Height adjustment apparatus, walking device, and control method therefor

Abstract

The present application provides a height adjustment apparatus (500), a walking device (1000), and a control method therefor. The walking device comprises a main body (100) and walking wheels (200). The height adjustment apparatus comprises a swing mechanism (1) and a driving mechanism (2). The swing mechanism comprises a rotating shaft (12) and a swing arm (13). One end of the swing arm is connected to a walking wheel, and the other end of the swing arm is connected to the rotating shaft. The rotating shaft is rotatably arranged on the main body. The driving mechanism is used for driving the swing arm to rotate around the central axis of the rotating shaft to drive the main body to raise and lower relative to a horizontal base surface, and is used for driving the swing arm to swing into a preset area when it is determined that the walking device is in a preset working state and the current position of the swing arm is located outside of the preset area (S), wherein the preset area refers to an area formed after a swing axis (130) parallel to the gravity direction (G) of the walking device is deflected left and right by a preset included angle relative to the gravity direction of the walking device.

Description

Height adjusting device, walking device and control method thereof

[0001] The present application claims priority to the Chinese patent application No. 2024213130407, filed on June 07, 2024, entitled "Height adjusting device and walking device", and the Chinese patent application No. 2024107402818, filed on June 07, 2024, entitled "Control method of walking device, walking device and electronic device", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of robot technology, in particular to a height adjusting device, a walking device and a control method thereof. BACKGROUND

[0003] The support force of the walking wheel of the existing walking device based on the ground is transmitted to the driving mechanism through the swing arm, which causes the driving mechanism to generate a counter torque, and is easy to cause damage to the driving mechanism. SUMMARY

[0004] The present application provides a height adjusting device, a walking device and a control method thereof to solve the technical problem that the existing walking device is easy to cause damage to the driving mechanism.

[0005] In a first aspect, the present application provides a height adjusting device applied to a walking device. The walking device comprises a main body and a walking wheel, and the height adjusting device comprises a swing mechanism and a driving mechanism. The swing mechanism comprises a rotating shaft and a swing arm, one end of the swing arm is connected with the walking wheel, the other end of the swing arm is connected with the rotating shaft, and the rotating shaft is rotatably arranged on the main body. The driving mechanism is in transmission connection with the swing mechanism and is used to drive the swing arm to rotate around the central axis of the rotating shaft to drive the main body to rise and fall relative to a horizontal base surface. The driving mechanism is also used to drive the swing arm to swing into a preset area when it is determined that the walking device is in a preset working state and the current position of the swing arm is outside the preset area, wherein the preset area refers to an area formed after the swing axis of the swing arm is deflected by a preset included angle relative to the gravity direction of the walking device.

[0006] In combination with the first aspect, in a possible implementation manner, the driving mechanism is also used to drive the swing arm to swing to a specified position in the preset area when it is determined that the walking device is in the preset working state and the current position of the swing arm is outside the preset area, wherein the specified position is a position where the swing axis of the swing arm is parallel to the gravity direction of the walking device.

[0007] With reference to the first aspect, in a possible implementation manner, the swing axis of the swing arm is parallel to the direction of gravity of the walking device when the plane on which the main body is located is parallel to the horizontal base surface and the swing arm is rotated to the highest limit position or the lowest limit position.

[0008] With reference to the first aspect, in a possible implementation manner, the height adjusting device further comprises an acceleration adjusting mechanism, the rotating shaft comprises a first shaft segment and a second shaft segment, the acceleration adjusting mechanism is arranged between the first shaft segment and the second shaft segment, one end of the first shaft segment away from the acceleration adjusting mechanism is in transmission connection with the walking wheel, and the first shaft segment is rotatably arranged on the main body, one end of the second shaft segment away from the acceleration adjusting mechanism is in transmission connection with the driving mechanism, and the acceleration adjusting mechanism is used for adjusting the rotating angle range of the swing arm.

[0009] With reference to the first aspect, in a possible implementation manner, the acceleration adjusting mechanism comprises a sun gear, a planetary gear set, a planet carrier and a ring gear, the planetary gear set is installed on the planet carrier and is in meshing connection with the sun gear and the ring gear, the sun gear is fixedly connected with the first shaft segment, the planet carrier is fixedly connected with the second shaft segment, and the ring gear is fixed on the main body.

[0010] With reference to the first aspect, in a possible implementation manner, the planetary gear set comprises a plurality of planetary gears, and the diameters of the planetary gears are smaller than the diameter of the sun gear.

[0011] With reference to the first aspect, in a possible implementation manner, the acceleration adjusting mechanism further comprises a mounting shell, the mounting shell is provided with a mounting cavity, and the sun gear, the planetary gear set and the planet carrier are rotatably arranged in the mounting cavity.

[0012] With reference to the first aspect, in a possible implementation manner, the mounting shell comprises a first shell and a second shell, the ring gear is clamped between the first shell and the second shell, and the first shell and the second shell jointly form the mounting cavity; or the ring gear is arranged in the mounting cavity formed by the first shell and the second shell.

[0013] With reference to the first aspect, in a possible implementation manner, the acceleration adjusting mechanism further comprises a first bearing and a second bearing, the first bearing is arranged between the first shell and the sun gear and is rotatably sleeved on the first shaft segment, and the second bearing is arranged between the second shell and the planet carrier and is rotatably sleeved on the second shaft segment.

[0014] With reference to the first aspect, in a possible implementation manner, the driving mechanism comprises a driving member and a transmission member, one end of the transmission member is hinged to the driving member, and the other end of the transmission member is directly connected to the swing arm; or the other end of the transmission member is connected to the swing arm through the rotating shaft.

[0015] With reference to the first aspect, in a possible implementation manner, the height adjusting device further comprises a connecting arm, the connecting arm is arranged in a spaced manner with the swing arm, one end of the connecting arm is hinged to the transmission member, and the other end of the connecting arm is connected to the rotating shaft, and the length of a line connecting the connection points of the connecting arm, the transmission member and the rotating shaft is equal to or less than the length of a line connecting the connection points of the swing arm, the rotating shaft and the walking wheel.

[0016] The second aspect provides a control method of a walking device, the walking device comprising a main body, a walking wheel and a height adjusting device, the height adjusting device comprising a swing mechanism and a driving mechanism; the swing mechanism comprising a rotating shaft and a swing arm, one end of the swing arm being connected to the walking wheel, the other end of the swing arm being connected to the rotating shaft, and the rotating shaft being rotatably arranged on the main body; the driving mechanism being in transmission connection with the swing mechanism and being used to drive the swing arm to rotate around the central axis of the rotating shaft, so as to drive the main body to ascend or descend relative to a horizontal base surface, the control method comprising the following steps: acquiring a current position of the swing arm; and when it is determined that the walking device is in a preset working state and the current position of the swing arm is located outside a preset area, controlling the driving mechanism to drive the swing arm to swing into the preset area, wherein the preset area refers to an area formed after a swing axis parallel to the direction of gravity of the walking device is deflected by a preset included angle relative to the direction of gravity of the walking device.

[0017] With reference to the second aspect, in a possible implementation manner, the preset included angle is less than or equal to 5°.

[0018] With reference to the second aspect, in a possible implementation manner, the preset area comprises a first fan-shaped area and a second fan-shaped area, and the step of controlling the driving mechanism to drive the swing arm to swing into the preset area comprises: determining a target fan-shaped area from the first fan-shaped area and the second fan-shaped area; and controlling the driving mechanism to drive the swing arm to swing into the target fan-shaped area.

[0019] With reference to the second aspect, in a possible implementation manner, the target sector is determined from the first sector and the second sector, including: when the sector closest to the current position of the swing arm is determined as the first sector, the first sector is taken as the target sector; and when the sector closest to the current position of the swing arm is determined as the second sector, the second sector is taken as the target sector; or, when the surrounding environment parameter of the walking device detected by the surrounding environment detector meets the preset condition, the first sector is taken as the target sector, and when the surrounding environment parameter of the walking device detected by the surrounding environment detector does not meet the preset condition, the second sector is taken as the target sector, wherein the first sector is located directly below the second sector.

[0020] With reference to the second aspect, in a possible implementation manner, the control of the driving mechanism to drive the swing arm to swing to the specified position in the preset region includes: control of the driving mechanism to drive the swing arm to swing to a specified position in the preset region, wherein the specified position is a position at which the swing axis of the swing arm is parallel to the direction of gravity of the walking device.

[0021] With reference to the second aspect, in a possible implementation manner, the control of the driving mechanism to drive the swing arm to swing to the specified position in the preset region includes: obtaining an included angle between the current position of the swing arm and the specified position; and according to a predefined corresponding relationship between the included angle and the swing speed of the swing arm, controlling the driving mechanism to drive the swing arm to swing to the specified position at a swing speed corresponding to the included angle between the current position of the swing arm and the specified position.

[0022] With reference to the second aspect, in a possible implementation manner, the walking device further includes a stress detector configured to detect a stress parameter of the driving mechanism, and the control method further includes: obtaining the stress parameter of the driving mechanism detected by the stress detector; and determining that the walking device is in the preset working state when the stress parameter is greater than or equal to a preset threshold.

[0023] With reference to the second aspect, in a possible implementation manner, the control method further includes: determining, by the walking device, that the walking device is in a preset working state when a preset instruction is received, wherein the preset instruction includes at least one of a charging instruction, a mowing instruction, a grass collecting instruction, or a stop working instruction.

[0024] In a third aspect, the application further provides another walking device, comprising a main body, a driving mechanism, a walking wheel and a height adjusting device, the height adjusting device comprising a swinging mechanism, a driving mechanism and a control mechanism; the swinging mechanism comprising a rotating shaft and a swinging arm, one end of the swinging arm being connected with the walking wheel, the other end of the swinging arm being connected with the rotating shaft, the rotating shaft being rotatably arranged on the main body; the driving mechanism being in transmission connection with the swinging mechanism and being used for driving the swinging arm to rotate around the central axis of the rotating shaft so as to drive the main body to ascend or descend relative to a horizontal base surface, and the control mechanism being used for executing the control method as described above.

[0025] The height adjusting device, the walking device and the control method thereof provided by the application can meet the walking requirements of different working conditions on the one hand, because the driving mechanism is arranged in transmission connection with the swinging mechanism and is used for driving the swinging arm to rotate around the central axis of the rotating shaft so as to drive the main body to ascend or descend relative to a horizontal base surface; and on the other hand, the driving mechanism is further used for controlling the driving mechanism to drive the swinging arm to swing into a preset region when it is determined that the walking device is in a preset working state and the current position of the swinging arm is located outside the preset region, wherein the preset region refers to a region formed after the swinging axis parallel to the direction of gravity of the walking device is deflected by a preset included angle to the left or right relative to the direction of gravity of the walking device, so that the support force generated by the ground on the walking wheel can be mostly conducted to the main body through the swinging arm, thereby reducing the risk that the driving mechanism is damaged due to the reaction torque generated by the gravity of the walking device on the driving mechanism, prolonging the service life of the driving mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 is a bottom view of the walking device provided by the first embodiment of the application.

[0027] Fig. 2 is an exploded view of the walking device in Fig. 1.

[0028] Fig. 3 is a swinging trajectory diagram of the swinging arm of the height adjusting device of the walking device in Fig. 2.

[0029] Fig. 4 is a side view of the height adjusting device of the walking device in Fig. 2.

[0030] Fig. 5 is an exploded view of a second swinging structure and a second transmission rod of the height adjusting device of the walking device in Fig. 2.

[0031] Fig. 6 is a sectional view of a driving piece of the height adjusting device of the walking device in Fig. 2.

[0032] Fig. 7 is a partial structure schematic view of the walking device provided by the second embodiment of the application.

[0033] Fig. 8 is an exploded schematic view of a partial structure of the walking device in Fig. 7.

[0034] Fig. 9 is a schematic view of a height adjustment device of the walking device in Fig. 7, omitting the second housing and driving the main body to rise to a highest limit position.

[0035] Fig. 10 is a schematic view of a height adjustment device of the walking device in Fig. 7, omitting the second housing and driving the main body to rise to a lowest limit position.

[0036] Fig. 11 is a flowchart of a control method of a walking device provided by an embodiment of the present application.

[0037] Fig. 12 is a block diagram of a unit composition of an electronic device provided by an embodiment of the present application.

[0038] Main element symbol explanation: walking device-1000; main body-100; walking wheel-200; first wheel-210; second wheel-220; cutting mechanism-300; height adjusting device-500; swing mechanism-1; first swing structure-10; first wheel shaft-11; rotating shaft-12; first shaft section-121; second shaft section-122; swing arm-13; swing axis-130; bearing seat-15; driving mechanism-2; driving piece-20; driving part-21; telescopic part-22; guide seat-23; guide groove-2301; connecting seat-24; pivot piece 25; first pivot shaft-251; second pivot shaft-252; pivot seat-26; first pivot part-261; second pivot part-262; transmission piece-30; first transmission rod-31; first transmission part-311; second transmission part-312; second transmission rod-32; first transmission section-321; second transmission section-322; third transmission section-323; connecting arm-40; second swing structure-50; second wheel shaft-51; rotating shaft-52; rotating arm-53; first sliding piece-541; second sliding piece-542; guide sliding groove-5401; mounting base-56; containing space-5601; limiting hole-5602; mounting hole-5603; mounting piece-561; guide rod-57; transmission shaft-58; shaft sleeve-59; acceleration adjusting mechanism-6; sun gear-61; planetary gear set-62; planetary gear-621; planet carrier-63; connecting plate-631; connecting shaft-632; ring gear-64; mounting shell-65; mounting cavity-650; first shell-651; second shell-652; first bearing-661; second bearing-662; control mechanism-70; stress detector-81; sensor-82; surrounding environment detector-83; electronic device-800; processor-810; memory-820; communication interface-830; bus-840; length direction-X; width direction-Y; height direction-Z; gravity direction-G; telescopic direction-F; first connecting line-L1; second connecting line-L2; first distance-D1; second distance-D2; preset area-S; first sector area-S1; second sector area-S2; first connecting point-P1; second connecting point-P2; highest limit position-H1; lowest limit position-H2.

[0039] The following detailed description will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0040] The following describes each of the embodiments of the present application in conjunction with the drawings in the embodiments of the present application.

[0041] In the description of the embodiments of the present application, it should be noted that unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, "connection" can be detachable connection, or can be non-detachable connection; can be direct connection, or can be indirect connection through intermediate medium. Among them, "fixed connection" can be connected to each other and the relative positional relationship after connection is unchanged. "Rotary connection" can be connected to each other and can rotate relative to each other after connection. The term "integrally formed" means that in the process of forming one of the plurality of components, the component is connected with other components, and two components do not need to be connected together by reprocessing (such as bonding, welding, buckling connection, screw connection) method. The orientation language mentioned in the embodiments of the present application, for example, "top", "bottom", "inner", "outer", "side" and the like, is only the direction of the drawing, therefore, the orientation language used is to better and more clearly illustrate and understand the embodiments of the present application, and is not to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0042] Please refer to FIG. 1, which is a bottom view of a walking device 1000 provided by the first embodiment of the present application. The walking device 1000 comprises a main body 100 and a height adjusting device 500. The height adjusting device 500 is arranged on the main body 100 and is used to drive the main body 100 to perform lifting activities. Thus, the walking device 1000 can meet the walking requirements of different working conditions.

[0043] The walking device 1000 can include, but is not limited to, a hand-held type, a riding type, and a full-automatic intelligent walking device 1000, and the present application does not limit the same. The walking device 1000 can move on the ground. For example, the walking device 1000 can move on the ground under the push of a user. For another example, the walking device 1000 itself has a moving ability. Specifically, the walking device 1000 further includes a walking wheel 200. The walking wheel 200 is configured as a driving wheel, and the walking device 1000 can automatically move on the ground through the driving wheel. The driving wheel can be configured as a wheel integrated with a hub motor, thereby reserving more arrangement space for the main body 100 and improving the space utilization of the walking device 1000. The driving wheel can be driven to rotate through a driving motor independent of the walking wheel 200. The walking device 1000 can be configured as, but is not limited to, a mowing device, a pesticide spraying device, a crop harvesting device, a sweeping device, a transportation device, and the like. In the embodiment, the walking device 1000 can be configured as a mowing device. The walking device 1000 includes a cutting mechanism 300 arranged on the main body 100. The cutting mechanism 300 is used for trimming a lawn or other vegetation. The height adjusting device 500 can adjust the lifting of the main body 100 to drive the cutting mechanism 300 to lift, thereby meeting the height requirement of mowing. Of course, in some embodiments, the walking device 1000 can also be a sweeping machine or other intelligent device, but is not limited thereto.

[0044] It should be noted that the purpose of FIG. 1 is only to schematically describe the arrangement mode between the main body 100 and the height adjusting device 500, and does not specifically limit the connection position, connection relationship, and specific structure of each element. FIG. 1 is only a structure of the walking device 1000 schematically shown in the embodiment of the present application, and does not constitute a specific limitation on the walking device 1000. In another embodiment of the present application, the walking device 1000 can include more or fewer components than those shown in FIG. 1, or combine certain components, or different components, for example, the walking device 1000 can further include, but is not limited to, the cutting mechanism 300, a safety protection structure, and the like.

[0045] Please refer to FIG. 1 and FIG. 2, and FIG. 2 is an exploded view of the walking device 1000 in FIG. 1. The height adjusting device 500 provided by the embodiments of the present application is applied to the walking device 1000. The height adjusting device 500 comprises a swing mechanism 1 and a driving mechanism 2. The swing mechanism 1 comprises a rotating shaft 12 and a swing arm 13. One end of the swing arm 13 is connected with the walking wheel 200, and the other end of the swing arm 13 is connected with the rotating shaft 12. The rotating shaft 12 is rotatably arranged on the main body 100. The driving mechanism 2 is in transmission connection with the swing mechanism 1, and is used to drive the swing arm 13 to rotate around the central axis of the rotating shaft 12, so as to drive the main body 100 to ascend or descend relative to the horizontal base surface. The driving mechanism 2 is also used to drive the swing arm 13 to swing into a preset region S when it is determined that the walking device 1000 is in a preset working state and the current position of the swing arm 13 is located outside the preset region S, wherein the preset region S refers to a region formed after the swing axis 130 parallel to the gravity direction G of the walking device 1000 is deflected by a preset included angle relative to the gravity direction G of the walking device 1000.

[0046] Exemplarily, the swing mechanism 1 comprises a first swing structure 10 and a second swing structure 50. The walking wheel 200 comprises a first wheel 210 and a second wheel 220. The swing mechanism 1 comprises the first swing structure 10 and the second swing structure 50. Two ends of the first swing structure 10 are respectively connected with two first wheels 210, and are arranged at the rear end of the main body 100 in the length direction X of the walking device 1000. Two ends of the second swing structure 50 are respectively connected with two second wheels 220, and are arranged at the front end of the main body 100 in the length direction X of the walking device 1000. Of course, in some embodiments, the swing mechanism 1 can only comprise the first swing structure 10 or the second swing structure 50.

[0047] Exemplarily, in the present embodiment, the first swing structure 10 comprises a first wheel shaft 11 and the swing arm 13. The first wheel shaft 11 is used to be connected with the walking wheel 200. One end of the swing arm 13 is rotatably arranged on the main body 100, and the other end of the swing arm 13 is connected with the first wheel shaft 11. The driving mechanism 2 is in transmission connection with the swing arm 13, and is used to drive the swing arm 13 to rotate, so as to realize that the driving mechanism 2 drives the swing arm 13 to drive the main body 100 to ascend or descend.

[0048] Please refer to Fig. 1, Fig. 2 and Fig. 3, Fig. 3 is a swing track diagram of the swing arm 13 of the height adjusting device 500 of the walking device 1000 in Fig. 2. In the embodiment, the walking device 1000 further comprises a control mechanism 70. The control mechanism 70 is connected with the driving mechanism 2. The control mechanism 70 is used for controlling the driving mechanism 2 to drive the swing arm 13 to swing into a preset region S when it is determined that the walking device 1000 is in a preset working state. The preset region S refers to a region formed after the swing axis 130 of the swing arm 13 is deflected by a preset included angle relative to the gravity direction G of the walking device 1000.

[0049] The walking device 1000 provided by the embodiment has the advantages that, when it is determined that the walking device 1000 is in the preset working state, the control mechanism 2 is controlled to drive the swing arm 13 to swing into the preset region S, so that the swing axis 130 of the swing arm 13 is substantially parallel to the gravity direction G of the walking device 1000. On the one hand, the height adjusting device 500 can drive the main body 100 to ascend and descend, so that the walking device 1000 can meet the walking requirements of different working conditions. On the other hand, when the swing axis 130 of the swing arm 13 is substantially parallel to the gravity direction G of the walking device 1000, the support force generated by the ground on the walking wheel 200 can be mostly conducted to the main body 100 through the swing arm 13, so as to reduce the transmission of the support force generated by the ground on the walking wheel 200 to the driving mechanism 2 through the swing arm 13, thereby reducing the damage of the stress generated by the gravity of the walking device 1000 itself to the driving mechanism 2, and prolonging the service life of the driving mechanism 2.

[0050] One end of the swing arm 13 is rotatably arranged on the main body 100 through the rotating shaft 12. The swing arm 13 has a swing axis 130. The swing axis 130 passes through the connecting point of the swing arm 13 and the first wheel shaft 11 and the connecting point of the swing arm 13 and the rotating shaft 12. When the driving mechanism 2 drives the swing arm 13 to swing to the highest limit position H1 or the lowest limit position H2, the swing axis 130 is parallel to the height direction Z of the walking device 1000. Therefore, when the walking device 1000 is located on a flat ground and it is determined that the walking device 1000 is in the preset working state, the control mechanism 70 can directly control the driving mechanism 2 to drive the swing arm 13 to swing to the highest limit position H1 or the lowest limit position H2, so that the swing axis 130 of the swing arm 13 is substantially parallel to the gravity direction G of the walking device 1000, thereby improving the control precision of the control mechanism 70 and reducing the calculation difficulty. Of course, when the walking device 1000 is located on a slope and it is determined that the walking device 1000 is in the preset working state, the control mechanism 70 can also control the driving mechanism 2 to drive the swing arm 13 to swing to other positions except the highest limit position H1 or the lowest limit position H2, so that the swing axis 130 of the swing arm 13 is substantially parallel to the gravity direction G of the walking device 1000.

[0051] It should be noted that the term "highest limit position H1" refers to the position where the swinging end of the swinging arm 13 swings to the highest position from the sea level, i.e. the position where the distance between the main body 100 and the ground reaches the maximum value. The swinging end of the swinging arm 13 refers to the end of the swinging arm 13 connected with the rotating shaft 12. The term "lowest limit position H2" refers to the position where the swinging end of the swinging arm 13 swings to the lowest position from the sea level, i.e. the position where the distance between the main body 100 and the ground reaches the minimum value.

[0052] In the embodiment, the driving mechanism 2 comprises a driving member 20 and a transmission member 30. One end of the transmission member 30 is hinged with the driving member 20, and the other end of the transmission member 30 is directly connected with the swinging arm 13; or the other end of the transmission member 30 is connected with the swinging arm 13 through the rotating shaft 12. Specifically, the transmission member 30 comprises a first transmission rod 31. One end of the first transmission rod 31 is hinged with the driving mechanism 2, and the other end of the first transmission rod 31 is hinged with the swinging arm 13. The first transmission rod 31 is directly connected with the swinging arm 13; or the first transmission rod is connected with the swinging arm 13 through the rotating shaft 12. The driving member 20 is used to drive the first transmission rod 31 to push or pull the swinging arm 13 together with the rotating shaft 12 and the main body 100 to swing.

[0053] It can be understood that when the walking device 1000 is on the flat ground, the weight of the walking device 1000 itself will act on the first axle 11 under the action of gravity. The gravity direction G of the walking device 1000 is parallel to the height direction Z of the walking device 1000. When the swinging axis 130 of the swinging arm 13 is arranged at an angle with the height direction Z of the walking device 1000, the first axle 11 will generate a torque with the central axis of the rotating shaft 12 as the center on the swinging arm 13, so as to make the swinging arm 13 have a tendency to rotate, and the torque is applied to the first transmission rod 31 through the swinging arm 13, so that the swinging arm 13 generates a pressure or a tension on the first transmission rod 31, thereby easily causing the first transmission rod 31 to bend under the pressure or to crack under the tension. In addition, since one end of the first transmission rod 31 away from the swinging arm 13 is connected with the driving member 20, the pressure or the tension generated by the first transmission rod 31 will cause damage to the driving member 20, thereby shortening the service life of the driving member 20.

[0054] When the walking device 1000 is on a slope, the weight of the walking device 1000 itself will act on the first axle 11 under the action of gravity. The gravity direction G of the walking device 1000 is arranged at an angle with the height direction Z of the walking device 1000. When the swing axis 130 of the swing arm 13 is arranged at an angle with the gravity direction G of the walking device 1000, the first axle 11 will generate a torque about the central axis of the rotation axis 12 on the swing arm 13, so that the swing arm 13 has a tendency to rotate, and the swing arm 13 will act the torque on the first transmission rod 31 through the swing arm 13, so that the swing arm 13 generates a pressure or tension on the first transmission rod 31, which easily causes the first transmission rod 31 to bend under the pressure or to crack under the tension. In addition, since the end of the first transmission rod 31 away from the swing arm 13 is connected with the driving member 20, the pressure or tension generated by the first transmission rod 31 will damage the driving member 20, thereby shortening the service life of the driving member 20.

[0055] In some embodiments, the driving mechanism 2 is further configured to drive the swing arm 13 to swing to a specified position in the preset region S when it is determined that the walking device 1000 is in the preset working state and the current position of the swing arm 13 is outside the preset region S, wherein the specified position is a position where the swing axis 130 of the swing arm 13 is parallel to the gravity direction G of the walking device 1000. Thus, in the embodiments of the present application, when the walking device 1000 is in the preset working state, the control mechanism 70 controls the swing axis 130 of the swing arm 13 to be substantially parallel to the gravity direction G of the walking device 1000, so that the support force generated by the ground on the walking wheel 200 can be mostly conducted to the main body 100 through the swing arm 13, thereby reducing the stress generated by the swing arm 13 on the driving mechanism 2, and prolonging the service life of the driving mechanism 2.

[0056] Exemplarily, in the embodiment, the plane where the main body 100 is located is parallel to the horizontal base surface. When the swing arm 13 is rotated to the highest limit position H1 or the lowest limit position H2, the swing axis 130 of the swing arm 13 is parallel to the direction of gravity G of the walking device 1000. Thus, the support force generated by the ground on the walking wheel 200 can be mostly conducted to the main body 100 through the swing arm 13, so as to reduce the transmission of the support force generated by the ground on the walking wheel 200 to the driving mechanism 2 by the swing arm 13, thereby reducing the risk of the driving mechanism 2 being damaged by the reaction torque generated by the gravity of the walking device 1000 on the driving mechanism 2, prolonging the service life of the driving mechanism 2, and prolonging the service life of the driving mechanism 2. It can be understood that the walking device 1000 determines that the walking device 1000 is in a preset working state when receiving a preset instruction. The preset instruction includes at least one of a charging instruction, a mowing instruction, a grass collecting instruction, or a stop working instruction. For example, when the walking device 1000 receives a charging instruction, the walking device 1000 enters a charging state, and at this time, the plane where the main body 100 is located is parallel to the horizontal base surface.

[0057] For the accuracy of description, the term "length direction X" refers to the advancing direction of the walking device 1000, i.e., the front-rear direction (where the positive direction of the X axis is forward). The term "width direction Y" refers to the arrangement direction of the left wheel and the right wheel in the walking device 1000, i.e., the left-right direction (where the positive direction of the Y axis is right). The term "height direction Z" refers to the arrangement direction of the walking wheel 200 abutting against the support plane and the highest protruding part of the walking device 1000, i.e., the up-down direction (where the positive direction of the Z axis is upward). The length direction X, the width direction Y, and the height direction Z together constitute three orthogonal directions of the walking device 1000. For the convenience of description, the up-down, left-right, and front-rear positions in the application are relative positions, and do not constitute a limitation on the implementation. The length direction X, the width direction Y, and the height direction Z of the walking device 1000 can be customized according to the specific structure of the product and the perspective of the drawing, and the application does not make specific limitations.

[0058] In some embodiments, the driving member 20 comprises a driving part 21 and a telescopic part 22. The input end of the telescopic part 22 is connected with the driving part 21 and is located between the output end of the telescopic part 22 and the swing arm 13. The output end of the telescopic part 22 is hingedly connected with the end of the first transmission rod 31 away from the swing arm 13. The driving part 21 is configured to drive the telescopic part 22 to pull or push the first transmission rod 31 along the length direction X of the walking device 1000, so as to drive the swing arm 13 to move up and down together with the rotating shaft 12 and the main body 100. Thus, based on the arrangement that the input end of the telescopic part 22 is connected with the driving part 21 and is located between the output end of the telescopic part 22 and the swing arm 13, the output end of the telescopic part 22 is hingedly connected with the end of the first transmission rod 31 away from the swing arm 13, and the driving part 21 is configured to drive the telescopic part 22 to pull or push the first transmission rod 31 along the length direction X of the walking device 1000, so as to drive the swing arm 13 to move up and down together with the rotating shaft 12 and the main body 100, on the one hand, the output end of the telescopic part 22 is farther away from the swing arm 13 than the input end of the telescopic part 22, so that the distance between the first transmission rod 31 and the two hinged points of the telescopic part 22 and the swing arm 13 is relatively long, and the angle between the telescopic direction F of the telescopic part 22 and the transmission direction of the first transmission rod 31 is relatively small, thereby improving the utilization rate of the driving force exerted by the telescopic part 22 on the first transmission rod 31, and during the process that the height adjusting device 500 drives the front axle and the rear axle to move up and down, the gravity of the main body 100 is mostly applied to the telescopic part 22 along the telescopic direction F of the telescopic part 22, thereby reducing the load of the driving member 20, preventing the driving member 20 from being damaged, and further prolonging the service life of the height adjusting device 500; on the other hand, the height adjusting device 500 can drive the main body 100 to move up and down, thereby enabling the walking device 1000 to meet the walking requirements of different working conditions.

[0059] It should be noted that the term "hingedly connected" includes the connection of two elements by a pivot or the connection of two elements by a spherical hinge. The driving mechanism 2 further comprises at least one pivot 25. The first transmission rod 31 and the telescopic part 22 can be pivotally connected by one or more pivots 25. The pivot 25 is configured as a pivot shaft. For example, in the present embodiment, the first transmission rod 31 and the telescopic part 22 are pivotally connected. Specifically, the first transmission rod 31 and the telescopic part 22 are respectively provided with pivot holes through which the pivot shaft passes. The central axis of the pivot shaft is parallel to the width direction Y of the walking device 1000. Of course, in some embodiments, the pivot shaft can be fixed to the first transmission rod 31 and rotatably penetrate the telescopic part 22, or the pivot shaft can be fixed to the telescopic part 22 and rotatably penetrate the first transmission rod 31, thereby simplifying the assembly operation of the pivot shaft.

[0060] The pivot joint 25 can be configured as an elastic member. In this way, on the one hand, since the pivot joint 25 is provided with an elastic member, the pivot joint 25 produces elastic deformation when subjected to external vibration or impact, thereby reducing the influence of vibration and impact on the driving member 20 and the first transmission rod 31, protecting the normal operation of the driving member 20, improving the service life of the driving member 20, and improving the stability of the walking device 1000 in running. On the other hand, the driving member 20 does not need to be provided with an additional elastic member, which simplifies the overall structure of the driving member 20, is compact in structure, and reduces costs. Specifically, in the present embodiment, the pivot joint 25 can be, but is not limited to, a pin shaft, a rivet, etc.

[0061] Specifically, for example, in the present embodiment, the pivot joint 25 can be configured as a flexible shaft, so that the material of the pivot joint 25 can absorb and buffer the rigid stress transmitted by the first swing structure 10 when it is elastically deformed. The material of the pivot joint 25 can include, but is not limited to, silicone, rubber, etc. Of course, in some embodiments, the pivot joint 25 includes a pivot body and an elastic member provided on the pivot body, and the material of the pivot body includes, but is not limited to, metal, alloy, etc. The pivot body can be configured as a rigid structure. In this way, the pivot body can improve the rigidity of the pivot joint to meet the needs of high-precision transmission systems and improve the service life of the pivot joint. For example, the pivot joint 25 can be configured as, but is not limited to, an elastic column pin coupling.

[0062] In some embodiments, the two ends of the first transmission rod 31 are respectively ball-hinged to the swing arm 13 and the telescopic part 22. The first transmission rod 31 is provided with a spherical protrusion, and the swing arm 13 and the telescopic part 22 are provided with a spherical groove matched with the spherical protrusion; or the first transmission rod 31 is provided with a spherical groove, and the swing arm 13 and the telescopic part 22 are provided with a spherical protrusion matched with the spherical groove. The spherical protrusion is rotatably accommodated in the spherical groove. The first transmission rod 31, the swing arm 13 and the telescopic part 22 can rotate in any direction around the spherical center of the spherical protrusion. In some cases, when the walking device 1000 is disturbed by external interference, causing the output direction of the driving force of the driving member 20 to deviate, the ball-hinged connection between the first transmission rod 31, the swing arm 13 and the telescopic part 22 can make the first transmission rod 31, the swing arm 13 and the telescopic part 22 remain normally connected, so that the height adjusting device 500 can still work normally, improve the anti-interference ability of the height adjusting device 500, and simplify the structure of the height adjusting device 500, facilitating assembly. Of course, in other embodiments, one end of the first transmission rod 31 is ball-hinged to the swing arm 13, and the other end of the first transmission rod 31 is pivotally connected to the telescopic part 22; or one end of the first transmission rod 31 is ball-hinged to the telescopic part 22, and the other end of the first transmission rod 31 is pivotally connected to the swing arm 13.

[0063] The driving part 21 is configured to drive the telescopic part 22 to perform telescopic movement along the length direction X of the vehicle. The telescopic direction F of the telescopic part 22 is parallel or collinear to the extending direction of the telescopic part 22, and is parallel to the length direction X of the vehicle, so that the driving part 21 has strong tensile and compressive resistance. For example, in the embodiment, the driving part 21 is arranged relative to the telescopic part 22 towards the side close to the first swing structure 10, so that the input end of the telescopic part 22 is arranged closer to the first swing structure 10 than the output end of the telescopic part 22. The telescopic direction F of the telescopic part 22 is parallel to the length direction X of the walking device 1000, so as to facilitate the installation of the driving member 20, and simplify the calculation of the transmission parameters of the first transmission rod 31 and the swing arm 13, and facilitate the accurate control of the lifting height of the main body 100 by the driving member 20.

[0064] The rotation shaft 12 is arranged spaced apart from the first wheel shaft 11. The central axis of the rotation shaft 12 and the central axis of the first wheel shaft 11 are both parallel to the width direction Y of the walking device 1000. The swing arm 13 is connected with the first wheel shaft 11 and the rotation shaft 12 to form an integral structure. The walking wheel 200 includes a first wheel 210 connected with the first wheel shaft 11. The first wheel shaft 11 is coaxially arranged with the first wheel 210, and the rotation shaft 12 is eccentrically arranged with the first wheel 210. For example, in the embodiment, the first wheel 210 includes two and serves as the rear wheel of the walking device 1000.

[0065] For example, in the embodiment, the walking device 1000 further includes a connecting arm 40. The connecting arm 40 is arranged spaced apart from the swing arm 13. One end of the connecting arm 40 is hingedly connected with the transmission member 30, and the other end of the connecting arm 40 is connected with the rotation shaft 12. Specifically, one end of the connecting arm 40 is connected with the first transmission rod 31, and the other end of the connecting arm 40 is connected with the rotation shaft 12. One end of the swing arm 13 is connected with the rotation shaft 12, and the other end of the swing arm 13 is connected with the first wheel shaft 11. The connecting line of the connection points of the connecting arm 40 and the first transmission rod 31 and the rotation shaft 12 is a first connecting line L1, and the connecting line of the connection points of the swing arm 13 and the first wheel shaft 11 and the rotation shaft 12 is a second connecting line L2. The first connecting line L1 is parallel to the second connecting line L2. Thus, the independent arrangement of the connecting arm 40 and the swing arm 13 facilitates assembly and adjustment, and improves the stability of the lifting of the main body 100.

[0066] In some embodiments, the connecting arm 40 and the swing arm 13 are independently arranged and fixedly connected with each other. The connecting arm 40 and the swing arm 13 can be directly fixedly connected, or the connecting arm 40 and the swing arm 13 are fixedly connected through a third-party element.

[0067] In some embodiments, the connecting arm 40 and the swing arm 13 can be integrally formed. The first connecting line L1 and the second connecting line L2 can be collinear. For example, the swing arm 13 can be configured as a monolithic plate. The swing arm 13 can be triangular in shape. The swing arm 13 can have three corners connected to the first transmission rod 31, the rotating shaft 12 and the first wheel shaft 11, respectively. Of course, in some embodiments, the swing arm 13 can be trapezoidal or other shapes, which are not limited in the present application.

[0068] For example, in the present embodiment, the connecting arm 40 and the first transmission rod 31 can be pivotally connected. The swing arm 13 is connected to the first transmission rod 31 through the rotating shaft 12 and the connecting arm 40. Specifically, the two ends of the first transmission rod 31 are hingedly connected to the connecting arm 40 and the driving member 20, respectively. The connecting arm 40 and the swing arm 13 are fixedly connected to the rotating shaft 12. Of course, in some embodiments, the connecting arm 40 and the first transmission rod 31 can be ball-hingedly connected. The connecting arm 40 and / or the swing arm 13 are rotatably connected to the rotating shaft 12. The driving part 21 is configured to drive the telescopic part 22 to pull or push the first transmission rod 31, so that the connecting arm 40 drives the rotating shaft 12 to rotate, and the rotating shaft 12 drives the swing arm 13 to rotate around the central axis of the first wheel shaft 11. The connecting arm 40 and the swing arm 13 are configured as a rod structure. The number of swing arms 13 is two, and the two swing arms 13 are connected to opposite ends of the rotating shaft 12. Of course, in some embodiments, the number of swing arms 13 can be one.

[0069] For example, in the present embodiment, when the height adjusting device 500 drives the main body 100 to rise to the highest limit position H1, the connecting arm 40 and the swing arm 13 are located directly below the rotating shaft 12. When the height adjusting device 500 drives the main body 100 to lower to the lowest limit position H2, the connecting arm 40 and the swing arm 13 are located directly above the rotating shaft 12. In this way, the ground clearance between the first transmission rod 31 and the ground is increased, thereby avoiding the collision between the first transmission rod 31 and the grass or other ground obstacles during the driving of the main body 100 by the height adjusting device 500. Of course, in other embodiments, when the height adjusting device 500 drives the main body 100 to rise to the highest limit position H1, the connecting arm 40 and the swing arm 13 are located directly above the rotating shaft 12. When the height adjusting device 500 drives the main body 100 to lower to the lowest limit position H2, the connecting arm 40 and the swing arm 13 are located directly below the rotating shaft 12, which are not limited in the present application.

[0070] In the embodiment, the connecting arm 40 and the swing arm 13 are respectively configured as straight rod structures and are arranged along the radial direction of the rotating shaft 12. In this way, on the one hand, the connecting arm 40 and the swing arm 13 are facilitated to be processed and formed, thereby saving cost. On the other hand, the connecting arm 40 and the swing arm 13 are prevented from interfering with the main body or ground obstacles during swinging, thereby improving the smoothness and reliability of the swinging movement of the connecting arm 40 and the swing arm 13. On the other hand, the stress uniformity of the connecting arm 40 and the swing arm 13 is improved, thereby prolonging the service life of the connecting arm 40 and the swing arm 13. Of course, in some embodiments, at least one of the connecting arm 40 and the swing arm 13 can also be configured as a plate structure, a bent rod structure or other shaped structure, and the application does not make specific limitations on the embodiments.

[0071] The length between the connecting point of the connecting arm 40 and the first transmission rod 31 and the rotating shaft 12 is less than the length of the connecting point of the swing arm 13 and the first wheel shaft 11 and the rotating shaft 12. In this way, when the driving member 20 drives the connecting arm 40 to drive the rotating shaft 12 to swing together with the swing arm 13, the connecting arm 40 moves a smaller stroke to make the swing arm 13 move a larger stroke, thereby amplifying the adjusting stroke of the connecting arm 40 on the swing arm 13, improving the adjusting speed and adjusting efficiency of the swing arm 13, and further improving the adjusting speed and adjusting efficiency of the ground clearance of the main body 100 and the moment of inertia of the walking device 1000. The length between the connecting point of the connecting arm 40 and the first transmission rod 31 and the rotating shaft 12 refers to the distance between the hinge point of the connecting arm 40 and the first transmission rod 31 and the connecting point of the connecting arm 40 and the rotating shaft 12. The length of the connecting point of the swing arm 13 and the first wheel shaft 11 and the rotating shaft 12 refers to the distance between the central axis of the first wheel shaft 11 and the central axis of the rotating shaft 12. In some embodiments, the length between the connecting point of the connecting arm 40 and the first transmission rod 31 and the rotating shaft 12 can also be equal to the length of the connecting point of the swing arm 13 and the first wheel shaft 11 and the rotating shaft 12.

[0072] In some embodiments, the first swing structure 10 further comprises a bearing seat 15. The rotating shaft 12 is connected with the main body 100 through the bearing seat 15. Specifically, the bearing seat 15 is fixed on the main body 100, and the rotating shaft 12 is rotatably arranged on the bearing seat 15. In this way, the rotating shaft 12 is rotatably arranged relative to the main body 100 through the bearing seat 15, so as to reduce the rotating resistance of the rotating shaft 12. For example, in the embodiment, the bearing seat 15 is arranged close to the end of the rotating shaft 12, thereby facilitating the assembly of the main body 100 and the bearing seat 15, and avoiding the problem of distortion of the main body 100 during adjustment of the ground clearance.

[0073] In some embodiments, the walking device 1000 further comprises a stress detector 81 connected to the control mechanism 70. The stress detector 81 can be arranged on the driving mechanism 2 and used to detect a stress parameter of the driving mechanism 2. Specifically, the stress detector 81 can be arranged on the driving member 20 and used to detect a stress parameter of the driving member 20. The control mechanism 70 is configured to acquire the stress parameter of the driving member 20 detected by the stress detector 81. The control mechanism 70 is configured to control the driving member 20 to drive the swing arm 13 to swing to the preset region S when the stress parameter is greater than or equal to a preset threshold. Thus, if a heavy object is pressed on the walking device 1000 or the grass collecting device of the walking device 1000 collects more grass clippings, the stress on the driving member 20 will exceed the threshold. Therefore, the present application sets the stress detector 81 to detect the stress on the driving member 20 and controls the driving member 20 to drive the swing arm 13 to swing to the preset region S when the stress parameter is greater than or equal to the preset threshold, so as to reduce the transmission of the supporting force generated by the ground on the walking wheels 200 to the driving member 20 by the swing arm 13, thereby reducing the damage of the stress generated by the gravity of the walking device 1000 itself to the driving member 20 and prolonging the service life of the driving member 20.

[0074] Please refer to FIG. 2 and FIG. 4 together, and FIG. 4 is a side view of the height adjusting device 500 of the walking device 1000 in FIG. 2. Exemplarily, in the present embodiment, the height adjusting device 500 further comprises a second swing structure 50 and a second transmission rod 32. One end of the second transmission rod 32 is connected to the second swing structure 50, and the other end of the second transmission rod 32 is hingedly connected to the driving member 20. The first swing structure 10 is located at the rear end of the walking device 1000, and the second swing structure 50 is located at the front end of the walking device 1000. It can be understood that when the rear end of the walking device 1000 is provided with a grass collecting device, the gravity center of the walking device 1000 is closer to the first swing structure 10, the gravity stress exerted by the main body 100 on the first swing structure 10 is greater than the gravity stress exerted by the main body 100 on the second swing structure 50, and the force exerted by the first transmission rod 31 on the driving member 20 is greater than the force exerted by the second transmission rod 32 on the driving member 20. However, the vertical component of the force exerted by the first transmission rod 31 on the driving member 20 is too large to easily form a torque on the driving member 20, which causes damage to the driving member 20. Therefore, the present application sets the positional relationship between the first connecting line L1 and the second connecting line L2 relative to the direction of the gravity of the walking device, so as to prevent the gravity stress of the walking device 1000 from damaging the driving member 20 when the driving member 20 drives the main body 100 to swing to the highest limit position H1 or the lowest limit position H2, thereby prolonging the service life of the driving member 20.

[0075] In the embodiment, the distance from the hinged point of the first transmission rod 31 to the telescopic part 22 to the first swing structure 10 is a first distance D1, and the distance from the hinged point of the second transmission rod 32 to the telescopic part 22 to the second swing structure 50 is a second distance D2, and the second distance D2 is less than the first distance D1. In this way, on the one hand, the first swing structure 10 and the second swing structure 50 share one driving member 20, which improves the compactness of the height adjusting device 500 and reduces the cost; on the other hand, when the rear end of the walking equipment 1000 is provided with a grass collecting device, the center of gravity of the walking equipment 1000 is closer to the first swing structure 10, the gravitational stress exerted by the main body 100 on the first swing structure 10 is greater than the gravitational stress exerted by the main body 100 on the second swing structure 50, and the force generated by the first transmission rod 31 on the telescopic part 22 is greater than the force generated by the second transmission rod 32 on the telescopic part 22, and the excessive vertical component of the force generated by the first transmission rod 31 on the telescopic part 22 can easily form a torque on the telescopic part 22, causing damage to the telescopic part 22, therefore, the output end of the telescopic part 22 is arranged on the side close to the second swing structure 50 in the embodiment, and the distance from the hinged point of the second transmission rod 32 to the telescopic part 22 to the second swing structure 50 is less than the distance from the hinged point of the first transmission rod 31 to the telescopic part 22 to the first swing structure 10, so as to lengthen the length of the two hinged points of the first transmission rod 31, the telescopic part 22 and the swing arm 13, thereby increasing the horizontal component of the first transmission rod 31 and reducing the vertical component of the first transmission rod 31, and further improving the utilization rate of the driving force of the driving member 20, reducing the load of the driving member 20, preventing the driving member 20 from being damaged, and prolonging the service life of the height adjusting device 500.

[0076] The second swing structure 50 comprises a second wheel shaft 51, a rotating shaft 52 and a rotating arm 53. The rotating arm 53 is connected with the second wheel shaft 51 and the rotating shaft 52, and the rotating shaft 52 is used to be connected with the main body 100. The second transmission rod 32 is connected with the rotating arm 53 at an end away from the telescopic part 22. The second transmission rod 32, the second wheel shaft 51 and the rotating shaft 52 are arranged in pairs with intervals. The driving member 20 is used to drive the rotating arm 53 to rotate around the central axis of the rotating shaft 52, so that the rotating arm 53 drives the second wheel shaft 51 to rotate around the rotating shaft 52. In this way, the rotating arm 53 is arranged eccentrically relative to the rotating shaft 52. The driving member 20 drives the second telescopic part 22 to pull or push the rotating arm 53, so as to drive the second wheel shaft 51 to rotate around the central axis of the rotating shaft 52, thereby adjusting the ground clearance of the main body 100. When the second wheel shaft 51 rotates relative to the rotating shaft 52 towards the side close to the ground, the rotating shaft 52 drives the main body 100 to move away from the ground, so as to increase the ground clearance of the main body 100. When the second wheel shaft 51 rotates relative to the rotating shaft 52 towards the side away from the ground, the rotating shaft 52 drives the main body 100 to move towards the ground, so as to decrease the ground clearance of the main body 100. In addition, when the driving member 20 drives the rotating arm 53 to drive the second wheel shaft 51 to rotate around the rotating shaft 52, the distance between the second wheel shaft 51 and the gravity center of the walking device 1000 along the length direction X of the walking device 1000 can also be adjusted. For example, when the second wheel shaft 51 rotates towards the side close to the gravity center of the walking device 1000, the distance between the second wheel shaft 51 and the gravity center of the walking device 1000 along the length direction X of the walking device 1000 decreases, so that the mass distribution of the walking device 1000 can be concentrated towards the gravity center, the moment of inertia of the walking device 1000 is reduced, the rotational resistance of the walking device 1000 when rotating is reduced, the turning radius of the walking device 1000 is reduced, and the flexibility of the walking device 1000 is improved. For another example, when the second wheel shaft 51 rotates towards the side away from the gravity center of the walking device 1000, the distance between the second wheel shaft 51 and the gravity center of the walking device 1000 along the length direction X of the walking device 1000 increases, so that the driving stability of the walking device 1000 is improved. In some cases, when the rear side of the walking device 1000 is provided with a grass collecting member for collecting grass clippings, fallen leaves and other sundries, the second wheel shaft 51 moves towards the side away from the gravity center of the walking device 1000, and the overall gravity center of the walking device 1000 also moves towards the side away from the grass collecting member, so as to improve the load capacity of the walking device 1000, improve the storage capacity of the grass collecting member, and reduce the risk of the walking device 1000 tilting.

[0077] It should be noted that in the present embodiment, the distance from the hinge point of the first transmission rod 31 and the telescopic part 22 to the first swing structure 10 refers to the distance from the hinge point of the first transmission rod 31 and the telescopic part 22 to the center of the rotating shaft 12 on the projection plane perpendicular to the width direction Y of the walking device 1000. The distance from the hinge point of the second transmission rod 32 and the telescopic part 22 to the second swing structure 50 refers to the distance from the hinge point of the second transmission rod 32 and the telescopic part 22 to the center of the rotating shaft 52 of the second swing structure 50 on the projection plane perpendicular to the width direction Y of the walking device 1000.

[0078] The length of the first transmission rod 31 in the length direction X of the walking device 1000 is greater than the length of the second transmission rod 32 in the length direction X of the walking device 1000. The length of the first transmission rod 31 in the length direction X of the walking device 1000 refers to the distance between the two ends of the first transmission rod 31 on the projection plane perpendicular to the walking device 1000. The length of the second transmission rod 32 in the length direction X of the walking device 1000 refers to the distance between the two ends of the second transmission rod 32 on the projection plane perpendicular to the walking device 1000.

[0079] In the present embodiment, the hinge point of the first transmission rod 31 and the telescopic part 22 coincides with the hinge point of the second transmission rod 32 and the telescopic part 22. In this way, on the one hand, it is convenient to assemble the telescopic part 22 with the first transmission rod 31 and the second transmission rod 32; on the other hand, it is convenient to calculate the relationship between the telescopic distance of the telescopic part 22 and the transmission parameters of the first transmission rod 31, thereby improving the accuracy of the adjustment of the ground clearance of the main body 100 by the height adjustment device 500; on the other hand, the output end of the telescopic part 22 has good structural strength, and the overall structure of the height adjustment device 500 is more compact. Of course, in some embodiments, the hinge point of the first transmission rod 31 and the telescopic part 22 can also not coincide with the hinge point of the second transmission rod 32 and the telescopic part 22.

[0080] Of course, in some embodiments, the number of driving members 20 includes two, one of which is connected with the first swing structure 10 and used to drive the first swing structure 10 to lift, and the other of which is connected with the second swing structure 50 and used to drive the second swing structure 50 to lift. In this way, the two driving members 20 can independently drive the first transmission rod 31 and the second transmission rod 32, thereby being able to independently adjust the lifting height of the first swing structure 10 and the second swing structure 50, and improving the flexibility of the adjustment of the ground clearance of the main body 100 and the moment of inertia of the walking device 1000.

[0081] The walking wheel 200 further comprises a second wheel 220. The second wheel 220 is connected with the second wheel shaft 51. Exemplarily, in the embodiment, the second wheel 220 comprises two, and serves as the front wheel of the walking device 1000. The number of the second wheel shaft 51 is two, and each end of each second wheel shaft 51 is connected with a rotating arm 53 and the second wheel 220 respectively. The number of the rotating arm 53 is two. The two rotating arms 53 are independently arranged and are spaced apart. The rotating shaft 52 is connected between the two rotating arms 53. Of course, in some embodiments, the two rotating arms 53 can also be independently arranged and fixedly connected with each other; or the two rotating arms 53 are integrated into a whole structure.

[0082] In the embodiment, the connecting points formed between the connecting positions of the rotating shaft 12, the second wheel shaft 51, the second transmission rod 32 and the swing arm 13 can form a triangle. The triangle can be an acute triangle, a right triangle, an obtuse triangle, etc. In some embodiments, the connecting points between the connecting positions of the rotating shaft 12, the second wheel shaft 51, the second transmission rod 32 and the swing arm 13 can also be arranged in a line. The rotating shaft 52 and the rotating arm 53 can be rotatably connected or fixedly connected. The second wheel shaft 51 and the rotating arm 53 can also be rotatably connected or fixedly connected. The second transmission rod 32 and the rotating arm 53 are hinged.

[0083] Please refer to FIG. 2 and FIG. 5 together, and FIG. 5 is an exploded view of the second swing structure 50 of the height adjusting device 500 and the second transmission rod 32 in the walking device 1000 in FIG. 2. The second swing structure 50 further comprises a first sliding piece 541. The first sliding piece 541 is connected with the rotating arm 53. The driving piece 20 is used to drive the second transmission rod 32 to push or pull the first sliding piece 541 to move along the length direction X of the walking device 1000, so that the first sliding piece 541 drives the rotating arm 53 to rotate around the central axis of the rotating shaft 52. The two ends of the first sliding piece 541 in the axial direction are connected with the two rotating arms 53 respectively, so that the driving piece 20 can drive the two rotating arms 53 to rotate synchronously through the first sliding piece, which simplifies the connection between the driving piece 20 and the two rotating arms 53. The first sliding piece and the rotating arm 53 can be rotatably connected or fixedly connected.

[0084] The height adjusting device 500 further comprises a mounting base 56, a second sliding piece 542 and a guide rod 57. The mounting base 56 is fixedly arranged relative to the main body 100. The mounting base 56 is provided with a containing space 5601. The first sliding piece 541, the second sliding piece 542 and the guide rod 57 are all located in the containing space 5601. The axial direction of the guide rod 57 is perpendicular to the width direction Y. The axial direction of the guide rod 57 can be arranged perpendicular to the axial direction of the rotating shaft 52. The second sliding piece 542 is slidably sleeved on the guide rod 57.

[0085] The first sliding member 541 and the second sliding member 542 are in sliding abutment. A guide sliding groove 5401 is formed in one of the first sliding member 541 and the second sliding member 542, and the other of the first sliding member 541 and the second sliding member 542 is arranged in the guide sliding groove 5401 and can slide in the guide sliding groove 5401. For example, the guide sliding groove 5401 can be formed in the second sliding member 542, and the first sliding member 541 is arranged in the guide sliding groove 5401. The guide sliding groove 5401 is in a strip shape. The guide sliding groove 5401 extends along a rotation plane formed when the rotation shaft 52 rotates relative to the main body 100 along the height direction Z of the walking device 1000. The rotation plane of the rotation shaft 52 relative to the main body 100 along the height direction Z of the walking device 1000 can be perpendicular to the length direction X of the walking device 1000, and the guide sliding groove 5401 can extend along the height direction Z of the walking device 1000. When the rotation shaft 52 rotates relative to the main body 100 along the height direction Z of the walking device 1000, the rotation shaft 52 drives the rotating arm 53 and the first sliding member 541 to rotate relative to the main body 100, and the first sliding member 541 rotates relative to the second sliding member 542 in the guide sliding groove 5401.

[0086] For example, in the embodiment, the first sliding member 541 can be configured as a columnar body, and the cross section of the first sliding member 541 can be configured as a circle, so as to reduce the contact area between the side wall of the first sliding member 541 and the groove wall of the guide sliding groove 5401, and reduce the sliding resistance when the first sliding member 541 slides. In some embodiments, the cross section of the first sliding member 541 can also be configured as a square, an ellipse, a regular polygon, etc. The central axis of the first sliding member 541 passes through the geometric center of the cross section of the first sliding member 541.

[0087] The second transmission rod 32 is connected with the second sliding member 542. The second transmission rod 32 is also used to push or pull the second sliding member 542 to slide along the guide rod 57, so that the second sliding member 542 pushes or pulls the first sliding member 541 to drive the rotating arm 53 to rotate around the central axis of the rotation shaft 52, and the rotating arm 53 drives the second wheel shaft 51 to rotate around the rotation shaft 52. The second transmission rod 32 is hinged with the second sliding member 542.

[0088] The mounting base 56 is provided with a limiting hole 5602. A limiting communication accommodating space 5601 is formed. The second transmission rod 32 is arranged in the limiting hole. The limiting hole can limit the second transmission rod 32, so as to reduce or avoid the shaking of the second transmission rod 32. The mounting base 56 includes two mounting members 561, which are arranged in the length direction X of the walking device 1000. The accommodating space 5601 is located between the two mounting members 561. The two mounting members 561 can be independently arranged or integrally formed. In the width direction Y of the walking device 1000, the mounting base 56 is located between the two rotating arms 53. The rotating arm 53 configured as a swing plate can also protect the first sliding member 541, the second sliding member 542, the rotating shaft 52 and the transmission shaft 58 located in or partially located in the accommodating space 5601 together with the mounting base 56, so as to reduce or avoid the problem of grass wrapping.

[0089] The number of the guide rods 57 can be multiple. The central axes of the multiple guide rods 57 are parallel to each other and are arranged at intervals. For example, the number of the guide rods 57 can be four. The four guide rods 57 are arranged in an array. The second sliding member 542 is provided with four through holes at four corners. The four guide rods 57 are arranged in the four through holes. The limiting hole 5602 can also make the connection between the second transmission rod 32 and the second sliding member 542 located at the geometric center of the four guide rods 57, so as to improve the uniformity of the limiting force of the four guide rods 57 on the second sliding member 542 when the second transmission rod 32 drives the second sliding member 542 to slide, thereby reducing the sliding resistance between the second sliding member 542 and the guide rods 57, reducing the wear of the second sliding member 542 and the guide rods 57, and improving the service life. In some embodiments, the number of the guide rods 57 can also be one, two, three, five, six or the like. The number can be specifically set according to actual needs, which is not limited in the embodiments.

[0090] The height adjusting device 500 further includes a transmission shaft 58. The transmission shaft 58 is used to be connected with the main body 100. The central axis of the transmission shaft 58 is perpendicular to the central axis of the rotating shaft 52. The rotating shaft 52 is connected with the transmission shaft 58. The rotating shaft 52 is rotatably arranged around the central axis of the transmission shaft 58. When the walking device 1000 runs on uneven ground, the second wheel 220 can drive the rotating shaft 52 to rotate relative to the central axis of the transmission shaft 58 according to the ups and downs of the ground, so that the main body 100 keeps parallel or approximately parallel to the ground, greatly reducing the bumping and vibration of the walking device 1000 when running on uneven ground, and improving the stability of the walking device 1000 when running.

[0091] Exemplarily, the central axis of the transmission shaft 58 can be arranged parallel to the length direction X of the walking device 1000. When the rotating shaft 52 rotates around the central axis of the transmission shaft 58, the rotating plane formed by the rotating shaft 52 is parallel to the height direction Z of the walking device 1000. In some embodiments, the central axis of the transmission shaft 58 can also be arranged at an angle with the length direction X of the walking device 1000. The central axis of the transmission shaft 58 is located in a plane parallel to the height direction Z and the length direction X of the walking device 1000, respectively. When the rotating shaft 52 rotates around the central axis of the transmission shaft 58, the rotating plane formed by the rotating shaft 52 is arranged at an acute angle with the height direction Z of the walking device 1000.

[0092] In some embodiments, the transmission shaft 58 is rotatably arranged relative to the main body 100 around the central axis of the transmission shaft 58. The transmission shaft 58 is rotatably connected to the mounting base 56. The mounting base 56 is provided with a mounting hole 5603. The transmission shaft 58 is arranged in the mounting hole 5603. Exemplarily, the height adjustment device 500 further comprises a shaft sleeve 59. The shaft sleeve 59 is arranged on the transmission shaft 58 and arranged in the mounting hole 5603 of the mounting base 56. The shaft sleeve 59 is used to reduce the abrasion between the transmission shaft 58 and the mounting base 56 and prolong the service life when the transmission shaft 58 rotates relative to the mounting base 56.

[0093] In the present embodiment, the transmission shaft 58 and the rotating shaft 52 are rotatably connected. In some embodiments, the transmission shaft 58 and the rotating shaft 52 can also be fixedly connected by means of, but not limited to, adhesion, screwing, clamping, welding, etc., or the transmission shaft 58 and the rotating shaft 52 can also be integrally formed. The rotating shaft 52 is arranged in the transmission shaft 58, or the transmission shaft 58 is arranged in the rotating shaft 52.

[0094] The transmission shaft 58 can be provided with a through hole, and the rotating shaft 52 is arranged in the through hole. In some embodiments, the connection between the rotating shaft 52 and the transmission shaft 58 is provided with a bearing sleeve. Thus, when the rotating shaft 52 rotates relative to the transmission shaft 58, the abrasion between the rotating shaft 52 and the transmission shaft 58 is reduced, and the service life is prolonged. The transmission shaft 58 is rotatably arranged or fixedly arranged relative to the main body 100. The transmission shaft 58 and the mounting base 56 can be fixedly connected by means of, but not limited to, adhesion, screwing, clamping, welding, etc., or the transmission shaft 58 and the mounting base 56 can also be integrally formed. In some embodiments, the rotating shaft 52 can be provided with a through hole, the transmission shaft 58 is arranged in the through hole, the rotating shaft 52 is fixedly arranged relative to the transmission shaft 58, and the transmission shaft 58 is rotatably arranged relative to the main body 100.

[0095] Exemplarily, in the embodiment, the first transmission rod 31, the telescopic part 22 and the second transmission rod 32 are arranged along the width direction Y of the walking device 1000. Thus, based on the first transmission rod 31 and the second transmission rod 32 being located on different sides of the telescopic part 22, interference between the first transmission rod 31 and the second transmission rod 32 during transmission is avoided. Of course, in some embodiments, the first transmission rod 31 and the second transmission rod 32 are located on the same side of the telescopic part 22, and the application is not limited in this regard.

[0096] Exemplarily, in the embodiment, the first transmission rod 31 is configured as a bent rod structure, thereby improving the compression resistance and tensile resistance of the first transmission rod 31. Specifically, the first transmission rod 31 includes a first transmission part 311 and a second transmission part 312. One end of the first transmission part 311 is hingedly connected to the telescopic part 22, and the other end of the first transmission part 311 is connected to the second transmission part 312. The second transmission part 312 is hingedly connected to the swing arm 13 at an end thereof facing away from the first transmission part 311, and the side of the second transmission part 312 facing the ground with respect to the first transmission part 311 is arranged obliquely. Thus, the arm length of the connecting arm 40 is shortened, thereby being able to reduce the telescopic stroke of the telescopic part 22, improve the structural compactness of the height adjusting device 500, and improve the swing frequency of the connecting arm 40, so as to increase the rotation stroke of the swing arm 13, and avoid the risk of the connecting arm 40 being scratched by the main body 100 when swinging around the rotation shaft 12. It should be noted that the telescopic stroke of the telescopic part 22 refers to the maximum displacement of the telescopic part 22 during telescopic movement. The arm length of the connecting arm 40 refers to the distance between the two hinged points of the connecting arm 40 and the first transmission rod 31 and the rotation shaft 12.

[0097] Exemplarily, in the embodiment, the included angle formed between the first transmission part 311 and the second transmission part 312 is obtuse. The extension direction of the first transmission part 311 is parallel to the telescopic direction F of the telescopic part 22, thereby increasing the ground clearance of the first transmission part 311, and avoiding the problem of the first transmission part 311 being scratched by ground obstacles or being entangled by grass columns. Of course, in some embodiments, the extension direction of the first transmission part 311 can also be arranged at an angle with the telescopic direction F of the telescopic part 22.

[0098] In some embodiments, the first transmission rod 31 is configured as a straight rod structure. The extension direction of the first transmission rod 31 is parallel to the telescopic direction F of the telescopic part 22, thereby making the included angle between the telescopic direction F of the telescopic part 22 and the transmission direction of the first transmission rod 31 almost zero, thereby improving the utilization rate of the driving force applied by the telescopic part 22 to the first transmission rod 31, and reducing the vertical component force applied by the first transmission rod 31 to the telescopic part 22, avoiding the problem of the telescopic part 22 being bent and damaged under the action of the vertical component force, and prolonging the service life of the driving member 20.

[0099] In some embodiments, the second transmission rod 32 is configured as a bent rod structure. The second transmission rod 32 can include a first transmission section 321, a second transmission section 322 and a third transmission section 323 connected in sequence. The first transmission section 321 is configured to be connected with the second sliding member 542. The third transmission section 323 is configured to be connected with the driving member 20. The first transmission section 321 and the second transmission section 322, and the second transmission section 322 and the third transmission section 323 are respectively arranged at an angle. In some embodiments, the second transmission rod 32 can also be arranged in an arc shape, a broken line shape, etc. Please refer to FIG. 2 and FIG. 6, which is a sectional view of the driving member 20 of the height adjusting device 500 of the walking device 1000 in FIG. 2. The driving member 20 is hingedly connected with the main body 100. In this way, when the telescopic part 22 is subjected to a vertical component force, the telescopic part 22 can rotate together with the driving part 21 relative to the main body 100, so as to offset the vertical component force, thereby avoiding the problem of bending damage of the telescopic part 22 under the action of the vertical component force, and prolonging the service life of the driving member 20. For example, in the present embodiment, the driving member 20 further includes a connecting seat 24, which is hingedly connected with the driving part 21 and is configured to be fixedly connected with the main body 100. The connecting seat 24 and the driving part 21 can be pivotally connected or ball-hingedly connected. Of course, in some embodiments, the connecting seat 24 is fixedly connected with the driving part 21, thereby improving the stability and reliability of the connection between the connecting seat 24 and the main body 100, and ensuring the smoothness and stability of the telescopic movement of the telescopic part 22 driven by the driving part 21.

[0100] In some embodiments, the driving member 20 further includes a guide seat 23, which is provided with a guide groove 2301 along the length direction X of the walking device 1000, and the telescopic part 22 is movably arranged in the guide groove 2301. In this way, the guide seat 23 can guide and support the movement of the telescopic part 22, thereby preventing the telescopic part 22 from deforming, protecting the telescopic part 22 and prolonging the service life of the driving member 20. The guide seat 23 is fixedly connected with the main body 100, thereby improving the stability and reliability of the connection between the driving member 20 and the main body 100, and ensuring the smoothness and stability of the telescopic movement of the telescopic part 22 driven by the driving part 21.

[0101] The driving member 20 can be configured as, but not limited to, an electric push rod structure, a screw nut structure, a gear rack structure, a pneumatic cylinder structure or a hydraulic cylinder structure. Exemplarily, in the present embodiment, the driving member 20 is configured as an electric push rod structure, wherein the telescopic part 22 is a push rod and the driving part 21 is a driving motor. In some embodiments, when the driving member 20 can also be configured as a screw nut structure, one of the telescopic part 22 and the driving part 21 is configured as a screw rod and the other one is configured as a screw nut. In some embodiments, when the driving member 20 can be configured as a gear rack structure, the telescopic part 22 is configured as a rack and the driving part 21 is configured as a gear. In some embodiments, when the driving member 20 can be configured as a pneumatic cylinder structure, the telescopic part 22 is configured as a piston rod and the driving part 21 is configured as a cylinder.

[0102] Please refer to FIG. 7 and FIG. 8 together, FIG. 7 is a partial structure schematic diagram of the walking device 1000 provided by the second embodiment of the present application; and FIG. 8 is an exploded schematic diagram of the partial structure of the walking device 1000 in FIG. 7. The walking device 1000 of the second embodiment is similar to the walking device 1000 of the first embodiment in structure. The difference lies in that, in the second embodiment, the height adjusting device 500 further comprises an acceleration adjusting mechanism 6, and the acceleration adjusting mechanism 6 is arranged on the rotating shaft 12. The second transmission rod 32 is arranged in the front-rear direction X of the walking device 1000 and spaced apart from the driving member 20, so that the first transmission rod 31 and the second transmission rod 32 are independently arranged, facilitating the assembly, maintenance and other operations between the first transmission rod 31 and the second transmission rod 32, and avoiding interference between the first transmission rod 31 and the second transmission rod 32 in the transmission process. The driving member 20 comprises two first transmission rods 31, and in the left-right direction Y of the walking device 1000, the driving member 20 is arranged between the two first transmission rods 31. Thus, the stability and reliability of the first swing structure 10 driving the main body 100 to lift are improved, thereby improving the height adjusting precision of the walking device 1000 and the stability of lifting, and the structure layout is reasonable. The second transmission rod 32 only comprises the first transmission segment 321 and the second transmission segment 322.

[0103] The rotating shaft 12 comprises a first shaft segment 121 and a second shaft segment 122. The acceleration adjusting mechanism 6 is arranged between the first shaft segment 121 and the second shaft segment 122, one end of the first shaft segment 121 away from the acceleration adjusting mechanism 6 is in transmission connection with the walking wheel 200 and can be rotatably arranged on the main body 100. One end of the second shaft segment 122 away from the acceleration adjusting mechanism 6 is in transmission connection with the first transmission rod 31. The acceleration adjusting mechanism 6 is used for adjusting the rotation angle range of the swing arm 13. Thus, the driving member 20 can be accelerated in transmission through the acceleration adjusting mechanism 6, and in the case of not lengthening the driving arc of the driving member 20, the height of the driving of the main body 100 as a whole by the height adjusting device 500 is improved, and the swing range of the swing arm 13 is increased.

[0104] Exemplarily, in the embodiment, the height adjusting device 500 comprises two acceleration adjusting mechanisms 6, and the rotating shaft 12 comprises two first shaft segments 121 and one second shaft segment 122. The two ends of each first shaft segment 121 are fixedly connected with the swing arm 13 and the corresponding acceleration adjusting mechanism 6 respectively, and the two ends of the second shaft segment 122 are fixedly connected with the two acceleration adjusting mechanisms 6 respectively. Of course, in some embodiments, the height adjusting device 500 can also comprise more than two acceleration adjusting mechanisms 6, so as to further increase the transmission speed of the first shaft segment 121 and realize the rapid rotation of the swing arm 13 to the preset position. The acceleration adjusting mechanism 6 can be designed according to the actual situation, and the present application does not make specific limitation.

[0105] The acceleration adjusting mechanism 6 comprises a sun gear 61, a planetary gear set 62, a planet carrier 63 and a ring gear 64. The planetary gear set 62 is installed on the planet carrier 63 and is in meshing connection with the sun gear 61 and the ring gear 64. The sun gear 61 is fixedly connected with the first shaft segment 121, the planet carrier 63 is fixedly connected with the second shaft segment 122, and the ring gear 64 is fixedly connected with the main body 100. Thus, the driving member 20 drives the second shaft segment 122 to drive the planet carrier 63 to rotate together with the planetary gear set 62, and the rotation of the planetary gear set 62 drives the sun gear 61 to rotate together with the first shaft segment 121 and the swing arm 13. On the one hand, the planetary gear set 62 can exist as an accelerator to increase the rotation speed ratio during rotation, and the high transmission ratio of the planetary gear set 62 is used to increase the swing range of the swing arm 13, and the process of driving the swing arm 13 to rotate rapidly is also labor-saving and has low noise. On the other hand, the planetary gear set 62 is arranged between the sun gear 61 and the ring gear 64, so that the acceleration adjusting mechanism 6 has the advantages of small size, compact structure, high carrying capacity, large transmission power, stable transmission, strong anti-impact and vibration resistance and the like.

[0106] Exemplarily, in the embodiment, the input end of the acceleration adjusting mechanism 6 is connected with the driving member 20, and the output end of the acceleration adjusting mechanism 6 is connected with the swing arm 13. Specifically, the input end of the acceleration adjusting mechanism 6 is connected with the first shaft segment 121, and the output end of the acceleration adjusting mechanism 6 is connected with the second shaft segment 122. Specifically, the end portions of the first shaft segment 121 and the second shaft segment 122 are configured in a waist-shaped structure, the sun gear 61 and the planet carrier 63 are respectively provided with waist-shaped holes matched with the waist-shaped structure, so as to realize the fixed arrangement and synchronous rotation of the second shaft segment 122 relative to the planet carrier 63, and the fixed arrangement and synchronous rotation of the first shaft segment 121 relative to the sun gear 61.

[0107] The planetary gear set 62 includes a plurality of planetary gears 621. The planetary gears 621 have a smaller diameter than the sun gear 61. Thus, by reducing the diameter of the planetary gears 621, the speed ratio of the input end and the output end can be increased, thereby increasing the rotation speed of the output end. The plurality of planetary gears 621 mesh between the sun gear 61 and the ring gear 64. In the present embodiment, the plurality of planetary gears 621 are of the same size, thereby facilitating accurate calculation of the transmission ratio. The number of planetary gears 621 is three, and the three planetary gears 621 are coaxially arranged with the sun gear 61, thereby improving the transmission stability of the acceleration adjustment mechanism 6. The three planetary gears 621 are distributed at an angle of 120 degrees around the sun gear 61. The number of planetary gears 621 can also be one, two, four, or more than four, and the number of planetary gears 621 can be set according to actual conditions, and the present embodiment is not limited in this regard.

[0108] More specifically, in the present embodiment, the number of teeth of the ring gear 64 is 48, the number of teeth of the sun gear 61 is 24, and the number of teeth of the planetary gears 621 is 12. Thus, by reasonably setting the number of teeth of the sun gear 61, the planetary gears 621, and the ring gear 64, the transmission ratio of the acceleration adjustment mechanism 6 is less than 1, thereby achieving accelerated rotation of the swing arm 13, so that the planetary gears 621 can drive the sun gear 61 to rotate a larger angle by revolving a smaller angle, thereby increasing the rotation angle range of the swing arm 13 and shortening the extension stroke of the driving part 21 driving the telescopic part 22, thereby improving the overall structure of the height adjustment device 500. It should be noted that the number of teeth of the planetary gears 621 is an integer multiple of the number of teeth of the sun gear 61, thereby ensuring smooth transmission of the gear during meshing of the planetary gears 621 and the sun gear 61. The number of sun gears 61, planetary gears 621, and ring gears 64 can be set according to the specifications of the walking device 1000 and the lifting adjustment range, and the present embodiment is not limited in this regard.

[0109] The planet carrier 63 comprises a connecting plate 631 and a plurality of connecting shafts 632. The connecting plate 631 is fixedly connected with the second shaft section 122. The connecting shafts 632 can be arranged on the connecting plate 631 or on the planet gears 621. Specifically, the plurality of connecting shafts 632 are fixed on the connecting plate 631, and each connecting shaft 632 is connected with a corresponding planet gear 621. Exemplarily, in the present embodiment, the number of the connecting shafts 632 corresponds to the number of the planet gears 621 one by one. The number of the connecting shafts 632 and the number of the planet gears 621 are both three. The connecting plate 631 is configured as a triangular plate, and the three connecting shafts 632 are fixed on the three corners of the connecting plate 631 and connected with the three planet gears 621 one by one. Thus, the triangular configuration of the connecting plate 631 can triangularly position the sun gear 61, and the planet carrier 63 has high structural strength, good stability in use, and the planet carrier 63 is convenient to assemble and disassemble with the planet gears 621, facilitating the maintenance and repair of the components.

[0110] In the present embodiment, the contour region of the line connecting the shaft centers of the three planet gears 621 can be an equilateral triangle, so that the planet carrier 63 can withstand greater reverse torque and impact load, and the transmission between the planet gears 621 and the sun gear 61 is more stable. The contour region of the line connecting the shaft centers of the three planet gears 621 can also be a non-equilateral triangle.

[0111] The acceleration adjusting mechanism 6 comprises a mounting shell 65. The mounting shell 65 is provided with a mounting cavity 650, and the sun gear 61, the planet gear set 62 and the planet carrier 63 are rotatably accommodated in the mounting cavity 650. Thus, the mounting shell 65 can protect the sun gear 61, the planet gear set 62 and the planet carrier 63, and provide more mounting sites for the parts of the acceleration adjusting mechanism 6. In some embodiments, the ring gear 64 is fixed on the main body 100 through the mounting shell 65, so as to avoid arranging a fixing structure fixedly connected with the main body 100 on the ring gear 64, thereby improving the structural strength of the ring gear 64. Of course, in some embodiments, the ring gear 64 can also be directly fixedly connected with the main body 100.

[0112] Exemplarily, in the embodiment, the mounting shell 65 comprises a first shell 651 and a second shell 652, the ring gear 64 is clamped between the first shell 651 and the second shell 652, and the first shell 651 and the second shell 652 jointly form a mounting cavity 650, so as to reduce the volume of the mounting shell 65, increase the ground clearance of the mounting shell 65 when the main body 100 is lowered to the lowest limit position, avoid the interference between the mounting shell 65 and external obstacles, improve the passability of the walking device 1000, and facilitate the installation of the ring gear 64 on the mounting shell 65. The outer side wall of the ring gear 64 is flush with the outer side wall of the mounting shell 65, so as to improve the appearance of the acceleration adjusting mechanism 6, and facilitate the alignment assembly of the ring gear 64 and the mounting shell 65. Of course, in some embodiments, the ring gear 64 can also be arranged in the mounting cavity 650 formed by the first shell 651 and the second shell 652.

[0113] In some embodiments, the acceleration adjusting mechanism 6 further comprises a first bearing 661 and a second bearing 662. The first bearing 661 is arranged between the first shell 651 and the sun gear 61, and is rotatably sleeved on the first shaft section 121. The second bearing 662 is arranged between the second shell 652 and the planet carrier 63, and is rotatably sleeved on the second shaft section 122. Thus, when the first shaft section 121 and the second shaft section 122 rotate, the wear of the first shaft section 121 and the second shaft section 122 is reduced, and the service life is improved.

[0114] In the embodiment, the connecting arm 40 is arranged in a spaced manner with the swing arm 13, one end of the connecting arm 40 is hinged with the first transmission rod 31. The other end of the connecting arm 40 is connected with the rotating shaft 12, and the length of the line connecting the connection points of the connecting arm 40 with the first transmission rod 31 and the rotating shaft 12 is equal to or less than the length of the line connecting the connection points of the swing arm 13 with the rotating shaft 12 and the walking wheel 200. Thus, by shortening the force arm of the swing arm 13, the rotation range of the swing arm 13 is increased, the transmission efficiency is improved, and the occupied space of the swing arm 13 is reduced, which is beneficial to the lifting, transportation and installation of the height adjusting device. When the driving member 20 drives the connecting arm 40 to drive the rotating shaft 12 and the swing arm 13 to rotate, the connecting arm 40 moves a small stroke under the action of the acceleration adjusting mechanism 6, so as to make the swing arm 13 move a large stroke, thereby amplifying the adjusting stroke of the connecting arm 40 on the swing arm 13, improving the swing range of the swing arm 13, and further driving the main body 100 to lift as a whole. Of course, in some embodiments, the length of the line connecting the connection points of the swing arm 13 with the rotating shaft 12 and the walking wheel 200 can also be slightly greater than the length of the line connecting the connection points of the connecting arm 40 with the rotating shaft 12 and the first transmission rod 31.

[0115] Please refer to FIG. 9 and FIG. 10, FIG. 9 is a schematic diagram of the height adjusting device 500 of the walking device 1000 in FIG. 7, in which the second shell 652 is omitted and the main body 100 is lifted to the highest limit position; FIG. 10 is a schematic diagram of the height adjusting device 500 of the walking device 1000 in FIG. 7, in which the second shell 652 is omitted and the main body 100 is lifted to the lowest limit position. As shown in FIG. 9, when the driving member 20 drives the main body 100 to rise to the lowest limit position, the extension direction of the swing arm 13 is parallel to the height direction Z of the walking device 1000. At this time, the swing arm 13 is located directly above the rotating shaft 12. The extension direction of the connecting arm 40 is parallel to the extension direction of the swing arm 13. The walking device 1000 is in a scenario of front low and rear high, that is, in the height direction Z of the walking device 1000, the center axis of the first wheel 210 is higher than the center axis of the second wheel 220. As shown in FIG. 10, when the driving member 20 drives the main body 100 to rise to the highest limit position, the extension direction of the swing arm 13 is parallel to the height direction Z of the walking device 1000, and at this time, the swing arm 13 is located directly below the rotating shaft 12. The extension direction of the connecting arm 40 is arranged at an angle with the extension direction of the swing arm 13, that is, the swing angle of the connecting arm 40 is different from the swing angle of the swing arm 13. The walking device 1000 is in a scenario of front high and rear low, that is, in the height direction Z of the walking device 1000, the center axis of the first wheel 210 is lower than the center axis of the second wheel 220. Thus, in the embodiment of the present application, based on the acceleration adjusting mechanism 6 arranged on the rotating shaft 12, when the driving member 20 drives the swing arm 13 to rotate between the highest limit position and the lowest limit position, the swing angle of the swing arm 13 is greater than the rotation angle of the connecting arm 40, so compared with the height adjusting device 500 without the acceleration adjusting mechanism 6, the height adjusting device 500 with the acceleration adjusting mechanism 6 can reduce the rotation stroke of the connecting arm 40 and shorten the extension stroke of the driving part 21 driving the extension part 22, thereby improving the occupied space of the overall structure of the height adjusting device 500. It should be noted that the extension stroke of the extension part 22 refers to the maximum displacement of the extension part 22 in the extension process.

[0116] Specifically, when the driving member 20 drives the main body 100 to rise to the lowest limit position, the height of the connecting arm 40 and the first transmission rod 31 in the height direction of the walking device 1000 to the connecting point of the driving member 20 and the first transmission rod 31 is a first height, and when the driving member 20 drives the main body 100 to rise to the highest limit position, the height of the connecting arm 40 and the first transmission rod 31 in the height direction of the walking device 1000 to the connecting point of the driving member 20 and the first transmission rod 31 is a second height, wherein the first height is less than the second height. When the height adjusting device 500 is provided with the acceleration adjusting mechanism 6, the difference between the second height and the first height is a first difference, and when the height adjusting device 500 is not provided with the acceleration adjusting mechanism 6, the difference between the second height and the first height is a second difference, and the first difference is less than the second difference. Due to the provision of the acceleration adjusting mechanism 6, the swinging arm 13 can accelerate rotation, so that the height of the connecting arm 40 and the first transmission rod 31 in the height direction of the walking device 1000 to the connecting point of the driving member 20 and the first transmission rod 31 is smaller, thereby reducing the rotation stroke of the connecting arm 40.

[0117] In the embodiment, the walking device 1000 further comprises a pivot seat 26. The pivot seat 26 is arranged on the driving member 20, and the first transmission rod 31 is pivoted to the driving member 20 through the pivot seat 26. Thus, the pivot seat 26 provides a mounting site for the first transmission rod 31, improving the reliability and stability of the connection between the first transmission rod 31 and the driving member 20. Specifically, the pivot seat 26 is fixed to the end of the telescopic part 22 away from the driving part 21. The pivot seat 26 comprises a first pivot part 261 and a second pivot part 262. The pivot member 25 comprises a first pivot shaft 251 and a second pivot shaft 252. The first pivot part 261 is fixed to the end of the telescopic part 22 away from the driving part 21 and is used to pivot the first transmission rod 31 through the first pivot shaft 251. The second pivot part 262 is arranged protruding towards the first transmission rod 31 relative to the first pivot part 261 and is used to pivot the second transmission rod 32 through the second pivot shaft 252. The first pivot shaft 251 and the second pivot shaft 252 are independently arranged. Thus, on the one hand, based on the transmission connection of the first transmission rod 31 and the second transmission rod 32 to the driving member 20 through different pivot members 25, the height adjustment accuracy of the walking device 1000 is improved, and the stability of lifting is improved; on the other hand, the durability of the first pivot shaft 251 and the second pivot shaft 252 is improved, and the structural layout is reasonable.

[0118] At least one of the first pivot shaft 251 and the second pivot shaft 252 is configured as a flexible shaft. In the embodiment, both the first pivot shaft 251 and the second pivot shaft 252 are configured as flexible shafts, so that the first pivot shaft 251 can absorb the rigid stress transmitted by the first swing structure 10 to the first transmission rod 31, and the second pivot shaft 252 can absorb the rigid stress transmitted by the second swing structure 50 to the first transmission rod 31, thereby improving the service life of the driving member 20 and the stability of the walking device 1000. Of course, in some embodiments, one of the first pivot shaft 251 and the second pivot shaft 252 can be configured as a flexible shaft, and the other one of the first pivot shaft 251 and the second pivot shaft 252 can be configured as a rigid shaft.

[0119] In the embodiment, both the first transmission rods 31 are provided with elastic members, thereby further improving the buffering capacity of the elastic members to the rigid force transmitted by the first swing structure 10. The two first transmission rods 31 are pivoted by the same pivot member 25, or the two first transmission rods 31 can be pivoted by different pivot members 25. Of course, in some embodiments, one of the two first transmission rods 31 is provided with an elastic member. It should be noted that the number of the first transmission rods 31 can also be one, three or more, which is not limited in the application.

[0120] It should be noted that the other structures of the walking device 1000 in the second embodiment can refer to the specific details of the walking device 1000 in the first embodiment, which will not be described here. The specific structures and arrangement modes of the acceleration adjusting mechanism 6, the pivot member 25 and the pivot seat 26 in the second embodiment are applicable to the walking device 1000 in the first embodiment, and the embodiments of the application are not limited.

[0121] Please refer to FIG. 1, FIG. 2, FIG. 3 and FIG. 11, FIG. 11 is a flowchart of a control method of a walking device 1000 provided by the embodiments of the application. The control method is applicable to the control method of the walking device 1000 performed by the control mechanism 70 of the walking device 1000 described in the first embodiment to the third embodiment. The control method of the walking device 1000 can include the following steps S701-S702.

[0122] In some embodiments, one end of the first transmission rod 31 is hinged to the driving member 20, and the other end of the first transmission rod 31 is hinged to the swing arm 13, so that the driving force output by the driving member 20 can be transmitted to the swing arm 13 through the first transmission rod 31 to realize the rotation of the swing arm 13, and then realize the lifting movement of the main body 100.

[0123] The walking device 1000 further comprises a rotating shaft 12. One end of the swing arm 13 is rotatably arranged on the main body 100 through the rotating shaft 12. In the embodiment, the first transmission rod 31 is connected with the swing arm 13 through the rotating shaft 12. Specifically, the walking device 1000 further comprises a connecting arm 40. The connecting arm 40 is arranged in parallel with the swing arm 13, one end of the connecting arm 40 is connected with the first transmission rod 31, and the other end of the connecting arm 40 is connected with the rotating shaft 12. Of course, in some embodiments, the first transmission rod 31 can also be directly connected with the swing arm 13.

[0124] It should be noted that the swing arm 13 has a swing axis 130, which is a line connecting two connection points of the swing arm 13 with the first wheel shaft 11 and the rotating shaft 12. The connection point of the swing arm 13 with the first wheel shaft 11 is denoted as a first connection point P1, and the connection point of the swing arm 13 with the rotating shaft 12 is denoted as a second connection point P2. The swing arm 13 performs a circular motion with the first connection point P1 as the center and the length of the line connecting the first connection point P1 and the second connection point P2 as the radius. When the swing axis 130 of the swing arm 13 passes through the highest limit position H1, the swing arm 13 is located directly below the rotating shaft 12; when the swing axis 130 of the swing arm 13 passes through the lowest limit position H2, the swing arm 13 is located directly above the rotating shaft 12. It can be understood that when the swing axis 130 of the swing arm 13 is parallel or coincides with the direction of gravity G of the walking device 1000, the support force of the ground on the walking wheel 200 is mostly conducted to the main body 100 through the swing arm 13; when the swing axis 130 of the swing arm 13 forms an angle with the direction of gravity G of the walking device 1000, the support force of the ground on the walking wheel 200 will make the swing arm 13 have a rotating trend, and part of the support force of the ground on the walking wheel 200 will be conducted to the first transmission rod 31 through the swing arm 13, and then to the driving member 20 through the first transmission rod 31.

[0125] In step S701, the current position of the swing arm is obtained.

[0126] In a possible implementation, the walking device 1000 further comprises a sensor 82 connected to the control mechanism 70. The sensor 82 is configured to measure the current position of the swing arm 13. The control mechanism 70 is configured to calculate the current position of the swing arm 13 according to the sensing data of the sensor 82. The sensor 82 can be, but is not limited to, a magnetic encoding sensor, an infrared sensor, a Hall sensor, etc. The sensor 82 can be a sensing unit capable of directly or indirectly judging the position information of the swing arm 13, which is not limited in the present application. For example, when the sensor 82 is a magnetic encoding sensor, the sensor 82 can be configured to measure the distance moved by the telescopic part 22, and the control mechanism 70 is configured to calculate the current position of the swing arm 13 according to the distance moved by the telescopic part 22. Specifically, the driving member 20 can be configured as a motor integrated with an encoder, the encoder is configured to calculate the distance moved by the telescopic part 22 according to the number of turns of the driving shaft of the driving member 20, and the control mechanism 70 is configured to calculate the current position of the swing arm 13 based on the transmission relationship between the telescopic part 22 and the swing arm 13 and the distance moved by the telescopic part 22. When the sensor 82 is an infrared sensor, the sensor 82 can be configured to measure the position information of the swing arm 13 relative to the walking wheel 200, and the control mechanism 70 is configured to calculate the current position of the swing arm 13 according to the position information of the swing arm 13 relative to the walking wheel 200.

[0127] In step S702, when it is determined that the walking device is in the preset working state and the current position of the swing arm is outside the preset region, the driving mechanism is controlled to drive the swing arm to swing into the preset region. The preset region refers to a region formed after the swing axis parallel to the gravity direction of the walking device is deflected by a preset included angle to the left or right of the gravity direction of the walking device.

[0128] It can be understood that, since the walking device 1000 is usually provided with a cutting mechanism 300, a grass collecting device and other structures, the walking device 1000 itself has a large weight. The present application controls the swing arm 13 to swing into the preset region S when the walking device 1000 is in the preset working state, so that the support force generated by the ground on the walking wheel 200 can be mostly conducted to the main body 100 through the swing arm 13, thereby reducing the transmission of the support force generated by the ground on the walking wheel 200 to the driving mechanism 2 by the swing arm 13, reducing the damage caused by the stress of the gravity of the walking device 1000 itself to the driving mechanism 2, and prolonging the service life of the driving mechanism 2.

[0129] In a possible implementation, the stress detector 81 is connected with the control mechanism 70 and is configured to detect a stress parameter of the driving mechanism 2. The control method further includes: obtaining the stress parameter of the driving mechanism detected by the stress detector; and determining that the walking device is in the preset working state when the stress parameter is greater than or equal to a preset threshold. It can be understood that the stress parameter of the driving mechanism detected by the stress detector will exceed the preset threshold when a heavy object is pressed on the walking device or the walking device completes the mowing work. For example, in this embodiment, the stress detector 81 is configured to detect the stress parameter of the driving member 20. Of course, in some embodiments, the stress detector 81 can also be configured to detect the stress parameter of the transmission member 30.

[0130] In a possible implementation, the control method further includes: determining that the walking device is in a preset working state when the walking device receives a preset instruction. The preset instruction includes at least one of a charging instruction, a mowing instruction, a collecting instruction or a stopping working instruction. For example, the charging instruction is generated when the walking device 1000 performs the charging operation. The mowing instruction is generated when the cutting mechanism 300 of the walking device 1000 works. The collecting instruction is generated when the collecting structure of the walking device 1000 works. Of course, in another possible implementation, the preset instruction can also be triggered by the user. For example, the walking device can generate the preset instruction in response to the opening operation of the switch member by the user. In this way, the flexibility of performing various functional operations of the walking device 1000 is improved. For another example, the preset instruction can also be determined by the walking device 1000 and the user together. For example, when the walking device 1000 preliminarily determines that the swing arm 13 needs to perform the swing operation according to the above manner, a prompt information is sent to the user, and then whether the swing arm 13 performs the swing operation is confirmed by the user. The prompt information is used to prompt the user whether to start the swing operation of the swing arm 13. The prompt information can include at least one of a sound signal, a light signal, a text information and a vibration information, and the present embodiment does not make any limitation in this regard.

[0131] The preset included angle is less than or equal to 5°, so as to reduce the damage of the stress generated by the gravity of the walking device 1000 to the driving mechanism 2, and reduce the control accuracy requirement of the walking device 1000. It can be understood that the greater the preset included angle, the more the support force generated by the ground to the walking wheel 200 is conducted to the driving mechanism 2 through the swing arm 13. For example, when the preset included angle is greater than 5°, part of the support force generated by the ground to the walking wheel 200 is conducted to the main body 100 through the swing arm 13, and the other part of the support force generated by the ground to the walking wheel 200 generates a torque on the swing arm 13, so that the swing arm 13 tends to rotate and is conducted to the driving mechanism 2 through the swing arm 13. The embodiment of the present application is based on the fact that the preset included angle is less than or equal to 5°, so that most of the support force generated by the ground to the walking wheel 200 is conducted to the main body 100 through the swing arm 13, and the support force generated by the ground to the walking wheel 200 is not enough to make the swing arm 13 rotate, that is, the support force generated by the ground to the walking wheel 200 cannot be conducted to the driving mechanism 2, reducing the damage of the stress generated by the gravity of the walking device 1000 to the driving mechanism 2, prolonging the service life of the driving mechanism 2. The preset included angle can be, but is not limited to, 0°, 1°, 2°, 3°, 4° or 5°, and the like.

[0132] In a possible implementation, the preset area S includes a first fan-shaped area S1 and a second fan-shaped area S2. The control of the driving mechanism to drive the swing arm to swing into the preset area includes: determining a target fan-shaped area from the first fan-shaped area and the second fan-shaped area; and controlling the driving mechanism to drive the swing arm to swing into the target fan-shaped area.

[0133] In a possible implementation, the determination of the target fan-shaped area from the first fan-shaped area and the second fan-shaped area includes: when the fan-shaped area closest to the current position of the swing arm is determined to be the first fan-shaped area, the first fan-shaped area is taken as the target fan-shaped area; and when the fan-shaped area closest to the current position of the swing arm is determined to be the second fan-shaped area, the second fan-shaped area is taken as the target fan-shaped area. Thus, the fan-shaped area closest to the current position of the swing arm is taken as the target fan-shaped area, so that the swing arm can quickly swing into the first fan-shaped area, reducing the energy consumption of the driving mechanism and improving the control efficiency of the walking device.

[0134] In another possible implementation, the walking device 1000 further comprises a surrounding environment detector 83 connected to the control mechanism 70. The surrounding environment detector 83 is configured to detect a surrounding environment parameter of the walking device 1000. The surrounding environment detector 83 can be, but is not limited to, a visual sensor, an ultrasonic sensor, an infrared sensor, etc. For example, when the surrounding environment detector 83 is a visual detector, the visual detector can acquire image data below the main body 100 of the walking device 1000, and determine whether there is an obstacle below the main body 100 according to the image data, so as to control the swing arm 13 to swing into the second fan-shaped region S2 below or the first fan-shaped region S1 above. The surrounding environment detector 83 can be arranged on the main body 100, or can be arranged on the first wheel 210. The arrangement position of the surrounding environment detector 83 can be designed according to actual conditions, which is not limited in the present application.

[0135] The target fan-shaped region is determined from the first fan-shaped region and the second fan-shaped region, including: when the surrounding environment detector detects that the surrounding environment parameter of the walking device meets a preset condition, taking the first fan-shaped region as the target fan-shaped region, and when the surrounding environment detector detects that the surrounding environment parameter of the walking device does not meet the preset condition, taking the second fan-shaped region as the target fan-shaped region, wherein the first fan-shaped region is directly below the second fan-shaped region. Thus, the present application can adjust the main body to the lowest position based on whether the surrounding environment where the walking device is located can be adjusted, and when the surrounding environment detector 83 detects that the surrounding environment parameter of the walking device meets the preset condition, i.e., when it is detected that there is no obstacle below the walking device 1000, the swing arm 13 is swung into the first fan-shaped region S1 below, so that the center of gravity of the walking device 1000 is more stable; when the surrounding environment detector 83 detects that the surrounding environment parameter of the walking device does not meet the preset condition, i.e., when it is detected that there is an obstacle below the walking device 1000, the second fan-shaped region S2 is adjusted, so as to avoid damage to the main body 100.

[0136] In a possible implementation, the control driving mechanism drives the swing arm to swing into the preset region, including: controlling the driving mechanism to drive the swing arm to swing to a specified position in the preset region, wherein the specified position is a position where the swing axis of the swing arm is parallel to the direction of gravity of the walking device. It can be understood that the closer the swing axis 130 of the swing arm 13 is to the specified position, the less the support force of the ground on the walking wheel 200 is conducted to the driving mechanism through the swing arm 13, and most of the support force is conducted to the main body 100 through the swing arm 13, further reducing the problem that the stress generated by the gravity of the walking device 1000 itself damages the driving mechanism 2.

[0137] In a possible implementation, the control of the driving mechanism to drive the swing arm to swing to a specified position in the preset region comprises: obtaining an included angle between the current position of the swing arm and the specified position; and according to a predefined corresponding relationship between the included angle and the swing speed of the swing arm, controlling the driving mechanism to drive the swing arm to swing to the specified position at a swing speed corresponding to the included angle between the current position of the swing arm and the specified position. For example, the closer the current position of the swing arm 13 to the specified position, the smaller the swing speed, and vice versa, so as to facilitate accurate control of the swing arm 13 to swing to the specified position in the preset region S and realize fast swing of the swing arm 13 to the specified position in the preset region S. It should be noted that the specified position is determined according to the placement state of the walking device 1000. For example, as shown in FIG. 6, when the walking device 1000 is placed on a flat ground, the specified position can be the highest limit position H1 or the lowest limit position H2. When the walking device 1000 is placed on a slope, the specified position can be a position outside the highest limit position H1 or the lowest limit position H2.

[0138] In a possible implementation, the control of the driving mechanism to drive the swing arm to swing to the preset region comprises: controlling the driving mechanism to drive the first transmission rod to drive the second shaft segment to rotate together with the planet carrier and the planet gear, the rotation of the planet gear drives the sun gear to rotate together with the first shaft segment, so as to realize the lifting of the main body. In this way, on the one hand, the driving mechanism 2 can be accelerated by the acceleration adjusting mechanism 6, and in the case that the driving arc of the driving mechanism 2 is not lengthened, the height of the height adjusting device 500 for driving the main body 100 to lift as a whole is improved, and the swing range of the swing arm 13 is increased; on the other hand, the swing arm 13 can be quickly and accurately swung to the preset region.

[0139] Specifically, the control of the driving mechanism to drive the swing arm to swing to the preset region comprises: obtaining a transmission ratio of the acceleration adjusting mechanism; calculating a driving parameter of the driving mechanism according to the current position of the swing arm and the transmission ratio of the acceleration adjusting mechanism; and controlling the driving mechanism to drive the swing arm to swing to the preset region according to the driving parameter.

[0140] Please refer to Fig. 12, which is a block diagram of units of an electronic device 800 provided by an embodiment of the present application. The electronic device 800 can include but is not limited to a processor 810 and a memory 820. The processor 810 and the memory 820 are connected to each other. In some embodiments, the electronic device 800 further includes a communication interface 830. The processor 810, the memory 820 and the communication interface 830 are connected through a bus 840, and the memory 820 is configured to store a computer program. The computer program includes program instructions. The processor 810 is configured to invoke the program instructions stored in the memory 820 to perform each step of the control method as shown in Fig. 1. The electronic device 800 can be but is not limited to a mobile terminal independent of a walking device or a vehicle-mounted terminal arranged on a walking device.

[0141] The processor 810 is configured to execute the instructions stored in the memory 820 to control the communication interface 830 to receive and send signals, and complete the steps in the above method. The memory 820 can be integrated in the processor 810, or can be arranged separately from the processor 810.

[0142] As an implementation manner, the functions of the communication interface 830 can be implemented by a transceiver circuit or a dedicated transceiver chip. The processor 810 can be implemented by a dedicated processing chip, a processing circuit, the processor 810 or a general-purpose chip.

[0143] As another implementation manner, the electronic device 800 provided by the embodiment of the present application can be implemented by using a general-purpose computer. That is, the program codes for implementing the functions of the processor 810 and the communication interface 830 are stored in the memory 820, and the general-purpose processor 810 implements the functions of the processor 810 and the communication interface 830 by executing the codes in the memory 820.

[0144] The concepts, explanations, detailed descriptions and other steps related to the technical solutions provided by the embodiments of the present application involved in the electronic device 800 are described in the foregoing method or the description of the method steps performed by the device, and will not be repeated here.

[0145] As another implementation manner of the embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. The computer program includes program instructions. The program instructions, when executed by the processor 810, cause the processor 810 to perform the control method in the above method embodiment.

[0146] As another implementation manner of the embodiment, a computer program product including instructions is provided, and the instructions are executed to perform the method in the above method embodiment.

[0147] It is understood by those skilled in the art that, for the convenience of description, only one memory 820 and processor 810 are shown in FIG. 12. In an actual terminal or server, there can be multiple processors 810 and memories 820. The memory 820 can also be referred to as a storage medium or a storage device, etc., and the embodiments of the present application do not limit this.

[0148] It can be understood that, in the embodiments of the present application, the processor 810 can be a central processing unit (CPU for short), and the processor 810 can also be other general-purpose processors, digital signal processors (DSP for short), application specific integrated circuits (ASIC for short), field-programmable gate arrays (FPGA for short) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor 810 can be any conventional processor, etc. The processor 810 is the control center of the electronic device 800, and connects all parts of the electronic device 800 through various interfaces and lines.

[0149] It should be understood by those skilled in the art that the figure 12 is only an example of the electronic device 800, and does not constitute a limitation on the electronic device 800, and the electronic device 800 can include more or less components than those shown in figure 12, or combine certain components, or different components, for example, the electronic device 800 can also include an input / output device, a network access device, etc.

[0150] The memory 820 mentioned in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, but not limitation, many forms of RAM can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM) and direct Rambus RAM (DR RAM).

[0151] It should be noted that when the processor 810 is a general processor, a DSP, an ASIC, a field programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, the memory 820 (storage module) is integrated in the processor 810.

[0152] It should be noted that the memory 820 described herein is intended to include, but not limited to, these and any other suitable types of memory.

[0153] The bus 840 can include not only a data bus, but also a power bus, a control bus and a status signal bus, etc. However, for the purpose of clear illustration, various buses are marked as bus 840 in the figure.

[0154] In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 810 or the instruction in the form of software. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as the execution completed by the hardware processor 810, or executed by the combination of hardware and software modules in the processor 810. The software module can be located in the storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, etc. The storage medium is located in the memory 820, and the processor 810 reads the information in the memory 820, and combines the hardware to complete the steps of the above control method. To avoid repetition, it will not be described in detail here.

[0155] In various embodiments of the present application, the size of the sequence number of each process described above does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0156] Those of ordinary skill in the art can realize that the various illustrative logical blocks (ILB) and steps described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether the function is executed in hardware or software mode depends on the specific application of the technical solution and the design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0157] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual units can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0158] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0159] In addition, each of the function units in each of the embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0160] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as DVD), or semiconductor media (such as solid state disk), etc.

[0161] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A height adjustment device applied to a walking device, the walking device including a main body and a walking wheel, characterized by, The height adjusting device comprises: a swing mechanism comprising a rotating shaft and a swing arm, one end of the swing arm being connected with the walking wheel, the other end of the swing arm being connected with the rotating shaft, the rotating shaft being rotatably arranged on the main body; a driving mechanism, the driving mechanism being in transmission connection with the swing mechanism and being used for driving the swing arm to rotate around the central axis of the rotating shaft so as to drive the main body to ascend or descend relative to the horizontal base surface; the driving mechanism is further used for driving the swing arm to swing into the preset area when it is determined that the walking device is in the preset working state and the current position of the swing arm is located outside the preset area, wherein the preset area refers to an area formed after the swing axis parallel to the direction of gravity of the walking device is deflected by a preset included angle to the left or right relative to the direction of gravity of the walking device.

2. The height adjustment device of claim 1, wherein, the driving mechanism is further used for driving the swing arm to swing to a specified position in the preset area when it is determined that the walking device is in the preset working state and the current position of the swing arm is located outside the preset area, wherein the specified position is a position where the swing axis of the swing arm is parallel to the direction of gravity of the walking device.

3. The height adjustment device of claim 1, wherein, the swing axis of the swing arm is parallel to the direction of gravity of the walking device when the plane where the main body is located is parallel to the horizontal base surface and the swing arm rotates to the highest limit position or the lowest limit position.

4. The height adjustment device of claim 1, wherein, the height adjusting device further comprises an acceleration adjusting mechanism, the rotating shaft comprises a first shaft segment and a second shaft segment, the acceleration adjusting mechanism is arranged between the first shaft segment and the second shaft segment, one end of the first shaft segment away from the acceleration adjusting mechanism is in transmission connection with the walking wheel and is rotatably arranged on the main body, one end of the second shaft segment away from the acceleration adjusting mechanism is in transmission connection with the driving mechanism, and the acceleration adjusting mechanism is used for adjusting the rotation angle range of the swing arm.

5. The height adjustment device of claim 4, wherein, the acceleration adjusting mechanism comprises a sun gear, a planetary gear set, a planet carrier and a ring gear, the planetary gear set is installed on the planet carrier and is in meshing connection with the sun gear and the ring gear, the sun gear is fixedly connected with the first shaft segment, the planet carrier is fixedly connected with the second shaft segment, and the ring gear is fixed on the main body.

6. The height adjustment device of claim 5, wherein, the planetary gear set comprises a plurality of planetary gears, the diameters of the planetary gears are smaller than the diameter of the sun gear.

7. The height adjustment device of claim 5, wherein, the acceleration adjusting mechanism further comprises a mounting shell, the mounting shell is provided with a mounting cavity, and the sun gear, the planetary gear set and the planet carrier are rotatably arranged in the mounting cavity.

8. The height adjustment device of claim 7, wherein, the mounting shell comprises a first shell body and a second shell body, the ring gear is clamped between the first shell body and the second shell body and forms the mounting cavity together with the first shell body and the second shell body; or the ring gear is arranged in the mounting cavity formed by the first shell body and the second shell body.

9. The height adjustment device of claim 8, wherein, The acceleration adjusting mechanism further comprises a first bearing and a second bearing, the first bearing is arranged between the first housing and the sun gear and rotatably sleeved on the first shaft segment, and the second bearing is arranged between the second housing and the planetary carrier and rotatably sleeved on the second shaft segment.

10. The height adjustment device of claim 1, wherein, The driving mechanism comprises a driving member and a transmission member, one end of the transmission member is hinged to the driving member, and the other end of the transmission member is directly connected to the swing arm; or the other end of the transmission member is connected to the swing arm through the rotating shaft.

11. The height adjustment device of claim 10, wherein, The height adjusting device further comprises a connecting arm, the connecting arm is arranged in space from the swing arm, one end of the connecting arm is hinged to the transmission member, and the other end of the connecting arm is connected to the rotating shaft, the length of the line connecting the connection points of the connecting arm, the transmission member and the rotating shaft is equal to or less than the length of the line connecting the connection points of the swing arm, the rotating shaft and the walking wheel.

12. A control method of a walking device, characterized by, The walking device comprises a main body, a walking wheel and a height adjusting device, the height adjusting device comprises a swing mechanism and a driving mechanism; the swing mechanism comprises a rotating shaft and a swing arm, one end of the swing arm is connected to the walking wheel, the other end of the swing arm is connected to the rotating shaft, and the rotating shaft is rotatably arranged on the main body; the driving mechanism is in transmission connection with the swing mechanism and is used for driving the swing arm to rotate around the central axis of the rotating shaft, so as to drive the main body to ascend or descend relative to a horizontal base surface, and the control method comprises the following steps: obtaining the current position of the swing arm; when it is determined that the walking device is in a preset working state and the current position of the swing arm is located outside a preset area, controlling the driving mechanism to drive the swing arm to swing into the preset area, wherein the preset area refers to an area formed after a swing axis parallel to the direction of gravity of the walking device is deflected by a preset included angle relative to the direction of gravity of the walking device.

13. The control method according to claim 12, characterized by, The preset included angle is less than or equal to 5°.

14. The control method according to claim 12, characterized by, The preset area comprises a first fan-shaped area and a second fan-shaped area, and the control of the driving mechanism to drive the swing arm to swing into the preset area comprises: determining a target fan-shaped area from the first fan-shaped area and the second fan-shaped area; controlling the driving mechanism to drive the swing arm to swing into the target fan-shaped area.

15. The control method according to claim 14, characterized by, The determination of the target fan-shaped area from the first fan-shaped area and the second fan-shaped area comprises: when it is determined that the fan-shaped area closest to the current position of the swing arm is the first fan-shaped area, taking the first fan-shaped area as the target fan-shaped area; and when it is determined that the fan-shaped area closest to the current position of the swing arm is the second fan-shaped area, taking the second fan-shaped area as the target fan-shaped area; or when it is determined that the fan-shaped area closest to the current position of the swing arm is the first fan-shaped area, taking the first fan-shaped area as the target fan-shaped area; and when it is determined that the fan-shaped area closest to the current position of the swing arm is the second fan-shaped area, taking the second fan-shaped area as the target fan-shaped area; or The first sector is used as the target sector when the surrounding environment detector detects that the surrounding environment parameter of the walking device meets the preset condition, and the second sector is used as the target sector when the surrounding environment detector detects that the surrounding environment parameter of the walking device does not meet the preset condition, wherein the first sector is located directly below the second sector.

16. The control method according to claim 12, characterized by The control driving mechanism drives the swing arm to swing to the preset region, comprising: The control driving mechanism drives the swing arm to swing to a specified position in the preset region, wherein the specified position is a position where the swing axis of the swing arm is parallel to the direction of gravity of the walking device.

17. The control method according to claim 16, characterized by, The control driving mechanism drives the swing arm to swing to a specified position in the preset region, comprising: An angle between the current position of the swing arm and the specified position is obtained. According to a predefined corresponding relationship between the angle and the swing speed of the swing arm, the driving mechanism is controlled to drive the swing arm to swing to the specified position at a swing speed corresponding to the angle between the current position of the swing arm and the specified position.

18. The control method according to claim 12, wherein The walking device further comprises a stress detector for detecting a stress parameter of the driving mechanism, and the control method further comprises: The stress parameter of the driving mechanism detected by the stress detector is obtained. When the stress parameter is greater than or equal to a preset threshold, it is determined that the walking device is in the preset working state.

19. The control method according to claim 12, wherein The control method further comprises: When the walking device receives a preset instruction, it is determined that the walking device is in a preset working state, wherein the preset instruction includes at least one of a charging instruction, a mowing instruction, a grass collecting instruction, or a stop working instruction.

20. A walking apparatus, characterized by The height adjusting device comprises a swing mechanism, a driving mechanism, and a control mechanism; the swing mechanism comprises a rotating shaft and a swing arm, one end of the swing arm is connected with the walking wheel, the other end of the swing arm is connected with the rotating shaft, and the rotating shaft is rotatably arranged on the main body; the driving mechanism is in transmission connection with the swing mechanism and is used to drive the swing arm to rotate around the central axis of the rotating shaft, so as to drive the main body to rise or fall relative to the horizontal base surface, and the control mechanism is used to execute the control method according to any one of claims 12-19.

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