WO2022144029A1 - 可移动的设备、控制方法、控制装置、存储介质、移动平台及附件 - Google Patents

可移动的设备、控制方法、控制装置、存储介质、移动平台及附件 Download PDF

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

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Classifications

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

Definitions

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

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Abstract

一种可移动的设备，包括机架(01)、第三升降机构(212)；该设备还包括第一升降机构(211)和/或第二升降机构(222)；第一升降机构(211)、第二升降机构(222)以及第三升降机构的一端均连接机架(01)；第一升降机构(211)的另一端连接第一行走机构(571)；第二升降机构(222)的另一端连接第二行走机构(572)；第三升降机构的另一端连接第三行走机构(573)；第一行走机构(571)和所述第二行走机构(572)沿行驶方向间隔布置，第三行走机构(573)位于第一行走机构(571)和第二行走机构(572)之间。该可移动的设备可以进行爬梯以及跨越障碍物等作业。

Description

可移动的设备、控制方法、控制装置、存储介质、移动平台及附件
本申请要求于2021年01月04日在中国专利局提交的、申请号为202110005046.2、发明名称为“可移动的设备、控制方法、控制装置、存储介质及附件”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
本发明属于机器人技术设备领域，尤其涉及可移动的设备、控制方法、控制装置、存储介质、移动平台及附件。
背景技术
室外跑步受天气、场地制约；在可移动的设备(健身器材)上跑步、提高轮式移动装置的越障能力，都是非常重要的需求。如同两种设备不能兼容、包括驱动带状件运行的运动装置等核心组件不能共享，必将造成巨大的社会资源、制造成本、能源和原材料的浪费。现有技术中，也急需新技术提高可移动的设备的越障能力。
现有技术的可移动的设备中存在下述诸多问题：问题1：跑步机中跑步运动装置仅仅能供人于其上跑步，而不能用于使设备移动；可移动的设备中履带行走机构仅仅能用于使设备移动，而无法作为跑步机使用；而使设备移动(实现人员物品输送)和供人跑步(健身)均为现代社会的普遍需求，现有技术如需同时满足该两种需求，将需要购置两种不同的设备(履带行走机构、跑步机)从而造成(物料、制造成本、占地面积)资源的大幅浪费。问题2：社会迫切需求更新技术以提高可移动的设备在轮式移动时越障能力；问题3：急需新技术提升水陆两栖设备的性能；问题4：行走式的机器人可以进行物料的输送。而行走式的机器人为了满足行驶稳定性及运行环境的要求，底盘做得比较低，其通过障碍物的能力不好，特别在遇到楼梯等障碍物就难以越过。因此，急需提高行走式的机器人的越障能力。所以，迫切的需要新型的技术方案，以解决上述任一个或任意多个问题。
发明内容
本申请实施例的目的在于提供一种可移动的设备，旨在解决如何使移动设备进行爬楼梯的问题。
为实现上述目的，本申请采用的技术方案是：
提供一种可移动的设备，其包括
机架、第三升降机构；
所述设备还包括第一升降机构和/或第二升降机构；
所述第一升降机构、所述第二升降机构以及所述第三升降机构的一端均连接所述机架；
所述第一升降机构的另一端连接第一行走机构；所述第一升降机构用于调整所述第一行走机构相对于所述机架的距离；
所述第二升降机构的另一端连接第二行走机构；所述第二升降机构用于调整所述第二行走机构相对于所述机架的距离；
所述第三升降机构的另一端连接第三行走机构；所述第三升降机构用于调整所述第三行走机构相对于所述机架的距离；
且所述第一行走机构和所述第二行走机构沿行驶方向间隔布置；
所述第三行走机构位于所述第一行走机构和所述第二行走机构之间。
在一些实施例中，可移动的设备，该设备包括配置为用于使带状件(070)运行的第二运动装置(07)，该带状件(070)用于供该设备沿路面行驶的和供人跑步。
在一些实施例中，该供人跑步的带状件分为左方的带状件(070a)、右方的带状件(070b)；该左方的带状件(070a)的运行速度和该右方的带状件(070b)的运行速度可设置为不等。
在一些实施例中，该供人跑步的带状件与该第二运动装置(07)的输出端通过能分断的部件连接，该能分断的部件用于使该供人跑步的带状件(070)与该第二运动装置(07)的输出端连接或断开；和/或，该供该设备沿路面行驶的带状件与该第二运动装置(07)的输出端通过能分断的部件连接，该能分断的部件用于使该供该设备沿路面行驶的带状件与该第二运动装置(07)的输出端连接或断开。
在一些实施例中，该设备包括用于调整该带状件(070)的底部相对于该设备中其他部件的底部的高度的升降机构(1307)，该其他部件为除该带状件(070)之外的支撑件。
在一些实施例中，该第二运动装置(07)构造为：该带状件(070)的底部低于该第二运动装置(07)中其他部件的底部。
本申请的移动设备的有益效果在于：通过可移动的设备沿预定方向X1先在第一台阶行驶并行驶至第二台阶时，第一升降机构驱动第一行走机构上升且第一行走机构下表面的高度不小于第二台阶的高度，第二行走机构和第三行走机构配合，驱动机架和第一行走机构继续朝第二台阶移动预定距离，使第一行走机构位于第二台阶台面的正上方，第一升降机构驱动第一行走机构下降抵接第二台阶的台面，第三升降机构驱动第三行走机构上升并位于第二台阶的上方，第一行走机构和第二行走机构配合，驱动机架和第三行走机构继续移动，使第三行走机构位于第二台阶的正上方，第三升降机构驱动第三行走机构下移抵接第二台阶的台面，第二升降机构驱动第二行走机构上升并位于第二台阶的上方，第一行走机构和第三行走机构配合，从而驱动机架和第二行走机构继续移动并完成爬梯。依次类推，从而使可移动的设备可以进行连续的爬梯作业。通过第一行走机构、第二行走机构以及第三行走机构的配合，可以使可移动的设备攀爬楼梯，从而提高了可移动的设备的越障能力。
室外跑步受天气、场地制约；在可移动的设备(健身器材)上跑步、提高轮式移动装置的越障能力，都是非常重要的需求。本技术使两种设备能兼容，包括驱动带状件运行的第二运动装置(07)等核心组件能共享，非常有益于巨大的社会资源、制造成本、能源和原材料的节约。且本文提供了多种全新的越障方案，对于提高设备性价比非常有益。
本发明还提供：一种可移动的设备，该可移动的设备包括轮式移动装置(5)、水中推进装置(09)、用于通过带状件(070)使该设备沿路面行驶第二运动装置(07)；该设备还包括用于调整该带状件(070)相对于该设备的机架的高度的升降机构和/或该设备还包括用于调整该设备的行走轮与设备的机架之间上下方向距离的距离调整机构。该设备用于水陆两栖行驶。两栖即两用。
本公司团队在经过多年思考探索后，克服了行业偏见和技术难度，发现了问题所在：履带坦克固然能水路两用，但正因为坦克履带固定，车型笨重，导致其常规运动能力下降，水上运动性能不如船舶，该公路上行驶速度效率更远低于4轮汽车，所以固定履带式车辆无法成为民用主流设备。同时配置陆地行驶装置(轮腿)和水中推进装置(螺旋桨)的设备，在水陆切换时大概率遭遇松软的泥沙、浅水、滩涂区，在该区域常规的轮腿容易陷入泥沙中无法使用，且此时设备早已搁浅水中推进装置也无法使用。本文中1T379方案，完美的客服了行业技术偏见，解决了该技术难题。当该设备需要轮式行驶时，步骤1T3进行轮式行驶；当该设备进入松软地段、水路交界处或有障碍路段时，进行带式行驶；当该设备在水中行驶时，控制该水中推进装置(09)使该设备在水中行驶。因为水路切换必然经历松软地段，升降机构使该带状件(070)带式行驶位置切换，设备在公路上行驶能大幅提高该公路上行驶速度效率。在松软地段，又能完美的发挥带式行驶的越障优势。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性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的前提下，还可以根据这些附图获得其它的附图。
图1是一种包括带式运动机构的可移动的设备的示意图；
图2是一种包括带式运动机构的可移动的设备的示意图；
图3是一种包括带式运动机构的可移动的设备的示意图；
图4是一种包括带式运动机构的可移动的设备的示意图；
图5是一种包括带式运动机构的可移动的设备的示意图；
图6是一种可移动的设备的示意图；
图7是一种可移动的设备(侧视方向)的示意图；
图8是一种可移动的设备(俯视方向)的示意图；
图9是一种可移动的设备(侧视方向)的示意图；
图10是一种可移动的设备的示意图；
图11是一种可移动的设备的示意图；
图12是一种可移动的设备的示意图图；
图13是本申请实施例的可移动的设备的立体结构示意图；
图14是本申请实施例的艇类可移动的设备：第三行走机构下降撑地和行驶，第一行走机构和第二行走机构上升的示意图；
图15是本申请实施例的艇类可移动的设备：第三行走机构上升，第一行走机构和第二行走机构下降 撑地和行驶的示意图；
图16是本申请实施例的艇类可移动的设备：第一行走机构、第二行走机构和第三行走机构全部上升，由第四行走机构15撑地(快速)行驶的示意图；
图17是本申请实施例的车类可移动的设备：第三行走机构下降撑地和行驶，第一行走机构和第二行走机构上升的示意图；
图18是本申请实施例的车类可移动的设备：第三升降机构驱动第三行走机构上升，第一行走机构和第二行走机构下降撑地和行驶的示意图；
图19是本申请实施例的车类可移动的设备：第一行走机构、第二行走机构和第三行走机构全部上升，由第四行走机构15撑地(快速)行驶的示意图；；
图20是本申请实施例的车类可移动的设备：且第一行走机构、第二行走机构和第三行走机构全部下降，且第三行走机构为轮式行走机构；
图21是本申请实施例的可移动的设备的俯视示意图；
图22是本申请实施例的例如为汽车的可移动的设备爬连续阶梯示意图。
附图标记：
01、机架；070、带状件；070a、第一侧的带状件；070b、第二侧的带状件；18051、第一运动机构；18052、第二运动机构；211、第一升降机构；212、第三升降机构；222、第二升降机构；511、第一前轮；512、中部靠前的轮；521、中部靠后的轮；522、第二后轮；0721、第一旋转件；0721a、第一侧的第一旋转件；0721b、第二侧的第一旋转件；0722、第二旋转件；0722a、第一侧的第二旋转件；0722b、第二侧的第二旋转件；115、为设备的顶部；07、履带式行驶装置；15A、第一车轮；15B、第二车轮；09、水中推进装置；10000、路面；10005、障碍物V；O-设备重心位置；08-环境感知模块；801-运动操控装置。
具体实施方式
本发明通过对可移动设备的整机拓扑架构、运动特性、运动机构深入研究，提出科学、合理的设备整机架构设计，有助于实现汽车、游艇上下台阶、跨栏(甚至爬山)等高难度的越障。因汽车游艇是人类重要设备、重要产业，本发明具有重要经济和社会价值。
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用以解释本发明，并不用于限定本申请。
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。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。
请参阅图1至图12，本申请实施例提供了一种可移动的设备，其沿预定方向X1移动并包括机架01以及第三升降机构212。可选地，第三升降机构还可以标号为第三升降机构221。可移动的设备还包括第一升降机构211和/或第二升降机构222且能够进行爬楼梯，从而具有比较高的越障能力。可选地，预定方向X1可以是水平方向，或与水平方向具有一定夹角的倾斜方向。可以理解的是，预定方向X1沿水平方向设置时，机架01沿水平方向进行水平移动，比如沿水平设置的地面行驶。而预定方向X1为倾斜方向时，机架01能够沿倾斜方向进行移动，比如爬坡或爬楼梯。
可选地，机架01呈镂空状设置，机架01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，从而共同合围形成供人体进入的机舱。本实施例中，纵梁和横梁均由金属材料制成，比如不锈钢方管，多根方管焊接而形成机舱。
第一升降机构211、第二升降机构222以及第三升降机构212的一端均连接机架01；
第一升降机构211的另一端连接有第一行走机构；第一升降机构211用于调整第一行走机构相对于机架01的距离；
可选地，第一升降机构211沿竖直方向连接机架01，第一行走机构位于机架01的下方并连接第一升降机构211，从而第一升降机构211沿竖直方向伸缩或升降，以调整第一升降机构211的支撑长度，从而调节机架01的竖直高度，或机架01的高度保持不变，而第一升降机构211可以使第一行走机构相对机架01靠近预定距离，以使第一行走机构脱离地面，使第一行走机构可以从障碍物的上方越过障碍物，即第一行走机构的下表面的高度，不小于障碍物的上表面的高度；或第一升降机构211可以使第一行走机构相对机架01远离预定距离，以使第一行走机构抵接地面。
第二升降机构222的另一端连接有第二行走机构；第二升降机构222用于调整第二行走机构相对于机架01的距离；
可以理解的是，第二升降机构222沿竖直方向连接机架01，第二行走机构位于机架01的下方并连接第二升降机构222，从而第二升降机构222沿竖直方向伸缩以调整第二升降机构222沿竖直方向的长度，从而调节机架01的竖直高度，或机架01的高度保持不变，而第二升降机构222可以使第二行走机构相对机架01靠近预定距离，以使第二行走机构脱离地面，使第二行走机构可以从障碍物的上方越过障碍物，即第二行走机构的下表面的高度，不小于障碍物的上表面的高度；或第二升降机构222可以使第二行走机构相对机架01远离预定距离，以使第二行走机构抵接地面。
第三升降机构212的另一端连接有第三行走机构；第三升降机构212用于调整第三行走机构相对于机架01的距离；
可选地，第三升降机构212的一端连接并支撑机架01，第三升降机构212的另一端能够相对机架01伸缩并连接第三行走机构。可以理解的是，第三升降机构212沿竖直方向连接机架01，第三行走机构位于机架01的下方并连接第三升降机构212，从而第三升降机构212沿竖直方向伸缩以调整第三升降机构212沿竖直方向的长度，从而调节机架01的竖直高度，或机架01的高度保持不变，而第三升降机构212可以使第三行走机构相对机架01靠近预定距离，以使第三行走机构脱离地面，使第三行走机构可以从障 碍物的上方越过障碍物，即第三行走机构的下表面的高度，不小于障碍物的上表面的高度；或第三升降机构212可以使第三行走机构相对机架01远离预定距离，以使第三行走机构抵接地面。此处不做限制，可以根据实际情况选择。
且第一行走机构和第二行走机构沿行驶方向间隔布置，且第一行走机构和/或第二行走机构用于驱动可移动的设备沿地面行驶；可选地，第一行走机构和第二行走机构可以分别单独驱动机架01移动，或第一行走机构和第二行走机构共同配合驱动机架01移动。
可选地，第三行走机构位于第一行走机构和第二行走机构之间。
请参阅图13至图21，下面结合可移动的设备的结构阐述其进行爬楼梯的过程。可以理解的是，可移动的设备从第一台阶攀爬至第二台阶，第二台阶的高度大于第一台阶的高度。
请参阅图22，通过可移动的设备沿预定方向X1先在第一台阶行驶并行驶至第二台阶时，第一升降机构211驱动第一行走机构上升且第一行走机构下表面的高度不小于第二台阶的高度，第二行走机构和第三行走机构配合，驱动机架01和第一行走机构继续朝第二台阶移动预定距离，使第一行走机构位于第二台阶台面的正上方，第一升降机构211驱动第一行走机构下降抵接第二台阶的台面，第三升降机构212驱动第三行走机构上升并位于第二台阶的上方，第一行走机构和第二行走机构配合，驱动机架01和第三行走机构继续移动，使第三行走机构位于第二台阶的正上方，第三升降机构212驱动第三行走机构下移抵接第二台阶的台面，第二升降机构222驱动第二行走机构上升并位于第二台阶的上方，第一行走机构和第三行走机构配合，从而驱动机架01和第二行走机构继续移动并完成爬梯。依次类推，从而使可移动的设备可以进行连续的爬梯作业。通过第一行走机构、第二行走机构以及第三行走机构的配合，可以使可移动的设备攀爬楼梯，从而提高了可移动的设备的越障能力。
可选地，第一行走机构沿行驶方向X1位于第二行走机构的前方，或第一行走机构沿行驶方向X1位于第二行走机构的后方。
在一些实施例中，第一升降机构211、第二升降机构222和/或第三升降机构212为线性运动机构。可根据实际需求进行选择，此处不做限制。
可选地，第一升降机构211、第二升降机构222和/或第三升降机构212为由伸缩机构驱动的摆动机构。可根据实际需求进行选择，此处不做限制。
可选地，第一升降机构211、第二升降机构222和/或第三升降机构212为由涡轮蜗杆机构驱动的摆动机构。可根据实际需求进行选择，此处不做限制。
在一些实施例中，第一行走机构包括连接第一升降机构211的第一前轮511；第二行走机构包括连接第二升降机构222的第二后轮522。可选地，第一前轮511和/或第二后轮522为驱动轮。第一前轮511和/或第二后轮522为从动轮。
在一些实施例中，第一前轮511相对可移动的设备的行驶方向横向布置有至少两个，各第一前轮511均连接第一升降机构211，可以理解的是，可以在第一升降机构211和两第一前轮511之间设置支架，从而通过一个第一升降机构211而驱动两第一前轮511同步上升或同步下降。
可选地，各第一前轮511均对应连接一第一升降机构211；本实施例中，第一前轮511设置和第一升降机构211均设置有两个，两第一升降机构211分别连接两第一前轮511，从而通过两第一升降机构211 分别驱动两第一前轮511上升或下降。
可选地，第二后轮522相对可移动的设备的行驶方向横向布置有至少两个，各第二后轮522均连接第二升降机构222，可以理解的是，可以在第二升降机构222和两第二前轮之间设置支架，从而通过一个第二升降机构222而驱动两第二前轮同步上升或同步下降。
可选地，各第二后轮522均对应连接一第二升降机构222。本实施例中，第二前轮设置和第二升降机构222均设置有两个，两第二升降机构222分别连接两第二前轮，从而通过两第二升降机构222分别驱动两第二前轮上升或下降。
在一些实施例中，第三行走机构包括：第一旋转件0721、第二旋转件0722以及带状件070，带状件070围绕第一旋转件0721和第二旋转件0722。第三升降机构212直接连接或通过支架间接连接第一旋转件0721和第二旋转件0722。可选地，带状件070为履带，第一旋转件0721和第二旋转件0722为辊轮。履带的一端套接其中一辊轮，履带的另一端套接另一辊轮。可选地，通过将第三行走机构设置成履带式或带状式行走机构，从而在进行爬梯时，可以通过履带和两辊轮的配合，而使机架01沿楼梯移动而进行爬梯，从而通过第三行走机构可以实现可移动的设备的攀梯运动。
可选地，通过第三升降机构212驱动履带上升预定距离，而第一行走机构和第二行走机构对机架01进行静态支撑或动态支撑，而人体处于机舱内并于履带上进行跑步锻炼，从而提高了可移动的设备的使用范围。
可以理解的是，第三行走机构还包括连接机架01并驱动两辊轮转动驱动电机，驱动电机和辊轮之间可以通过带传动、齿轮传动或链条传动进行连接；或，辊轮为驱动电机和轮毂一体式的辊轮。此处不做限制，可根据实际情况进行选择。
在一些实施例中，带状件070包括第一侧的带状件070a和第二侧的带状件070b，第一旋转件0721包括第一侧的第一旋转件0721a和第二侧的第一旋转件0721b，第二旋转件0722包括第一侧的第二旋转件0722a和第二侧的第二旋转件0722b，第一侧的带状件070a围绕第一侧的第一旋转件0721a和第一侧的第二旋转件0722a，第二侧的带状件070b围绕第二侧的第一旋转件0721b和第二侧的第二旋转件0722b，第一侧的带状件070a和第二侧的带状件070b能差速运行；差速运行使第三行走机构具有差速功能，使可移动的设备沿路面行驶时，能便利的转向。围绕也称为套设或套接。
第一侧的第一旋转件0721a和第一侧的第二旋转件0722a至少连接一第三升降机构212，第二侧的第一旋转件0721b和第二侧的第二旋转件0722b至少连接一第三升降机构212。
请参阅图1及图10，在一些实施例中，第一旋转件0721和第二旋转件0722可以是分段式的辊轮，从而两履带分别套接同一辊轮的两段，或者两履带的同一端均设置有两辊轮，两履带的同一端分别套接两辊轮。
请参阅图13及图22，可以理解的是，通过第三行走机构独立支撑并驱动机架01，使可移动的设备可以在松软的泥沙、浅水、滩涂区等地区进行行驶。即当可移动的设备需要轮式行驶时，通过第一行走机构和第二行走机构支撑并驱动机架01移动；当可移动的设备进入松软地段、水路交界处或有障碍路段时，通过第三行走机构独立支撑并驱动机架01进行带式行驶；当可移动的设备在水中行驶时，机架01上还设有水中推进装置，比如螺旋桨，通过第三行走机构和水中推进装置驱动可移动的设备在水中行驶。 可以理解的是，第一行走机构、第二行走机构和第三行走机构的配合，可以提高可移动的设备在公路上的行驶速度。而在松软地段，第三行走机构又能完美的发挥带式行驶的越障优势。
在一些实施例中，可移动的设备的重心位于第三行走机构的带状件070于地面的正投影所覆盖的区域内。从而通过第三行走机构可以对机架01进行稳定支撑，或使第三行走机构独立驱动机架01移动，其中第一旋转件0721和第二旋转件0722至少一个为驱动件。
在一些实施例中，第三行走机构包括中部靠前的轮512和中部靠后的轮521；中部靠前的轮512沿行驶方向横向布置有至少两个，或中部靠后的轮521沿行驶方向横向也布置有至少两个。第三行走机构为轮式行驶机构，从而使机架01具有轮式行驶功能。
可选地，本实施例中，中部靠前的轮512和中部靠后的轮521均设置两个。第三升降机构212同时连接两中部靠前的轮512和两中部靠后的轮521，或两中部靠前的轮512都对应设置一第三升降机构212，两中部靠后的轮521都对应设置一第三升降机构212。
在一些实施例中，可移动的设备的重心于地面的正投影位于第三行走机构的各触地点依次连线合围所形成的区域内。可选地，各中部靠前的轮512和各中部靠后的轮521与地面接触形成的触地点依次连线合围形成一区域，可移动的设备的重心于地面的正投影位于该区域内，从而使第三行走机构可以稳定支撑机架01。
在一些实施例中，可移动的设备还包括第一运动机构18051和第二运动机构18052，第一运动机构18051的两端分别连接第一升降机构211和机架01，并用于调整第一行走机构沿行驶方向相对机架01的中心的距离，并在第一行走机构和第三行走机构之间沿行驶方向具有第一容障区间；第二运动机构18052的两端分别连接第二行走机构和机架01，并用于调整第二行走机构沿行驶方向相对机架01的中心的距离，并在第二行走机构和第三行走机构之间沿行驶方向具有第二容障区间。
可选地，某些部件沿行驶方向横置有多个时，其标号会在后面加L和R标记，其中L表示沿行驶方向位于机架的左边，而R表示沿行驶方向位于机架的右边。例如，中部靠前的轮512设置有两个，其中一个标注为512R，另一个标注为512L，其中，中部靠前的轮512L位于机架的左边，而中部靠前的轮512R位于机架的右边。例如，第二升降机构222设置有两个，其中一个第二升降机构标注为222L，另一个第二升降机构标注为222R，则第二升降机构222L沿行驶方向位于机架的左边，而第二升降机构222R沿行驶方向位于机架的右边。其它，依次类推。可以理解的是，可移动的设备进行越障时，障碍物可以先收容于第一容障区间，再收容于第二容障区间；或障碍物先收容于第二容障区间，再收容于第一容障区间，此处不做限制，可根据实际情况选择。下面结合可移动的设备的结构，阐述其越障过程：
在可移动的设备沿地面水平移动并进行越障时，第一升降机构211驱动第一行走机构上移预定距离，使第一行走机构位于障碍物的上方，第三行走机构和第二行走机构配合，并驱动机架01沿行驶方向X1移动，使障碍物收容于第一容障区间；第一升降机构驱动第一行走机构下移抵接地面，同时第三升降机构212驱动第三行走机构上移预定距离并位于障碍物的上方；第一行走机构和第二行走机构配合，以驱动机架01沿行驶方向X1继续移动，同时第三行走机构跨越障碍物，且障碍物收容于第二容障区间；第三升降机构212驱动第三行走机构下移抵接地面，同时第二升降机构222驱动第二行走机构上移并位于障碍物的上方，第三行走机构和第一行走机构配合，以驱动机架01继续沿行驶方向X1移动，直到障碍 物脱离第二容障区间，从而完成越障。通过第三行走机构、第一行走机构以及第二行走机构的配合，可以使可移动的设备跨越其遇到的障碍物，从而提高了可移动的设备的越障能力。
可以理解的是，可移动的设备沿倾斜方向的越障过程与其沿水平方向的越障过程类似，此处不再赘述。
可以理解的是，第一容障区间和第二容障区间的空间大小与障碍物的大小适配，即障碍物能够沿行驶方向X1完全收容于第一容障区间或第二容障区间。
在一些实施例中，第一运动机构18051为线性运动机构、由伸缩机构驱动的摆动机构或由涡轮蜗杆机构驱动的摆动机构。可选地，本实施例中，第一运动机构18051为线性运动机构，具体地为第一电动推杆。
在一些实施例中，第二运动机构18052为线性运动机构、由伸缩机构驱动的摆动机构或由涡轮蜗杆机构驱动的摆动机构。可选地，本实施例中，第二运动机构18052为线性运动机构，具体地为第二电动推杆。
请参阅图1及图10，在一些实施例中，第一运动机构18051包括一端连接机架01而另一端沿行驶方向X1布置的第一电动推杆，第一升降机构211开设有第一导向孔，第一电动推杆的自由端滑动穿设第一导向孔，以连接第一升降机构211。
在一些实施例中，第二运动机构18052包括一端连接机架01而另一端沿行驶方向X1布置的第二电动推杆，第二升降机构222开设有第二导向孔，第二电动推杆的自由端滑动穿设第二导向孔，以连接第二升降机构222。
可选地，通过第一运动机构18051调节第一容障区间的大小；通过第二运动机构18052调节第二容障区间的大小，使可移动的设备可以适应不同大小的障碍物，从而提高可移动的设备的越障能力。
可选地，两第一前轮511分别为左前轮051和右前轮053，左前轮051对应设置第一运动机构18051，右前轮对应设置一第一运动机构18053。
可选地，两第一后轮522分别为左后轮052和右后轮254，左后轮052对应设置第二运动机构18052，右后轮054对应设置一第二运动机构18054。
可选地，第一运动机构的标号为18051或18053；第二运动机构标号为18052或18054。
在一些实施例中，可移动的设备还包括连接机架01的水中推进装置或飞行装置。
在一些实施例中，线性运动机构或伸缩机构为电动推杆、伸缩式液压缸或导轨型机构。
在一些实施例中，可移动的设备还包括：连接于该机架01的第四行走机构(15)，该第四行走机构(15)用于使该设备沿路面行驶，所述第四行走机构(15)包括沿行驶方向间隔布置的第一车轮和第二车轮。
可选的，第四行走机构(15)包括沿行驶方向间隔布置的两组车轮或第四行走机构(15)包括第二履带式行走机构或滚筒式行走机构。例如，滚筒式行走机构为相对于行驶方向横向设置的滚筒，也可为相对于行驶方向同向设置的滚筒。横向设置的滚筒例如为压路机式滚筒。例如同向设置的滚筒为螺旋式滚筒式行走机构，该滚筒上设置有螺纹。第四行走机构(15)的类型可为轮式行走机构。可选的，该第四行走机构包括用于使可移动的设备以轮式移动的两第一车轮15A和两第二车轮15B。可选的，该第四行 走机构可包括更多组车轮。可选的，两第一车轮15A沿行驶方向横向布置，且分别为位于左前的第一车轮15A和位于右前的第一车轮15A，和/或，且两第二车轮15B沿沿行驶方向横向布置，且分别为位于左后的第二车轮15B和位于右后的第二车轮15B。
可选地，两第一车轮15A位于第一行走机构和第三行走机构之间，两第二车轮15B位于第二行走机构和第三行走机构之间。
第一行走机构、和第二行走机构和第三行走机构，称为可升降的行走机构。
同一设备中，该可升降的行走机构和该第四行走机构不会相互干涉。可选的，该可升降的行走机构和该第四行走机构能共同的撑地和共同的使该设备沿路面行驶。可升降的行走机构在与其对应连接的升降机构驱动下，该可升降的行走机构的底部和该第四行走机构的底部能等高。可升降的行走机构的底部可位于该机架01的底部的上方。任一行走机构的底部的可位于该机架01的下方。
该第四行走机构由输出件连接第四行走机构的动力输入件的第四驱动器驱动，以使该设备沿路面行驶。该可升降的行走机构可由输出件连接可升降的行走机构(的动力输入件)的驱动器驱动，以使该设备沿路面行驶。
该第四行走机构15的参数，高于可升降的行走机构的参数。该参数包括行驶速度、输出功率、载荷能力或抗冲击能力。第四行走机构也称为主行走机构。该第一车轮15A和第二车轮15B均为快速轮或主轮。第四行走机构15连接于该可移动的平台的机身01上，以提高可靠性。第四行走机构用于使该可移动的设备沿路面快速行驶。快速指行驶速度快于可升降的行走机构的行驶速度。
可升降的行走机构也称为辅助的行走机构。可升降的行走机构及与其对应连接的升降机构中任一种均属于该可移动的设备的越障装置。可升降的行走机构用于使该可移动的设备沿路面慢速行驶和越障。
在一些实施例中，所述可移动的设备还包括控制结构，所述控制结构用于控制第一升降机构、第二升降机构以及第三升降机构中任一种或任意多种，以使所述控制结构能够控制所述设备的行驶，即通过控制第一升降机构、第二升降机构和第三升降机构，从而控制第一行走机构、第二行走机构以及第三行走机构。
可选的，含有第四行走机构的可移动的设备为汽车或游艇。可选的，本文中任一项所述设备，构造为载成年人移动的设备。成年人的体重身高可根据国家标准或行业标准设定。
一种控制方法，用于控制可移动的设备，
实施例1，
控制方法包括以下步骤：
S1：控制可移动的设备的所述第一升降机构211、所述第二升降机构222以及所述第三升降机构212分别使所述第一行走机构、所述第二行走机构和所述第三行走机构相对于所述机架01升高，以使所述第四行走机构15撑地，控制所述第四行走机构15使所述可移动的设备沿路面行驶；
S2：控制可移动的设备的所述第一升降机构211、所述第二升降机构222以及所述第三升降机构212分别使所述第一行走机构、所述第二行走机构和所述第三行走机构相对于所述机架01下降以撑地，以使该第四行走机构15上升以越障。
上述步骤S1、S2，是在不同的时候分开执行的。控制指令的来源可为设备内的操控人员或网络或自动驾驶模块。可选的，该步骤S2中包括：由第一行走机构、所述第二行走机构和所述第三行走机构中任意种或任意多种驱动该设备行驶。该步骤S2中包括由可升降的行走机构搭载第四行走机构15行驶。步骤S1中可升降的行走机构离地，第四行走机构15可搭载可升降的行走机构行驶。控制可移动的设备的所述第一升降机构211、所述第二升降机构222以及所述第三升降机构212的升/降分别使相应的第一行走机构、第二行走机构以及第三行走机构升/降，即是由第一升降机构、第二升降机构以及第三升降机构分别控制第一行走机构、第二行走机构以及第三行走机构的升/降。该步骤S2中所述越障，该越障方法可使用本文中任一处所述的越障方法进行。
该步骤S1用于使该可移动的设备在无障碍的路段行驶。也即：当该可移动的设备在无障碍的路段时，执行该步骤S1。该步骤S2解决该机架01遇到障碍需越障的难题或该第四行走机构15遇到障碍需越障的难题。
该技术方案的有益效果：现有汽车，仅仅具有第四行走机构15，一旦遇到障碍则通行困难、使输送任务无法顺利执行。本发明所提供的技术方案，使汽车会跨栏、走路。解决汽车遇到障碍则通行困难、在雪地打滑、输送任务无法顺利执行的重大问题。具有重要经济价值和社会意义。
实施例2：
控制方法包括以下步骤：
(第一阶段：使中轮撑地抬高机架01、平移、首轮跨栏)：
C1：控制该第三升降机构212使该第三行走机构相对于该机架01下降以撑地，使该机架01及前方的行走机构相对于该路面上升以越障；控制该设备行驶,使前方的行走机构越过该凸起的障碍物；控制相应的升降机构使前方的行走机构相对于该机架01下降以撑地；
(第二阶段：使中轮上升以越障、平移跨栏、下降以撑地)：
C2：使前后的行走机构处于撑地状态，控制该第三升降机构212/221使该第三行走机构相对于该机架01上升以越障；
C3：控制该设备行驶,使该第三行走机构越过该凸起的障碍物；
C4：控制该第三升降机构212使该第三行走机构相对于该机架01下降以撑地；
(第三阶段：使末轮上升以越障、平移跨栏、下降以撑地)：
C5：控制相应的升降机构使后方的行走机构相对于该机架01上升以越障；
C6：控制该设备行驶,使该后方的行走机构越过该凸起的障碍物。
可选的，该第二控制方法中还包括步骤：控制该第一运动机构18051调整该第一行走机构在前后方向相对所述机架01的中心的距离，和/或，控制该第二运动机构18052182调整该第二行走机构在前后方向相对所述机架01的中心的距离。该步骤用于：根据障碍物的宽度调整第一行走机构和/或该第二行走机构的着地点。以更好的跨栏、越障。
该C2步骤中该使前后的行走机构处于撑地状态，其中可包括一个步骤：控制相应的升降机构使后方的行走机构相对于该机架01下降以撑地。
控制相应的升降机构使某行走机构上升或下降，该相应的升降机构指连接该升降机构的另一端的行 走机构。该升降机构与该行走机构对应。例如，使第三行走机构，则该相应的升降机构为第三升降机构212。凸起指相对于地面凸起。
如设备的行驶方向与设备构造的前向相同，则：前方的行走机构为第一行走机构，后方的行走机构为第二行走机构。如设备的行驶方向与设备构造的前向相反，则前方的行走机构为第二行走机构，后方的行走机构为第一行走机构。
本发明还提供另一种可移动的设备，包括：用于使该设备通过用于行走的轮(05)沿地面移动的轮式移动装置(5)、用于通过带状件(070)使该设备沿路面行驶的履带式行走装置(07)和用于驱动设备在水中行驶的水中推进装置(09)；
该设备还包括用于使该带状件(070)相对于该机架(01)升降的的升降机构和/或该设备还包括用于使用于行走的轮(05)相对于该机架(01)升降的升降机构，以：使该设备在轮式行驶模式与带式行驶的模式中切换，和/或：以使该的设备越障。
该设备能广泛的应用于水陆两栖。可选的，该设备(1)，该履带式行走装置(07)还用于驱动该带状件(070)运行供人在该带状件(0702)上跑步。
本发明还提供另一种可移动的设备的控制方法，包括步骤Y11和/或Y12：
Y11：控制该设备行驶，控制用于驱动待越障的行走机构相对于该设备的机架(01)升降的升降机构，使该待越障的行走机构相对于该机架(01)上升以越障，和/或，控制用于驱动除待越障的行走机构之外的若干个行走机构相对于该设备的机架(01)升降的升降机构，使该若干个行走机构相对于该机架(01)下降以撑地，以使该待越障的行走机构上升以越障。
Y12：控制该设备朝下台阶的方向行驶，且使使该设备中除了待越障的行走机构之外的若干个行走机构触地且该若干个行走机构触地点在俯视方向所围成的图形包含该设备的重心(O点)；控制用于驱动已悬空于台阶下方路段的上方的行走机构相对于该设备的机架(01)升降的升降机构，使该行走机构相对于该机架(01)下降以使该行走机构的在该台阶下方路段撑地。该方法用于广泛的控制设备越障。
任一处控制设备行驶或控制设备越障的方案，均可包括：使该设备中除了待越障的行走机构之外的若干个行走机构触地且该若干个行走机构触地点在俯视方向所围成的图形包含该设备的重心(O点)。
待越障的行走机构，指：在该可移动的设备沿路面行驶时遇到障碍的行走机构。遇到障碍也称为靠近障碍。该行走机构为该第一行走机构、第二行走机构或第三行走机构。使行走机构上升以越障，指：使该行走机构的下表面上升至不低于障碍物上表面的高度，以使该行走机构越障。使行走机构越障指使该行走机构位于该障碍物之上或使该行走机构从该障碍物上方经过。越障是目的。使行走机构上升是越障的手段。使该行走机构上升，并非使该设备中所有的行走机构上升，而是使靠近该障碍物的(一个或两)行走机构升降。
本申请实施例还提供了一种存储介质，即计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现上述控制方法。
本实施例还提供了一种控制装置，其用于实现控制方法，所述控制装置包括一个或多个处理器，所述控制装置还包括存储装置，其用于存储一个或多个程序；当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现所述控制方法。
本实施例还提供了一种移动平台，其包括上述控制装置。
本实施例的可移动的设备，其包括第二运动装置(07)，该第二运动装置(07)用于使带状件070运行使该可移动的设备沿路面行驶，和，该第二运动装置(07)还用于使带状件070运行供人在带状件070上跑步。
在一些实施例中，可移动的设备还包括传感器模块，传感器模块连接机架01，传感器模块用于朝控制装置传输检测信号，控制装置根据检测信号而控制第一行走机构、第二行走机构和第三行走机构。以及，控制装置根据检测信号而控制第一升降机构211、第二升降机构222和第三升降机构212。
可选地，传感器模块可以获取包括通过人机交互模块获取人员的控制指令、基于环境感知模块获取路况信息、根据该路况信息选择相应的运动装置控制可移动的设备的移动。
可选地，环境感知模块的处理，可由人工智能模块进行人工智能处理所得。该人工智能处理包括图像识别也即可移动的设备视觉识别、语音识别、语义识别、自然语言识别等。环境信息包括目标信息。目标信息包括：目标状况和/或目标位置。本实施例中，环境指可移动的设备所在环境或该设备所在环境。环境信息包括该设备或可移动的设备行驶方向的视觉信息、路况、二维地图、三维地图、导航信息等。
请参阅图13至图20，本文任一附图均为一种可移动的设备的示意图。在任一附图中，X1和箭头所指方向为前。
轮包括前轮(511)、中部靠前的轮(512)、中部靠后的轮(521)、后轮(522)。前轮(511)包括左前轮(051)、右前轮(053)。中部靠前的轮(512)包括中部靠前的左轮(512L)、中部靠前的右轮(512R)。中部靠后的轮(521)包括中部靠后的左轮(521L)、中部靠后的右轮(521R)。后轮(522)包括左后轮(052)、右后轮(054)。前轮(511)也也称为第一前轮。后轮(522)也也称为第二后轮。左前轮(051)也称为第一左前轮。右前轮(053)也称为第一右前轮。中部靠前的轮(512)也称为第二前轮。中部靠后的轮(521)也称为第一后轮。中部靠前的左轮(512L)也称为第二左前轮。中部靠前的右轮(512R)也称为第二右前轮。中部靠后的轮(521)也称为第一后轮。中部靠后的左轮(521L)也称为第一左后轮。中部靠后的右轮(521R)也称为第一右后轮。左后轮(052)也称为第二左后轮。右后轮(054)也称为第二右后轮。
图1、图2、图3、图4、图5、图11、图12为同一类型的可移动的设备。其主要描述设备的前轮、后轮和第二运动装置(07)配合的示意图。第二运动装置(07)包括带状件(070)、第一旋转件(0721)和第二旋转件(0722)。该系列图尤其用于解释下述1T7方案。
图1为立体图，图2、图3、图4、图5均为图1所示种类设备的侧视图。该设备的该升降机构(1307)，具体的包括中部靠前的升降机构(212)和中部靠后的升降机构(221)。图1、图2中该带状件(070)上升离地(进入轮式行驶模式)。图3、图4带状件(070)的底部下降以接触路面，用于使设备以带式行驶方式过松软地段、爬阶梯。图4中，在中部的升降机构的驱动下带状件(070)相对于该机架01下降和撑地，使该机架01和/或连接于该机架01的第一行走部件上升以越障。
图5中带状件(070)上升避障。图10为轮式越障方式的动态示意图。轮式行驶和带式行驶组合的越障方式，也可参照图10进行。
如图1、图11或图12所示，可移动的设备的重心O点的左边设置有履带式行走机构的左方的带状件070a，该重心O点的右边设置有该履带式行走机构的右方的带状件070b；
如图1、图2、图5、图3、图4、图5、图11或图12所示，该履带式行走机构中第一旋转件0721设置于重心O点的前方；履带式行走机构中第二旋转件0722设置于重心O点的后方；该带状件(070)围绕该第一旋转件和该第二旋转件，该前方的带状件设置于该重心(O)点的前方和该后方的带状件设置于该重心O点的后方。履带式行走机构中用作履带的带状件(070)设置于可移动的设备的重心(O)点的前后左右方。
图6(立体图)、图7、图8用于描述同一可移动的设备。图7为图6的侧视图。图8为图6的俯视图。该设备中，前轮和后轮为第一种(大直径)轮，第一种轮包括前轮(511)和后轮(522)。中间轮为第二种(小直径)轮。该第二种轮为无动力轮，该中间轮包括靠中的前轮(512)、靠中的后轮(521)。该系列图尤其用于解释下述1T3方案。
且本发明提供一个综合性的实施方案:一种可移动的设备或一种可移动的设备的控制方法或一种可移动的设备的控制装置；其技术方案包括下述1T3、1T7、1T8、1T9中任一种或任意多种。
1T3：该可移动的设备包括：用于使该设备通过轮(05)沿地面移动的装置(5)。该用于使该设备通过轮(05)沿地面移动的装置即轮式移动装置(5)。该轮式移动装置包括轮(05)和/或用于安装轮(05)的连接部。该轮(05)用于使设备以轮式移动，也即该轮(05)指轮式移动装置中轮。用于使设备以轮式移动的轮(05)即轮式行走机构。用于使设备以轮式移动的轮(05)也称为行走轮(5)。该设备的轮(05)的安装位置包括：该设备的前部、后部。前包括左前和/或右前，和/或，后包括左后和/或右后。
优选的，该1T3方案包括下述1T31方案。
1T31：该可移动的设备包括：用于调整该设备的轮与设备的机架之间上下方向距离的装置(135)。用于调整该设备的轮(05)与设备的机架之间上下方向距离也称为用于使该设备的轮(05)相对于该设备的机架升降。该设备的轮(05)的安装位置包括：该设备的前部、后部。
该装置(135)即距离调整装置即升降装置。该装置(135)包括距离调整机构(1305)和/或用于安装距离调整机构(1305)的连接部和/或用于驱动该距离调整机构(1305)的驱动装置。该距离调整装置尤其指距离调整机构(1305)。该距离调整机构尤其指升降机构。如图1、图2、图3、图4、图5、图6、图7、图8、图9、图10、图11、图12中任一附图所示，升降机构的基座连接该机架(01)，升降机构的输出件连接该轮(05)。
该可移动的设备的控制方法(1T31)，包括：当该设备(通过轮(05)和/或带状件(070))沿地面移动且该设备的轮(05)遇到障碍时，执行步骤1T31，使设备越过该障碍物。本文中，在没有限定说明时，障碍指凸出于地面的障碍。该步骤1T31为：控制用于驱动靠近该障碍物的轮升降的升降机构，使该轮上升，用于使该轮避开该障碍物。该避开尤其指越过。该步骤1T31也即A步骤。在没有特意采用变形的行走部件时，使行走部件的底部升降即使行走部件整体升降即使行走部件升降。优选的，该步骤1T31中还包括步骤：控制该距离调整机构(1305)使已越过障碍物的该轮(05)下降。该步骤用于支撑该设备、使该设备移动。该设备的轮(05)的安装位置包括：该设备的前部、后部。该1T31方案，使轮(05) 的底部上升，并非使所有的轮底部同时上升。而是使靠近该障碍物的(一个或两)升降。且该设备的控制原则为：在俯视方向，使该设备中除了靠近该障碍物的轮之外的其他支撑件触地且该其他支撑件触地点所围成的图形包含该设备的重心(O点)。该方案的执行尤其如图10所示。该其他支撑件包括其他的轮和/或带(070)。
用于驱动靠近该障碍物的轮(05)升降的升降机构(1305)，也即与靠近该障碍物的轮(05)相应的升降机构(1305)。轮(05)连接相应的升降机构(1305)。底部即下表面。
该1T31包括细分方案1T311、1T312、1T313中任一一种或任意多种。
1T311：该前部包括第一前部、第二前部；和/或，该后部包括第一后部、第二后部。该第一前部相比于第二前部更靠前。该第二后部相比于第一后部更靠后。该轮(05)包括设备的重心(O)点之前的轮(51)、设备的重心(O)点之后的轮(52)。设备的重心(O)点之前的轮包括前轮(511)和/或中部靠前的轮(512)。前轮(511)位于中部靠前的轮(512)的前方。中部靠前的轮(512)位于设备的重心(O)点的的前方。设备的重心(O)点之后的轮包括中部靠后的轮(521)和/或后轮(522)。中部靠后的轮(521)位于设备的重心(O)点的的后方。中部靠后的轮(521)位于后轮(522)的前方。该设备任一纵向的轴线上可包括至少3轮。该1T311方案也即：该设备包括设置于前轮(51)、后轮(52)之间的中间支撑件。中部指前后之间的位置。
1T312：该前部包括第一前部、第二前部；和/或，该后部包括第一后部、第二后部。(原文1T312处记载：)前包括左前和/或右前，和/或，后包括左后和/或右后。该第一前部相比于第二前部更靠前。该第二后部相比于第一后部更靠后。第一前部包括第一左前部和/或第一右前部，和/或，第二前部包括第二左前部和/或第二右前部，和/或。该前后左右中任一方位，均指相对于设备(机架)的重心(O)。
该轮(05)包括前轮(511)、中部靠前的轮(512)、中部靠后的轮(521)、后轮(522)。该方案可参考附图5、图6、图7、图8、图9、图10。
前轮(511)包括左前轮(051)和/或右前轮(053)。中部靠前的轮(512)包括包括中部靠前的左轮(512L)和/或中部靠前的右轮(512R)。中部靠后的轮(521)包括中部靠后的左轮(521L)和/或中部靠后的右轮(521R)。后轮(522)包括包括左后轮(052)和/或右后轮(054)。该方案可参考图6。
该细分方案1T311、1T312中，A步骤包括多个细分步骤。该技术方案可参考附图10所示内容。
图10是一种可移动的设备越障的示意图。该图10分(A)、(B)、(C)、(D)、(E)、(F)6个步骤，动态的演示可移动的设备越障的过程。该图10中6个部分均为侧视图也即主视图。X1箭头所示为前。可移动设备的重心为O。设备的机架为(01)；该设备设有用于探测移动方向障碍物(10005)的环境信息采集传感器，环境感知模块(08)。
例如，该进退移动为向前移动；则A步骤包括A1步骤和A2步骤。A1步骤为：控制用于驱动靠近该障碍物的前轮升降的距离调整机构(211、212)，使该轮上升，用于使该轮(51)避开该障碍物。A2步骤为：控制用于驱动靠近该障碍物的后轮(52)升降的距离调整机构(221、222)，使该轮(52)上升，用于使该轮(52)避开该障碍物。
当该设备的重心(O)点之前的轮(51)包括前轮(511)和中部靠前的轮(512)时，该A1步骤包括A11步骤和A12步骤。该A11步骤为：控制用于驱动靠近该障碍物的前轮(511)升降的距离调整机构 (211)，使该前轮(511)上升，用于使该前轮(511)避开该障碍物。该A11步骤如附图10中(B)部分所示。该A12步骤为：控制用于驱动靠近该障碍物的中部靠前的轮(512)升降的距离调整机构(212)，使该中部靠前的轮(512)上升，用于使该中部靠前的轮(512)避开该障碍物。该A12步骤如附图10中(C)部分所示。该A11步骤在A12步骤前。
当该设备的重心(O)点之后的轮(52)包括中部靠后的轮(521)和后轮(522)时，该A2步骤包括A21步骤和A22步骤。该A21步骤为：控制用于驱动靠近该障碍物的中部靠后的轮(521)升降的距离调整机构(221)，使该中部靠后的轮(521)上升，用于使该中部靠后的轮(521)避开该障碍物。该A21步骤如附图10中(D)部分所示。该A22步骤为：控制用于驱动靠近该障碍物的后轮(522)升降的距离调整机构(222)，使该后轮(522)上升，用于使该后轮(522)避开该障碍物。该A22步骤如附图10中(E)部分所示。该A21步骤在A22步骤前。如附图10中(F)部分所示，当所有的轮均越过障碍物时，所有轮的底面高度可设置为一致。基于常识所知的，若运动机构用于带动行走部件，且运动机构的基座连接设备的机架(01)，该运动机构的输出件连接行走部件的基座，行走部件才具有行走功能。该越障步骤在执行时，该设备处于移动状态。该设备处于移动状态，包括由于惯性使该设备处于移动状态、由动力驱动其他着地的轮该设备处于移动状态。
基于本文附图所示，轮可安装于机架的下部。
如图6(立体图)、图7、图9所示可移动的设备，该设备包括机架(01)和轮。该轮包括第一种轮和第二种轮。第一种轮的直径大于第二种轮。第一种轮包括前轮(511)和后轮(522)。该第二种轮为无动力轮，该第二种轮包括靠中的前轮(512)、靠中的后轮(521)。图7为图6的侧视图，图8为图6的俯视图。
1T7：该可移动的设备，包括第二运动装置(07)，该第二运动装置(07)用于通过带状件(070)使该设备沿路面行驶(也即该第二运动装置(07)配置为运动带式行走装置(07d))，和/或，该第二运动装置(07)用于通过带状件(070)供人跑步(也即该第二运动装置(07)配置为跑步机(07p))。通过带状件(070)即使带状件(070)运行。该运行指旋转或旋转运行。供该设备沿路面行驶指用于与路面接触且供该设备沿路面行驶。使带状件(070)运行，尤其指驱动该带状件(070)运行。该通过带状件(070)使该设备沿路面行驶，也即带式行驶。本文中，运动带式即带式。行走即行驶即地面移动，三者等同。供人跑步指供人在带状件(0702)上跑步。该运动带式行走装置(07d)尤其指履带式行走装置。运动带式行走装置即运动带式行走机构。履带式行走装置即履带式行走机构。供人跑步的带状件(070)即跑步带。供该设备沿路面行驶的带状件(070)即履带。
一种可移动的设备的附件，该可移动的设备的附件为第二运动装置(07)，该第二运动装置(07)配置为：用于使带状件(070)运行，以供该设备沿路面行驶(也即该第二运动装置(07)配置为运动带式行走装置(07d))功能)的和/或供人跑步(也即该第二运动装置(07)配置为跑步机(07p))。
该1T7方案的有益价值：该设备可作为一个核心的可出售的运动模组(附件)，用户购买后可自由选择装配用于使该设备沿路面行驶的带状件(0701)和/或供人跑步的带状件(0702)，用户即为便利。室外跑步受天气、场地制约；在可移动的设备(健身器材)上跑步、提高轮式移动装置的越障能力，都是非常重要的需求。本技术使两种设备能兼容，使带状件(070)运行的第二运动装置(07)等核心组件 能共享，一机两用，为社会节省大量的原材料消耗、制造成本。
该1T7方案的实施，可如图1、图2、图3、图4、图5、图11、图12所示设备，该设备包括：机架(01)、带状件(070)、第一旋转件(0721)和第二旋转件(0722)
优选的，该方案1T7包括下述方案1T7A1和/或1T7A2。
1T7A1：该设备包括该用于使该设备沿路面行驶的带状件(0701)。且该带状件(0701)和该第二运动装置(07)设置为可工作状态。该工作即使该设备沿路面行驶。也即：该设备包括运动带式行走装置(07d)。该运动带式行走装置(07d)包括该带状件(0701)和该第二运动装置(07))。该带状件(0701)用于与路面接触且使该设备沿路面行驶。用于使该设备沿路面行驶的带状件(0701)可称为行驶带。该带状件(0701)类同于履带的功能。该运动带式行走装置(07d)尤其指履带式行走装置。运动带式行走装置即运动带式行走机构。履带式行走装置即履带式行走机构。
该方案的有益价值：用户购买后无需自行装配带状件(0701)，为用户提供极大便利。
1T7A2：该设备包括该供人跑步的带状件(0702)。且该供人跑步的带状件(0702)和该第二运动装置(07)设置于可工作状态。该工作为供人跑步。该1T7A2方案也即：该设备包括跑步机(07p)。该跑步机(07p)包括该供人跑步的带状件(070)和该第二运动装置(07)。供人跑步的带状件(0702)也即跑步带。
该方案的有益价值：用户购买后无需自行装配供人跑步的带状件(0702)，为用户提供极大便利。
该方案1T7也可描述为下述1T7B、1T7C中任一种。
1T7B：一种可移动的设备，包括用于使带状件(0701)运行、使该设备沿路面行驶的第二运动装置(07)。优选的，且该第二运动装置(07)配置为：用于使供人跑步的带状件(0702)运行以供人跑步。自然的，该设备还包括供人跑步的带状件(0702)的连接部。该方案的有益效果同1T7方案。
优选的，该方案1T7B包括下述方案1T7B 1和/或1T7B 2。
1T7B 1：该设备包括带状件(0701)。也即：该设备包括运动带式行走装置(07d)。该方案的有益效果同1T7A1方案。
1T7B 2：该设备包括该供人跑步的带状件(0702)。也即：该设备包括跑步机。该方案的有益效果同1T7A2方案。
1T7C：一种可移动的设备，包括用于使供人跑步的带状件(0702)运行、供人跑步的第二运动装置(07)，且该第二运动装置(07)配置为：还用于使供该设备沿路面行驶的带状件(0701)运行以使该设备沿路面行驶。优选的，该方案1T7C包括下述方案1T7C 1和/或1T7C 2。
1T7C 1：该设备包括该供该设备沿路面行驶的带状件(0701)。也即：该设备包括运动带式行走装置(07d)。该方案的有益效果同1T7A1方案。
1T7C2：该设备包括该供人跑步的带状件(0702)。也即：该设备包括跑步机。该方案的有益效果同1T7A2方案。
该第二运动装置(07)使该供该设备沿路面行驶的带状件(0701)运行和该第二运动装置(07)使该供人跑步的带状件(0702)运行既可同时进行，也可在不同时间段进行。可选的：供该设备沿路面行驶的带状件(0701)和供人跑步的带状件(0702)可为同一部件或为不同的部件。
使带状件(070)运行，尤其指驱动该带状件(070)运行。该第二运动装置(07)尤其指驱动该带状件(070)运行的运动机构(07m)中原动件和/或用于驱动运动机构(07m)的动力装置(07n)。
该第二运动装置(07)包括运动机构(07m)和/或运动机构(07m)的连接部(07j)和/或用于驱动运动机构(07m)的动力装置(07n)。跑步带供人在该跑步带上跑步。连接部(07j)用于安装、支撑该运动机构(07m)。该运动机构(07m)为带式运动机构。例如，常见的带式运动机构包括链条式运动机构、同步带式运动机构、履带式运动机构。
该1T7方案的实施方式：该运动机构(07m)包括第一旋转件(0721)和第二旋转件(0722)；该带状件(070)围绕该第一旋转件(0721)和该第二旋转件(0722)。该第一旋转件(0721)和该第二旋转件(0722)用于支承该带状件(070)。可选的，运动机构(07m)还可包括一个或多个中间件。该中间件设置于带状件(070)环绕的圈内。该中间件为中间旋转件或支撑板。例如，该支撑板为跑板。或，例如，该中间旋转件为负重旋转件、诱导旋转件或托带旋转件。带状件(070)为环形的带状件(070)，也即由带状件(070)为闭合的环。该带状件(070)为无端传送带。该第一旋转件(0721)和该第二旋转件(0722)均处于带状件(070)的环内。带状件也可称为运动带。该带状件(070)桥接该第一旋转件(0721)和该第二旋转件(0722)。
该1T7方案的实施，可如图1、图2、图3、图4、图5、图11、图12所示设备，该设备包括：机架(01)、带状件(070)、第一旋转件(0721)和第二旋转件(0722)。上述任一旋转件，其类型可为轮或辊。辊即滚筒。该轮可为履带轮(相应的该带状件(070)为履带)或链轮(相应的该带状件(070)为链条)或其他带轮。该其他带轮可为皮带轮、同步带轮。该旋转件的轴连接于运动机构(07m)的基座。
运动机构(07m)的基座连接可移动的设备的机架。该连接可移动的设备的机架，也即安装于该机架的连接部(07j)。该运动机构(07m)的基座与该连接部(07j)可为一体化部件。也即，该旋转件的轴可连接于该设备的机架的连接部(07j)。本文中，任一处连接部件，均可指连接部。连接部设置于设备的机架上。连接部指设备的机架中用于支承、连接(尤其指固定)待连接部件(例如任一运动机构或任一运动机构的基座)。且连接部以进行用于连接的处理(例如设有相应的孔、槽或销)。机架也即机架。
运动机构(07m)中，该第一旋转件(0721)和该第二旋转件(0722)中至少一个为原动件，该原动件即主动轮或主动辊。运动机构(07m)的原动件连接该动力装置(07n)。由该该动力装置(07n)驱动该运动机构(07m)运动。该原动件连接该动力装置(07n)，包括原动件通过传动机构连接该动力装置(07n)。例如，该动力装置(07n)为电机或燃油发动机。例如，该传动机构为减速机。原动件也即动力的输入件。运动机构(07m)中可包括若干个从动件。若干个指一个或多个。原动件(通过传动机构)在动力装置(07n)的驱动下旋转，带动带状件(070)转动、从动件转动。
跑步机的带状件(070)、第二运动装置(07)运动的原理也即运动带式行走装置(07d)中带状件(070)、第二运动装置(07)的原理。
优选的，该1T7方案的包括下述1T71、1T72、1T73、1T74、1T75、1T76中任一种或任意多种：
1T71：(如图1、图11、图12所示的可移动的设备：)以可移动设备的重心(O)点为参考，履带式行走装置的带状件(070)分为左方的带状件(070a)、右方的带状件(070b)。该左方的带状件(070a)的运行和该右方的带状件(070b)的运行能相互独立。使左方的带状件(070a)运行的第二运动装置(07a) 的活动件和使右方的带状件(070b)运行的第二运动装置(07b)的活动件无机械连接。该左方的带状件(070a)的运行速度和该右方的带状件(070b)的运行速度可设置为不等。带状件(070)可供人跑步。带状件(070a)旋转、运动机构(07m)中原动件(主动轮、主动辊)的方向即前后方向。
该第一侧的带状件(070a)由第一侧运动机构(07m1)驱动运行；该第二侧的带状件(070b)由第二侧运动机构(07m2)驱动运行。第一侧即左方。第二侧即右方。
该运动机构(07m)分为第一侧运动机构(07m1)、第二侧运动机构(07m2)。该第一侧运动机构(07m1)包括第一侧的第一旋转件(0721a)和第一侧的第二旋转件(0722a)。该第二侧运动机构(07m2)包括第二侧的第一旋转件(0721b)和第二侧的第二旋转件(0722b)。该方案如图1所示。
该1T71方案中，该带状件(070)尤其指供人跑步的带状件(0702)。该第一侧的带状件(070a)尤其指第一侧的供人跑步的带状件(0702a)。该第二侧的带状件(070b)尤其指第二侧的供人跑步的带状件(0702b)。供人跑步的带状件即跑步带。
本文中，第一侧与第二侧为相对的方位。优选的：第一侧为左边即左方即左侧。第二侧为为右边即右方即右侧。
相较于整体式的带状件(070)，该1T71方案的有益效果：带状件(070)分为第一侧的带状件(070a)、第二侧的带状件(070b)，该两侧的带状件能差速运行，使的该带状件(070)用于触地、使该设备沿路面行驶时，能便利的转向。
1T72：该供人跑步的带状件与该第二运动装置(07)的输出端通过能分断的部件连接，该能分断的部件用于使该供人跑步的带状件(070)与该第二运动装置(07)的输出端连接或断开；和/或，该供该设备沿路面行驶的带状件与该第二运动装置(07)的输出端通过能分断的部件连接，该能分断的部件用于使该供该设备沿路面行驶的带状件与该第二运动装置(07)的输出端连接或断开。该能分断的部件即离合器。
该设备的控制方法：该该供人跑步的带状件(0702)与该第二运动装置(07)的输出端通过能分断的部件连接，若该设备需通过该供该设备沿路面行驶的带状件(0701)使该设备沿路面行驶，则控制能分断的部件断开该该供人跑步的带状件(0702)与该第二运动装置(07)的输出端的连接。
相较于不可分断的连接(尤其是固定连接)，该1T72方案的有益效果：当该第二运动装置(07)需要控制两侧的供该设备沿路面行驶的带状件(0701)进行差速运行时，该该供人跑步的带状件(0702)与该第二运动装置(07)通过能分断，以防止其影响两侧的供该设备沿路面行驶的带状件(0701)进行差速运行或利于节能；和/或，当第二运动装置(07)驱动该供人跑步的带状件(0702)运行供人跑步时，该供该设备沿路面行驶的带状件(0701)与该第二运动装置(07)能分断，以防止其影响跑步或利于节能。
1T73：该设备包括用于调整该带状件(070)相对于该设备的机架的高度的升降机构。该升降机构用于带状件(070)应用场景1、2、3的切换。该下降与该上升在不同的时间段进行。该升降机构的基座连接机架01。该升降机构的输出件连接该运动机构的基座。该升降机构的原动件连接驱动器，由该驱动器驱动该运动机构的基座相对于机架01升降。该运动机构的基座升降，带动该带状件升降。
如图1、图2、图3、图4、图5所示，该设备的该升降机构(1307)，具体的包括中部靠前的升降 机构(212)和中部靠后的升降机构(221)。该系列附图中，为了便于观察，若干部件未显示出来。
带状件(070)应用场景1(例如如图3、图4所示)：使该带状件(070)的底部相对于该设备的机架(01)下降以接触路面，以使该带状件(070)用于驱动该设备沿路面行驶。该带状件(070)应用场景1也即到达带式行驶位置。该带状件(070)应用场景1也即带式行驶模式。该模式尤其用于使设备以带式行驶方式过松软地段、爬阶梯。
带状件(070)应用场景2(例如如图1、图2所示)：使该带状件(070)的底部相对于该设备的机架上升，以使该带状件(070)脱离用该带状件(070)驱动该设备沿路面行驶的位置。该位置即带式行驶位置。脱离该位置也即离地。该带状件(070)应用场景2也称为非带式行驶模式，脱离带式行驶位置。带状件(070)升降即带状件(070)底部的升降。
带状件(070)应用场景3(例如如图5所示)：使该带状件(070)的底部相对于该设备的机架上升，以使该带状件(070)避障。该带状件(070)应用场景3也即上升避障。底部即下表面。
该可移动的设备的控制方法，包括：当该设备沿地面移动，且该设备的该带状件(070)遇到障碍时，执行D步骤，使设备越过该障碍物。该D步骤为：控制用于调整该带状件(070)相对于该设备的机架的高度的升降机构(1307)，使该带状件(070)上升，用于使该带状件(070)避开该障碍物。该避开尤其指越过。优选的，该D步骤中还包括步骤：控制该升降机构(1307)使已越过该障碍物的该带状件(070)下降。该步骤用于支撑该设备、使该设备移动。
该带状件(070)的底部，即位于底部的该带状件(070)。该带状件(070)围绕该第一旋转件(0721)和第二旋转件(0722)。如图5所示，该标号(070)所指位置即该带状件(070)的底部。如图3、图4所示，该标号(070)所指位置即该带状件(070)的顶部。
该1T73方案的有益效果：更利于应用场景1、2的切换，更利于设备(供人跑步、行驶)功能的实现。如无该1T73方案，则需要通过手动方式(例如在底部架砖、木头)使该带状件(070)脱离用于驱动该设备沿路面行驶的位置，以进行跑步等。
1T74：该第二运动装置(07)构造为：该带状件(070)的底部低于该第二运动装置(07)中其他部件的底部。该第二运动装置(07)尤其指该运动机构(07m)。该第二运动装置(07)中其他部件，尤其指该运动机构(07m)的基座。该带状件(070)的底部为该运动机构(07m)的底部。该1T74方案中，该带状件(070)尤其指供人跑步的带状件(0702)。
现有技术中，跑步机的供人跑步的带状件(0702)的底部高于用于安装该供人跑步的带状件(0702)的边框的底部的高度。由该边框的底部支撑供人跑步的带状件(0702)离地，人员位于供人跑步的带状件(0702)之上跑步。该现有技术方案，导致不便于(使设备沿路面行驶)功能的实现。
该1T74方案的有益效果：相较于现有技术，更便于(使设备沿路面行驶)功能的实现。
1T75：该第二运动装置(07)构造为：该供该设备沿路面行驶的带状件(0701)的底部低于供人跑步的供人跑步的带状件(0702)的底部。该1T75也即：行驶带(0701)的底部低于跑步带(0702)的底部。该1T75方案的有益效果：相较于现有技术，该供该设备沿路面行驶的带状件(0701)的底部比供人跑步的带状件(0702)的底部先触地，更便于由供该设备沿路面行驶的带状件(0701)实现使设备沿路面行驶功能和由供人跑步的带状件(0702)实现跑步功能，两者干涉的可行性降低。该第二运动装置(07) 尤其指该运动机构(07m)。
该1T75方案的一个实施例如：该运动机构(07m)用于支承该供该设备沿路面行驶的带状件(0701)的旋转件的直径大于用于支承该供人跑步的带状件(0702)的旋转件的直径。该用于支承该供该设备沿路面行驶的带状件(0701)的旋转件包括第一旋转件(0721d)和/或第二旋转件(0722d)。该用于支承该供人跑步的带状件(0702)的旋转件包括第一旋转件(0721p)和/或第二旋转件(0722p)。
现有技术中，包括履带行走机构的可移动的设备中，供该设备沿路面行驶的带状件(0701)的底部低于用于安装该供该设备沿路面行驶的带状件(0701)的边框的底部的高度，供该设备沿路面行驶的带状件(0701)的底部触地用于使该设备沿路面行驶。
1T75：该设备构造为：该第二运动装置(07)(中机械部件)作为该设备的底板(116)的构成部件。该第二运动装置(07)(中机械部件)可作为该设备的底板(116)的主要构成部件，设备内人员可直接踩踏于带状件(070)上。或可在带状件(070)上设置一层薄板即可。
该方案的有益效果：为了设备行驶、工作可靠；设备的底板(116)通常需要结实、笨重、造价高。而该第二运动装置(07)配置为运动带式行走装置(07d)和/或跑步机(07p)，自身分量重、可靠性好。该方案巧妙的将设备的底板(116)、第二运动装置(07)合二为一，大幅降低设备的制造成本、重量。任一部件实现其用途，即处于工作状态。
1T76：该设备包括(设置)用于在底部撑地、使该带状件(070)脱离带式行驶位置的部件，该部件为机械连接设备机架的支撑件(117)或支撑件(117)的连接部，且该部件构造为使该支撑件(117)能活动的进入工作位置。该部件非固定的连接设备的机架。撑地指接触路面、向路面施加(向下)压力。使带状件(070)脱离带式行驶位置，即使带状件(070)脱离路面。该方案如图12所示，在该第二运动装置(07)的底部的四周设置有支撑件(117)。该支撑件(117)处于工作状态时，其底部比带状件(070)更低。该方案的有益效果为：虽然轮(05)可用于撑地、使该带状件(070)脱离带式行驶位置。但为了保障行驶性能，轮(05)可能采用橡胶轮胎或充气轮胎有一定弹性。若该第二运动装置(07)配置为跑步机(07p)供人跑步时，或该设备在非行驶中设置于人力运动健身模式时，支撑件(117)能提供更刚性的撑地效果或防止轮(5)及其支承件的损坏。
该方案的实施方式：支撑件(117)为带螺纹的脚杯，该支撑件(117)的连接部设备的底板(或该第二运动装置(07)的基座上)且带螺纹孔。或该支撑件(117)铰接于设备的底板(或该第二运动装置(07)的基座上)。当该支撑件(117)旋转至工作位置在底部撑地、使该带状件(070)脱离带式行驶位置。当设备需要带式行驶时，当该支撑件(117)能旋转至非工作位置，以不阻碍该该带状件(070)进入带式行驶位置。
1T8：该可移动的设备还包括用于使该设备的行走部件的根部相对于该设备的机架(01)(中心)能在水平方向产生位移的第三运动装置(18)。该第三运动装置(18)包括运动机构(1825)和/或用于安装运动机构(1825)的连接部。该第三运动装置(18)尤其指运动机构(1825)。水平方向尤其指前后方向。该运动机构(1805)可为伸缩机构，例如，例如，该伸缩机构为电动推杆、或活塞式气缸或伸缩式液压缸。该运动机构(1825)的基座连接机架(01)，该运动机构(1825)的输出件连接该行走部件的根部。
该行走部件包括轮(05)和/或用于使设备移动的带式运动机构(07)。该第三运动装置(181T)包括：用于使该设备的轮(05)相对于该设备的机架(01)(中心)能在水平方向产生位移的第三运动装置(18)。
该运动机构(1825)包括用于使该设备的轮(05)相对于该设备的机架(01)(中心)能在水平方向产生位移的运动机构(1805)该运动机构(1805)的基座连接机架(01)，该运动机构(1805)的输出件连接该设备的轮(05)的根部。轮(05)的根部即轮轴。默认的，该设备中，不同区域的行走部件(的根部)对应各自独立的第三运动装置(181T)。
该1T8方案的用途和有益效果：用于使该行走部件能在更大空间内活动、使该行走部件避开障碍、使该设备越障。若该行走部件(的根部)位于该设备的机架(01)在俯视方向的轮廓线之外，则该第三运动装置(18)用于调整该行走部件(的根部)与该设备的机架(01)之间水平方向距离。该第三运动装置(18)即距离调整装置。
该1T8方案还有另外用途和有益效果：用于调整的设备的水平方向尺寸。该水平方向尺寸包括长度和/或宽度。缩小设备的水平方向尺寸可减小设备的占地面积、使设备能进入电梯、公共交通工具等。
该1T8方案的实施例：如图6、7、8、9所示的可移动的设备，该设备的轮(05)通过用于使该设备的轮(05)相对于该设备的机架(01)(中心)能在水平方向产生位移的运动机构(1805)连接机架(01)。其中，第一区域的轮(051)通过运动机构(18051)连接机架(01)；第二区域的轮(052)通过运动机构(18052)连接机架(01)；第三区域的轮(053)通过运动机构(18053)连接机架(01)；第四区域的轮(054)通过运动机构(18054)连接机架(01)。机架即机架及机架，三者等同。
该设备包括载人舱。该设备中(该载人舱)用于容纳人员的区域四周有边界(第一边界111、第二边界112、第三边界113、第四边界114)。
使可移动的设备中的动力轮离地，由无动力轮着地，该方案使设备供人力推行。非常便利。该无动力轮优选为能换向轮。设备由该无动力且能换向轮着地时，供人力换向(尤其是横向或变向)推行。非常便利。该能换向轮能优选为万向轮。
如图6、图7、图8所示设备，(第一区域)运动机构(18051)使轮(051)往前伸出；(第三区域)运动机构(18053)使轮(053)往前伸出；(第二区域)运动机构(18052)使轮(052)往后伸出；(第四区域)运动机构(18054)使轮(054)往后伸出，此时设备的总长度最大。如图9所示设备，运动机构(1805)使各轮(05)靠近该设备的机架(01)(中心)，此时设备的总长度显著变小。在用于调整该设备的轮(05)与设备的机架之间上下方向距离的距离调整机构(1305)的驱动下：如图6、图7所示，该设备中所有的轮(05)相对于该设备的机架下降，此时该设备用于沿路面行驶。如图9所示，该设备中所有的轮(05)相对于该设备的机架上升，此时该设备用于非行驶状态。该非行驶状态例如为供人跑步等。
该1T8方案的优选方案：该设备中，各不同区域的行走部件(的根部)对应各自独立的第三运动装置(181T)，至少一个区域中第三运动装置(181T)可带动该区域的行走部件(的根部)独立移动。也即左右的行走部件(的根部)能设置于(相对于该设备的机架(01))不同长度的位置。该方案的用途用于有益效果：用于使设备中前部和/或后部的左右的行走部件(的根部)交叉迈步，使该行走部件避开 障碍、设备越障能力增强。
该1T8方案(使行走部件能水平移动)与该1T31方案(升降轮)相结合，使行走部件实现平移和升降组合的二维运动，类同与关节型机械腿的迈步动作，能极大的增强设备的运动能力、越障能力。
1T9：(如图12所示)该可移动的设备还包括水中推进装置(09)。例如，水中推进装置为螺旋桨或喷水装置。公知的，可移动的设备可构造为在水中的浮力大于设备自身及载荷的总重力。例如，该设备的中下部或整体构造成内含密闭空间；和/或，该设备配置气囊(充气装置)。在水中时，气囊产生浮力。该设备构造为：与水接触的部件均具能防水。该设备能在水中行驶。可选的，本文中可移动的设备或移动平台，包括自动驾驶模块或无线遥控模块，以控制设备的行驶和/或越障。
结合1T3、1T73、1T9方案可得方案1T379：一种可移动的设备，该可移动的设备包括轮式移动装置(5)、水中推进装置(09)、用于通过带状件(070)使该设备沿路面行驶的第二运动装置(07)；该设备还包括用于调整该带状件(070)相对于该设备的机架的高度的升降机构(1307)和/或该设备还包括用于调整该设备的轮与设备的机架之间上下方向距离的距离调整机构(1305)。该设备用于水陆两栖行驶。两栖即两用。轮升降即轮底部的升降。
该设备的控制方法：包括步骤1T3、步骤1T73、步骤1T9。且可在该三种步骤中切换。
步骤1T3：(当该设备需要轮式行驶时)控制该轮式移动装置(5)使该设备沿路面行驶；
步骤1T73：(当该设备需要带式行驶时)控制距离调整机构(1305)使轮(05)上升和/或控制该升降机构(1307)使该带状件(070)下降，以使该带状件(070)进入带式行驶位置，控制该第二运动装置(07)进行带式行驶；
步骤1T9：(当该设备在水中行驶时，)控制该水中推进装置(09)使该设备在水中行驶。
可选的，该步骤1T73还可包括步骤：控制用于驱动轮(05)升降的距离调整机构(1305)，使该轮(05)上升。
可选的，该步骤1T3还可包括步骤：控制用于驱动轮(05)升降的距离调整机构(1305)，使该轮(05)的底部下降以触地；和/或，控制该升降机构(1307)使该带状件(070)脱离带式行驶位置。
自由、灵活、高效的水路两栖，是很多人的梦想也是业内技术难题。但在该领域，具有两个严重的行业偏见，一为只需要让设备配置陆地行驶装置(轮腿)和水中推进装置(螺旋桨)就能水路两栖；二为常规的履带式车辆能水路两栖。而实际上时至今日，四轮汽车、船舶、履带坦克都已发明普及上百年。但现有的水陆两栖设备的效率、能耗都非常不如人意，至今未有能大面积普及的产品以解决市场痛点。
本文中，可移动的设备包括移动装置，其用于使可移动的设备移动。该移动即行驶。可移动的设备的边(11)，包括前边(111)、后边(112)、左边(113)、右边(114)、顶边(115)、底边(116)中任一种或任意多种。可移动的设备能变形，极大提高适应性。如图11、图12所示，该设备包括用于调整该设备的顶部(115)高度的运动机构(1315)。图11所示设备，顶(115)与底(116)之间的高度设置为站立高度或坐姿高度。图12所示设备，顶(115)已被打开。站立高度指使人能站立于该设备中高度。坐姿高度指使人能坐于该设备的坐具(16)上高度。本文中人均指标准身高的人。
本发明中，任一处的描述，可用于本文中任一方案中：该任一方案尤其指在任一可移动的设备方案。本文中：设备即机器即机器人，该三者等同。
1、方位即方向即角位置即取向。在没有限定说明时，前后左右上下中任一方位，参照物为可移动的设备的的机架(01)的中心。在没有限定说明时，任一部件均指该部件的中心。本文中，向内或向外，指以参照物为基准，向内为：指向该参照物的方向；向外为：指向该参照物的相反的方向。当无附加说明时：前方，指；可移动的设备行驶的方向；指附图中X1所指的方向。X1指示前方，则X2指示后方。左右指左和/或右，前后指前和/或后。进退指进和/或退。本文中，前视即从前往后的方向看，前视图即左视图；侧视图也即正视图也即主视图，该视图方向为从左往右方向看；俯视图即从上往下的方向看的视图。
前包括正前、左前、右前。后包括正后、左后、右后。左包括正左、左前、左后。右包括正右、右前、右后。纵向即X向即前后方向。横向即Y向即左右方向。平移包括前后移动和/或左右移动上方包括正上方、侧上方即斜上方。顶即上方。下方包括正下方、侧下方即斜下方。竖向即Z向，指上下方向。地指设备的底面尤其指地面。
俯视方向，可移动的设备可包括第一区域、第二区域、第三区域、第四区域。该4个区域分布于可移动的设备的4角。第一区域和第二区域相邻。第一区域和第三区域相邻。第二区域和第四区域相邻。第三区域和第四区域相邻。第一区域和第四区域位置相对。第二区域和第三区域位置相对。优选的：第一区域为左前部即左前区；第二区域为左后部即左后区；第三区域为右前部即右前区；第四区域右后部即右后区。区域方位即部位，三者等同。某位置中的区域分该位置中的全部区域或该位置中的部分区域。某空间包括该空间的全部或该空间中部分空间。
任一部件均具有两端，该部件的一端指该部件的根部，该部件的另一端指该部件的末端。在连接关系上：根部指靠近机架的部位。末端指远离机架的部位。该部件尤其指腿、臂、机构或关节。根部即基座即固定端即固定件即首端即内端，该六者等同。末端即活动端即活动件即输出端即输出件即外端，该六者等同。
2、本文中，任一处所述相同均指大体相同。大体相同可为完全相同。在任一方案中，接近于即大体为即基本为，该三者等同。大体为即接近于。大体为包括为，尤其指为。接近于包括等于。例如，平指大体为水平。平可为水平。直指大体为直。本文中，调整，指在能调整范围内增大或减小。调整，指受控调整。
3、常用名词(方案、能、可、设置、具有、包括)的意义：
本文中任一方案中如包括“能”或“可”或“以”的词，则该方案均包含将该“能”或“可”或“以”的词去掉后的方案。本文中任一方案中如包括“()”，则可选择的，该方案包括该“()”内的内容。该“()”能去掉，例如，(沿外部物体)攀爬，可为沿外部物体攀爬。如“()”中内容以或开头，则允许将“()”中内容替换该“()”前所描述的内容。也允许将“()”中内容整体去除。
默认，指在没有限定说明时的选择。任意指若干。若干可为一个或多个。某种也即任意一种或任意多种。驱动即带动，两者等同。获取与取得等同。
本文中，任一功能物体的命名为功能+物体。任一功能物体，均指该物体配置为具有实现该功能的属性。例如移动装置，即用于移动的装置。例如，升降机构即用于实现升降功能的运动机构。例如轮式移动装置，即用于轮式移动的装置。A包括B，包括：A连接有B或A为B的情况。包括可为：仅仅包括。 仅仅包括即为。某物体作为部件A使用，也即某物体具有部件A的功能，也即某物体为部件A。某部件的功能包括A，指该部件用于A。某部件或部件A，可为本文中任一部件，例如该部件为关节部或腿或臂等。该A和B可为本文中任一方案。
4、连接包括直接连接或通过居中件连接。当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至另一个元件上。联结即连接。
连接，包括：(机械部件之间的)机械连接、(电气部件之间)电连接等。电连接包括有线连接、无线连接。直接连接，例如焊接或压接或螺纹连接或勾住或挂接或卡扣式连接等。在无限定时，连接均指串接。多个部件依次连接，为前一部件的末端连接后一部件的根端，也即多个部件的尾首依次连接。
默认的，连接为机械连接。(机械)连接的种类，包括：固定连接、活动连接、可拆卸连接。两者连接还可为两者一体化。可拆卸的连接，也即为以能受控的解除连接的方式的连接。活动连接包括可滑动连接或可转动连接；可转动连接即铰接。固定连接即安装。
本文中，任一连接部，指设备中用于连接待连接部件的部件。连接部位指用于支承、连接待连接部件的部位。例如，待连接部件为运动机构。连接部，指该部构造为具有用于连接待连接部件的属性或已进行用于连接的处理。连接部指该部位构造为能承载待连接部件所产生的力连接部还可指连接部件。该部件为孔、槽或销或加固件。具有用于连接待连接部件的属性即已进行用于连接该部件的处理。连接部件可为设备的机架(01)中一部分。连接部件也可为独立于机架(01)机架但与该机架(01)机架连接的部件。在无限定说明时，连接部设置于设备的机架上。在无限定说明时，任一臂或腿连接物体，指该臂或该腿的末端连接该物体。能连接，指设置有连接部用于连接。
5、单元即装置即***即模块即部件即元件即器件即组件，该八者等同。在没有限定说明的情况下，设备所包括的部件，均可为一个或多个。任一部件可分布于多个物理实体或单个物体实体中；多个部件也可布置在同一物体实体中。驱动装置也称为驱动器。驱动装置也称为致动器。致动器可以负责机器臂、腿部、手部和头部等的移动。
6、机架即本体即躯体也即躯干即机身，该五者等同。任一可移动的设备均具有机架。外部物体，指可移动的设备外部的物体。本文中，在没有限定或附加说明时：可移动的设备指可移动的设备的机架即可移动的设备的躯体。移动均指可移动的设备的机架的移动。机架，即可移动的设备中相互固定连接的部件，且该相互固定连接的部件在可移动的设备的所有部件中质量最大。该质量即重量。
7、本文中，任一处所述设备均包括实现作业所需要的所有装置。本文中任一设备均包括：控制装置、作业装置和能源供应装置。可知的，可移动的设备还可包括需要的电气部件和/或机械件。电气部件(例如导线)用于电连接各部件。机械件用于连接、支撑各部件。本文中，该可移动的设备、控制装置、作业装置和能源供应装置，均配置为：用于实现本文中任一处所描述的方法、步骤和功能。
7.1、作业即工作即任务，三者等同。作业包括使设备移动、特种作业。作业装置包括特种作业装置、移动装置。移动装置用于使可移动的设备移动。该移动指在动力***的驱动下移动。该移动包括在地面移动、在水中移动、在空中移动。该移动装置包括地面移动装置和/或水中推进装置和/或飞行装置。移动装置即行驶装置。从组成部分分析：任一作业装置包括用于驱动作业执行器件进行作业的运动装置或 用于安装该运动装置的连接部。运动装置也称为运动组件。
本文中，任一运动装置指用于运动的装置。运动装置包括运动机构、用于安装该运动机构的连接部、用于驱动该运动机构的驱动器中任一种或任意多种。运动机构与其驱动器可一体化。例如一体化关节指该关节与该关节的驱动装置一体。运动装置的输出端即运动机构的输出端。驱动器也称为驱动组件。
本文中，任一处所述履带式行走机构均连接有用于驱动该履带式行走机构的驱动器，该履带式行走机构及该驱动器均属于履带式行走装置，该履带式行走装置属于包含该履带式行走机构的设备。履带式行走机构的基座，即用于连接第一旋转件(0721)的旋转轴和第二旋转件(0722)的旋转轴的支架。该第三行走机构可为履带式行走机构或行走轮。行走机构的着地点的连线，指行走机构的着地点的外圈的连线。履带式行走机构的着地点即履带的着地点。各触地点依次连线合围所形成的区域，即各触地点所围成的图形。移动平台即可移动的平台。
任一机构，该机构的输入端连接用于驱动该机构的驱动器的输出端。该设备的控制装置连接该驱动器。由该控制装置该驱动器，由控制装置控制机构的动作。本文中，任一处所述升降机构均连接有用于驱动该升降机构的驱动器，该升降机构及该驱动器均属于升降装置，该升降装置属于包含该升降机构的设备。
轮机构的输出件即轮辋和/或套于轮辋上的轮胎。轮机构的输出件通过轮辐连接套于轮轴的轴承的外圈。该轴承的外圈、轮辐、轮辋和轮胎可绕该轮轴转动。行驶轮连接于可移动的设备的机架(01)，行驶轮沿路面滚动带动可移动的设备行驶。
本文中，任一处能接受控制装置控制的运动机构均连接有用于驱动该运动机构的驱动器，该运动机构及该驱动器均属于运动装置，该运动装置属于包含该运动机构的设备。控制任一机构均指控制用于驱动该机构的驱动器。该机构的动力输入端连接该驱动器的动力输出端。该驱动器电连接控制装置。
运动的类型包括升降、水平距离调整、腿式行走、轮式行走、履带式行走、飞行、水中推进。与运动的类型相应的，运动机构可分为升降机构、水平距离调整机构、腿式行走机构、轮式行走机构、履带式行走机构、飞行机构、水中推进机构。与运动的类型相应的，运动装置可分为升降装置、水平距离调整装置、腿式行走装置、轮式行走装置、履带式行走装置、飞行装置、水中推进装置。腿式行走即步行。行走也称为行驶或移动。行走指地面移动。行走装置也称为地面移动装置。基于现有技术可知的，
可移动的设备的重心(O)指该设备的构造重心(O)。标准指国家标准或行业标准或厂家标准或市场内产品的均值。在没有限定说明时，本文中所述的中部指第一行走机构和第二行走机构之间的部位。
因思维的惯性(人和动物的腿随处可见)，现有设备的越障技术方案多为仿照人类或动物的腿的多连杆摆动关节方案，所以导致较重的设备(例如汽车)至今无法高性能(上台阶、下台阶、跨栏)越障。线性运动机构相较于多连杆摆动机构，具有承载能力大、体积小、成本低、速度快的突出优点，在用于和行走机构结合使设备越障时具有突出的优势。例如，千斤顶为典型的线性运动机构，其价格不到100元且承载能力达到1000KG，承载50KG的绕关节旋转机械臂为典型多连杆摆动机构，其最低价格为25000元，价格相差250倍、承载能力相差20倍。
第一运动机构和第二运动机构，使轮式车在跨栏时能根据栏宽自由、在踩坑时能根据坑大小调整行走机构的着地点，极大的提升了轮式设备的越障能力。且同时的，该技术方案还使设备的长度能自由调 整，也即具有变形功能。当高速行驶时或人员需躺于设备内休息时或上下坡时，增加了设备的安全性与稳定性。机架长度缩短时使该设备能进电梯以回家，或减小了在公共场合、车船飞机内的占地面积。
本文中，包括的含义可为仅仅包括。仅仅包括即为。
包括第一行走机构和第二行走机构的第一行走装置用于驱动可移动的设备沿地面行驶。第一行走装置还包括用于驱动所述第一行走机构的第一驱动器和/或用于驱动第二行走机构的第二驱动器。可选的，第一行走装置为轮式移动装置，第一行走机构为第一前轮511，第二行走机构为第二后轮522。
第三行走机构可为履带式行走机构。包含第三行走机构的第二运动装置(07)为履带式行走装置。本文中，任一机构的一端指该机构的基座，该机构的另一端指该机构的输出件。
第一行走机构和第二行走机构能支撑该机架离地。且第三行走机构能支撑该机架离地。第三行走机构用于驱动可移动的设备沿地面行驶。第一行走机构和/或第二行走机构均能与第三行走机构配合用于驱动可移动的设备沿地面行驶。第三行走机构573的前边缘能位于该第一行走机构571的前边缘之后，第三行走机构573的后边缘位于该第二行走机构572的后边缘之前。
任一部件均具有两端，默认的，该部件的一端指该部件的基座，该部件的另一端指该部件的输出端。该部件尤其指腿、臂、机构或关节。本文中，在没有限定或附加说明时：可移动的设备指可移动的设备的机架01。设备的移动指该机架01的移动。本体即躯体也即躯干即机身即机架，该五者等同。本文中，地面即路面。地面指设备下方用于支承该设备的底面。本文中，任一处所述连接轮，均指连接轮的轴。履带式行走机构、履带的安装位置为设备下方的中部。任一部件相对于另一部件的位置关系，以该两部件的中心为比较基准。
当作业为移动时，作业执行器件为移动用具。例如该移动用具包括脚、攀爬用具、轮、翼(例如旋翼、平翼或扑翼)等。当作业为特种作业时，作业用具包括取物装置和/或作业工具。可选的，作业用具还包括用于作业的附件。
能源供应装置包括电源或为电源。本文中任一设备中，电源连接控制装置，为控制装置供电。本文中任一设备中，能源供应装置连接作业装置，为作业提供能源。进一步的为，该能源供应装置连接该作业装置中驱动装置，为该作业提供能源。提供能源尤其指供电。能源供应装置可为燃料供应***，例如油箱。电源可为电池。
驱动装置即驱动单元即动力单元即动力***即驱动部件即驱动组件，该六者等同。驱动装置中包括动力转化装置。(例如动力转化装置为电机、燃料发动机、液压缸、液压马达、气缸或气动马达等)。可选的，驱动装置还包括用于控制动力部件的动力控制装置。(例如动力控制装置为电机驱动器、液压阀、燃料喷射***或气阀。动力转化装置即动力部件。驱动装置可包含减速器。
7.2、控制装置配置为用于实现本文中任一控制方法。进一步的，控制装置包括处理器和用于存储该处理器可执行指令的存储模块，所述处理器配置为用于实现本文中任一控制方法。
控制装置配置为用于控制可移动的设备进行本文中任一种作业。控制该设备即控制该设备的作业装置。控制装置(电)连接作业装置，控制其进行作业。具体的可为：控制装置(电)连接作业装置中运动装置，控制该运动装置，由该运动装置驱动与其连接的作业用具进行作业。更具体的可为：控制装置 (电)连接作业装置中驱动装置，控制装置控制该驱动装置，由该驱动装置驱动与其(机械)连接的运动机构，由该运动机构驱动与其(机械)连接的作业用具进行作业。根据作业种类的不同，依次连接的驱动装置、运动机构和作业用具可为多套。本文中为了描述简便，“控制用于驱动运动机构的驱动装置”可称为“控制运动装置”，或称为“控制运动机构”，该三者等同。
控制装置(电)控制驱动装置，指：该控制装置(其中的处理模块)可处理与该作业相关的信息、执行与该作业相关的程序，该控制装置可向驱动装置发出与该作业相关的控制信号。
控制可为人工控制或自动控制。人工控制，指控制装置经过人机交互模块、通讯模块接收人工控制指令；基于该指令进行控制作业。自动控制，指接收自动控制模块所发出的控制指令；基于该指令进行控制。控制装置可包括自动控制模块或控制装置由通讯模块获取外部的自动控制装置所发出指令。
控制装置包括用于实现控制功能的软件、硬件和结构件。处理器为CPU、DSP、FPGA或CPLD中至少一种。控制装置还包括通讯模块。进一步的，控制装置还包括人机界面、传感器模块中至少一种。控制装置配置为连接用于控制所需要的任意部件。处理器用于处理、执行程序、操作数据。存储模块用于存储程序、数据。
通讯模块用于控制装置内部件之间的通讯和/或控制装置与外部***的通讯。通讯模块包括有线通讯模块、无线通讯模块。例如有线通讯模块为485总线或CAN总线或以太网总线。外部***尤其指外部的信息处理中心，尤其指网络网络***。例如，无线通讯模块为移动通讯模块或红外通讯模块。人机界面包括语音输入***、显示***、键盘、鼠标、按键、人体姿态识别***等。显示***即显示装置，尤其指触摸屏。人机界面用于获取控制指令和/或获取控制所需的数据，和/或用于指示可移动的设备的状态信息。软件程序既可来源于控制装置内置的存储模块，也可来源于控制装置之外的存储模块。控制装置可通过通讯模块获取外部的软件程序。
传感器模块包括用于获取设备自身状况信息的传感器和/或用于获取环境信息的环境感知模块(08)。传感器模块用于通过传感器获取设备自身状况信息和/或环境信息。
控制装置也可通过通讯模块获取外部的传感器模块所采集的信息。自身状况可为躯体的角度、移动速度、加速度、各关节的角度、角速度、各臂的位置等。该传感器包括IMU、陀螺仪、加速度传感器、编码器、电压传感器、电流传感器等。环境指设备所在环境。用于获取环境信息的传感器包括视觉传感器、雷达、超声波、卫星定位模块、射频定位模块中至少一种。雷达包括激光雷达、毫米波雷达中至少一种。
控制装置包括运动控制模块或控制装置通过通信模块连接外部的自动驾驶模块。运动控制模块用于控制可移动的设备移动。运动控制模块包括：运动操控装置、自动驾驶模块中任一种或任意多种。
本文中任一设备中，包括转向机构、用于驱动转向机构的驱动器。转向机构连接转向轮。通过操控转向操控器即可使转向轮转向。本文中，还可控制设备中两边的轮差速以转向。三轮行驶的设备的转向机构可为三轮货车的转向机构。四轮行驶的设备的转向机构可为汽车的转向机构。转向机构可为数字舵机。数字舵机连接于需转向的行驶轮上。由控制装置控制舵机驱动转向轮转向。
7.2.1、运动操控装置包括运动操控器件或该用于连接该器件的连接部件。该运动操控器件可为方向盘、油门、刹车、摇杆、位置检测器件；该位置检测器件为电位器或编码器或光栅尺或霍尔感应型位置检测器件。运动操控包括进退操控和/或转向操控。
7.2.3、自动驾驶模块，用于以自动驾驶方式控制可移动的设备移动。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；自动驾驶可参照现有公知技术实现。
8、每种模式，有与该模式对应的软件程序或控制规律。
9、该可移动的设备构造为可载人移动，该设备内具有能容纳人员的空间。该设备具有载人舱。该可移动的设备的机架或其相关部件(例如坐具)在结构上设计为可承受标准的预设(例如100KG)的力。本文中轮式运动可移动的设备也即车辆。水中包括完全在水中、部分在水中即水面。本文中：设备即机器人即机器，三者等同。机器人即可移动的机器人。
10、本文中任一处所述设备中运动机构，连接于该设备中用于连接该运动机构的连接部。该连接部设置于该设备的机架。运动机构的基座连接机架中用于连接该运动机构的连接部。用于连接运动机构的连接部也称为连接运动机构的部件。运动即活动。运动包括旋转、移动、伸缩、收卷中任一种或任意多种。移动包括平移、升降。该平移包括左右移动和/或前后移动。
运动机构即驱动机构即活动机构即机构，该四者等同。机构包括第一构件和第二构件；第一构件连接第二构件；且第二构件相对于第一构件能运动。该两构件通过运动副联结。第一构件在机构中相对静止和用于支承第二构件。第一构件即基座即机座即固定件即固定构件即机架，该五者等同。该基座用于连接设备的机架或为设备的机架的构成部分。第二构件在第一构件设定的活动路径和/或活动范围内活动。第二构件即活动件。活动件还可分为原动件、从动件和联运件。原动件即主动件即输入件即输入构件，该四者等同。输入件即动力输入件。原动件用于连接动力装置或运动操纵器件；由动力装置驱动该原动件运动或运动操纵器件驱动该原动件运动。或原动件为动力件。原动件连接从动件。从动件即工作件即输出件即输出端即输出构件，该五者等同。输出件即运动输出件或动力输出件。联运件是联结原动件和从动件之间的中介构件。联运件用于传动动力即传动件。从动件带动所连接的负载物体运动。该负载物体为用于作业的用具或末端执行器。运动机构连接动力装置，指运动机构的原动件连接动力装置。运动机构的活动由动力装置驱动。控制装置用于控制动力装置驱动运动机构运动，指该控制装置用于控制该运动机构运动。动力装置也称为驱动器。默认的，活动件指输出件。为了便于阅读，可直接用器件的名称表示该器件的机构。例如，轮指轮机构。电动推杆指电动推杆机构。气缸指气缸机构。液压缸指液压缸机构。机械臂指机械臂机构。
用于调整行走部件位置的运动机构或行驶机构(的输出件所连接)的末端执行器为行走部件。该行走部件为行走轮、带式行走机构、或脚。用于飞行的的运动机构(的输出件所连接)的末端执行器为旋翼或扑翼或扇叶。动力臂或机械臂(的输出件所连接的)的末端执行器为取物装置(06)和/或作业工具。该取物装置和/或作业工具即用于作业的用具。
从(输出件的)运动特性区分，运动机构包括旋转型运动机构、线性移动机构等。根据所包括的运动机构的种类：驱动装置可分为旋转型驱动装置、线性驱动装置等。运动装置分旋转型运动装置、线性运动装置。例如，旋转型运动装置为旋转马达。线性驱动装置，指该装置的输出件相对于该装置的基座能线性往复运动。输出件的运动即输出件的运动所连接的负载物体的运动。伸缩装置指用于伸缩的装置，其包含伸缩机构和驱动该伸缩机构的驱动器。例如，伸缩装置为电动推杆装置、或活塞式气缸装置或伸缩式液压缸装置。
旋转型运动机构，该机构的输出件相对于该机构的基座能旋转。该输出件可为旋转轴。旋转型运动机构可为齿轮组机构、涡轮蜗杆机构或旋转马达机构。旋转型运动机构可为旋转关节。
齿轮组机构的基座为用于连接齿轮的轴的支架；该齿轮相对于该支架能旋转，齿轮组机构的输出件为输出齿轮。齿轮组机构的输入件为输入齿轮。齿轮组机构也称为(刚性)齿轮传动机构。涡轮蜗杆机构的基座为用于连接涡轮和蜗杆的支架，该涡轮和该蜗杆相对于该支架能旋转，该涡轮蜗杆机构的输出件为涡轮，该蜗杆为输入件。该涡轮的轴线与该蜗杆的轴线(可垂直)交叉。涡轮蜗杆机构即涡轮蜗杆(传动)机构。旋转马达机构的基座为马达的定子，旋转马达的输出件为转子，该转子能相对于该定子旋转。该机构的输入件为用于产生磁场的线圈。该转子通过该线圈产生的磁场驱动。
线性移动即线性运动。线性尤其指直线。线性运动机构，指该运动机构的的输出件为滑动件，该滑动件相对于该运动机构的基座能线性往复运动。线性运动机构即线性关节。滑动件即滑块。
从可从商场购买、可实施的角度，线性移动机构可为导轨型运动机构或伸缩机构。导轨即滑轨。导轨型运动机构的基座为导轨，输出件为滑块。可选的，滑块可通过滚轮与导轨接触，以减少滑动时阻力。
伸缩机构即具有伸缩功能的线性移动机构。伸缩机构的输出件相对该机构的基座能移动和伸缩。该输出件的长度接近于该基座的长度。该输出件相对于基座移动使该输出件的自由端离基座的距离可调整。伸缩机构的输出件即伸缩杆。该输出件的两端中远离该基座的一端即自由端即活动端。可选的，伸缩机构可为电动推杆、活塞式气缸或伸缩式液压缸。
丝杆机构包括基座(201)、丝杆(202)和含螺孔的输出件(203)。该基座(201)为连接丝杆(202)和输出件的支架。含螺孔的输出件(203)，指该输出件(203)设置有螺孔或该输出件(203)连接螺母(203A)。该螺孔或该螺母(203A)设有与该丝杆相配的螺纹。该螺孔或该螺母(203A)套设在该丝杠(202)上且与该丝杠螺纹连接。该机构的驱动器(204)为电机。该机构的输入件为丝杆(202)。该电机的基座连接该丝杆机构的基座(201)。该电机的输出轴连接该机构的丝杆(202)的一端，该电机能驱动该丝杠(202)绕自身轴线转动。该丝杠(202)转动能带动该输出件(203)沿该丝杠的长度方向移动。也即该输出件与该丝杆(202)配合将该丝杆(202)的旋转转化为该输出件的直线移动。在该基座(201)的约束下：该丝杆(202)可旋转但不能移动，该输出件(203)不能转动但可相对于该基座(201)移动。
电动推杆、该丝杆机构中，该基座(201)、该支架为外管；该机构的输出件(203B)为连接该螺母的伸缩杆(203B)或含螺孔的伸缩杆(203B)。在导轨型丝杆机构中，该机构的基座为滑轨，该机构的输出件为含螺孔的滑块。电动推杆中，基座为外管，输出件为含螺孔的伸缩杆。
活塞式气缸即伸缩式气缸，是引导活塞在其中进行直线往复运动的圆筒形金属器件。伸缩式液压缸尤其指活塞式液压缸。活塞式气缸的基座为气缸缸体，输出件为连接于活塞的伸缩杆。伸缩式液压缸的基座为液压缸缸体，输出件为连接于活塞的伸缩杆。
导轨型运动机构或电动推杆，具体可为丝杆机构或齿轮齿条机构。齿轮齿条机构的基座为用于连接齿轮和齿条的支架；该齿条相对于该支架能往复移动，该机构的输出件为齿条。该机构的输入件为齿轮。
导向组件包括滑轨以及与该滑轨滑动连接的滑块。显而易见的，线性移动机构的基座为长条状。该基座的方向即线性移动机构的方向。丝杆机构中丝杠的方向即该机构中基座的方向。齿轮齿条机构中齿 条的方向即该机构中基座的方向。(从功能的区分上)运动机构的种类包括行驶机构、转向机构、距离调整机构、平移运动机构(18)、升降运动机构、(旋转)关节、伸缩机构、摆动机构、收卷机构等。行驶机构也称为行走机构。升降运动机构也称为升降机构。升降机构即用于实现升降功能的运动机构。该运动机构的的输出件相对于该该运动机构的基座能升降。每个关节可包括1个或多个自由度。例如，十字形关节包括2个自由度。球形关节包括3个自由度。每个自由度对应一套驱动装置。如无特殊说明多连杆摆动机构，本文中所述摆动机构指单连杆摆动机构也即单级摆动机构。显而易见的，升降机构，可为竖置的线性移动机构；该线性移动机构的输出件相对于该基座上下移动。能在水平方向产生位移的运动机构，可为平置的线性移动机构；该线性移动机构的输出件相对于该基座往复平移。能在前后方向产生位移的运动机构，可为指向前后的线性移动机构。
优选的，该升降运动机构、前后移动运动机构、左右移动运动机构、旋转关节中至少两种联动，构成多维运动机构。多指二或大于二。优选的，本文中运动机构为多维运动机构。
距离调整装置包括伸缩装置或铰接式距离调整装置。优选的，距离调整装置为伸缩装置。距离调整机构包括伸缩机构或铰接式距离调整机构。优选的，距离调整机构为伸缩机构。
铰接式距离调整机构也称为摆动式距离调整机构或角度式距离调整机构。摆动式距离调整机构即摆动机构即摆动关节。铰接式距离调整机构指：该机构的输出件铰接该机构的基座；该输出件可绕铰接处旋转，该输出件的一端为铰接端，该输出件的另一端即自由端即活动端。该输出件绕该铰接处旋转时(也即调整该输出件相对于基座的角度)，该输出件的自由端离铰接端的水平方向距离或上下方向距离可调整。摆动机构的输出件为摆臂。该输出件带动所连接的负载的运动的轨迹为弧线。
升降机构也可为该铰接式距离调整机构，该铰接式距离调整机构用于调整输出件的自由端离铰接端的上下方向的距离。能在水平方向产生位移的运动机构也可为铰接式距离调整机构，该铰接式距离调整机构用于调整输出件的自由端离铰接端的水平方向的距离。
该输出件绕该铰接处旋转即该输出件相对于基座摆动。该输出件的的轴线与该旋转轴交叉。摆动、摆动关节可由由伸缩机构驱动。该伸缩机构的基座铰接该摆动关节的第一构件，该伸缩机构的输出端铰接该摆动关节的第二构件。该伸缩机构伸缩使第二构件相对于该第一构件摆动(绕该铰接处旋转)。例如，该伸缩机构为电动推杆、活塞式液压缸或气缸。
摆动机构也可由旋转型驱动装置(例如旋转电机)驱动。摆动机构的基座连接该旋转型驱动装置的基座，摆动机构的输出件(也即摆臂)连接该旋转型驱动装置的输出轴，该输出件(也即摆臂)的轴线与该旋转轴交叉。
本发明还提供了一种计算机可读存储介质，该计算机可读存储介质可以是设置于上述各实施例中的可移动的设备、控制装置、电子装置、部件、设备中，该计算机可读存储介质可以是存储器即存储模块。该计算机可读存储介质上存储有计算机程序，该程序被处理器执行时用于实现本文中任一控制方法。进一步的，该计算机可存储介质还可以是U盘、移动硬盘、只读存储器、可读写存储器、RAM、磁碟或者光盘等各种可以存储程序代码的介质。计算机可存储介质也可为远程或网络或云可存储介质；远程或网络或云可存储介质通过通讯模块控制装置，实现程序、信息的传输。
以上仅为本申请的可选实施例而已，并不用于限制本申请。对于本领域的技术人员来说，本申请可 以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (20)

  1. 可移动的设备，其特征在于：包括
    机架(01)、第三升降机构(212)；
    所述设备还包括第一升降机构(211)和/或第二升降机构(222)；
    所述第一升降机构(211)、所述第二升降机构(222)以及所述第三升降机构的一端均连接所述机架(01)；
    所述第一升降机构(211)的另一端连接第一行走机构(571)；所述第一升降机构(211)用于调整所述第一行走机构(571)相对于所述机架(01)的距离；
    所述第二升降机构(222)的另一端连接第二行走机构(572)；所述第二升降机构(222)用于调整所述第二行走机构(572)相对于所述机架(01)的距离；
    所述第三升降机构的另一端连接第三行走机构(573)；所述第三升降机构用于调整所述第三行走机构(573)相对于所述机架(01)的距离；
    且所述第一行走机构(571)和所述第二行走机构(572)沿行驶方向间隔布置；
    所述第三行走机构(573)位于所述第一行走机构(571)和所述第二行走机构(572)之间。
  2. 如权利要求1所述的可移动的设备，其特征在于：所述第一升降机构(211)、第二升降机构(222)和/或第三升降机构为线性运动机构、由伸缩机构驱动的摆动机构或由涡轮蜗杆机构驱动的摆动机构。
  3. 如权利要求1所述的可移动的设备，其特征在于：所述第一行走机构(571)包括连接所述第一升降机构(211)的第一前轮(511)；所述第二行走机构(572)包括连接所述第二升降机构(222)的第二后轮(522)。
  4. 如权利要求3所述的可移动的设备，其特征在于：所述第一前轮相对所述可移动的设备的行驶方向横向布置有至少两个，各所述第一前轮均连接所述第一升降机构(211)，或各所述第一前轮均对应连接一所述第一升降机构(211)；和/或所述第二后轮相对所述可移动的设备的行驶方向横向布置有至少两个，各所述第二后轮均连接所述第一升降机构(211)，或各所述第二后轮均对应连接一所述第一升降机构(211)。
  5. 如权利要求1所述的可移动的设备，其特征在于：所述第三行走机构(573)包括：第一旋转件、第二旋转件以及带状件，所述带状件(070)围绕所述第一旋转件(0721)和所述第二旋转件(0722)，所述第三升降机构连接所述第一旋转件和所述第二旋转件。
  6. 如权利要求5所述的可移动的设备，其特征在于：所述带状件(070)包括第一侧的带状件(070a)和第二侧的带状件(070b)，所述第一旋转件包括第一侧的第一旋转件(0721a)和第二侧的第一旋转件(0721b)，所述第二旋转件包括第一侧的第二旋转件(0722a)和第二侧的第二旋转件(0722b)，所述第一侧的带状件(070a)围绕所述第一侧的第一旋转件(0721a)和所述第一侧的第二旋转件(0722a)，所述第二侧的带状件(070b)围绕所述第二侧的第一旋转件(0721b)和所述第二侧的第二旋转件(0722b)，所述第一侧的带状件(070a)和所述第二侧的带状件(070b)能差速运行；所述第一侧的第一旋转件、所述第一侧的第二旋转件至少连接一所述第三升降机构，所述第二侧的第一旋转件和第二侧的第二旋转件至少连接一所述第三升降机构。
  7. 如权利要求5所述的可移动的设备，其特征在于：所述可移动的设备的重心位于所述第三行走机构的带状件于地面的正投影所覆盖的区域内。
  8. 如权利要求1所述的可移动的设备，其特征在于：所述第三行走机构(573)包括中部靠前的轮(512)和中部靠后的轮(521)；所述中部靠前的轮(512)沿行驶方向横向布置有至少两个，或所述中部靠后的轮(521)沿行驶方向横向也布置有至少两个。
  9. 如权利要求8所述的可移动的设备，其特征在于：所述可移动的设备的重心于地面的正投影位于所述第三行走机构(573)的各触地点依次连线合围所形成的区域内。
  10. 如权利要求1-9任意一项所述的可移动的设备，其特征在于：所述可移动的设备还包括第一运动机构(181)和/或第二运动机构(182)，所述第一运动机构(181)的两端分别连接所述第一升降机构(211)和所述机架(01)，并用于调整所述第一行走机构(571)沿行驶方向相对所述机架(01)的中心的距离；所述第二运动机构(182)的两端分别连接所述第二行走机构(572)和所述机架(01)，并用于调整所述第二行走机构(572)沿行驶方向相对所述机架(01)的中心的距离。
  11. 如权利要求10所述的可移动的设备，其特征在于：所述第一运动机构(181)和/或所述第二运动机构(182)为线性运动机构、由伸缩机构驱动的摆动机构或由涡轮蜗杆机构驱动的摆动机构。
  12. 如权利要求1-9任意一项所述的可移动的设备，其特征在于：所述可移动的设备还包括连接所述机架(01)的水中推进装置或飞行装置。
  13. 如权利要求2或11所述的可移动的设备，其特征在于：所述线性运动机构或所述伸缩机构为电动推杆、伸缩式液压缸或导轨型运动机构。
  14. 如权利要求1-9任意一项所述的可移动的设备，其特征在于：所述的可移动的设备还包括：连接于该机架(01)的第四行走机构(15)，该第四行走机构(15)用于使该设备沿路面行驶，所述第四行走机构(15)包括沿行驶方向间隔布置的两组车轮或所述第四行走机构(15)包括第二履带式行走机构或滚筒式行走机构。
  15. 如权利要求1-9任意一项所述的可移动的设备，其特征在于：所述可移动的设备还包括控制结构，所述控制结构用于控制第一升降机构、第二升降机构以及第三升降机构中任一种或任意多种，以使所述控制结构能够控制所述设备的行驶。
  16. 控制方法，用于控制如权利要求14-15任意一项所述的可移动的设备，其特征在于，所述控制方法包括以下步骤：
    S1：控制所述可移动的设备的所述第一升降机构(211)、所述第二升降机构(222)以及所述第三升降机构使所述第一行走机构(571)、所述第二行走机构(572)和所述第三行走机构(573)均相对于所述机架(01)升高，以使所述第四行走机构(15)撑地，控制所述第四行走机构(15)使所述可移动的设备沿路面行驶；
    S2：控制所述可移动的设备的所述第一升降机构(211)、所述第二升降机构(222)以及所述第三升降机构使所述第一行走机构(571)、所述第二行走机构(572)和所述第三行走机构(573)相对于所述机架(01)下降以撑地，以使所述第四行走机构(15)上升以越障。
  17. 存储介质，其特征在于：所述存储介质存储有计算机程序，所述计算机程序被处理器执行时使所 述处理器实现如权利要求16所述的控制方法。
  18. 控制装置，其特征在于：所述控制装置用于执行如权利要求16所述的控制方法，所述控制装置包括一个或多个处理器，存储装置，用于存储一个或多个程序；当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求16所述的控制方法。
  19. 移动平台，其特征在于：包括如权利要求18所述的控制装置。
  20. 可移动的设备，其特征在于：包括第二运动装置(07)，该第二运动装置(07)用于使带状件(070)运行使该可移动的设备沿路面行驶，和，该第二运动装置(07)还用于使带状件(070)运行供人在所述带状件(070)上跑步。
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