中推进装置、飞行装置中任一种或任意多种。
  7. 如权利要求1-6任一项所述的可移动设备的控制方法，控制方法包括步骤：获取人员和/或外部的信息处理中心的控制指令，实现S1、S2、S3、S4中任一种功能或包括S1、S2、S3、S4中任意多种；
    S1：控制用于调整该设备外形尺寸的部件：用于下述B1、B2、B3中任一种或任意多种；
    B1：调整该设备的至少一组相对方向的边缘在水平方向的距离以增大作业空间或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离，该作业包括日常生活事务、物品成形；
    B2：调整该设备的至少一组相对方向的边缘在水平方向的距离使该距离增大使人能躺于机器内，或调整该设备的至少一组相对方向的边缘在水平方向的距离以减小该距离；
    B3：调整该设备的高度使该高度增大至使人能站于该设备中的高度，或调整该设备的高度以减小设备高度。
    S2：获取人员位置；控制该设备移动，使供人员出入设备的通道经过该人员，使该设备包含该人员或使该设备离开该人员；
    S3：当目标位于地上时，获取目标位置和/或目标移动的方向，控制设备伴随目标移动，以使设置于设备上方的遮挡物体该目标遮阳和/或挡雨，该目标即人员；
    S4：控制生活作业装置进行生活作业，或控制运动机构移动人员物品，或控制运动机构进行特种作业；该特种作业包括日常生活事务、喷射、物品成形中任一种作业。日常生活事务包括烹饪、切菜、洗澡、洗头、洗衣中任意一种；该物品成形包括打印、增材成形、雕刻中任一种。
  8. 如权利要求7所述的可移动设备的控制方法，其特征在于包括8S1、8S2、8S3中任一种或任意多种方案：
    8S1：选择特种作业的种类，生成与该特种作业种类对应的控制指令，控制运动机构进行该种类的作业。
    8S2：该B2中该调整该设备的至少一组相对方向的边缘在水平方向的距离使该距离增大为使人能躺于机器内的距离，还包括：控制用于调整设备高度的活动机构，使该设备的高度降低；
    8S3：该B3中该调整该设备的高度使该高度增大使人能站于该设备中，还包括：控制用于调整该设备的至少一组相对方向的边缘在水平方向的距离的活动机构，使该距离减小。
  9. 一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该程序被处理器执行时实现如权利要求7或8所述的可移动设备的控制方法。
  10. 一种可移动设备的控制装置，该控制装置用于实现如权利要求7或8所述的可移动设备的控制方法。
PCT/CN2020/079796 2019-03-18 2020-03-17 一种可移动的设备、控制方法、存储介质及控制装置 WO2020187210A1 (zh)

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