WO2022144029A1 - Dispositif mobile, procédé de commande, appareil de commande, support de stockage, plateforme mobile et accessoire - Google Patents

Dispositif mobile, procédé de commande, appareil de commande, support de stockage, plateforme mobile et accessoire Download PDF

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Publication number
WO2022144029A1
WO2022144029A1 PCT/CN2022/070157 CN2022070157W WO2022144029A1 WO 2022144029 A1 WO2022144029 A1 WO 2022144029A1 CN 2022070157 W CN2022070157 W CN 2022070157W WO 2022144029 A1 WO2022144029 A1 WO 2022144029A1
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WO
WIPO (PCT)
Prior art keywords
running
belt
traveling
lifting
equipment
Prior art date
Application number
PCT/CN2022/070157
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English (en)
Chinese (zh)
Inventor
冯春魁
Original Assignee
冯春魁
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 冯春魁 filed Critical 冯春魁
Publication of WO2022144029A1 publication Critical patent/WO2022144029A1/fr
Priority to PCT/CN2023/070515 priority Critical patent/WO2023131205A1/fr
Priority to PCT/CN2023/070556 priority patent/WO2023131210A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D90/00—Component parts, details or accessories for large containers
    • B65D90/12—Supports

Definitions

  • the invention belongs to the field of robotic technology equipment, and particularly relates to movable equipment, a control method, a control device, a storage medium, a mobile platform and accessories.
  • Problem 1 The running device in the treadmill can only be used by people to run on it, but cannot be used to move the equipment; the crawler running mechanism in the movable equipment only It can be used to make the equipment move, but cannot be used as a treadmill; and making the equipment move (to realize the transportation of people and goods) and for people to run (fitness) are both common needs of modern society. If the existing technology needs to meet the two needs at the same time , it will need to purchase two different equipments (crawlers, treadmills), resulting in a huge waste of resources (materials, manufacturing costs, floor space).
  • Question 2 The society urgently needs to update technology to improve the ability of mobile equipment to overcome obstacles when moving on wheels;
  • Question 3 New technology is urgently needed to improve the performance of amphibious equipment;
  • Question 4 Walking robots can transport materials. In order to meet the requirements of driving stability and operating environment, the walking robot has a relatively low chassis, and its ability to pass obstacles is not good, especially when encountering obstacles such as stairs. Therefore, there is an urgent need to improve the obstacle surmounting ability of a walking robot. Therefore, there is an urgent need for new technical solutions to solve any one or any of the above-mentioned problems.
  • the purpose of the embodiments of the present application is to provide a movable device, which aims to solve the problem of how to make the mobile device climb stairs.
  • a portable device which includes
  • the apparatus further comprises a first lifting mechanism and/or a second lifting mechanism
  • One ends of the first lifting mechanism, the second lifting mechanism and the third lifting mechanism are all connected to the frame;
  • the other end of the first lifting mechanism is connected to a first traveling mechanism; the first lifting mechanism is used to adjust the distance of the first traveling mechanism relative to the frame;
  • the other end of the second lifting mechanism is connected with a second traveling mechanism; the second lifting mechanism is used to adjust the distance of the second traveling mechanism relative to the frame;
  • the other end of the third lifting mechanism is connected to a third traveling mechanism; the third lifting mechanism is used to adjust the distance of the third traveling mechanism relative to the frame;
  • first running mechanism and the second running mechanism are arranged at intervals along the running direction;
  • the third running gear is located between the first running gear and the second running gear.
  • a movable device comprising a second movement device (07) configured for running a belt (070) for driving the device along a road surface and for people to run.
  • the belt for people to run is divided into a left belt (070a), a right belt (070b); the running speed of the left belt (070a) and The running speed of the right band (070b) can be set to be unequal.
  • the belt for human running is connected to the output end of the second exercise device (07) by a severable member for enabling the belt for human running (07).
  • 070) is connected or disconnected with the output end of the second movement device (07); and/or, the belt for the device to travel along the road and the output end of the second movement device (07) pass through a disconnectable A part connection, the severable part is used to connect or disconnect the belt for the device to travel along the road with the output of the second movement device (07).
  • the apparatus includes a lift mechanism (1307) for adjusting the height of the bottom of the strap (070) relative to the bottom of other components in the apparatus other than the strap (070). ) outside the support.
  • the second movement device (07) is configured such that the bottom of the band (070) is lower than the bottoms of other components in the second movement device (07).
  • the beneficial effect of the mobile device of the present application is that: when the movable device first travels on the first step along the predetermined direction X1 and then travels to the second step, the first lifting mechanism drives the first traveling mechanism to rise and the lower surface of the first traveling mechanism
  • the height of the second step is not less than the height of the second step, the second traveling mechanism cooperates with the third traveling mechanism, and the driving frame and the first traveling mechanism continue to move a predetermined distance toward the second step, so that the first traveling mechanism is located on the right side of the second step table.
  • the first lifting mechanism drives the first walking mechanism to descend to contact the table top of the second step
  • the third lifting mechanism drives the third traveling mechanism to rise and is located above the second step
  • the first traveling mechanism cooperates with the second traveling mechanism to drive The frame and the third traveling mechanism continue to move, so that the third traveling mechanism is located directly above the second step
  • the third lifting mechanism drives the third traveling mechanism to move down to contact the table of the second step
  • the second lifting mechanism drives the second traveling mechanism
  • the mechanism rises and is located above the second step
  • the first traveling mechanism cooperates with the third traveling mechanism to drive the frame and the second traveling mechanism to continue to move and complete the ladder.
  • the movable equipment can perform continuous ladder-climbing operations.
  • the movable device can climb the stairs, thereby improving the obstacle-surmounting ability of the movable device.
  • the present invention also provides: a movable device comprising a wheeled moving device (5), a water propulsion device (09), a second device for driving the device along the road through a belt (070) Movement device (07); the device further includes a lifting mechanism for adjusting the height of the belt (070) relative to the frame of the device and/or the device further includes a travel wheel for adjusting the device and a A distance adjustment mechanism for the vertical distance between the racks.
  • the device is intended for amphibious travel. Amphibious is dual use.
  • the company's team has overcome industry prejudice and technical difficulties, and found the problem: although the tracked tank can be used for both water and water, it is precisely because the tank's track is fixed and the model is bulky that its regular exercise ability is reduced. Water sports The performance is not as good as that of ships, and the speed efficiency on this road is much lower than that of 4-wheeled vehicles, so fixed tracked vehicles cannot become mainstream civilian equipment. Equipped with land driving device (wheel legs) and water propulsion device (propeller) at the same time, when switching between land and water, there is a high probability of encountering soft sand, shallow water, and tidal flat areas. In this area, conventional wheel legs are easily caught in the sand and cannot be used.
  • step 1T3 is to perform wheeled driving; when the equipment enters a soft area, a waterway junction or a section with obstacles, perform belt driving; when the equipment is driven in water, control the underwater propulsion device (09) Make the device run in water. Because the waterway switching must go through soft and soft sections, the lifting mechanism switches the belt-like travel position of the belt (070), and the equipment can greatly improve the speed and efficiency of traveling on the road when the device travels on the highway. In soft and soft areas, it can perfectly give full play to the obstacle-crossing advantages of belt driving.
  • FIG. 1 is a schematic diagram of a movable device including a belt-type motion mechanism
  • FIG. 2 is a schematic diagram of a movable device including a belt-type motion mechanism
  • FIG. 3 is a schematic diagram of a movable device including a belt-type motion mechanism
  • FIG. 4 is a schematic diagram of a movable device including a belt-type motion mechanism
  • FIG. 5 is a schematic diagram of a movable device including a belt-type motion mechanism
  • FIG. 6 is a schematic diagram of a movable device
  • Figure 7 is a schematic diagram of a movable device (side view).
  • FIG. 8 is a schematic diagram of a movable device (top view).
  • Figure 9 is a schematic diagram of a movable device (side view direction).
  • FIG. 10 is a schematic diagram of a movable device
  • Figure 11 is a schematic diagram of a movable device
  • Figure 12 is a schematic diagram of a movable device
  • FIG. 13 is a schematic three-dimensional structural diagram of a movable device according to an embodiment of the present application.
  • Fig. 14 is the movable equipment of boats according to the embodiment of the present application: a schematic diagram of the third traveling mechanism descending to support the ground and traveling, and the first traveling mechanism and the second traveling mechanism rising;
  • Fig. 15 is the movable equipment of boats of the embodiment of the present application: the third running mechanism is raised, and the first running mechanism and the second running mechanism are lowered to support the ground and travel;
  • Fig. 16 is the movable equipment of boats according to the embodiment of the present application: the first traveling mechanism, the second traveling mechanism and the third traveling mechanism are all raised, and the fourth traveling mechanism 15 supports the ground (fast) travel;
  • 17 is a movable device for vehicles according to an embodiment of the present application: a schematic diagram of a third traveling mechanism descending to support the ground and traveling, and a first traveling mechanism and a second traveling mechanism rising;
  • Fig. 18 is a vehicle movable device according to an embodiment of the present application: the third lifting mechanism drives the third traveling mechanism to rise, and the first traveling mechanism and the second traveling mechanism descend to support the ground and travel;
  • Fig. 19 is the movable equipment of the vehicle class according to the embodiment of the present application: the first running mechanism, the second running mechanism and the third running mechanism all rise, and the fourth running mechanism 15 supports the ground (fast) to travel;
  • Fig. 20 is the movable equipment of the vehicle type according to the embodiment of the present application: and the first traveling mechanism, the second traveling mechanism and the third traveling mechanism all descend, and the third traveling mechanism is a wheeled traveling mechanism;
  • 21 is a schematic top view of a movable device according to an embodiment of the present application.
  • FIG. 22 is a schematic diagram of a movable device such as an automobile climbing a continuous ladder according to an embodiment of the present application.
  • the present invention proposes a scientific and reasonable design of the overall structure of the equipment through in-depth research on the topological structure, motion characteristics and motion mechanism of the movable equipment, which is helpful to realize high-difficulties such as up and down steps, hurdles (even mountain climbing) of automobiles and yachts of obstacles. Because automobile yachts are important equipment and industries for human beings, the present invention has important economic and social value.
  • an embodiment of the present application provides a movable device that moves along a predetermined direction X1 and includes a rack 01 and a third lifting mechanism 212 .
  • the third lifting mechanism may also be labeled as a third lifting mechanism 221 .
  • the movable equipment further includes the first lifting mechanism 211 and/or the second lifting mechanism 222 and can perform stairs climbing, thereby having a relatively high obstacle-surmounting ability.
  • the predetermined direction X1 may be a horizontal direction, or an inclined direction having a certain angle with the horizontal direction. It can be understood that, when the predetermined direction X1 is set in the horizontal direction, the rack 01 moves horizontally in the horizontal direction, such as running along a horizontally set ground. When the predetermined direction X1 is an inclined direction, the rack 01 can move along the inclined direction, such as climbing a slope or climbing a staircase.
  • the frame 01 is provided in a hollow shape, the frame 01 is arranged horizontally relative to the horizontal plane, and includes a plurality of longitudinal beams and a plurality of transverse beams, and two ends of each transverse beam are respectively connected to two corresponding longitudinal beams.
  • a plurality of longitudinal beams may be stacked in a vertical direction
  • a plurality of transverse beams may be stacked in a vertical direction, so as to form a nacelle for the human body to enter together.
  • both the longitudinal beam and the transverse beam are made of metal materials, such as stainless steel square tubes, and a plurality of square tubes are welded to form the nacelle.
  • One ends of the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism 212 are all connected to the rack 01;
  • the other end of the first lifting mechanism 211 is connected with a first traveling mechanism; the first lifting mechanism 211 is used to adjust the distance of the first traveling mechanism relative to the frame 01;
  • the first lifting mechanism 211 is connected to the rack 01 in the vertical direction, and the first traveling mechanism is located below the rack 01 and is connected to the first lifting mechanism 211, so that the first lifting mechanism 211 can be extended or lifted in the vertical direction,
  • the vertical height of the rack 01 can be adjusted, or the height of the rack 01 can remain unchanged, and the first lifting mechanism 211 can make the first walking mechanism close to the rack 01 by a predetermined distance , so that the first walking mechanism is off the ground, so that the first walking mechanism can cross the obstacle from above the obstacle, that is, the height of the lower surface of the first walking mechanism is not less than the height of the upper surface of the obstacle; or the first lift
  • the mechanism 211 can make the first traveling mechanism move away from the frame 01 by a predetermined distance, so that the first traveling mechanism abuts on the ground.
  • the other end of the second lifting mechanism 222 is connected with a second traveling mechanism; the second lifting mechanism 222 is used to adjust the distance of the second traveling mechanism relative to the frame 01;
  • the second lifting mechanism 222 is connected to the frame 01 in the vertical direction, and the second traveling mechanism is located below the frame 01 and is connected to the second lifting mechanism 222, so that the second lifting mechanism 222 can be extended and retracted in the vertical direction to adjust
  • the length of the second elevating mechanism 222 in the vertical direction can adjust the vertical height of the rack 01, or the height of the rack 01 remains unchanged, and the second elevating mechanism 222 can make the second traveling mechanism approach a predetermined distance relative to the rack 01 distance, so that the second running mechanism is off the ground, so that the second running mechanism can cross the obstacle from above the obstacle, that is, the height of the lower surface of the second running mechanism is not less than the height of the upper surface of the obstacle; or the second running mechanism
  • the lifting mechanism 222 can move the second traveling mechanism away from the frame 01 by a predetermined distance, so that the second traveling mechanism can abut on the ground.
  • the other end of the third lifting mechanism 212 is connected with a third traveling mechanism; the third lifting mechanism 212 is used to adjust the distance of the third traveling mechanism relative to the frame 01;
  • one end of the third lifting mechanism 212 is connected to and supports the frame 01 , and the other end of the third lifting mechanism 212 can be extended and retracted relative to the frame 01 and is connected to the third traveling mechanism.
  • the third lifting mechanism 212 is connected to the frame 01 in the vertical direction, and the third walking mechanism is located below the frame 01 and is connected to the third lifting mechanism 212, so that the third lifting mechanism 212 can be extended and retracted in the vertical direction to adjust
  • the length of the third lifting mechanism 212 along the vertical direction can adjust the vertical height of the rack 01, or the height of the rack 01 remains unchanged, and the third lifting mechanism 212 can make the third traveling mechanism move closer to the rack 01 to a predetermined distance distance, so that the third running mechanism is off the ground, so that the third running mechanism can cross the obstacle from above the obstacle, that is, the height of the lower surface of the third running mechanism is not less than the height of the upper surface of the obstacle; or
  • the elevating mechanism 212 can move the third traveling mechanism away from the frame 01 by a predetermined
  • first running mechanism and the second running mechanism are arranged at intervals along the running direction, and the first running mechanism and/or the second running mechanism are used to drive the movable equipment to travel along the ground; optionally, the first running mechanism and the second running mechanism
  • the traveling mechanism can drive the rack 01 to move independently, or the first traveling mechanism and the second traveling mechanism can cooperate with the driving rack 01 to move together.
  • the third running gear is located between the first running gear and the second running gear.
  • the following describes the process of climbing stairs in combination with the structure of the movable device. It can be understood that the movable device climbs from the first step to the second step, and the height of the second step is greater than the height of the first step.
  • the first lifting mechanism 211 drives the first traveling mechanism to rise and the height of the lower surface of the first traveling mechanism is not less than The height of the second step, the second traveling mechanism cooperates with the third traveling mechanism, and the drive frame 01 and the first traveling mechanism continue to move a predetermined distance toward the second step, so that the first traveling mechanism is located directly above the second step table, the first traveling mechanism A lift mechanism 211 drives the first travel mechanism to descend to contact the table top of the second step, the third lift mechanism 212 drives the third travel mechanism to rise and is located above the second step, the first travel mechanism cooperates with the second travel mechanism, and the driving machine The frame 01 and the third traveling mechanism continue to move, so that the third traveling mechanism is located directly above the second step, the third lifting mechanism 212 drives the third traveling mechanism to move down to contact the table of the second step, and the second lifting mechanism 222 drives the second step.
  • the two running mechanisms rise and are located above the second step.
  • the first running mechanism and the third running mechanism cooperate to drive the frame 01 and the second running mechanism to continue to move and complete the ladder. And so on, so that the movable equipment can perform continuous ladder-climbing operations.
  • the movable device can climb the stairs, thereby improving the obstacle-surmounting ability of the movable device.
  • the first running gear is located in front of the second running gear along the running direction X1, or the first running gear is located behind the second running gear along the running direction X1.
  • the first lifting mechanism 211 , the second lifting mechanism 222 and/or the third lifting mechanism 212 are linear motion mechanisms. It can be selected according to actual needs, and there is no restriction here.
  • the first lifting mechanism 211 , the second lifting mechanism 222 and/or the third lifting mechanism 212 are swing mechanisms driven by a telescopic mechanism. It can be selected according to actual needs, and there is no restriction here.
  • first lifting mechanism 211 , the second lifting mechanism 222 and/or the third lifting mechanism 212 are swing mechanisms driven by a turbo-worm mechanism. It can be selected according to actual needs, and there is no restriction here.
  • the first running mechanism includes a first front wheel 511 connected to the first lifting mechanism 211 ; the second running mechanism includes a second rear wheel 522 connected to the second lifting mechanism 222 .
  • the first front wheel 511 and/or the second rear wheel 522 are driving wheels.
  • the first front wheel 511 and/or the second rear wheel 522 are driven wheels.
  • At least two first front wheels 511 are arranged laterally relative to the traveling direction of the movable device, and each of the first front wheels 511 is connected to the first lifting mechanism 211 .
  • a bracket is arranged between the mechanism 211 and the two first front wheels 511 , so that the two first front wheels 511 are driven to ascend or descend synchronously by a first lifting mechanism 211 .
  • each first front wheel 511 is correspondingly connected to a first lifting mechanism 211; in this embodiment, there are two first front wheels 511 and two first lifting mechanisms 211, and the two first lifting mechanisms 211 are respectively The two first front wheels 511 are connected so as to drive the two first front wheels 511 to ascend or descend respectively through the two first lifting mechanisms 211 .
  • At least two second rear wheels 522 are arranged laterally relative to the traveling direction of the movable device, and each second rear wheel 522 is connected to the second lifting mechanism 222.
  • a bracket is arranged between the two second front wheels, so that the two second front wheels are driven to ascend or descend synchronously through a second lifting mechanism 222 .
  • each of the second rear wheels 522 is correspondingly connected to a second lifting mechanism 222 .
  • there are two second front wheels and two second lifting mechanisms 222 and the two second lifting mechanisms 222 are respectively connected to the two second front wheels, so that the two second lifting mechanisms 222 are used to drive the two second front wheels respectively.
  • the wheel goes up or down.
  • the third running mechanism includes: a first rotating member 0721 , a second rotating member 0722 , and a belt-shaped member 070 , and the belt-shaped member 070 surrounds the first rotating member 0721 and the second rotating member 0722 .
  • the third lifting mechanism 212 is directly connected to or indirectly connected to the first rotating member 0721 and the second rotating member 0722 through a bracket.
  • the belt-shaped member 070 is a crawler
  • the first rotating member 0721 and the second rotating member 0722 are rollers. One end of the track is sleeved with one of the rollers, and the other end of the track is sleeved with the other roller.
  • the frame 01 when climbing the ladder, the frame 01 can be moved along the stairs to perform the ladder climbing through the cooperation of the crawler belt and the two rollers.
  • a ladder-climbing movement of the movable device can be achieved by means of the third running gear.
  • the crawler is driven to rise a predetermined distance by the third lifting mechanism 212, and the first running mechanism and the second running mechanism perform static support or dynamic support on the frame 01, while the human body is in the cabin and runs on the crawler for exercise,
  • the range of use of the movable device is increased.
  • the third traveling mechanism also includes a drive motor that connects the frame 01 and drives the two rollers to rotate, and the drive motor and the rollers can be connected through a belt drive, gear drive or chain drive; or, the rollers are driven Motor and hub integrated roller. There is no restriction here, you can choose according to the actual situation.
  • the band 070 includes a first-side band 070a and a second-side band 070b
  • the first swivel 0721 includes a first-side first swivel 0721a and a second-side first swivel 0721a
  • the second rotating member 0722 includes the second rotating member 0722a on the first side and the second rotating member 0722b on the second side
  • the belt 070a on the first side surrounds the first rotating member 0721a on the first side and the second rotating member 0722b on the second side.
  • the second swivel 0722a on the first side, the band 070b on the second side surrounds the first swivel 0721b on the second side and the second swivel 0722b on the second side, the band 070a on the first side and the second swivel 0722b on the second side
  • the side strips 070b can run at differential speed; differential running enables the third running mechanism to have differential speed function, so that when the movable equipment runs along the road, it can be easily turned. Surrounding is also known as nesting or socketing.
  • the first rotating member 0721a on the first side and the second rotating member 0722a on the first side are connected to at least one third lifting mechanism 212, and the first rotating member 0721b on the second side and the second rotating member 0722b on the second side are connected at least one.
  • the third lifting mechanism 212 is connected to at least one third lifting mechanism 212.
  • the first rotating member 0721 and the second rotating member 0722 may be segmented rollers, so that the two tracks are respectively sleeved with two segments of the same roller, or two tracks There are two rollers at the same end of the crawlers, and two rollers are respectively sleeved at the same end of the two tracks.
  • the frame 01 is independently supported and driven by the third traveling mechanism, so that the movable equipment can travel in areas such as soft sand, shallow water, and tidal flat areas. That is, when the movable equipment needs to travel on wheels, the frame 01 is supported and driven to move by the first traveling mechanism and the second traveling mechanism; The three traveling mechanisms independently support and drive the frame 01 for belt driving; when the movable equipment is traveling in the water, the frame 01 is also provided with an underwater propulsion device, such as a propeller, which can be driven by the third traveling mechanism and the underwater propulsion device. Mobile equipment travels in water. It can be understood that the cooperation of the first running mechanism, the second running mechanism and the third running mechanism can improve the traveling speed of the movable device on the highway. In soft areas, the third walking mechanism can perfectly give full play to the obstacle-crossing advantages of belt-type driving.
  • the center of gravity of the movable device is located within the area covered by the orthographic projection of the belt 070 of the third running gear on the ground. Therefore, the frame 01 can be stably supported by the third running mechanism, or the third running mechanism can independently drive the frame 01 to move, wherein at least one of the first rotating member 0721 and the second rotating member 0722 is a driving member.
  • the third running mechanism includes a middle front wheel 512 and a middle rear wheel 521; at least two middle front wheels 512 are arranged laterally along the running direction, or the middle rear wheel 521 is arranged along the running direction At least two of the directions are also arranged laterally.
  • the third traveling mechanism is a wheeled traveling mechanism, so that the frame 01 has a wheeled traveling function.
  • two wheels 512 in the middle and two wheels 521 in the middle are provided.
  • the third lifting mechanism 212 connects the two front wheels 512 in the middle and the two rear wheels 521 at the same time, or the two front wheels 512 in the middle are provided with a third lifting mechanism 212 correspondingly, and the two wheels 521 in the middle are corresponding A third lifting mechanism 212 is provided.
  • the orthographic projection of the center of gravity of the movable device on the ground is located in an area formed by connecting lines of the contact points of the third running mechanism in sequence.
  • the contact points formed by the contact between the front wheels 512 in the middle and the rear wheels 521 in the middle are connected in turn to form an area, and the orthographic projection of the center of gravity of the movable equipment on the ground is located in this area, Therefore, the third running mechanism can stably support the frame 01 .
  • the movable device further includes a first motion mechanism 18051 and a second motion mechanism 18052.
  • Two ends of the first motion mechanism 18051 are respectively connected to the first lifting mechanism 211 and the frame 01, and are used to adjust the first walking mechanism The distance of the mechanism relative to the center of the frame 01 along the running direction, and there is a first obstacle tolerance interval between the first running mechanism and the third running mechanism along the running direction;
  • the two ends of the second movement mechanism 18052 are respectively connected to the second running mechanism and the frame 01, and is used to adjust the distance of the second running mechanism relative to the center of the frame 01 along the running direction, and there is a second obstacle tolerance interval between the second running mechanism and the third running mechanism along the running direction.
  • L and R when there are more than one parts in the direction of travel, their labels will be marked with L and R at the back, where L indicates that they are located on the left side of the rack in the direction of travel, and R indicates that they are located on the left side of the rack in the direction of travel.
  • L indicates that they are located on the left side of the rack in the direction of travel
  • R indicates that they are located on the left side of the rack in the direction of travel.
  • there are two front middle wheels 512 one of which is marked 512R and the other is marked 512L, wherein the middle front wheel 512L is located on the left side of the frame, and the middle front wheel 512R is located on the left side of the frame right.
  • the second lifting mechanism 222L is located on the left side of the frame along the running direction, while the second lifting mechanism The lift mechanism 222R is located on the right side of the frame in the running direction.
  • Others and so on. It is understandable that, when the movable equipment is overcoming obstacles, the obstacles can be accommodated in the first obstacle tolerance area first, and then accommodated in the second obstacle tolerance area; or the obstacles can be accommodated in the second obstacle tolerance area first, and then accommodated in the second obstacle tolerance area.
  • the first obstacle tolerance interval is not limited here and can be selected according to the actual situation. The following is a description of the obstacle crossing process in combination with the structure of the movable equipment:
  • the first lifting mechanism 211 drives the first traveling mechanism to move up a predetermined distance, so that the first traveling mechanism is located above the obstacle, the third traveling mechanism and the second traveling mechanism It cooperates and drives the frame 01 to move along the traveling direction X1, so that the obstacles are accommodated in the first obstacle tolerance zone; the first lifting mechanism drives the first traveling mechanism to move down to contact the ground surface, and the third lifting mechanism 212 drives the third traveling mechanism at the same time.
  • the first running mechanism and the second running mechanism cooperate to drive the frame 01 to continue to move along the travel direction X1, while the third running mechanism crosses the obstacle, and the obstacle is accommodated in the second running mechanism.
  • the third elevating mechanism 212 drives the third traveling mechanism to move down to the ground, while the second elevating mechanism 222 drives the second traveling mechanism to move up and is located above the obstacle, and the third traveling mechanism cooperates with the first traveling mechanism , to drive the frame 01 to continue to move along the traveling direction X1 until the obstacle leaves the second obstacle tolerance interval, thereby completing the obstacle crossing.
  • the third running mechanism, the first running mechanism and the second running mechanism the movable equipment can be made to span obstacles encountered by the movable equipment, thereby improving the obstacle-surmounting ability of the movable equipment.
  • the obstacle surmounting process of the movable device along the inclined direction is similar to the obstacle surmounting process along the horizontal direction, and details are not described herein again.
  • the space size of the first obstacle tolerance zone and the second obstacle tolerance zone is adapted to the size of the obstacle, that is, the obstacle can be completely accommodated in the first obstacle tolerance zone or the second obstacle tolerance zone along the traveling direction X1.
  • the first motion mechanism 18051 is a linear motion mechanism, a swing mechanism driven by a telescopic mechanism, or a swing mechanism driven by a worm gear mechanism.
  • the first motion mechanism 18051 is a linear motion mechanism, specifically a first electric push rod.
  • the second motion mechanism 18052 is a linear motion mechanism, a swing mechanism driven by a telescopic mechanism, or a swing mechanism driven by a worm gear mechanism.
  • the second motion mechanism 18052 is a linear motion mechanism, specifically a second electric push rod.
  • the first movement mechanism 18051 includes a first electric push rod with one end connected to the rack 01 and the other end arranged along the traveling direction X1, and the first lift mechanism 211 is provided with a first guide The free end of the first electric push rod slides through the first guide hole to connect with the first lifting mechanism 211 .
  • the second motion mechanism 18052 includes a second electric push rod, one end of which is connected to the rack 01 and the other end is arranged along the traveling direction X1, the second lifting mechanism 222 is provided with a second guide hole, and the second electric push rod The free end slides through a second guide hole to connect with the second lifting mechanism 222 .
  • the size of the first obstacle tolerance interval is adjusted through the first motion mechanism 18051; the size of the second obstacle tolerance interval is adjusted through the second motion mechanism 18052, so that the movable device can adapt to obstacles of different sizes, thereby improving the accessibility. Obstacle crossing capability of mobile devices.
  • the two first front wheels 511 are respectively a left front wheel 051 and a right front wheel 053, the left front wheel 051 is correspondingly provided with a first motion mechanism 18051, and the right front wheel is provided with a first motion mechanism 18053 correspondingly.
  • the two first rear wheels 522 are the left rear wheel 052 and the right rear wheel 254 respectively, the left rear wheel 052 is correspondingly provided with a second movement mechanism 18052 , and the right rear wheel 054 is correspondingly provided with a second movement mechanism 18054 .
  • the reference number of the first motion mechanism is 18051 or 18053; the reference number of the second motion mechanism is 18052 or 18054.
  • the movable equipment also includes a water propulsion device or a flying device connected to the frame 01 .
  • the linear motion mechanism or telescopic mechanism is an electric push rod, a telescopic hydraulic cylinder or a rail type mechanism.
  • the movable equipment further comprises: a fourth running mechanism (15) connected to the frame 01, the fourth running mechanism (15) is used for driving the equipment along the road, the fourth running mechanism
  • the mechanism (15) includes first and second wheels spaced in the direction of travel.
  • the fourth running mechanism (15) includes two sets of wheels arranged at intervals along the running direction, or the fourth running mechanism (15) includes a second crawler-type running mechanism or a drum-type running mechanism.
  • the drum-type traveling mechanism is a drum arranged laterally with respect to the running direction, or may be a drum arranged in the same direction with respect to the running direction.
  • the laterally arranged drums are, for example, roller drums.
  • the drums arranged in the same direction are helical drum type traveling mechanisms, and the drums are provided with threads.
  • the type of the fourth running gear (15) may be a wheeled running gear.
  • the fourth running mechanism includes two first wheels 15A and two second wheels 15B for making the movable equipment move in a wheeled manner.
  • the fourth running gear may include more sets of wheels.
  • the two first wheels 15A are arranged laterally along the running direction, and are respectively the first wheel 15A at the front left and the first wheel 15A at the front right, and/or, and the two second wheels 15B are arranged laterally along the running direction , and are respectively the second wheel 15B located in the left rear and the second wheel 15B located in the right rear.
  • the two first wheels 15A are located between the first running mechanism and the third running mechanism, and the two second wheels 15B are located between the second running mechanism and the third running mechanism.
  • the first traveling mechanism, the second traveling mechanism, and the third traveling mechanism are called liftable traveling mechanisms.
  • the liftable traveling mechanism and the fourth traveling mechanism do not interfere with each other.
  • the liftable running mechanism and the fourth running mechanism can jointly support the ground and jointly make the device travel along the road surface.
  • the bottom of the elevating traveling mechanism and the bottom of the fourth traveling mechanism can have the same height.
  • the bottom of the liftable running gear may be located above the bottom of the frame 01 .
  • the bottom of any running gear can be located below the frame 01 .
  • the fourth running mechanism is driven by a fourth driver whose output member is connected to the power input member of the fourth running mechanism, so that the equipment travels along the road surface.
  • the elevating running gear can be driven by a driver whose output member is connected to (the power input member of) the elevating running gear, so that the equipment travels along the road surface.
  • the parameters of the fourth running mechanism 15 are higher than the parameters of the ascending and descending running mechanism.
  • the parameters include travel speed, power output, load capacity or shock resistance.
  • the fourth running gear is also called the main running gear.
  • the first wheel 15A and the second wheel 15B are both fast wheels or main wheels.
  • the fourth running mechanism 15 is connected to the body 01 of the movable platform to improve reliability.
  • the fourth running gear is used to make the movable equipment travel rapidly along the road surface. Fast means that the travel speed is faster than the travel speed of the liftable running gear.
  • Liftable running gear is also called auxiliary running gear. Any one of the elevating traveling mechanism and the elevating mechanism correspondingly connected to it belongs to the obstacle surmounting device of the movable equipment.
  • the liftable running mechanism is used to make the movable equipment travel slowly along the road surface and overcome obstacles.
  • the movable device further includes a control structure for controlling any one or more of the first lift mechanism, the second lift mechanism, and the third lift mechanism so that all The control structure can control the running of the equipment, that is, by controlling the first lifting mechanism, the second lifting mechanism and the third lifting mechanism, thereby controlling the first traveling mechanism, the second traveling mechanism and the third traveling mechanism.
  • the movable equipment containing the fourth running mechanism is a car or a yacht.
  • the device described in any one of the texts is configured as a device that carries an adult to move.
  • the weight and height of adults can be set according to national standards or industry standards.
  • the control method includes the following steps:
  • the above steps S1 and S2 are performed separately at different times.
  • the source of the control command can be the operator in the device or the network or the autonomous driving module.
  • the step S2 includes: driving the device to travel by any one or more of the first traveling mechanism, the second traveling mechanism, and the third traveling mechanism.
  • the fourth traveling mechanism 15 is mounted on the elevating traveling mechanism to travel.
  • the liftable running mechanism is off the ground, and the fourth running mechanism 15 can travel with the liftable running mechanism.
  • the lifting/lowering of the mechanism means that the first lifting mechanism, the second lifting mechanism and the third lifting mechanism respectively control the lifting/lowering of the first walking mechanism, the second walking mechanism and the third walking mechanism.
  • the obstacle-surmounting method described in this step S2 can be performed using the obstacle-surmounting method described in any one of the texts.
  • This step S1 is used to drive the movable device on an obstacle-free road section. That is, when the movable device is in an obstacle-free road section, step S1 is executed.
  • This step S2 solves the problem that the frame 01 needs to overcome obstacles when encountering obstacles or the problem that the fourth traveling mechanism 15 needs to overcome obstacles when encountering obstacles.
  • the existing automobile only has the fourth running mechanism 15 , once an obstacle is encountered, it will be difficult to pass, so that the conveying task cannot be performed smoothly.
  • the technical solution provided by the present invention enables the car to hurdle and walk. Solve the major problems that the car encounters obstacles, it is difficult to pass, slips in the snow, and the transportation task cannot be carried out smoothly. It has important economic value and social significance.
  • the control method includes the following steps:
  • C1 Control the third lifting mechanism 212 to lower the third traveling mechanism relative to the frame 01 to support the ground, and make the frame 01 and the traveling mechanism in front rise relative to the road surface to overcome obstacles; control the equipment to travel, Make the walking mechanism in front go over the raised obstacle; control the corresponding lifting mechanism to make the walking mechanism in front descend relative to the frame 01 to support the ground;
  • C2 Make the front and rear running mechanisms in a ground-supporting state, and control the third lifting mechanism 212/221 to make the third running mechanism rise relative to the frame 01 to overcome obstacles;
  • C4 Control the third lifting mechanism 212 to lower the third traveling mechanism relative to the frame 01 to support the ground;
  • C6 Control the driving of the device to make the rear walking mechanism go over the raised obstacle.
  • the second control method further includes the steps of: controlling the first movement mechanism 18051 to adjust the distance of the first walking mechanism relative to the center of the frame 01 in the front-rear direction, and/or controlling the second movement
  • the mechanism 18052182 adjusts the distance of the second traveling mechanism relative to the center of the frame 01 in the front-rear direction. This step is used for: adjusting the landing point of the first running mechanism and/or the second running mechanism according to the width of the obstacle. With better hurdles and obstacles.
  • step C2 the front and rear traveling mechanisms are in a ground-supporting state, which may include a step: controlling the corresponding lifting mechanism to lower the rear traveling mechanism relative to the frame 01 to support the ground.
  • the corresponding lifting mechanism refers to the walking mechanism connected to the other end of the lifting mechanism.
  • the elevating mechanism corresponds to the traveling mechanism.
  • the corresponding lifting mechanism is the third lifting mechanism 212 .
  • Raised means raised relative to the ground.
  • the front traveling mechanism is the first traveling mechanism
  • the rear traveling mechanism is the second traveling mechanism. If the traveling direction of the equipment is opposite to the forward direction of the structure of the equipment, the front traveling mechanism is the second traveling mechanism, and the rear traveling mechanism is the first traveling mechanism.
  • the present invention also provides another movable device comprising: a wheeled moving device (5) for moving the device along the ground by means of wheels (05) for walking; A crawler-type traveling device (07) for the equipment to travel along the road and a water propulsion device (09) for driving the equipment to travel in water;
  • the apparatus further comprises a lifting mechanism for raising and lowering the belt (070) relative to the frame (01) and/or the apparatus further comprises wheels (05) for walking relative to the frame (01). 01) A lifting mechanism for raising and lowering, to: make the equipment switch between the wheel travel mode and the belt travel mode, and/or: to make the equipment overcome obstacles.
  • the device can be widely used in amphibious.
  • the device (1) and the crawler-type running device (07) are further used to drive the belt-like member (070) to run for a person to run on the belt-like member (0702).
  • the present invention also provides another method for controlling a movable device, comprising steps Y11 and/or Y12:
  • Y11 Control the running of the equipment, control the lifting mechanism used to drive the walking mechanism to be overcome with respect to the frame (01) of the equipment, so that the walking mechanism to be overcome is lifted relative to the frame (01) to Overcoming obstacles, and/or, controlling the lifting mechanism used to drive several running mechanisms other than the running mechanism to be overcome with respect to the frame (01) of the equipment, so that the several running mechanisms are relative to the machine
  • the frame (01) is lowered to support the ground, so that the running mechanism to be overtaken is raised to overtake the obstacle.
  • Y12 Control the equipment to travel in the direction of going down the steps, and make a number of running mechanisms in the equipment other than the running mechanism to be overtaken to touch the ground and the figure enclosed by the contact points of the several running mechanisms in the top-view direction Including the center of gravity (point O) of the equipment; control the lifting mechanism used to drive the running mechanism that has been suspended above the section below the steps relative to the frame (01) of the equipment to lift and lower, so that the running mechanism is relative to the frame (01). 01) Descend so that the road section of the running gear below the step is grounded. This method is used for a wide range of control equipment to overcome obstacles.
  • Any solution for controlling the running of the equipment or controlling the equipment to overcome obstacles may include: making several running gears in the equipment other than the running gear to be overtaken the obstacle to touch the ground and the contacting points of the several running gears are in the top view direction.
  • the enclosed figure contains the center of gravity (point O) of the device.
  • the running mechanism to be overcome obstacles refers to the running mechanism that encounters obstacles when the movable equipment travels along the road surface. Encountering an obstacle is also called approaching an obstacle.
  • the running gear is the first running gear, the second running gear or the third running gear.
  • Lifting the walking mechanism to overcome obstacles means: raising the lower surface of the walking mechanism to a height not lower than the upper surface of the obstacle, so that the walking mechanism can overcome the obstacle.
  • Making a running gear over an obstacle means positioning the running gear over the obstacle or passing the running gear over the obstacle. Overcoming obstacles is the goal.
  • Raising the running gear is a means of overcoming obstacles. Raising the running gear does not lift all running gears in the equipment, but lifts (one or both) running gears close to the obstacle.
  • Embodiments of the present application further provide a storage medium, that is, a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the foregoing control method.
  • control device for implementing the control method
  • the control device includes one or more processors
  • the control device further includes a storage device for storing one or more programs; when The one or more programs are executed by the one or more processors so that the one or more processors implement the control method.
  • This embodiment also provides a mobile platform, which includes the above-mentioned control device.
  • the movable device of this embodiment includes a second movement device (07) for operating the belt 070 to make the movable device travel along the road surface, and the second movement device (07)
  • the exercise device ( 07 ) is also used to run the belt 070 for a person to run on the belt 070 .
  • the movable device further includes a sensor module, the sensor module is connected to the rack 01, the sensor module is used for transmitting a detection signal to the control device, and the control device controls the first running mechanism, the second running mechanism and the control device according to the detection signal.
  • the third running mechanism the control device controls the first elevating mechanism 211 , the second elevating mechanism 222 and the third elevating mechanism 212 according to the detection signal.
  • the sensor module may acquire control instructions including acquiring personnel's control instructions through the human-computer interaction module, acquiring road condition information based on the environment perception module, and selecting a corresponding motion device to control the movement of the movable device according to the road condition information.
  • the processing by the environment perception module can be obtained by performing artificial intelligence processing by the artificial intelligence module.
  • the artificial intelligence processing includes image recognition, that is, visual recognition of mobile devices, speech recognition, semantic recognition, natural language recognition, and the like.
  • the environmental information includes target information. Target information includes: target condition and/or target location.
  • the environment refers to the environment where the movable device is located or the environment where the device is located.
  • the environmental information includes visual information of the driving direction of the device or the movable device, road conditions, two-dimensional maps, three-dimensional maps, navigation information, and the like.
  • FIG. 13 to FIG. 20 are schematic diagram of a movable device.
  • the direction indicated by X1 and the arrow is forward.
  • the wheels include a front wheel (511), a front wheel (512) in the middle, a rear wheel (521) in the middle, and a rear wheel (522).
  • the front wheel (511) includes a left front wheel (051) and a right front wheel (053).
  • the middle front wheel (512) includes a middle front left wheel (512L) and a middle front right wheel (512R).
  • the middle rear wheel (521) includes a middle rear left wheel (521L) and a middle rear right wheel (521R).
  • the rear wheel (522) includes a left rear wheel (052) and a right rear wheel (054).
  • the front wheel (511) is also referred to as the first front wheel.
  • the rear wheel (522) is also referred to as the second rear wheel.
  • the left front wheel (051) is also referred to as the first left front wheel.
  • the right front wheel (053) is also referred to as the first right front wheel.
  • the center front wheel (512) is also referred to as the second front wheel.
  • the middle rear wheel (521) is also referred to as the first rear wheel.
  • the center front left wheel (512L) is also called the second left front wheel.
  • the middle front right wheel (512R) is also called the second right front wheel.
  • the middle rear wheel (521) is also referred to as the first rear wheel.
  • the middle rear left wheel (521L) is also called the first left rear wheel.
  • the middle rear right wheel (521R) is also called the first right rear wheel.
  • the left rear wheel (052) is also referred to as the second left rear wheel.
  • the right rear wheel (054) is also referred to as the second right rear wheel.
  • Figure 1 Figure 2, Figure 3, Figure 4, Figure 5, Figure 11, Figure 12 are movable devices of the same type. It mainly describes the schematic diagram of the cooperation between the front wheel, the rear wheel and the second movement device (07) of the equipment.
  • the second movement device (07) includes a belt-like member (070), a first rotating member (0721) and a second rotating member (0722). This series of figures is particularly useful for explaining the 1T7 scheme described below.
  • FIG. 1 is a perspective view
  • FIGS. 2 , 3 , 4 and 5 are side views of the type of equipment shown in FIG. 1 .
  • the lifting mechanism (1307) of the device specifically includes a lifting mechanism (212) at the front in the middle and a lifting mechanism (221) at the rear in the middle.
  • the belt (070) is lifted off the ground (into the wheeled travel mode).
  • the bottom of the belt (070) in Fig. 3 and Fig. 4 is lowered to contact the road surface, which is used for the equipment to pass through soft areas and climb stairs in a belt-type driving manner.
  • the belt (070) descends and supports the ground relative to the frame 01, so that the frame 01 and/or the first traveling member connected to the frame 01 is raised to Obstacle.
  • FIG. 10 is a dynamic schematic diagram of the wheeled obstacle crossing method.
  • the obstacle-surmounting method of the combination of wheel driving and belt driving can also be carried out with reference to FIG. 10 .
  • the left band 070a of the crawler-type traveling mechanism is provided to the left of the center of gravity O of the movable equipment, and the crawler-type traveling mechanism is provided to the right of the center of gravity O point the right band 070b;
  • the first rotating member 0721 in the crawler-type traveling mechanism is arranged in front of the center of gravity O; the crawler-type traveling mechanism
  • the second rotating member 0722 is arranged behind the center of gravity O point;
  • the belt (070) surrounds the first rotating member and the second rotating member, and the front belt is disposed in front of the center of gravity (O) point
  • the rear belt is arranged behind the center of gravity O point.
  • the belt (070) used as a crawler in the crawler-type traveling mechanism is provided in the front, rear, left and right of the center of gravity (O) point of the movable equipment.
  • FIG. 6 (perspective view), Fig. 7, Fig. 8 are used to describe the same movable device.
  • FIG. 7 is a side view of FIG. 6 .
  • FIG. 8 is a plan view of FIG. 6 .
  • the front wheel and the rear wheel are first type (large diameter) wheels, and the first type wheel includes a front wheel (511) and a rear wheel (522).
  • the intermediate wheel is the second type (small diameter) wheel.
  • the second type of wheel is an unpowered wheel, and the intermediate wheel includes a central front wheel (512) and a central rear wheel (521).
  • This series of figures is especially useful for explaining the 1T3 scheme described below.
  • the present invention provides a comprehensive embodiment: a movable device or a control method of a movable device or a control device of a movable device; its technical scheme includes the following 1T3, 1T7, 1T8, Any one or more of 1T9.
  • the movable device comprises: means (5) for moving the device along the ground by means of wheels (05).
  • the means for moving the equipment along the ground by means of wheels (05) are wheeled moving means (5).
  • the wheeled mobile device comprises a wheel (05) and/or a connection for mounting the wheel (05).
  • the wheel (05) is used to make the equipment move in a wheeled manner, that is, the wheel (05) refers to the middle wheel of the wheeled mobile device.
  • the wheel (05) used to make the equipment move in a wheeled manner is a wheeled running mechanism.
  • the wheels (05) used to move the device on wheels are also called travel wheels (5).
  • the installation positions of the wheels (05) of the device include: the front part and the rear part of the device. Front includes left front and/or right front, and/or, rear includes left rear and/or right rear.
  • the 1T3 scheme includes the following 1T31 scheme.
  • the movable equipment includes: means (135) for adjusting the distance in the vertical direction between the wheels of the equipment and the frame of the equipment.
  • the distance in the vertical direction between the wheel (05) for adjusting the equipment and the rack of the equipment is also referred to as raising and lowering the wheel (05) for the equipment relative to the rack of the equipment.
  • the installation positions of the wheels (05) of the device include: the front part and the rear part of the device.
  • the device (135) is a distance adjusting device or a lifting device.
  • the device (135) includes a distance adjustment mechanism (1305) and/or a connecting portion for installing the distance adjustment mechanism (1305) and/or a drive device for driving the distance adjustment mechanism (1305).
  • the distance adjustment device is especially referred to as a distance adjustment mechanism (1305).
  • the distance adjustment mechanism is in particular a lift mechanism. As shown in any of Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, Figure 8, Figure 9, Figure 10, Figure 11, Figure 12, the base of the lifting mechanism is connected The frame (01), the output member of the lifting mechanism is connected to the wheel (05).
  • a control method (1T31) of the movable equipment comprising: when the equipment (by the wheels (05) and/or the belts (070)) is moved along the ground and the wheels (05) of the equipment encounter an obstacle, executing Step 1T31, make the device go over the obstacle.
  • the obstacle refers to an obstacle protruding from the ground unless otherwise specified.
  • the step 1T31 is: controlling the lifting mechanism for driving the wheel close to the obstacle to lift and lower, so that the wheel is raised, so that the wheel avoids the obstacle. The avoidance especially refers to passing over.
  • This step 1T31 is also the A step. If the deformed running member is not specially used, the bottom of the running member is raised and lowered even if the entire running member is lifted and lowered.
  • the step 1T31 further includes the step of: controlling the distance adjustment mechanism (1305) to lower the wheel (05) that has passed the obstacle.
  • This step is used to support and move the device.
  • the installation positions of the wheels (05) of the device include: the front part and the rear part of the device.
  • the bottom of the wheel (05) is raised, not all wheel bottoms are raised at the same time. Instead, lift (one or both) close to the obstacle.
  • the control principle of the device is: in the top view direction, make the other support members in the device except the wheel close to the obstacle touch the ground, and the graph enclosed by the other support members touch point includes the center of gravity of the device (O). point).
  • the execution of this scheme is shown in particular in FIG. 10 .
  • the other supports include other wheels and/or belts (070).
  • the lifting mechanism (1305) for driving the wheel (05) close to the obstacle to ascend and descend that is, the lifting mechanism (1305) corresponding to the wheel (05) close to the obstacle.
  • the wheel (05) is connected to the corresponding lifting mechanism (1305).
  • the bottom is the lower surface.
  • the 1T31 includes any one or any of the subdivision schemes 1T311, 1T312, and 1T313.
  • the front part includes a first front part and a second front part; and/or the rear part includes a first rear part and a second rear part.
  • the first front portion is further forward than the second front portion.
  • the second rear portion is further rearward than the first rear portion.
  • the wheel (05) includes a wheel (51) before the center of gravity (O) point of the device, and a wheel (52) after the center of gravity (O) point of the device.
  • Wheels before the center of gravity (O) point of the device include front wheels (511) and/or mid-forward wheels (512).
  • the front wheel (511) is located in front of the middle front wheel (512).
  • the center front wheel (512) is located forward of the center of gravity (O) point of the device.
  • Wheels after the center of gravity (O) point of the device include mid-rear wheels (521) and/or rear wheels (522).
  • the middle rear wheel (521) is located behind the center of gravity (O) point of the device.
  • the middle rear wheel (521) is located in front of the rear wheel (522).
  • the apparatus may include at least 3 wheels on either longitudinal axis.
  • the 1T311 solution also means: the device includes an intermediate support member disposed between the front wheel (51) and the rear wheel (52).
  • the middle refers to the position between the front and rear.
  • the front part includes a first front part and a second front part; and/or the rear part includes a first rear part and a second rear part.
  • Front includes left front and/or right front, and/or, rear includes left rear and/or right rear.
  • the first front portion is further forward than the second front portion.
  • the second rear portion is further rearward than the first rear portion.
  • the first front portion includes a first left front portion and/or a first right front portion, and/or, the second front portion includes a second left front portion and/or a second right front portion, and/or. Any orientation in the front, rear, left, and right refers to the center of gravity (O) of the equipment (rack).
  • the wheel (05) includes a front wheel (511), a front wheel (512) in the middle, a wheel (521) in the middle and a rear wheel (522).
  • a front wheel 511
  • a front wheel 512
  • a wheel 521) in the middle
  • a rear wheel 522).
  • the front wheels (511) include left front wheels (051) and/or right front wheels (053).
  • the front center wheel (512) includes a front center left wheel (512L) and/or a front center right wheel (512R).
  • the middle rear wheel (521) includes a middle rear left wheel (521L) and/or a middle rear right wheel (521R).
  • the rear wheel (522) includes a left rear wheel (052) and/or a right rear wheel (054). Refer to Figure 6 for this solution.
  • step A includes multiple subdivision steps.
  • Figure 10 is a schematic diagram of a mobile device for obstacle clearance.
  • the figure 10 is divided into (A), (B), (C), (D), (E), (F) 6 steps, which dynamically demonstrates the process of moving the equipment to overcome obstacles.
  • the six parts in FIG. 10 are all side views, that is, front views. X1 arrows are shown as front.
  • the center of gravity of the removable device is O.
  • the rack of the equipment is (01); the equipment is provided with an environmental information collection sensor and an environmental perception module (08) for detecting obstacles in the moving direction (10005).
  • step A includes step A1 and step A2.
  • the step A1 is: controlling the distance adjusting mechanism (211, 212) for driving the front wheel up and down close to the obstacle, so as to raise the wheel, so as to make the wheel (51) avoid the obstacle.
  • Step A2 is: controlling the distance adjustment mechanism (221, 222) for driving the rear wheel (52) close to the obstacle to ascend and descend, so as to make the wheel (52) rise, so as to make the wheel (52) avoid the obstacle .
  • the A1 step includes the A11 step and the A12 step.
  • the A11 step is: controlling the distance adjusting mechanism (211) for driving the front wheel (511) close to the obstacle to ascend and descend, so as to make the front wheel (511) rise, so as to make the front wheel (511) avoid the obstacle thing.
  • the A11 step is shown in part (B) of FIG. 10 .
  • the step A12 is: controlling the distance adjustment mechanism (212) for driving the wheel (512) near the middle of the obstacle to move up and down, so that the wheel (512) at the front of the middle is raised, so as to make the middle wheel (512) forward wheel (512) to avoid the obstacle.
  • the A12 step is shown in part (C) of FIG. 10 .
  • the A11 step precedes the A12 step.
  • the A2 step includes the A21 step and the A22 step.
  • the step A21 is: control the distance adjustment mechanism (221) for driving the wheel (521) near the middle of the obstacle to lift and lower, so that the wheel (521) at the rear of the middle is raised, so as to make the middle wheel (521) backward wheel (521) to avoid the obstacle.
  • the A21 step is shown in part (D) of FIG. 10 .
  • the step A22 is: controlling the distance adjustment mechanism (222) for driving the rear wheel (522) close to the obstacle to ascend and descend, so as to make the rear wheel (522) rise, so as to make the rear wheel (522) avoid the obstacle thing.
  • the A22 step is shown in part (E) of FIG. 10 .
  • the A21 step precedes the A22 step.
  • part (F) of FIG. 10 when all the wheels pass over the obstacle, the heights of the bottom surfaces of all the wheels can be set to be the same.
  • the motion mechanism is used to drive the traveling parts, and the base of the motion mechanism is connected to the frame (01) of the equipment, the output part of the motion mechanism is connected to the base of the traveling part, and the traveling part has the traveling function.
  • the device is in a moving state.
  • the device is in a moving state, including the device being in a moving state due to inertia, and other grounded wheels being driven by power.
  • the device is in a moving state.
  • the wheels can be mounted on the lower part of the frame.
  • a movable device as shown in Figure 6 (perspective view), Figure 7, Figure 9, the device includes a frame (01) and wheels.
  • the wheel includes a first type of wheel and a second type of wheel.
  • the diameter of the first wheel is larger than that of the second wheel.
  • the first type of wheel includes a front wheel (511) and a rear wheel (522).
  • the second type of wheel is an unpowered wheel, and the second type of wheel includes a central front wheel (512) and a central rear wheel (521).
  • FIG. 7 is a side view of FIG. 6
  • FIG. 8 is a top view of FIG. 6 .
  • the movable equipment including the second movement device (07), the second movement device (07) is used to drive the device along the road through the belt (070) (that is, the second movement device (07) ) is configured as a sports belt-type walking device (07d)), and/or, the second sports device (07) is used for running through the belt (070) (that is, the second sports device (07) is configured as Treadmill (07p)).
  • the belt (070) runs through the belt (070).
  • the run refers to a spin or spin run.
  • For the device to travel along the road surface means to be in contact with the road surface and for the device to travel along the road surface.
  • Running the belt (070) means driving the belt (070) in particular.
  • the passing belt (070) enables the device to travel along the road surface, ie belt travel.
  • the sports belt type is the belt type.
  • Walking means driving means moving the ground, and the three are equivalent.
  • For a person to run means for a person to run on the belt (0702).
  • the moving belt-type traveling device (07d) especially refers to a crawler-type traveling device.
  • the moving belt type walking device is the moving belt type walking mechanism.
  • the crawler traveling device is the crawler traveling mechanism.
  • the belt (070) for people to run is a running belt.
  • the belts (070) for the equipment to travel along the road surface are crawlers.
  • An accessory for a movable device the accessory for the movable device being a second movement device (07) configured to operate a belt (070) for the The device runs along the road surface (ie the second exercise device (07) is configured as a sports belt-type walking device (07d)) and/or is used for running (ie the second exercise device (07) is configured as a treadmill) (07p)).
  • the device can be used as a core saleable motion module (accessory), and after purchase, the user can freely choose to assemble the belt (0701) and/or supply for the device to run along the road.
  • a belt for people running (0702), the user is a convenience. Outdoor running is restricted by weather and venue; running on movable equipment (fitness equipment) and improving the obstacle-surmounting ability of wheeled mobile devices are all very important needs.
  • This technology makes the two devices compatible, and enables the core components such as the second motion device (07) running on the belt (070) to be shared, and one machine can be used for two purposes, saving a lot of raw material consumption and manufacturing costs for the society.
  • the implementation of the 1T7 scheme can be carried out by the equipment shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 11, Fig. 12, and the equipment includes: a rack (01), a belt (070), a first A rotating member (0721) and a second rotating member (0722)
  • the scheme 1T7 includes the following schemes 1T7A1 and/or 1T7A2.
  • the device includes the belt (0701) for driving the device along a road surface. And the band (0701) and the second movement device (07) are set to workable state. This works even when the device is driven along the road. That is: the apparatus includes a sports belt-type walking device (07d).
  • the sports belt type running device (07d) includes the belt (0701) and the second sports device (07)).
  • the strip (0701) is used to make contact with the road surface and to drive the device along the road surface.
  • the belt (0701) used to drive the device along the road surface may be referred to as a travel belt.
  • the belt (0701) functions like a crawler.
  • the moving belt-type traveling device (07d) especially refers to a crawler-type traveling device.
  • the moving belt type walking device is the moving belt type walking mechanism.
  • the crawler traveling device is the crawler traveling mechanism.
  • the device includes the belt for human running (0702). And the belt (0702) for people to run and the second exercise device (07) are set in a workable state. The job is for people to run.
  • the 1T7A2 solution is that the device includes a treadmill (07p).
  • the treadmill (07p) includes the belt (070) for running and the second exercise device (07).
  • a belt (0702) for people to run is also a running belt.
  • the scheme 1T7 can also be described as any one of the following 1T7B and 1T7C.
  • 1T7B A mobile device comprising second movement means (07) for running a belt (0701), driving the device along a road surface.
  • the second exercise device (07) is configured to run a belt (0702) for running for a person to run.
  • the device also includes a connection for the belt (0702) for the person to run on.
  • the beneficial effect of the program is the same as that of the 1T7 program.
  • the scheme 1T7B includes the following schemes 1T7B 1 and/or 1T7B 2.
  • the device includes the strap (0701). That is: the apparatus includes a sports belt-type walking device (07d). The beneficial effect of the program is the same as that of the 1T7A1 program.
  • the device includes the belt for human running (0702). That is: the device includes a treadmill.
  • the beneficial effect of the program is the same as that of the 1T7A2 program.
  • 1T7C A mobile device comprising a second exercise device (07) for running a belt (0702) for a person to run, and the second exercise device (07) is configured to: also A belt (0701) for running the device along the road to drive the device along the road.
  • the scheme 1T7C includes the following schemes 1T7C 1 and/or 1T7C 2.
  • the device includes the belt (0701) for the device to travel along the road surface. That is: the apparatus includes a sports belt-type walking device (07d).
  • the beneficial effect of the program is the same as that of the 1T7A1 program.
  • the device includes the belt for human running (0702). That is: the device includes a treadmill.
  • the beneficial effect of the program is the same as that of the 1T7A2 program.
  • the second movement device (07) can run the belt (0701) for the equipment to run along the road and the second movement means (07) to run the belt (0702) for people to run at the same time. , but also at different time periods.
  • the belt (0701) for the device to run along the road and the belt (0702) for the person to run on may be the same part or different parts.
  • Running the belt (070) means driving the belt (070) in particular.
  • the second motion device (07) especially refers to the prime mover in the motion mechanism (07m) for driving the belt (070) to run and/or the power device (07n) for driving the motion mechanism (07m).
  • the second motion device (07) includes a motion mechanism (07m) and/or a connection portion (07j) of the motion mechanism (07m) and/or a power device (07n) for driving the motion mechanism (07m).
  • a running belt is for a person to run on.
  • the connecting part (07j) is used to install and support the movement mechanism (07m).
  • the movement mechanism (07m) is a belt type movement mechanism.
  • common belt-type motion mechanisms include chain-type motion mechanisms, synchronous belt-type motion mechanisms, and crawler-type motion mechanisms.
  • the movement mechanism (07m) includes a first rotating member (0721) and a second rotating member (0722); the belt (070) surrounds the first rotating member (0721) and the second rotating member (0722) Swivel (0722).
  • the first rotating member (0721) and the second rotating member (0722) are used to support the belt-like member (070).
  • the motion mechanism (07m) may also include one or more middleware.
  • the middle piece is arranged in a circle surrounded by the band (070).
  • the intermediate piece is an intermediate rotating piece or a support plate.
  • the support board is a running board.
  • the intermediate swivel is a load bearing swivel, an induced swivel, or a carrier swivel.
  • the band ( 070 ) is an annular band ( 070 ), that is, a loop closed by the band ( 070 ).
  • the belt (070) is an endless conveyor belt. Both the first rotating member (0721) and the second rotating member (0722) are located within the loop of the band (070).
  • the belt may also be referred to as a sports belt.
  • the belt (070) bridges the first rotation (0721) and the second rotation (0722).
  • the implementation of the 1T7 scheme can be carried out by the equipment shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 11, Fig. 12, and the equipment includes: a rack (01), a belt (070), a first A rotating member (0721) and a second rotating member (0722).
  • Any of the above-mentioned rotating members may be of the type of wheels or rollers. Rollers are drums.
  • the wheel may be a track wheel (respectively the belt (070) is a track) or a sprocket (respectively the belt (070) is a chain) or other pulley.
  • the other pulleys can be pulleys, timing pulleys.
  • the shaft of the rotating member is connected to the base of the kinematic mechanism (07m).
  • the base of the kinematic mechanism (07m) is connected to the frame of the movable equipment.
  • the rack to which the movable equipment is connected is a connecting portion (07j) mounted on the rack.
  • the base of the movement mechanism (07m) and the connecting portion (07j) can be integrated parts. That is, the shaft of the rotating member can be connected to the connecting portion (07j) of the frame of the equipment.
  • any connection member may refer to the connection portion.
  • the connection part is arranged on the rack of the equipment.
  • the connection part refers to the frame of the equipment for supporting, connecting (especially fixing) the components to be connected (for example, any motion mechanism or the base of any motion mechanism).
  • the connection part is processed for connection (eg provided with corresponding holes, slots or pins).
  • a rack is also a rack.
  • the movement mechanism (07m) at least one of the first rotating member (0721) and the second rotating member (0722) is a driving member, and the driving member is a driving wheel or a driving roller.
  • the prime mover of the motion mechanism (07m) is connected to the power unit (07n).
  • the motion mechanism (07m) is driven by the power device (07n) to move.
  • the prime mover is connected to the power device (07n), and the prime mover is connected to the power device (07n) through a transmission mechanism.
  • the power unit (07n) is an electric motor or a gasoline engine.
  • the transmission mechanism is a reducer.
  • the prime mover is also the power input.
  • Several followers may be included in the motion mechanism (07m). Several means one or more.
  • the prime mover (through the transmission mechanism) rotates under the drive of the power device (07n), which drives the belt-like element (070) to rotate and the driven element to rotate.
  • the principle of movement of the belt (070) and the second exercise device (07) of the treadmill is also the principle of the belt (070) and the second exercise device (07) in the exercise belt-type walking device (07d).
  • the 1T7 scheme includes any one or any of the following 1T71, 1T72, 1T73, 1T74, 1T75, and 1T76:
  • 1T71 (movable equipment as shown in Figure 1, Figure 11, Figure 12:) Taking the center of gravity (O) point of the mobile equipment as a reference, the belt (070) of the crawler-type traveling device is divided into the left Band (070a), right band (070b).
  • the operation of the left band (070a) and the operation of the right band (070b) can be independent of each other.
  • the running speed of the left band (070a) and the running speed of the right band (070b) may be set to be unequal.
  • the straps (070) can be run by a person.
  • the belt (070a) rotates, and the direction of the prime mover (driving pulley, driving roller) in the motion mechanism (07m) is the front-rear direction.
  • the belt (070a) on the first side is driven and operated by the first side motion mechanism (07m1); the belt element (070b) on the second side is driven and operated by the second side motion mechanism (07m2).
  • the first side is the left.
  • the second side is the right.
  • the motion mechanism (07m) is divided into a first side motion mechanism (07m1) and a second side motion mechanism (07m2).
  • the first side movement mechanism (07m1) includes a first rotating member (0721a) on the first side and a second rotating member (0722a) on the first side.
  • the second side movement mechanism (07m2) includes a first rotating member (0721b) on the second side and a second rotating member (0722b) on the second side.
  • the scheme is shown in Figure 1.
  • the belt (070) especially refers to the belt (0702) for people to run.
  • the first-side belt (070a) refers in particular to the first-side belt (0702a) for a person to run on.
  • the second-side belt (070b) refers in particular to the second-side belt (0702b) for a person to run on.
  • a belt-like piece for people to run is a running belt.
  • first side and the second side are opposite orientations.
  • the first side is the left side, that is, the left side is the left side.
  • the second side is right or right or right.
  • the band (070) is divided into a band (070a) on the first side, a band (070b) on the second side,
  • the belts on both sides can run at a differential speed, so that the belts (070) are used for contacting the ground, so that the equipment can be easily turned when driving along the road.
  • 1T72 The belt-like piece for people to run and the output end of the second exercise device (07) are connected through a detachable component, and the detachable component is used to connect the belt-like piece for people to run (070) with the The output end of the second movement device (07) is connected or disconnected; and/or, the belt for the device to travel along the road is connected with the output end of the second movement device (07) through a disconnectable component, the The severable part is used to connect or disconnect the belt for the device to travel along the road to the output of the second movement device (07).
  • This disconnectable component is the clutch.
  • the control method of the equipment the belt (0702) for people to run and the output end of the second movement device (07) are connected through a disconnectable component, if the equipment needs to pass the equipment for the equipment to run along the road
  • the belt (0701) drives the device along the road, and the disconnectable part is controlled to disconnect the belt (0702) for running and the output of the second movement device (07).
  • the beneficial effect of the 1T72 solution is that when the second movement device (07) needs to control the belts (0701) on both sides for the equipment to travel along the road surface to perform differential When running at high speed, the belt (0702) for running and the second movement device (07) can be separated to prevent it from affecting the belts (0701) on both sides for the equipment to run along the road. Differential speed operation may be beneficial to energy saving; and/or, when the second movement device (07) drives the belt (0702) for people to run, the belt (0701) for the equipment to run along the road surface ) can be disconnected from the second exercise device (07) to prevent it from affecting running or to save energy.
  • the device includes a lift mechanism for adjusting the height of the strap (070) relative to the frame of the device.
  • the lifting mechanism is used for switching of application scenarios 1, 2 and 3 of the belt (070). The fall and the rise take place in different time periods.
  • the base of the lifting mechanism is connected to the frame 01 .
  • the output part of the lifting mechanism is connected to the base of the moving mechanism.
  • the prime mover of the elevating mechanism is connected to a driver, and the driver drives the base of the moving mechanism to elevate relative to the rack 01 .
  • the base of the motion mechanism moves up and down, which drives the belt to move up and down.
  • the lifting mechanism (1307) of the device specifically includes a lifting mechanism (212) at the front of the middle and a lifting mechanism (221) at the rear of the middle .
  • a lifting mechanism 212
  • a lifting mechanism 221
  • Belt (070) Application Scenario 1 (eg as shown in Figures 3 and 4): The bottom of the belt (070) is lowered relative to the frame (01) of the equipment to contact the road surface, so that the belt The like (070) is used to drive the device along the road.
  • the belt ( 070 ) is used in scenario 1, ie, reaches the belt driving position.
  • the belt (070) is used in scenario 1, that is, the belt travel mode. This mode is especially useful for belt driving over soft terrain and climbing stairs.
  • Band (070) Application Scenario 2 (eg as shown in Figures 1 and 2): The bottom of the band (070) is raised relative to the rack of the equipment to disengage the band (070) The belt (070) is used to drive the position where the device travels along the road. This position is the belt driving position. Leaving this position also means leaving the ground.
  • This belt (070) application scenario 2 is also referred to as a non-belt driving mode, out of the belt driving position.
  • the lifting and lowering of the belt (070) is the lifting and lowering of the bottom of the belt (070).
  • Band (070) Application Scenario 3 (eg as shown in Figure 5): The bottom of the band (070) is raised relative to the rack of the equipment, so that the band (070) avoids obstacles.
  • the application scenario 3 of the strip (070) is rising to avoid obstacles.
  • the bottom is the lower surface.
  • the control method of the movable device includes: when the device moves along the ground and the belt (070) of the device encounters an obstacle, performing step D to make the device go over the obstacle.
  • the D step is: controlling the lifting mechanism (1307) for adjusting the height of the belt (070) relative to the frame of the equipment, so as to raise the belt (070), so as to make the belt (070). 070) Avoid the obstacle.
  • the avoidance especially refers to passing over.
  • the step D further includes the step of: controlling the elevating mechanism (1307) to lower the belt-like member (070) that has passed the obstacle. This step is used to support and move the device.
  • the belt (070) surrounds the first rotation (0721) and the second rotation (0722).
  • the position indicated by the reference number (070) is the bottom of the band (070).
  • the position indicated by the reference number (070) is the top of the band (070).
  • the beneficial effects of the 1T73 solution are: it is more conducive to the switching of application scenarios 1 and 2, and is more conducive to the realization of the function of the device (for people to run and drive). Without the 1T73 solution, the belt (070) needs to be disengaged from the position used to drive the device along the road by manual means (eg bricks, wood on the bottom frame) for running or the like.
  • the second movement device (07) is configured such that the bottom of the band (070) is lower than the bottoms of other components in the second movement device (07).
  • the second movement device (07) is in particular the movement mechanism (07m).
  • the bottom of the belt (070) is the bottom of the movement mechanism (07m).
  • the belt (070) especially refers to the belt (0702) for people to run.
  • the bottom of the running belt (0702) of the treadmill is higher than the height of the bottom of the frame for installing the running belt (0702).
  • the bottom of the frame supports the belt (0702) for people to run off the ground, and the person runs on the belt (0702) for people to run.
  • the second movement device (07) is configured such that the bottom of the belt (0701) for the device to run along the road surface is lower than the bottom of the belt (0702) for people to run.
  • This 1T75 means that the bottom of the running belt (0701) is lower than the bottom of the running belt (0702).
  • the beneficial effect of the 1T75 solution compared with the prior art, the bottom of the belt (0701) for the device to run along the road surface touches the ground earlier than the bottom of the belt (0702) for people to run, which is more convenient for
  • the belt (0701) for the device to run along the road realizes the function of making the device travel along the road and the belt (0702) for the person to run to realize the running function, and the possibility of interference between the two is reduced.
  • the second movement device (07) is in particular the movement mechanism (07m).
  • the diameter of the rotating member of the motion mechanism (07m) used to support the belt (0701) for the equipment to run along the road is larger than the diameter of the belt used to support the belt (0702) for people to run ) diameter of the rotating part.
  • the rotating member for supporting the belt (0701) for the device to travel along the road includes a first rotating member (0721d) and/or a second rotating member (0722d).
  • the rotating member for supporting the belt for running (0702) includes a first rotating member (0721p) and/or a second rotating member (0722p).
  • the bottom of the belt (0701) for the equipment to travel along the road is lower than the bottom of the belt (0701) for installing the belt (0701) for the equipment to travel along the road.
  • the device is constructed such that the second movement device (07) (the middle mechanical part) is a constituent part of the bottom plate (116) of the device.
  • the second movement device (07) (the middle mechanical part) can be used as the main component of the bottom plate (116) of the equipment, and the personnel in the equipment can directly step on the belt-like member (070).
  • a layer of thin plate can be provided on the strip (070).
  • the beneficial effects of this solution are as follows: for the equipment to run and work reliably; the bottom plate (116) of the equipment usually needs to be strong, heavy and expensive.
  • the second exercise device (07) is configured as a belt-type walking device (07d) and/or a treadmill (07p), which has a heavy weight and good reliability.
  • This solution cleverly combines the bottom plate (116) and the second movement device (07) of the equipment into one, which greatly reduces the manufacturing cost and weight of the equipment. Any component fulfilling its purpose is in working condition.
  • the equipment includes (arranged) a component for supporting the ground at the bottom and disengaging the belt (070) from the belt-like travel position, the component being a support (117) or a support (117) that mechanically connects the equipment rack ), and the part is configured to enable the support (117) to move into the working position.
  • the component is not fixed to the rack to which the equipment is attached.
  • Ground support refers to contacting the road surface, applying (downward) pressure to the road surface. Take the belt (070) out of the belt driving position, even if the belt (070) is off the road surface.
  • a support member (117) is arranged around the bottom of the second movement device (07).
  • the support (117) When the support (117) is in operation, its bottom is lower than the belt (070).
  • the beneficial effect of this solution is that although the wheel (05) can be used to support the ground, the belt (070) can be disengaged from the belt driving position.
  • the wheel (05) may be made of rubber tires or pneumatic tires with certain elasticity. If the second exercise device (07) is configured as a treadmill (07p) for people to run, or when the device is set in the manual exercise fitness mode during non-driving, the support (117) can provide a more rigid ground-supporting effect or Damage to the wheel (5) and its supports is prevented.
  • the support (117) is a threaded foot cup, and the connection part of the support (117) is on the bottom plate of the device (or on the base of the second movement device (07)) and has threaded holes. Or the support (117) is hinged on the bottom plate of the device (or on the base of the second movement device (07)).
  • the support member (117) When the support member (117) is rotated to the working position, it rests on the bottom, so that the belt member (070) is released from the belt driving position.
  • the support (117) can be rotated to a non-working position so as not to hinder the belt (070) from entering the belt travel position.
  • the movable device further comprises a third movement device (18) for enabling the root of the running part of the device to be displaced in the horizontal direction relative to the frame (01) (center) of the device.
  • the third movement device (18) includes a movement mechanism (1825) and/or a connecting portion for mounting the movement mechanism (1825).
  • the third movement device (18) is in particular a movement mechanism (1825).
  • the horizontal direction especially refers to the front-rear direction.
  • the motion mechanism (1805) can be a telescopic mechanism, for example, the telescopic mechanism is an electric push rod, or a piston-type cylinder or a telescopic-type hydraulic cylinder.
  • the base of the movement mechanism (1825) is connected to the frame (01), and the output piece of the movement mechanism (1825) is connected to the root of the running member.
  • the running means comprise wheels (05) and/or belt kinematics (07) for moving the device.
  • the third movement device (181T) comprises: a third movement device (18) for enabling the wheel (05) of the device to be displaced in the horizontal direction relative to the frame (01) (center) of the device.
  • the movement mechanism (1825) comprises a movement mechanism (1805) for enabling the wheel (05) of the equipment to be displaced in the horizontal direction relative to the frame (01) (center) of the equipment.
  • the base of the movement mechanism (1805) The seat is connected to the frame (01), and the output of the kinematic mechanism (1805) is connected to the root of the wheel (05) of the device.
  • the root of the wheel (05) is the axle.
  • the third movement device (18) is used to adjust the (root) of the walking part and the machine of the equipment Horizontal distance between racks (01).
  • the third movement device (18) is a distance adjustment device.
  • the 1T8 scheme has another use and benefit: the horizontal dimension of the device for adjustment.
  • the horizontal dimension includes length and/or width. Reducing the horizontal size of the equipment can reduce the footprint of the equipment, allowing the equipment to enter elevators, public transportation, and the like.
  • Example of the 1T8 solution a movable device as shown in Figures 6, 7, 8, 9, the wheel (05) of the device is passed through for making the wheel (05) of the device relative to the frame of the device ( 01) (center)
  • a motion mechanism (1805) capable of producing displacement in the horizontal direction is connected to the frame (01).
  • the wheels (051) in the first area are connected to the frame (01) through the motion mechanism (18051); the wheels (052) in the second area are connected to the frame (01) through the motion mechanism (18052); the wheels (052) in the third area ( 053)
  • the frame (01) is connected to the frame (01) through the movement mechanism (18053); the wheel (054) of the fourth area is connected to the frame (01) through the movement mechanism (18054).
  • a rack is a rack and a rack, and the three are equivalent.
  • the equipment includes a manned cabin.
  • the area for accommodating people in the device (the manned cabin) is surrounded by borders (first border 111, second border 112, third border 113, fourth border 114).
  • the powered wheel in the movable equipment is lifted off the ground, and the unpowered wheel is placed on the ground.
  • the unpowered wheel is preferably a reversible wheel.
  • the reversible wheel can preferably be a universal wheel.
  • the (first area) movement mechanism (18051) makes the wheel (051) extend forward; (third area) the movement mechanism (18053) makes the wheel (053) move forward Extend; (Second Area) Movement Mechanism (18052) Extends Wheel (052) Backward; (Fourth Area) Movement Mechanism (18054) Extends Wheel (054) Backward, At This Time, The Total Length Of The Equipment Is Maximum .
  • the kinematic mechanism (1805) brings the wheels (05) close to the frame (01) (center) of the device, and the overall length of the device is significantly reduced.
  • the preferred solution of the 1T8 scheme in the equipment, the walking parts (roots) in different areas correspond to respective independent third motion devices (181T), and the third motion device (181T) in at least one area can drive the walking in this area Parts (the roots of) move independently. That is, the (roots) of the left and right running members can be provided at positions of different lengths (relative to the frame (01) of the equipment).
  • the application of this solution is used for beneficial effects: it is used to cross-step (the roots) of the left and right walking parts in the front and/or rear of the equipment, so that the walking parts can avoid obstacles and the ability of the equipment to overcome obstacles is enhanced.
  • the 1T8 scheme (which enables the walking parts to move horizontally) is combined with the 1T31 scheme (lifting wheels), so that the walking parts can realize a two-dimensional movement of a combination of translation and lifting, which is similar to the stepping action of an articulated mechanical leg, which can greatly improve the Enhance the athletic ability and obstacle-surmounting ability of the equipment.
  • the mobile device also includes underwater propulsion means (09).
  • the underwater propulsion device is a propeller or a water jet.
  • movable equipment can be constructed such that the buoyancy in the water is greater than the combined weight of the equipment itself and the load.
  • the lower part or the whole of the device is constructed to contain a closed space; and/or the device is configured with an airbag (inflator). When in water, the bladder creates buoyancy.
  • the device is constructed so that all parts in contact with water are waterproof. The device can travel in water.
  • the movable device or mobile platform herein includes an automatic driving module or a wireless remote control module to control the driving and/or obstacle crossing of the device.
  • scheme 1T379 can be obtained: a movable equipment, the movable equipment includes a wheeled mobile device (5), a water propulsion device (09), and is used to make the belt (070) A second movement device (07) for the device to travel along the road surface; the device further comprises a lifting mechanism (1307) for adjusting the height of the belt (070) relative to the frame of the device and/or the device further includes A distance adjustment mechanism (1305) for adjusting the distance in the vertical direction between the wheel of the equipment and the frame of the equipment.
  • the device is intended for amphibious travel. Amphibious is dual use. Wheel lift is the lift at the bottom of the wheel.
  • the control method of the device includes step 1T3, step 1T73, and step 1T9. And can switch among the three steps.
  • Step 1T3 (when the equipment needs to travel on wheels) control the wheeled moving device (5) to make the equipment travel along the road;
  • Step 1T73 (When the device needs to travel with a belt) control the distance adjustment mechanism (1305) to raise the wheel (05) and/or control the lift mechanism (1307) to lower the belt (070) to make the belt
  • the shape member (070) enters the belt driving position, and controls the second movement device (07) to carry out the belt driving;
  • Step 1T9 (When the device runs in water,) control the underwater propulsion device (09) to make the device run in water.
  • this step 1T73 may further include the step of: controlling the distance adjustment mechanism (1305) for driving the wheel (05) to rise and fall, so that the wheel (05) is raised.
  • this step 1T3 may further include the steps of: controlling the distance adjustment mechanism (1305) for driving the lifting and lowering of the wheel (05), so that the bottom of the wheel (05) is lowered to touch the ground; and/or, controlling the lifting mechanism (1307) Disengage the belt (070) from the belt travel position.
  • movable equipment includes moving means for moving the movable equipment. This movement is driving.
  • the sides (11) of the movable device including any one or more of the front (111), rear (112), left (113), right (114), top (115), bottom (116) .
  • Movable devices can be deformed, greatly improving adaptability.
  • the device includes a motion mechanism (1315) for adjusting the height of the top (115) of the device.
  • the height between the top (115) and the bottom (116) is set as standing height or sitting height.
  • the device shown in Figure 12, the top (115) has been opened.
  • Standing height refers to the height at which a person can stand in the device.
  • the sitting height refers to the height that a person can sit on the seat (16) of the device. In this article, per capita refers to people of standard height.
  • any description in any place can be used in any solution in this document: the any solution especially refers to any movable device solution.
  • the equipment is the machine or the robot, and the three are equivalent.
  • Orientation is the direction, that is, the angular position is the orientation.
  • the reference object is the center of the rack (01) of the movable equipment in any orientation of front, rear, left, right, up, and down.
  • any part refers to the center of the part.
  • inward or outward refers to the reference object as a reference, inward means: the direction pointing to the reference object; outward means: pointing to the opposite direction of the reference object.
  • front refers to; the direction in which the movable equipment travels; refers to the direction indicated by X1 in the attached drawing.
  • X1 indicates the front, and X2 indicates the rear.
  • Front and rear refer to front and/or back.
  • Advance and retreat means advance and/or retreat.
  • the front view means looking from the front to the rear, and the front view is the left view; the side view is the front view, which is also the front view, and the view direction is from left to right; the top view is the top-down direction. view.
  • Front includes front, left and right front.
  • the rear includes the front rear, the left rear, and the right rear.
  • Left includes right left, left front, and left rear.
  • Right includes straight right, right front, and right rear.
  • the longitudinal direction is the X direction, that is, the front and rear direction.
  • the lateral direction is the Y direction, that is, the left and right direction.
  • the translation includes moving forward and backward and/or moving left and right.
  • the upper direction includes right above, side above, that is, oblique above. Top is above.
  • the bottom includes directly below and laterally below, that is, diagonally below.
  • the vertical direction is the Z direction, which refers to the up and down direction.
  • Ground refers to the underside of the device, in particular to the ground.
  • the movable device may include a first area, a second area, a third area, and a fourth area.
  • the 4 areas are distributed in the 4 corners of the movable device.
  • the first area and the second area are adjacent.
  • the first area and the third area are adjacent.
  • the second area and the fourth area are adjacent.
  • the third area and the fourth area are adjacent.
  • the first area and the fourth area are located opposite to each other.
  • the second area and the third area are located opposite to each other.
  • the first area is the left front part, that is, the left front area
  • the second area is the left rear part, that is, the left rear area
  • the third area is the right front part, that is, the right front area
  • the right rear part of the fourth area is the right rear area.
  • the regional orientation is the location, and the three are equivalent.
  • the area in a location is divided into the whole area in the location or a part of the area in the location.
  • a space includes all or part of the space.
  • any part has two ends, one end of the part refers to the root of the part and the other end of the part refers to the end of the part.
  • the root refers to the part close to the rack.
  • the end refers to the part away from the rack.
  • the part refers in particular to a leg, arm, mechanism or joint.
  • the root is the base, the fixed end is the fixing piece, the head end is the inner end, and the six are the same.
  • the end is the active end, the movable part is the output end, the output part is the outer end, and the six are equivalent.
  • the scheme includes the scheme after the word “can” or “may” or “with” is removed. If “( )” is included in any scheme herein, then optionally, the scheme includes the content within the “()". The “( )” can be removed, for example, climbing (along an external object) may be climbing along an external object. If the content in "()” begins with or, it is allowed to replace the content described before the "()" with the content in “()". It is also allowed to remove the content in "()” as a whole.
  • Default refers to the choice when there is no qualification description. Any number. Several can be one or more. Some kind of any kind or any kind. Driving is driving, the two are equivalent. Acquiring is equivalent to acquiring.
  • any functional object is named as function+object. Any functional object means that the object is configured to have the property to realize the function.
  • a mobile device that is, a device for moving.
  • a lift mechanism is a motion mechanism used to realize a lift function.
  • An example is a wheeled mobile device, ie a device for wheeled movement.
  • A includes B, including: A is connected to B or A is B. Include may be: include only. Just include that.
  • An object is used as part A, that is, an object has the function of part A, that is, an object is part A.
  • the function of a part includes A, which means that the part is used for A.
  • a certain part or part A can be any part in the text, for example, the part is a joint part, a leg or an arm, etc.
  • the A and B can be any of the schemes herein.
  • connection includes direct connection or connection through an intermediate piece.
  • an element When an element is referred to as being “fixed to” or “disposed on” another element, it can be directly on the other element or indirectly on the other element.
  • an element When an element is referred to as being “connected to” another element, it can be directly connected to the other element or indirectly connected to the other element.
  • To connect is to connect.
  • Connection including: mechanical connection (between mechanical components), electrical connection (between electrical components), etc.
  • Electrical connections include wired connections and wireless connections.
  • Direct connections such as soldering or crimping or screwing or hooking or hooking or snap-on connections, etc.
  • connection refers to concatenation.
  • the multiple components are connected in sequence, so that the end of the previous component is connected to the root end of the latter component, that is, the tails of the multiple components are connected in sequence.
  • connection is a mechanical connection.
  • Types of (mechanical) connections including: fixed connections, movable connections, and detachable connections.
  • the connection of the two can also be an integration of the two.
  • Detachable connection that is, connection in such a way that it can be de-connected in a controlled manner.
  • Active connections include slidable connections or rotatable connections; rotatable connections are hinged connections.
  • Fixed connection is installed.
  • connection part refers to the part in the device used to connect the parts to be connected.
  • the connection part refers to the part used to support and connect the parts to be connected.
  • the parts to be connected are kinematics.
  • a connecting portion means that the portion is configured to have properties for connecting components to be connected or has been processed for connecting.
  • Connecting part means that the part is configured to carry the forces generated by the parts to be connected.
  • the connecting part can also refer to connecting parts.
  • the part is a hole, slot or pin or reinforcement. Having the property for connecting the parts to be connected has already been processed for connecting the parts.
  • the connection part may be part of the frame (01) of the equipment.
  • the connecting part can also be a part which is independent of the rack (01) rack but is connected to the rack (01) rack.
  • connection part is provided on the rack of the equipment.
  • any arm or leg connected to an object means that the end of the arm or leg is connected to the object.
  • To be able to be connected means that a connection part is provided for connection.
  • a unit is a device or a system or a module or a component or a component or a device or a component. The eight are equivalent. Unless otherwise specified, the components included in the device may be one or more. Any component can be distributed across multiple physical entities or a single object entity; multiple components can also be arranged in the same object entity. Drives are also called drives. Drives are also called actuators. Actuators can be responsible for the movement of robotic arms, legs, hands, and heads, among others.
  • the frame is the body and the body, and the torso is the body. The five are equivalent.
  • Any movable device has a rack.
  • External objects refer to objects outside the movable device.
  • the movable equipment refers to the rack of the movable equipment, that is, the body of the movable equipment.
  • Movement refers to the movement of a rack of movable equipment.
  • the rack that is, the parts that are fixedly connected to each other in the movable equipment, and the parts that are fixedly connected to each other have the highest mass among all the parts of the movable equipment. This mass is the weight.
  • the apparatus described anywhere includes all the means required to carry out the operation.
  • Any equipment herein includes: a control device, a working device, and an energy supply device.
  • the movable device may also include required electrical and/or mechanical components. Electrical components, such as wires, are used to electrically connect components. Mechanical parts are used to connect and support components.
  • the movable equipment, the control device, the working device and the energy supply device are all configured to implement the methods, steps and functions described in any one of the above descriptions.
  • a mobile device is used to move a movable device.
  • the movement refers to movement driven by a power system.
  • the movement includes movement on the ground, movement in water, and movement in the air.
  • the mobile means include ground mobile means and/or underwater propulsion means and/or flying means.
  • a mobile device is a traveling device. From the analysis of components: any work device includes a motion device for driving the work implement device to perform work or a connection for installing the motion device. Motion devices are also known as motion components.
  • any exercise device refers to a device for exercise.
  • the motion device includes any one or any multiple of a motion mechanism, a connecting portion for installing the motion mechanism, and a driver for driving the motion mechanism.
  • the kinematic mechanism and its drive can be integrated.
  • an integrated joint means that the joint is integral with the drive means of the joint.
  • the output end of the motion device is the output end of the motion mechanism.
  • Drives are also called drive assemblies.
  • the crawler-type traveling mechanism described in any place is connected with a driver for driving the crawler-type traveling mechanism.
  • Equipment for running gear The base of the crawler traveling mechanism, that is, the bracket used to connect the rotating shaft of the first rotating member (0721) and the rotating shaft of the second rotating member (0722).
  • the third running gear may be a crawler running gear or a running wheel.
  • the connection line of the landing point of the running gear refers to the connection of the outer circle of the landing point of the running gear.
  • the landing site of the crawler-type traveling mechanism is the landing site of the crawler.
  • the area formed by connecting the contact points in turn, that is, the figure surrounded by the contact points.
  • a mobile platform is a platform that can be moved.
  • Any mechanism the input of which is connected to the output of a driver for driving the mechanism.
  • the control device of the device is connected to the drive.
  • the drive is controlled by the control device, and the operation of the mechanism is controlled by the control device.
  • the lifting mechanism described in any place is connected with a driver for driving the lifting mechanism, the lifting mechanism and the driver both belong to the lifting device, and the lifting device belongs to the equipment including the lifting mechanism.
  • the output member of the wheel mechanism is the rim and/or the tire that is placed on the rim.
  • the output part of the wheel mechanism is connected and sleeved on the outer ring of the bearing of the wheel shaft through the spoke connection.
  • the outer ring of the bearing, the spokes, the rim and the tire are rotatable about the axle.
  • the traveling wheels are connected to the frame (01) of the movable equipment, and the traveling wheels roll along the road to drive the movable equipment to travel.
  • any motion mechanism that can be controlled by the control device is connected with a driver for driving the motion mechanism, the motion mechanism and the driver belong to the motion device, and the motion device belongs to the equipment including the motion mechanism.
  • Controlling any mechanism means controlling the drive used to drive the mechanism.
  • the power input end of the mechanism is connected to the power output end of the driver.
  • the driver is electrically connected to the control device.
  • Types of motion include elevating, horizontal distance adjustment, legged walking, wheeled walking, crawler walking, flying, water propulsion.
  • the movement mechanism can be divided into a lifting mechanism, a horizontal distance adjustment mechanism, a leg-type walking mechanism, a wheel-type walking mechanism, a crawler-type walking mechanism, a flight mechanism, and a water propulsion mechanism.
  • movement devices can be divided into lifting devices, horizontal distance adjustment devices, leg-type walking devices, wheel-type walking devices, crawler-type walking devices, flying devices, and underwater propulsion devices.
  • Walking on legs is walking. Walking is also known as driving or moving. To walk means to move on the ground. Running gear is also called ground moving gear. Based on what is known in the prior art,
  • the center of gravity (O) of a movable device refers to the center of gravity (O) of the device's construction.
  • Standard refers to national standard or industry standard or manufacturer standard or the average value of products in the market.
  • the middle part described herein refers to the part between the first running mechanism and the second running mechanism.
  • the linear motion mechanism has the outstanding advantages of large bearing capacity, small size, low cost and high speed, and has outstanding advantages when used in combination with the walking mechanism to make the equipment overcome obstacles.
  • a jack is a typical linear motion mechanism with a price of less than 100 yuan and a bearing capacity of 1000KG.
  • a rotating mechanical arm around a joint with a load of 50KG is a typical multi-link swing mechanism, and its minimum price is 25,000 yuan, a price difference of 250 times
  • the carrying capacity differs by a factor of 20.
  • the first motion mechanism and the second motion mechanism enable the wheeled vehicle to be free according to the width of the hurdle when hurdling, and to adjust the landing point of the walking mechanism according to the size of the pit when stepping on the pit, which greatly improves the obstacle-surmounting ability of the wheeled equipment. .
  • the technical solution also enables the length of the device to be adjusted freely, that is, it has a deformation function. When driving at high speed or when people need to lie down in the equipment to rest or go up and down slopes, the safety and stability of the equipment are increased.
  • the shortened length of the frame enables the device to enter the elevator to go home, or to reduce the footprint in public places, vehicles, ships and airplanes.
  • the first running device including the first running mechanism and the second running mechanism is used to drive the movable equipment to travel along the ground.
  • the first running gear also includes a first drive for driving the first running gear and/or a second drive for driving the second running gear.
  • the first traveling device is a wheeled mobile device
  • the first traveling mechanism is the first front wheel 511
  • the second traveling mechanism is the second rear wheel 522 .
  • the third running gear may be a crawler running gear.
  • the second movement device (07) including the third running mechanism is a crawler type running device.
  • one end of any mechanism refers to the base of the mechanism, and the other end of the mechanism refers to the output of the mechanism.
  • the first running mechanism and the second running mechanism can support the frame off the ground.
  • the third running mechanism can support the frame to be off the ground.
  • the third running mechanism is used to drive the movable equipment to travel along the ground.
  • Both the first running mechanism and/or the second running mechanism can cooperate with the third running mechanism to drive the movable equipment to travel along the ground.
  • the front edge of the third running mechanism 573 can be located behind the front edge of the first running mechanism 571
  • the rear edge of the third running mechanism 573 can be located in front of the rear edge of the second running mechanism 572 .
  • any part has two ends. By default, one end of the part refers to the base of the part, and the other end of the part refers to the output end of the part.
  • the part refers in particular to a leg, arm, mechanism or joint.
  • the movable equipment refers to the rack 01 of the movable equipment.
  • the movement of the equipment refers to the movement of the rack 01 .
  • the body is the body and the torso is the body, and the frame is the same. In this article, the ground is the road surface.
  • Floor refers to the bottom surface under the equipment used to support the equipment.
  • connection wheel mentioned anywhere refers to the shaft of the connection wheel.
  • the installation position of the crawler traveling mechanism and the crawler is the middle part under the equipment. The positional relationship of any part relative to the other part is based on the center of the two parts.
  • the work executing device is a moving tool.
  • the mobile device includes feet, climbing devices, wheels, wings (eg, rotors, flat wings, or flapping wings), and the like.
  • the work tool includes a pick-up device and/or a work tool.
  • the work tool further includes attachments for work.
  • the energy supply device includes or is a power source.
  • the power supply is connected to the control device to supply power to the control device.
  • the energy supply device is connected to the work device to provide energy for the work. Further, the energy supply device is connected to the driving device in the operation device to provide energy for the operation. Providing energy refers in particular to supplying electricity.
  • the energy supply device may be a fuel supply system, such as a fuel tank.
  • the power source may be a battery.
  • the drive device is the drive unit, the power unit is the power system, the drive component is the drive assembly, and the six are equivalent.
  • the drive device includes a power conversion device.
  • the power conversion device is an electric motor, a fuel engine, a hydraulic cylinder, a hydraulic motor, an air cylinder or an air motor, etc.
  • the driving device further includes a power control device for controlling the power components.
  • the power control device is a motor drive, a hydraulic valve, a fuel injection system or a gas valve.
  • the power conversion device is the power component.
  • the drive device may include a reducer.
  • control device is configured to implement any one of the control methods herein.
  • control apparatus includes a processor and a storage module for storing instructions executable by the processor, the processor being configured to implement any one of the control methods herein.
  • the control device is configured to control the movable device to perform any of the operations herein.
  • Controlling the equipment is controlling the working device of the equipment.
  • the control device (electrically) is connected to the working device and controls the working device.
  • the control device is (electrically) connected to the motion device in the operation device, and the motion device is controlled, and the motion device drives the work tool connected to it to perform operation.
  • the control device is (electrically) connected to the drive device in the operating device, the control device controls the drive device, the drive device drives the motion mechanism (mechanically) connected to it, and the motion mechanism drives the (mechanical) connection to it.
  • Work tools for work may be referred to as “controlling a motion device” or “controlling a motion mechanism”, and the three are equivalent.
  • the control device (electrically) controls the driving device, which means: the control device (the processing module in it) can process the information related to the operation, execute the program related to the operation, and the control device can send the operation related information to the driving device. control signal.
  • Control can be manual or automatic.
  • Manual control means that the control device receives manual control instructions through the human-computer interaction module and the communication module, and performs control operations based on the instructions.
  • Automatic control refers to receiving the control instructions issued by the automatic control module; controlling based on the instructions.
  • the control device may include an automatic control module or the control device obtains an instruction from an external automatic control device through the communication module.
  • the control device includes software, hardware and structural components for realizing the control function.
  • the processor is at least one of CPU, DSP, FPGA or CPLD.
  • the control device also includes a communication module. Further, the control device further includes at least one of a human-machine interface and a sensor module.
  • the control device is configured to connect any components required for control.
  • a processor is used to process, execute programs, and manipulate data.
  • the storage module is used to store programs and data.
  • the communication module is used for communication between components within the control device and/or communication between the control device and external systems.
  • the communication module includes a wired communication module and a wireless communication module.
  • the wired communication module is 485 bus or CAN bus or Ethernet bus.
  • the external system especially refers to the external information processing center, especially the network network system.
  • the wireless communication module is a mobile communication module or an infrared communication module.
  • the human-machine interface includes a voice input system, a display system, a keyboard, a mouse, a key, and a human gesture recognition system.
  • a display system is a display device, especially a touch screen.
  • the human-machine interface is used to obtain control instructions and/or data required for control, and/or to indicate the status information of the movable equipment.
  • the software program can come from either a storage module built into the control device or a storage module outside the control device.
  • the control device can obtain external software programs through the communication module.
  • the sensor module includes a sensor for acquiring status information of the device itself and/or an environment perception module (08) for acquiring environmental information.
  • the sensor module is used to obtain the status information and/or environmental information of the device itself through the sensor.
  • the control device can also acquire the information collected by the external sensor module through the communication module.
  • the state of the self may be the angle of the body, the movement speed, the acceleration, the angle of each joint, the angular velocity, the position of each arm, and the like.
  • the sensors include IMU, gyroscope, acceleration sensor, encoder, voltage sensor, current sensor, etc.
  • Environment refers to the environment in which the device is located.
  • the sensors used to obtain environmental information include at least one of visual sensors, radar, ultrasonic waves, satellite positioning modules, and radio frequency positioning modules.
  • the radar includes at least one of lidar and millimeter-wave radar.
  • the control device includes a motion control module or the control device is connected to an external automatic driving module through a communication module.
  • the motion control module is used to control the movement of movable equipment.
  • the motion control module includes: any one or any of a plurality of motion control devices and automatic driving modules.
  • a steering mechanism a driver for driving the steering mechanism are included.
  • the steering mechanism is connected to the steering wheel.
  • the steering wheel is steered by manipulating the steering control.
  • the wheel differential speed on both sides of the device can also be controlled to steer.
  • the steering mechanism of the three-wheeled equipment may be the steering mechanism of a three-wheeled truck.
  • the steering mechanism of the four-wheeled equipment can be the steering mechanism of the automobile.
  • the steering mechanism can be a digital servo.
  • the digital servo is connected to the running wheel to be steered.
  • the steering gear is controlled by the control device to drive the steering wheel to turn.
  • the motion control device includes a motion control device or the connecting part used to connect the device.
  • the motion control device can be a steering wheel, an accelerator, a brake, a joystick, a position detection device; the position detection device is a potentiometer or an encoder or a grating ruler or a Hall induction type position detection device. Movement maneuvers include forward and reverse maneuvers and/or steering maneuvers.
  • the automatic driving module is used to control the movement of movable equipment in an automatic driving manner. Autonomous driving is driverless.
  • the automatic driving module is based on satellite and map information for unmanned driving; automatic driving can be implemented with reference to existing known technologies.
  • the movable device is configured to be movable by people, and the device has a space capable of accommodating people.
  • the device has a manned compartment.
  • the frame of the movable equipment or its related components eg seat
  • a standard preset eg 100KG
  • a wheeled moving mobile device is also a vehicle. Water includes being completely in the water and partly in the water, i.e. the water surface.
  • equipment is a robot or a machine, and the three are equivalent. A robot that can move.
  • the motion mechanism in the device described in any one of the texts connected to a connecting portion in the device for connecting the motion mechanism.
  • the connection part is arranged on the rack of the equipment.
  • the base of the moving mechanism is connected to the connecting part in the frame for connecting the moving mechanism.
  • the connecting part for connecting the kinematics is also referred to as the part connecting the kinematics.
  • Movement is activity. Motion includes any one or more of rotation, movement, retraction, and retraction. Movement includes translation and elevation.
  • the translation includes side-to-side movement and/or forward-backward movement.
  • the motion mechanism is the driving mechanism and the activity mechanism is the mechanism, and the four are equivalent.
  • the mechanism includes a first member and a second member; the first member is connected to the second member; and the second member is movable relative to the first member.
  • the two components are connected by a kinematic pair.
  • the first member is relatively stationary in the mechanism and serves to support the second member.
  • the first component is the base, the base, the fixing piece, the fixing component, or the frame, and the five are the same.
  • the base is used to connect to the rack of the equipment or be an integral part of the rack of the equipment.
  • the second member moves within the movement path and/or movement range set by the first member.
  • the second component is the movable part.
  • the moving parts can also be divided into original moving parts, driven parts and intermodal parts.
  • the prime mover is the active element, the input element is the input member, and the four are equivalent.
  • the input is the power input.
  • the prime mover is used to connect the power device or the motion manipulation device; the power device drives the prime mover to move or the motion manipulation device drives the prime mover to move. Or the prime mover is the power element.
  • the prime mover is connected to the follower.
  • the follower is the work piece, the output piece is the output end, and the output member is the output member, and the five are equivalent.
  • the output member is a motion output member or a power output member.
  • the intermodal is an intermediary member that connects the original mover and the driven element. Intermodal parts are used to transmit power, that is, transmission parts.
  • the follower drives the connected load object to move.
  • the payload is a tool or end effector for work.
  • the motion mechanism is connected to the power device, which means that the prime mover of the motion mechanism is connected to the power device.
  • the movement of the movement mechanism is driven by the power unit.
  • the control device is used to control the power device to drive the motion of the motion mechanism, which means that the control device is used to control the motion of the motion mechanism.
  • Power units are also called drives.
  • active parts refer to output parts.
  • the mechanism of the device can be directly represented by the name of the device.
  • Electric push rod refers to the electric push rod mechanism.
  • Cylinder refers to the cylinder mechanism.
  • Hydraulic cylinder refers to a hydraulic cylinder mechanism.
  • Robotic arm refers to the mechanical arm mechanism.
  • the end effector of the kinematic mechanism or the travel mechanism (to which the output part is connected) used to adjust the position of the running member is the running member.
  • the running member is a running wheel, a belt running mechanism, or a foot.
  • the end effector of the kinematic mechanism (to which the output member is connected) for flight is a rotor or a flapping wing or a fan blade.
  • the end effector (to which the output of the power arm or robotic arm is connected) is a retrieval device (06) and/or a working tool.
  • the pick-up device and/or the working tool are tools used for working.
  • the kinematic mechanism includes a rotary type kinematic mechanism, a linear movement mechanism, and the like.
  • the drive device can be divided into a rotary drive device, a linear drive device, and the like.
  • the motion device is divided into a rotary motion device and a linear motion device.
  • the rotary motion device is a rotary motor.
  • Linear drive means that the output member of the device can linearly reciprocate relative to the base of the device.
  • the movement of the output member is the movement of the load object to which the movement of the output member is connected.
  • the telescopic device refers to a device for telescopic, which includes a telescopic mechanism and a driver for driving the telescopic mechanism.
  • the telescopic device is an electric push rod device, or a piston-type cylinder device or a telescopic-type hydraulic cylinder device.
  • a rotary motion mechanism the output of which is rotatable relative to the base of the mechanism.
  • the output member may be a rotating shaft.
  • the rotary motion mechanism may be a gear set mechanism, a worm gear mechanism, or a rotary motor mechanism.
  • the rotary motion mechanism may be a rotary joint.
  • the base of the gear set mechanism is a bracket for connecting the shaft of the gear; the gear is rotatable relative to the bracket, and the output member of the gear set mechanism is an output gear.
  • the input of the gear set mechanism is the input gear.
  • Gear set mechanisms are also called (rigid) gearing mechanisms.
  • the base of the turbine-worm mechanism is a bracket for connecting the turbine and the worm, the turbine and the worm can rotate relative to the bracket, the output member of the turbine-worm mechanism is a turbine, and the worm is an input member.
  • the axis of the turbine intersects the axis of the worm (which may be perpendicular).
  • the turbine worm mechanism is the turbine worm (transmission) mechanism.
  • the base of the rotary motor mechanism is the stator of the motor, and the output member of the rotary motor is the rotor, and the rotor can rotate relative to the stator.
  • the input to the mechanism is a coil for generating a magnetic field.
  • the rotor is driven by the magnetic field generated by the coil.
  • Linear movement is linear motion.
  • Linear especially refers to a straight line.
  • Linear motion mechanism means that the output element of the motion mechanism is a sliding element, and the sliding element can linearly reciprocate relative to the base of the motion mechanism.
  • Linear motion mechanisms are linear joints.
  • the slider is the slider.
  • the linear moving mechanism may be a rail-type moving mechanism or a telescopic mechanism.
  • Rails are slide rails.
  • the base of the guide rail type motion mechanism is the guide rail, and the output part is the slider.
  • the slider can be in contact with the guide rail through rollers to reduce resistance during sliding.
  • the telescopic mechanism is a linear moving mechanism with telescopic function.
  • the output member of the telescopic mechanism is movable and telescopic relative to the base of the mechanism.
  • the length of the output is close to the length of the base.
  • the output member moves relative to the base so that the distance between the free end of the output member and the base can be adjusted.
  • the output of the telescopic mechanism is the telescopic rod.
  • the telescopic mechanism can be an electric push rod, a piston cylinder or a telescopic hydraulic cylinder.
  • the screw mechanism includes a base (201), a screw (202) and an output member (203) containing screw holes.
  • the base (201) is a bracket connecting the screw rod (202) and the output piece.
  • the output piece (203) with screw holes means that the output piece (203) is provided with screw holes or the output piece (203) is connected with a nut (203A).
  • the screw hole or the nut (203A) is provided with a thread matched with the lead screw.
  • the screw hole or the nut (203A) is sleeved on the lead screw (202) and is threadedly connected with the lead screw.
  • the drive (204) of the mechanism is an electric motor.
  • the input of the mechanism is a lead screw (202).
  • the base of the motor is connected to the base (201) of the screw mechanism.
  • the output shaft of the motor is connected to one end of the lead screw (202) of the mechanism, and the motor can drive the lead screw (202) to rotate around its own axis.
  • the rotation of the lead screw (202) can drive the output member (203) to move along the length direction of the lead screw. That is, the output piece cooperates with the lead screw (202) to convert the rotation of the lead screw (202) into the linear movement of the output piece.
  • the screw (202) Under the constraint of the base (201): the screw (202) can rotate but cannot move, and the output member (203) cannot rotate but can move relative to the base (201).
  • the base (201) and the bracket are outer tubes; the output member (203B) of the mechanism is a telescopic rod (203B) connected to the nut or a telescopic rod (203B) with screw holes ).
  • the base of the mechanism is a sliding rail, and the output part of the mechanism is a slider with screw holes.
  • the base is an outer tube, and the output part is a telescopic rod with screw holes.
  • the piston cylinder is a telescopic cylinder, which is a cylindrical metal device that guides the piston to perform linear reciprocating motion.
  • Telescopic hydraulic cylinders refer in particular to piston hydraulic cylinders.
  • the base of the piston cylinder is the cylinder block, and the output part is a telescopic rod connected to the piston.
  • the base of the telescopic hydraulic cylinder is a hydraulic cylinder block, and the output part is a telescopic rod connected to the piston.
  • a guide rail type motion mechanism or an electric push rod specifically a screw mechanism or a rack and pinion mechanism.
  • the base of the rack and pinion mechanism is a bracket for connecting the gear and the rack; the rack can move back and forth relative to the bracket, and the output member of the mechanism is a rack.
  • the input to the mechanism is a gear.
  • the guide assembly includes a sliding rail and a sliding block slidably connected with the sliding rail.
  • the base of the linear moving mechanism is in the shape of a long strip.
  • the direction of the base is the direction of the linear movement mechanism.
  • the direction of the screw in the screw mechanism is the direction of the base in the mechanism.
  • the orientation of the rack in a rack and pinion mechanism is the orientation of the base in the mechanism.
  • the types of motion mechanisms include travel mechanisms, steering mechanisms, distance adjustment mechanisms, translation motion mechanisms (18), lifting motion mechanisms, (rotating) joints, telescopic mechanisms, swing mechanisms, and winding mechanisms.
  • the running gear is also called the running gear.
  • the lifting motion mechanism is also called the lifting mechanism.
  • the lifting mechanism is the motion mechanism used to realize the lifting function.
  • the output member of the motion mechanism can be raised and lowered relative to the base of the motion mechanism.
  • Each joint may include 1 or more degrees of freedom.
  • a cruciform joint includes 2 degrees of freedom.
  • a spherical joint includes 3 degrees of freedom.
  • Each degree of freedom corresponds to a set of drives. If there is no special description for the multi-link swing mechanism, the swing mechanism described in this article refers to a single-link swing mechanism, that is, a single-stage swing mechanism.
  • the lifting mechanism can be a vertical linear moving mechanism; the output member of the linear moving mechanism moves up and down relative to the base.
  • the movement mechanism capable of generating displacement in the horizontal direction may be a horizontal linear movement mechanism; the output member of the linear movement mechanism reciprocates and translates relative to the base.
  • the movement mechanism that can generate displacement in the front and rear directions can be a linear movement mechanism that points forward and backward.
  • At least two of the elevating movement mechanism, the forward and backward movement movement mechanism, the left and right movement movement mechanism, and the rotating joint are linked to form a multi-dimensional movement mechanism.
  • the motion mechanism herein is a multi-dimensional motion mechanism.
  • Distance adjustment devices include telescopic devices or hinged distance adjustment devices.
  • the distance adjustment device is a telescopic device.
  • the distance adjustment mechanism includes a telescopic mechanism or an articulated distance adjustment mechanism.
  • the distance adjustment mechanism is a telescopic mechanism.
  • the articulated distance adjusting mechanism is also called a swinging distance adjusting mechanism or an angular distance adjusting mechanism.
  • the swinging distance adjustment mechanism is the swinging mechanism or the swinging joint.
  • the hinged distance adjustment mechanism refers to: the output member of the mechanism is hinged to the base of the mechanism; the output member can rotate around the hinge, one end of the output member is the hinged end, and the other end of the output member is the free end or the movable end. When the output member rotates around the hinge (ie, adjusts the angle of the output member relative to the base), the horizontal or vertical distance between the free end of the output member and the hinge end can be adjusted.
  • the output member of the swing mechanism is a swing arm.
  • the trajectory of the movement of the output member to drive the connected load is an arc.
  • the lifting mechanism can also be the hinged distance adjustment mechanism, and the hinged distance adjustment mechanism is used to adjust the distance between the free end of the output piece and the hinged end in the vertical direction.
  • the movement mechanism capable of producing displacement in the horizontal direction can also be an articulated distance adjustment mechanism, which is used to adjust the horizontal distance between the free end of the output member and the hinged end in the horizontal direction.
  • the output member rotates around the hinge, that is, the output member swings relative to the base.
  • the axis of the output member intersects the axis of rotation.
  • the swing and swing joints can be driven by a telescopic mechanism.
  • the base of the telescopic mechanism is hinged with the first member of the swing joint, and the output end of the telescopic mechanism is hinged with the second member of the swing joint.
  • the telescopic mechanism telescopically causes the second member to swing (rotate about the hinge) relative to the first member.
  • the telescopic mechanism is an electric push rod, a piston hydraulic cylinder or an air cylinder.
  • the swing mechanism may also be driven by a rotary type driving device such as a rotary motor.
  • the base of the swing mechanism is connected to the base of the rotary drive device, the output member of the swing mechanism (that is, the swing arm) is connected to the output shaft of the rotary drive device, and the axis of the output member (that is, the swing arm) is connected to the rotation Axes cross.
  • the present invention also provides a computer-readable storage medium.
  • the computer-readable storage medium may be a removable device, a control device, an electronic device, a component, or a device provided in the above-mentioned embodiments.
  • the computer-readable storage medium may be a memory or storage module.
  • a computer program is stored on the computer-readable storage medium, and when the program is executed by the processor, is used to implement any one of the control methods herein.
  • the computer-storable medium may also be a U disk, a removable hard disk, a read-only memory, a readable and writable memory, a RAM, a magnetic disk or an optical disk, and other mediums that can store program codes.
  • the computer storable medium can also be a remote or network or cloud storable medium; the remote or network or cloud storable medium controls the device through the communication module to realize the transmission of programs and information.

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  • Engineering & Computer Science (AREA)
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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Health & Medical Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
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  • Vascular Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Handcart (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un dispositif mobile, comprenant un cadre (01) et un troisième mécanisme de levage/abaissement (212). Le dispositif comprend en outre un premier mécanisme de levage/abaissement (211) et/ou un deuxième mécanisme de levage/abaissement (222) ; une extrémité de chacun du premier mécanisme de levage/abaissement (211), du deuxième mécanisme de levage/abaissement (222) et du troisième mécanisme de levage/abaissement est reliée au cadre (01) ; l'autre extrémité du premier mécanisme de levage/abaissement (211) est reliée à un premier mécanisme de déplacement (571) ; l'autre extrémité du deuxième mécanisme de levage/abaissement (222) est reliée à un deuxième mécanisme de déplacement (572) ; l'autre extrémité du troisième mécanisme de levage/abaissement est reliée à un troisième mécanisme de déplacement (573) ; le premier mécanisme de déplacement (571) et le deuxième mécanisme de déplacement (572) sont agencés à un intervalle dans une direction de déplacement ; et le troisième mécanisme de déplacement (573) est situé entre le premier mécanisme de déplacement (571) et le deuxième mécanisme de déplacement (572). Le dispositif mobile peut effectuer des opérations, telles que la réalisation d'une rétraction d'échelle et le franchissement d'un obstacle.
PCT/CN2022/070157 2021-01-04 2022-01-04 Dispositif mobile, procédé de commande, appareil de commande, support de stockage, plateforme mobile et accessoire WO2022144029A1 (fr)

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PCT/CN2023/070515 WO2023131205A1 (fr) 2021-01-04 2023-01-04 Dispositif mobile, procédé de commande, appareil de commande et support de stockage
PCT/CN2023/070556 WO2023131210A1 (fr) 2022-01-04 2023-01-04 Dispositif mobile, procédé de commande, appareil de commande, support de stockage et plateforme mobile

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PCT/CN2023/070515 WO2023131205A1 (fr) 2021-01-04 2023-01-04 Dispositif mobile, procédé de commande, appareil de commande et support de stockage

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CN114715298A (zh) * 2021-01-04 2022-07-08 冯春魁 可移动的设备、控制方法、控制装置、存储介质、移动平台及附件
WO2023133743A1 (fr) * 2022-01-12 2023-07-20 冯春魁 Appareil mobile, procédé de commande, dispositif de commande, support d'enregistrement et accessoire
WO2023131210A1 (fr) * 2022-01-04 2023-07-13 冯春魁 Dispositif mobile, procédé de commande, appareil de commande, support de stockage et plateforme mobile
CN115465376A (zh) * 2022-08-25 2022-12-13 上海建工七建集团有限公司 智能工地安防动火巡检机器人
CN115320684B (zh) * 2022-09-20 2024-03-12 燕山大学 一种可自主上下楼的物资运输车

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