WO2022184179A1 - 可移动的机器、可移动平台、系统及控制装置 - Google Patents

可移动的机器、可移动平台、系统及控制装置 Download PDF

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Publication number
WO2022184179A1
WO2022184179A1 PCT/CN2022/079630 CN2022079630W WO2022184179A1 WO 2022184179 A1 WO2022184179 A1 WO 2022184179A1 CN 2022079630 W CN2022079630 W CN 2022079630W WO 2022184179 A1 WO2022184179 A1 WO 2022184179A1
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WIPO (PCT)
Prior art keywords
machine
movable platform
movable
control
movement
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PCT/CN2022/079630
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English (en)
French (fr)
Inventor
冯春魁
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冯春魁
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Application filed by 冯春魁 filed Critical 冯春魁
Publication of WO2022184179A1 publication Critical patent/WO2022184179A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
    • B60P3/07—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying road vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present application belongs to the field of movable equipment, and in particular, relates to movable machines, movable platforms, systems and control devices.
  • the technical problem to be solved by this application is to provide a new technical solution for the above-mentioned defects of the prior art (how to make the movable machine 1 and the movable platform 9 better cooperate or reduce costs or save energy).
  • a first aspect of the embodiments of the present application provides a movable machine 1, characterized in that,
  • the machine 1 can be mounted on a movable platform 9; the machine 1 includes a first moving device 5 for moving the machine 1; the machine 1 includes a control device 12 for controlling The machine 1 moves; the control device 12 is also used to control the movement of the movable platform 9 .
  • the control device 12 is also used to control the movement of the movable platform 9 , which means that the control device 12 is also used to control the movement of the movable platform 9 by sending information to the movable platform 9 through the communication module.
  • the control device 12 includes a movement control module 121 for controlling the movement of the machine 1 .
  • the movement control module 121 is also used to control the movement of the movable platform 9 .
  • the control device 12 includes a first communication module 122 for sending information to control the movable platform 9 to move.
  • the mobile control module is the motion control component.
  • Information for controlling the movement of the movable platform 9 is generated by the control device 12 and information for controlling the movement of the movable machine 1 is generated by the control device 12 .
  • the movement control module 121 is used to form information to control the movement of the machine 1
  • the movement control module 121 is also used to form information to control the movement of the movable platform 9 .
  • the control device 12 is connected to the first mobile device 5 .
  • the mobile control module 121 may be connected to the first mobile device 5 .
  • the movement control module 121 can send information to the first mobile device 5 for controlling the first mobile device 5 to move the movable machine 1 .
  • the mobile control module 121 is connected to the first communication module 122 .
  • the movement control module 121 can also send information for controlling the second mobile device 91 to move the movable platform 9 to the first communication module 122 .
  • the movement control module 121 includes any one or more of a first automatic driving module 1211 , a tracking module, and a manual control module 1213 . When there are multiple movement control modes, the movement control module (121) is also used to switch the movement mode.
  • the movable machine 1 can only move by itself, but cannot be mounted on the movable platform 9 and control the movable platform 9 to move, that is, the movable machine 1 (such as a robot) and the movable platform in the prior art. 9 (such as cars or boats) cannot move better together, resulting in wasted resources or performance constraints.
  • the movable platform 9 can be controlled to move by the machine 1, and the machine 1 is allowed to move independently from the movable platform 9, so that the movable machine 1 (such as an independent robot, a smart cockpit of a car or a yacht) is connected to the movable platform.
  • the movable machine 1 such as an independent robot, a smart cockpit of a car or a yacht
  • 9 can better cooperate (for example, robots can drive scooters or simple cars or boats, or for example, the brains of cars or yachts, i.e., smart cockpits, can walk, leave the mother machine and accompany the owner home alone) Or reduce costs or save energy (compared to two machines traveling independently, it can reduce energy consumption and use costs).
  • the control device 12 includes a first automatic driving module 1211, and the first automatic driving module 1211 is also used to control the movement of the movable platform 9 and/or the first automatic driving module (121) is used to control the said machine (1) moves;
  • the machine 1 includes a first connecting device 13 for connecting the machine 1 to the movable platform 9 or disconnecting the machine 1 from the movable platform 9 .
  • the beneficial effects of the above scheme 2A compared with human driving, the first automatic driving module 1211 not only enables the movable platform 9 to realize automatic driving and improves the driving performance; and the first automatic driving module 1211 is a high-value component, this scheme , when the movable platform 9 stops moving, the first automatic driving module 1211 can also be used to realize the movement of the machine 1, so as to avoid the first automatic driving module 1211 being idle when the movable platform 9 stops moving, and the first automatic driving module 1211 can be effectively used.
  • the automatic driving module 1211 can give full play to the value of the first automatic driving module 1211 as a high-value component.
  • the beneficial effect of the above solution 2B compared with the solution without the first connection device 13, there is the first connection device 13, which makes the connection between the machine 1 and the movable platform 9 more reliable and stable, (when it needs to be disconnected ) is more flexible.
  • mobile machine 1 as described in option 2, characterized in that 3A and/or 3B:
  • the first automatic driving module 1211 is also used to jointly control the movement of the movable platform 9 with the second automatic driving module 921 in the movable platform 9;
  • the control device 12 is also used to control the first connection device 13 to connect the machine 1 to the movable platform 9 or disconnect the machine 1 from the movable platform 9 .
  • the first connection device 13 includes an electrically controlled lock.
  • the beneficial effect of the above solution 3A the first automatic driving module 1211 and the second automatic driving module 921 cooperate together to control the movement of the movable platform 9.
  • the redundancy can be enhanced, and further The safety of the movable platform 9 in the moving process is guaranteed.
  • the cost of the second automatic driving module 921 can be reduced by the performance of the first automatic driving module 1211 .
  • the movable machine 1 as described in scheme 1 is characterized in that,
  • the machine 1 is constructed as a manned mobile machine, the manned mobile machine being the cockpit of a vehicle or a boat;
  • the machine 1 also includes: a target following module, the target following module controls the machine 1 to follow the target by acquiring the position of the target and/or the moving direction of the target, and the target includes a person;
  • the machine 1 is a micro-machine, which means that the width of the machine 1 is not greater than 1.2 meters, and/or the length of the machine 1 is not greater than 1.6 meters, and/or the height of the machine 1 is not greater than 1.6 meters Meter;
  • the machine 1 includes a movable mechanism for adjusting the orientation of the first windshield, and the movable mechanism for adjusting the orientation of the first windshield is used to adjust the position of the first windshield 23 of the machine 1 relative to the fuselage 01 Inclination or lowering the height of the first windshield 23 relative to the fuselage 01 of the machine 1 to reduce the wind resistance of the machine 1 when driving;
  • the machine 1 includes a first top height adjustment mechanism, and the first top height adjustment mechanism is used to adjust the height of the top 115 of the machine 1 relative to the bottom of the body 01 of the machine 1;
  • the maximum travel speed of the movable platform 9 is higher than the maximum travel speed of the machine 1, and/or the maximum load value of the movable platform 9 is higher than the maximum load value of the machine 1;
  • the weight of the movable platform 9 is less than the weight of the machine 1 and/or the volume of the body 01 of the movable machine 1 is larger than the volume of the body 90 of the movable platform 9.
  • the machine 1 can also be equipped with a movable platform.
  • the mobile platform 9 moves; the machine 1 can be mounted on the movable platform 9,
  • the machine 1 comprises a boundary member for forming a space for accommodating persons and/or articles, or a connecting member connecting the boundary member, the boundary member being arranged around and above the space, the boundary member being used to isolate the person or the air inside or outside the space to protect the person;
  • the first moving device 5 includes a first ground moving device and/or a first underwater moving device and/or a first flying device, the first ground moving device is used to move the machine 1 on the ground, the first ground moving device
  • the mobile device includes a first wheeled mobile device and/or a first footed mobile device and/or a first crawler mobile device, the first underwater mobile device includes a first propeller or a first water jet propeller, the first
  • the flying device is a flying device that can lift vertically.
  • the first flying device includes a first rotary wing flying device or a first jet flying device. Jet flight means in particular a jet pack.
  • the machine 1 is constructed as a manned mobile machine, which is the cockpit of a vehicle or a boat. Because the movable platform 9 (especially a car) is generally constructed to travel at high speed and with heavy loads, there is a disadvantage that it cannot accompany humans more closely (going home, shopping malls, offices with people), compared to cars or boats, cars or boats The cockpit of the boat is lighter in size, which is very convenient for the machine 1 to accompany humans more closely. Manned mobility enables the machine 1 not only to accompany humans, but also to take them home. Helps to completely solve the problem of the last 3 kilometers of commuting that current cars can't solve.
  • the machine 1 also includes a target following module, and this solution effectively solves the problem that the machine 1 travels with people.
  • the machine 1 is a micro machine (especially a robot), which is easy to be mounted on a movable platform 9 (especially a car); it is also a way of reducing the harm to people when the machine 1 is traveling with people.
  • a large number of elevator doors on the market have an opening width of 1.2 meters and a length of 1.6 meters; therefore, the formulation of this miniature size is convenient for the movable machine 1 to enter the elevator of this specification and model.
  • the machine 1 includes a movable mechanism for adjusting the orientation of the first windshield, so as to reduce the wind resistance of the machine 1 when driving, which is beneficial to energy saving. Especially when the machine 1 is mounted on a movable platform 9 (especially an automobile), the driving speed is increased compared to the independent driving of the robot 1, and the energy saving significance is greater.
  • the machine 1 includes a first top height adjustment mechanism, which can reduce the wind resistance of the machine 1 when driving, which is beneficial to energy saving. Especially when the machine 1 is mounted on a movable platform 9 (especially an automobile), the driving speed is increased compared to the independent driving of the robot 1, and the energy saving significance is greater.
  • the maximum travel speed of the movable platform 9 is higher than the maximum travel speed of the machine 1, so that when the machine 1 is mounted on the movable platform 9 and travels independently relative to the machine 1, the maximum travel speed can be increased, which is helpful for creative solutions to the machine 1.
  • the core problem of a self-driving type (especially a robot) is slower than a movable platform 9 (especially a car).
  • the maximum load value of the movable platform 9 is higher than the maximum load value of the machine 1, so that when the machine 1 is mounted on the movable platform 9 and travels independently relative to the machine 1, the maximum load value can be increased, which is conducive to creative solutions to the machine 1 (especially the machine 1).
  • the maximum load value of the independent traveling type is smaller than the movable platform 9 (especially refers to the automobile).
  • the machine 1 can form a boundary element that can isolate people or air inside and outside the space, which is more conducive to protecting people (from viruses, wind and rain).
  • the movable machine 1 as in any of the above-mentioned schemes, characterized in that,
  • the first moving device 5 includes a robotic leg or the machine 1 includes a robotic arm that enables the machine 1 to be mounted on the movable platform 9 or detached from the movable platform 9 ;
  • the first moving device 5 includes a liftable rolling running mechanism
  • the lifting rolling running mechanism includes a running member lifting mechanism and a rolling running mechanism, and one end of the running member lifting mechanism is connected to the machine 1 .
  • the fuselage 01 is connected, and the other end is connected with the rolling traveling mechanism, and the traveling member lifting mechanism is used to drive the rolling traveling mechanism to ascend and descend.
  • the liftable rolling running mechanism is configured to enable the machine 1 to be mounted on or off the movable platform 9 and/or travel along the road surface.
  • the machine 1 can be mounted on the movable platform 9 or detached from the movable platform 9 through a mechanical arm or a mechanical leg or a liftable rolling walking mechanism (the leg can lift the leg up and down the steps, the arm can grasp the object to climb It is beneficial to go up and down steps), or make the machine 1 walk, which is very beneficial for the machine 1 to be mounted on the movable platform 9, which is conducive to better cooperation between the machine 1 and the movable platform 9, and also makes the machine 1 move more flexibly by itself. It is convenient that the machine 1 moves on its own. If there is no such solution, the machine 1 needs to be manually transported to the movable platform 9, or another step should be set up so that the machine 1 can go up and down the movable platform 9 through the step.
  • a second aspect of the embodiments of the present application provides a movable platform 9, characterized in that the movable platform 9 includes a second moving device 91, and the second moving device 91 is used to move the movable platform 9 ;
  • the movable platform 9 can carry the movable machine 1 to move, the movable platform 9 includes a second communication module 922, and the second communication module 922 is used for receiving the information sent by the machine 1 and controlling the second communication module 922 through the information.
  • the mobile device 91 is moved to move the movable platform 9 .
  • the movable platform 9 can be controlled to move by the machine 1, and the machine 1 is allowed to move independently from the movable platform 9, so that the machine 1 can exert more value.
  • the movable platform 9 as described in the above-mentioned scheme 6 is characterized in that,
  • the movable platform 9 includes a second automatic driving module 921 , and the driving of the movable platform 9 is jointly controlled by the second automatic driving module 921 and the first automatic driving module 1211 in the movable machine 1 ;
  • the movable platform 9 includes a second connecting device 93 for connecting the machine 1 to the movable platform 9 or disconnecting the machine 1 from the movable platform 9 ;
  • the movable platform 9 is provided with a movable mechanism for adjusting the orientation of the second windshield, and the movable mechanism for adjusting the orientation of the second windshield is used to adjust the second windshield of the movable platform 9.
  • the movable platform 9 includes a second top height adjustment mechanism, and the second top height adjustment mechanism is used to adjust the position of the top of the movable platform 9 relative to the body 90 of the movable platform 9 . the height of the bottom;
  • the maximum travel speed of the movable platform 9 is higher than the maximum travel speed of the machine 1, and/or the maximum load value of the movable platform 9 is higher than the maximum load value of the machine 1;
  • the second moving device 91 includes a second ground moving device and/or a second underwater moving device and/or a second flying device, the second ground moving device is used to move the movable platform 9 on the ground,
  • the second ground mobile device includes a second wheeled mobile device and/or a second footed mobile device and/or a second crawler mobile device, and the second underwater mobile device includes a second propeller or a second water jet propulsion
  • the second flying device includes a second rotor-type flying device or a second jet-type flying device.
  • a third aspect of the embodiments of the present application provides a movable system, characterized in that:
  • the movable system includes: the movable machine 1 described in any one of the above solutions 1 to 5 and the movable platform 9, the movable platform 9 can carry the movable machine 1, and the movable platform includes The second mobile device 91, the second mobile device 91 is used to move the movable platform 9; the movable platform 9 includes a second communication module 922, the second communication module 922 is used to receive the information sent by the machine 1, And control the second moving device 91 through the information to make the movable platform 9 move.
  • the above scheme is similar to the above scheme 1; the movable platform 9 can be controlled to move by the machine 1, and the machine 1 is allowed to move independently from the movable platform 9, and the movable platform 9 can also move independently of the machine 1, so that the machine 1 can play a role. more value.
  • the movable system includes a first connecting device 13, and the first connecting device 13 is used to connect the machine 1 to the movable platform 9, or disconnect the machine 1 from the movable platform 9;
  • the first mobile device 5 or the second mobile device 91 includes a ground mobile device and/or a water mobile device and/or a flying device
  • the ground mobile device is used to make the machine 1 or the movable platform 9 in the Ground moving
  • the ground moving device includes a wheeled moving device and/or a foot moving device and/or a crawler moving device
  • the underwater moving device includes a propeller or a jet propeller or a water jet propeller
  • the flying device includes a rotor flying device or jet flying device.
  • a fourth aspect of the embodiments of the present application provides a control device 12 for a movable machine 1 as described in any one of the above solutions 1 to 5, characterized in that the control device is used to implement the control method:
  • the movable platform 9 is controlled to move.
  • the beneficial effect of the control device is that the problem that the machine 1 is mounted on the movable platform 9 is perfectly solved through three steps.
  • control device 12 according to the above item 9, characterized in that:
  • Controlling the movable platform 9 to move is: controlling the movable platform 9 to move at a speed higher than the maximum travel speed at which the machine 1 travels independently;
  • control method further includes the step of: controlling the movable mechanism for azimuth adjustment of the first windshield included in the machine 1 to reduce the backward inclination of the first windshield relative to the fuselage 01 or reduce the first windshield the height of the piece relative to the fuselage 01 of the machine 1, and/or, control the first top height adjustment mechanism included in the machine 1 to reduce the height of the top 115 of the machine 1 relative to the bottom of the fuselage 01 of the machine 1 ;
  • the orientation of the windshield also needs to be reversely adjusted as appropriate. For example, when the equipment is at low speed or when there is wind and rain, it is necessary to use the windshield to block the wind and rain.
  • the beneficial effect of the solution 10 is that on the basis of the solution 9, the movable platform 9 is controlled to travel at a high speed, which solves the core problem that the machine 1 travels slowly. Controlling the movable mechanism for azimuth adjustment of the first windshield and/or the first top height adjustment mechanism included in the machine 1 can reduce the wind resistance of the machine 1 in the traveling direction, especially when traveling at high speed.
  • FIG. 1 is a schematic diagram of a movable machine 1 provided by the present application mounted on a movable platform 9;
  • FIG. 2 is a schematic diagram of another movable machine 1 and a movable platform 9 provided by the application;
  • Fig. 3 is a schematic diagram of another movable machine 1 and movable platform 9 provided by the present application;
  • FIG. 4 is a schematic top view of the separated movable machine 1 and movable platform 9 provided by the present application;
  • 5-11 are schematic diagrams of the movement process of the movable machine 1 provided by the present application moving to the movable platform 9;
  • FIG. 12 is a schematic top view of another movable machine 1 provided by the present application mounted on a movable platform 9;
  • FIG. 13 is a schematic side view of another movable machine 1 provided by the present application mounted on a movable platform 9;
  • FIG. 14 is a schematic diagram of the movable machine 1 with the mechanical leg 02 provided by the present application in a walking state;
  • FIG. 15 is a schematic diagram of the movable machine 1 with the mechanical leg 02 provided by the present application in a non-walking state;
  • FIG. 16 is a schematic diagram of an electric push rod provided by the present application.
  • 12 denotes the control device of the movable machine 1
  • 121 denotes the mobile control module
  • 122 denotes the first communication module, namely the communication module in the machine 1
  • 1211 denotes the first automatic driving module
  • 1212 denotes the man-machine interface
  • 1213 denotes the motion control device
  • 1214 is the fourth communication module
  • 13 represents the connection device of the machine 1 that can be moved by the first connection device
  • 131 and 132 respectively represent the first connection device located at different positions;
  • 115 denotes the top; 19 denotes the first top height adjustment mechanism; 23 denotes the first windshield; 24 denotes the movable mechanism for azimuth adjustment of the first windshield; a1 denotes the first windshield 23 of the machine 1 relative to the fuselage 01 the angle of inclination;
  • 5 represents the moving device of the machine 1 that can be moved by the first moving device;
  • 5A represents the first driver, that is, the driver of the first moving device 5;
  • 5B represents the first traveling mechanism, that is, the traveling mechanism of the first moving device 5;
  • 051 represents the first driving mechanism 052 means the second running wheel on the first side;
  • 053 means the first running wheel on the second side;
  • 054 means the second running wheel on the second side;
  • 511 means the first running mechanism;
  • 522 means the first running wheel Two running gear;
  • 07 represents the third running gear;
  • 02 means the mechanical leg;
  • 021L means the first part leg of the first side;
  • 021R means the first part leg of the second side;
  • 022L means the second part leg of the first side;
  • 022R means the second part leg of the second side;
  • 062L 171 denotes the first working tool (chain saw);
  • 172 denotes the second working tool (eg shovel);
  • 173 denotes the third working tool (eg scissors);
  • 9 represents the movable platform
  • 90 represents the fuselage of the movable platform 9
  • 91 represents the second moving device, that is, the moving device in the mobile platform 9;
  • 91A represents the second driver, that is, the driver of the second moving device 91;
  • 91B represents the second traveling mechanism, that is, the traveling mechanism of the second moving device 91;
  • 911 represents the left front part of the second mobile device 91
  • 912 represents the left rear part of the second mobile device 91
  • 913 represents the right front part of the second mobile device 91
  • 914 represents the right rear part of the second mobile device 91;
  • 922 denotes the second communication module, that is, the communication module in the mobile platform 9;
  • 93 denotes the second connecting device, that is, the connecting device of the mobile platform 9;
  • the movable machine 1 controls the movement of the movable platform 9, and the control refers to control in a manner of transmitting information through the communication module.
  • the control refers to control in a manner of transmitting information through the communication module.
  • the machine 1 that uses mechanical (brute force) to control the movement of the movable platform 9 for example, the robot uses mechanical legs to step on a bicycle, or the robot uses the mechanical arm to turn the steering wheel to control the driving of the car, and the robot uses the paddle or the rudder to control the driving of the boat).
  • Restrictions on model specifications (dimensions, mechanical strength) of mechanical components (eg arms, legs) in machine 1 and movable platform 9 are avoided.
  • the movable platform 9 (car, bicycle or boat) may be of various shapes and shapes, and the motion control components (steering wheel and accelerator of a car, pedals of a bicycle, paddle or rudder of a boat) can be various in size and model, resulting in 1. Only a few types of movable platforms 9 can be moved by mechanical force, and the models and specifications of the legs or arms of the machine 1 are limited, and more types of movable platforms cannot be driven, and the applicability is restricted. Cost increases.
  • control device 12 such as the automatic driving module 1211 of the machine 1 (such as a robot) of the machine 1 (such as a robot), even if the movable platform 9 (such as a car, a yacht, a scooter) only has a (fool-like) second mobile device 91, (High performance) travel can also be achieved under the control of a machine 1 (eg a robot).
  • a machine 1 eg a robot
  • the movable machine 1 is a robot (with mechanical legs), and the movable platform 9 is a (simple) car, a boat (eg a yacht) or a scooter.
  • the maximum travel speed of the car or scooter is higher than the maximum travel speed of the machine 1 and/or the maximum load value of the movable platform 9 is higher than the maximum load value of the machine 1 .
  • the solution of the present invention enables the (footed) robot to overcome the shortcomings of the (footed) robot with low load or slow driving speed (the energy consumption of the robot's footed driving is greater than that of the wheeled driving) with the help of the car or scooter, or make (including mechanical legs) )
  • the robot can use the yacht to overcome the disadvantage that the robot is not convenient for wading.
  • simple cars, yachts, and scooters can be driven by (legged) robots, which greatly improves the driving ability and intelligence.
  • the movable platform 9 is a car (especially a car) or a boat (yacht), and the movable machine 1 is a walkable intelligent manned cabin (also called a cockpit) (which can be used to control the traveling of the movable platform 9).
  • a movable platform 9 (such as a car or a boat) can be regarded as a parent machine.
  • the intelligent cockpit robot 1 is equivalent to the brain of the movable platform 9 .
  • the brain (smart cockpit) of the movable platform 9 (such as a car or a boat) is fixed on the car, and the brain (that is, the machine 1) cannot move away from the parent machine (resulting in that the brain assets are idle when the parent machine does not need to run). ) is a huge waste.
  • the brain (ie, the intelligent cockpit machine 1 ) of the movable platform 9 eg, a car
  • the movable platform 9 eg, a car
  • the main machine (such as a car or a yacht) has a heavy load and a high speed, but it has the defects of being inconvenient for miniaturization, unable to take an elevator, unable to go upstairs, inconvenient to walk with people, and inconvenient to enter a room;
  • the mobile machine 1 when a person disembarks from the parent machine (such as a car or a yacht), the machine 1 can follow the person, and can also carry the person home.
  • FIG. 1 is a schematic diagram of a movable machine 1 and a movable platform 9 provided by the present application.
  • both X1 and X2 represent directions. If X1 indicates the front, then X2 indicates the rear. Or X2 indicates the front, then X1 indicates the rear.
  • the movable machine 1 is mounted on the movable platform 9 , and the number of movable machines 1 in FIG. 1 is one.
  • the machine 1 can be mounted on the movable platform 9 and then move on the movable platform 9; it can also be mounted on the movable platform 9 and then move in the movable platform 9; it can also be mounted on the movable platform 9 , the movable platform 9 carries the machine 1 to move.
  • FIG. 2 is a schematic diagram of another movable machine 1 and a movable platform 9 provided by the present application.
  • the movable machine 1 can leave the movable platform 9 . Both the movable platform 9 and the machine 1 can be moved independently.
  • FIG. 3 is a schematic diagram of yet another movable machine 1 and movable platform 9 provided by the present application.
  • the number of movable machines 1 is 4, which are denoted as 1-1, 1-2, 1-3, and 1-4, respectively. This is only illustrative, and the number of movable machines 1 is not limited.
  • the movable machine 1 and the movable platform 9 provided in the embodiments of the present application can be moved independently, and the machine 1 can be mounted on the movable platform 9 and then moved on the movable platform 9; After being mounted on the movable platform 9 , it moves in the movable platform 9 ; it can also be mounted on the movable platform 9 , and then the movable platform 9 mounts the machine 1 to move.
  • the embodiments of the present application provide a solution A: a movable machine 1, which can be mounted on a movable platform 9; the machine 1 includes a first moving device 5, and the first moving device 5 is used to make the machine 1 to move; the machine 1 includes a control device 12 for controlling the movement of the machine 1 ; the control device 12 is also used for controlling the movable platform 9 to move.
  • the control device 12 is also used to control the movement of the movable platform 9 , which means: the control device 12 is also used to control the movement of the movable platform 9 by sending information to the movable platform 9 through the communication module.
  • the control device 12 includes a movement control module 121 for controlling the movement of the machine 1 .
  • the movement control module 121 is also used to control the movement of the movable platform 9 .
  • the control device 12 includes a first communication module 122 for sending information to control the movable platform 9 to move.
  • the mobile control module is the motion control component.
  • Information for controlling the movement of the movable platform 9 is generated by the control device 12 and information for controlling the movement of the movable machine 1 is generated by the control device 12 .
  • the movement control module 121 is used to form information to control the movement of the machine 1
  • the movement control module 121 is also used to form information to control the movement of the movable platform 9 .
  • the control device 12 is connected to the first mobile device 5 .
  • the mobile control module 121 may be connected to the first mobile device 5 .
  • the movement control module 121 can send information to the first mobile device 5 for controlling the first mobile device 5 to move the movable machine 1 .
  • the mobile control module 121 is connected to the first communication module 122 .
  • the movement control module 121 can also send information for controlling the second mobile device 91 to move the movable platform 9 to the first communication module 122 .
  • the movement control module 121 includes any one or more of a first automatic driving module 1211 , a tracking module, and a first manual control module 1213 . When there are multiple movement control modes, the movement control module 121 is also used to switch the movement mode.
  • the movable machine 1 can be mounted on the movable platform 9 , which means that the machine 1 can be mounted on the movable platform 9 and can be moved by the movable platform 9 carrying the machine 1 .
  • the first moving device 5 is arranged in the mobile machine 1 .
  • the machine 1 can be moved by controlling the first moving means 5 .
  • the movement may be the movement of the machine 1 within the movable platform 9 , or it may be to leave the movable platform 9 , or it may be to enter the movable platform 9 .
  • the first mobile device 5 may include a first ground mobile device and/or a first underwater mobile device and/or a first flying device or the like.
  • the machine 1 can be moved on the ground by controlling the first ground moving device.
  • the ground mobile device may include a first wheeled mobile device and/or a first footed mobile device and/or a first crawler mobile device and the like. This is only an exemplary description, and it is not limited.
  • the machine 1 can be moved in the water by controlling the first underwater moving device.
  • the first underwater moving device may include a first propeller or a first water jet propeller or the like.
  • the machine 1 can be moved in the air by controlling the first flying device.
  • the first flying device is a vertically liftable aircraft.
  • the vertically liftable aircraft is the first rotary-wing aircraft or the first jetpack. This is only an exemplary description, and it is not limited.
  • the movable machine 1 and the movable platform 9 cooperate with each other, and the movable machine 1 can move independently of the movable platform 9, or can be mounted on the movable platform 9, controlled and together with the movable platform 9. move. Efficient use of control devices saves costs and increases economic value.
  • the control device 12 includes a first communication module 122 for sending information to the movable platform 9 to control the movable platform 9 to move.
  • the information sent by the movable machine 1 for controlling the movement of the movable platform 9 is the first information.
  • the sending finger is sent through the first communication module 122 .
  • the machine 1 sends the first information to the movable platform 9 through the first communication module 122 .
  • the first information may include any one or more of the first-level instructions of the movable platform 9 , the second-level instructions of the movable platform 9 , and the third-level instructions of the movable platform 9 .
  • the primary command is the travel target position.
  • the primary command of the movable platform 9 is used to control the movable platform 9 to move in an autonomous driving manner.
  • the movable platform 9 includes a second automatic driving module 921 .
  • the second automatic driving module 921 controls the movable platform to move to the driving target position.
  • the control device of the machine 1 may be provided with a first automatic driving module 1211, and when the movable platform 9 receives a first-level instruction from the movable platform 9, the first automatic driving module 1211 and the second automatic driving module 921 jointly The movable platform is controlled to move to the travel target position in the primary command of the movable platform 9 .
  • first automatic driving module 1211 and/or the second automatic driving module 921 may include systems such as positioning, navigation (path planning), and driving trajectory control. As long as the driving target position is input, the first automatic driving module 1211 and/or the second automatic driving module 921 can control the movable platform 9 to automatically travel to the driving target position.
  • the specific implementation process can be performed with reference to the prior art.
  • Secondary commands include any one or more of forward and backward commands, travel speed commands, and steering commands.
  • the forward and backward command of the movable platform 9 is used to control the forward and backward of the movable platform 9;
  • the travel speed command of the movable platform 9 is used to indicate the moving speed of the movable platform 9 during the moving process;
  • the movable platform 9 The steering command of 9 is used to control the rotation direction, angle, etc. of the movable platform 9 .
  • a device without an autonomous driving module eg, a car
  • the movable platform 9 when the movable platform 9 receives the secondary instruction (forward or backward or turn) of the movable platform 9, it controls the movable platform 9 to move forward or backward, or controls the movable platform 9 to move to the secondary level of the movable platform 9.
  • the moving speed in the command moves, or controls the movable platform 9 to turn and so on.
  • the third-level commands include drive commands.
  • the movable platform 9 includes a second moving device 91, and the second moving device 91 includes a second traveling mechanism and a second driver, and the second traveling mechanism is connected with the second driver.
  • the type of second drive may be a motor drive.
  • the drive command may include a forward rotation command, a reverse rotation command, a stop command, a target rotational speed of the motor, a frequency of the output current of the driver, and the like of the driver.
  • control device 12 may include a first automatic driving module 1211 .
  • a first automatic driving module 1211 may be provided in the control device 12 .
  • the control device 12 is used to control the movement of the movable platform 9 through the first automatic driving module 1211 .
  • the control device 12 is also used for controlling the movement of the machine 1 through the first automatic driving module 1211 .
  • the first automatic driving module 1211 is used to control the movable platform 9 to move in an automatic driving manner, or the first automatic driving module 1211 is used to control the machine 1 to move in an automatic driving manner.
  • the first automatic driving module 1211 Compared with manual driving, the first automatic driving module 1211 not only enables the machine 1 and the movable platform 9 to realize automatic driving and improves the driving performance; and the first automatic driving module 1211 is a high-value component.
  • the first automatic driving module 1211 can also be used to realize the movement of the machine 1, so as to avoid the first automatic driving module 1211 being idle when the movable platform stops moving, and the first automatic driving module 1211 is efficiently used, It fully reflects the value of the first automatic driving module 1211 as a high-value component.
  • the maximum travel speed of the movable platform 9 is higher than the maximum travel speed of the machine 1 .
  • the machine 1 on which the movable platform 9 is mounted may be controlled by the control device 12 to move at a speed higher than the maximum travel speed at which the machine 1 travels independently.
  • the movable platform 9 is controlled to travel at a high speed, which solves the core problem of the low maximum travel speed of the machine 1 .
  • the maximum load value of the movable platform 9 is higher than the maximum load value of the machine 1 , for example, the movable platform 9 can be controlled by the control device 12 to carry the machine 1 to move.
  • This implementation allows objects that exceed the maximum load value of the machine 1 to be carried by the control movable platform 9 , which helps to solve the core problem of the low maximum load value of the machine 1 .
  • the control device 12 may further include a first manual manipulation device 1213 .
  • the first manual control device may belong to the first manual control module.
  • the first manual control device includes a first steering control device and/or a first forward/backward control device, and is used for manually issuing a steering and/or forward/backward command of the device.
  • the equipment is a machine 1 or a movable platform 9 .
  • the driver can control the machine 1 to move through the first manual control device 1213 , and can also control the movable platform 9 to travel by controlling the first manual control device 1213 to send information to the movable platform 9 .
  • control device 12 may further include a first human-computer interaction device 1212 .
  • the first human-computer interaction device 1212 is used for inputting the driving target position of the device or the secondary instruction or the device.
  • the equipment is a machine 1 or a movable platform 9 .
  • the human-computer interaction means for inputting secondary instructions of the device may belong to the first manual control module 1213 .
  • the human-machine interaction device for inputting the driving target position of the control device may belong to the first automatic driving module 1211 .
  • control device 12 may further include a fourth communication module 1214 for receiving the travel target position of the device or for receiving the secondary instruction of the device.
  • the equipment is a machine 1 or a movable platform 9 .
  • the communication module for receiving secondary instructions of the device may belong to the manual control module 1213 .
  • the communication module for receiving the driving target position of the device may belong to the first automatic driving module 1211 .
  • the fourth communication module 1214 is a 5G communication module.
  • the first human-computer interaction device 1212 is a touch screen. Both the first steering control device and the first forward and backward control device are rockers.
  • the machine 1 includes a movable mechanism for adjusting the orientation of the first windshield
  • the control device 12 can also be used to control the movable mechanism for adjusting the orientation of the first windshield, so as to reduce the first windshield 23 in the machine 1 Relative to the rearward inclination of the fuselage 01 or reducing the height of the first windshield 23 relative to the fuselage 01 of the machine 1, and/or controlling the first top height adjustment mechanism included in the machine 1 to reduce the height of the machine 1
  • the height of the top 115 relative to the bottom of the fuselage 01 of the machine 1 to reduce the wind resistance of the machine 1 on the windward side in the direction of travel.
  • controlling the movable mechanism for azimuth adjustment of the first windshield and/or the first top height adjustment mechanism included in the machine 1 can reduce the wind resistance of the machine 1 in the driving direction, especially when driving at high speed. .
  • the machine 1 includes a first connecting device 13, and the first connecting device 13 is used to connect the machine 1 to the movable platform 9, or disconnect the machine 1 from the movable platform 9. The connection of the movable platform 9 .
  • a first connection device 13 is provided in the machine 1 .
  • the connection between the machine 1 and the movable platform 9 can be established through the first connection means 13 , or the connection between the machine 1 and the movable platform 9 can be disconnected through the first connection means 13 .
  • connection between the machine 1 and the movable platform 9 is established through the first connection device 13 , which facilitates the stable cooperation between the subsequent machine 1 and the movable platform 9 .
  • the first connection device 13 may include a mechanical lock, an electric control lock, or the like.
  • the first connecting device 13 includes a mechanical lock, the mechanical connection between the machine 1 and the movable platform 9 is established through the mechanical lock, and the same is true for disconnecting the connection, which will not be repeated here.
  • This connection method saves costs and makes the connection between the machine 1 and the movable platform 9 more reliable and stable.
  • the electric connection between the machine 1 and the movable platform 9 is established through the electric control lock, and the same is true for disconnection, which will not be repeated here.
  • this method is more flexible and convenient when establishing and disconnecting, and it is easier to realize intelligent control.
  • the movable platform 9 includes a second control device including a second movement control module.
  • the second movement control module is used to form information for controlling the movement of the movable platform 9 .
  • the second control device is used to control the movement of the movable platform 9 . That is, the second movement control module is used to control the movement of the movable platform 9 .
  • the second control device is connected to the second mobile device 91 .
  • the second mobile control module may be connected to the second mobile device 91 .
  • the second movement control module can send information for controlling the second mobile device 91 to move the movable platform 9 to the second mobile device 91 .
  • the second communication module 922 also belongs to the second control device.
  • the movable platform 9 can be controlled to move either by the movable machine 1 or by the second movement control module in the second control device.
  • the switching or selection of the two control information sources can be controlled by the second control device or the first information sent by the movable machine 1 .
  • the switching or selection can be controlled by the first information sent by the machine 1 .
  • the second control device may include a third communication module for receiving the travel target position of the movable platform 9 or a secondary command of the movable platform 9 .
  • the second control device may further include a second human-computer interaction device for receiving the travel target position of the movable platform 9 or a secondary instruction of the movable platform 9 .
  • the second control device may further include a second manual manipulation device.
  • the second manual control device includes a second steering control device and/or a second forward/backward control device for manually issuing steering and/or forward/backward commands of the movable platform 9 to control the movement of the movable platform 9 .
  • the third communication module is a 4G or 5G communication module.
  • the second human-computer interaction device is a touch screen or a voice input system.
  • the second steering control device is a steering wheel.
  • the second forward and backward control devices are the accelerator and the brake.
  • the movable platform 9 is provided with a second automatic driving module 921 .
  • the first automatic driving module 1211 is also used to control the movement of the movable platform 9 together with the second automatic driving module 921 in the movable platform 9 .
  • the second automatic driving module 921 belongs to the second movement control module in the second control device included in the movable platform 9 .
  • jointly controlling the movement of the movable platform 9 means that the first automatic driving module 1211 and the second automatic driving module 921 in the movable platform 9 work simultaneously; for example, the first automatic driving module 1211 and the second automatic driving module 921 each calculates movement control parameters of the movable platform 9 .
  • Movement control parameters include speed, acceleration, steering, direction, etc.
  • calculating the movement control parameters of the movable platform 9 includes identifying the surrounding environment parameters of the movable platform 9; the surrounding environment parameters include, the distance between the movable platform 9 and the external object and/or the possibility of collision with the external object and/or the possibility The lane in which the mobile platform is located.
  • the movable platform 9 is usually a car, which is fast and heavy. Once an accident occurs, the car will be destroyed.
  • the movable platform 9 works simultaneously through at least two sets of automatic driving modules, and is checked multiple times to prevent accidents.
  • the movable platform 9 and the movable machine 1 are each provided with a set of automatic driving modules; when the movable platform 9 is equipped with the movable machine 1 to move, their respective automatic driving modules are used together to improve the performance of the movable platform 9 driving safety.
  • the movable platform 9 When the movable platform 9 enters the garage or parks; the movable machine 1 gets off the car with the person or gets off with the person, and the first automatic driving module 1211 on the machine 1 is used to control the movement of the machine 1 . Because the movable machine 1 is small in size, light in weight, and low in safety risk, a set of automatic driving modules enables the movable machine 1 to obtain superior intelligent mobility performance and save costs.
  • the first automatic driving module 1211 and the second automatic driving module 921 cooperate together to control the movement of the movable platform 9, which further ensures the safety of the movable platform 9 during the movement.
  • control device 12 is further configured to control the first connection device 13 to connect the machine 1 to the movable platform 9 or disconnect the machine 1 from the movable platform 9, the first connection device 13 includes an electronically controlled lock.
  • an instruction may be sent to the first connection device 13 through the control device 12, and the instruction may be a connection instruction or a disconnection instruction.
  • the connection instruction is used to connect the machine 1 to the movable platform 9
  • the disconnection instruction is used to disconnect the machine 1 from the movable platform 9 .
  • the machine 1 includes a machine capable of manned movement, for example, the machine has a manned cabin, and/or the machine is a cockpit of a vehicle or a boat, and/or the machine The machine has room to accommodate people, and/or the machine includes people-carrying components, etc.
  • the machine 1 also includes: a target following module, which is a target monitoring module or a tracking module.
  • the target following module controls the machine 1 to follow the target by acquiring the position of the target and/or the moving direction of the target, and the target includes a person.
  • the person rides in a passenger compartment of the machine 1 , for example in the cockpit of a car or boat.
  • the person can control the position, direction, speed, etc. of the movement, and the person is moved by the machine that moves the person.
  • the machine 1 carries the person to the place where the person wants to go.
  • the person can take the machine 1 to enter and exit the elevator, go up and down the stairs, enter and exit the room, etc., which brings convenience to people's life.
  • the movable platform 9 refers to a vehicle or a boat or other robots, the volume of the movable platform 9 is larger than that of the machine 1, or the machine 1 is lighter than the movable platform 9, or the machine 1 can be connected to the movable platform 9, Or the machine 1 can be built into the movable platform 9 .
  • the machine 1 can move within the movable platform 9 , leave the movable platform 9 or enter the movable platform 9 .
  • the machine 1 is configured as a micro-machine, and the micro-machine means that the width of the body of the machine 1 is not greater than 1.2 meters, and/or the length of the body of the machine 1 is not greater than 1.6 meters , and/or, the height of the machine 1 is not more than 1.6 meters.
  • the machine 1 includes a boundary part or a connecting part connecting the boundary part, the boundary part is used to form a space for accommodating people and/or articles, and the boundary part is arranged in the space The boundary part is used to isolate people or air inside and outside the space, which can effectively protect the people.
  • Boundary parts are used to isolate people or air inside and outside the space, which can effectively protect the people.
  • the embodiments of the present application also provide solution B: a movable platform 9, the movable platform 9 includes a second moving device 91, and the second moving device 91 is used to move the movable platform 9; the movable platform 9 Can carry the movable machine 1 to move; the movable platform 9 includes a second communication module 922, the second communication module 922 is used to receive the information sent by the movable machine 1, and control the second mobile device 91 through the information to move the movable platform 9 .
  • the machine 1 comprises first moving means 5 for moving the machine 1 .
  • the second mobile device 91 is arranged in the movable platform 9 .
  • the movable platform 9 can be moved by controlling the second moving device 91 .
  • the second mobile device 91 may comprise a second ground mobile device and/or a second underwater mobile device.
  • the movable platform 9 can be moved on the ground by controlling the second ground moving device.
  • the second ground mobile device may include a second wheeled mobile device and/or a second footed mobile device and/or a second crawler mobile device and the like. This is only an exemplary description, and it is not limited.
  • the movable platform 9 can be moved in the water by controlling the second underwater moving device.
  • the second underwater moving device may include a second propeller or a second water jet propeller or the like. This is only an exemplary description, and it is not limited.
  • the flying device mentioned in any place refers to a flying device that can vertically lift.
  • a jet aircraft refers to a jetpack that can be raised and lowered vertically.
  • the movable machine 1 sends the first information to the movable platform 9 through the first communication module 122, and the second communication module 922 in the movable platform 9 receives the first information sent by the machine 1, and controls the mobile platform 9 through the first information.
  • the second moving device 91 is used to move the movable platform 9 .
  • the second communication module 922 belongs to the control device in the movable platform 9 .
  • the control device of the movable platform 9 is the second control device.
  • the second control device is connected to the second mobile device. That is, the second communication module 922 is connected to the second mobile device 91 .
  • the first moving device 5 in the machine 1 comprises a first drive 5A and a first running gear 5B.
  • the first drive 5A is used to drive the first running gear 5B to move the machine 1 .
  • the second moving device 91 in the movable platform 9 includes a second drive 91A and a second traveling mechanism 91B.
  • the second driver 91A is used to drive the second traveling mechanism 91B to move the movable platform 9 .
  • the above-mentioned movable platform 9 receives the information sent by the machine 1 through the second communication module 922, and controls the second mobile device 91 through the information to make the movable platform 9 move.
  • the machine 1 sends the first information to the movable platform 9 through the first communication module 122, and the second communication module 922 in the movable platform 9 receives the first information sent by the machine 1 and transmits the first information to the second driver 91A , based on the first information, the second driver 91A drives the second traveling mechanism 91B to make the movable platform 9 travel.
  • the first information is not limited to only being transmitted in the movable platform 9 , and corresponding processing can also be performed by the second device to control the traveling of the movable platform 9 .
  • the movable platform 9 is controlled by the driving instruction of the second mobile device 91 to drive the movable platform 9 .
  • the movable platform 9 includes a second control device including a second movement control module.
  • the second movement control module is used to form information for controlling the movement of the movable platform 9 .
  • the second control device is used to control the movement of the movable platform 9 . That is, the second movement control module is used to control the movement of the movable platform 9 .
  • the second control device is connected to the second mobile device 91 .
  • the second mobile control module may be connected to the second mobile device 91 .
  • the second movement control module can send information for controlling the second mobile device 91 to move the movable platform 9 to the second mobile device 91 .
  • the second communication module 922 also belongs to the second control device.
  • the movable platform 9 can be controlled to move either by the movable machine 1 or by the second movement control module in the second control device.
  • the switching or selection of the two control information sources can be controlled by the second control device or the first information sent by the movable machine 1 .
  • the switching or selection may be controlled by the second control device.
  • the second control device may include a third communication module for receiving the travel target position of the movable platform 9 or a secondary command of the movable platform 9 .
  • the second control device may further include a second human-computer interaction device for receiving the travel target position of the movable platform 9 or a secondary instruction of the movable platform 9 .
  • the second control device may further include a second manual manipulation device.
  • the second manual control device includes a second steering control device and/or a second forward/backward control device for manually issuing steering and/or forward/backward commands of the movable platform 9 to control the movement of the movable platform 9 .
  • the third communication module is a 4G or 5G communication module.
  • the second human-computer interaction device is a touch screen or a voice input system.
  • the second steering control device is a steering wheel.
  • the second forward and backward control devices are the accelerator and the brake.
  • the movable platform 9 further includes a manual driving module, which is the second manual driving module.
  • the travel of the movable platform 9 can be controlled by a manual driving module.
  • the artificial driving module may further include a second-level instruction processing module for processing the second-level instruction into a third-level instruction.
  • the second communication module 922, the secondary instruction processing module and the second mobile device 91 are connected in sequence, and the first information includes the secondary instruction.
  • the second communication module 922 transmits the secondary instruction to the secondary instruction processing module, and the secondary instruction processing module obtains the driving instruction of the second mobile device 91 based on the secondary instruction processing and transmits the driving instruction to the second mobile device
  • the device 91 is used to control the movable platform 9 to travel.
  • the movable machine 1 only needs to issue secondary instructions to control the movable platform 9 to move.
  • the method of processing the second-level instruction into the third-level instruction is the prior art.
  • the secondary command received by the secondary command processing module is the travel speed command of the movable platform 9 (for example, 60 kilometers per hour)
  • the parameters of the second traveling mechanism 91B for example, the diameter of the traveling wheel, the second mobile device 91
  • the three-level command required to control the second driver 91A eg, the set frequency of the drive current, the set rotational speed of the motor, etc.
  • the second automatic driving module 921 may include a first-level instruction processing module for processing the first-level instruction into a third-level instruction.
  • the moving mode of the movable platform 9 can be switched freely. For example, switching from a manual driving mode to an automatic driving mode, or switching from an automatic driving mode to a manual driving mode, etc.
  • the movable machine 1 and the movable platform 9 cooperate with each other, and the movable machine 1 can be mounted on the movable platform 9 to move, thereby increasing the moving speed of the movable machine 1 .
  • the machine 1 can control the movable platform 9 to move, effectively utilizes the control device, saves the cost, and improves the economic value.
  • the movable machine 1 can also move independently from the movable platform 9, so that the machine 1 is suitable for more application places and exerts more value.
  • the movable machine 1 and the movable platform 9 transmit the first information through the communication module, so that the machine 1 is mounted on the movable platform 9 and controlled to move on the movable platform 9 .
  • the movable platform 9 can be simplified as a scooter or a simple boat without manual control devices (steering wheel, brake and accelerator), the cost of the movable platform 9 can be greatly reduced; and the movable machine 1 can control the movable platform 9 A movement that achieves the same performance as Machine 1.
  • the robot controls the control device of the movable platform 9 by means of mechanical brute force (for example, forcibly turning the steering wheel with the arm, stepping on the brake with the foot, stepping on the accelerator), and driving the movable platform 9 to move, the control device of the movable platform 9 cannot be simplified. cost.
  • the movable platform 9 includes a second automatic driving module 921, and the second automatic driving module 921 is used to control the movable platform 9 to drive in an automatic driving manner.
  • the movable platform 9 is provided with a movable mechanism for adjusting the orientation of the second windshield, and the movable mechanism is used to adjust the second windshield of the movable platform 9.
  • the inclination angle of the fuselage 90 relative to the movable platform 9 or the height of the second wind shield relative to the chassis of the movable platform 9 is reduced, so as to reduce the wind resistance of the movable platform 9 .
  • the traveling of the movable platform 9 is jointly controlled by the second automatic driving module 921 and the first automatic driving module 1211 in the movable machine 1 .
  • the first automatic driving module 1211 and the second automatic driving module 921 cooperate together to control the movement of the movable platform 9, which further ensures the safety of the movable platform 9 during the movement.
  • the movable platform 9 may further include a second connecting device 93, and the second connecting device 93 is used to connect the machine 1 to the movable platform 9, or disconnect it Connection of the machine 1 to the movable platform 9 .
  • the first connection device 13 or the second connection device 93 may include a mechanical lock, an electric control lock, or the like.
  • the first connection device 13 or the second connection device 93 includes a mechanical lock, the mechanical connection between the movable platform 9 and the machine 1 is established through the mechanical lock, and the same is true for disconnection, which will not be repeated here.
  • This connection method saves costs and makes the connection between the machine 1 and the movable platform 9 more reliable and stable.
  • the electric connection between the movable platform 9 and the machine 1 is established through the electric control lock, and the same is true for disconnection, which is not repeated here.
  • this method is more flexible and convenient when establishing and disconnecting, and it is easier to realize intelligent control.
  • the movable platform 9 may further include a motion control device or can be connected to a motion control device; the motion control device is used to control the movable platform 9 to move.
  • the embodiments of the present application also provide solution C: a movable system, which can include the movable platform 9 in any of the above embodiments and the movable machine 1 in any of the above embodiments, the movable system
  • the platform 9 can carry the movable machine 1 to move, the machine 1 includes a first moving device 5, the first moving device 5 is used to move the machine 1, the movable platform includes a second moving device 91, the second moving device 91.
  • the moving device 91 is used to move the movable platform 9;
  • the machine 1 includes a control device 12, the control device 12 is used to control the movement of the machine 1, and the control device 12 is also used to control the movement of the movable platform 9; and/or, the movable platform 9 includes a second communication module 922 , the second communication module 922 is used for receiving the information sent by the machine 1 and controlling the second moving device 91 through the information to make the movable platform 9 move.
  • the movable machine 1 and the movable platform 9 cooperate with each other, and the movable machine 1 can be mounted on the movable platform 9 to move, thereby increasing the moving speed of the movable machine 1 .
  • the machine 1 can control the movable platform 9 to move, effectively utilizes the control device, saves the cost, and improves the economic value.
  • the movable machine 1 can also move independently from the movable platform 9, so that the machine 1 is suitable for more application places and exerts more value.
  • control device further includes a connection control module, and the connection control module is used to control the first connection device 13 to connect the machine 1 to the movable platform 9, or disconnect the Connection of the machine 1 to this movable platform 9 .
  • control device controls the connection or disconnection of the movable platform 9 with the machine 1, which is easy to operate and brings convenience to the user.
  • both the movable machine 1 or the movable platform 9 are configured to be moved by people.
  • both the movable machine 1 or the movable platform 9 are provided with passenger compartments.
  • the movable platform 9 as shown in Figures 1-3 has a passenger compartment.
  • the movable machine 1 as shown in Figures 5-15 can be provided with a manned compartment.
  • the present application also provides a solution in which the movable machine 1 is mounted on the movable platform 9 .
  • the first moving device 5 may comprise a robotic leg or the machine 1 may comprise a robotic arm that enables the machine 1 to be mounted on the movable platform 9 or detached from the movable platform 9 .
  • the first moving device 5 further includes a liftable rolling running mechanism, which is used to make the upper movable platform 9 or the lower movable platform 9 of the machine 1 and/or travel along the road surface.
  • a liftable rolling running mechanism which is used to make the upper movable platform 9 or the lower movable platform 9 of the machine 1 and/or travel along the road surface.
  • the lifting and lowering rolling running mechanism includes a running member lifting mechanism and a rolling running mechanism.
  • One end of the running member lifting mechanism is connected to the body 01 of the machine 1, and the other end is connected to the rolling running mechanism.
  • the running member lifts and lowers.
  • the mechanism is used to drive the rolling walking mechanism to rise and fall.
  • the rolling running gear is a running wheel and/or a crawler running gear.
  • the lifting and lowering rolling running mechanism especially refers to a multi-stage lifting and lowering rolling running mechanism.
  • the structure of the multi-stage liftable rolling walking mechanism please refer to Figure 4-Figure 11, Figure 14, Figure 15.
  • the multi-segment liftable rolling running mechanism is configured as follows: in the multi-segment lifting and lowering rolling running mechanism, when a certain segment of the rolling running mechanism rises off the ground under the driving of the traveling member lifting mechanism connected to it, the rest are lifted off the ground.
  • the rolling running mechanism can support the equipment and keep the balance of the equipment.
  • the ability to support the equipment and maintain the balance of the equipment refers to the orthographic projection of the line connecting the outermost circle of the rest of the rolling walking mechanisms that can be lifted and lowered to the ground including the center of gravity O of the equipment.
  • the device is a mobile machine 1 .
  • the multiple segments are three segments.
  • FIG. 4 is a schematic top view of the separated movable machine 1 and movable platform 9 provided by the present application.
  • Figure 5 - A schematic side view of the separated movable machine 1 and movable platform 9 provided by the present application.
  • 5-11 are schematic diagrams of the moving process of moving the movable machine 1 to the movable platform 9 provided by the present application.
  • a movable machine 1 includes: a control device 12 , a first moving device 5 , and a first connecting device 13 .
  • the control device 12 includes a first communication module 122 .
  • the first moving device 5 includes a first ground moving device, the first ground moving device includes a first wheeled moving device, and the first wheeled moving device includes a first walking wheel 051 on a first side, a second walking wheel 051 on the first side
  • the traveling wheel 052, the first traveling wheel 053 on the second side, and the second traveling wheel 054 on the second side By default, the first side is the left side and the second side is the right side.
  • the first running mechanism 511 includes a first running wheel 053 on the second side and a first running wheel 051 on the first side
  • the second traveling mechanism 522 includes a second traveling wheel 052 on the first side and a second traveling wheel 054 on the second side.
  • the first connecting device 13 includes a first connecting device 131 at different positions and a first connecting device 132 at a second position, respectively.
  • the second connecting device 93 includes a second connecting device 931 and a second connecting device 932 located at different positions, respectively.
  • first connecting device 131 and the first connecting device 132 in the machine 1 correspond to the second connecting device 931 and the second connecting device 932 in the movable platform 9 respectively.
  • first connecting device 131 is located at the front of the fuselage 01
  • first connecting device 132 is located at the rear of the fuselage 01 .
  • second connecting device 931 is located at the front of the fuselage 90
  • the second connecting device 931 is located at the rear of the fuselage 90 .
  • a movable platform 9 includes a second mobile device 91 , a second connection device 93 , and a second communication module 922 .
  • the second moving device 91 includes a second ground moving device, the second ground moving device includes a second wheeled moving device, and the second wheeled moving device includes the second moving device 91 includes a left front portion 911 of the second moving device 91, The left rear part 912 of the second mobile device 91 , the right front part 913 of the second mobile device 91 , and the right rear part 914 of the second mobile device 91 .
  • the first moving device 5 includes a multi-segment lifting and lowering rolling running mechanism.
  • the multi-stage liftable rolling running mechanism includes a first lifting and lowering rolling running mechanism, a second lifting and lowering rolling running mechanism, and a third lifting and lowering rolling running mechanism.
  • the first liftable rolling running mechanism includes a first lifting mechanism 211 and a first running mechanism 511 .
  • the second liftable rolling running mechanism includes a second lifting mechanism 222 and a second running mechanism 522 .
  • the third liftable rolling running mechanism includes a third lifting mechanism 221 and a third running mechanism 07 .
  • the first traveling mechanism 511 and the second traveling mechanism 522 are arranged at intervals along the traveling direction, and the third traveling mechanism 07 is provided between the first traveling mechanism 511 and the second traveling mechanism 522 .
  • One end of the first lifting mechanism 211 is connected to the fuselage 01, and the other end is connected to the first traveling mechanism 511.
  • the first lifting mechanism 211 is used to drive the first traveling mechanism 511 to move and adjust the first traveling mechanism 511 relative to the machine. The distance of the body 01 in the vertical direction.
  • One end of the second lifting mechanism 222 is connected to the fuselage 01, and the other end is connected to the second traveling mechanism 522.
  • the second lifting mechanism 222 is used to drive the second traveling mechanism 522 to move and adjust the second traveling mechanism 522 relative to the fuselage 01. distance in the vertical direction;
  • the third lifting mechanism 221 is used to drive the third traveling mechanism 07 to move and adjust the third traveling mechanism 07 relative to the fuselage 01. distance in the vertical direction.
  • the first lifting mechanism 211 , the second lifting mechanism 222 , and the third lifting mechanism 221 are all electric push rods.
  • air cylinders or hydraulic cylinders can also be used.
  • the types of the first traveling mechanism 511 , the second traveling mechanism 522 , and the third traveling mechanism 07 are all rolling traveling mechanisms. Wherein, in the machine 1 shown in FIGS. 5-11 , the first traveling mechanism 511 is a first traveling wheel, the second traveling mechanism 522 is a second traveling wheel, and the third traveling mechanism 07 is a crawler traveling mechanism.
  • the crawler-type walking mechanism can also enable the equipment to obtain a good ability to climb continuous steps in soft areas.
  • At least two traveling wheels included in the first traveling mechanism 511 are arranged laterally with respect to the traveling direction of the device.
  • At least two traveling wheels included in the second traveling mechanism 522 are laterally arranged relative to the traveling direction of the device.
  • the third traveling mechanism includes a plurality of traveling wheels, and at least two traveling wheels are arranged laterally with respect to the traveling direction of the device.
  • the first traveling mechanism 511 , the second traveling mechanism 52 or the third traveling mechanism includes a plurality of traveling wheels, the corresponding number of lifting mechanisms configured to respectively lift and lower the plurality of traveling wheels is also multiple.
  • FIG. 5-FIG. 11 are schematic diagrams of the moving process of moving the movable machine 1 to the movable platform 9 provided by the present application. It demonstrates the liftable rolling running mechanism, especially the schematic diagram of how to utilize the multi-stage liftable rolling running mechanism.
  • step 1 As shown in FIG. 5, when the movable machine 1 moves near the movable platform 9, the following step 1 is performed;
  • Step 1 As shown in FIG. 6, the second lifting mechanism 222 is controlled by the machine 1 to drive the second traveling mechanism 522 to go down, and the third lifting mechanism 221 is controlled to drive the third traveling mechanism 07 to go down to support the ground and make the fuselage of the machine 1 go down. 01 to rise, or control the second lifting mechanism 222 to drive the second traveling mechanism 522 to go down and control the third lifting mechanism 221 to drive the third traveling mechanism 07 to lower the second traveling mechanism 522 and the third traveling mechanism 07 to support the ground and make the machine 1
  • the fuselage 01 is raised until the lower surface of the first running mechanism 511 is not lower than the upper surface of the movable platform 9 .
  • the lower surface of the first traveling mechanism 511 is not lower than (slightly higher than) the upper surface of the movable platform 9 , so as to facilitate the subsequent movement of the machine 1 onto the movable platform 9 .
  • the vertical distance between the upper surface of the movable platform 9 and the ground may be obtained in advance, the first lifting distance of the fuselage 01 is set according to the vertical distance, and then the above step 1 is performed. For example, when it is detected that the vertical distance between the fuselage 01 and the ground is equal to the first raised distance, the above step 1 is stopped.
  • Step 2 As shown in FIG. 7 , further, control the second traveling mechanism 522 and/or the third traveling mechanism 07 to make the machine 1 travel forward, that is, make the machine 1 travel in the direction of the movable platform 9 (X1 direction) , so that the lower surface of the first traveling mechanism 511 is located above the upper surface of the movable platform 9 .
  • the controlling of the second traveling mechanism 522 and/or the third traveling mechanism 07 is, for example, controlling the second traveling mechanism 522 .
  • Another example is to control the third running mechanism 07
  • another example is to control the second running mechanism 522 and the third running mechanism 07 at the same time.
  • Step 3 As shown in FIG. 8 , further control the third elevating mechanism 221 to drive the third traveling mechanism 07 upward until the lower surface of the third traveling mechanism 07 is not lower than the upper surface of the movable platform 9 .
  • the vertical distance between the upper surface of the movable platform 9 and the ground can be obtained in advance, the second lifting distance of the third running mechanism 07 can be set according to the vertical distance, and then the third running mechanism can be controlled according to the second lifting distance. 07.
  • the third lifting mechanism 221 is controlled to stop driving the third traveling mechanism 07 .
  • the third lifting mechanism 221 is controlled to stop driving the third traveling mechanism 07 .
  • Step 4 As shown in FIG. 9, further, control the second traveling mechanism 522 and/or the first traveling mechanism 511 to drive the machine 1 to travel forward, that is, make the machine 1 travel in the direction of the movable platform 9 (X1 direction), Thereby, the lower surface of the third running mechanism 07 is positioned above the upper surface of the movable platform 9 .
  • controlling of the second traveling mechanism 522 and/or the first traveling mechanism 511 is, for example, controlling and controlling the second traveling mechanism 522 .
  • Another example is to control the first running mechanism 511 .
  • the second traveling mechanism 522 and the first traveling mechanism 511 are controlled simultaneously.
  • Step 5 As shown in FIG. 10 , further control the second elevating mechanism 222 to drive the second traveling mechanism 522 upward until the lower surface of the second traveling mechanism 522 is not lower than the upper surface of the movable platform 9 . It is convenient to move the machine 1 to the movable platform 9 subsequently.
  • the vertical distance between the upper surface of the movable platform 9 and the ground can be obtained in advance
  • the third lifting distance of the second running mechanism 522 can be set according to the vertical distance
  • the second running mechanism can be controlled according to the third lifting distance. 522.
  • the second lifting mechanism 222 is controlled to stop driving the second traveling mechanism 522.
  • the second lifting mechanism 222 is controlled to stop driving the second traveling mechanism 522 .
  • Step 6 As shown in FIG. 11, further, at least one of the first traveling mechanism 511, the third traveling mechanism 07 and the second traveling mechanism 522 is controlled by the machine 1 to drive the machine 1 to travel forward, that is, the machine 1 is driven forward. Drive in the direction of the movable platform 9 (X1 direction), so that the entire body 01 of the machine 1 is positioned on the movable platform 9 .
  • the position of the machine 1 relative to the movable platform 9 is detected, and the machine 1 is moved to the second connecting device 93 between the first connecting device 13 in the machine 1 and the movable platform 9 .
  • the first connecting device 13 is connected with the second connecting device 93 according to the position of the connection.
  • the machine 1 is thus fixed to the movable platform 9 . It is convenient for the subsequent movable platform 9 to carry the machine 1 to move.
  • the first connecting device 13 of the machine 1 is connected with the second connecting device 93 on the movable platform 9 .
  • the first connecting device 131 is connected with the second connecting device 931
  • the first connecting device 132 is connected with the second connecting device 932 , so that the machine 1 is fixed on the movable platform 9 .
  • the machine 1 is mounted on the movable platform 9 or detached from the movable platform 9 through the lifting and lowering rolling running mechanism, or the machine 1 is made to walk, which is conducive to better communication between the machine 1 and the movable platform 9.
  • the cooperation also makes the independent movement of the machine 1 more flexible, and provides convenience for the independent movement of the machine 1 .
  • FIG. 12 is a schematic top view of the movable machine 1 provided by the present application mounted on the movable platform 9 .
  • FIG. 12 For each reference numeral in FIG. 12 , reference may be made to the above description about FIG. 4 , and details are not repeated here.
  • the movable machine 1 can not only be mounted on the movable platform 9 , but the movable machine 1 can also be connected to the front, rear, and side surfaces of the movable platform 9 .
  • the movable machine 1 when the movable machine 1 is attached to the side of the movable platform 9, the movable machine 1 and the movable platform 9 can travel side by side. This is only an exemplary description, and it is not limited.
  • FIG. 13 is a schematic side view of the movable machine 1 provided by the present application mounted on the movable platform 9 .
  • the movable machine 1 includes a control device 12 , a first moving device 5 , and a first connecting device 13 .
  • the control device 12 includes a movement control module 121 and a first communication module 122 .
  • the movement control module 121 includes: a first automatic driving module 1211 , a human-machine interface 1212 , a motion control device 1213 , and another communication module 1214 different from the first communication module 122 .
  • the first moving device 5 includes a first drive 5A and a first traveling mechanism 5B.
  • the second moving device 91 includes a second driver 91A and a second traveling mechanism 91B.
  • the communication module 1214 is used to receive the travel target position of the device or to receive the secondary instruction of the device.
  • the movable platform 9 includes a second mobile device 91 , a second connection device 93 , and a second communication module 922 .
  • the movable platform 9 and its components are used to realize the functions in the aforementioned solution B.
  • the movable machine 1 is mounted on the movable platform 9 , and the movable machine 1 is mounted in front of the movable platform 9 and the machine 1 is off the ground. Floating off the ground.
  • the machine 1 may be mounted on the movable platform 9 or separated from the movable platform 9 by a mechanical leg or a mechanical arm.
  • the movement of the mechanical leg or the mechanical arm of the movable machine 1 is controlled to make the movable machine 1 get on the movable platform 9 or get off the movable platform 9 .
  • the machine 1 can also be driven along the road, enter and exit the elevator, go up and down the stairs, enter and exit the room, etc. through the mechanical legs.
  • the specific process of moving the movable platform 9 up and down through a mechanical leg or a mechanical arm can be performed with reference to the prior art, and will not be repeated here.
  • FIG. 14 is a schematic diagram of the movable machine 1 with the mechanical leg 02 provided by the present application in a walking state
  • FIG. 15 is a movable machine 1 with the mechanical leg 02 provided by the present application in a non-walking state Schematic diagram of Machine 1.
  • the mechanical leg 02 shown in FIG. 14 and FIG. 15 is a mechanical leg having the function of a mechanical arm.
  • the mechanical leg with the function of the mechanical arm is also called the limb mechanism of leg-arm fusion or the mechanical arm with the function of the mechanical leg.
  • the non-walking state refers to a state of working with a work tool.
  • the end of the mechanical leg 02 is connected to a work tool for work.
  • the connection refers to grasping with a grasping device installed or connected with the end of the mechanical leg 02 .
  • the movable machine 1 includes: a body 01 , a first moving device 5 , a mechanical leg 02 , a top 115 , and a first top height adjustment mechanism 19 .
  • the first moving device 5 includes a rolling running mechanism that can be lifted up and down.
  • the lifting and lowering rolling mechanism includes: a first lifting mechanism 211 , a second lifting mechanism 222 , a third lifting mechanism 221 , a first traveling mechanism 511 , a second traveling mechanism 522 , and a third traveling mechanism 07 .
  • the first elevating mechanism 211 includes a first elevating mechanism 211L on the first side and a first elevating mechanism 211R on the second side;
  • the second elevating mechanism 222 includes a second elevating mechanism 222L on the first side and a second elevating mechanism 211R on the second side side of the second lift mechanism 222R.
  • the first traveling mechanism 511 includes a first traveling wheel 053 on the second side and a first traveling wheel 051 on the first side.
  • the first lifting mechanism 211 , the second lifting mechanism 222 , and the third lifting mechanism 221 are all electric push rods. Of course, air cylinders or hydraulic cylinders can also be used.
  • the second traveling mechanism 522 includes a second traveling wheel 052 on the first side and a second traveling wheel 054 on the second side.
  • the third running gear 07 may be a crawler running gear.
  • the liftable rolling running mechanism is used to make the equipment walk.
  • the first top height adjustment mechanism 19 is connected to the bottom of the fuselage 01 , and the other end is connected to the top 115 .
  • the first top height adjustment mechanism 19 is used to adjust the height of the top 115 relative to the bottom of the fuselage 01 .
  • the mechanical leg 02 includes a first part leg 021L on the first side, a first part leg 021R on the second side, a second part leg 022L on the first side, and a second part leg 022R on the second side.
  • the end of the first part leg 021L on the first side is connected to the first working tool 171 (such as a chainsaw), and the end of the first part leg 021R on the second side is connected to the first working tool 171 (such as a chainsaw).
  • the first working tool 172 (such as a shovel) is connected, the end of the second part leg 022L on the first side is connected with the grabbing device 062L, and the end of the second part leg 022R on the second side is connected with the third working tool 173 (such as scissors) connect.
  • the work includes (with the gripping device 062L, the first work tool 172 ) carrying a person and/or carrying an item and/or attaching a work tool to process the item.
  • the movable platform 9 is used to simultaneously carry the movable machine 1 and move together with the personnel and articles to be transported. This solution can greatly improve the efficiency of the operation, and can try to avoid the situation that the movable platform 9 is used to carry the movable machine 1 in batches for many times, and the people and articles to be transported move.
  • the work tool refers in particular to 171 a first work tool 172 (eg a shovel) and/or a third work tool 173 (eg scissors). Work tools can greatly improve work efficiency compared to just working with a robotic arm (bare hand).
  • the movable machine 1 further includes a control device 12 and a first connection device 13, and the control device 12 includes a first communication module 122 (for the sake of clarity of the drawings, this part of the content is not shown in FIG. 14 and FIG. 15 ). out) to achieve the functions described in the aforementioned scheme A.
  • the first connection device 13 and the first communication module 122 are disposed on the bracket used for supporting the crawler in the third running mechanism 07 .
  • the upper movable platform 9 or the lower movable platform 9 of the machine 1 can be made to move through the mechanical legs or the liftable rolling walking mechanism or the mechanical arm, or the machine 1 can be moved, which is beneficial to the machine 1 and the movable platform.
  • the better cooperation between 9 also makes the machine 1 move more flexibly, and provides convenience for the machine 1 to move alone.
  • the first connecting device 13 / the first communication module 122 can be disposed on the lower part or the side of the body 01 of the machine 1 . If the first connection device 13/the first communication module 122 is arranged at the lower part of the body 01 of the machine 1, then correspondingly, the second connection device/93 second communication module 922 in the movable platform 9 is arranged at the movable platform 9 of the corresponding upper part of the fuselage 90.
  • the first connecting device 13 / the first communication module 122 is arranged on the side of the body 01 of the machine 1
  • the second connecting device / 93 and the second communication module 922 in the movable platform 9 are arranged on the machine of the movable platform 9 . corresponding side portions of the body 90 .
  • the movable machine 1 shown in Fig. 14 and Fig. 15 can realize independent movement, and the movable platform 9 can be moved up and down.
  • the lower end of the first windshield 23 is hinged to the body 01, one end of the movable mechanism 24 for adjusting the orientation of the first windshield is hinged to the body 01, and the other end is hinged to the first windshield 01.
  • the movable mechanism 24 for adjusting the orientation of the first windshield is a telescopic mechanism.
  • the telescopic mechanism is an electric push rod or a hydraulic cylinder or an air cylinder. In the position shown in FIG.
  • the telescopic mechanism when the telescopic mechanism drives the first windshield member 23 to tilt backward, reducing the inclination angle a1 of the first windshield member 23 in the machine 1 relative to the fuselage 01 , then reducing the machine 1 in the position Wind resistance on the windward side in the direction of travel.
  • the telescopic mechanism is an electric push rod
  • the base is a push rod base
  • the output member is an output rod.
  • the movable mechanism for adjusting the orientation of the first windshield is a horizontal electric rotary motor
  • the base of the electric rotary motor is fixed to the body 01
  • the output member of the electric rotary motor is connected to the first windshield the lower part.
  • the first wind blocking member is still set at the position indicated by the reference numeral 23 .
  • the output member of the electric rotary motor rotates and drives the first windshield member 23 to incline backwards
  • reducing the backward inclination angle a1 of the first windshield member 23 in the machine 1 relative to the fuselage 01 can also reduce the running of the machine 1 .
  • the swing mechanism is an electric rotary motor.
  • the base is a base
  • the output member is an output shaft.
  • the first top height adjustment mechanism 19 is a vertically arranged cylinder, the base of the cylinder is fixed to the bottom of the fuselage 01, and the output of the cylinder is connected to the machine 1 Top 115.
  • the telescopic mechanism is: A cylinder, the base is a cylinder base, and the output piece is a piston output rod of the cylinder.
  • the telescopic mechanism can be 1-4. Exemplarily, the number is four. Electric push rods or hydraulic cylinders can also be selected as the first top height adjustment mechanism.
  • a robot arm or a lifting mechanism is installed on the movable platform 9, and the movable machine 1 is grasped by the robot arm to move the platform 9 up and down.
  • a reel-type lifting mechanism is installed on the movable platform 9, and the movable machine 1 is raised and lowered by the reel-type lifting mechanism, so that the movable platform 9 is moved up and down. This is only an exemplary description, and it is not limited.
  • the movable machine 1 shown in any of Fig. 1 to Fig. 15 may include components for realizing the function of the aforementioned solution A (for the sake of clarity and readability of the drawings and to reflect the respective emphasis, Some components are not shown), the components are the control device 12 and the first communication module 122 .
  • the machine 1 also includes a first connecting device 13 .
  • the movable platform 9 shown in any of the drawings in FIG. 1 to FIG. 13 may include components for realizing the functions of the aforementioned solution B (for the sake of clarity and readability of the drawings and to reflect the respective emphasis, part of parts not shown).
  • the movable machine 1 can be mounted on the movable platform 9 , which is equivalent to the movable platform 9 being able to mount the movable machine 1 .
  • the movable machine 1 can be mounted on the movable platform 9, that is, the movable platform 9 can be mounted on the movable machine 1 to move.
  • the movable platform 9 can carry the movable machine 1, which means that the movable platform 9 can carry the movable machine 1 to move.
  • the movable machine 1 can be mounted on the movable platform 9 , that is, the movable machine 1 can be mounted on the movable platform 9 and the movable platform 9 can be moved with the movable machine 1 mounted thereon.
  • the movable platform 9 carries the movable machine 1 to move, and the movement means that the movable platform 9 is driven to move by the second moving device 91 of the movable platform 9 .
  • the machine 1 is off the ground. Floating off the ground.
  • the three carrying methods are significantly different from the two vehicles pushing each other on the ground. Pushing the two vehicles on the ground cannot overcome the specification limitations of the running wheels of the two vehicles, and has limited effect on improving the speed of the two vehicles or improving the ability to overcome obstacles.
  • the movable platform 9 can carry the movable machine 1, which means that the mechanical structure (strength and structure) of the movable platform 9 is configured to be able to carry the movable machine 1, the second moving device 91 of the movable platform 9 (The driving capacity) is configured to be able to drive the movable platform 9 on which the movable machine 1 is mounted.
  • the fuselage 01 of the movable machine 1 is a pedestal fuselage
  • the fuselage 90 of the movable platform 9 is a (large) cabin fuselage; the movable machine 1.
  • the movable machine 1 mounted on the movable platform 9 enters into the movable platform 9 (the corresponding disengagement is out).
  • the fuselage 01 of the movable machine 1 is a (small) cockpit fuselage
  • the fuselage 90 of the movable platform 9 is a panel fuselage.
  • the volume of the movable machine 1 (the fuselage 01 ) is smaller than the volume of the movable platform 9 (the fuselage 90 ).
  • the movable machine 1 is mounted on the movable platform 9 so that the movable machine 1 reaches the movable platform 9 (the corresponding disengagement is down).
  • the movable machine 1 is mounted on the movable platform 9 .
  • the movable machine 1 is connected to a certain side of the movable platform 9 and the movable machine 1 is suspended from the ground.
  • the weight of the movable machine 1 is greater than the weight of the movable platform 9 or the volume of the body 01 of the movable machine 1 is greater than the volume of the body 90 of the movable platform 9; the machine 1 can be mounted on a movable Platform 9, the machine 1 can also be moved on board a movable platform 9.
  • the weight of the movable machine 1 is greater than the weight of the movable platform 9 or the volume of the body 01 of the movable machine 1 is greater than the volume of the body 90 of the movable platform 9; the machine 1 can be mounted on a movable Platform 9, the machine 1 can also be moved on board a movable platform 9.
  • the volume of the body 01 of the movable machine 1 is smaller than the volume of the body 90 of the movable platform 9 , and the movable machine 1 can enter the body of the movable platform 9 .
  • the movable platform 9 is a car or a boat, and the movable machine 1 is a wheelchair or seat that can enter the body of the movable platform 9 .
  • the maximum travel speed of the movable platform 9 is higher than the maximum travel speed of the machine 1 , and/or the maximum load value of the movable platform 9 is higher than the maximum load value of the machine 1 .
  • the movable platform 9 is a vehicle or a boat
  • the first connecting device 13 and the second connecting device 93 are configured to cooperate with each other to disconnect the movable machine 1 and the movable platform 9 .
  • the first connecting device 13 and the second connecting device 93 one is a pin and the other is a hole matching the pin, or one is a bolt and the other is a screw hole matching the bolt, or a If one is a bolt, the other is a nut matched with the bolt, or if one is a hook, the other is a hooked piece that is matched with the hook.
  • at least one of the first connection device 13 and the second connection device 93 is an active connection device. Active is powered by power.
  • the first communication module 122 and the second communication module 922 are configured to cooperate with each other to transmit information, and the information includes the first information.
  • the information transmission module is a communication module.
  • Information transfer is communication.
  • the first communication module 122 and the second communication module 922 respectively have circuit interfaces that can be connected to each other.
  • the first communication module 122 and the second communication module 922 each have a communication protocol that can be connected to each other.
  • the first communication module 122 and the second communication module 922 are 485 bus, WIFI, Bluetooth or Ethernet communication modules connected to each other.
  • the communication module is used for communication by means of electrical signals.
  • the electrical signals include at least one of optical signals, magnetic signals, radio signals, and wired electrical signals.
  • the movable mechanism for adjusting the orientation of the windshield of the equipment is a vertical lifting mechanism
  • the base of the lifting mechanism is connected to the body of the equipment
  • the output part of the lifting mechanism is connected to the windshield
  • the lifting mechanism is The action can raise and lower the windshield, ie adjust the height.
  • the input member of any mechanism in the present application can be connected to the control device of the device through a driver for driving the mechanism, and the control device can control the driver to drive the mechanism to act.
  • the device may be a robot or a movable platform 9 .
  • the bases of the robotic arm and the robotic leg are connected to the body 01 of the machine 1, and the joints of the robotic arm or the robotic leg also belong to the mechanism.
  • a driver for driving the joint is connected to each joint, and the driver is connected to the control device 12 .
  • the control device 12 can control the movement of the joint through the drive connected to the joint, thereby controlling the movement of the mechanical arm or the mechanical leg.
  • the actuator of the component is connected to a driver for driving the actuator, and the driver is connected to the control device of the equipment, and the control device can control the action of the component through the driver.
  • the component is an electronically controlled lock.
  • the mechanism refers to the movement mechanism.
  • Any mechanism includes a base, an input, and an output.
  • the base is connected to the body of the device (movable machine 1 or movable platform 9) or is a constituent part of the body of the device.
  • This input is connected to the drive.
  • the output is connected to the load object. Driven by the driver, the output member drives the load to realize the movement of the mechanism.
  • the input is the prime mover.
  • the input is the power input.
  • Types of mechanisms include running mechanisms, steering mechanisms, elevating mechanisms, telescopic mechanisms, height adjustment mechanisms, length adjustment mechanisms, style adjustment mechanisms, angle adjustment mechanisms, and joints of mechanical arms or legs.
  • the mechanism is an electric push rod or a hydraulic cylinder or an air cylinder.
  • the structure, principle, function and connection method of the mechanism can be known from the prior art.
  • one end of the mechanism is the base of the mechanism, and the other end of the mechanism is the output of the mechanism.
  • another scheme can also be selected according to circumstances.
  • one end of the mechanism is the output of the mechanism, and the other end of the mechanism is the base of the mechanism.
  • the lifting mechanism is used to adjust the height of the equipment.
  • the lifting mechanism is the height adjustment mechanism.
  • the height of the device refers to the distance from the bottom of the device to the top of the device in the vertical direction.
  • the embodiment of the present application also provides an electric push rod, the interior of which is a screw mechanism, the base of the electric push rod includes an outer tube of the push rod, the output part of the electric push rod includes a telescopic rod of the push rod, and the inner screw rod
  • the mechanism contains a lead screw.
  • the screw mechanism is driven by a motor.
  • FIG. 16 is a schematic diagram of an electric push rod provided by the present application.
  • 201A represents the outer tube of the push rod
  • 202A represents the lead screw
  • 203A represents the telescopic rod of the push rod
  • 204A represents the motor.
  • the use of an electric push rod saves time and effort, and brings convenience to the user.
  • Front refers to the direction the machine is traveling. For example, it refers to the direction indicated by X1 in the drawing. Among them, X1 indicates the front, and traveling means traveling. Movement is movement. Driving is controlling the movement of the device. Equipment movement means equipment travel. The movable platform can move to move the platform. When a machine moves, the machine travels. The ground is the road. To form is to generate.
  • Floor refers to the underside of the equipment and the underside that carries the equipment.
  • Unit, device, system, module, component, element, device, the seven are equivalent.
  • a unit is a device or a system or a module or a component or a component or a device.
  • the power system is the power unit, the drive unit is the drive device, the drive component is the driver, and the six are equivalent.
  • any component may refer to the entire component, or any one or any plurality of components included in the component, and the component may be any one of a machine, a device, a module, and a component.
  • the machine may refer to any device among the whole machine, the machine body, the working device (1) of the machine, and the parts in the machine.
  • any two or any plurality of devices can be integrated in structure; they are arranged in the same space or component.
  • the parentheses in any scheme are allowed to be removed, and the contents in the parentheses are supplemented in the scheme.
  • the volume of the movable machine 1 (body 01 ) is smaller than the volume of the movable platform 9 (body 90 ), it can be selected as follows: the volume of the body 01 of the movable machine 1 is smaller than that of the movable platform 9 The volume of the fuselage 90 .
  • the movable equipment can be either a movable machine or a movable platform.
  • Equipment can be either a machine or a platform.
  • a machine can be a robot.
  • Movable machines and movable platforms are all movable equipment.
  • the mobile machine 1 is the first mobile device or the mobile first device.
  • the movable platform 9 is the second movable device or the movable second device.
  • the movable machine 1 and the movable platform 9 are two different devices.
  • the fuselage is the frame, the body is the body, and the four are equivalent.
  • the device especially refers to the body of the device. Movement, movement, movement of equipment, and movement of equipment refer to the movement of the body of the equipment. The movement of the equipment body is the driving of the equipment, which can be referred to as driving.
  • Any device in this application includes a device. Any machine in this application includes a fuselage 01 . Either movable platform includes a fuselage 90 .
  • Machine top usually refers to the board, frame, etc. on the top of the machine.
  • the front shield of the machine which is usually the front windshield.
  • the front shield refers to the windshield surface at the front of the fuselage; the front shield especially refers to the windshield in front of the fuselage and/or the support for the windshield.
  • the fuselage is arranged in a hollow shape, the fuselage 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.
  • the longitudinal beams and the transverse beams are made of metal materials or other materials with standard strength, such as stainless steel square tubes or aluminum profiles, and a plurality of square tubes are welded to form the nacelle.
  • Longitudinal refers to the front-to-rear direction.
  • Horizontal refers to the left and right direction. Hollow is hollow.
  • the body 90 of the movable platform 9 is plate-shaped; the plate-shaped body 90 is made of metal materials or other materials with standard strength, such as iron plates or aluminum profiles or engineering plastics.
  • one end of any component in the device is connected to the body of the device. This end refers in particular to the base.
  • one end of any one of the first moving device 5 , the control device 12 , the first connecting device 13 , and the mechanical arm included in the movable machine 1 is connected to the body 01 of the machine 1 .
  • the mechanical legs included in the first moving device 5 and the base of the hoistable rolling running mechanism are all connected to the body 01 of the machine 1 .
  • One end of the movable mechanism for adjusting the orientation of the first windshield in the movable machine 1 is connected to the body 01 of the machine 1 , and the other end is connected to the first windshield.
  • One end of the first top height adjustment mechanism is connected to the base of the body 01 of the machine 1 , and the other end is connected to the top 115 of the machine 1 .
  • one end of the second moving device 91 included in the movable platform 9 is connected to the body 90 of the movable platform 9 .
  • One end of the second top height adjustment mechanism included in the movable platform 9 is connected to the base of the body 90 of the movable platform 9 , and the other end is connected to the top of the movable platform 9 .
  • One end of the movable mechanism for adjusting the orientation of the second windshield in the movable platform 9 is connected to the body 90 of the movable platform 9, and the other end is connected to the second windshield.
  • control device is connected to the mobile device and is used to control the movement of the mobile device.
  • the energy supply device is connected to the control device and supplies power to the control device.
  • the energy supply device is connected to the mobile device and provides energy for the mobile device.
  • the energy supply device is a battery, and providing energy refers to power supply.
  • the control device 12 is used to control the movement of the movable platform 9 , which means that any one or any multiple components included in the control device 12 are used to control the movement of the movable platform 9 . This part is in particular referred to as a module.
  • the motion control device is controlled by the human body or triggered by the movement of the human body, and generates and/or sends out control commands to control the movement of the device.
  • the motion control device is a manual motion control device, and the two are equivalent.
  • the motion control module is the motion control component, and the two are equivalent.
  • control device may comprise motion control components.
  • the motion control component is used to control the movement of the device. Controlling the movement of a device means controlling the device's mobile device to move the device. Movement especially refers to the movement of a machine driven by a power system.
  • the power system is the drive.
  • the motion control module may include any one or any of a plurality of manual motion control devices, target monitoring modules, and automatic driving modules. The information for controlling the movement of the movable platform 9 and the information for controlling the movement of the movable machine 1 can be generated by the control device.
  • the manual motion control device at least includes a movable control member, the movable control member can be connected to a switch and/or a position detection device for forward and backward control; the movable control member is used to control the switch and/or the position The device is detected and a corresponding signal is sent out, and the control device of the device can receive and process the signal to control the movement of the machine. Signals are information.
  • the movable control member that controls the movement of the machine can be a rocker, a moving lever, a button head, ie, a button cap, a rotary handle, and the like.
  • the position detection device may include a potentiometer, an encoder, a grating ruler, a Hall induction type position detection device, and the like.
  • the motion control device can be linked with a position detection device (MCD), and the movement speed of the machine can also be adjusted by manipulating the motion control device.
  • the motion control device of the device includes the forward and backward control device of the device and/or the steering control device of the device.
  • manipulation means manipulation
  • steering manipulation means steering manipulation means.
  • a person can operate a movable control member on or around the equipment, issue a moving device that can control the equipment, and instruct the equipment to move, so as to make the equipment move.
  • the motion control device is a remote control device; that is, the motion control device can remotely control the movement of the device.
  • the steering control component is a mechanism for issuing steering commands through the human body; the human body is preferentially the hand; the typical steering control components are handlebars, steering wheels, and the like.
  • the steering control components in motorcycles, bicycles, electric scooters, and electric luggage are usually handles or steering wheels or rockers or push rods.
  • the steering member may also be referred to as a steering mechanism.
  • the walking wheels on both sides of the equipment can run at a differential speed for steering; for example, the steering of a sweeping robot.
  • the other is that the steering control part is connected with the steering wheel, and the steering or control of the steering control part can make the steering wheel deflect, so that the machine can be turned.
  • the equipment console is provided with or connected with steering components (such as the handle of a bicycle, the handle of a motorcycle, the steering wheel of a car); between the steering component and the steering wheel, a connecting component is provided to transmit the force and/or torque required for steering etc.; such as the steering of bicycles, motorcycles, etc.
  • the wheel in this article is a walking wheel.
  • Tracking module used to obtain the target position and/or the moving direction of the target, and control the device to move with the target.
  • This target includes people. Tracking refers to finding and following the moving track of the target.
  • Moving with the target means moving with the target, that is, moving with the movement of the target, and the three are equivalent; following and positioning follow are: determine the relative position of the target and the device, and drive the device to follow according to the relative position.
  • the machine can move with the target: it does not specifically mean that the machine is behind the target; the machine is positioned to the left, right or in front of the target, and the machine can also move with the target.
  • the tracking module includes: an identification module of the target condition and/or an acquisition module of the target position.
  • the identification module of the target situation is used to obtain the direction of the movement of the person.
  • the target status includes the target movement status; the movement status includes parameters such as the direction, speed, acceleration, acceleration, and logical rationality of the movement behavior.
  • the identification of the target can be realized through a variety of existing technologies; it can be realized based on technologies such as radio frequency signal identification cards, IC cards, ID cards, and face recognition.
  • the autonomous driving module is used to control the movement of the machine in an autonomous driving manner.
  • Autonomous driving is driverless.
  • the automatic driving module is based on satellite and map information for unmanned driving.
  • Personnel tracking type movement control refers to the movement control by sensors to collect personnel's on-site movement trajectory and movement trend. Automatic control, even if there is no personnel, it can drive to the set position based on satellite and pre-stored map information. Personnel tracking type movement control, if there is no personnel guidance, it cannot be driven.
  • Autopilot module including sub-modules for (environment and device self) perception, (path and speed) planning, and (according to target speed and target direction) control of the device's mobile means to drive the device.
  • the moving device of the control equipment is a driver for driving the traveling mechanism in the moving device of the control equipment.
  • Human driving, perception and (speed and path) planning are all done by humans.
  • the movement of the device is controlled by human participation (according to target speed and target direction) to drive the device.
  • Human manipulation means manual manipulation or human manipulation, and the three are equivalent.
  • a control device is used to control a machine to perform a certain operation. That some kind of work or that some kind of work is to be carried out especially refers to movement.
  • Control including manual control, automatic control, etc.
  • Manual control refers to receiving manual control instructions through the human-computer interaction module and communication module; controlling based on the instructions.
  • Automatic control refers to receiving the control instruction issued by the automatic control device; controlling based on the instruction. When the automatic control device is located outside the machine, the control command is introduced into the internal control device through the communication module.
  • Manual refers to manual operation and manual operation.
  • a mobile device is used to move the device.
  • the movement refers to movement driven by a power system. Movement may include movement on the ground, movement in water, or movement in the air.
  • the mobile means may comprise ground mobile means and/or underwater propulsion means and/or flying means.
  • Ground-moving units include wheeled and/or footed and/or crawler-based mobile units. Ground moving units are used to move the machine on the ground. That is: a wheeled moving device is used to make the machine move in a wheeled manner. Foot-moving devices are used to move the machine in a foot-like manner. Tracked moving units are used to move the machine in a tracked operation.
  • the ground moving device also has the function of supporting the machine body and keeping the machine body off the ground.
  • Water propulsion is used to move the machine in water.
  • the flying device is used to make the machine fly.
  • the body is configured for manned movement and/or cargo movement on the ground, and/or the body of the machine is configured for manned movement and/or cargo movement in water.
  • the leg-type mobile device is a foot-type mobile device that is a mechanical leg.
  • a motion system is also a mobile device.
  • a mobile device is a motion system.
  • Movable means that the equipment can be moved under the drive of the power system. The moving device is used to drive the movable equipment to move. Based on what is known in the prior art, when the model of the mobile device is determined, the energy supply device is determined and known.
  • the mobile device may contain an energy supply device, or the mobile device may be connected to an external energy supply device.
  • the devices in this article are all devices that can be driven by a power system.
  • the specific structures of the mobile device, the control device and the energy supply device can all be realized by the prior art.
  • the driving part is the driving device or the driver.
  • Preferably it is an electric drive part.
  • Electric drive components include motors and their drivers, electromagnets and their drivers. In the present application, any action can be implemented by a set driver corresponding to the action.
  • the motion system, control device and power system of the machine can be installed in the body of the machine.
  • a motion system is a mobile device.
  • the drive unit is the power unit or the power system.
  • the power system includes at least one of a fuel power system, an electrical power system, that is, an electric system, a hydraulic power system, and a gas power system, that is, a pneumatic system.
  • the control device is the control unit, which (analyzed from the structure) includes software and/or hardware and/or structural components and the like.
  • the control device is a component including at least a processing module.
  • the processing module can be simply a switch, or can be a device with CPU or DSP executable software; preferably, the control device can also include at least one of a storage module, a communication module, a human-machine interface, and a sensor module.
  • Processing modules are used to process and execute logic instructions and/or software programs.
  • the memory modules are used to store logic instructions and/or software programs.
  • the communication module is used to communicate with the information processing center outside the machine to transmit information.
  • Human-machine interface includes voice processing system, video processing system, display system, keyboard, mouse and so on.
  • the display system includes a touch screen, a display, and the like.
  • the human-computer interface is the human-computer interaction module, that is, the human-computer interaction device.
  • the human-machine interface is used to input control information and/or indicate status information.
  • the sensor module is used to monitor the data and status information of each component. Sensors include cameras, radars, current sensors, etc.
  • the manual control module includes any one or more of a motion control device, a communication module for receiving secondary commands of the device, and a human-machine interface for inputting secondary commands of the device.
  • the motion control devices include steering control devices (eg steering wheel or handle) and/or forward and backward control devices (accelerator, brake). The motion control device is used to issue secondary commands of the device.
  • the automatic driving module includes any one or more of a communication module for receiving the first-level instruction of the device, and a human-machine interface for inputting the first-level instruction of the device.
  • Human-machine interface includes voice processing system, video processing system, display system, keyboard, mouse, etc.
  • the display system includes a touch screen, a display, and the like.
  • the display especially refers to a HUD, ie, a head-up display, or the like.
  • the human-computer interaction device may include a voice interaction system, a display screen, a mouse or a keyboard, and the like.
  • the driver can interact with the human-computer interaction device through language, touch, click, etc.
  • the display interface of the human-computer interaction device can also display information such as driving distance, road conditions, and driving speed. This is only an exemplary description, and it is not limited.
  • the manual control device is the motion control device.
  • the manual control device may be a steering wheel, a joystick, a handle, a foot brake or a foot accelerator.
  • control device 12 includes a human-computer interaction device 1212, a communication module for communicating with external systems other than the movable platform 9, a storage module, a communication module, a human-machine interface, and any one of the sensor modules. or any of them.
  • the human-computer interaction device 1212 is used for inputting the travel target position of the device (eg, the machine 1 or the movable platform 9 ).
  • control device 12 includes a processing module.
  • the control device 12 may also include any one or any of a plurality of storage modules and sensor modules.
  • the driving command for controlling the movement of the movable machine 1 is the first driving command.
  • the driving command for controlling the movement of the movable platform 9 is the second driving command.
  • the control device 12 controls the movable machine 1 to move, that is, the control device 12 sends a first drive command to control the first moving device 5 to move the machine 1 .
  • the control device 12 controls the movable platform 9 to move, that is, the control device 12 sends a second driving command to control the second moving device 91 to move the movable platform 9 .
  • the parameters of the first moving device 5 are different from the parameters of the second moving device 91 (eg the diameter of the traveling wheels), even if the target speed of the movable machine 1 and the speed of the movable platform 9 are different.
  • the target speed is the same, and the first drive command is different from the second drive command.
  • information transmission is communication.
  • the information transfer module is the communication module. To form is to generate. Machine 1 can be moved to Machine 1.
  • Information transfer is communication.
  • the first side is the left side and the second side is the right side; the first part is the front and the second part is the rear.
  • the wind deflector is the wind deflector.
  • the windshield is a windshield. The windshield is used to block the wind of the device in the direction of travel.
  • a movable machine preferably a robot.
  • a machine that can carry and/or load means that the machine is constructed to move people and/or loads, and means that the body of the machine or its related parts (such as the base plate, body, seat) is structurally designed to withstand the
  • the set force which refers to the force generated by the maximum weight of a person with a standard body weight (such as 100KG) and/or the weight of the permitted luggage; and refers to the space for the machine or its related parts to carry passengers and/or loads .
  • a standard body weight such as 100KG
  • weight of the permitted luggage refers to the space for the machine or its related parts to carry passengers and/or loads .
  • people and personnel refer to adults; and weight and height are standard values.
  • Embodiments of the present application also provide a computer storage medium, which may be non-volatile or volatile, and stores a computer program that implements the above cooperation when the computer program is executed by a processor. Steps in Method Examples.
  • the present application also provides a computer program product, which, when the computer program product runs on the movable machine 1, causes the device to execute the steps in each of the above-mentioned cooperation method embodiments.
  • the embodiments of the present application also provide a chip or integrated circuit, the chip or integrated circuit includes: a processor for calling and running a computer program from a memory, so that the movable machine 1 installed with the chip or integrated circuit executes The steps in each of the foregoing cooperation method embodiments.
  • Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above.
  • Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units.
  • the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

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Abstract

一种可移动的机器、可移动平台、系统及控制装置，该系统包括：机器（1）以及能搭载机器（1）的可移动平台（9）；该机器（1）包括第一移动装置（5），该第一移动装置（5）用于使该机器（1）移动；该机器（1）包括控制装置（12），该控制装置（12）用于控制该机器（1）移动。可移动平台（9）可由该机器（1）控制移动，该机器（1）也可脱离可移动平台（9)独自移动，让可移动的机器(1)与可移动平台(9)能更好的协作从而降低成本。

Description

可移动的机器、可移动平台、系统及控制装置
本申请要求于2021年03月05日在中华人民共和国国家知识产权局专利局提交的、申请号为202110247505.8、发明名称为“一种可移动的机器、可移动平台、系统及控制装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于可移动的设备领域，尤其涉及可移动的机器、可移动平台、系统及控制装置。
背景技术
现有技术中，对于如何让可移动的设备(例如，可移动的机器1和可移动平台9)之间更好的协作(以让可移动的设备降低成本或更节能的保护)研究不足。
所以，急需新技术，以解决如何让两种可移动的设备(例如，可移动的机器1和可移动平台9)更好的协作或让可移动的设备降低成本或更节能的问题。
发明内容
本申请要解决的技术问题在于，针对现有技术的上述缺陷(如何让可移动的机器1和可移动平台9之间更好的协作或降低成本或更节能)，提供新型的技术方案。
1.本申请实施例的第一方面提供了一种可移动的机器1，其特征在于，
该机器1能搭载于可移动平台9；该机器1包括第一移动装置5，该第一移动装置5用于使该机器1移动；该机器1包括控制装置12，该控制装置12用于控制该机器1移动；该控制装置12还用于控制该可移动平台9移动。该控制装置12还用于控制该可移动平台9移动，指：该控制装置12还用于以通过通讯模块向该可移动平台9发送信息的方式控制该可移动平台9移动。
该控制装置12包括移动控制模块121，该移动控制模块121用于控制该机器1移动。该移动控制模块121还用于控制该可移动平台9移动。该控制装置12包括第一通讯模块122，该第一通讯模块122用于发送信息以控制该可移动平台9移动。移动控制模块即运动控制部件。
用于控制该可移动平台9移动的信息由该控制装置12生成和用于控制该可移动的机器1移动的信息由该控制装置12生成。具体的，该移动控制模块121用于形成控制该机器1移动的信息，该移动控制模块121还用于形成控制该可移动平台9移动的信息。
该控制装置12连接第一移动装置5。具体的可为，该移动控制模块121连接第一移动装置5。该移动控制模块121能向该第一移动装置5发送用于控制该第一移动装置5使可移动的机器1移动的信息。移动控制模块121连接该第一通讯模块122。该移动控制模块121也能向该第一通讯模块122发送用于控制第二移动装置91使可移动平台9移动的信息。
该移动控制模块121包括第一自动驾驶模块1211、寻迹模块、人工控制模块1213中任一种或任意多种。当存在多种移动控制方式时，该移动控制模块(121)还用于进行移动模式的切换。
现有技术中，可移动的机器1仅仅能自己移动，而无法搭载于可移动平台9和控制可移动平台9移动，也即现有技术中可移动的机器1(例如机器人)和可移动平台9(例如车或船)无法更好的协同移动，从而导致资源浪费或性能制约。
上述方案中，可移动平台9可由该机器1控制移动，又允许该机器1脱离可移动平台9独自移动，让可移动的机器1(例如独立机器人、汽车或游艇的智能座舱)与可移动平台9(例如汽车、游艇、滑板车)能更好的协作(例如机器人能驾驶滑板车或简易车或艇行驶，或例如汽车或游艇的大脑即智能座舱能走路、离开母机独自伴主人回家)或降低成本或更节能(两设备搭载同行相较于两机独立行驶能降低能耗、使用成本)。
2.可选地，如上述的可移动的机器(1)，其特征在于2A和/或2B：
2A：该控制装置12包括第一自动驾驶模块1211，该第一自动驾驶模块1211还用于控制该可移动平台9移动和/或所述第一自动驾驶模块(121)用于控制所述所述机器(1)移动；
2B：该机器1包括第一连接装置13，该第一连接装置13用于使该机器1连接于该可移动平台9，或断开该机器1与该可移动平台9的连接。
上述方案2A的有益效果：相较于人力驾驶，第一自动驾驶模块1211不仅仅能使可移动平台9实现自动驾驶，提高驾驶性能；且该第一自动驾驶模块1211为高价值部件，该方案中，在可移动平台9停止移动时，也可通过第一自动驾驶模块1211实现机器1的移动，避免该第一自动驾驶模块1211在可移动平台9停止移动时被闲置，高效利用了第一自动驾驶模块1211，能充分发挥第一自动驾驶模块1211作为高价值部件的价值。
上述方案2B的有益效果：相较于无第一连接装置13的方案，有第一连接装置13，使该机器1与该可移动平台9的连接更牢靠、更稳定、(需要断开连接时)更灵活。
3.可选地，如方案2所述的可移动的机器1，其特征在于3A和/或3B：
3A：该第一自动驾驶模块1211还用于和该可移动平台9中的第二自动驾驶模块921共同控制该可移动平台9移动；
3B：该控制装置12还用于控制该第一连接装置13，使该机器1连接于该可移动平台9，或断开该机器1与该可移动平台9的连接。该第一连接装置13包括电控锁。
上述方案3A的有益效果：第一自动驾驶模块1211和第二自动驾驶模块921共同配合，以控制可移动平台9移动，相较于单一的第二自动驾驶模块921，能增强冗余度，进一步保障了可移动平台9在移动过程中的安全。或者，能通过第一自动驾驶模块1211的效能降低第二自动驾驶模块921的成本。
上述方案3B的有益效果：相较于机械锁，电控锁更易实现智能控制。
4.可选地，如方案1所述的可移动的机器1，其特征在于，
该机器1构造为能载人移动的机器，该能载人移动的机器为车或船的驾驶舱；
或，该机器1中还包括：目标跟随模块，该目标跟随模块通过获取目标的位置和/或该目标的移动方向，以控制该机器1跟随该目标移动，该目标包括人员；
或，该机器1为微型机器，该微型机器指机器1的机身宽度不大于1.2米，和/或，机器1的机身长度不大于1.6米，和/或，机器1的高度不大于1.6米；
或，所述机器1包括第一挡风件方位调整用活动机构，所述第一挡风件方位调整用活动机构用于调整所述机器1的第一挡风件23相对于机身01的倾角或降低第一挡风件23相对于机器1的机身01的高度，以降低所述机器1在行驶时的风阻；
或，所述机器1包括第一顶部高度调整机构，所述第一顶部高度调整机构用于调整所述机器1的顶部115相对于所述机器1的机身01的底部的高度；
或，所述可移动平台9的最高行驶速度高于所述机器1的最高行驶速度，和/或，所述可移动平台9的最大载重值高于所述机器1的的最大载重值；
或，所述可移动平台9的重量小于所述机器1的的重量和/或可移动的机器1的机身01的体积大于可移动平台9的机身90的体积该机器1也能搭载可移动平台9移动；该机器1能搭载于可移动平台9，
或，该机器1包括边界部件或连接该边界部件的连接部件，该边界部件用于构成容纳人员和/或物品的空间，该边界部件设置在该空间的周边和上方，该边界部件用于隔离该空间内外的人员或空气，以保护该人员；
或，该第一移动装置5包括第一地面移动装置和/或第一水中移动装置和/或第一飞行装置，该第一地面移动装置用于使该机器1在地面移动，该第一地面移动装置包括第一轮式移动装置和/或第一足式移动装置和/或第一履带式移动装置，该第一水中移动装置包括第一螺旋桨或第一喷水式推进器，该第一飞行装置为能垂直升降的飞行装置。该第一飞行装置包括第一旋翼式飞行装置或第一喷气式飞行装置。喷气式飞行装置尤其指喷气背包。
该方案4的有益效果：
该机器1构造为能载人移动的机器，该能载人移动的机器为车或船的驾驶舱。因为可移动平台9(尤其指汽车)一般来讲构造为高速、重载行驶，存在不能更密切伴随人类(跟人回家、去商场、办公室)的缺陷，相较于车或船，车或船的驾驶舱体积更轻巧，非常便利于机器1更密切伴随人类。载人移动使该机器1不仅仅能伴随人类，还能载人回家。有助于彻底解决当前汽车无法解决的最后3公里通勤的问题。
所述机器1中还包括目标跟随模块，该方案有效解决机器1伴随人行驶的难题。
该机器1为微型机器(尤其指机器人)，便于搭载于可移动平台9(尤其指汽车)；也是机器1伴随人行驶时降低对人的危害。经过调查分析，市场上数量众多的电梯门的开口宽度为1.2米，长度为1.6米；所以该微型尺寸的制定，便于可移动的机器1进入该规格型号的电梯。
所述机器1包括第一挡风件方位调整用活动机构，以降低所述机器1在行驶时的风阻，利于节能。尤其当该机器1搭载于可移动平台9(尤其指汽车)行驶速度相对于机器人1独立行驶提速时，节能意义更大。
机器1包括第一顶部高度调整机构，能降低机器1在行驶时的风阻，利于节能。尤其当该机器1搭载于可移动平台9(尤其指汽车)行驶速度相对于机器人1独立行驶提速时，节能意义更大。
可移动平台9的最高行驶速度高于所述机器1的最高行驶速度，使该机器1搭载于可移动平台9相对于机器1独立行驶时能提高最高行驶速度，有助于创造性的解决机器1(尤其指机器人)独立行驶式速度慢于可移动平台9(尤其指汽车)的核心问题。
可移动平台9的最大载重值高于机器1的最大载重值，使该机器1搭载于可移动平台9相对于机器1独立行驶时能提高最大载重值，有助于创造性的解决机器1(尤其指机器人)独立行驶式最大载重值小于可移动平台9(尤其指汽车)的核心问题。
例如，如果需要使用机器1到作业区域作业，且同时需要将超过机器1载重能力的作业物料输送到作业区域，则使机器1和该作业物料同时搭载于最大载重值大于机器1的可移动平台9，则能高效解决该问题。
机器1能形成能隔离所述空间内外的人员或空气的边界部件，更有利于保护人员(免遭病毒、风雨侵袭)。
5.可选地，如上述任一方案中的可移动的机器1，其特征在于，
所述第一移动装置5包括机械腿或所述机器1包括机械臂，所述机械腿或所述机械臂能使所述机器1搭载于所述可移动平台9或脱离所述可移动平台9；
或，第一移动装置5包括可升降的滚动式行走机构，所述可升降的滚动式行走机构包括行走件升降机构和滚动式行走机构，所述行走件升降机构的一端与所述机器1的机身01连接，另一端与该滚动式行走机构连接，该行走件升降机构用于驱动该滚动式行走机构升降。该可升降的滚动式行走机构配置为能使该机器1搭载于所述可移动平台9或脱离所述可移动平台9和/或沿路面行驶。
本实施方式中，通过机械臂或机械腿或可升降的滚动式行走机构可使机器1搭载于可移动平台9或脱离可移动平台9(腿可以抬腿上下台阶、臂能抓住物体攀爬利于上下台阶)，或使该机器1行走，非常有利于机器1搭载于可移动平台9，有利于机器1与可移动平台9之间更好的协作，也使机器1独自移动更灵活，为机器1独自移动提供了便利。如无此方案，则需要人工将机器1搬运至可移动平台9，或另搭台阶，使机器1通过该台阶上下可移动平台9。
6.本申请实施例的第二方面提供了一种可移动平台9，其特征在于，该可移动平台9包括第二移动装置91，该第二移动装置91用于使该可移动平台9移动；
该可移动平台9能搭载可移动的机器1移动，该可移动平台9包括第二通讯模块922，该第二通讯模块922用于接收该机器1发出的信息，并通过该信息控制该第二移动装置91以使该可移动平台9移动。
上述方案6的有益效果：类同上述方案1；可移动平台9可由该机器1控制移动，又允许该机器1脱离可移动平台9独自移动，从而使得该机器1发挥更多价值。
7.可选地，如上述方案6所述的可移动平台9，其特征在于，
所述可移动平台9包括第二自动驾驶模块921，所述可移动平台9的行驶，由所述第二自动驾驶模块921和所述可移动的机器1中的第一自动驾驶模块1211共同控制；
和/或，该可移动平台9包括第二连接装置93，该第二连接装置93用于使该机器1连接于该可移动平台9，或断开该机器1与该可移动平台9的连接；
和/或，所述可移动平台9中设置有第二挡风件方位调整用活动机构，所述第二挡风件方位调整用活动机构用于调整所述可移动平台9的第二挡风件相对于可移动平台9的机身90的倾角或降低挡风件相对于可移动平台9的底盘的高度，以降低所述可移动平台9的风阻；
和/或，所述可移动平台9包括第二顶部高度调整机构，所述第二顶部高度调整机构用于调整所述可移动平台9的顶部相对于所述可移动平台9的机身90的底部的高度；
和/或，所述可移动平台9的最高行驶速度高于所述机器1的最高行驶速度，和/或，所述可移动平台9的最大载重值高于所述机器1的最大载重值；
和/或，该第二移动装置91包括第二地面移动装置和/或第二水中移动装置和/或第二飞行装置，该第二地面移动装置用于使该可移动平台9在地面移动，该第二地面移动装置包括第二轮式移动装置和/或第二足式移动装置和/或第二履带式移动装置，该第二水中移动装置包括第二螺旋桨或或第二喷水式推进器；该第二飞行装置包括第二旋翼式飞行装置或第二喷气式飞行装置。
8.本申请实施例的第三方面提供了一种可移动系统，其特征在于，
该可移动系统包括：如上述方案1至5任一项所述的可移动的机器1和所述可移动平台9,该可移动平台9能搭载该可移动的机器1,该可移动平台包括第二移动装置91,该第二移动装置91用于使该可移动平台9移动；该可移动平台9包括第二通讯模块922，该第二通讯模块922用于接收该机器1发出的信息，并通过该信息控制该第二移动装置91以使该可移动平台9移动。
上述方案类同上述方案1；可移动平台9可由该机器1控制移动，又允许该机器1脱离可移动平台9独自移动，可移动平台9也可独立于机器1移动，从而使得该机器1发挥更多价值。
可选地，该可移动系统包括第一连接装置13，该第一连接装置13用于使该机器1连接于该可移动平台9，或断开该机器1与该可移动平台9的连接；
和/或，该第一移动装置5或该第二移动装置91包括地面移动装置和/或水中移动装置和/或飞行装置，该地面移动装置用于使该机器1或该可移动平台9在地面移动，该地面移动装置包括轮式移动装置和/或足式移动装置和/或履带式移动装置，该水中移动装置包括螺旋桨或喷气式推进器或喷水式推进器；该飞行装置包括旋翼式飞行装置或喷气式飞行装置。
9.本申请实施例的第四方面提供了一种如上述方案1至5任一项所述的可移动的机器1的控制装置12，其特征在于，控制装置用于实现控制方法：
控制所述第一移动装置5使所述机器1往可移动平台(9)所在位置移动；
控制所述第一移动装置5中所包括的机械腿或可升降的滚动式行走机构动作或控制该机器1所包括的机械臂，使该机器1搭载于该可移动平台9；
控制所述可移动平台9移动。
该控制装置的有益效果：通过三步较为完美的解决了机器1搭载于可移动平台9的问题。
10.如上述方案9所述的控制装置12，其特征在于，
控制可移动平台9移动为：控制可移动平台9以高于机器1独立行驶的最高行驶速度的速度移动；
或，控制方法中还包括步骤：控制机器1所包括的第一挡风件方位调整用活动机构，减小第一挡风件相对于所述机身01向后的倾角或降低第一挡风件相对于所述机器1的机身01的高度，和/或，控制机器1所包括的第一顶部高度调整机构，减小机器1的顶部115相对于机器1的机身01的底部的高度；以降低机器1在行驶方向的迎风面上的风阻。可选的，挡风件方位也需要视情逆向调整。例如在设备低速时或有风雨时，需要利用挡风件挡风雨。
该方案10的有益效果，在方案9的基础上，控制可移动平台9以高速行驶，解决了机器1行驶慢的核心问题。控制机器1所包括的第一挡风件方位调整用活动机构和/或第一顶部高度调整机构，能降低所述机器1在行驶方向的风阻，尤其在高速行驶时更有效。
实施本申请中的技术方案，具有以下有益效果：让可移动的机器1与可移动平台9更好的协作或 降低成本或提高安全性或更节能或更好的保护驾驶人员安全或为驾驶人员提供便利。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的一种可移动的机器1搭载于可移动平台9的示意图；
图2是本申请提供的另一种可移动的机器1和可移动平台9的示意图；
图3是本申请提供的再一种可移动的机器1和可移动平台9的示意图；
图4是本申请提供的分离的可移动的机器1与可移动平台9的俯视方向示意图；
图5-图11是本申请提供的可移动的机器1移动至可移动平台9上的移动过程示意图；
图12是本申请提供的另一种可移动的机器1搭载于可移动平台9的俯视方向示意图；
图13是本申请提供的再另一种可移动的机器1搭载于可移动平台9的侧视方向示意图；
图14是本申请提供的机械腿02处于行走状态中的可移动的机器1的示意图；
图15是本申请提供的机械腿02处于非步行状态中的可移动的机器1的示意图；
图16是本申请提供的一种电动推杆示意图。
附图标记说明：
X1指示前方；X2指示后方；10000表示路面；1表示可移动的机器；01表示机器1的机身；0表示机器1重心位置；1-1、1-2、1-3、1-4分别表示4个可移动的机器1中一个；
12表示可移动的机器1的控制装置，121表示移动控制模块，122表示第一通讯模块即机器1中的通讯模块；1211表示第一自动驾驶模块；1212表示人机界面；1213表示运动操控器件、1214为第四通讯模块；13表示第一连接装置即可移动的机器1的连接装置；131和132分别表示位于不同位置的第一连接装置；
115表示顶部；19表示第一顶部高度调整机构；23表示第一挡风件；24表示第一挡风件方位调整用活动机构；a1表示机器1的第一挡风件23相对于机身01的倾角；
5表示第一移动装置即可移动的机器1的移动装置；5A表示第一驱动器即第一移动装置5的驱动器；5B表示第一行驶机构即第一移动装置5的行驶机构；051表示第一侧的第一行走轮；052表示第一侧的第二行走轮；053表示第二侧的第一行走轮；054表示第二侧的第二行走轮；511表示第一行走机构；522表示第二行走机构；07表示第三行走机构；
211表示第一升降机构；211L表示第一侧的第一升降机构；211R表示第二侧的第一升降机构；222表示第二升降机构；222L表示第一侧的第二升降机构；222R表示第二侧的第二升降机构；221表示第三升降机构；
02表示机械腿；021L表示第一侧的第一部位腿；021R表示第二侧的第一部位腿；022L表示第一侧的第二部位腿；022R表示第二侧的第二部位腿；062L表示第一侧的第二部位腿末端的抓取装置；171表示第一作业工具(链锯)；172表示第二作业工具(如铲)；173表示第三作业工具(如剪刀)；
9表示可移动平台；90表示可移动平台9的机身；
91表示第二移动装置即可移动平台9中的移动装置；91A表示第二驱动器，即第二移动装置91的驱动器；91B表示第二行驶机构，即第二移动装置91的行驶机构；
911表示第二移动装置91的左前部，912表示第二移动装置91的左后部，913表示第二移动装置91的右前部，914表示第二移动装置91的右后部；
922表示第二通讯模块即可移动平台9中的通讯模块；93表示第二连接装置，即可移动平台9的连接装置；931和932分别表示位于不同位置的第二连接装置93。
具体实施方式
可移动的机器1控制可移动平台9移动，该控制指以通过通讯模块传递信息的方式控制。相较于机器1以机械(蛮力)操控可移动平台9移动(例如机器人用机械腿踩单车或机器人用机械臂打方向盘控制汽车行驶、机器人用划桨或把持方向舵控制船行驶)，更能避免机器1和可移动平台9中机械部件(例如臂、腿)型号规格(尺寸、机械强度)的制约。因为可移动平台9(汽车、单车或船)可能多种多样且形态各异且运动操控部件(汽车的方向盘与油门、单车的脚踏、船的浆或方向舵)尺寸规格型号繁多，从而导致机器1只能用机械力操控少数类型的可移动平台9移动，且机器1的腿或臂的型号规格被限定，无法驾驶更多类型的可移动平台，适用性受到制约，如提高适用性将使成本提高。
采用本发明方案，利用机器1(例如机器人)的控制装置12(例如自动驾驶模块1211)，即使可移动平台9(例如汽车、游艇、滑板车)仅仅具备(傻瓜式)第二移动装置91，也可在机器1(例如机器人)控制下实现(高性能)行驶。
例如，可移动的机器1为(含机械腿的)机器人，可移动平台9为(简易的)汽车、船(例如游艇)或滑板车。该汽车或滑板车的的最高行驶速度高于该机器1的最高行驶速度和/或该可移动平台9的最大载重值高于该机器1的最大载重值。本发明方案，使(足式)机器人能借助该汽车或滑板车克服(足式)机器人载重低或行驶速度慢(机器人足式行驶能耗大于轮式行驶)的缺点，或使(含机械腿的)机器人能借助该游艇克服机器人不便于涉水行驶的缺点。反之，简易的汽车、游艇、滑板车，通过(足式)机器人驾驶，大幅提升了行驶能力、智能度。
例如，可移动平台9为车(尤其指汽车)或船(游艇)，可移动的机器1为(能用于控制可移动平台9行驶的)可行走的智能载人舱(也称为座舱)。相对可移动的机器1(例如智能座舱机器人)，可移动平台9(例如车或船)可视为母机。智能座舱机器人1相当于可移动平台9的大脑。现有技术中，可移动平台9(例如车或船)的大脑(智能座舱)都是固定于车上，大脑(也即机器1)无法脱离母机而移动(导致大脑资产在母机无需行驶时闲置)造成巨大的浪费。本方案中，使得可移动平台9(例如车)的大脑(也即智能座舱机器1)能脱离可移动平台9移动，具有重大经济价值。例如，母机(例如车或游艇)载重大、行驶速度高，但存在不便于微型化、不能坐电梯、不能上楼、不便于跟人行走、不便于进入房间的缺陷；本申请中提供的可移动的机器1，当人下母机(例如车或游艇)后，该机器1可以跟人走，还可以载人回家。
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
下面结合说明书附图进行详细介绍。
请参见图1，图1是本申请提供的一种可移动的机器1和可移动平台9的示意图。如图1所示，X1和X2均表示方向。如X1指示前方，则X2指示后方。或者X2指示前方，则X1指示后方。
如图1所示，可移动的机器1搭载于可移动平台9上，图1中可移动的机器1的数量为1。该机器1可以搭载于可移动平台9上后，在可移动平台9上移动；也可以搭载于可移动平台9上后，在可移动平台9内移动；还可以搭载于可移动平台9上后，由可移动平台9搭载着机器1移动。
请参见图2，图2是本申请提供的另一种可移动的机器1和可移动平台9的示意图。如图2所示，可移动的机器1可离开该可移动平台9。可移动平台9与机器1均可独自移动。
请参见图3，图3是本申请提供的再一种可移动的机器1和可移动平台9的示意图。如图3所示，可移动的机器1的数量为4，分别表示为1-1、1-2、1-3、1-4。此处仅为示例性说明，对可移动的机器1的数量不做限定。
值得说明的是，本申请实施方式中所提供的可移动的机器1和可移动平台9均可独自移动，机器1可以搭载于可移动平台9上后，在可移动平台9上移动；也可以搭载于可移动平台9上后，在可移动平台9内移动；还可以搭载于可移动平台9上后，由可移动平台9搭载着机器1移动。
本申请实施例提供一种方案A：一种可移动的机器1，该机器1能搭载于可移动平台9；该机器1包括第一移动装置5，该第一移动装置5用于使该机器1移动；该机器1包括控制装置12，该控制装置12用于控制该机器1移动；该控制装置12还用于控制该可移动平台9移动。
该控制装置12还用于控制该可移动平台9移动，指：该控制装置12还用于通过通讯模块向该可移动平台9发送信息的方式控制该可移动平台9移动。
该控制装置12包括移动控制模块121，该移动控制模块121用于控制该机器1移动。该移动控制模块121还用于控制该可移动平台9移动。该控制装置12包括第一通讯模块122，该第一通讯模块122用于发送信息以控制该可移动平台9移动。移动控制模块即运动控制部件。
用于控制该可移动平台9移动的信息由该控制装置12生成和用于控制该可移动的机器1移动的信息由该控制装置12生成。具体的，该移动控制模块121用于形成控制该机器1移动的信息，该移动控制模块121还用于形成控制该可移动平台9移动的信息。
该控制装置12连接第一移动装置5。具体的可为，该移动控制模块121连接第一移动装置5。该移动控制模块121能向该第一移动装置5发送用于控制该第一移动装置5使可移动的机器1移动的信息。移动控制模块121连接该第一通讯模块122。该移动控制模块121也能向该第一通讯模块122发送用于控制第二移动装置91使可移动平台9移动的信息。
该移动控制模块121包括第一自动驾驶模块1211、寻迹模块、第一人工控制模块1213中任一种或任意多种。当存在多种移动控制方式时，该移动控制模块121还用于进行移动模式的切换。
该可移动的机器1能搭载于可移动平台9，指该机器1能搭载于该可移动平台9且能由该可移动平台9搭载该机器1移动。
示例性地，该第一移动装置5设置在可移动的机器1中。通过控制第一移动装置5可使该机器1移动。该移动可以是机器1在可移动平台9内移动，也可以是离开可移动平台9，还可以是进入该可移动平台9。
例如，第一移动装置5可以包括第一地面移动装置和/或第一水中移动装置和/或第一飞行装置等。
示例性地，当第一移动装置5为第一地面移动装置时，通过控制第一地面移动装置可使该机器1在地面移动。其中，该地面移动装置可以包括第一轮式移动装置和/或第一足式移动装置和/或第一履带式移动装置等。此处仅为示例性说明，对此不做限定。
示例性地，当第一移动装置5为第一水中移动装置时，通过控制第一水中移动装置可使该机器1在水中移动。其中，该第一水中移动装置可以包括第一螺旋桨或第一喷水式推进器等。
示例性地，当第一移动装置5为第一飞行装置时，通过控制第一飞行装置可使该机器1在空中移动。其中，该第一飞行装置为可垂直升降的飞行器。例如可垂直升降的飞行器为第一旋翼式飞行装置或第一喷气背包等。此处仅为示例性说明，对此不做限定。
上述实施方式中，可移动的机器1与可移动平台9相互协作，可移动的机器1可以脱离可移动平台9独自移动，也可搭载于可移动平台9上，控制且与可移动平台9一起移动。高效利用了控制装置，节省了成本，提升了经济价值。
该控制装置12包括第一通讯模块122，该第一通讯模块122用于向可移动平台9发送信息以控制该可移动平台9移动。
本申请中，由可移动的机器1发出的用于控制可移动平台9移动的信息为第一信息。该发出指通过第一通讯模块122发出。
例如，机器1通过第一通讯模块122向可移动平台9发送第一信息。
第一信息可以包括可移动平台9的一级指令、可移动平台9的二级指令、可移动平台9的三级指令中任一种或任意多种。一级指令为行驶目标位置。可移动平台9的一级指令用于控制可移动平台9以自动驾驶的方式移动。
示例性地，可移动平台9中包括第二自动驾驶模块921，可移动平台9接收到可移动平台9的一级指令时，通过第二自动驾驶模块921控制可移动平台向行驶目标位置移动。或者，机器1的控制装置中可设置有第一自动驾驶模块1211，可移动平台9接收到可移动平台9的一级指令时，通过第一自动驾驶模块1211和第二自动驾驶模块921，共同控制可移动平台向可移动平台9的一级指令中的行驶目标位置移动。
值得说明的是，第一自动驾驶模块1211和/或第二自动驾驶模块921中可包含定位、导航(路径规划)、行驶轨迹控制等系统。只需输入行驶目标位置，第一自动驾驶模块1211和/或第二自动驾驶模块921就能控制可移动平台9自动行驶至该行驶目标位置。具体实现过程可参考现有技术进行。
二级指令包括进退指令、行驶速度指令、转向指令中任一种或任意多种。其中，该可移动平台9的进退指令用于控制可移动平台9前进、后退等；该可移动平台9的行驶速度指令用于指示可移动平台9在移动过程中的移动速度；该可移动平台9的转向指令用于控制可移动平台9转动的方向、角度等。通常，无自动驾驶模块的设备(例如汽车)基于二级指令和/或三级指令控制该设备行驶。也即操控人员需持续、实时控制，以防事故。
示例性地，可移动平台9接收到可移动平台9的二级指令(进或退或转向)时，控制可移动平台9前进或后退，或控制可移动平台9以可移动平台9的二级指令中的移动速度移动，或控制可移动平台9转向等。
三级指令包括驱动指令。示例性地，可移动平台9中包括第二移动装置91，第二移动装置91包括第二行驶机构和第二驱动器，该第二行驶机构与第二驱动器连接。第二驱动器的类型可以为电机驱动器。可移动平台9接收到可移动平台9的驱动指令时，控制第二驱动器驱动可移动平台9移动。可选地，驱动指令中可以包括驱动器的正转指令、反转指令、停机指令、电机目标转速、驱动器输出电流的频率等。
可选地，在一种可能的实现方式中，该控制装置12可以包括第一自动驾驶模块1211。
示例性地，控制装置12中可设置第一自动驾驶模块1211。控制装置12用于通过该第一自动驾驶模块1211控制该可移动平台9移动。控制装置12还用于通过该第一自动驾驶模块1211控制该机器1移动。
具体地，利用第一自动驾驶模块1211控制该可移动平台9以自动驾驶的方式移动，或利用第一自动驾驶模块1211控制机器1以自动驾驶的方式移动。
相较于人力驾驶，第一自动驾驶模块1211不仅仅能使机器1和可移动平台9实现自动驾驶，提高驾驶性能；且该第一自动驾驶模块1211为高价值部件，该方案中，在可移动平台9停止移动时，也可通过第一自动驾驶模块1211实现机器1的移动，避免该第一自动驾驶模块1211在可移动平台停止移动时被闲置，高效利用了第一自动驾驶模块1211，充分体现了第一自动驾驶模块1211作为高价值部件的价值。
可选地，可移动平台9的最高行驶速度高于机器1的最高行驶速度。例如，可通过控制装置12控制可移动平台9搭载机器1以高于机器1独立行驶的最高行驶速度的速度移动。这种实现方式，控制可移动平台9以高速行驶，解决了机器1最高行驶速度低的核心问题。
可选地，可移动平台9的最大载重值高于机器1的最大载重值，例如，可通过控制装置12控制可移动平台9搭载机器1移动。这种实现方式，允许将超出机器1的最大载重值的物体交由控制可移动平台9搭载行驶，有助于解决了机器1最大载重值低的核心问题。
可选地，控制装置12还可以包括第一人工操控器件1213。第一人工操控器件可属于第一人工控制模块。第一人工操控器件包括第一转向操控器件和/或第一进退操控器件，用于通过人工发出设备的转向和/或进退指令。该设备为机器1或可移动平台9。驾驶人员可以通过该第一人工操控器件1213操控机器1移动，也能通过操控第一人工操控器件1213向可移动平台9发送信息控制可移动平台9行驶。
可选地，控制装置12还可以包括第一人机交互装置1212。该第一人机交互装置1212用于输入设备的行驶目标位置或设备的二级指令或。该设备为机器1或可移动平台9。该用于输入设备的二级指令的该人机交互装置可属于第一人工控制模块1213。该用于输入控制设备的行驶目标位置的该人机交互装置可属于第一自动驾驶模块1211。
可选地，控制装置12还可以包括用于接收设备的行驶目标位置或用于接收设备的二级指令的第四通讯模块1214。该设备为机器1或可移动平台9。该用于接收设备的二级指令的通讯模块可属于人工控制模块1213。该用于接收设备的行驶目标位置的通讯模块可属于第一自动驾驶模块1211。
示例性的，第四通讯模块1214为5G通讯模块。第一人机交互装置1212为触摸屏。第一转向操控器件和第一进退操控器件均为摇杆。
可选地，机器1包括第一挡风件方位调整用活动机构，该控制装置12还可用于控制第一挡风件方位调整用活动机构，以减小机器1中的第一挡风件23相对于机身01向后的倾角或降低第一挡风件23相对于机器1的机身01的高度，和/或，控制机器1所包括的第一顶部高度调整机构，减小机器1的顶部115相对于机器1的机身01的底部的高度，以降低机器1在行驶方向的迎风面上的风阻。
该实施方式中，控制机器1所包括的第一挡风件方位调整用活动机构和/或第一顶部高度调整机构，能降低所述机器1在行驶方向的风阻，尤其在高速行驶时更有效。
可选地，在一种可能的实现方式中，该机器1包括第一连接装置13，该第一连接装置13用于使该机器1连接于该可移动平台9，或断开该机器1与该可移动平台9的连接。
示例性地，机器1中设置有第一连接装置13。可通过该第一连接装置13建立机器1与可移动平台9之间的连接，或通过该第一连接装置13断开机器1与可移动平台9之间的连接。
上述实施方式中，通过第一连接装置13建立机器1与可移动平台9之间的连接，有助于后续机器1与可移动平台9之间的稳定协作。
可选地，第一连接装置13可以包括机械锁、电控锁等。相应地，当第一连接装置13包括机械锁时，通过该机械锁建立机器1与可移动平台9之间的机械连接，断开连接同理，此处不再赘述。这种连接方式节省了成本，使机器1与该可移动平台9的连接更牢靠、更稳定。
当第一连接装置13包括电控锁时，通过该电控锁建立机器1与可移动平台9之间的电连接，断开连接同理，此处不再赘述。相较于机械连接，这种方式在建立连接和断开连接时都更灵活、方便，更容易实现智能控制。
可选地，可移动平台9包括第二控制装置，第二控制装置包括第二移动控制模块。该第二移动控制模块用于形成控制该可移动平台9移动的信息。该第二控制装置用于控制可移动平台9移动。也即该第二移动控制模块用于控制可移动平台9移动。该第二控制装置连接第二移动装置91。具体的可为，该第二移动控制模块连接第二移动装置91。该第二移动控制模块能向该第二移动装置91发送用于控制该第二移动装置91使可移动平台9移动的信息。第二通讯模块922也属于第二控制装置。可移动平台9既可由可移动的机器1控制移动，也可由该第二控制装置中第二移动控制模块控制移动。两种控制信息源切换或选择，可由第二控制装置或可移动的机器1所发出的第一信息控制。示例性的，该切换或选择可由机器1所发出的第一信息控制。
可选的，第二控制装置可包括用于接收可移动平台9的行驶目标位置或可移动平台9的二级指令的第三通讯模块。可选的，第二控制装置还可包括用于接收可移动平台9的行驶目标位置或可移动平台9的二级指令的第二人机交互装置。可选地，第二控制装置还可以包括第二人工操控器件。第二人工操控器件包括第二转向操控器件和/或第二进退操控器件，用于通过人工发出可移动平台9的转向和/或进退指令以控制可移动平台9的移动。示例性的，第三通讯模块为4G或5G通讯模块。第二人机交互装置为触摸屏或语音输入系统。第二转向操控器件为方向盘。第二进退操控器件为油门和刹车。
可选地，可移动平台9中设置有第二自动驾驶模块921。第一自动驾驶模块1211还用于和该可移动平台9中的第二自动驾驶模块921共同控制该可移动平台9移动。第二自动驾驶模块921属于可移动平台9所包括第二控制装置中第二移动控制模块。
示例性地，共同控制可移动平台9移动，指第一自动驾驶模块1211和可移动平台9中的第二自 动驾驶模块921同时工作；例如，该第一自动驾驶模块1211和第二自动驾驶模块921各自计算可移动平台9的移动控制参数。移动控制参数包括速度、加速度、转向、方向等。
其中，计算可移动平台9的移动控制参数，包括识别可移动平台9的周围环境参数；周围环境参数包括，可移动平台9与外部物体的距离和/或与外部物体碰撞可行性和/或可移动平台所处的车道。
可移动平台9通常为汽车，速度快、质量重，一旦发生事故将导致车毁人亡。可移动平台9通过至少两套自动驾驶模块同时工作，多次校验，以防止发生事故。
如果两套自动驾驶模块均设置于可移动平台9上，而可移动的机器1中无自动驾驶模块，则使该机器1失去自动驾驶能力、降低了性能。若可移动的机器1再增加一套自动驾驶模块，则将导致巨大的成本浪费。优选的：可移动平台9、可移动的机器1各自设置一套自动驾驶模块；当可移动平台9搭载可移动的机器1移动时，其各自的自动驾驶模块配合使用，提高可移动平台9的行驶安全性。当可移动平台9进入车库时、停车时；可移动的机器1跟随人下车或载人下车，该机器1上的第一自动驾驶模块1211用于控制该机器1移动。因为可移动的机器1体积小、重量轻，安全风险小，一套自动驾驶模块使可移动的机器1既得到优越的智能移动性能，又节省了成本。
本实施方式中，第一自动驾驶模块1211和第二自动驾驶模块921共同配合，以控制可移动平台9移动，进一步保障了可移动平台9在移动过程中的安全。
可选地，在一种可能的实现方式中，控制装置12还用于控制该第一连接装置13，使该机器1连接于该可移动平台9，或断开该机器1与该可移动平台9的连接，该第一连接装置13包括电控锁。
示例性地，当第一连接装置13包括电控锁时，可通过控制装置12向第一连接装置13发送指令，该指令可以为连接指令或断开指令。其中，连接指令用于使该机器1连接于该可移动平台9，断开指令用于断开机器1与可移动平台9的连接。这种方式在建立连接和断开连接时都更灵活、方便，更容易实现智能控制。
可选地，在一种可能的实现方式中，机器1包括能载人移动的机器，例如，该机器内具有载人舱，和/或该机器为车或船的驾驶舱，和/或该机器内具有容纳人员的空间，和/或该机器内包括载人部件等。
该机器1中还包括：目标跟随模块，目标跟随模块即目标监测模块即寻迹模块。该目标跟随模块通过获取目标的位置和/或该目标的移动方向，以控制该机器1跟随该目标移动，该目标包括人员。
示例性地，该人员乘坐在该机器1的载人舱中，例如乘坐在车或船的驾驶舱中。该人员可以控制移动的位置、方向、速度等，由载人移动的机器载着该人员移动。
或者，通过该目标跟随模块获取该人员的位置和/或该人员的移动方向，控制该机器1跟随该目标移动。
这种实施方式中，通过机器1载着该人员移动至该人员想去的地方，例如，该人员可以乘坐该机器1出入电梯、上下楼、进出房间等，给人们的生活带来便利。
可选地，可移动平台9指车或船或其他机器人，可移动平台9的体积大于机器1，或该机器1轻于可移动平台9，或该机器1能连接于可移动平台9上，或该机器1能被装入可移动平台9内。该机器1可在可移动平台9内的移动、离开该可移动平台9或进入该可移动平台9。
可选地，在一种可能的实现方式中，该机器1构造为微型机器，该微型机器指机器1的机身宽度不大于1.2米，和/或，机器1的机身长度不大于1.6米，和/或，机器1的高度不大于1.6米。机 器1的微型构造，用于使该机器1能进入电梯和/或能通过建筑物的门回家或去商场或去办公室和/或能乘坐公共交通工具。
可选地，在一种可能的实现方式中，该机器1包括边界部件或连接该边界部件的连接部件，该边界部件用于构成容纳人员和/或物品的空间，该边界部件设置在该空间的周边和上方，该边界部件用于隔离该空间内外的人员或空气，可以有效地保护该人员。边界部件
机械腿、机械臂均为现有技术。本申请中，任一处所述腿均为机械腿。
本申请实施例还提供了方案B：一种可移动平台9，该可移动平台9包括第二移动装置91，该第二移动装置91用于使该可移动平台9移动；该可移动平台9能搭载可移动的机器1移动；该可移动平台9包括第二通讯模块922，该第二通讯模块922用于接收可移动的机器1发出的信息，并通过该信息控制该第二移动装置91以使该可移动平台9移动。该机器1包括用于使该机器1移动的第一移动装置5。
示例性地，该第二移动装置91设置在可移动平台9中。通过控制第二移动装置91可使该可移动平台9移动。例如，第二移动装置91可以包括第二地面移动装置和/或第二水中移动装置。
示例性地，当第二移动装置91为第二地面移动装置时，通过控制第二地面移动装置可使该可移动平台9在地面移动。其中，该第二地面移动装置可以包括第二轮式移动装置和/或第二足式移动装置和/或第二履带式移动装置等。此处仅为示例性说明，对此不做限定。
示例性地，当第二移动装置91为第二水中移动装置时，通过控制第二水中移动装置可使该可移动平台9在水中移动。其中，第二水中移动装置可以包括第二螺旋桨或第二喷水式推进器等。此处仅为示例性说明，对此不做限定。
本申请中，任一处所述飞行装置均指能垂直升降的飞行装置。例如，喷气式飞行装置指能垂直升降的喷气背包。
可移动的机器1通过第一通讯模块122向可移动平台9发送第一信息，可移动平台9中的第二通讯模块922接收该机器1发出的第一信息，并通过该第一信息控制该第二移动装置91以使该可移动平台9移动。
第二通讯模块922属于可移动平台9中的控制装置。可移动平台9的控制装置即第二控制装置。第二控制装置连接第二移动装置。也即：第二通讯模块922连接第二移动装置91。
机器1中的第一移动装置5包括第一驱动器5A和第一行驶机构5B。第一驱动器5A用于驱动第一行驶机构5B，以使得机器1移动。可移动平台9中的第二移动装置91包括第二驱动器91A和第二行驶机构91B。第二驱动器91A用于驱动第二行驶机构91B，以使得可移动平台9移动。
示例性地，上述可移动平台9通过第二通讯模块922接收该机器1发出的信息，并通过该信息控制该第二移动装置91以使该可移动平台9移动，具体可以为，可移动的机器1通过第一通讯模块122向可移动平台9发送第一信息，可移动平台9中的第二通讯模块922接收该机器1发出的第一信息，将该第一信息传递至第二驱动器91A，基于该第一信息该第二驱动器91A驱动该第二行驶机构91B，使该可移动平台9行驶。可选的，该第一信息在可移动平台9中不限于仅仅传递，还可通过第二装置进行相应的处理以控制该可移动平台9行驶。
示例性地，当第一信息仅包含第二移动装置91的驱动指令时，可移动平台9由该第二移动装置91的驱动指令控制可移动平台9行驶。
可选地，可移动平台9包括第二控制装置，第二控制装置包括第二移动控制模块。该第二移动控制模块用于形成控制该可移动平台9移动的信息。该第二控制装置用于控制可移动平台9移动。也即该第二移动控制模块用于控制可移动平台9移动。该第二控制装置连接第二移动装置91。具体的可为，该第二移动控制模块连接第二移动装置91。该第二移动控制模块能向该第二移动装置91发送用于控制该第二移动装置91使可移动平台9移动的信息。第二通讯模块922也属于第二控制装置。可移动平台9既可由可移动的机器1控制移动，也可由该第二控制装置中第二移动控制模块控制移动。两种控制信息源切换或选择，可由第二控制装置或可移动的机器1所发出的第一信息控制。示例性的，该切换或选择可由第二控制装置控制。
可选的，第二控制装置可包括用于接收可移动平台9的行驶目标位置或可移动平台9的二级指令的第三通讯模块。可选的，第二控制装置还可包括用于接收可移动平台9的行驶目标位置或可移动平台9的二级指令的第二人机交互装置。可选地，第二控制装置还可以包括第二人工操控器件。第二人工操控器件包括第二转向操控器件和/或第二进退操控器件，用于通过人工发出可移动平台9的转向和/或进退指令以控制可移动平台9的移动。示例性的，第三通讯模块为4G或5G通讯模块。第二人机交互装置为触摸屏或语音输入系统。第二转向操控器件为方向盘。第二进退操控器件为油门和刹车。
可选地，可移动平台9还包括人工驾驶模块，该人工驾驶模块即第二人工驾驶模块。该可移动平台9的行驶可由人工驾驶模块控制。该人工驾驶模块还可包括二级指令处理模块，用于将二级指令处理为三级指令。可选的，第二通讯模块922、二级指令处理模块和该第二移动装置91依次连接，第一信息包括二级指令。第二通讯模块922将该二级指令传送该二级指令处理模块，该二级指令处理模块基于该该二级指令处理得到第二移动装置91的驱动指令且将该驱动指令传送给第二移动装置91以控制可移动平台9行驶。可移动的机器1只需要发出二级指令即可控制可移动平台9移动。
将二级指令处理为三级指令的方法为现有技术。例如，当二级指令处理模块接收到的二级指令为可移动平台9的行驶速度指令(例如每小时60公里)，根据第二行驶机构91B的参数(例如行走轮的直径、第二移动装置91中所包括的减速机构的减速比)计算出控制第二驱动器91A所需的三级指令(例如驱动电流的设定频率、电机的设定转速等)。
可选地，第二自动驾驶模块921可以包括一级指令处理模块，用于将一级指令处理为三级指令。
可移动平台9的移动方式可以自由切换。例如，由人工驾驶方式切换为自动驾驶方式，或由自动驾驶方式切换为人工驾驶方式等。
上述实施方式中，可移动的机器1与可移动平台9相互协作，可移动的机器1可搭载于可移动平台9上移动，提升了可移动的机器1的移动速度。且机器1可控制可移动平台9移动，高效利用了控制装置，节省了成本，提升了经济价值。可移动的机器1也可脱离可移动平台9独自移动，从而使该机器1适用于更多的应用场所，发挥更多价值。
可移动的机器1与可移动平台9通过用通讯模块传送第一信息，使机器1搭载于可移动平台9且控制可移动平台9上移动。相较于用可移动的机器1通过机械蛮力方式(例如强行用臂转动方向盘、 用脚踩刹车、踩油门)驾驶可移动平台9移动，更加科学、智能。例如，可移动平台9可简化为无人工操控装置(方向盘、刹车和油门)的滑板车或简易艇，可移动平台9的成本能大幅降低；而可移动的机器1又能控制可移动平台9达到与机器1同等性能的运动。
机器人如果通过机械蛮力方式(例如强行用臂转动方向盘、用脚踩刹车、踩油门)操控可移动平台9的操控装置驾驶可移动平台9移动，并不能简省可移动平台9的操控装置的成本。
可选地，在一种可能的实现方式中，可移动平台9包括第二自动驾驶模块921，该第二自动驾驶模块921用于控制该可移动平台9以自动驾驶的方式行驶。
可选地，在一种可能的实现方式中，该可移动平台9中设置有第二挡风件方位调整用活动机构，该活动机构用于调整所述可移动平台9的第二挡风件相对于可移动平台9的机身90的倾角或降低第二挡风件相对于可移动平台9的底盘的高度，以降低该可移动平台9的风阻。
可选地，在一种可能的实现方式中，该可移动平台9的行驶，由该第二自动驾驶模块921和该可移动的机器1中的第一自动驾驶模块1211共同控制。
本实施方式中，第一自动驾驶模块1211和第二自动驾驶模块921共同配合，以控制可移动平台9移动，进一步保障了可移动平台9在移动过程中的安全。
可选地，在一种可能的实现方式中，该可移动平台9还可包括第二连接装置93，该第二连接装置93用于使该机器1连接于该可移动平台9，或断开该机器1与该可移动平台9的连接。
可选地，第一连接装置13或第二连接装置93可以包括机械锁、电控锁等。相应地，当第一连接装置13或第二连接装置93包括机械锁时，通过该机械锁建立可移动平台9与机器1之间的机械连接，断开连接同理，此处不再赘述。这种连接方式节省了成本，使机器1与该可移动平台9的连接更牢靠、更稳定。
当第一连接装置13或第二连接装置93包括电控锁时，通过该电控锁建立可移动平台9与机器1之间的电连接，断开连接同理，此处不再赘述。相较于机械连接，这种方式在建立连接和断开连接时都更灵活、方便，更容易实现智能控制。
可选地，在一种可能的实现方式中，该可移动平台9还可包括运动控制器件或能连接运动控制器件；该运动控制器件用于控制该可移动平台9移动。
本申请实施例还提供了方案C：一种可移动系统，该可移动系统可包括上述任一实施方案中的可移动平台9和上述任一实施方案中的可移动的机器1,该可移动平台9能搭载该可移动的机器1移动,该机器1包括第一移动装置5,该第一移动装置5用于使该机器1移动,该可移动平台包括第二移动装置91,该第二移动装置91用于使该可移动平台9移动；
该机器1包括控制装置12,该控制装置12用于控制该机器1移动,该控制装置12还用于控制该可移动平台9移动；和/或，该可移动平台9包括第二通讯模块922，该第二通讯模块922用于接收该机器1发出的信息，并通过该信息控制该第二移动装置91以使该可移动平台9移动。
本实施方式中，可移动的机器1与可移动平台9相互协作，可移动的机器1可搭载于可移动平台9上移动，提升了可移动的机器1的移动速度。且机器1可控制可移动平台9移动，高效利用了控制装置，节省了成本，提升了经济价值。可移动的机器1也可脱离可移动平台9独自移动，从而使该机器1适用于更多的应用场所，发挥更多价值。
可选地，在一种可能的实现方式中，该控制装置还包括连接控制模块，该连接控制模块用于控制第一连接装置13使该机器1连接于该可移动平台9，或断开该机器1与该可移动平台9的连接。
上述方案中，由该控制装置控制可移动平台9与机器1的连接或断开，操作简单，为用户带来了便利。
下述内容，对于上面方案A、方案B、方案C均有效。
可选的，可移动的机器1或可移动平台9，均构造为载人移动。可选的，可移动的机器1或可移动平台9均设置有载人舱。如图1-图3所示的可移动平台9有载人舱。如图5-图15所示的可移动的机器1具可设置载人舱。
可选地，本申请还提供了一种可移动的机器1搭载至可移动平台9上的方案。
示例性地，第一移动装置5可以包括机械腿或所述机器1包括机械臂，所述机械腿或所述机械臂能使所述机器1搭载于所述可移动平台9或脱离所述可移动平台9。
示例性的，第一移动装置5还包括可升降的滚动式行走机构，该可升降的滚动式行走机构用于使机器1上可移动平台9或下可移动平台9和/或沿路面行驶。
其中，可升降的滚动式行走机构包括行走件升降机构和滚动式行走机构，该行走件升降机构的一端与机器1的机身01连接，另一端与该滚动式行走机构连接，该行走件升降机构用于驱动该滚动式行走机构升降。滚动式行走机构为行走轮和/或履带式行走机构。
可选的，可升降的滚动式行走机构尤其指多段式可升降的滚动式行走机构。多段式可升降的滚动式行走机构的构造，请参阅图4-图11、图14、图15。
示例性的，多段可升降的滚动式行走机构配置为；该多段可升降的滚动式行走机构中，当某段滚动式行走机构在与其连接的行走件升降机构的驱动下上升离地时，其余的滚动式行走机构能支撑设备且能保持设备的平衡。能支撑设备且能保持设备的平衡，指其余的滚动式行走机构的可升降的滚动式行走机构的着地点最外圈的连线于地面的正投影包括该设备的重心O点。该设备为可移动的机器1。示例性的，该多段为三段。
请参见图4和图5，图4是本申请提供的分离的可移动的机器1与可移动平台9的俯视方向示意图。图5-本申请提供的分离的可移动的机器1与可移动平台9的侧视方向示意图。图5-图11是本申请提供的可移动的机器1移动至可移动平台9上的移动过程示意图。
如图4至图13所示，一种可移动的机器1包括：控制装置12、第一移动装置5、第一连接装置13。该控制装置12包括第一通讯模块122。第一移动装置5包括第一地面移动装置，该第一地面移动装置包括第一轮式移动装置，该第一轮式移动装置包括第一侧的第一行走轮051、第一侧的第二行走轮052、第二侧的第一行走轮053、第二侧的第二行走轮054。默认的，第一侧为左侧，第二侧为右侧。
第一行走机构511包括第二侧的第一行走轮053和第一侧的第一行走轮051
第二行走机构522包括第一侧的第二行走轮052、第二侧的第二行走轮054。
示例性的，第一连接装置13包括分别位于不同位置的第一连接装置131和第二位置的第一连接装置132。第二连接装置93包括分别位于不同位置的第二连接装置931和第二位置的第二连接装置932。
值得说明的是，机器1中的第一连接装置131和第一连接装置132，与可移动平台9中的第二连接装置931和第二连接装置932分别对应。如图4至图12所示的可移动的机器1中，第一连接装置131位于机身01的前部，第一连接装置132位于机身01的后部。如图4至图12所示的可移动平台9中，第二连接装置931位于机身90的前部，第二连接装置931位于机身90的后部。
如图4至图13所示，一种可移动平台9包括第二移动装置91、第二连接装置93、第二通讯模块922。第二移动装置91包括第二地面移动装置，该第二地面移动装置包括第二轮式移动装置，该第二轮式移动装置包括第二移动装置91包括第二移动装置91的左前部911、第二移动装置91的左后部912、第二移动装置91的右前部913、第二移动装置91的右后部914。
重点的，请参阅图5至图11中所示的可移动的机器1，其中的第一移动装置5，包含了多段式可升降的滚动式行走机构。
示例性地，多段式可升降的滚动式行走机构包括第一可升降的滚动式行走机构、第二可升降的滚动式行走机构、第三可升降的滚动式行走机构。
第一可升降的滚动式行走机构包括第一升降机构211和第一行走机构511。第二可升降的滚动式行走机构包括第二升降机构222和第二行走机构522。第三可升降的滚动式行走机构包括第三升降机构221和第三行走机构07。
其中，第一行走机构511和第二行走机构522沿行驶方向间隔布置，第三行走机构07设置在第一行走机构511和第二行走机构522之间。其中，第一升降机构211的一端与机身01连接，另一端与第一行走机构511连接，第一升降机构211用于驱动第一行走机构511移动，并调整第一行走机构511相对于机身01在竖直方向上的距离。
第二升降机构222的一端与机身01连接，另一端与第二行走机构522连接，第二升降机构222用于驱动第二行走机构522移动，并调整第二行走机构522相对于机身01在竖直方向上的距离；
第三升降机构221的一端与机身01连接，另一端与第三行走机构07连接，第三升降机构221用于驱动第三行走机构07移动，并调整第三行走机构07相对于机身01在竖直方向上的距离。
示例性的，第一升降机构211、第二升降机构222、第三升降机构221均为电动推杆。当然，也可采用气缸或液压缸。
第一行走机构511、第二行走机构522、第三行走机构07的类型均为滚动式行走机构。其中，如图5-图11所示的机器1中，第一行走机构511为第一行走轮、第二行走机构522为第二行走轮、第三行走机构07为履带式行走机构。履带式行走机构又可使设备获得良好的过松软地段、爬连续阶梯的能力。
示例性的，第一行走机构511中所包括行走轮相对所述设备的行驶方向横向布置有至少两个。
示例性的，第二行走机构522中所包括行走轮相对所述设备的行驶方向横向布置有至少两个。
示例性的，第三行走机构中包括多个行走轮，该多个行走轮相对所述设备的行驶方向横向布置有至少两个。示例性的，若第一行走机构511、第二行走机构52或第三行走机构包含多个行走轮，相应的用于分别升降该多个行走轮的升降机构配置数量也为多个。
为了便于理解，下面结合附图说明可移动的机器1移动至可移动平台9上的移动过程。
请参见图5-图11，图5-图11是本申请提供的可移动的机器1移动至可移动平台9上的移动过程示意图。其演示了可升降的滚动式行走机构，尤其是如何利用多段式可升降的滚动式行走机构的示意图。
如图5所示，当可移动的机器1移动位于可移动平台9附近时，执行以下步骤1；
步骤1：如图6所示，通过机器1控制第二升降机构222以驱动第二行走机构522下行，控制第三升降机构221以驱动第三行走机构07下行支撑地面且使机器1的机身01升高，或控制第二升降机构222驱动第二行走机构522下行及控制第三升降机构221驱动第三行走机构07下行使第二行走机构522和第三行走机构07支撑地面且使机器1的机身01升高，直至第一行走机构511的下表面不低于可移动平台9的上表面。
如图6所示，第一行走机构511的下表面不低于(略高于)可移动平台9的上表面，便于后续将机器1移动至可移动平台9上。
示例性地，可预先获取可移动平台9的上表面与地面的垂直距离，根据该垂直距离设置机身01的第一升高距离，再执行上述步骤1。例如，当检测到机身01与地面的垂直距离等于第一升高距离时，停止执行上述步骤1。
步骤2：如图7所示，进一步地，控制第二行走机构522和/或第三行走机构07以使得机器1向前行驶，即使得机器1向可移动平台9的方向(X1方向)行驶，从而使第一行走机构511的下表面位于可移动平台9的上表面之上。
该控制第二行走机构522和/或第三行走机构07，例如为控制第二行走机构522。又例如为控制第三行走机构07，再例如为同时控制第二行走机构522和第三行走机构07。
步骤3：如图8所示，进一步地，控制第三升降机构221以驱动第三行走机构07上行，直至第三行走机构07的下表面不低于可移动平台9的上表面。
示例性地，可预先获取可移动平台9的上表面与地面的垂直距离，根据该垂直距离设置第三行走机构07的第二升高距离，进而根据该第二升高距离控制第三行走机构07。例如，当检测到第三行走机构07的下表面与地面的垂直距离等于第二升高距离时，控制第三升降机构221停止驱动第三行走机构07。或例如，当检测到第三行走机构07的下表面不低于可移动平台9的上表面时，控制第三升降机构221停止驱动第三行走机构07。
步骤4：如图9所示，进一步地，控制第二行走机构522和/或第一行走机构511驱动机器1向前行驶，即使得机器1向可移动平台9的方向(X1方向)行驶，从而使第三行走机构07的下表面位于可移动平台9的上表面之上。
例如，该控制第二行走机构522和/或第一行走机构511，例如为控制控制第二行走机构522。又例如为控制第一行走机构511。再例如同时控制第二行走机构522和第一行走机构511。
步骤5：如图10所示，进一步地，控制第二升降机构222以驱动第二行走机构522上行，直至第二行走机构522的下表面不低于可移动平台9的上表面。便于后续将机器1移动至可移动平台9上。
示例性地，可预先获取可移动平台9的上表面与地面的垂直距离，根据该垂直距离设置第二行走机构522的第三升高距离，进而根据该第三升高距离控制第二行走机构522。例如，当检测到第二行 走机构522的下表面与地面的垂直距离等于第三升高距离时，控制第二升降机构222停止驱动第二行走机构522。
可选地，也可以是当检测到第二行走机构522的下表面不低于可移动平台9的上表面时，控制第二升降机构222停止驱动第二行走机构522。
步骤6：如图11所示，进一步地，通过机器1控制第一行走机构511、第三行走机构07以及第二行走机构522中的至少一种机构驱动机器1向前行驶，即使得机器1向可移动平台9的方向(X1方向)行驶，从而使得机器1的机身01整体位于可移动平台9上。
可选地，在一种可能的实现方式中，检测机器1相对于可移动平台9的位置，使机器1移动到使机器1中第一连接装置13与可移动平台9的第二连接装置93对应连接的位置，进而使第一连接装置13与第二连接装置93连接。从而使机器1固定于可移动平台9。便于后续可移动平台9载着机器1移动。
如图11所示，机器1的第一连接装置13与可移动平台9上的第二连接装置93连接。此时，第一连接装置131与第二连接装置931连接，第一连接装置132与第二连接装置932连接，从而将机器1固定在可移动平台9上。
值得说明的是，当机器1需要从可移动平台9上下来时，执行机器1移动至可移动平台9上的相反移动过程即可，此处不再赘述。
上述实施方式中，通过可升降的滚动式行走机构使机器1搭载于可移动平台9或脱离可移动平台9，或使该机器1行走，有利于机器1与可移动平台9之间更好的协作，也使机器1独自移动更灵活，为机器1独自移动提供了便利。
请参见图12，图12是本申请提供的可移动的机器1搭载于可移动平台9的俯视方向示意图。图12中的各个附图标记可参考上述关于图4的描述，此处不再赘述。
值得说明的是，可移动的机器1不仅可以搭载于可移动平台9，可移动的机器1还可以连接在可移动平台9的前面、后面、侧面等。例如，当可移动的机器1连接在可移动平台9的侧面时，可移动的机器1和可移动平台9可以并排行驶。此处仅为示例性说明，对此不做限定。
请参见图13，图13是本申请提供的可移动的机器1搭载于可移动平台9的侧视方向示意图。可移动的机器1包括：控制装置12、第一移动装置5、第一连接装置13。该控制装置12包括移动控制模块121、第一通讯模块122。其中，移动控制模块121包括：第一自动驾驶模块1211、人机界面1212、运动操控器件1213、不同于第一通讯模块122的另一通讯模块1214。第一移动装置5包括第一驱动器5A、第一行驶机构5B。第二移动装置91包括第二驱动器91A、第二行驶机构91B。该通讯模块1214用于接收设备的行驶目标位置或用于接收设备的二级指令。
该可移动平台9包括第二移动装置91、第二连接装置93、第二通讯模块922。该可移动平台9及所含部件用于实现前述方案B中功能。
该图13所示，可移动的机器1搭载于可移动平台9，为可移动的机器1挂载于可移动平台9的前边且该机器1离地。离地即悬空。
可选地，在一种可能的实现方式中，可通过机械腿或机械臂使机器1搭载于可移动平台9或脱离可移动平台9。例如，控制该可移动的机器1的机械腿或机械臂运动，使该可移动的机器1上到可移动平台9上，或者从可移动平台9上下来。当然也可以通过机械腿使机器1沿路面行驶、出入电梯、上下楼梯、进出房间等。通过机械腿或机械臂运动上下可移动平台9的具体过程可参考现有技术进行，此处不再赘述。
请参见图14和图15，图14是本申请提供的机械腿02处于行走状态中的可移动的机器1的示意图；图15是本申请提供的机械腿02处于非步行状态中的可移动的机器1的示意图。
本申请中，图14、图15所示机械腿02为具有机械臂功能的机械腿。具有机械臂功能的机械腿也称为腿臂融合的肢体机构或称为具有机械腿功能的机械臂。非步行状态尤其指持作业工具作业的状态。机械腿02的末端连接作业工具用于作业。该连接指安装有或用机械腿02的末端连接的抓取装置抓取。
该可移动的机器1包括：机身01、第一移动装置5、机械腿02、顶部115、第一顶部高度调整机构19。
该第一移动装置5包括可升降的滚动式行走机构。该可升降的滚动式行走机构包括：第一升降机构211、第二升降机构222、第三升降机构221、第一行走机构511、第二行走机构522、第三行走机构07。
如图15所示，第一升降机构211包括第一侧的第一升降机构211L和第二侧的第一升降机构211R；第二升降机构222包括第一侧的第二升降机构222L和第二侧的第二升降机构222R。第一行走机构511包括第二侧的第一行走轮053和第一侧的第一行走轮051。示例性的，第一升降机构211、第二升降机构222、第三升降机构221均为电动推杆。当然，也可采用气缸或液压缸。
如图4、图15所示，第二行走机构522包括第一侧的第二行走轮052和第二侧的第二行走轮054。第三行走机构07可以为履带式行走机构。
可升降的滚动式行走机构用于使设备行走。
第一顶部高度调整机构19的一端连接机身01底部，另一端连接顶部115。第一顶部高度调整机构19用于调整顶部115相对于机身01底部的高度。机械腿02包括第一侧的第一部位腿021L、第二侧的第一部位腿021R、第一侧的第二部位腿022L和第二侧的第二部位腿022R。
如图14、图15所示，该机械腿02，第一侧的第一部位腿021L的末端与第一作业工具171(如链锯)连接，第二侧的第一部位腿021R的末端与第一作业工具172(如铲)连接，第一侧的第二部位腿022L的末端与抓取装置062L连接，第二侧的第二部位腿022R的末端与第三作业工具173(如剪刀)连接。具有机械臂功能的机械腿02，除了能使机器1搭载于所述可移动平台9或脱离所述可移动平台9和/或行走之外，还具有作业功能。该作业包括(用抓取装置062L、第一作业工具172)搬运人员和/或搬运物品和/或连接作业工具加工物品。用可移动平台9同时搭载可移动的机器1和待搬运的人员物品一起移动。该方案可极大的提高作业的效率，能尽量避免用可移动平台9分批多次搭载可移动的机器1、待搬运的人员物品移动的情况。该作业工具尤其指171第一作业工具172(如铲)和/或第三作业工具173(如剪刀)。相对于仅仅用机械臂(徒手)作业，作业工具能大幅提高作业效率。
可选择的，该可移动的机器1还包括控制装置12、第一连接装置13，该控制装置12包括第一通讯模块122(为了附图清晰，该部分内容在图14、图15中未画出来)，以实现前述的方案A所述功能。例如，第一连接装置13和第一通讯模块122设置于第三行走机构07中用于支撑履带的支架上。
本实施方式中，通过机械腿或可升降的滚动式行走机构或机械臂可使机器1上可移动平台9或下可移动平台9，或使该机器1行走，有利于机器1与可移动平台9之间更好的协作，也使机器1独自移动更灵活，为机器1独自移动提供了便利。
若可移动的机器1仅包含机械腿02(未包含可升降的滚动式行走机构)，第一连接装置13/第一通讯模块122可设置于该机器1的机身01的下部或侧部。如果第一连接装置13/第一通讯模块122设置于该机器1的机身01的下部，则对应的，可移动平台9中第二连接装置/93第二通讯模块922设置于该可移动平台9的机身90的对应的上部。如果第一连接装置13/第一通讯模块122设置于该机器1的机身01的侧部，可移动平台9中第二连接装置/93第二通讯模块922设置于该可移动平台9的机身90的对应的侧部。
可通过图14、图15所示的可移动的机器1，实现独立移动，上下可移动平台9。
如图14、图15所示的机器1，第一挡风件23的下端铰接于机身01上，第一挡风件方位调整用活动机构24一端铰接于机身01，另一端铰接于第一挡风件23。第一挡风件方位调整用活动机构24为伸缩机构。例如该伸缩机构为电动推杆或液压缸或气缸。在如图14所示的位置，当该伸缩机构带动该第一挡风件23后倾，减小机器1中的第一挡风件23相对于机身01的倾角a1，则降低机器1在行驶方向的迎风面上的风阻。示例性的，该伸缩机构为电动推杆，该基座为推杆底座，该输出件为输出杆。
示例性的，第一挡风件方位调整用活动机构为横置的电动旋转马达，该电动旋转马达的基座固接于机身01，该电动旋转马达的输出件连接该第一挡风件的下部。以图14为示意，将第一挡风件仍旧设置于标号23所示位置。当该电动旋转马达的输出件旋转带动该第一挡风件23后倾，减小机器1中的第一挡风件23相对于机身01向后的倾角a1，也能降低机器1在行驶方向的迎风面上的风阻。示例性的，该摆动机构为电动旋转马达。示例性的，该基座为底座，该输出件为输出轴。
如图14、图15所示的机器1，第一顶部高度调整机构19为竖向设置的气缸，该气缸的基座固接于机身01的底部，该气缸的输出件连接该机器1的顶部115。当该气缸带动该顶部115下降，减小机器1的顶部115相对于机器1的机身01的底部的高度，以降低机器1在行驶方向的迎风面上的风阻示例性的，该伸缩机构为气缸，该基座为气缸底座，该输出件为气缸的活塞输出杆。该伸缩机构可为1-4根。示例性的，该数量为4根。也可选择电动推杆或液压缸作为第一顶部高度调整机构。
可选地，还可用其他方法使可移动的机器1上下可移动平台9，例如，人工搬运。又例如，在可移动平台9上安装机械臂或升降机构，通过机械臂抓取可移动的机器1，使其上下可移动平台9。再例如，在可移动平台9上安装卷筒式升降机构，通过该卷筒式升降机构使可移动的机器1升降，令使其上下可移动平台9。此处仅为示例性说明，对此不做限定。
本申请文件中，图1至图15的任一附图中所示的可移动的机器1，均可包含用于实现前述方案A功能的部件(为了附图的清晰可读、体现各自重点，部分部件未画出来)，该部件为控制装置12、第一通讯模块122。可选的该机器1还包括第一连接装置13。
本申请文件中，图1至图13的任一附图中所示的可移动平台9，均可包含用于实现前述方案B功能的部件(为了附图的清晰可读、体现各自重点，部分部件未画出来)。
搭载即搭乘和运载。可移动的机器1能搭载于可移动平台9，等同于该可移动平台9能搭载该可移动的机器1。可移动的机器1能搭载于可移动平台9，即可移动平台9能搭载可移动的机器1移动。可移动平台9能搭载可移动的机器1，指可移动平台9能搭载可移动的机器1移动。可移动的机器1能搭载于可移动平台9，即可移动的机器1能搭载于可移动平台9且该可移动平台9能搭载可移动的机器1移动。可移动平台9搭载可移动的机器1移动，该移动指由该可移动平台9的第二移动装置91驱动该可移动平台9移动。
可选的，搭载于可移动平台9为位于可移动平台9之上(相应的脱离为下)进入可移动平台9内(相应的脱离为出)或挂载于可移动平台9的某边且该机器1离地。离地即悬空。该三种搭载方式，与两车在地面相互推动有重大区别。两车在地面推动，不能克服两车的行走轮的规格限制，对于两车提升速度或提升越障能力的效果有限。
可移动平台9能搭载可移动的机器1，指：该可移动平台9的机械结构(的强度和结构)构造为能搭载该可移动的机器1，该可移动平台9的第二移动装置91(的驱动能力)配置为能驱动搭载可移动的机器1的可移动平台9行驶。
示例性的，如图1至图3所示，可移动的机器1的机身01为座式机身，可移动平台9的机身90为(大号)舱式机身；可移动的机器1搭载于可移动平台9为可移动的机器1进入可移动平台9内(相应的脱离为出)。
示例性的，如图4至图13所示，可移动的机器1的机身01为(小号)座舱式机身，可移动平台9的机身90为板式机身。且可移动的机器1(的机身01)的体积小于可移动平台9(的机身90)的体积。
示例性的，如图4至图12所示，可移动的机器1搭载于可移动平台9为可移动的机器1到达可移动平台9之上(相应的脱离为下)。
示例性的，如图13所示，可移动的机器1搭载于可移动平台9为可移动的机器1连接于可移动平台9的某边且可移动的机器1悬空离地。
可选的，可移动的机器1的重量大于可移动平台9的重量或可移动的机器1的机身01的体积大于可移动平台9的机身90的体积；该机器1能搭载于可移动平台9，该机器1也能搭载可移动平台9移动。
可选的，可移动的机器1的重量大于可移动平台9的重量或可移动的机器1的机身01的体积大于可移动平台9的机身90的体积；该机器1能搭载于可移动平台9，该机器1也能搭载可移动平台9移动。
可选的，可移动的机器1的机身01的体积小于可移动平台9的机身90的体积，该可移动的机器1可进入该可移动平台9的机身内。例如，该可移动平台9为车或船，该可移动的机器1为可进入该可移动平台9的机身内的轮椅或座椅。
可选的，所述可移动平台9的最高行驶速度高于所述机器1的最高行驶速度，和/或，所述可移动平台9的最大载重值高于所述机器1的的最大载重值。例如，该可移动平台9为车或船
示例性地，本申请中，第一连接装置13和第二连接装置93配置为用于相互配合以可分断的连接可移动的机器1和可移动平台9。例如，第一连接装置13和第二连接装置93，一种为销则另一种为与该销相配的孔，或一种为螺栓则另一种为与该螺栓相配的螺孔，或一种为螺栓则另一种为与该螺栓相配的螺母，或一种为钩则另一种设置为与该钩相配的被钩件。可选的，第一连接装置13和第二连接装置93中至少一种为主动连接装置。主动即由动力驱动。
示例性地，本申请中，第一通讯模块122和第二通讯模块922配置为用于相互配合以传递信息，该信息包括第一信息。信息传递模块为通讯模块。信息传递即通讯。第一通讯模块122和第二通讯模块922各自有能相互对接的电路接口。第一通讯模块122和第二通讯模块922各自有能相互对接的通讯协议。例如，第一通讯模块122和第二通讯模块922为相互对接的485总线、WIFI、蓝牙或以太网通讯模块。通讯模块用于以电信号方式通讯。电信号包括光学信号、磁信号、无线电信号、有线电信号中至少一种。
示例性的，设备的挡风件方位调整用活动机构为竖置的升降机构，该升降机构的基座连接该设备的机身，该升降机构的输出件连接挡风件，通过该升降机构的动作可使该挡风件升降也即调整高度。示例性的，本申请中任一机构的输入件均可通过用于驱动该机构的驱动器连接该设备的控制装置，该控制装置就能控制该驱动器驱动该机构动作。该设备可为机器人或可移动平台9。机械臂和机械腿的基座连接于机器1的机身01，该机械臂或该机械腿的关节也属于机构。每一个关节的均连接用于驱动该关节的驱动器，该驱动器连接控制装置12。控制装置12可通过关节所连接的驱动器控制关节的运动，进而控制机械臂或机械腿的运动。
任一部件如果需由动力驱动，则该部件的执行机构连接用于驱动该执行机构的驱动器，该驱动器连接该设备的控制装置，该控制装置就可通过该驱动器控制该部件的动作。例如该部件为电控锁。
本申请中，机构均指运动机构。任一机构均包括基座、输入件、输出件。在没有限定说明时，该基座连接设备(可移动的机器1或可移动平台9)的机身或为该设备的机身的构成部分。该输入件连接驱动器。该输出件连接负载物体。在该驱动器的驱动下，该输出件带动该负载实现该机构的运动。输入件即原动件。输入件即动力输入件。
机构的类型包括行驶机构、转向机构、升降机构、伸缩机构、高度调整机构、长度调整机构、款度调整机构、角度调整机构、机械臂或机械腿的关节。可选的，机构为电动推杆或液压缸或气缸。机构的构成、原理、功能、连接方式均可通过现有技术知晓。默认的，本文中任一处机构，机构的一端为该机构的基座，该机构的另一端为该机构的输出件。当然也可视情选择另一方案其他情况，例如机构的一端为该机构的输出件，该机构的另一端为该机构的基座。若升降机构用于调整设备的高度，该升降机构即高度调整机构。设备的高度，指设备的底部至设备的顶部在上下方向的距离。
本申请实施例还提供了一种电动推杆，其内部为丝杆机构，电动推杆的基座包括推杆的外管，电动推杆的输出件包括推杆的伸缩杆，其内部丝杆机构包含丝杆。该丝杆机构由电机驱动。
请参见图16，图16是本申请提供的一种电动推杆示意图。如图16所示，201A表示推杆的外管；202A表示丝杆；203A表示推杆的伸缩杆；204A表示电机。本实施方式中采用电动推杆更省事省力，为用户带来便利。
后续部分，为本申请的名词、基础方案的说明：本申请中，任一处说明、解释、方案，可用于本文的任一方案中。
需说明的是，当部件被称为“固定于”或“设置于”另一个部件，它可以直接在另一个部件上或者间接在该另一个部件上。当一个部件被称为是“连接于”另一个部件，它可以是直接或者间接连接至该另一个部件上。连接的类型可为机械连接或电连接。术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。术语“第一”、“第二”仅用于便于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明技术特征的数量。“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；本文中的“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，在本申请实施例的描述中，“多个”是指两个或多于两个。
本申请中，任一处的描述，可用于本文中任一方案中。
首先，对本申请实施例中的部分用语即基础技术方案进行解释说明，以便本领域技术人员理解。
1、本申请中，本文中，包括可指为。仅仅包括即为。
当无附加说明时：前方指机器行驶的方向。例如，指附图中X1所指的方向。其中，X1指示前方，行驶即行进。移动即运动。驾驶即控制设备移动。设备移动即设备行驶。可移动平台移动即可移动平台行驶。机器移动即机器行驶。地面即路面。形成即生成。地面指位于设备的下方和承载设备的底面。单元、装置、系统、模块、部件、元件、器件，该七者等同。单元即装置即系统即模块即部件即元件即器件。动力系统即动力单元即驱动单元即驱动装置即驱动部件即驱动器，该六者等同。在没有限定时，任一部件既可指部件整体，也可指部件所包含的器件中任一个或任意多个，该部件可为机器、装置、模块、构件中任一种。例如，在没有限定时，机器，可指机器整体、机器本体、机器的作业装置(1)、机器中部件中任一器件。本申请中，任意两个或任意多个器件，在结构上均可一体化；设置于同一空间或部件内。本申请中，允许将任一方案中括号去除，将该括号中内容补充于该方案中。例如，可移动的机器1(的机身01)的体积小于可移动平台9(的机身90)的体积，可选择为：可移动的机器1的机身01的体积小于可移动平台9的机身90的体积。
可移动的设备既可为可移动的机器也可为可移动平台。设备既可为机器也可为平台。机器可以为机器人。可移动机器、可移动平台均属于可移动的设备。可移动的机器1即第一可移动的设备也即可移动的第一设备。可移动平台9即第二可移动的设备也即可移动的第二设备。可移动的机器1与可移动平台9是两个不同的设备。
2、机身：机身即机架即本体即躯体，该四者等同。本申请中，在没有限定或附加说明时：设备尤其指设备的机身。移动、运动、设备的移动、设备的运动均指设备的机身的移动。设备机身的移动即设备的行驶，可简称行驶。本申请中任一设备均包括设备。本申请中任一机器均包括机身01。任一可移动平台均包括机身90。
机顶通常指机器顶部的板、框架等。机器的前挡，该前挡通常为前挡风玻璃。前挡指机身前部的挡风面；前挡尤其指机身前的挡风玻璃和/或该挡风玻璃的支撑件。
可选地，机身呈镂空状设置，机身相对水平面水平布置，并包括多根纵梁和多根横梁，各横梁的两端分别连接对应两纵梁。可以理解的是，可以多根纵梁沿竖直方向层叠设置，而多根横梁沿竖直方向层叠设置。本实施例中，纵梁和横梁由金属材料或其他具有标准强度材料制成，比如不锈钢方管或铝型材，多根方管焊接而形成机舱。纵向指前后方向。横向指左右方向。镂空即中空。
可选的，可移动平台9的机身90为板状；该板状机身90由金属材料或其他具有标准强度材料制成，比如铁板或铝型材或工程塑料。
本申请中，在没有限定说明时，设备中任一部件的一端均连接于该设备的机身。该一端尤其指基座。
例如，可移动的机器1所包括的第一移动装置5、控制装置12、第一连接装置13、机械臂中任一种部件的一端均连接于该机器1的机身01。第一移动装置5所包括的机械腿、可升降的滚动式行走机构的基座均连接于该机器1的机身01。
可移动的机器1中第一挡风件方位调整用活动机构一端连接该机器1的机身01，另一端连接该第一挡风件。第一顶部高度调整机构一端连接该机器1的机身01的底座，另一端连接该该机器1的顶部115。
例如，可移动平台9所包括第二移动装置91的一端连接于该可移动平台9的机身90。可移动平台9所包括的第二顶部高度调整机构一端连接该可移动平台9的机身90的底座，另一端连接该该可移动平台9的顶部。可移动平台9中第二挡风件方位调整用活动机构一端连接该可移动平台9的机身90，另一端连接该第二挡风件。
3、本申请中任一设备中所包括的控制装置、移动装置中，该控制装置连接该移动装置，用于控制该移动装置移动。能源供应装置连接控制装置，为控制装置供电。能源供应装置连接移动装置，为移动装置提供能源。示例性的，能源供应装置为电池，提供能源指供电。控制装置12用于控制可移动平台9移动，指控制装置12中所包含的任一个或任意多个部件用于控制可移动平台9移动。该部件尤其指模块。
运动操控器件由人体操控或由人员躯体移动触发，生成和/或发出控制指令控制设备移动。运动操控器件即人工式运动操控器件，两者等同。运动控制模块即运动控制部件，该两者等同。
本申请中，控制装置可以包括运动控制部件。该运动控制部件用于控制设备移动。控制设备移动即控制该设备的移动装置使该设备移动。移动尤其指机器在动力系统的驱动下的移动。动力系统即驱动器。运动控制模块可以包括：人工式运动操控器件、目标监测模块、自动驾驶模块中任一种或任意多种。用于控制可移动平台9移动的信息、用于控制可移动的机器1移动的信息，均可由控制装置生成。
该人工式运动操控器件至少包括可活动的操控件，该可活动的操控件能连接用于进退操控的开关和/或位置检测器件；该可活动的操控件用于操控该开关和/或位置检测器件、并发出相应的信号，该设备的控制装置可接收、处理该信号，以控制机器的移动。信号即信息。
控制机器的移动(例如进或退或停机)的可活动的操控件，可为摇杆、移动杆、按钮头也即按钮帽、旋转把手等。位置检测器件可以包括电位器、编码器、光栅尺、霍尔感应型位置检测器件等。运动操控器件可与位置检测器件(MCD)联动，操纵该运动操控器件还可调节机器的移动速度。
设备的运动操控器件，包括设备的进退操控器件和/或设备的转向操控器件。本申请中，操纵既操控；转向操控器件即转向操纵器件。人员可在设备上或位于设备周边，操控可活动的操控件、发出可控制设备的移动装置、以使设备移动的指令，以使设备移动。可选的，运动操控器件为遥控器件；也即运动操控器件可遥控设备的移动。
转向操纵部件，为用于通过人体发出转向指令的机构；该人体优先为手；典型的转向操纵部件为把手、方向盘等。摩托车、单车、电动代步车、电动行李箱中的转向操纵部件通常为把手或方向盘或摇杆或推杆。转向操纵部件也可称为转向操纵机构。
设备的转向，可有多种现有技术：一种为：设备两边的行走轮可差速运行，以进行转向；例如扫地机器人的转向。另一种是转向操纵部件与转向车轮连接，操控或控制转向操纵部件可使转向轮偏转，可使机器转向。设备操纵台设置有或连接转向操纵部件(例如单车的把手、摩托车的把手、汽车的方向盘)；转向操纵部件与转向轮之间，设置有连接部件以传递转向所需要的力和/或扭矩等；例如单车、摩托车的转向等。默认的，在没有限定说明时，本文中轮为行走轮。
寻迹模块；用于获取目标位置和/或目标移动的方向，控制设备伴随目标移动。该目标包括人员。寻迹指寻找、跟随目标移动轨迹。本申请中，伴随即跟随也即跟踪。伴随目标移动即跟随目标移动即跟随目标的移动而移动，三者等同；跟随、定位跟随为：确定目标与设备的相对位置，根据该相对位置驱动设备跟随。本申请中，机器可跟随目标移动：并非专指机器位于目标后；机器位于目标的左或右或前方，机器也可伴随目标移动。
寻迹模块包括：目标状况的识别模块和/或目标位置的获取模块。目标状况的识别模块用于获取人员移动的方向。目标状况包括目标移动状况；移动状况包括移动的方向、速度、加速度、加速度、移动行为的逻辑合理性等参数。目标的识别，可通过多种现有技术实现；可基于射频信号身份识别卡、IC卡、ID卡、人脸识别等技术实现。
自动驾驶模块，用于以自动驾驶方式控制机器移动。自动驾驶即无人驾驶。自动驾驶模块为基于卫星、地图信息进行无人驾驶。人员寻迹式移动控制指由传感器采集人员的现场移动轨迹、移动趋势进行移动控制。自动控制，即使无人员也可基于卫星、预存地图信息行驶至设定位置。人员寻迹式移动控制，如无人员导引则不能行驶。
自动驾驶模块，包括用于(环境和设备自我)感知、(路径和速度)规划、(根据目标速度和目标方向)控制设备的移动装置以使该设备行驶的子模块。控制设备的移动装置即控制设备的移动装置中用于驱动行驶机构的驱动器。
人工驾驶，感知和(速度和路径)规划均由人进行。由人工参与(根据目标速度和目标方向)控制设备的移动装置以使该设备行驶。人力操纵即人工操控即人体操控，该三者等同。
控制装置用于控制机器进行某种作业。该某种作业或该进行某种作业尤其指移动。控制，包括人工控制、自动控制等。人工控制，指经过人机交互模块、通讯模块接收人工控制指令；基于该指令进行控制。自动控制，指接收自动控制装置所发出的控制指令；基于该指令进行控制。当该自动控制装置位于机器外部时，经过通讯模块将控制指令引入内部控制装置。手动指人工操作、手动操作。
移动装置用于使设备移动。该移动指在动力系统的驱动下移动。移动可包括在地面移动、在水中移动或在空中移动。该移动装置可包括地面移动装置和/或水中推进装置和/或飞行装置。地面移动装置包括轮式移动装置和/或足式移动装置和/或履带式移动装置。地面移动装置用于使机器在地面移动。即：轮式移动装置用于使该机器以轮式方式移动。足式移动装置用于使该机器以足式方式移动。履带式移动装置用于使该机器以履带运行方式移动。地面移动装置还具有支撑机器本体、使机器本体离地的作用。水中推进装置用于使机器在水中移动。飞行装置用于使该机器飞行。进一步优选的机器的本体构造为能在地面载人移动和/或载物移动，和/或，机器的本体构造为能在水中载人移动和/或载物移动。腿式移动装置即足式移动装置即机械腿。
能源供应装置尤其指电源尤其指电池。运动系统也即移动装置。移动装置即运动系统。可移动，指设备可在动力系统驱动下移动。移动装置用于驱动可移动的设备移动。基于现有技术可知的，移动装置的型号确定，能源供应装置即确定可知。移动装置可内含能源供应装置，或移动装置外接能源供应装置。
本文中的设备均为可由动力系统驱动行驶的设备。移动装置、控制装置和能源供应装置的具体结构，均可通过现有技术实现。驱动部件即驱动装置即驱动器。优选为电驱动部件。电驱动部件包括电机机其驱动器、电磁铁及其驱动器。本申请中，任一动作，均可由设置的与该动作相应的驱动器实现。
机器的运动系统、控制装置、动力系统可安装于机器的本体之内。运动系统即移动装置。
驱动单元即动力单元即动力系统。动力系统包括燃料动力系统、电气动力系统也即电动系统、液压动力系统、气体动力系统也即气动系统中至少一种。
控制装置即控制单元，(从构成上分析)包括软件和/或硬件和/或结构件等。控制装置为至少包括处理模块的部件。处理模块可简单为一个开关，也可为带CPU或DSP可运行软件的器件；优选的，控制装置还可包括存储模块、通讯模块、人机界面、传感器模块中至少一个部件。处理模块用于处理、执行逻辑指令和/或软件程序。存储模块用于存储逻辑指令和/或软件程序。通讯模块用于与机器外部的信息处理中心通讯，以传送信息。人机界面包括语音处理系统、视频处理系统、显示系统、键盘、鼠标等。显示系统包括触摸屏、显示器等。
人机界面即人机交互模块即人机交互装置。人机界面用于输入控制信息和/或指示状态信息。传感器模块用于监测各部件的数据、状况信息。传感器包括摄像头、雷达、电流传感器等。
人工控制模块包括运动操控器件、用于接收设备的的二级指令的通讯模块、用于输入设备的的二级指令的人机界面中任一种或任意多种。运动操控器件包括转向操控器件(例如方向盘或把手)和/或进退操控器件(油门、刹车)。运动操控器件用于发出设备的的二级指令。
可选的，自动驾驶模块包括用于接收设备的一级指令的通讯模块、用于输入设备的一级指令的人机界面中任一种或任意多种。
人机界面人机界面包括语音处理系统、视频处理系统、显示系统、键盘、鼠标等。显示系统包括触摸屏、显示器等。显示器尤其指HUD也即平视显示器等。
人机交互装置可以包括语音交互系统、显示屏、鼠标或键盘等。驾驶人员可通过语言、触摸、点击等方式与该人机交互装置交互。该人机交互装置的显示界面还可显示行驶路程、路况、行驶速度等信息。此处仅为示例性说明，对此不做限定。人工操控器件即运动操控器件。例如人工操控器件可以为方向盘、摇杆、把手、脚踏刹车或脚踏油门等。
可选的，该控制装置12包括人机交互装置1212、用于与除该可移动平台9之外的外部系统通讯的通讯模块、存储模块、通讯模块、人机界面、传感器模块中任一种或任意多种。该人机交互装置1212用于输入设备(例如机器1或可移动平台9)的行驶目标位置。
从硬件角度，该控制装置12包括处理模块。该控制装置12还可包括存储模块、传感器模块中任一种或任意多种。
用于控制可移动的机器1移动的驱动指令即第一驱动指令。用于控制可移动平台9移动的驱动指令即第二驱动指令。
控制装置12控制可移动的机器1移动，即由控制装置12发出第一驱动指令控制第一移动装置5使该机器1移动。
控制装置12控制可移动平台9移动，即由控制装置12发出第二驱动指令控制第二移动装置91使该可移动平台9移动。
可选的，第一移动装置5的参数(例如行走轮的直径)不同于第二移动装置91的参数(例如行走轮的直径)，即使可移动的机器1的目标速度和可移动平台9的目标速度一样，第一驱动指令不同于第二驱动指令。
4、本申请中，信息传递即通讯。信息传递模块即通讯模块。形成即生成。机器1即可移动的机器1。信息传递即通讯。默认的，第一侧为左侧，第二侧为右侧；第一部位为前部，第二部位为后部。挡风件即挡风板。可选的，挡风件为挡风玻璃。挡风件用于阻挡设备在行驶方向上的风。
5、可移动的机器，该机器优选为机器人。机器可载人和/或载物，指该机器构造为可载人和/或载物移动，指该机器的本体或其相关部件(例如底板、机体、坐具)在结构上设计为可承受预设的力，该力指标准体重(例如100KG)的人和/或许可的行李的重量的最大值所产生的力；且指该机器或其相关部件具备乘载人和/或载物的空间。在没有限定说明时，人、人员均指成人；且体重、身高皆为标准值。
本申请实施例还提供了一种计算机存储介质，计算机存储介质可以是非易失性，也可以是易失性，该计算机存储介质存储有计算机程序，该计算机程序被处理器执行时实现上述各个协作方法实施例中的步骤。本申请还提供了一种计算机程序产品，当计算机程序产品在可移动的机器1上运行时，使得该设备执行上述各个协作方法实施例中的步骤。
本申请实施例还提供了一种芯片或者集成电路，该芯片或者集成电路包括：处理器，用于从存储器中调用并运行计算机程序，使得安装有该芯片或者集成电路的可移动的机器1执行上述各个协作方法实施例中的步骤。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种可移动的机器(1)，其特征在于，
    所述机器(1)能搭载于可移动平台(9)；
    所述机器(1)包括第一移动装置(5)，所述第一移动装置(5)用于使所述机器(1)移动；
    所述机器(1)包括控制装置(12)，所述控制装置(12)用于控制所述机器(1)移动；
    该控制装置(12)还用于以通过通讯模块向该可移动平台(9)发送信息的方式控制该可移动平台(9)移动。
  2. 如权利要求1所述的可移动的机器(1)，其特征在于，
    所述控制装置(12)包括第一自动驾驶模块(121)，所述第一自动驾驶模块(121)用于控制所述可移动平台(9)移动和/或所述第一自动驾驶模块(121)用于控制所述所述机器(1)移动；
    和/或，所述机器(1)包括第一连接装置(13)，所述第一连接装置(13)用于使所述机器(1)连接于所述可移动平台(9)，或断开所述机器(1)与所述可移动平台(9)的连接。
  3. 如权利要求2所述的可移动的机器(1)，其特征在于，
    所述第一自动驾驶模块(121)还用于和所述可移动平台(9)中的第二自动驾驶模块(921)共同控制所述可移动平台(9)移动；
    和/或，所述控制装置(12)还用于控制所述第一连接装置(13)，使所述机器(1)连接于所述可移动平台(9)，或断开所述机器(1)与所述可移动平台(9)的连接。
  4. 如权利要求1所述的可移动的机器(1)，其特征在于，
    所述机器(1)构造为能载人移动的机器，或所述机器为车或船的驾驶舱；
    或，所述机器(1)中还包括：目标跟随模块，所述目标跟随模块通过获取目标的位置和/或所述目标的移动方向，以控制所述机器(1)跟随所述目标移动，所述目标包括人员；
    或，所述机器(1)为微型机器，所述微型机器指：所述机器(1)的机身宽度不大于1.2米，和/或，所述机器(1)的机身长度不大于1.6米，和/或，所述机器(1)的高度不大于1.6米；
    或，所述机器(1)包括挡风件方位调整用活动机构，所述挡风件方位调整用活动机构用于调整所述挡风件(23)相对于所述机器(1)的机身(01)的倾角或降低所述挡风件(23)相对于所述机器(1)的机身(01)的高度，以降低所述机器(1)在行驶时的风阻；
    或，所述机器(1)包括第一顶部高度调整机构，所述第一顶部高度调整机构用于调整所述机器(1)的顶部(115)相对于所述机器(1)的机身(01)底部的高度；
    或，所述可移动平台(9)的最高行驶速度高于所述机器(1)的最高行驶速度，和/或，所述可移动平台(9)的最大载重值高于所述机器(1)的最大载重值。
  5. 如权利要求1至4任一项所述的可移动的机器(1)，其特征在于，所述第一移动装置(5)包括机械腿或所述机器(1)包括机械臂，所述机械腿或所述机械臂能使所述机器(1)搭载于所述可移动平台(9)或脱离所述可移动平台(9)；
    或，所述第一移动装置(5)包括可升降的滚动式行走机构，所述可升降的滚动式行走机构包括行走件升降机构和滚动式行走机构，所述行走件升降机构的一端与所述机器(1)的机身(01)连接，另一端与所述滚动式行走机构连接，所述行走件升降机构用于驱动所述滚动式行走机构升降，所述可 升降的滚动式行走机构配置为能使所述机器(1)搭载于所述可移动平台(9)或脱离所述可移动平台(9)和/或沿路面行驶。
  6. 一种可移动平台(9)，其特征在于，
    所述可移动平台(9)包括第二移动装置(91)，所述第二移动装置(91)用于使所述可移动平台(9)移动；
    所述可移动平台(9)能搭载可移动的机器(1)移动；
    所述可移动平台(9)包括第二通讯模块(922)，所述第二通讯模块(922)用于接收所述机器(1)发出的信息，并通过所述信息控制所述第二移动装置(91)以使所述可移动平台(9)移动。
  7. 如权利要求6所述的可移动平台(9)，其特征在于，
    所述可移动平台(9)包括第二自动驾驶模块(921)，所述可移动平台(9)的行驶，由所述第二自动驾驶模块(921)和所述可移动的机器(1)中的第一自动驾驶模块(121)共同控制；
    和/或，所述可移动平台(9)包括第二连接装置(93)，所述第二连接装置(93)用于使所述机器(1)连接于所述可移动平台(9)，或断开所述机器(1)与所述可移动平台(9)的连接；
    和/或，所述可移动平台(9)中设置有挡风件方位调整用活动机构，所述挡风件方位调整用活动机构用于调整所述可移动平台(9)的挡风件相对于可移动平台(9)的机身(90)的倾角或降低挡风件相对于可移动平台(9)的底盘的高度，以降低所述可移动平台(9)的风阻；
    和/或，所述可移动平台(9)包括第二顶部高度调整机构，所述第二顶部高度调整机构用于调整所述可移动平台(9)的顶部相对于所述可移动平台(9)的机身(90)底部的高度；
    和/或，所述可移动平台(9)的最高行驶速度高于所述机器(1)的最高行驶速度，和/或，所述可移动平台(9)的最大载重值高于所述机器(1)的最大载重值；
    和/或，所述第二移动装置(91)包括第二地面移动装置和/或第二水中移动装置，所述第二地面移动装置用于使所述可移动平台9在地面移动，所述第二地面移动装置包括第二轮式移动装置和/或第二足式移动装置和/或第二履带式移动装置，所述第二水中移动装置包括第二螺旋桨或或第二喷水式推进器。
  8. 一种可移动系统，其特征在于，所述可移动系统包括：权利要求1至5任一项所述的可移动的机器(1)和权利要求6或7所述的可移动平台(9),所述可移动平台(9)能搭载所述可移动的机器(1),所述可移动平台包括第二移动装置(91),所述第二移动装置(91)用于使所述可移动平台(9)移动；
    所述可移动平台(9)包括第二通讯模块(922)，所述第二通讯模块(922)用于接收所述机器(1)发出的信息，并通过所述信息控制所述第二移动装置(91)以使所述可移动平台(9)移动。
  9. 一种控制装置(12)，其特征在于，所述控制装置(12)应用于如权利要求1至5任一项所述的可移动的机器(1)，
    所述控制装置(12)控制所述第一移动装置(5)使所述机器(1)向可移动平台(9)所在位置移动；
    和/或，控制所述第一移动装置(5)中包括的机械腿或可升降的滚动式行走机构或控制所述机器(1)所包括的机械臂，使所述机器(1)搭载于所述可移动平台(9)上；
    和/或，控制所述可移动平台(9)移动。
  10. 如权利要求9所述的控制装置(12)，其特征在于，
    所述控制所述可移动平台(9)移动包括：控制所述可移动平台(9)以目标速度移动，所述目标速度高于所述机器(1)独立行驶的最高行驶速度；
    或，所述控制装置(12)还用于：控制所述机器(1)所包括的挡风件方位调整用活动机构，减小所述机器(1)中的挡风件(23)相对于所述机器(1)的机身(01)向后的倾角或降低所述挡风件(23)相对于所述机器(1)的机身(01)的高度，和/或，控制所述机器(1)所包括的第一顶部高度调整机构，减小所述机器(1)的顶部(115)相对于所述机器(1)的机身(01)底部的高度，以降低所述机器(1)在行驶方向的风阻。
PCT/CN2022/079630 2021-03-05 2022-03-07 可移动的机器、可移动平台、系统及控制装置 WO2022184179A1 (zh)

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