Movable equipment, control method, control device and storage medium

Abstract

A movable device comprises a sports belt type walking mechanism (07), the sports belt type walking mechanism (07) comprises a base, a first roller (0721), a second roller (0722) and a running belt (070), the shaft of the first roller (0721) is connected to the first end of the base, the shaft of the second roller (0722) is connected to the second end of the base, and the running belt (070) is connected to the first roller (0721) and the second roller (0722). The running belt (070) is connected with the first roller (0721) and the second roller (0722) in a sleeved mode, a person can run on the running belt (070) through the running belt (070), and the sports belt type walking mechanism (07) is further used for driving a crawler belt to enable the equipment to run along the road surface. One mechanism can realize two different functions of a treadmill and a crawler-type walking mechanism, is beneficial to saving of manufacturing cost, energy and raw materials of equipment, is beneficial to saving of occupied area of the equipment, and brings great convenience to users.

Description

Portable device, control method, control apparatus and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 4, 2022, with application number 2022100060365 and invention name “Removable device, control method, control device, storage medium, mobile platform and accessories”, the entire contents of which are incorporated by reference into this application.

[0002] This application claims priority to PCT patent application No. PCT / CN2022 / 070157 filed with the Patent Office of China on January 4, 2022, with application number PCT / CN2022 / 070157 and invention name “Mobile device, control method, control device, storage medium, mobile platform and accessories”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present invention belongs to the field of treadmills, and in particular relates to a movable device, a control method, a control device and a storage medium. Background Art

[0004] In existing technologies, the motion mechanism in treadmills can only drive the running belt for running, but cannot be used to make the device move along the road. The existing crawler walking mechanism can only be used to make the device move, but cannot be used as a treadmill. However, moving equipment (to achieve the transportation of people and goods) and allowing people to run (for fitness) are both common needs in modern society. If existing technologies are to meet both needs simultaneously, it will require the purchase of two different devices (crawler walking mechanism and treadmill), resulting in a significant waste of resources (materials, manufacturing costs, and floor space). Therefore, new technologies are urgently needed to solve the problem that treadmills cannot be used to drive crawler belts to make the device move along the road.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a movable device, a control method, a control apparatus and a storage medium, which are intended to solve the problem that a treadmill cannot be used as a driving track to enable the device to move along a road surface.

[0007] To achieve the above objectives, the technical solution adopted in this application is:

[0008] 1. A movable device, characterized in that it comprises a moving belt type walking mechanism (07),

[0009] The motion belt type walking mechanism (07) comprises a base, a first roller (0721), a second roller (0722) and a treadmill (070), wherein the axis of the first roller (0721) is connected to the first end of the base, the axis of the second roller (0722) is connected to the second end of the base, the treadmill (070) is looped around the first roller (0721) and the second roller (0722), the treadmill (070) is used for people to run on the treadmill (070), and the motion belt type walking mechanism (07) is also used to drive a crawler belt to enable the device to travel along a road surface.

[0010] The beneficial value of this solution: This technology makes the two devices compatible. The motion belt walking mechanism (07) can drive the treadmill (070) for people to run on the treadmill (070), and can also be used to drive the crawler belt to make the device run along the road. One mechanism can realize two different functions of a treadmill and a crawler walking mechanism, which is beneficial to saving the manufacturing cost, energy and raw materials of the equipment, saving the floor space of the equipment, and allowing users to run indoors or outdoors as they please. In the past, if a treadmill needed to be taken outdoors (downstairs, in the park), it was inconvenient to carry due to the weight of the treadmill itself. The technology of the present invention is very convenient for a treadmill to be converted into a crawler walking mechanism and travel outdoors, instead of having to be manually carried outdoors, so it brings great convenience to users.

[0011] 2. The mobile device according to claim 1, characterized in that:

[0012] The crawler includes a crawler on a first side (0701) and a crawler on a second side (0702);

[0013] The crawler (0701) on the first side, the first crawler wheel (07201) on the first side and the second crawler wheel (07202) on the first side are all arranged on the first side of the center of gravity of the equipment, the shaft of the first crawler wheel (07201) on the first side is connected to the first end of the base on the first side, the shaft of the second crawler wheel (07202) on the first side is connected to the second end of the base on the first side, the crawler (0701) on the first side is hooked to the first crawler wheel (07201) on the first side and the second crawler wheel (07202) on the first side; the crawler (0702) and the second crawler wheel (07202) on the second side are hooked to the first crawler wheel (07201) and the second crawler wheel (07202) on the first side; The first track wheel (07201) on one side and the second track wheel (07202) on the second side are both arranged on the second side of the center of gravity of the equipment, the shaft of the first track wheel (07201) on the second side is connected to the first end of the base on the second side, the shaft of the second track wheel (07202) on the second side is connected to the second end of the base on the second side, and the track (0702) on the second side is hooked to the first track wheel (07201) on the second side and the second track wheel (07202) on the second side; the track (0701) on the first side and the track (0702) on the second side can run at differential speeds.

[0014] The benefits of this solution: If the existing treadmill running belt technology is used, the moving belt is a whole piece, which cannot achieve differential speed operation of the two tracks, making it difficult to control the steering of the crawler-type walking mechanism. The left and right separate crawlers can run at differential speeds on both sides, which facilitates the steering control of the crawler-type walking mechanism.

[0015] 3. The mobile device according to claim 2, characterized in that:

[0016] The crawler track (0701) on the first side, the first track wheel (07201) on the first side, and the second track wheel (07202) on the first side are all arranged on the left side of the running belt (070); the crawler track (0702) on the second side, the first track wheel (07201) on the second side, and the second track wheel (07202) on the second side are all arranged on the right side of the running belt (070).

[0017] The beneficial value of this solution is that in the motion belt type walking mechanism (07), the running belt (070) is arranged in the middle, and the crawler belt (0701) on the first side and the crawler belt (0702) on the second side are respectively arranged on both sides of the running belt (070). This solution makes the layout of the motion belt type walking mechanism (07) reasonable and compact.

[0018] 4. The mobile device according to claim 2, characterized in that:

[0019] The diameter of the first track wheel (07201) is greater than the diameter of the first roller (0721); and / or,

[0020] The diameter of the second track wheel (07202) is greater than the diameter of the second roller (0722).

[0021] The beneficial value of this solution: the diameter of the crawler wheel is larger than the diameter of the roller, which naturally facilitates the realization of "when the crawlers on both sides are on the ground, the middle running belt can naturally be suspended in the air and off the ground". This solution makes the layout of the moving belt type walking mechanism (07) reasonable and compact.

[0022] 5. The mobile device according to claim 2, characterized in that:

[0023] The device comprises a first clutch, an output member of a driver of the motion belt-type walking mechanism (07) is connected to a power input end of the first clutch, a power output end of the first clutch is connected to the treadmill (070), and the first clutch is used to connect and disconnect the power link between the driver and the treadmill (070); and / or,

[0024] The device includes a second clutch, the output of the driver of the moving belt walking mechanism (07) is connected to the power input end of the second clutch, the power output end of the second clutch is connected to the crawler track on one side, and the second clutch is used to connect and disconnect the power link between the driver and the crawler track; the one side is the first side or the second side.

[0025] The beneficial value of this solution is that the first clutch is used to connect and disconnect the power link between the driver and the treadmill (070), so that the operation of the treadmill (070) can be independently controlled, thereby reducing the interference between the treadmill (070) and the crawler track. The second clutch is used to connect and disconnect the power link between the driver and the crawler track, so that the operation of the crawler track can be independently controlled, thereby reducing the interference between the treadmill (070) and the crawler track.

[0026] 6. The movable equipment as described in technical requirement 1 is characterized in that the crawler track is composed of the running belt (070).

[0027] The beneficial value of this solution is that the crawler belt is composed of the running belt (070), that is, the crawler belt is the running belt (070). This solution can reduce costs and simplify the structure.

[0028] 7. The mobile device according to any one of technical requirements 1, 2, 3, 4, 5 or 6, characterized in that:

[0029] The movable device further comprises a first connection portion for movably connecting a support leg and the base, and when the motion belt-type walking mechanism (07) is used as a treadmill, the support leg can touch the ground and support the running belt driven by the motion belt-type walking mechanism (07) off the ground; and / or, the movable device further comprises a second connection portion for movably connecting a personnel carrier to the frame (01) of the device, and the personnel carrier is a seat, a reclining device or a footrest, and when the device is working in a non-treadmill mode: the personnel carrier can be arranged above the running belt through the connection of the second connection portion and can carry a person on the personnel carrier.

[0030] The beneficial value of this solution is that the first connecting part makes it easier to lift and lower the supporting leg, and the seventh connecting part makes it easier to move the personnel carrying member.

[0031] 8. The movable device according to any one of technical requirements 1, 2, 3, 4, 5 or 6, characterized in that: the movable device is configured to carry adults, and / or the movable device includes a passenger compartment; and / or,

[0032] The movable device further comprises an underwater propulsion device (09) connected to the frame (01) of the device, wherein the underwater propulsion device (09) is configured to drive the movable device to travel in the water; and / or the buoyancy generated by the movable device in the water is greater than the weight of the movable device or the movable device is a ship.

[0033] The beneficial value of this solution is that the underwater propulsion device (09) enables the treadmill to travel in water; the buoyancy is greater than the gravity of the movable device or the movable device is a boat, so that the device can float in water or the device is a boat; thus, running in water and the device being in water are possible, which facilitates the construction of a water treadmill solution. Humans are the masters of the earth, and the movable device is constructed as a vehicle for adults and can carry people, which is more economically meaningful than designing the device as a non-manned tool or a toy.

[0034] 9. The mobile device according to any one of technical requirements 1, 2, 3, 4, 5 or 6, characterized in that:

[0035] The device is characterized in that: the device further comprises a frame (01), a first walking mechanism (511) and a second walking mechanism (522); based on the direction of travel of the device along the road surface: the first walking mechanism (511) is located before the center of gravity (O) of the movable device, and the second walking mechanism (522) is located behind the center of gravity (O) of the movable device; and

[0036] The movable device further comprises a first lifting mechanism (211) and a second lifting mechanism (222), one end of each of the first lifting mechanism (211) and the second lifting mechanism (222) being connected to the frame (01), the other end of the first lifting mechanism (211) being connected to the first walking mechanism (511), the first lifting mechanism (211) being used to enable the first walking mechanism (511) to be lifted and lowered relative to the frame (01), the other end of the second lifting mechanism (222) being connected to the second walking mechanism (522), the second lifting mechanism (222) being used to enable the second walking mechanism (522) to be lifted and lowered relative to the frame (01); and / or,

[0037] The movable device further comprises: a third lifting mechanism, the two ends of the third lifting mechanism being respectively connected to the frame (01) and the motion belt type walking mechanism (07), the third lifting mechanism being used to lift the motion belt type walking mechanism (07) relative to the frame (01);

[0038] and the movable device is configured to be switchable between a first mode and a second mode;

[0039] The first mode is: the lower surface of the motion belt walking mechanism (07) is not higher than the lower surface of the first walking mechanism (511) and the lower surface of the second walking mechanism (522), and the motion belt walking mechanism (07) supports the frame (01) off the ground and enables the movable device to travel along the road, or one of the first walking mechanism (511) and the second walking mechanism (522) and the motion belt walking mechanism (07) support the frame (01) off the ground and enable the movable device to travel along the road;

[0040] The second mode is as follows: the lower surface of the first walking mechanism (511) and the lower surface of the second walking mechanism (522) are not higher than the lower surface of the moving belt walking mechanism (07), and the first walking mechanism (511) and the second walking mechanism (522) support the frame (01) off the ground and enable the movable equipment to travel along the road.

[0041] The beneficial value of this solution is that the first lifting mechanism (211) and the second lifting mechanism (222), and / or the third lifting mechanism, realize complete wheel-track switching, so that in the first mode, the mechanism including the crawler-type walking mechanism can be driven on the ground, and in the second mode, the first walking mechanism (511) and the second walking mechanism (522) can support the frame (01) off the ground and enable the movable equipment to travel along the road.

[0042] The beneficial value of this solution is as follows: the first and second lifting walking mechanisms (511) and (522) respectively constitute the front and rear walking mechanisms; the moving belt walking mechanism (07) constitutes the middle walking mechanism. The first mode is to realize "head-up or tail-up" walking, that is, the middle walking mechanism touches the ground so that the front walking mechanism and / or the rear walking mechanism can leave the ground, lift their heads or lift their tails. The second mode is to realize "arch bridge" walking, that is, the front walking mechanism and the rear walking mechanism touch the ground so that the middle walking mechanism can leave the ground and arch (to overcome obstacles). The combination and switching of the two modes can perfectly realize the "head-up-arch bridge-tail-up" three-stage switching walking (including obstacle crossing).

[0043] 10. The mobile device according to claim 9, characterized in that:

[0044] The number of the first walking mechanism (511) is one and / or the number of the second walking mechanism (522) is one; or,

[0045] The first walking mechanism (511) includes a first walking mechanism (051) arranged on a first side of the center of gravity (O) of the equipment and a first walking mechanism (053) arranged on a second side of the center of gravity (O); the first lifting mechanism (211) includes a first lifting mechanism (211L) on the first side and a first lifting mechanism (211R) on the second side; one end of the first lifting mechanism (211L) on the first side and the first lifting mechanism (211) on the second side are both connected to the frame (01); the other end of the first lifting mechanism (211L) on the first side is connected to the first walking mechanism (051) on the first side; and the other end of the first lifting mechanism (211R) on the second side is connected to the first walking mechanism (053) on the second side; and / or,

[0046] The second walking mechanism (522) includes a second walking mechanism (052) arranged on the first side of the center of gravity (O) of the equipment and a second walking mechanism (054) arranged on the first side of the center of gravity (O); the second lifting mechanism (222) includes a second lifting mechanism (222L) on the first side and a second lifting mechanism (222R) on the second side; one end of the second lifting mechanism (222L) on the first side and the second lifting mechanism (222R) on the second side are both connected to the frame (01); the other end of the second lifting mechanism (222L) on the first side is connected to the second walking mechanism (052) on the first side; and the other end of the second lifting mechanism (222R) on the second side is connected to the second walking mechanism (054) on the first side.

[0047] The beneficial value of this solution is as follows: if the number of the first running mechanism (511) is one and the number of the second running mechanism (522) is one, the device constitutes a wheeled running mechanism with two front and rear wheels, which is light and flexible. If the total number of the first running mechanism (511) and the second running mechanism (522) is three, the device constitutes a three-wheeled running mechanism with good static stability. If the number of the first running mechanism (511) and the second running mechanism (522) is two each, the device constitutes a four-wheeled running mechanism with better static stability.

[0048] 11. The movable equipment as described in technical requirement 9 is characterized in that: the first walking mechanism (511) is a first walking wheel or a first distributed crawler mechanism, and the second walking mechanism (522) is a second walking wheel or a second distributed crawler mechanism; and / or the first lifting mechanism (211) and / or the second lifting mechanism (222) and / or the third lifting mechanism is a vertical electric push rod, a vertical telescopic hydraulic cylinder or a vertical guide rail slider mechanism.

[0049] In this context, the wheel connected to the driver is preferably an in-wheel motor. An in-wheel motor is a motor that drives the wheel and brakes it within its housing. This motor can reduce the size, weight, and structure of the wheel and driver.

[0050] The beneficial value of this solution is that the first walking mechanism (511) and the second walking mechanism (522) are commonly used walking paths, which are low-cost and simple in structure. The lifting mechanism is a vertical electric push rod, which is low-cost and easy to control. The lifting mechanism is a vertical telescopic hydraulic cylinder, which has a strong load-bearing capacity. The lifting mechanism is a vertical guide rail slider mechanism, which is easy to control.

[0051] 12. The method for controlling a movable device according to any one of technical solutions 1, 2, 3, 4, 5, or 6, characterized in that the method comprises steps S1 and / or S2:

[0052] S1: controlling the motion belt-type walking mechanism (07) to drive the treadmill (070) so that a person can run on the treadmill (070);

[0053] S2: Control the moving belt type walking mechanism (07) to drive the crawler belt so that the equipment moves along the road surface.

[0054] 13. A storage medium for a removable device, characterized in that the storage medium stores a computer program, and when the computer program is executed by a processor, it implements the control method described in Technical Solution 12.

[0055] 14. A control device for a movable device, characterized in that: the control device is used to implement the control method described in Technical Solution 12; or, the control device includes a processor and a storage medium, the storage medium is used to store a program, and when the program is executed by the processor, the control method described in Technical Solution 12 is implemented.

[0056] 15. A movable device used in any one of technical solutions 1, 2, 3, 4, 5 or 6, characterized in that the movable device also includes the control device described in technical solution 14.

[0057] The beneficial effects of the mobile device of the present application are:

[0058] The beneficial value of this solution: This technology makes the two devices compatible. The motion belt walking mechanism (07) can drive the treadmill (070) for people to run on the treadmill (070), and can also be used to drive the crawler to make the device run along the road. One mechanism can realize two different functions of a treadmill and a crawler walking mechanism, which is beneficial to saving the manufacturing cost, energy and raw materials of the equipment, saving the floor space of the equipment, and allowing users to run indoors or outdoors at will. In the past, if a treadmill needed to be taken outdoors (downstairs, in the park), especially for users who needed to climb stairs, the treadmill itself was inconvenient to carry due to its own weight. The technology of the present invention is very convenient for a treadmill to be converted into a crawler walking mechanism for traveling outdoors. In particular, the treadmill can climb stairs through the crawler walking mechanism instead of being manually carried outdoors, which brings great convenience to users. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or exemplary technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0060] FIG1 is a schematic diagram of a movable device including a moving belt-type walking mechanism;

[0061] FIG2 is a schematic diagram of a movable device including a moving belt-type walking mechanism, wherein the device is a boat, and wherein: the moving belt-type walking mechanism is lowered to support the ground, and the first walking mechanism 511 and the second walking mechanism 522 are off the ground;

[0062] FIG3 is a schematic diagram of a movable device including a moving belt-type walking mechanism, wherein the device is a boat, and wherein: the moving belt-type walking mechanism rises and leaves the ground, and the first walking mechanism 511 and the second walking mechanism 522 descend to support the ground;

[0063] FIG4 is a schematic side view of a movable device including a moving belt-type walking mechanism;

[0064] FIG5 is a schematic side view of a movable device including a moving belt-type walking mechanism;

[0065] FIG6 is a schematic diagram of a movable device including a moving belt-type walking mechanism;

[0066] FIG7 is a schematic diagram of a movable device including a moving belt-type walking mechanism;

[0067] FIG8 is a schematic diagram of a movable device including a moving belt walking mechanism, which is a perspective view

[0068] FIG9 is a schematic diagram of a movable device including a moving belt-type walking mechanism, which is a top view;

[0069] FIG10 is a schematic diagram of a movable device including a moving belt-type walking mechanism, which is a side view;

[0070] FIG11 is a schematic diagram of another movable device including a moving belt-type walking mechanism, which is a perspective view;

[0071] FIG12 is a schematic diagram of a movable device including a moving belt walking mechanism, which is a top view;

[0072] FIG13 is a schematic diagram of a movable device including a moving belt-type walking mechanism, which is a perspective view;

[0073] FIG14 is a schematic diagram of a movable device including a moving belt walking mechanism

[0074] FIG15 is a schematic diagram of an electric push rod;

[0075] FIG16 is a schematic diagram of a guide rail type motion mechanism.

[0076] Reference numerals:

[0077] 01, frame; 07, motion belt walking mechanism; 070, running belt; 0701 - crawler track on the first side; 0702 - crawler track on the second side; 071 - base; 0721, first roller; 0722, second roller; 07201 - first crawler wheel; 07202 - second crawler wheel; 07n1 - driver of the crawler track on the first side; 07n2 - driver of the crawler track on the second side; 07n20 - transmission mechanism of the running belt;

[0078] 211, first lifting mechanism; 212 - third lifting mechanism at the first end; 221 - third lifting mechanism at the second end; 222, second lifting mechanism;

[0079] 511, first running wheel; 051 - first running wheel on the first side; 053 - first running wheel on the second side;

[0080] 512, the third running wheel at the first end; 521, the third running wheel at the second end;

[0081] 522, second running wheel; 052-second running wheel on the first side; 054-second running wheel on the second side;

[0082] 111 - edge member at the first end of the manned cabin, 112 - edge member at the second end of the manned cabin, 113 - edge member at the first side of the manned cabin, 114 - edge member at the second side of the manned cabin; 115 - top of the device; 116 - lower surface of the frame; 117 - support leg;

[0083] 15A, wheel at the first end; 15B, wheel at the second end; 09, underwater propulsion device; 10000, road surface; 10005, obstacle V; O - center of gravity of the device; 08 - environmental perception module; 801 - motion control device.

[0084] Optionally, when multiple components are positioned horizontally in the direction of travel, their reference numbers will be followed by L and R, where L indicates the component is located on the left side of the frame in the direction of travel, and R indicates the component is located on the right side of the frame in the direction of travel. For example, two third travel wheels 512 are provided at the first end, one of which is labeled 512R and the other is labeled 512L. The third travel wheel 512L at the first end is located on the left side of the frame, while the third travel wheel 512R at the first end is located on the right side of the frame. For example, two first lifting mechanisms 211 are provided, one of which is labeled 211L and the other is labeled 211R. The first lifting mechanism 211L is located on the left side of the frame in the direction of travel, while the first lifting mechanism 211R is located on the right side of the frame in the direction of travel. For example, if two second lifting mechanisms 222 are provided, one labeled 222L and the other labeled 222R, then second lifting mechanism 222L is located on the left side of the frame along the travel direction, while second lifting mechanism 222R is located on the right side of the frame along the travel direction. The same applies to other mechanisms. Alternatively, to simplify the description, the third lifting mechanism at the first end may be labeled 221, the same as the third lifting mechanism at the second end. Alternatively, the crawler-type walking mechanism may be labeled 07M. DETAILED DESCRIPTION

[0085] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit this application.

[0086] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of description and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more.

[0087] Unless otherwise specified, the road surface refers to a flat road. In any solution, the movable device is placed flat on the horizontal road surface. In this document, any device mentioned herein is a movable device. The movable device is simply referred to as the device. The movable device moves along a predetermined direction X1. When the device is traveling along a horizontal road surface, the predetermined direction X1 is the horizontal direction. When the device is traveling on a road surface that has a certain angle with the horizontal direction, the predetermined direction X1 also has a certain angle with the horizontal direction.

[0088] Please refer to Figures 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13 and 14. This application provides:

[0089] Technical Solution 1: A movable device includes a motion belt walking mechanism 07, which includes a base 071, a first roller 0721, a second roller 0722 and a treadmill 070. The axis of the first roller 0721 is connected to the first end of the base 071, and the axis of the second roller 0722 is connected to the second end of the base 071. The treadmill 070 is looped around the first roller 0721 and the second roller 0722. The treadmill 070 is for people to run on, and the motion belt walking mechanism 07 is also used to drive the track to make the device move along the road.

[0090] Specifically, please refer to Figures 1, 4, 5, 6 and 7, the movable devices shown in this series of figures all show the composition of the moving belt walking mechanism 07. Hitching means surrounding or wrapping.

[0091] The motion belt-type walking mechanism 07 includes a base 071, which is a bracket for connecting the rotating axis of the first roller 0721 and the rotating axis of the second roller 0722. Optionally, the base is a rectangular metal frame, arranged parallel to the bottom plate of the movable device, with its long sides arranged parallel to the longitudinal axis of the device. The first roller 0721, the second roller 0722, and the treadmill 070 are all disposed within the rectangular metal frame. Specifically, the base includes a first side base and a second side base. The rectangular metal frame includes a first side metal rod and a second side metal rod. The rotating axis of the first side of the first roller 0721 and the rotating axis of the first side of the second roller 0722 are both connected to the inner side of the first side metal rod. The rotating axis of the second side of the first roller 0721 and the rotating axis of the second side of the second roller 0722 are both connected to the inner side of the second side metal rod. The inner side of the metal rod on the first side and the inner side of the metal rod on the second side both refer to the side close to the center of gravity O of the device.

[0092] Optionally, the motion belt-type walking mechanism 07 may further include one or more intermediate components. These intermediate components are disposed within the loop of the running belt 070. These intermediate components may be intermediate rotating components or support plates. For example, the support plate may be a running board. Alternatively, for example, the intermediate rotating components may be road wheels, idler wheels, or support rollers.

[0093] Please refer to Figure 1, Figure 6, Figure 7, Figure 8, Figure 9, Figure 10, Figure 11, Figure 12, and Figure 13:

[0094] Further technical solution 2: The movable device as shown in technical solution 1, the crawler includes a crawler 0701 on the first side and a crawler 0702 on the second side;

[0095] The crawler track 0701 on the first side, the first crawler wheel 07201 on the first side, and the second crawler wheel 07202 on the first side are all arranged on the first side of the center of gravity of the equipment. The shaft of the first crawler wheel 07201 on the first side is connected to the first end of the base on the first side, and the shaft of the second crawler wheel 07202 on the first side is connected to the second end of the base on the first side. The crawler track 0701 on the first side is hooked to the first crawler wheel 07201 on the first side and the second crawler wheel 07202 on the first side.

[0096] The crawler track 0702 on the second side, the first crawler wheel 07201 on the second side, and the second crawler wheel 07202 on the second side are all arranged on the second side of the center of gravity of the equipment. The shaft of the first crawler wheel 07201 on the second side is connected to the first end of the base on the second side, and the shaft of the second crawler wheel 07202 on the second side is connected to the second end of the base on the second side. The crawler track 0702 on the second side is interlocked with the first crawler wheel 07201 on the second side and the second crawler wheel 07202 on the second side.

[0097] The crawler track 0701 on the first side and the crawler track 0702 on the second side can run at a differential speed. The first side is the left side. The second side is the right side.

[0098] The differential operation enables the moving belt type walking mechanism 07 to have a differential function, so that the movable equipment can turn conveniently when traveling along the road.

[0099] Optionally, the first track wheel 07201 is the driving element, which is connected to the track driver 07n and is driven by the track driver 07n. Driven by the track driver 07n, the driving element rotates, driving the track and the driven element. The track driver 07n is connected to the control device of the equipment, which controls the operation of the track. Alternatively, the second track wheel 07202 is the driving element.

[0100] Optionally, the crawler drive 07n is a motor or a fuel engine. The crawler drive 07n may include a prime mover speed reducer.

[0101] Please refer to Figures 8, 9, 10, 11, 12 and 13: Based on Technical Solution 2, further Technical Solution 3:

[0102] The movable device shown in Technical Solution 2,

[0103] The crawler track 0701 on the first side, the first track wheel 07201 on the first side and the second track wheel 07202 on the first side are all arranged on the left side of the running belt 070; the crawler track 0702 on the second side, the first track wheel 07201 on the second side and the second track wheel 07202 on the second side are all arranged on the right side of the running belt 070.

[0104] In this technical method 3, treadmill 070 is arranged at the middle part, and the crawler belts on both sides are respectively arranged at the both sides of treadmill 070, and the crawler belts on these both sides and treadmill 070 are different parts.Treadmill 070 is set between the crawler belts on both sides.

[0105] Optional: the rotating shaft of the first track wheel 07201 on the first side and the rotating shaft of the second track wheel 07202 on the first side are both connected to the inner side of the metal rod on the first side; the rotating shaft of the first track wheel 07201 on the second side and the rotating shaft of the second track wheel 07202 on the second side are both connected to the inner side of the metal rod on the second side.

[0106] Optionally, the first track wheel 07201 and the first roller 0721 are coaxial; the second track wheel 07202 and the second roller 0722 are coaxial. The track wheel and the roller at the same end can be driven coaxially. When the motion belt walking mechanism 07 is running, it can drive the middle running belt to rotate for people to run on it.

[0107] Optional: The first track wheel 07201 and the first roller 0721 are not coaxial, and the second track wheel 07202 and the second roller 0722 are not coaxial.

[0108] Please refer to Figures 8, 9, 10, 11, 12 and 13: Based on Technical Solution 2, further Technical Solution 4: For the movable equipment as in Technical Solution 2, the diameter of the first track wheel 07201 is greater than the diameter of the first roller 0721; and / or the diameter of the second track wheel 07202 is greater than the diameter of the second roller 0722.

[0109] The diameter of the track wheel is larger than the diameter of the drum. When the axes of the two are at the same height or coaxial, the track can touch the ground earlier than the running belt 0.70.

[0110] On the basis of Technical Solution 2, a further Technical Solution 5 is provided: the movable device as shown in Technical Solution 2,

[0111] The device includes a first clutch, the output of the driver of the motion belt walking mechanism 07 is connected to the power input end of the first clutch, the power output end of the first clutch is connected to the treadmill 070, and the first clutch is used to connect and disconnect the power link between the driver and the treadmill 070; and,

[0112] The device includes a second clutch, the output of the driver of the moving belt walking mechanism 07 is connected to the power input end of the second clutch, the power output end of the second clutch is connected to the track on one side, and the second clutch is used to connect and disconnect the power link between the driver and the track; the one side is the first side or the second side.

[0113] Optionally, the device shown in technical solution 5 may only have the first clutch or the second clutch.

[0114] Optionally, the base of any clutch and the base of the driver of the motion belt type walking mechanism 07 are all connected to the base of the motion belt type walking mechanism 07. The clutch facilitates the power link between the driver and the clutch output end.

[0115] Optionally, the clutch is a friction plate clutch, and the power input end of the clutch and the power output end of the clutch transmit power through the friction plate; when the friction plate of the power input end is out of contact with the friction plate of the power output end of the clutch and is in the position for transmitting power, the power link between the power input end and the power output end is disconnected.

[0116] Optionally, the clutch is a gear clutch, and the power input end of the clutch and the power output end of the clutch transmit power through the engagement of gears; when the engaged gears disengage from the engagement position, the power link between the power input end and the power output end is disconnected.

[0117] Specifically, the structure of the clutch is the existing technology. For example, it can refer to the scheme of an electro-hydraulic integrated control clutch disclosed in the Chinese invention patent with authorization announcement number CN100383425C, or refer to the scheme of a three-speed electromagnetic fan clutch disclosed in the Chinese invention patent with authorization announcement number CN201428507, or refer to the scheme of a clutch housing and clutch disclosed in the Chinese invention patent with application publication number CN107504091A.

[0118] The movable devices shown in Figures 8, 9, 10, 11, 12 and 13 all include the above-mentioned technical solution 1, technical solution 2, technical solution 3, technical solution 4 and technical solution 5.

[0119] Specifically, the movable devices shown in Figures 8, 9, 10, 11, 12, and 13 all include: a motion belt-type walking mechanism 07, which includes a base, a first roller 0721, a second roller 0722, and a treadmill 070. The shaft of the first roller 0721 is connected to the first end of the base, and the shaft of the second roller 0722 is connected to the second end of the base. The treadmill 070 is looped between the first roller 0721 and the second roller 0722. The treadmill 070 is used for people to run on. The motion belt-type walking mechanism 07 is also used to drive the crawler belt to make the device travel along the road. The crawler belt includes a first-side crawler belt 0701 and a second-side crawler belt 0702.

[0120] The crawler track 0701 on the first side, the first track wheel 07201 on the first side, and the second track wheel 07202 on the first side are all arranged on the left side of the running belt 070; the crawler track 0702 on the second side, the first track wheel 07201 on the second side, and the second track wheel 07202 on the second side are all arranged on the right side of the running belt 070;

[0121] The first track wheel 07201 on the first side is connected to the driver 07n1 of the track on the first side and is driven by the driver 07n1 of the track on the first side; the first track wheel 07201 on the second side is connected to the driver 07n2 of the track on the second side and is driven by the driver 07n2 of the track on the second side;

[0122] The first track wheel 07201 and the first roller 0721 are not coaxial, and the second track wheel 07202 and the second roller 0722 are coaxial;

[0123] The driver 07n2 of the crawler track on the second side is connected to a first clutch, the output of which is connected to the power input of the first clutch, and the power output of which is connected to the treadmill 070 via a transmission mechanism 07n20. The first clutch is used to connect and disconnect the power link between the driver 07n2 of the crawler track on the second side and the treadmill 070. The device also includes a second clutch, the output of which is connected to the power input of the second clutch, and the power output of which is connected to the crawler track 0702 on the second side. The second clutch is used to connect and disconnect the power link between the driver 07n2 of the crawler track on the second side and the crawler track 0702 on the second side.

[0124] Figures 8, 9, and 10 show the same movable device; Figure 8 is a perspective view, Figure 9 is a top view, and Figure 10 is a side view. In this device, the first end of the base is not tilted relative to the second end.

[0125] Figures 11, 12, and 13 show another movable device; Figure 11 is a perspective view, Figure 12 is a top view, and Figure 13 is a perspective view from another direction. The first end of the base of this device is tilted, and the crawler track of this device includes an idler wheel tilted at the first end.

[0126] In the movable device shown in Figures 8 to 13, the transmission mechanism 07n20 of the treadmill is a belt transmission mechanism. Since the clutch is a prior art, the clutch is not drawn in all the drawings of this application. Optionally, the transmission mechanism 07n20 is a chain transmission mechanism or a gear transmission mechanism.

[0127] Please refer to Figures 1, 6 and 7. Based on Technical Solution 1, a further Technical Solution 6 is provided: the movable equipment as described in Technical Solution 1, wherein the crawler track is composed of the treadmill 070.

[0128] As shown in Figures 1, 6, and 7, the crawler in the crawler-type walking mechanism 07 is configured to function as a treadmill. The crawler is comprised of a treadmill 070, i.e., the crawler is the treadmill 070. The treadmill 070 is the crawler. In Solution 6, the left and right crawlers are relatively wide, with a small gap between them, allowing running in the middle of the crawler. Optionally, the first crawler wheel 07201 and the first roller 0721 are the same component; the second crawler is the same component as the second roller 0722. The treadmill 070 is divided into two parts, the left treadmill being the first crawler, and the right treadmill being the second crawler.

[0129] Please refer to Figure 7. Furthermore, the present application provides Technical Solution 7: a movable device as in any one of Technical Solutions 1, 2, 3, 4, 5 or 6, the device also includes a first connecting portion for movably connecting the support leg and the base. When the motion belt walking mechanism 07 is used as a treadmill, the support leg can touch the ground and support the running belt driven by the motion belt walking mechanism 07 off the ground; the device also includes a second connecting portion for movably connecting a personnel carrier and the frame 01 of the device. The personnel carrier is a seat. When the device works in a non-treadmill mode: the personnel carrier can be set above the running belt through the connection of the second connecting portion and can carry a person on the personnel carrier.

[0130] Optionally, in the equipment shown in Technical Solution 7, the personnel carrying member is a reclining member or a footrest.

[0131] Optionally, the device shown in Technical Solution 7 only has a first connecting part or a second connecting part.

[0132] Optionally, the first connection portion is a motion mechanism that raises and lowers the lower surface of the support leg relative to the base included in the motion belt travel mechanism 07. This motion mechanism is a vertical linear motion mechanism or a swing mechanism. The two ends of this motion mechanism are respectively connected to the base and the support leg. The second connection portion is a linear motion mechanism arranged along the travel direction of the equipment, which is used to slide the personnel carrier back and forth relative to the base, or a swing mechanism that is used to swing the personnel carrier relative to the frame 01. The two ends of this motion mechanism are respectively connected to the frame 01 and the personnel carrier.

[0133] Alternatively, the first connection portion is a rope connecting the supporting legs, and the second connection portion is a beam capable of supporting the personnel carrying member from the bottom.

[0134] As shown in Figure 7, the movable device has the following features: the first connecting portion is a screw hole at the four corners of the base of the motion belt type walking mechanism 07, and the supporting foot is a screw rod that matches the screw hole and has a foot cup at its lower end. The supporting foot can be rotated downward to support the ground, and can also be rotated upward to leave the ground; when the supporting foot 117 is in working condition, its lower surface is lower than the treadmill 070. The beneficial effect of this solution is that although the first walking mechanism 511 and the second walking mechanism 522 can be used to support the ground and lift the treadmill 070 off the ground, because the walking mechanism may use rubber tires or pneumatic tires with a certain degree of elasticity. When the motion belt type walking mechanism 07 is configured as a treadmill for people to run or walk, the supporting foot 117 can provide a more rigid ground support effect or prevent damage to the running wheels.

[0135] Optionally, the first connection portion is a hinged mechanism, with the support leg 117 hingedly connected to the base of the motion belt-type walking mechanism 07. The support leg 117 can support the ground below the base, lifting the running belt 070 off the ground. When the device needs to drive the crawler belt to travel along the road, the support leg 117 can rotate to a non-supporting position to clear the crawler belt from contacting the ground and allowing the device to travel along the road.

[0136] Optionally, the personnel carrying member is a foot pedal, and the second connecting part is a hinge mechanism arranged in the front-to-back direction. The base of the hinge mechanism is installed on the left side of the frame 01 which is higher than the crawler walking mechanism. The movable part of the hinge mechanism is connected to the foot pedal. When the device is working in a non-treadmill mode, the foot pedal can be set above the running belt through the connection of the second connecting part and can carry personnel on the foot pedal; when the crawler walking mechanism of the device is used to drive the running belt for people to run on the running belt, the hinge mechanism enables the foot pedal to flip upward along the hinge axis to expose the running belt below.

[0137] Furthermore, the present application document provides Technical Solution 8: a movable device as in any one of Technical Solutions 1, 2, 3, 4, 5 or 6, wherein the movable device is configured to carry adults, and the movable device includes a manned cabin.

[0138] Please refer to Figures 2 and 3. The device includes a ship-shaped manned cabin.

[0139] Please refer to Figures 6 and 7: The movable equipment includes a square passenger cabin. The motion control device 801 is a handle for controlling the forward and backward movement of the equipment and the steering of the running wheels.

[0140] The weight and height of an adult can be set according to national standards or industry standards. The frame and walking mechanism of the equipment are structurally designed to carry an adult of a preset standard weight (for example, 100KG).

[0141] Please refer to Figures 2, 3, 6 and 7: Further, the movable device as in any one of technical solutions 1, 2, 3, 4, 5 or 6, the movable device also includes an underwater propulsion device 09 connected to the frame 01 of the device, and the underwater propulsion device 09 is configured to drive the movable device to travel in the water; the buoyancy generated by the movable device in the water is greater than the gravity of the movable device or the movable device is a ship.

[0142] The movable device shown in Figures 2 and 3 is a boat. The movable device shown in Figures 2, 3, 6, and 7 generates buoyancy in water that is greater than the weight of the device. The frame of the device is connected to multiple sealed cabins or buoys. The sealed cabins or buoys are used to generate buoyancy in water. The rear end of the frame 01 of the device is connected to an underwater propulsion device 09, which is configured to drive the movable device through the water.

[0143] The device is constructed so that all parts that come into contact with water are waterproof. The device can be operated in water. The device can be operated both on land and in water. Amphibious means dual-purpose. For example, the lower portion or the entire device may be constructed to contain an enclosed space; and / or the device may be equipped with an airbag (inflator). When submerged, the airbag generates buoyancy.

[0144] Please refer to Figures 1, 2, 3, 4, 5, 6 and 7: Further, this application document provides Technical Solution 9: The movable device as in any one of Technical Solutions 1, 2, 3, 4, 5 or 6, the device also includes a frame 01, a first walking mechanism 511 and a second walking mechanism 522; based on the direction of travel of the device along the road: the first walking mechanism 511 is located before the center of gravity O of the movable device, and the second walking mechanism 522 is located behind the center of gravity O of the movable device; and

[0145] The movable device further includes a first lifting mechanism 211 and a second lifting mechanism 222. One end of each of the first lifting mechanism 211 and the second lifting mechanism 222 is connected to the frame 01. The other end of the first lifting mechanism 211 is connected to the first traveling mechanism 511. The first lifting mechanism 211 is used to lift the first traveling mechanism 511 relative to the frame 01. The other end of the second lifting mechanism 222 is connected to the second traveling mechanism 522. The second lifting mechanism 222 is used to lift the second traveling mechanism 522 relative to the frame 01.

[0146] The movable device further includes: a third lifting mechanism, the two ends of which are respectively connected to the frame 01 and the motion belt walking mechanism 07, and the third lifting mechanism is used to lift the motion belt walking mechanism 07 relative to the frame 01;

[0147] and the movable device is configured to switch between a first mode and a second mode;

[0148] The first mode is: the lower surface of the moving belt walking mechanism 07 is not higher than the lower surfaces of the first walking mechanism 511 and the lower surfaces of the second walking mechanism 522, and the moving belt walking mechanism 07 supports the frame 01 off the ground and enables the movable device to move along the road, or one of the first walking mechanism 511 and the second walking mechanism 522 and the moving belt walking mechanism 07 support the frame 01 off the ground and enable the movable device to move along the road;

[0149] The second mode is: the lower surface of the first walking mechanism 511 and the lower surface of the second walking mechanism 522 are not higher than the lower surface of the moving belt walking mechanism 07, and the first walking mechanism 511 and the second walking mechanism 522 support the frame 01 off the ground and enable the movable equipment to travel along the road.

[0150] The movable device is configured to be switchable between the first mode and the second mode, which means that the device can operate in both the first mode and the second mode.

[0151] Optionally, the movable equipment as shown in Technical Solution 9 only includes the first walking mechanism 511, the second walking mechanism 522, the first lifting mechanism 211 and the second lifting mechanism 222, and the connection relationship between the four mechanisms is as shown in Technical Solution 9.

[0152] Optionally, the movable equipment as shown in technical solution 9 only includes a third lifting mechanism, the two ends of which are respectively connected to the frame 01 and the moving belt walking mechanism 07, and the third lifting mechanism is used to lift the moving belt walking mechanism 07 relative to the frame 01.

[0153] Please refer to Figures 3, 5, 6 and 7. The movable device is configured in the second mode. In the second mode, the lower surface of the first walking mechanism 511 and the lower surface of the second walking mechanism 522 are both lower than the lower surface of the moving belt walking mechanism 07. The first walking mechanism 511 and the second walking mechanism 522 support the frame 01 off the ground and enable the movable device to travel along the road.

[0154] Please refer to Figures 2 and 4. The movable device is configured in a first mode. In the first mode, the lower surface of the motion belt walking mechanism 07 is lower than the lower surface of the first walking mechanism 511 and the lower surface of the second walking mechanism 522. The motion belt walking mechanism 07 supports the frame 01 off the ground and enables the movable device to travel along the road.

[0155] As shown in the movable device of technical solution 9, the number of the first walking mechanism 511 is one and the number of the second walking mechanism 522 is one. For example, the device is a two-wheeled motorcycle or a two-wheeled bicycle.

[0156] Further, as shown in the movable device of technical solution 9, the number of the first walking mechanism 511 is one and the number of the second walking mechanism 522 is two, or the number of the first walking mechanism 511 is two and the number of the second walking mechanism 522 is one. The device is a tricycle.

[0157] Please refer to Figures 2, 3, 4, 5, 6 and 7: Further, in the movable device as shown in Technical Solution 9, the first walking mechanism 511 includes a first walking mechanism 051 arranged on a first side of the center of gravity O of the device and a first walking mechanism 053 arranged on a second side of the center of gravity O, and the first lifting mechanism 211 includes a first lifting mechanism 211L on the first side and a first lifting mechanism 211R on the second side, one end of the first lifting mechanism 211L on the first side and the first lifting mechanism 211 on the second side are both connected to the frame 01, the other end of the first lifting mechanism 211L on the first side is connected to the first walking mechanism 051 on the first side, and the other end of the first lifting mechanism 211R on the second side is connected to the first walking mechanism 053 on the second side;

[0158] The second walking mechanism 522 includes a second walking mechanism 052 arranged on the first side of the center of gravity O of the equipment and a second walking mechanism 054 arranged on the first side of the center of gravity O. The second lifting mechanism 222 includes a second lifting mechanism 222L on the first side and a second lifting mechanism 222R on the second side. One end of the second lifting mechanism 222L on the first side and the second lifting mechanism 222R on the second side are both connected to the frame 01, the other end of the second lifting mechanism 222L on the first side is connected to the second walking mechanism 052 on the first side, and the other end of the second lifting mechanism 222R on the second side is connected to the second walking mechanism 054 on the first side.

[0159] The device is a four-wheeled vehicle.

[0160] Each lifting mechanism drives the connected traveling mechanism to rise or fall. Generally, each lifting mechanism drives one of the traveling mechanisms connected to it to rise or fall. Optionally, a lifting mechanism can be connected to two traveling mechanisms on the left and right sides via a bracket, and the lifting mechanism drives the two traveling mechanisms on the left and right sides to rise and fall simultaneously.

[0161] In this document, when a device has multiple lifting mechanisms and multiple traveling mechanisms, each lifting mechanism independently controls the lifting and lowering of the traveling mechanism connected to it relative to the rack 01. If a lifting mechanism is connected to two traveling mechanisms simultaneously, it controls the lifting and lowering of both traveling mechanisms relative to the rack 01 simultaneously. If multiple physically parallel lifting mechanisms are connected to a single traveling mechanism, in this document, these physically parallel lifting mechanisms are considered (functionally) to be a single lifting mechanism.

[0162] Please refer to Figures 1, 2, 3, 4, 5, 6 and 7. An embodiment of connecting the third lifting mechanism 212 to the crawler-type walking mechanism 07 is as follows:

[0163] The third lifting mechanism 212 at the first end is connected to the first end of the base of the crawler-type walking mechanism 07;

[0164] The third lifting mechanism 221 at the second end is connected to the second end of the base of the crawler-type walking mechanism 07 .

[0165] For further information, please refer to Figures 6 and 7:

[0166] The third lifting mechanism 212 at the first end of the first side is connected to the first end of the base of the crawler-type walking mechanism 07 on the first side;

[0167] The third lifting mechanism 221 at the second end of the first side is connected to the second end of the base of the crawler-type walking mechanism 07 on the first side;

[0168] The third lifting mechanism 212 at the first end of the second side is connected to the first end of the base of the crawler-type walking mechanism 07 on the second side;

[0169] The third lifting mechanism 221 at the second end of the second side is connected to the second end of the base of the crawler-type walking mechanism 07 on the second side.

[0170] The first walking mechanism 511 and the second walking mechanism 522 constitute a first walking device.

[0171] Optionally, the first traveling mechanism 511 and the second traveling mechanism 522 are both connected to a driver, so that the first traveling mechanism 511 and the second traveling mechanism 522 jointly drive the movable device to travel along the road surface.

[0172] Optionally, the first traveling mechanism 511 is connected to a driver or the second traveling mechanism 522 is connected to a driver.

[0173] Please refer to Figures 1, 2, 3, 4, 5, 6 and 7: Further, in the movable equipment as shown in Technical Solution 9, the first walking mechanism 511 is the first walking wheel, and the second walking mechanism 522 is the second walking wheel.

[0174] Optionally, the first traveling mechanism 511 is a first distributed crawler mechanism, and the second traveling mechanism 522 is a second distributed crawler mechanism.

[0175] Please refer to Figures 1, 2, 3, 4, 5, 6 and 7: Further, in the movable equipment as shown in Technical Solution 9, the first lifting mechanism 211, the second lifting mechanism 222 and the third lifting mechanism are vertical electric push rods.

[0176] Optionally, the first lifting mechanism 211 , the second lifting mechanism 222 and the third lifting mechanism are vertically mounted telescopic hydraulic cylinders.

[0177] Optionally, the first lifting mechanism 211 , the second lifting mechanism 222 and the third lifting mechanism are vertical guide rail slider mechanisms.

[0178] The orthographic projection of the center of gravity of the device onto the ground is located within the area formed by connecting the contact points of the moving belt type walking mechanism 07. The orthographic projection of the center of gravity of the movable device onto the ground is located within this area, so that the moving belt walking mechanism 07 can stably support the frame 01.

[0179] As shown in FIG6 and FIG7, the first traveling mechanism 511 and the second traveling mechanism 522 in the device are lowered relative to the frame 01 of the device, and the device is used to travel along the road.

[0180] As shown in Figures 2, 3, 6, 7, and 14, the device optionally includes a passenger cabin having edge components around it. The edge components include an edge component at a first end, an edge component at a second end, an edge component at a first side, and an edge component at a second side. The edge components are boundaries or frames. The edge component at the first end is a first boundary 111, the edge component at the second end is a second boundary 112, the edge component at the first side is a third boundary 113, and the edge component at the second side is a fourth boundary 114.

[0181] The following is a description of a specific connection method for each lifting mechanism in a movable device:

[0182] The first lifting mechanism 211 is vertically arranged and the base of the first lifting mechanism 211 is connected to the frame 01. The first walking mechanism 511 is located below the frame 01. The base of the first walking mechanism 511 is connected to the output member of the first lifting mechanism 211, so that the output member of the first lifting mechanism 211 can be extended or lifted in the vertical direction. The first lifting mechanism 211 can move the first walking mechanism 511 away from the frame 01 by a predetermined distance so that the first walking mechanism 511 contacts the ground. The support length of the first lifting mechanism 211 is adjusted, thereby adjusting the vertical height of the frame 01.

[0183] Or the height of the rack 01 remains unchanged, and the first lifting mechanism 211 can move the first walking mechanism 511 closer to the rack 01 by a predetermined distance, so that the first walking mechanism 511 is off the ground and can pass over the obstacle.

[0184] It can be understood that the second lifting mechanism 222 is connected to the frame 01 in the vertical direction, and the second walking mechanism 522 is located below the frame 01 and connected to the second lifting mechanism 222, so that the output member of the second lifting mechanism 222 is extended and retracted in the vertical direction to adjust the length of the second lifting mechanism 222 in the vertical direction. The second lifting mechanism 222 can move the second walking mechanism 522 away from the frame 01 by a predetermined distance so that the second walking mechanism 522 abuts the ground, thereby adjusting the vertical height of the frame 01.

[0185] Or the height of the rack 01 remains unchanged, and the second lifting mechanism 222 can make the second walking mechanism 522 close to the predetermined distance relative to the rack 01, so that the second walking mechanism 522 is lifted off the ground, so that the second walking mechanism 522 can pass over the obstacle from above, that is, the height of the lower surface of the second walking mechanism 522 is not less than the height of the upper surface of the obstacle.

[0186] Optionally, 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 is capable of extending and retracting relative to the frame 01 and connected to the third traveling mechanism. It is understood that the third lifting mechanism 212 is connected to the frame 01 in the vertical direction, and the third traveling mechanism is located below the frame 01 and connected to the third lifting mechanism 212, so that the output member of the third lifting mechanism 212 extends and retracts in the vertical direction to adjust the vertical length of the third lifting mechanism 212. The third lifting mechanism 212 can move the third traveling mechanism away from the frame 01 by a predetermined distance so that the third traveling mechanism abuts the ground, thereby adjusting the vertical height of the frame 01.

[0187] Alternatively, the height of the rack 01 remains unchanged, while the third lifting mechanism 212 moves the third traveling mechanism closer to the rack 01 by a predetermined distance, thereby lifting the third traveling mechanism off the ground and enabling the third traveling mechanism to pass over the obstacle. Specifically, the height of the lower surface of the third traveling mechanism is no less than the height of the upper surface of the obstacle. Alternatively, this is not a limitation and can be selected based on actual circumstances.

[0188] An embodiment of a movable equipment rack 01 is:

[0189] The device is a car, and the vehicle containing the fourth traveling mechanism 15 is a car. The overall structure of the frame 01 of the device is a long frame with an inverted U-shaped cross section. The frame 01 is divided into two layers, the top layer including longitudinal beams arranged on the left and right sides, the length of each longitudinal beam slightly longer than the length of the vehicle chassis. The left and right longitudinal beams are connected by multiple crossbeams, the length of each crossbeam slightly longer than the width of the vehicle body. The front and rear ends of the longitudinal beam on the left side of the top layer are connected to vertical beams, the lower surface of the vertical beam is flush with the lower surface of the vehicle chassis, that is, the height of the vertical beam is slightly greater than the height of the vehicle body, and the lower ends of the vertical beams are further connected to the longitudinal beams. Similarly, the front and rear ends of the longitudinal beam on the right side are connected to vertical beams, the lower surface of the vertical beam is flush with the lower surface of the vehicle chassis, that is, the height of the vertical beam is slightly greater than the height of the vehicle body, and the lower ends of the vertical beams are further connected to the longitudinal beams. In this frame, all connections between the crossbeams, longitudinal beams, and vertical beams are welded. In this embodiment, "slightly greater" means greater than 5 mm. The frame 01 is used to be buckled onto the body of a vehicle including the fourth traveling mechanism 15 , and the size and shape of the frame 01 are adapted to the vehicle to better wrap the vehicle body from the side and better support the vehicle off the ground and overcoming obstacles;

[0190] Another embodiment of the frame 01 of the movable device is: the movable device is a motorcycle or bicycle type device, or the vehicle containing the fourth traveling mechanism 15 is a motorcycle or bicycle;

[0191] The overall structure of the rack 01 of the movable equipment is a long frame with a U-shaped cross section. The rack 01 is used to support (rather than be buckled onto) the body of the vehicle, and the size and shape of the rack 01 are adapted to the vehicle to better wrap the body of the vehicle from the side and better support the vehicle to leave the ground and overcome obstacles.

[0192] The vehicle's frame is provided with screw holes for fastening at four locations, front and rear, on both sides. The fourth connection portion comprises apertures and fastening bolts corresponding to the four screw holes. The apertures are located at the front and rear locations in the middle of both sides of the frame 01. When the device and the vehicle reach the connection point, the four fastening bolts penetrate through the apertures and screw into the corresponding screw holes, thread-locking the connection. During the connection process, the device's lifting mechanism can adjust its height, and the device and the vehicle can both move relative to each other forward and backward to ensure that the device and the vehicle reach the connection point accurately.

[0193] As shown in Figures 2, 3, 6, 7, and 14, in some other embodiments, the frame 01 is configured as a hollow structure, arranged horizontally relative to a horizontal plane, and includes multiple longitudinal beams and multiple transverse beams, with each transverse beam connected to a corresponding pair of longitudinal beams at its ends. It is understood that multiple longitudinal beams can be stacked vertically, and multiple transverse beams can be stacked vertically to form a cabin for human entry. In this embodiment, the longitudinal and transverse beams of the frame 01 are both made of metal, such as stainless steel square tubes, and the cabin is formed by welding multiple square tubes.

[0194] Supporting the frame 01 off the ground means that the lower surface of the component used to support the frame 01 off the ground is lower than the lower surface of the frame 01. This component can be several types of running mechanisms or legs. At least one of the first running mechanism 511 and the second running mechanism 511 is connected to a steering mechanism. The driver of the steering mechanism is connected to a control device. The control device controls the steering of the first running mechanism 511 and / or the second running mechanism 511. Depending on the type of vehicle adapted for the device, the setting of the steering mechanism can be made with reference to automobiles, motorcycles, bicycles, or mobility scooters. The steering of the crawler-type running mechanism is achieved by differential operation of the left and right crawlers. Both steering and the steering mechanism can be implemented using existing technologies. Because in the absence of a limiting description: when it is not specified that the first running mechanism is a first distributed crawler mechanism, the first running mechanism refers to the first running wheel. When it is not specified that the second running mechanism is a second distributed crawler mechanism, the second running mechanism refers to the second running wheel. Running wheels are less expensive than distributed crawler mechanisms.

[0195] Switching between modes or raising or lowering a travel mechanism is accomplished by controlling the corresponding lifting mechanism. The lifting mechanism corresponding to the first travel mechanism 511 is the first lifting mechanism 211. The lifting mechanism corresponding to the second travel mechanism 522 is the second lifting mechanism 222. The lifting mechanism corresponding to the third travel mechanism is the third lifting mechanism.

[0196] The present application also provides: a control method 1 for a movable device according to any one of technical solutions 1, 2, 3, 4, 5 or 6, characterized in that the control method comprises steps S1 and S2:

[0197] S1: Control the sports belt walking mechanism 07 to drive the treadmill 070 so that a person can run on the treadmill 070;

[0198] S2: Control the moving belt-type walking mechanism 07 to drive the crawler belt so that the equipment moves along the road surface.

[0199] Step S1 and step S2 are performed in different time periods.

[0200] Optionally, the control method only includes step S1 or step S2.

[0201] The present application also provides: a storage medium for a movable device, characterized in that: the storage medium stores a computer program, and the computer program implements the above-mentioned control method when executed by a processor.

[0202] The storage medium can be located in a removable device, in the cloud, or in another vehicle independent of the removable device. The storage medium is the memory or storage module. Furthermore, the storage medium can be a USB flash drive, a mobile hard drive, RAM, a magnetic disk, or an optical disk.

[0203] The present application also provides: a control device for a movable device, characterized in that: the control device is used to implement the above-mentioned control method 1; or, the control device includes a processor and a storage medium, the storage medium is used to store a program, and when the program is executed by the processor, the above-mentioned control method 1 is implemented.

[0204] Optionally, the control device includes a signal acquisition module for acquiring the information in step S0. The signal acquisition module includes an environment perception module (08) or a communication module capable of reading an external environment perception module (08). The signal acquisition module is connected to a processor included in the control device. The communication module is also used to acquire control instructions from a person in the human-computer interaction module. The environment perception module is a sensor module. The sensor module is connected to the rack 01.

[0205] The control instructions are manual control instructions obtained through the human-computer interaction module, or automatic control instructions generated by the automatic driving module.

[0206] Driving includes sliding along the road without power and driving along the road driven by a power device.

[0207] The present application also provides: a movable device as described in any one of technical solutions 1, 2, 3, 4, 5 or 6, which also includes the above-mentioned control device.

[0208] Glossary:

[0209] In the present invention, any description can be used in any scheme in this article: any scheme particularly refers to any movable equipment scheme. In this article: equipment means machine means robot, and the three are equivalent. In this article, all definitions of front, back, left and right directions are based on the direction of travel of the equipment along the road surface. Taking the direction of travel of the equipment along the road surface as the reference can also be described as the direction of travel of the equipment, and the two are equivalent. The reference is the reference. When there is no limitation, the road surface refers to a flat road. The first end is the first part, the first part, the front part. The second end is the second part, the second part, the rear part. Longitudinal refers to the front and back direction. Transverse refers to the left and right direction. The first part is the part before the center of gravity of the equipment. The second part is the part after the center of gravity of the equipment. The first part and the second part are opposite parts. The first end and the second end are opposite ends with the center of gravity O as the boundary.

[0210] Taking the center of gravity O of the device as the boundary, one side of the center of gravity O is the first side, and the other side of the center of gravity O is the second side. The first side and the second side are located on opposite sides of the center of gravity O. A specific embodiment is that the driving direction is front, the first side is the left side, and the second side is the right side. Any side is not limited to the outer surface of that side. The left side is to the left of the longitudinal axis. The right side is to the right of the longitudinal axis. The inside and outside directions of any side refer to: the direction close to the longitudinal axis is inside, and the direction away from the longitudinal axis is outside. Taking the center of gravity O of the device as the boundary, the front part is the first part, and the rear part is the second part. The second part is the second part. The first part is the first part. Longitudinal refers to the front and back direction. Transverse refers to the left and right direction. The position of any lifting mechanism refers to the position of the output component of the lifting mechanism. The position of any front and rear motion mechanism refers to the position of the output component of the front and rear motion mechanism.

[0211] In this document, unless otherwise specified, all wheels refer to running wheels. In this document, running wheels can also be simply referred to as wheels. Running wheels are wheeled running mechanisms. Walking means moving on the ground, i.e. traveling. Wheeled walking means wheeled movement, i.e. wheeled traveling. A wheeled running device, i.e. a wheeled moving device, i.e. a wheeled traveling device. Running wheels are wheels in a wheeled running device. The wheel at the first end is the first wheel, i.e. the front wheel. The wheel at the second end is the second wheel, i.e. the rear wheel. Wheels are also wheeled running mechanisms. In this document: the second front-to-back motion mechanism is also simply referred to as the second motion mechanism; the first front-to-back motion mechanism is also simply referred to as the first motion mechanism.

[0212] In this article, the crawler-type walking mechanism is the same as the moving belt-type walking mechanism, and the two are equivalent. The crawler-type walking mechanism is the crawler-type moving mechanism. To touch the ground is to support the ground, to touch the ground, and to touch the ground. The part used to touch the ground is the touchdown point. The touchdown points are distributed before and after the center of gravity (O) of the equipment, which means: the touchdown points include the touchdown points located in front of the center of gravity (O) of the equipment and the touchdown points located behind the center of gravity (O) of the equipment. The front edge of the crawler-type walking mechanism refers to the front edge of the crawler track contained in the crawler-type walking mechanism. The rear edge of the crawler-type walking mechanism refers to the rear edge of the crawler track contained in the crawler-type walking mechanism. The wheeled walking mechanism is the walking wheel. The front edge of the walking wheel refers to the front edge of the walking wheel. The rear edge of the walking wheel refers to the rear edge of the walking wheel.

[0213] The third running wheel refers to the running wheel included in the third walking mechanism. The third running wheel at the first end, i.e. the wheel at the front of the middle part, is also referred to as the second front wheel.

[0214] The third wheel at the second end, or the wheel at the rear of the middle section, is also called the first rear wheel. The third wheel at the first end is also the wheel at the front of the middle section. The third wheel at the second end is also the wheel at the front of the middle section. The middle section refers to the area between the first running mechanism 511 and the second running mechanism 522.

[0215] Because the first travel wheel is located at the front of the device, it is also called the front wheel or the first front wheel. The second travel wheel is located at the rear of the device, and is also called the rear wheel or the second rear wheel. The first travel wheel on the first side is also called the first left front wheel. The first travel wheel on the second side is also called the first right front wheel. The left wheel near the front of the center is also called the second left front wheel. The right wheel near the front of the center is also called the second right front wheel. The third travel wheel at the second end is also called the first rear wheel. The left wheel near the back of the center is also called the first left rear wheel. The right wheel near the back of the center is also called the first right rear wheel. The second travel wheel on the first side is also called the second left rear wheel. The second travel wheel on the second side is also called the second right rear wheel.

[0216] In this document, unless otherwise specified, a crawler-type walking mechanism is an integral crawler-type walking mechanism, or the crawler-type walking mechanism is a distributed crawler-type walking mechanism including a landing point located forward of the center of gravity of the equipment and a distributed crawler-type walking mechanism including a landing point located behind the center of gravity of the equipment. An integral crawler-type walking mechanism means a crawler-type walking mechanism having a front landing point located forward of the center of gravity of the movable equipment and a rear landing point located behind the center of gravity of the equipment. An integral crawler-type walking mechanism means a crawler-type walking mechanism having a crawler track provided between the front and rear landing points for ground contact.

[0217] A distributed crawler mechanism refers to a crawler-type traveling mechanism in which the front and rear landing points are located in front of or behind the center of gravity of the movable equipment. The landing point of the traveling wheel refers to the lower surface of the traveling wheel. The front landing point of the crawler-type traveling mechanism refers to the front point of the lower surface of the crawler contained in the crawler-type traveling mechanism, and the rear landing point of the crawler-type traveling mechanism refers to the rear point of the lower surface of the crawler contained in the crawler traveling mechanism. The lower surface of the crawler refers to the longest straight line on the lower surface of the crawler. The landing points that are not specified in front and behind refer to the front and / or rear landing points. The center of the traveling wheel or wheel is the axle center of the wheel. The center of the crawler-type traveling mechanism in the front and rear directions is 1 / 2 the length of the crawler. The landing point of any traveling component refers to the part of the traveling component that is used to land. The landing point is allowed to be in a lifted and off-ground state.

[0218] 1. Azimuth, direction, angular position, and orientation. When there is no limitation, in any direction of front, back, left, right, up, or down, the reference object is the center of the rack 01 of the movable equipment. When there is no limitation, any component refers to the center of the component. In this article, inward or outward refers to the reference object as the benchmark. Inward means: pointing in the direction of the reference object; outward means: pointing in the opposite direction of the reference object. When there is no additional explanation: front refers to; the direction in which the movable equipment is traveling; refers to the direction indicated by X1 in the attached figure. X1 indicates the front, and X2 indicates the back. Left and right refer to left and / or right, and front and back refer to front and / or back. Advance and retreat refer to advance and / or retreat. In this article, front view refers to viewing from the front and back direction, and the front view refers to the left view; the side view is also the front view, also the main view, and the view direction is from left to right; the top view is the view from top to bottom.

[0219] Front includes front, left front, and right front. Back includes back, left back, and right back. Left includes left, left front, and left back. Right includes right, right front, and right back. Longitudinal refers to the X direction, i.e., the front-to-back direction. Horizontal refers to the Y direction, i.e., the left-to-right direction. Translation includes forward and backward movement and / or left-to-right movement. Top includes directly above, upper side, i.e., obliquely above. Top refers to the top. Bottom includes directly below, lower side, i.e., obliquely below. Vertical refers to the Z direction, which refers to the up and down direction. In this article, the first side and the second side are relative directions. When there is no limitation: the first side is the left side, i.e., the left side, and the second side is the right side, i.e., the right side.

[0220] Any component has two ends: one end refers to the root of the component, and the other end refers to the tip of the component. In terms of connection: the root refers to the portion closest to the frame. The tip refers to the portion farther from the frame. Specifically, the component refers to a leg, arm, mechanism, or joint. The root, the base, the fixed end, the fixed part, the head end, and the inner end are equivalent. The tip, the movable end, the movable part, the output end, the output part, and the outer end are equivalent. In this article, one end of any mechanism refers to the mechanism's base, and the other end refers to the mechanism's output part.

[0221] In this document, unless otherwise specified or provided, the movable device refers to the frame 01 of the movable device. The movement of the device refers to the movement of the frame 01. The main body refers to the trunk, fuselage, or frame. The ground refers to the road surface. The ground refers to the bottom surface below the device that supports the device. In this document, any connecting wheel refers to the shaft of the connecting wheel. The crawler-type walking mechanism and the crawler are installed in the middle of the bottom of the device. Unless otherwise specified, the positional relationship of any component relative to another component is based on the center of the two components as the comparison reference.

[0222] 2. Throughout this document, the term "same" refers to substantially the same. Substantially the same can mean completely identical. For example, "flat" means substantially horizontal. "Flat" can be horizontal. "Straight" means substantially straight. Throughout this document, "adjust" means increasing or decreasing within the adjustable range. "Adjust" refers to controlled adjustment.

[0223] 3. The meaning of common nouns (scheme, can, may, set, have, include):

[0224] Any solution herein that includes the word "can," "may," or "with" includes the solution without the word "can," "may," or "with." "Any" refers to "a number of." "A number of" can mean one or more. "Some" also means any one or any number of.

[0225] In this document, any functional object is named as "function + object." Any functional object refers to an object configured to have the properties to achieve that function. For example, a lifting mechanism is a motion mechanism used to achieve a lifting function. For example, a wheeled walking device is a device used for wheeled mobility. "A includes B" includes: A is connected to B or A is B. "Include" can mean "only include." "Only include" means "only include."

[0226] 4. Connection includes direct connection or connection through an intermediate component. Connection includes mechanical connection (between mechanical components) and electrical connection (between electrical components). Electrical connection includes wired connection and wireless connection. Direct connection includes welding, crimping, threading, hooking, hanging, or snap-on connection. Indefinitely, connection refers to serial connection. Multiple components are connected sequentially, with the end of the previous component connected to the root of the next component, that is, the end of the components are connected sequentially.

[0227] By default, the connection is mechanical. Types of mechanical connections include fixed and removable. A connection can also be integrated. A removable connection is one that allows for controlled release. A movable connection includes a slidable or rotatable connection; a rotatable connection is also known as a hinged connection. A fixed connection is a mounted connection.

[0228] In this article, any connecting part refers to a part in the equipment used to connect the parts to be connected. The connecting part refers to the part used to support and connect the parts to be connected. For example, the part to be connected is a moving mechanism. The connecting part refers to the part that is constructed to have properties for connecting the parts to be connected or has been processed for connection. The connecting part refers to the part that is constructed to be able to bear the force generated by the parts to be connected. The connecting part can also refer to a connecting component. The component is a hole, a slot, a pin or a reinforcement. Having properties for connecting the parts to be connected means that the processing for connecting the parts has been performed. The connecting component can be a part of the rack 01 of the equipment. The connecting component can also be a component that is independent of the rack 01 but connected to the rack 01.

[0229] 5. Unit, device, system, module, component, element, device, and assembly are equivalent. Unless otherwise specified, a device may include one or more components. Any component may be distributed across multiple physical entities or a single physical entity; multiple components may also be located within the same physical entity. A drive device is also called a driver or a power device. A drive device is also called an actuator.

[0230] 6. The frame, body, trunk, and fuselage are equivalent. Any movable device has a frame. The frame is the fixedly connected components of the movable device, and this fixedly connected component has the highest mass among all the components of the movable device.

[0231] 7. As used herein, the equipment herein includes all devices necessary to perform the operation. Any equipment herein includes: a control device, an operating device, and an energy supply device. It is understood that the movable equipment may also include necessary electrical components and / or mechanical parts. Electrical components (e.g., wires) are used to electrically connect the components. Mechanical parts are used to connect and support the components. As used herein, the movable equipment, control device, operating device, and energy supply device are all configured to perform the methods, steps, and functions described herein.

[0232] The kinematic mechanism and its actuator can be integrated. For example, an integrated joint is one in which the joint and its actuator are integrated. The output of the kinematic mechanism is also the output of the kinematic mechanism. The actuator is also called a drive assembly.

[0233] In this document, any crawler-type walking mechanism is connected to a driver for driving the crawler-type walking mechanism. The crawler-type walking mechanism and the driver are both considered crawler-type walking devices, and the crawler-type walking device is considered equipment that includes the crawler-type walking mechanism. The lines connecting the walking mechanism's touchdown points refer to the lines connecting the outer circle of the walking mechanism's touchdown points. The touchdown points of the crawler-type walking mechanism are the touchdown points of the crawler tracks. The area formed by connecting the lines of each touchdown point in sequence is the figure formed by each touchdown point. A mobile platform is a movable platform.

[0234] Any mechanism, wherein the input of the mechanism is connected to the output of a driver for driving the mechanism. The control device of the device is connected to the driver. The control device controls the driver, and the control device controls the movement of the mechanism. For example, the mechanism is any lifting mechanism.

[0235] The output member of the wheel mechanism is the rim and / or the tire mounted on the rim. The output member of the wheel mechanism is connected to the outer ring of the bearing mounted on the wheel axle via spokes. The outer ring of the bearing, the spokes, the rim, and the tire can rotate about the wheel axle. The traveling wheels are connected to the frame 01 of the movable device, and the traveling wheels roll along the road surface, driving the movable device to move. Legged walking is walking. Walking is also called traveling or moving. Walking refers to movement on the ground. The traveling device is also called a ground moving device. The center of gravity (O) of the movable device refers to the structural center of gravity (O) of the device.

[0236] Due to conventional wisdom (human and animal legs are ubiquitous), existing obstacle-crossing technologies for equipment are mostly multi-link swing joint solutions that mimic those of human or animal legs. This has resulted in heavier equipment (such as cars) being unable to overcome obstacles with high performance (climbing stairs, descending stairs, and jumping over hurdles). Compared to multi-link swing mechanisms, linear motion mechanisms offer significant advantages in terms of large load-bearing capacity, small size, low cost, and high speed. These advantages are particularly advantageous when combined with walking mechanisms to enable equipment to overcome obstacles. For example, a jack is a typical linear motion mechanism, costing less than 100 yuan and capable of carrying 1,000 kg. A 50 kg rotating joint robotic arm is a typical multi-link swing mechanism, with a minimum price of 25,000 yuan, a 250-fold difference in price and a 20-fold difference in load-bearing capacity.

[0237] The energy supply device includes or is a power source. In any device herein, the power source is connected to a control device to power the control device. In any device herein, the energy supply device is connected to an operating device to provide energy for the operation. Furthermore, the energy supply device is connected to a drive device in the operating device to provide energy for the operation. Providing energy specifically refers 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.

[0238] The driving device is the driving unit, the power unit, the power system, the driving component, and the driving assembly, and these six are equivalent. The driving device includes a power conversion device. (For example, the power conversion device is an electric motor, a fuel engine, a hydraulic cylinder, a hydraulic motor, an air cylinder or a pneumatic motor, etc.). Optionally, the driving device also includes a power control device for controlling the power component. (For example, the power control device is a motor driver, a hydraulic valve, a fuel injection system or an air valve. The power conversion device is the power component. The driving device may include a reducer.

[0239] 7.2. The control device is (electrically) connected to the working device to control it to perform the operation. Specifically, it can be: the control device is (electrically) connected to the motion device in the working device to control the motion device, and the motion device drives the working tool connected to it to perform the operation. More specifically, it can be: the control device is (electrically) connected to the driving device in the working device, the control device controls the driving device, and the driving device drives the motion mechanism connected to it (mechanically), and the motion mechanism drives the working tool connected to it (mechanically) to perform the operation. For the sake of simplicity of description in this article, "controlling the driving device for driving the motion mechanism" can be referred to as "controlling the motion device" or "controlling the motion mechanism", and the three are equivalent.

[0240] The control device (electrically) controls the driving device, which means that the processing module of the control device can process information related to the operation and execute programs related to the operation, and the control device can send control signals related to the operation to the driving device.

[0241] Control can be manual or automatic. Manual control refers to the control device receiving manual control instructions through the human-computer interaction module and the communication module and performing control operations based on these instructions. Automatic control refers to receiving control instructions issued by an automatic control module and performing control based on these instructions. The control device may include an automatic control module or receive instructions from an external automatic control device through a communication module.

[0242] The control device includes software, hardware, and structural components for implementing control functions. The processor is at least one of a CPU, a DSP, an FPGA, or a CPLD. The control device also includes a communication module. Furthermore, the control device also includes at least one of a human-machine interface and a sensor module.

[0243] The communication module controls communication between components within the device and / or between the device and external systems. Communication modules include wired and wireless communication modules. For example, a wired communication module can be a 485 bus, a CAN bus, or an Ethernet bus. An external system specifically refers to an external information processing center, particularly a network system. For example, a wireless communication module can be 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, buttons, a human gesture recognition system, and the like.

[0244] The sensor module includes a sensor for obtaining information about the device's own status and / or an environmental perception module (08) for obtaining environmental information. The sensor includes an IMU, a gyroscope, an accelerometer, an encoder, a voltage sensor, a current sensor, etc. The environment refers to the environment in which the device is located. The sensor for obtaining environmental information includes at least one of a visual sensor, a radar, an ultrasonic wave, a satellite positioning module, and a radio frequency positioning module. The radar includes at least one of a laser radar and a millimeter wave radar.

[0245] Any device described herein includes a steering mechanism and a driver for driving the steering mechanism. The steering mechanism is connected to steerable running wheels. The steerable running wheels can be steered by manipulating a steering controller. In this embodiment, the differential speed of the running mechanisms on both sides of the device can also be controlled to achieve steering. The steering mechanism of a three-wheeled device can be the steering mechanism of a three-wheeled truck. The steering mechanism of a four-wheeled device can be the steering mechanism of an automobile. The steering mechanism can be a digital servo. The digital servo is connected to the running wheels to be steered. A control device controls the servo to drive the steering wheels to steer.

[0246] The motion control device can be any one or more of a steering wheel, accelerator, brake, joystick, or handle. Motion control includes forward and backward control and / or steering control. The autonomous driving module is used to control the movement of the movable device in an autonomous manner. Autonomous driving is unmanned driving. The autonomous driving module performs unmanned driving based on satellite and map information; autonomous driving can be implemented by referring to existing known technologies.

[0247] 8. Any portion of the apparatus herein wherein the motion mechanism is connected to a connection portion of the apparatus for connecting the motion mechanism. The connection portion is disposed on a frame of the apparatus. The base of the motion mechanism is connected to the connection portion of the frame for connecting the motion mechanism.

[0248] A motion mechanism, a driving mechanism, a movable mechanism, or a mechanism are all equivalent. A mechanism includes a first component and a second component; the first component is connected to the second component; and the second component is movable relative to the first component. The two components are connected by a kinematic pair. The first component is relatively stationary within the mechanism and serves to support the second component. The first component is the base, the machine base, the fixed component, the fixed member, or the frame; all five are equivalent. The base is used to connect to the equipment frame or is a component of the equipment frame. The second component moves within the path and / or range of motion set by the first component. The second component is the movable part. Movable parts can also be divided into prime movers, follower parts, and intermediary parts. The prime mover is the active part, the input part, or the input member; all four are equivalent. The input member is the power input part. The prime mover is connected to a power device or a motion control device; the power device drives the prime mover to move, or the motion control device drives the prime mover to move. Alternatively, the prime mover is the power part. The prime mover is connected to the follower part. The follower is the working part, the output part, the output end, or the output member; all five are equivalent. The output part is the motion output part or power output part. The intermediary part is the intermediate component connecting the prime mover and the driven part. The intermediary part is used to transmit power and is also called the transmission part. The driven part drives the connected load object to move. The load object is a tool used for work or an end effector. The kinematic mechanism is connected to the power device, which means that the prime mover of the kinematic mechanism is connected to the power device. The movement of the kinematic mechanism is driven by the power device. The power device is also called the drive. By default, the active part refers to the output part. For ease of reading, the device name can be used to directly represent the device mechanism. For example, a wheel refers to a wheel mechanism. An electric push rod refers to an electric push rod mechanism. A cylinder refers to a cylinder mechanism. A hydraulic cylinder refers to a hydraulic cylinder mechanism. A robotic arm refers to a robotic arm mechanism.

[0249] Based on the motion characteristics of the output element, motion mechanisms include rotary motion mechanisms and linear motion mechanisms. The base of a rotary motor mechanism is the stator, and the output element of a rotary motor is the rotor. Linear motion refers to linear motion. Linear specifically refers to a straight line. A linear motion mechanism is one in which the output element is a sliding element capable of linear reciprocating motion relative to the base of the mechanism. A linear motion mechanism is a linear joint. A sliding element is a slider.

[0250] Please refer to Figure 15: An electric push rod, which has a screw mechanism inside. The base 201A of the electric push rod is the base connected to the outer tube of the push rod. The output part 203A of the electric push rod is the telescopic rod of the push rod. The internal screw mechanism includes a screw 202A, and the driver of the mechanism is a motor 204A.

[0251] Please refer to Figure 16: A guide rail type motion mechanism, which has a screw mechanism inside. The screw mechanism includes a base 201B, a screw 202B and an output member 203B with a screw hole. The base 201B is a bracket connecting the screw 202B and the output member 203B. The output member 203B with a screw hole means that the output member is provided with a screw hole or the output member 203B is connected to a nut. The screw hole or the nut is provided with a thread matching the screw 202B. The output member 203B is sleeved on the screw 202B and is threadedly connected to the screw 202B. The driver of the mechanism is a motor. The input member of the mechanism is the screw 202B. The base of the motor is connected to the base 201B of the screw mechanism. The output shaft of the motor is connected to one end of the screw 202B of the mechanism, and the motor can drive the screw 202B to rotate around its own axis. The rotation of the screw rod 202B can drive the output member 203B to move along the length direction of the screw rod. That is, the output member cooperates with the screw rod 202B to convert the rotation of the screw rod 202B into linear movement of the output member.

[0252] A piston cylinder, also known as a telescopic cylinder, is a cylindrical metal device that guides a piston in linear reciprocating motion. Telescopic hydraulic cylinders specifically refer to piston-type hydraulic cylinders. The base of a piston-type cylinder is the cylinder body, and the output component is a telescopic rod connected to the piston. A telescopic hydraulic cylinder's base is the cylinder body, and the output component is a telescopic rod connected to the piston.

[0253] A lifting mechanism is a motion mechanism used to achieve a lifting function. The output member of this motion mechanism can be raised and lowered relative to its base. Unless otherwise specified, a multi-link swing mechanism herein refers to a single-link swing mechanism, also known as a single-stage swing mechanism. A lifting mechanism can be a vertical linear motion mechanism or a swing mechanism. A swing mechanism is a swing joint. A swing mechanism is one in which the output member is hinged to the base of the mechanism; the output member can rotate about the hinge, with one end of the output member being the hinged end. The output member of a swing mechanism is a swing arm.

[0254] In this application, any solution described in any place can be combined with and referenced in any other solution. Various combinations are used to explain the solutions in this article. The above are only optional embodiments of this application and are not intended to limit this application.

[0255] For those skilled in the art, various modifications and variations are possible in this application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of the claims of this application.

Claims

1. A portable device, characterized in that: Including a moving belt type walking mechanism (07), The motion belt type walking mechanism (07) comprises a base, a first roller (0721), a second roller (0722) and a treadmill (070), wherein the axis of the first roller (0721) is connected to the first end of the base, the axis of the second roller (0722) is connected to the second end of the base, the treadmill (070) is looped around the first roller (0721) and the second roller (0722), the treadmill (070) is used for people to run on the treadmill (070), and the motion belt type walking mechanism (07) is also used to drive a crawler belt to enable the device to travel along a road surface.

2. The portable device according to claim 1, wherein: The crawler includes a crawler on a first side (0701) and a crawler on a second side (0702); The crawler (0701) on the first side, the first crawler wheel (07201) on the first side and the second crawler wheel (07202) on the first side are all arranged on the first side of the center of gravity of the equipment, the shaft of the first crawler wheel (07201) on the first side is connected to the first end of the base on the first side, the shaft of the second crawler wheel (07202) on the first side is connected to the second end of the base on the first side, the crawler (0701) on the first side is hooked to the first crawler wheel (07201) on the first side and the second crawler wheel (07202) on the first side; the crawler (0702) and the second crawler wheel (07202) on the second side are hooked to the first crawler wheel (07201) and the second crawler wheel (07202) on the first side; The first track wheel (07201) on one side and the second track wheel (07202) on the second side are both arranged on the second side of the center of gravity of the equipment, the shaft of the first track wheel (07201) on the second side is connected to the first end of the base on the second side, the shaft of the second track wheel (07202) on the second side is connected to the second end of the base on the second side, and the track (0702) on the second side is hooked to the first track wheel (07201) on the second side and the second track wheel (07202) on the second side; the track (0701) on the first side and the track (0702) on the second side can run at differential speeds.

3. The portable device according to claim 2, wherein: The crawler track (0701) on the first side, the first track wheel (07201) on the first side, and the second track wheel (07202) on the first side are all arranged on the left side of the running belt (070); the crawler track (0702) on the second side, the first track wheel (07201) on the second side, and the second track wheel (07202) on the second side are all arranged on the right side of the running belt (070).

4. The mobile device according to claim 2, wherein: The diameter of the first track wheel (07201) is greater than the diameter of the first roller (0721); and / or, The diameter of the second track wheel (07202) is greater than the diameter of the second roller (0722).

5. The portable device according to claim 2, wherein: The device comprises a first clutch, an output member of a driver of the motion belt-type walking mechanism (07) is connected to a power input end of the first clutch, a power output end of the first clutch is connected to the treadmill (070), and the first clutch is used to connect and disconnect the power link between the driver and the treadmill (070); and / or, The device includes a second clutch, the output of the driver of the moving belt walking mechanism (07) is connected to the power input end of the second clutch, the power output end of the second clutch is connected to the crawler track on one side, and the second clutch is used to connect and disconnect the power link between the driver and the crawler track; the one side is the first side or the second side.

6. The portable device according to claim 1, wherein: The crawler belt is composed of the running belt (070).

7. The mobile device according to any one of claims 1, 2, 3, 4, 5 or 6, characterized in that: The movable device further comprises a first connection portion for movably connecting a support leg and the base, and when the motion belt-type walking mechanism (07) is used as a treadmill, the support leg can touch the ground and support the running belt driven by the motion belt-type walking mechanism (07) off the ground; and / or, the movable device further comprises a second connection portion for movably connecting a personnel carrier to the frame (01) of the device, and the personnel carrier is a seat, a reclining device or a footrest, and when the device is working in a non-treadmill mode: the personnel carrier can be arranged above the running belt through the connection of the second connection portion and can carry a person on the personnel carrier.

8. The mobile device according to any one of claims 1, 2, 3, 4, 5 or 6, wherein: The movable device is configured to carry an adult, and / or the movable device includes a passenger cabin; and / or, The movable device further comprises an underwater propulsion device (09) connected to the frame (01) of the device, wherein the underwater propulsion device (09) is configured to drive the movable device to travel in the water; and / or the buoyancy generated by the movable device in the water is greater than the weight of the movable device or the movable device is a ship.

9. A movable device according to any one of claims 1, 2, 3, 4, 5 or 6, Its characteristics are: The device is characterized in that: the device further comprises a frame (01), a first walking mechanism (511) and a second walking mechanism (522); based on the direction of travel of the device along the road surface: the first walking mechanism (511) is located before the center of gravity (O) of the movable device, and the second walking mechanism (522) is located behind the center of gravity (O) of the movable device; and The movable device further comprises a first lifting mechanism (211) and a second lifting mechanism (222), one end of each of the first lifting mechanism (211) and the second lifting mechanism (222) being connected to the frame (01), the other end of the first lifting mechanism (211) being connected to the first walking mechanism (511), the first lifting mechanism (211) being used to enable the first walking mechanism (511) to be lifted and lowered relative to the frame (01), the other end of the second lifting mechanism (222) being connected to the second walking mechanism (522), the second lifting mechanism (222) being used to enable the second walking mechanism (522) to be lifted and lowered relative to the frame (01); and / or, The movable device further comprises: a third lifting mechanism, the two ends of the third lifting mechanism being respectively connected to the frame (01) and the motion belt type walking mechanism (07), the third lifting mechanism being used to lift the motion belt type walking mechanism (07) relative to the frame (01); and the movable device is configured to be switchable between a first mode and a second mode; The first mode is: the lower surface of the motion belt walking mechanism (07) is not higher than the lower surface of the first walking mechanism (511) and the lower surface of the second walking mechanism (522), and the motion belt walking mechanism (07) supports the frame (01) off the ground and enables the movable device to travel along the road, or one of the first walking mechanism (511) and the second walking mechanism (522) and the motion belt walking mechanism (07) support the frame (01) off the ground and enable the movable device to travel along the road; The second mode is as follows: the lower surface of the first walking mechanism (511) and the lower surface of the second walking mechanism (522) are not higher than the lower surface of the moving belt walking mechanism (07), and the first walking mechanism (511) and the second walking mechanism (522) support the frame (01) off the ground and enable the movable equipment to travel along the road.

10. The mobile device according to claim 9, wherein: The number of the first walking mechanism (511) is one and / or the number of the second walking mechanism (522) is one; or, The first walking mechanism (511) includes a first walking mechanism (051) arranged on a first side of the center of gravity (O) of the equipment and a first walking mechanism (053) arranged on a second side of the center of gravity (O); the first lifting mechanism (211) includes a first lifting mechanism (211L) on the first side and a first lifting mechanism (211R) on the second side; one end of the first lifting mechanism (211L) on the first side and the first lifting mechanism (211) on the second side are both connected to the frame (01); the other end of the first lifting mechanism (211L) on the first side is connected to the first walking mechanism (051) on the first side; and the other end of the first lifting mechanism (211R) on the second side is connected to the first walking mechanism (053) on the second side; and / or, The second walking mechanism (522) includes a second walking mechanism (052) arranged on the first side of the center of gravity (O) of the equipment and a second walking mechanism (054) arranged on the first side of the center of gravity (O); the second lifting mechanism (222) includes a second lifting mechanism (222L) on the first side and a second lifting mechanism (222R) on the second side; one end of the second lifting mechanism (222L) on the first side and the second lifting mechanism (222R) on the second side are both connected to the frame (01); the other end of the second lifting mechanism (222L) on the first side is connected to the second walking mechanism (052) on the first side; and the other end of the second lifting mechanism (222R) on the second side is connected to the second walking mechanism (054) on the first side.

11. The mobile device according to claim 9, wherein: The first walking mechanism (511) is a first walking wheel or a first distributed crawler mechanism, and the second walking mechanism (522) is a second walking wheel or a second distributed crawler mechanism; and / or the first lifting mechanism (211) and / or the second lifting mechanism (222) and / or the third lifting mechanism are a vertical electric push rod, a vertical telescopic hydraulic cylinder or a vertical guide rail slider mechanism.

12. The method for controlling a movable device according to any one of claims 1, 2, 3, 4, 5 or 6, wherein: The control method includes steps S1 and / or S2: S1: controlling the motion belt-type walking mechanism (07) to drive the treadmill (070) so that a person can run on the treadmill (070); S2: Control the moving belt type walking mechanism (07) to drive the crawler belt so that the equipment moves along the road surface.

13. A storage medium for a removable device, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the control method according to claim 12 is implemented.

14. A control device for a movable device, characterized in that: The control device is used to implement the control method as claimed in claim 12; or, the control device includes a processor and a storage medium, the storage medium is used to store a program, and when the program is executed by the processor, the control method as claimed in claim 12 is implemented.

15. A movable device according to any one of claims 1, 2, 3, 4, 5 or 6, characterized in that: The movable device further comprises a control device as claimed in claim 14.

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