Chassis module and traveling robot

Abstract

The present application provides a chassis module and a traveling robot. The chassis module comprises a frame, two first wheels, two second wheels, a first driving member, and a second driving member. The two first wheels are mounted at two ends of the frame, respectively, along a length direction of the chassis module, and at least one first wheel is configured as an omnidirectional wheel. At least one first wheel has a transmission connection with the first driving member. The two second wheels are mounted at two ends of the frame, respectively, along a width direction of the chassis module. The two second wheels each have a transmission connection with the second driving member. In this way, when the traveling robot encounters a situation in which the chassis module is lifted, more wheels can be brought into contact with the ground with a greater probability. By means of controlling the first driving member to drive the first wheels to rotate, the first wheels can provide traction for the traveling robot, so that the traveling robot can drive away from a trapped position and provide off-road performance. Moreover, when the traveling robot turns in place, the rotation of the first wheels can improve the stability of in-place steering.

Description

Chassis module and walking robot

[0001] This application claims priority to the following Chinese patent applications filed on June 21, 2024: Application No. 202410809375.6, entitled "Chassis Module and Walking Robot"; Application No. 202410809374.1, entitled "Chassis Module and Walking Robot"; Application No. 202421444690.5, entitled "Chassis Assembly and Walking Device"; the entire contents of which are incorporated herein by reference; and Application No. 202410810472.7, entitled "Control Method for Walking Device, Walking Device and Electronic Device". Technical Field

[0002] This application relates to the field of robotics technology, and more particularly to a chassis module and a walking robot. Background Technology

[0003] Traditional walking robots have two front wheels and two rear wheels arranged along the width of the body. When encountering complex terrain, such as uneven ground, the chassis of traditional walking robots is easily lifted, causing the drive wheels to spin freely off the ground, resulting in the walking robot getting stuck. Summary of the Invention

[0004] This application provides a chassis module and a walking robot to solve the problem of walking robots easily getting stuck.

[0005] In a first aspect, this application provides a chassis module, the chassis module including a frame, two first wheels, two second wheels, a first drive member, and a second drive member. The two first wheels are respectively mounted at both ends of the frame along the length direction of the chassis module, and at least one first wheel is configured as an omnidirectional wheel. At least one first wheel is driveably connected to the first drive member. The two second wheels are respectively mounted at both ends of the frame along the width direction of the chassis module. The two second wheels are driveably connected to the second drive member.

[0006] In some embodiments, the chassis module further includes a controller connected to the first drive member and the second drive member, the controller being configured to control the second drive member to drive two second wheels to rotate together, and / or, the controller being configured to control the first drive member to drive at least one first wheel to rotate.

[0007] In some embodiments, the chassis module further includes a cutting element mounted on the frame, wherein, on a horizontal projection plane perpendicular to the height direction of the chassis module, the cutting element is at least partially located within a quadrilateral region formed by the line connecting the axles of the two first wheels and the axles of the two second wheels.

[0008] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the cutting element is located at the intersection of the line connecting the axles of the two first wheels and the line connecting the axles of the two second wheels.

[0009] In some embodiments, the first drive member and / or the second drive member are configured as hub motors, and the chassis module further includes a cutting driver for driving the cutting member to rotate.

[0010] In some embodiments, the chassis module further includes a cutting element mounted on the frame and positioned between the two second wheels.

[0011] In some embodiments, on a projection plane perpendicular to the height direction of the chassis module, the outline of the quadrilateral region formed by the line connecting the axles of the two first wheels and the axles of the two second wheels is rhomboid.

[0012] In some embodiments, the omnidirectional wheel includes at least one wheel set, each wheel set including a wheel body and a plurality of rollers, the plurality of rollers being arranged at intervals along the circumferential direction of the wheel body, when the omnidirectional wheel includes a plurality of wheel sets, all wheel sets are coaxially arranged, along the axial direction of the omnidirectional wheel, the rollers in two adjacent wheel sets are staggered, and on a projection plane perpendicular to the rotation axis of the wheel body, the outlines of all the rollers are connected to form a circle.

[0013] In some embodiments, the rotation axes of the two second wheels are arranged parallel to each other or collinearly, and the rotation axes of the two first wheels are respectively parallel to the rotation axes of the second wheels.

[0014] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the line connecting the axles of the two first wheels is perpendicular to the line connecting the axles of the two second wheels, the line connecting the axles of the two first wheels passes through the midpoint of the line connecting the axles of the two second wheels, or the distance between the midpoint of the line connecting the axles of the two first wheels and the midpoint of the line connecting the axles of the two second wheels is within a preset range, and the rolling direction of the roller of the omnidirectional wheel is perpendicular to the line connecting the axles of the two first wheels.

[0015] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the line connecting the axles of the two first wheels forms an acute angle with the line connecting the axles of the two second wheels, and the line connecting the axles of the two first wheels passes through the midpoint of the line connecting the axles of the two second wheels.

[0016] In some embodiments, the rolling direction of the rollers of the omnidirectional wheel is perpendicular to the rolling direction of the omnidirectional wheel, and the rolling direction of the rollers of the omnidirectional wheel is perpendicular to the line connecting the axes of the two first wheels.

[0017] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the rolling direction of the omnidirectional wheel's roller is perpendicular to the line connecting the center of the omnidirectional wheel's axis and the midpoint of the line connecting the centers of the two second wheels.

[0018] In some embodiments, the two second wheels are respectively mounted on the frame via axles. On a horizontal projection plane perpendicular to the height direction of the chassis module, the rotation axes of the two second wheels are collinear, and the angle between the rotation axis of the omnidirectional wheel and the line connecting the center of the omnidirectional wheel and the midpoint of the line connecting the centers of the two second wheels is less than 90°.

[0019] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the rotation axis of the omnidirectional wheel is parallel to the rotation axis of the second wheel, the rolling direction of the roller of the omnidirectional wheel is perpendicular to the rolling direction of the omnidirectional wheel, or the rolling direction of the roller of the omnidirectional wheel is perpendicular to the line connecting the axis of the omnidirectional wheel and the midpoint of the line connecting the axes of the two second wheels.

[0020] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the angle between the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel is greater than 0° and less than 90°, the line connecting the axles of the two first wheels is perpendicular to the line connecting the axles of the two second wheels, and passes through the midpoint of the line connecting the axles of the two second wheels.

[0021] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the rolling direction of the omnidirectional wheel is parallel to the rolling direction of the second wheel.

[0022] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the rolling direction of the omnidirectional wheel's roller is perpendicular to the line connecting the center of the omnidirectional wheel's axis and the midpoint of the line connecting the centers of the two second wheels.

[0023] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the line connecting the axles of the two first wheels passes through the midpoint of the line connecting the axles of the two second wheels, or the distance between the line connecting the axles of the two second wheels and the midpoint of the line connecting the axles of the two second wheels is within a preset range.

[0024] Secondly, this application provides a walking robot, which includes a housing and a chassis module as described in any of the above claims, wherein the housing is mounted on the chassis module.

[0025] In some embodiments, the center of gravity of the walking robot, when projected along the height direction of the chassis module, coincides with the midpoint of the line connecting the axles of the two second wheels.

[0026] In the chassis module and walking robot provided in this application, two first wheels are respectively installed at both ends of the frame along the length direction of the chassis module, and two second wheels are respectively installed at both ends of the frame along the width direction of the chassis module. At least one first wheel is driven by a first drive component, and the two second wheels are driven by a second drive component. At least one first wheel is configured as an omnidirectional wheel. Compared with traditional walking robots, where the two front wheels and two rear wheels of a traditional walking robot are arranged along the width direction of the body, the chassis of a traditional walking robot is easily lifted when traveling on uneven ground, resulting in a nose-up or tail-up phenomenon that causes the drive wheels to spin freely off the ground, leading to the walking robot getting stuck. When the walking robot encounters a situation where the chassis module is lifted, it can make more wheels contact the ground with a greater probability. For example, when the walking robot nose-up or tail-up occurs, only one first wheel will be lifted off the ground and suspended in the air, while the other first wheel can contact the ground. When the first wheel in contact with the ground is connected to the first drive component, the walking robot can control the first drive component to drive the first wheel to rotate. This rotation provides additional traction, enabling the robot to move away from a stuck position and improving its off-road capability. Alternatively, for example, if the second wheel of the walking robot is off the ground, it can control the first drive component to drive the first wheel to rotate, providing traction and allowing it to move away from the stuck position, further improving its off-road capability. Additionally, when the walking robot controls the two second wheels to rotate differentially for on-the-spot turning, it can control the first drive component to drive the first wheel to rotate, improving stability during on-the-spot turning.

[0027] Thirdly, this application provides a chassis module, which includes a frame, two first wheels, two second wheels, a first drive member, and a second drive member. The two first wheels are respectively mounted at both ends of the frame along the length direction of the chassis module. At least one first wheel is configured as an omnidirectional wheel, and the deflection angle of the rotation axes of the two first wheels relative to the length direction of the chassis module is fixed. At least one first wheel is driveably connected to the first drive member. The two second wheels are respectively mounted at both ends of the frame along the width direction of the chassis module, and the deflection angle of the rotation axes of the two second wheels relative to the length direction of the chassis module is fixed. The two second wheels are driveably connected to the second drive member. On a horizontal projection plane perpendicular to the height direction of the chassis module, the rotation axes of the two second wheels are collinear, and the angle between the rotation axis of the omnidirectional wheel and the line connecting the midpoint of the line connecting the axis of the omnidirectional wheel and the axis of the two second wheels is greater than 0° and less than 90°.

[0028] In some embodiments, the omnidirectional wheel includes at least one wheel set, each wheel set including a wheel body and a plurality of rollers, the plurality of rollers being arranged at intervals along the circumferential direction of the wheel body, and when the omnidirectional wheel includes a plurality of wheel sets, all wheel sets are coaxially arranged, and along the axial direction of the omnidirectional wheel, the rollers in two adjacent wheel sets are staggered.

[0029] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the rotation axis of the omnidirectional wheel is parallel to the rotation axis of the second wheel.

[0030] In some embodiments, the rolling direction of the rollers of the omnidirectional wheel is perpendicular to the rolling direction of the omnidirectional wheel, or the rolling direction of the rollers of the omnidirectional wheel is the line connecting the axis of the omnidirectional wheel and the midpoint of the line connecting the axis of the two second wheels.

[0031] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the angle between the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel is greater than 0° and less than 90°, the line connecting the axles of the two first wheels is perpendicular to the line connecting the axles of the two second wheels, and passes through the midpoint of the line connecting the axles of the two second wheels.

[0032] In some embodiments, the rolling direction of the rollers of the omnidirectional wheel is perpendicular to the rolling direction of the second wheel.

[0033] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the rolling direction of the omnidirectional wheel's roller is perpendicular to the line connecting the center of the omnidirectional wheel's axis and the midpoint of the line connecting the centers of the two second wheels.

[0034] In some embodiments, the chassis module further includes a controller for controlling the two second wheels to rotate together and controlling the two first wheels to be unloaded; or, the controller for controlling the two first wheels to rotate in opposite directions and controlling the two second wheels to rotate in opposite directions.

[0035] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the line connecting the axles of the two first wheels passes through the midpoint of the line connecting the axles of the two second wheels, or the distance between the line connecting the axles of the two first wheels and the midpoint of the line connecting the axles of the two second wheels is within a preset range.

[0036] In some embodiments, the two second wheels are respectively mounted on the frame via axles. The chassis module further includes a cutting element mounted on the frame. On a horizontal projection plane perpendicular to the height direction of the chassis module, the cutting element is at least partially located within a quadrilateral area formed by the line connecting the axles of the two first wheels and the axles of the two second wheels.

[0037] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the cutting element is located at the intersection of the line connecting the axles of the two first wheels and the line connecting the axles of the two second wheels.

[0038] In some embodiments, the first drive member and / or the second drive member are configured as hub motors, and the chassis module further includes a cutting driver mounted on the frame, the cutting driver being connected to the cutting member and used to drive the cutting member to work.

[0039] Fourthly, this application provides a walking robot, which includes a housing and a chassis module as described in any of the above claims, wherein the housing is mounted on the chassis module.

[0040] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module, the center of gravity of the walking robot coincides with the midpoint of the line connecting the axles of the two second wheels.

[0041] In the chassis module and walking robot provided in this application, at least one first wheel is configured as an omnidirectional wheel. The rotation axes of the two first wheels have a fixed deflection angle relative to the length direction of the chassis module, and the rotation axes of the two second wheels have a fixed deflection angle relative to the length direction of the chassis module. On a horizontal projection plane perpendicular to the height direction of the chassis module, the rotation axes of the two second wheels are collinear. The angle between the rotation axis of the omnidirectional wheel and the line connecting the center of the omnidirectional wheel and the midpoint of the line connecting the centers of the two second wheels is greater than 0° and less than 90°. On the one hand, when the walking robot controls the differential rotation of the two second wheels to perform a turn in place, the walking robot can control the rotation of the omnidirectional wheel. Since the angle between the rotation axis of the omnidirectional wheel and the line connecting the center of the omnidirectional wheel and the midpoint of the line connecting the centers of the two second wheels is greater than 90°, the omnidirectional wheel can be controlled to rotate. With an angle of 0° and less than 90°, the traction force generated by the omnidirectional wheels on the frame when they rotate is spaced apart from the rotation center of the walking robot. This traction force generates torque on the frame and drives the frame to rotate, thereby providing additional steering drive force for the walking robot, thus improving the walking robot's ability to turn in place and making the turning in place smoother. On the other hand, the rotation axes of the two first wheels and the rotation axes of the two second wheels have fixed deflection angles relative to the frame, which can avoid setting up complex steering structures in the walking robot, simplifying the structure of the walking robot, reducing the overall weight of the walking robot, and improving the walking power and steering power of the walking robot. Furthermore, the omnidirectional wheels can provide support for the walking robot in multiple directions, which is conducive to improving the stability and driving performance of the walking robot.

[0042] Fifthly, this application provides a chassis module, including a frame, two first wheels, two second wheels, and a cutting element. The two first wheels are respectively mounted at both ends of the frame along the length direction of the chassis module, and the two second wheels are respectively mounted on both sides of the frame along the width direction of the chassis module. The cutting element is disposed on the frame, and on a horizontal projection plane perpendicular to the height direction of the chassis module, the cutting element is at least partially located within a quadrilateral area formed by connecting the axles of the two first wheels and the axles of the two second wheels.

[0043] In conjunction with the fifth aspect, in some embodiments, the cutting element is located between the two second wheels. In conjunction with the first aspect, in one possible implementation, on the horizontal projection plane, the line connecting the axles of the two first wheels is a first line, the line connecting the axles of the two second wheels is a second line, and the cutting element is located at the intersection of the first line and the second line.

[0044] In conjunction with the fifth aspect, in some embodiments, the outline of the quadrilateral region is rhomboid on the horizontal projection plane.

[0045] In conjunction with the fifth aspect, in some embodiments, the chassis module further includes a first driving member and a second driving member; at least one of the two first wheels is drivenly connected to the first driving member, and each of the second wheels is drivenly connected to the second driving member, wherein the first driving member is used to drive the corresponding first wheel to rotate, and the second driving member is used to drive the corresponding second wheel to rotate.

[0046] In conjunction with the fifth aspect, in some embodiments, the first drive member and / or the second drive member are configured as hub motors; the chassis module further includes a cutting driver, which is disposed on the frame and is drive-connected to the cutting member.

[0047] In conjunction with the fifth aspect, in some embodiments, on the horizontal projection plane, the line connecting the axles of the two first wheels is a first connecting line, and the line connecting the axles of the two second wheels is a second connecting line, with the first connecting line passing through the midpoint of the second connecting line; or, the midpoints of the first connecting line and the second connecting line are spaced apart by a preset distance.

[0048] In conjunction with the fifth aspect, in some embodiments, both first wheels are configured as omnidirectional wheels. On the horizontal projection plane, the line connecting the axles of the two second wheels is a second line, the rotation axes of the two second wheels are collinear with the second line, the line connecting the axle of the omnidirectional wheel with the midpoint of the second line is a third line, and the minimum angle formed by the rotation axis of the omnidirectional wheel and the third line is a first angle, denoted as α, where 0° < α < 90°.

[0049] In conjunction with the fifth aspect, in some embodiments, on the horizontal projection plane, the axis of rotation of the omnidirectional wheel is parallel to the axis of rotation of the second wheel.

[0050] In conjunction with the fifth aspect, in some embodiments, on the horizontal projection plane, the line connecting the axles of the two first wheels is the first connecting line, the first connecting line passes through the midpoint of the second connecting line, the first connecting line and the second connecting line are perpendicular, and the minimum included angle formed by the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel is the second included angle, the second included angle is denoted as β, where 0° < β < 90°.

[0051] In conjunction with the fifth aspect, in some embodiments, at least one of the two first wheels is configured as an omnidirectional wheel, the omnidirectional wheel including at least one wheel set, each wheel set including a wheel body and a plurality of rollers, the plurality of rollers being arranged at intervals along the circumferential direction of the wheel body; the rotation axes of the two first wheels are parallel to the rotation axes of the two second wheels.

[0052] In conjunction with the fifth aspect, in some embodiments, on the horizontal projection plane, the line connecting the axles of the two first wheels is a first connecting line, and the line connecting the axles of the two second wheels is a second connecting line. The first connecting line and the second connecting line are perpendicular, the rolling direction of the roller is perpendicular to the first connecting line, and the first connecting line passes through the midpoint of the second connecting line; or, the midpoints of the first connecting line and the second connecting line are spaced apart by a preset distance.

[0053] In conjunction with the fifth aspect, in some embodiments, on the horizontal projection plane, the line connecting the axis of the omnidirectional wheel and the midpoint of the second connecting line is the third connecting line, the line connecting the axes of the two second wheels is the second connecting line, and the rolling direction of the roller is perpendicular to the third connecting line.

[0054] In conjunction with the fifth aspect, in some embodiments, on the horizontal projection plane, the line connecting the axles of the two first wheels is the first connecting line, the line connecting the axles of the two second wheels is the second connecting line, the first connecting line passes through the midpoint of the second connecting line, and the minimum included angle formed by the first connecting line and the second connecting line is the third included angle, denoted as γ, where 0° < γ < 90°, the rolling direction of the roller is parallel to the rotation axis of the omnidirectional wheel, and the chassis module further includes a first driving member, which is used to drive the omnidirectional wheel to rotate.

[0055] In conjunction with the fifth aspect, in some embodiments, on the horizontal projection plane, the line connecting the axles of the two second wheels is the second connecting line, the line connecting the axle of the omnidirectional wheel and the midpoint of the second connecting line is the third connecting line, and the rolling direction of the roller is perpendicular to the third connecting line.

[0056] In conjunction with the fifth aspect, in some embodiments, the rolling direction of the roller is perpendicular to the axis of rotation of the second wheel.

[0057] Sixthly, this application provides a walking robot, including the chassis module described above.

[0058] In conjunction with the sixth aspect, in one possible implementation, the midpoint of the line connecting the axles of the two second wheels on the horizontal projection plane coincides with the center of gravity of the walking robot.

[0059] The chassis module and walking robot provided in this application embodiment are based on the fact that the cutting part is located at least partially within the quadrilateral area formed by connecting the axles of the two first wheels and the axles of the two second wheels. Thus, the two first wheels and the two second wheels can shield the cutting part, preventing the user from touching the cutting part, thereby improving the safety and aesthetics of the chassis module.

[0060] In a seventh aspect, this application provides a control method for a walking robot, the walking robot including a frame, two first wheels and two second wheels, the two first wheels being disposed at both ends of the frame along the length direction of the walking robot, and the two second wheels being disposed on both sides of the frame along the width direction of the walking robot, at least one of the two first wheels being configured as an omnidirectional wheel; the control method includes the following steps: obtaining the tilt angle of the frame relative to a preset plane; when the tilt angle is greater than or equal to a preset threshold and the walking robot enters a turning mode, controlling the two second wheels to rotate differentially, so that the walking robot rotates in place around a rotation center, wherein the rotation center is the midpoint of the line connecting the axes of the two second wheels or a position near the midpoint, the center of gravity of the walking robot is located within a preset area, the preset area being an area with the midpoint of the line connecting the axes of the two second wheels as the center and a radius of a preset radius.

[0061] In conjunction with the seventh aspect, in some embodiments, the preset area includes a designated position, wherein the designated position refers to the midpoint of the line connecting the axles of the two second wheels, and the center of gravity of the walking robot coincides with the designated position.

[0062] In conjunction with the seventh aspect, in some embodiments, the walking robot includes a counterweight movably mounted on the frame; the control method further includes: controlling the counterweight to move to a target position, wherein, when the counterweight is at the target position, the center of gravity of the walking robot coincides with the midpoint of the line connecting the axles of the two second wheels.

[0063] In conjunction with the seventh aspect, in some embodiments, the control method further includes: determining the target position of the counterweight relative to the frame corresponding to the current tilt angle of the frame, based on a predefined correspondence between the tilt angle of the frame and the position of the counterweight; or, obtaining the current center of gravity position of the walking robot detected by the center of gravity detector, and determining the target position of the counterweight relative to the frame based on the current center of gravity position of the walking robot.

[0064] In conjunction with the seventh aspect, in some embodiments, the counterweight includes a first counterweight and a second counterweight, the first counterweight moving relative to the frame along a line connecting the axes of the two first wheels, and the second counterweight moving relative to the frame along a line connecting the axes of the two second wheels; controlling the counterweight to move relative to the frame to a target position includes: controlling the first counterweight to move relative to the frame along a first preset distance along the line connecting the axes of the two first wheels; and / or, controlling the second counterweight to move relative to the frame along a second preset distance along the line connecting the axes of the two second wheels.

[0065] In conjunction with the seventh aspect, in some embodiments, the control method further includes: controlling the first wheel to rotate when the tilt angle is greater than or equal to the preset threshold and the walking robot enters the steering mode.

[0066] Eighthly, this application provides a walking robot, including a frame, two first wheels, two second wheels, a first drive unit, a slope sensor, and a controller. The controller is electrically connected to the first drive unit and the slope sensor. The two first wheels are disposed at both ends of the frame along the length direction of the walking robot, and the two second wheels are disposed on both sides of the frame along the width direction of the walking robot. At least one of the two first wheels is configured as an omnidirectional wheel. The first drive unit is drive-connected to the second wheels. The slope sensor is used to detect the tilt angle of the frame relative to a preset plane. When the tilt angle is greater than or equal to a preset threshold and the walking robot enters a turning mode, the controller is used to control the two second wheels to rotate differentially through the first drive unit, causing the walking robot to rotate in place around a rotation center. The rotation center is the midpoint of the line connecting the axes of the two second wheels or a position near the midpoint. The center of gravity of the walking robot is located within a preset area, which is a region with the midpoint of the line connecting the axes of the two second wheels as the center and a radius of a preset radius.

[0067] In conjunction with the eighth aspect, in some embodiments, the walking robot includes a counterweight movably mounted on the frame, and the controller controls the counterweight to move relative to the frame to a target position, wherein, when the counterweight is at the target position, the center of gravity of the walking robot coincides with the midpoint of the line connecting the axles of the two second wheels.

[0068] In conjunction with the eighth aspect, in some embodiments, the walking robot further includes a cutting component mounted on the frame, wherein the cutting component is at least partially located within a quadrilateral region formed by the connection of the axles of the two first wheels and the axles of the two second wheels on a horizontal projection plane perpendicular to the height direction of the walking robot.

[0069] In conjunction with aspect eight, in some embodiments, the walking robot further includes a second drive unit, which is connected to the first wheel via a transmission, and the second drive unit is used to drive the first wheel to rotate.

[0070] In conjunction with the eighth aspect, in some embodiments, the omnidirectional wheel includes at least one wheel set, each wheel set including a wheel body and a plurality of rollers disposed on the wheel body; the rotation axes of the two first wheels are parallel to the rotation axes of the two second wheels, and on a horizontal projection plane perpendicular to the height direction of the walking robot, the line connecting the axes of the two first wheels is a first line, the line connecting the axes of the two second wheels is a second line, the first line passes through the midpoint of the second line, and the minimum included angle formed by the first line and the second line is a first included angle, denoted as α, where 0° < α < 90°, and the rolling direction of the rollers is perpendicular to the rotation axis of the omnidirectional wheel.

[0071] In conjunction with the eighth aspect, in some embodiments, on a horizontal projection plane perpendicular to the height direction of the walking robot, the line connecting the axles of the two second wheels is a second line, the second line is collinear with the rotation axes of the two second wheels, the line connecting the axle of the omnidirectional wheel with the midpoint of the second line is a third line, and the minimum angle formed by the rotation axis of the omnidirectional wheel and the third line is a second angle, denoted as β, where 0° < β < 90°.

[0072] In conjunction with the eighth aspect, in some embodiments, on a horizontal projection plane perpendicular to the height direction of the walking robot, the line connecting the axles of the two first wheels is a first connecting line, the line connecting the axles of the two second wheels is a second connecting line, the first connecting line passes through the midpoint of the second connecting line, the first connecting line and the second connecting line are perpendicular, the second connecting line is collinear with the rotation axes of the two second wheels, and the minimum included angle formed by the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel is a third included angle, the third included angle is denoted as γ, where 0° < γ < 90°.

[0073] Ninthly, this application provides an electronic device including a processor and a memory interconnected thereto, wherein the memory is used to store a computer program, the computer program including program instructions, and the processor is configured to invoke the program instructions to cause the electronic device to perform the control method described above.

[0074] This application provides a control method for a walking robot, the walking robot, and electronic equipment. Based on the fact that when the tilt angle of the frame relative to a preset plane is greater than or equal to a preset threshold, and the walking robot enters a turning mode, the method controls a second drive unit to drive at least one second wheel to rotate, resulting in differential speed between the two second wheels and causing the walking robot to rotate in place around a rotation center. The rotation center is the midpoint of the line connecting the axes of the two second wheels or a position at a preset distance from the midpoint of the line connecting the axes of the two second wheels. The center of gravity of the walking robot is located within a preset area, which is a region with the midpoint of the line connecting the axes of the two second wheels as its center and a radius of a preset radius. Therefore, on the one hand, when the walking robot turns on a slope, by controlling the walking robot to rotate in place around the rotation center, since the center of gravity of the walking robot is located within the preset area, the center of gravity of the walking robot coincides with or approximately coincides with the rotation center of the walking robot, thereby making the weight distribution of each part of the walking robot uniform and reducing the centrifugal force caused by uneven weight distribution. Furthermore, the left and right sides... The second wheels can evenly distribute the weight of the robot, improve the grip of the two second wheels, prevent the robot from tilting or tipping over, and improve the stability of the robot's rotation on the slope, preventing it from slipping. Furthermore, by setting the rotation center of the robot at the midpoint or near the midpoint of the line connecting the axles of the two second wheels, the robot's controller can more accurately calculate and control the rotation speeds of the first and second wheels, thus achieving precise control of the robot's rotation. Additionally, by placing the two first wheels at both ends of the frame along the robot's length and the two second wheels on both sides of the frame along the robot's width, the rotation center of the robot is located at or near the middle of the frame. Therefore, the distance from each part of the robot to the rotation center is shorter, and when the robot rotates on the slope, the torque generated by the component of gravity of each part of the robot is smaller, thus improving the stability of the robot's rotation. Attached Figure Description

[0075] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 is a structural schematic diagram of the walking robot provided in the first embodiment of this application.

[0077] Figure 2 is a bottom view of the walking robot provided in an embodiment of this application.

[0078] Figure 3 is a bottom view of the first embodiment of the chassis module of the walking robot in Figure 1.

[0079] Figure 4 is a bottom view of the second embodiment of the chassis module of the walking robot in Figure 1.

[0080] Figure 5 is a bottom view of the third embodiment of the chassis module of the walking robot in Figure 1.

[0081] Figure 6 is a bottom view of the fourth embodiment of the chassis module of the walking robot in Figure 1.

[0082] Figure 7 is a bottom view of the fifth embodiment of the chassis module of the walking robot in Figure 1.

[0083] Figure 8 is a bottom view of the sixth embodiment of the chassis module of the walking robot in Figure 1.

[0084] Figure 9 is a bottom view of the seventh embodiment of the chassis module of the walking robot in Figure 1.

[0085] Figure 10 is a bottom view of the eighth embodiment of the chassis module of the walking robot in Figure 1.

[0086] Figure 11 is a bottom view of the ninth embodiment of the chassis module of the walking robot in Figure 1.

[0087] Figure 12 is a bottom view of the tenth embodiment of the chassis module of the walking robot in Figure 1.

[0088] Figure 13 is a bottom view of the eleventh embodiment of the chassis module of the walking robot in Figure 1.

[0089] Figure 14 is a bottom view of the twelfth embodiment of the chassis module of the walking robot in Figure 1.

[0090] Figure 15 is a bottom view of the thirteenth embodiment of the chassis module of the walking robot in Figure 1.

[0091] Figure 16 is a bottom view of the fourteenth embodiment of the chassis module of the walking robot in Figure 1.

[0092] Figure 17 is a bottom view of the fifteenth embodiment of the chassis module of the walking robot in Figure 1.

[0093] Figure 18 is a bottom view of the sixteenth embodiment of the chassis module of the walking robot in Figure 1.

[0094] Figure 19 is a bottom view of the seventeenth embodiment of the chassis module of the walking robot in Figure 1.

[0095] Figure 20 is a bottom view of the eighteenth embodiment of the chassis module of the walking robot in Figure 1.

[0096] Figure 21 is a bottom view of the nineteenth embodiment of the chassis module of the walking robot in Figure 1.

[0097] Figure 22 is a bottom view of the twentieth embodiment of the chassis module of the walking robot in Figure 1.

[0098] Figure 23 is a bottom view of the twenty-first embodiment of the chassis module of the walking robot in Figure 1.

[0099] Figure 24 is a bottom view of the twenty-second embodiment of the chassis module of the walking robot in Figure 1.

[0100] Figure 25 is a bottom view of the twenty-third embodiment of the chassis module of the walking robot in Figure 1.

[0101] Figure 26 is a bottom view of the twenty-fourth embodiment of the chassis module of the walking robot in Figure 1.

[0102] Figure 27 is a bottom view of the twenty-fifth embodiment of the chassis module of the walking robot in Figure 1.

[0103] Figure 28 is a bottom view of the twenty-sixth embodiment of the chassis module of the walking robot in Figure 1.

[0104] Figure 29 is a structural schematic diagram of the walking robot provided in the second embodiment of this application.

[0105] Figure 30 is a structural schematic diagram of the walking robot provided in the third embodiment of this application.

[0106] Figure 31 is a bottom view of the twenty-seventh embodiment of the chassis module of the walking robot in Figure 1.

[0107] Figure 32 is a bottom view of the twenty-eighth embodiment of the chassis module of the walking robot in Figure 1.

[0108] Figure 33 is a bottom view of the twenty-ninth embodiment of the chassis module of the walking robot in Figure 1.

[0109] Figure 34 is a bottom view of the thirtieth embodiment of the chassis module of the walking robot in Figure 1.

[0110] Figure 35 is a flowchart illustrating a control method for a walking robot provided in an embodiment of this application.

[0111] Figure 36 is a block diagram of the unit composition of an electronic device provided in an embodiment of this application.

[0112] Key reference numerals in the attached drawings: Walking robot 1000; Chassis module 100; Shell 200; Frame 10; Hub 201; Tire 202; First wheel 21; Wheel set 211; Wheel body 2111; Roller 2112; First drive component 22; Second wheel 31; Second drive component 32; Axle 33; Controller 40; Cutting component 51; Cutting driver 52; Elastic suspension 61; Quadrilateral region Q1; Length direction X; Width direction Y; Height direction Z; Traction force F; First component force F1; Second component force F2; First connection line 301; Second connection line 302; Third connection line 303; Electronic equipment 800; Slope sensor 80; Counterweight 90; First counterweight 91; Second counterweight 92; Center of gravity detector 95; Processor 810; Memory 820; Communication interface 830; Bus 840.

[0113] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0114] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0115] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0116] It should be noted that the terminology in the specification, claims, and accompanying drawings of this application is only for describing specific embodiments and is not intended to limit this application. The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. The term "and / or" as used in the specification and appended claims refers to any combination of one or more of the associated listed items, and all possible combinations, including such combinations.

[0117] Please refer to Figures 1 and 2 together. Figure 1 is a side view of the walking robot 1000 provided in this application; Figure 2 is a bottom view of the walking robot 1000 provided in an embodiment of this application. The walking robot 1000 includes a chassis module 100 and a shell 200. The shell 200 is mounted on the chassis module 100 to prevent external impurities or moisture from entering the interior of the walking robot 1000. The walking robot 1000 can be configured as a lawn mowing robot, a pesticide spraying robot, a crop harvesting robot, a sweeping robot, a transport robot, etc. In this embodiment, the structure of the walking robot 1000 is specifically described using a lawn mowing robot as an example.

[0118] In some embodiments, for clarity, referring to Figures 1 and 2, the X-axis is defined as the length direction of the walking robot 1000, the Y-axis as the width direction, and the Z-axis as the height direction. The length direction X, width direction Y, and height direction Z of the walking robot 1000 are mutually perpendicular. The length direction X of the walking robot 1000 can refer to the forward / backward direction. The side of the walking robot 1000 along the positive direction of the X-axis (the direction the arrow points) is the front, front side, or front end of the walking robot 1000, and the opposite direction along the positive direction of the X-axis is the rear, rear side, or rear end of the walking robot 1000. The width direction Y of the walking robot 1000 can refer to the left / right direction. The length direction X of the walking robot 1000 is parallel to the length direction of the chassis module 100, the width direction Y of the walking robot 1000 is parallel to the width direction of the chassis module 100, and the height direction Z of the walking robot 1000 is parallel to the height direction of the chassis module 100.

[0119] It should be noted that the terms "parallel" and "perpendicular" in this application are not absolute. Perfectly horizontal or approximately parallel due to processing and assembly errors (e.g., an angle of 0.1° or 1° between two structural features) are all within the scope of "parallel" in this application. Similarly, perfectly perpendicular or approximately perpendicular due to processing and assembly errors (e.g., an angle of 89.9° or 89° between two structural features) are also within the scope of "perpendicular" in this application. This application does not impose specific limitations in these respects.

[0120] It should be noted that the "midpoint P2" of the line L2 connecting the axles of the two second wheels 31 in this application does not strictly refer to the midpoint of the line L2. The midpoint of the line L2 and the points within a set distance from the midpoint are all within the range of the "midpoint P2" in this application. This set range can be 0cm-10cm, for example, points with distances of 0cm, 1cm, 2cm, 5cm, or 10cm from the midpoint.

[0121] In some embodiments, the chassis module 100 includes a frame 10, two first wheels 21, two second wheels 31, a first drive member 22, and a second drive member 32. A housing 200 is mounted on the frame 10. The two first wheels 21 are respectively mounted at both ends of the frame 10 along the length direction of the chassis module 100. At least one first wheel 21 is configured as an omnidirectional wheel. The two second wheels 31 are respectively mounted at both ends of the frame 10 along the width direction of the chassis module 100. Along the width direction of the chassis module 100, the two first wheels 21 are located between the two second wheels 31. One of the two first wheels 21 is mounted on the front side of the frame 10 along the length direction of the chassis module 100, and the other first wheel 21 is mounted on the rear side of the frame 10 along the length direction of the chassis module 100. One of the two second wheels 31 is mounted on the left side of the frame 10 along the width direction of the chassis module 100, and the other second wheel 31 is mounted on the right side of the frame 10 along the width direction of the chassis module 100. At least one first wheel 21 is drivenly connected to the first drive member 22 and can rotate under the drive of the first drive member 22. The two second wheels 31 are respectively drivenly connected to the second drive member 32 and can rotate under the drive of the second drive member 32. In this way, compared with traditional walking robots, where the two front wheels and two rear wheels of traditional walking robots are arranged along the width direction of the body, the chassis of traditional walking robots is easily lifted when traveling on uneven ground, resulting in the driving wheels spinning off the ground and causing the walking robot to get stuck. When the walking robot 1000 of this application encounters the situation where the chassis module 100 is lifted when traveling in complex terrain, it can make more wheels contact the ground with a greater probability. For example, when the walking robot 1000 experiences a nose-up or tail-up situation, only one of its first wheels 21 will be off the ground, while the other first wheel 21 will remain in contact with the ground. When the first wheel 21 in contact with the ground is connected to the first drive component 22, the walking robot 1000 can control the first drive component 22 to drive the first wheel 21 to rotate. The rotation of the first wheel 21 provides additional traction to the walking robot 1000, enabling it to leave the stuck position and improving its off-road capability. Alternatively, for example, when the walking robot 1000 encounters a ditch or a steep slope causing the second wheel 31 to be off the ground, the walking robot 1000 can control the first drive component 22 to drive the first wheel 21 to rotate. The rotation of the first wheel 21 provides traction to the walking robot 1000, enabling it to leave the stuck position and improving its off-road capability.Furthermore, when the walking robot 1000 controls the two second wheels 31 to rotate differentially for on-the-spot turning, the walking robot 1000 can control the first drive component 22 to drive the first wheel 21 to rotate, thereby improving the stability of the walking robot 1000 when turning on the spot. In addition, the omnidirectional wheels can provide support for the walking robot 1000 in multiple directions, which helps the walking robot 1000 to get out of trouble in a timely manner and improves the walking performance of the walking robot 1000. In some embodiments, the chassis module 100 also includes an axle 33, which is connected to the frame 10. The two second wheels 31 are respectively mounted on the frame 10 via the axle 33.

[0122] In some embodiments, the walking robot 1000 can drive and turn by controlling the rotation direction and speed difference of the two second wheels 31 driven by the second drive member 32. Specifically, when the two second wheels 31 rotate in the same direction and the speed difference is zero or approximately zero, the walking robot 1000 travels along the length direction X. When the two second wheels 31 rotate in opposite directions and the speed difference is zero or approximately zero, the walking robot 1000 performs a turn in place. When the absolute value of the speed difference between the two second wheels 31 is greater than zero, the walking robot 1000 turns towards the wheel with the smaller speed. The rotation axes of the two second wheels 31 are arranged parallel to each other or collinearly. Exemplarily, the rotation axes of the two second wheels 31 are collinear to improve the stability of the walking robot 1000 during driving and turning. In this application, the term "collinear setting" for the rotation axes of the two second wheels 31 does not mean that the rotation axes of the two second wheels 31 are absolutely coincident. Collinearity or the approximate collinearity of the rotation axes of the two second wheels 31 due to factors such as processing errors and assembly errors (the distance between the rotation axes of the two second wheels 31 is within a set range) are all within the range of "collinear setting" in this application. For example, the distance between the rotation axes of the two second wheels 31 is within 0cm-10cm.

[0123] In some embodiments, the two first wheels 21 are respectively connected to the first drive member 22. The first drive member 22 can drive the two first wheels 21 to rotate in the same or opposite directions, at the same speed or at a different speed. Thus, the independent rotation of the two first wheels 21 and the two second wheels 31 allows the walking robot 1000 to continue moving or turning even when some wheels are suspended in the air in complex terrain, thereby improving the walking robot 1000's driving and turning capabilities, its adaptability to complex terrain, and its off-road capability and applicability. Furthermore, when the walking robot 1000 performs a turn in place using the differential speed of the two second wheels 31, driving the two first wheels 21 to rotate in opposite directions at the same or approximately the same speed via the first drive member 22 can improve the stability of the walking robot 1000 during a turn in place. In some cases, the walking robot 1000 can also adjust the rotation direction and speed of the two first wheels 21 and the two second wheels 31 in real time to adjust the body posture of the walking robot 1000 and improve the stability of the walking robot 1000 when driving and turning. In some embodiments, one of the two first wheels 21 is driven by a first drive member 22. The first wheel 21 driven by the first drive member 22 can actively rotate relative to the frame 10 under the drive of the first drive member 22 to drive the frame 10 to move relative to the ground. The other first wheel 21 can rotate under the drive of the frame 10 when the frame 10 moves relative to the ground.

[0124] For example, the first wheel 21, which is connected to the first drive member 22, is configured as an omnidirectional wheel. The omnidirectional wheel can provide support for the walking robot 1000 in multiple directions. The walking robot 1000 drives the omnidirectional wheel to rotate through the first drive member 22, which can counteract or balance the instability of the body caused by factors such as terrain structure, ground condition, tire structure, and tire material when the two second wheels 31 rotate at different speeds.

[0125] In some embodiments, the first drive member 22 and / or the second drive member 32 are configured as drive motors to reduce the space occupied by the first drive member 22 and / or the second drive member 32 on the frame 10 and improve structural compactness. Exemplarily, both the first drive member 22 and the second drive member 32 are configured as drive motors. The output shaft of the drive motor is connected to the corresponding first wheel 21 or second wheel 31, or is driven by a transmission structure to the corresponding first wheel 21 or second wheel 31. The first drive member 22 may include one drive motor, which is driven by one first wheel 21 or by both first wheels 21 respectively; alternatively, the first drive member 22 may include two drive motors, each driven by one of the two first wheels 21 respectively. The second drive member 32 may include one drive motor, which is driven by both first wheels 21 respectively; alternatively, the second drive member 32 may include two drive motors, each driven by one of the two second wheels 31 respectively. In some embodiments, one of the first drive member 22 and the second drive member 32 is configured as a drive motor, while the other is configured as a drive member with other structures.

[0126] In some embodiments, the drive motor can be configured as a hub motor. A hub motor integrates power, transmission, and braking devices within the wheel hub; it is also known as an in-wheel motor, electric wheel, wheel motor, etc. The hub motor is mounted in the hub of the first wheel 21 and the second wheel 31. The first drive member 22 includes one hub motor, which is mounted in the hub of one of the two first wheels 21. Alternatively, the first drive member 22 includes two hub motors, each mounted in one of the hubs of the two first wheels 21. The second drive member 32 includes two hub motors. In some embodiments, one of the first drive member 22 and the second drive member 32 is configured as a hub motor, and the other as a driver with other structures; or, both the first drive member 22 and the second drive member 32 are configured as drivers with other structures. In some embodiments, the drive motor can also be a non-hub motor, which can be mounted on the frame 10. A non-hub motor refers to a motor whose drive structure is located outside the wheel hub.

[0127] In some embodiments, the chassis module 100 further includes a controller 40. The controller 40 is connected to the first drive member 22 and the second drive member 32, respectively. The controller 40 is used to control the second drive member 32 to drive the two second wheels 31 to rotate together, and / or, the controller 40 is used to control the first drive member 22 to drive at least one first wheel 21 to rotate. The controller 40 is also used to control the first wheel 21 and / or the second wheel 31 to be unloaded. When the first wheel 21 and / or the second wheel 31 are unloaded, the first wheel 21 and / or the second wheel 31 can passively rotate relative to the frame 10. When the walking robot 1000 is placed on the ground and the frame 10 moves relative to the ground, the frame 10 can drive the first wheel 21 and / or the second wheel 31 to rotate relative to the frame 10.

[0128] In some embodiments, the controller 40 can control the second drive member 32 to drive the two second wheels 31 to rotate together, and control the first drive member 22 to drive the two first wheels 21 to rotate together. This enables the walking robot 1000 to have sufficiently high driving performance, allowing it to travel in high-resistance driving environments and low-friction terrain, such as uphill surfaces, tall grass surfaces, or low-friction terrain such as sandy or slippery surfaces.

[0129] In some embodiments, the controller 40 can control the second drive unit 32 to drive the two second wheels 31 to rotate simultaneously, and control the two first wheels 21 to be unloaded. In this way, the walking robot 1000 can have sufficient driving performance in scenarios such as flat ground and low resistance environment, while reducing the power consumption of the walking robot 1000, and enabling the walking robot 1000 to complete driving actions such as turning and turning in place.

[0130] In some embodiments, the controller 40 can control the second drive member 32 to drive the two second wheels 31 to rotate together, and control the first drive member 22 to drive one of the two first wheels 21 to rotate, and control the other first wheel 21 to be unloaded. This allows the walking robot 1000 to have sufficient driving performance in environments with moderate resistance, undulating terrain, etc., and enables the walking robot 1000 to perform turning maneuvers. In some cases, when the walking robot 1000 encounters a pothole in the ground, when the first wheel 21 located on the front side of the frame 10 enters the pothole, the controller 40 can control the first wheel 21 located on the rear side of the frame 10 to rotate, while the first wheel 21 located on the front side of the frame 10 remains unloaded. When the first wheel 21 located on the front side of the frame 10 crosses the pit, and the first wheel 21 located on the rear side of the frame 10 enters the pit, the controller 40 can control the first wheel 21 located on the front side of the frame 10 to rotate, and the first wheel 21 located on the rear side of the frame 10 to be unloaded, so that the walking robot 1000 has sufficient driving power when passing through the pit.

[0131] In some embodiments, the controller 40 can control the two second wheels 31 to be unloaded and control the first drive member 22 to drive the two first wheels 21 to rotate together. This enables the walking robot 1000 to complete straight-line driving tasks and prevents slippage and deviation when the second wheels 31 are prone to becoming suspended in the air. In some embodiments, the controller 40 can control the two second wheels 31 to be unloaded, control the first drive member 22 to drive one of the two first wheels 21 to rotate, and control the other first wheel 21 to be unloaded.

[0132] In some embodiments, the center of gravity of the walking robot 1000, projected along the height direction of the chassis module 100, coincides with the midpoint P2 of the line connecting the axles of the two second wheels 31. When the walking robot 1000 controls the differential rotation of the two second wheels 31 to perform a turn in place on a sloping terrain, the coincidence of the center of gravity of the walking robot 1000 with the midpoint P2 of the line connecting the axles of the two second wheels 31 can improve the stability of the walking robot 1000 when turning in place, avoid instability of the walking robot 1000 due to excessive movement of the center of gravity, and prevent the walking robot 1000 from slipping on the slope. In this application, the coincidence of the center of gravity of the walking robot 1000 with the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 does not mean that the center of gravity of the walking robot 1000 and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 are absolutely coincident. Complete coincidence or approximate coincidence of the center of gravity of the walking robot 1000 and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 due to factors such as processing errors and assembly errors (the distance between the center of gravity of the walking robot 1000 and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 is within a predetermined range) are all within the range of "coincidence" in this application. For example, the distance between the center of gravity of the walking robot 1000 and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 is within 0cm-10cm.

[0133] In some embodiments, the chassis module 100 further includes an elastic suspension 61. The elastic suspension 61 is mounted on the frame 10. The first wheel 21 is mounted on the elastic suspension 61. Two elastic suspensions 61 can be configured, with each of the two first wheels 21 mounted on a corresponding elastic suspension 61. When the walking robot 1000 is moving, due to the terrain, the first wheel 21 will bounce up and down relative to the frame 10 with the undulations of the ground. The elastic suspension 61 can provide elastic cushioning between the first wheel 21 and the frame 10, reducing rigid impact between the first wheel 21 and the frame 10, reducing vibration of the frame 10, and improving the stability of the walking robot 1000 during movement. When the walking robot 1000 passes over a pothole, the elastic suspension 61 can elastically deform, causing the first wheel 21 to enter the pothole and be supported on the bottom wall of the pothole, preventing the frame 10 from touching the ground and avoiding damage to the frame 10. In some embodiments, the elastic suspension 61 may be configured as a single unit, with one of the two first wheels 21 mounted on the elastic suspension 61, to reduce the manufacturing cost of the walking robot 1000. In other embodiments, the elastic suspension 61 may be configured as multiple units, with the first wheel 21 and / or the second wheel 31 mounted on the elastic suspension 61, to improve the driving stability of the walking robot 1000. For example, both first wheels 21 may be mounted on the elastic suspension 61.

[0134] In some embodiments, the first wheel 21 and / or the second wheel 31 are located on the side of the frame 10 closest to the ground, or the first wheel 21 and / or the second wheel 31 are located on the side of the frame 10. Exemplarily, the two first wheels 21 are located on the side of the frame 10 closest to the ground to shield the two first wheels 21 from view by the frame 10 and the housing 200, making the walking robot 1000 more compact and aesthetically pleasing. The two second wheels 31 are located on the side of the frame 10 to provide more installation space inside the body, allowing for the housing of other components, and to increase the wheelbase between the two second wheels 31, improving the walking stability of the walking robot 1000. In some embodiments, both the two first wheels 21 and the two second wheels 31 may be located on the side of the frame 10 closest to the ground to make the walking robot 1000 more compact and aesthetically pleasing. In some embodiments, the two second wheels 31 are located on the side of the frame 10 closest to the ground, and the two first wheels 21 are located on the side of the frame 10. In some embodiments, the two first wheels 21 and the two second wheels may both be located on the side of the frame 10.

[0135] Please refer to Figures 1, 2, and 3 together. Figure 3 is a bottom view of the chassis module 100 of the walking robot 1000 in Figure 1, showing a first embodiment. The chassis module 100 also includes a cutting element 51. The cutting element 51 is mounted on the frame 10. The cutting element 51 is provided with blades for mowing lawns. On a horizontal projection plane perpendicular to the height direction of the chassis module 100, the cutting element 51 is at least partially located within the quadrilateral region Q1 formed by the lines connecting the axles of the two first wheels 21 and the two second wheels 31. Thus, when the walking robot 1000 is placed on the ground, the front, rear, left, and right sides of the frame 10 are protected by the shielding of the first wheels 21 and the second wheels 31, preventing the user from touching the cutting element 51 through the gap between the frame 10 and the ground, thus avoiding injury to the user and improving the safety of using the walking robot 1000. In addition, compared to the side of the rack 10, the four corners of the rack 10 are further away from the center of the rack 10. The cutting piece 51 is located in the quadrilateral area Q1, which can ensure that there is a sufficient distance between the edge of the cutting piece 51 and the outer wall of the four corners of the rack 10. The corners of the rack 10 provide shielding and protection to prevent the user from touching the cutting piece 51.

[0136] The axle center of the first wheel 21 is a point located on or near the rotation axis of the first wheel 21, passing through or near the midpoint of the axial length of the first wheel 21. The axial length of the first wheel 21 refers to the length of the first wheel 21 along a direction parallel to its rotation axis. For example, the vicinity of the rotation axis of the first wheel 21 can be a position within 0cm-10cm of the rotation axis. Similarly, the vicinity of the midpoint of the axial length of the first wheel 21 can be a position within 0cm-10cm of the midpoint of its axial length. The axle center of the second wheel 31 is a point located on or near the rotation axis of the second wheel 31, passing through or near the midpoint of its axial length. The axial length of the second wheel 31 refers to the length of the second wheel 31 along a direction parallel to its rotation axis. The location near the rotation axis of the second wheel 31 can be, for example, a position with a distance of 0cm-10cm from the rotation axis of the second wheel 31. The location near the midpoint of the axial length of the second wheel 31 can be, for example, a position with a distance of 0cm-10cm from the midpoint of the axial length of the second wheel 31.

[0137] In some embodiments, the cutting element 51 is located between the two second wheels 31 to prevent the user from touching the cutting element 51 from the left or right sides of the walking robot 1000 through the shielding effect of the two second wheels 31. In addition, the cutting element 51 being located between the two second wheels 31 also allows the cutting element 51 to be close to the center of the walking robot 1000, so that the mass distribution of the walking robot 1000 is close to the center of the walking robot 1000, reducing the risk of the walking robot 1000 tilting forward and turning up when traveling on sloping terrain.

[0138] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module 100, the cutting element 51 is located at or near the intersection of the line connecting the axles of the two first wheels 21 (L1) and the line connecting the axles of the two second wheels 31 (L2). This ensures that, on the one hand, the cutting element 51 has sufficient distance from the surrounding sides of the frame 10, preventing the user from touching it and improving safety; on the other hand, it allows the mass distribution of the walking robot 1000 to be closer to its center, improving the stability of the walking robot 1000. For example, the distance between the cutting element 51 and the intersection of the line connecting the axles of the two first wheels 21 (L1) and the line connecting the axles of the two second wheels 31 (L2) can be 0cm-10cm, such as 0cm, 1cm, 2cm, 5cm, 10cm, etc.

[0139] In some embodiments, the chassis module 100 further includes a cutting driver 52. The cutting driver 52 is mounted on the frame 10. The cutting driver 52 is drively connected to the cutter 51 and is used to drive the cutter 51 to rotate so that the cutter 51 mows the lawn. The cutting driver 52 may be configured as a motor or may be configured as a driver with other structures. The output shaft of the motor is connected to the cutter 51 or to the cutter 51 through a transmission structure.

[0140] In some embodiments, the omnidirectional wheel includes at least one wheel assembly 211. Each wheel assembly 211 includes a wheel body 2111 and a plurality of rollers 2112. The rotation axis of the wheel body 2111 is the rotation axis of the omnidirectional wheel, and the omnidirectional wheel rotates about a direction perpendicular to the rotation axis. The plurality of rollers 2112 are arranged at intervals along the circumferential direction of the wheel body 2111. The rollers 2112 are rotatable relative to the wheel body 2111. The rolling direction D1 of the rollers 2112 is perpendicular to the rotation axis of the rollers 2112. Grooves are formed on the rollers 2112 along the circumferential direction of the rollers 2112, and forming grooves can increase the friction between the omnidirectional wheel and the ground when rolling.

[0141] In some embodiments, when the omnidirectional wheel includes multiple wheel sets 211, all wheel sets 211 are coaxially arranged. All wheel sets 211 are fixedly connected together, or all wheel sets 211 are fixedly connected to the axle of the omnidirectional wheel. Along the axial direction of the omnidirectional wheel, the rollers 2112 in adjacent wheel sets 211 are staggered. In the orthographic projection onto a plane perpendicular to the rotation axis of the wheel body 2111, the outlines of all rollers 2112 connect to form a circle, thereby improving the stability of the omnidirectional wheel when rolling on the ground, reducing or eliminating vibration of the walking robot 1000 during travel, and improving stability. The number of wheel sets 211 can be specifically set according to actual needs, and is not specifically limited in this application. For example, wheel sets 211 can be one, two, three, four, etc. The term "circle" in this application does not refer to an absolute circle; approximate circles due to factors such as processing errors and assembly errors are also within the scope of "circle" in this application.

[0142] In some embodiments, on the projection plane perpendicular to the height direction of the chassis module 100, the outline of the quadrilateral region Q1 formed by the line connecting the axles of the two first wheels 21 and the two second wheels 31 is rhomboid. Thus, the walking robot 1000 requires minimal rotational space when driving the two second wheels 31 at a differential speed and turning in place with the midpoint of the line connecting the axles of the two second wheels 31 as the rotation center. This makes the walking robot 1000 suitable for turning in narrow spaces, improving its turning and driving performance, as well as its flexibility. Specifically, with the distance between the two first wheels 21 along the length direction of the chassis module 100 remaining constant, the rhomboid arrangement of the two first wheels 21 and the two second wheels 31 minimizes the diameter of the circular trajectory formed by the two first wheels 21 on the ground when the walking robot 1000 turns in place. This reduces the resistance torque exerted by the two first wheels 21 on the frame 10, reduces the rotational resistance of the walking robot 1000 when turning in place, and improves its rotational flexibility. In this application, "rhombus" does not refer to an absolute rhombus. Approximate rhombuses caused by factors such as processing errors and assembly errors are also within the scope of "rhombus" in this application. In some embodiments, the outline of the quadrilateral region Q1 may also be, but is not limited to, a parallelogram, a perpendicular quadrilateral, or other regular or irregular quadrilaterals. No specific limitation is made in this application.

[0143] Please refer to Figures 1 and 4 together. Figure 4 is a bottom view of the chassis module 100 of the walking robot 1000 in Figure 1, according to a second embodiment. The rotation axes of the two first wheels 21 are parallel to the rotation axes of the second wheels 31. The rolling directions D2 of the two first wheels 21 are parallel to the rolling directions D3 of the second wheels 31. The deflection angles of the rotation axes of the two first wheels 21 and the two second wheels 31 relative to the length direction of the chassis module 100 are fixed, and neither the two first wheels 21 nor the two second wheels 31 deflect relative to the frame 10. When the walking robot 1000 turns, it achieves steering by controlling the wheel speed difference of the two second wheels 31. This avoids the need for a complex steering structure in the walking robot 1000, simplifies its structure, reduces its overall weight, and improves its driving power. At least one first wheel 21 is configured as an omnidirectional wheel. For example, both first wheels 21 are configured as omnidirectional wheels to reduce resistance when the walking robot 1000 turns.

[0144] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module 100, the line L1 connecting the axles of the two first wheels 21 is perpendicular to the line L2 connecting the axles of the two second wheels 31. The line L1 connecting the axles of the two first wheels 21 passes through the midpoint P2 of the line L2 connecting the axles of the two second wheels 31, or the distance between the midpoint P2 of the line L1 connecting the axles of the two first wheels 21 and the line L2 connecting the axles of the two second wheels 31 is within a preset range. The preset range can be specifically set according to actual needs. For example, the preset range can be specifically set according to the structural dimensions of the frame 10, the arrangement of components in the chassis module 100, the type of the walking robot 1000, etc. For example, the preset range can be 0cm-10cm, such as the distance between the midpoint P2 of the line L1 connecting the axles of the two first wheels 21 and the line L2 connecting the axles of the two second wheels 31 being 0cm, 1cm, 2cm, 5cm, 10cm, etc.

[0145] In some embodiments, the rolling direction D1 of the omnidirectional wheel's roller 2112 is perpendicular to the line L1 connecting the axes of the two first wheels 21. Thus, when the walking robot 1000 makes a turn in place around the midpoint P2 of the line L2 connecting the axes of the two second wheels 31, the rolling direction D1 of the omnidirectional wheel's roller 2112 is the same as or close to the tangential direction of the omnidirectional wheel's trajectory relative to the ground. The rolling of the roller 2112 creates rolling friction between the omnidirectional wheel and the ground, thereby reducing the ground's resistance to the omnidirectional wheel's movement, reducing the rotational resistance of the walking robot 1000 when turning in place, and improving the smoothness of rotation.

[0146] Please refer to Figures 1 and 5 together. Figure 5 is a bottom view of the chassis module 100 of the walking robot 1000 in Figure 1, according to a third embodiment. On a horizontal projection plane perpendicular to the height of the chassis module 100, the line L1 connecting the axles of the two first wheels 21 forms an acute angle with the line L2 connecting the axles of the two second wheels 31. The line L1 connecting the axles of the two first wheels 21 passes through the midpoint P2 of the line L2 connecting the axles of the two second wheels 31. The rolling direction D1 of the omnidirectional wheel's roller 2112 is perpendicular to the rolling direction D2 of the omnidirectional wheel. When the walking robot 1000 travels in a straight line along the length direction X, since the rolling direction D1 of the roller 2112 is perpendicular to the rolling direction D2 of the omnidirectional wheel (the rolling direction of the omnidirectional wheel is the same as the rolling direction of the first wheel 21), the roller 2112 hardly rotates when the walking robot 1000 is traveling in a straight line. This reduces the power loss of the first wheel 21 when it rotates, increases the traction power of the first wheel 21 on the frame 10, improves driving efficiency, enhances the driving stability of the walking robot 1000, improves motion control accuracy, and reduces wear on the roller 2112. When the walking robot 1000 turns in place, the controller 40 can control the two first wheels 21 to rotate in opposite directions. The traction force F generated by each first wheel 21 on the frame 10 is along the rolling direction D2 of the first wheel 21. Since the line L1 connecting the axes of the two first wheels 21 and the line L2 connecting the axes of the two second wheels 31 form an acute angle, the traction force F can be decomposed into a first component force F1 and a second component force F2 perpendicular to the first component force F1. The first component force F1 is perpendicular to the line L1 connecting the axes of the two first wheels 21. The second component force F2 is collinear with the line L1 connecting the axes of the two first wheels 21. The collinearity of the second component forces F2 on the two first wheels 21, through their mutual cancellation, improves the stability of the walking robot 1000 when turning in place. For example, if the walking robot 1000 deviates during a turn in place, the rotation direction of the first wheel 21 closer to the deviating direction is similar to the deviating direction, and the second component force F2 generated by this first wheel 21 on the frame 10 when rubbing against the ground is small. The rotation direction of the first wheel 21 farther from the deviating direction is opposite to the deviating direction, and the second component force generated by this first wheel 21 on the frame 10 when rubbing against the ground is large. This results in a larger second component force F2 generating a traction force on the frame 10 opposite to the deviating direction, thereby reducing or preventing the walking robot 1000 from deviating during a turn in place and improving its stability.The first component force F1 of the two first wheels 21 forms a torque on the frame 10 centered at the midpoint P2 of the line connecting the axes L2 of the two second wheels 31. This torque tends to cause the frame 10 to rotate around the midpoint P2 of the line connecting the axes L2 of the two second wheels 31. When the direction of this torque is the same as the direction of the stationary turning of the walking robot 1000, this torque is beneficial to the stationary turning of the walking robot 1000, thereby improving the rotational power and speed of the walking robot 1000 during stationary turning, as well as improving the smoothness of stationary turning. The included angle α1 between the line connecting the axes L1 of the two first wheels 21 and the line connecting the axes L2 of the two second wheels 31 is in the range of 0° < α1 < 90°. For example, the included angle α1 can be 1°, 5°, 10°, 20°, 30°, 45°, 60°, 75°, 80°, etc. The specific value of the included angle α1 can be set according to actual needs, and is not specifically limited in this application.

[0147] Please refer to Figures 1 and 6 together. Figure 6 is a bottom view of the fourth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1. On the horizontal projection plane perpendicular to the height direction of the chassis module 100, the line L1 connecting the axles of the two first wheels 21 forms an acute angle with the line L2 connecting the axles of the two second wheels 31. The line L1 connecting the axles of the two first wheels 21 passes through the midpoint P2 of the line L2 connecting the axles of the two second wheels 31. The rolling direction D1 of the omnidirectional wheel's roller 2112 is perpendicular to the line L3 connecting the axle of the omnidirectional wheel and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31. When the walking robot 1000 controls the differential rotation of the two second wheels 31 to perform a turn in place, the rolling direction D1 of the roller 2112 is the same as or close to the tangential direction of the omnidirectional wheel's motion trajectory relative to the ground. Roller 2112 enables rolling friction between the omnidirectional wheel and the ground, thereby reducing the ground's resistance to the omnidirectional wheel's movement, reducing the rotational resistance when the walking robot 1000 turns in place, improving rotational smoothness, motion control precision, and reducing wear on roller 2112. Furthermore, when the walking robot 1000 turns in place, the two first wheels 21 can be controlled to rotate in opposite directions. The traction force F generated by each first wheel 21 on the frame 10 is along the rolling direction D2 of the first wheel 21. Since the line L1 connecting the axes of the two first wheels 21 forms an acute angle with the line L2 connecting the axes of the two second wheels 31, the traction force F can be decomposed into a first component F1 and a second component F2 perpendicular to the first component F1. The first component F1 is perpendicular to the line L1 connecting the axes of the two first wheels 21. The second component F2 is collinear with the line L1 connecting the axes of the two first wheels 21. The second component forces F2 of the two first wheels 21 are collinear. Through the mutual cancellation of the two second component forces F2, the stability of the walking robot 1000 when turning in place can be improved. For example, if the walking robot 1000 deviates during a turn in place, the rotation direction of the first wheel 21 closer to the direction of deviation is similar to the direction of deviation, and the second component force F2 generated by the first wheel 21 when rubbing against the ground is small. The rotation direction of the first wheel 21 farther from the direction of deviation is opposite to the direction of deviation, and the second component force generated by the first wheel 21 when rubbing against the ground is large. Thus, the larger second component force F2 generates a traction force on the frame 10 opposite to the direction of deviation, thereby reducing or avoiding the deviation of the walking robot 1000 when turning in place and improving the stability of turning in place. The first component force F1 of the two first wheels 21 forms a torque on the frame 10 centered at the midpoint P2 of the line connecting the axes L2 of the two second wheels 31. This torque tends to cause the frame 10 to rotate about the midpoint P2 of the line connecting the axes L2 of the two second wheels 31. When the direction of this torque is the same as the direction of the stationary turning of the walking robot 1000, this torque is beneficial to the stationary turning of the walking robot 1000, thereby improving the rotational power and speed of the walking robot 1000 during stationary turning, as well as improving the smoothness of stationary turning.The included angle α1 between the line L1 connecting the axles of the two first wheels 21 and the line L2 connecting the axles of the two second wheels 31 is in the range of 0° < α1 < 90°. For example, the included angle α1 can be 30°, 45°, 60°, 75°, 80°, etc. The specific value of the included angle α1 can be set according to actual needs, and is not specifically limited in this application.

[0148] Please refer to Figures 1 and 7 together. Figure 7 is a bottom view of the fifth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1. On the horizontal projection plane perpendicular to the height direction of the chassis module 100, the rolling direction D1 of the omnidirectional wheel's roller 2112 is perpendicular to the line L3 connecting the midpoint P2 of the line connecting the axis of the omnidirectional wheel and the axis of the two second wheels 31. When the walking robot 1000 controls the two second wheels 31 to rotate differentially to turn in place, the rolling direction D1 of the roller 2112 is the same as or similar to the tangential direction of the omnidirectional wheel's motion trajectory relative to the ground. On the one hand, this can reduce the motion resistance of the ground on the omnidirectional wheel, reduce the rotational resistance of the walking robot 1000 when turning in place, improve the smoothness of rotation, and improve the motion control accuracy. On the other hand, it can reduce the wear on the roller 2112. The angle α2 between the line L3 connecting the axle center of the omnidirectional wheel and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 and the line L2 connecting the axles of the two second wheels 31 is in the range of 0°<α2≤90°. The line L3 can be perpendicular to the line L2 or form an acute angle. For example, the angle α2 can be 30°, 45°, 60°, 75°, 80°, 90°, etc. The specific value of the angle α2 can be set according to actual needs and is not specifically limited in this application. The angle α2 between the line L3 connecting the axle center of different omnidirectional wheels and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 and the line L2 connecting the axles of the two second wheels 31 can be set to be the same or different.

[0149] Please refer to Figures 1, 5, 6, 8, 9, 10, and 11. Figure 8 is a bottom view of the sixth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1; Figure 9 is a bottom view of the seventh embodiment of the chassis module 100 of the walking robot 1000 in Figure 1; Figure 10 is a bottom view of the eighth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1; and Figure 11 is a bottom view of the ninth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1. On the horizontal projection plane perpendicular to the height direction of the chassis module 100, the rotation axes of the two second wheels 31 are collinear. The angle α3 between the rotation axis of the omnidirectional wheel and the line L3 connecting the axis of the omnidirectional wheel and the midpoint P2 of the line L2 connecting the axes of the two second wheels 31 is greater than or equal to 0° and less than 90°, that is, the rolling direction D2 of the omnidirectional wheel is set at an angle to the connecting line L3. When the walking robot 1000 makes a stationary turn around the midpoint P2 of the line connecting the axes of the two second wheels 31, the walking robot 1000 can control the rotation of the omnidirectional wheels. The traction force F generated by the omnidirectional wheels on the frame 10 is along the rolling direction D2 of the omnidirectional wheels. Since the rolling direction D2 of the omnidirectional wheels forms an angle with the connecting line L3, the traction force F is perpendicular to the connecting line L3. Alternatively, the traction force F can be decomposed into a first component F1 perpendicular to the connecting line L3 and a second component F2 parallel to the connecting line L3. The second component F2 points towards the rotation center of the walking robot 1000's stationary rotation. The first component F1 forms a torque on the frame 10 centered at the midpoint P2 of the line connecting the axes of the two second wheels 31. This torque tends to cause the frame 10 to rotate around the midpoint P2 of the line connecting the axes of the two second wheels 31. When the direction of the torque is the same as the in-situ turning direction of the walking robot 1000, the torque is beneficial to the in-situ turning of the walking robot 1000, thereby improving the rotational power and speed of the walking robot 1000 when turning in place, as well as improving stability and smoothness when turning in place. In some embodiments, on the horizontal projection plane perpendicular to the height direction of the chassis module 100, the line L1 connecting the axles of the two first wheels 21 passes through the midpoint of the line L2 connecting the axles of the two second wheels 31, or the distance between the midpoint P2 of the line L1 connecting the axles of the two first wheels 21 and the line L2 connecting the axles of the two second wheels 31 is within a preset range. The preset range can be specifically set according to actual needs. For example, the preset range can be specifically set according to the structural dimensions of the frame 10, the arrangement of the components in the chassis module 100, the type of the walking robot 1000, etc. For example, the preset range can be 0cm-10cm. For instance, the distance between the midpoint P2 of the line connecting the axles of the two first wheels 21 and the line connecting the axles of the two second wheels 31 can be 0cm, 1cm, 2cm, 5cm, 10cm, etc. The specific value of the included angle α3 can be set according to actual needs and is not specifically limited in this application.For example, the included angle α3 can be 0°, 1°, 5°, 10°, 20°, 30°, 45°, 60°, 75°, 80°, etc.

[0150] Please refer to Figure 5. In the third embodiment, on the horizontal projection plane perpendicular to the height direction of the chassis module 100, the rotation axes of the two second wheels 31 are collinear. The angle α3 between the rotation axis of the omnidirectional wheel and the line L3 connecting the midpoint P2 of the line L2 connecting the axis of the omnidirectional wheel and the axis of the two second wheels 31 is greater than 0° and less than 90°. The rotation axis of the omnidirectional wheel is parallel to the rotation axis of the second wheels 31, that is, the rolling direction D2 of the omnidirectional wheel is parallel to the rolling direction D3 of the second wheels 31, and the rolling direction D1 of the roller 2112 is perpendicular to the rolling direction D2 of the omnidirectional wheel.

[0151] Referring to Figure 6, in the fourth embodiment, on the horizontal projection plane perpendicular to the height direction of the chassis module 100, the rotation axes of the two second wheels 31 are collinear. The angle α3 between the rotation axis of the omnidirectional wheel and the line L3 connecting the omnidirectional wheel's axis and the midpoint P2 of the line L2 connecting the axes of the two second wheels 31 is greater than 0° and less than 90°. The line L1 connecting the axes of the two first wheels 21 forms an acute angle with the line L2 connecting the axes of the two second wheels 31. The line L1 connecting the axes of the two first wheels 21 passes through the midpoint P2 of the line L2 connecting the axes of the two second wheels 31, or the distance between the line L1 connecting the axes of the two first wheels 21 and the midpoint P2 of the line L2 connecting the axes of the two second wheels 31 is within a preset range. The preset range can be specifically set according to actual needs. For example, the preset range can be specifically set according to the structural dimensions of the frame 10, the arrangement of components in the chassis module 100, the type of the walking robot 1000, etc. For example, the preset range can be 0cm-10cm. For instance, the distance between the midpoint P2 of the line connecting the axles of the two first wheels 21 (L1) and the line connecting the axles of the two second wheels 31 (L2) can be 0cm, 1cm, 2cm, 5cm, 10cm, etc. The rotation axis of the omnidirectional wheel is parallel to the rotation axis of the second wheel 31, that is, the rolling direction D2 of the omnidirectional wheel is parallel to the rolling direction D3 of the second wheel 31, and the rolling direction D1 of the roller 2112 is perpendicular to the line connecting the axles of the two first wheels 21 (L1). The axle of the omnidirectional wheel is the axle of the first wheel 21.

[0152] In some embodiments, the rotation axis of at least one omnidirectional wheel is set at an angle to the rotation axis of the second wheel 31, that is, the rolling direction D2 of at least one omnidirectional wheel is set at an angle to the rolling direction D3 of the second wheel 31. Thus, when the walking robot 1000 turns or turns in place, the walking robot 1000 can control the rotation of the omnidirectional wheel, causing the omnidirectional wheel to generate a traction force F on the frame 10, with the traction force F along the rolling direction D2 of the omnidirectional wheel. The midpoint P2 of the line connecting the axes L2 of the two second wheels 31 is spaced apart from the extension direction of the traction force F. The traction force F generates a rotational torque on the frame 10 with the midpoint P2 of the line connecting the axes L2 of the two second wheels 31 as the center of rotation. This rotational torque tends to rotate the frame 10, thereby increasing the driving force of the walking robot 1000 when turning or turning in place, and improving the smoothness of turning or turning in place. Exemplarily, the rotation axes of the two omnidirectional wheels can be set at an angle to the rotation axis of the second wheel 31, respectively. The direction and magnitude of the angle formed by the rotation axes of the two omnidirectional wheels and the rotation axis of the second wheel 31 can be the same or different. The rotation axes of the two omnidirectional wheels can be parallel or at an angle. In some embodiments, the rotation axis of one of the two omnidirectional wheels is parallel to the rotation axis of the second wheel 31, and the rotation axis of the other omnidirectional wheel is at an angle to the rotation axis of the second wheel 31.

[0153] Referring to Figure 8, in the sixth embodiment, on the horizontal projection plane perpendicular to the height direction of the chassis module 100, the angle between the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel 31 is greater than 0° and less than 90°. The line L1 connecting the axles of the two first wheels 21 is perpendicular to the line L2 connecting the axles of the two second wheels 31, and the line L1 connecting the axles of the two first wheels 21 passes through the midpoint P2 of the line L2 connecting the axles of the two second wheels 31, or the distance between the midpoint P2 of the line L1 connecting the axles of the two first wheels 21 and the line L2 connecting the axles of the two second wheels 31 is within a preset range. The preset range can be specifically set according to actual needs. For example, the preset range can be specifically set according to the structural dimensions of the frame 10, the arrangement of components in the chassis module 100, the type of the walking robot 1000, etc. For example, the preset range can be 0cm-10cm. For instance, the distance between the midpoint P2 of the line connecting the axles of the two first wheels 21 (L1) and the line connecting the axles of the two second wheels 31 (L2) can be 0cm, 1cm, 2cm, 5cm, 10cm, etc. The angle between the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel 31 can be specifically set according to actual needs and is not specifically limited in this application. For example, the angle can be 1°, 5°, 10°, 20°, 30°, 45°, 60°, 75°, 80°, etc. The deflection direction of the two omnidirectional wheels relative to the frame 10 is set to the same direction. The angle between the rotation axes of the two omnidirectional wheels and the rotation axis of the second wheel 31 can be the same or different.

[0154] Referring to Figure 9, in the seventh embodiment, on the horizontal projection plane perpendicular to the height direction of the chassis module 100, the angle between the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel 31 is greater than 0° and less than 90°. The line L1 connecting the axles of the two first wheels 21 is perpendicular to the line L2 connecting the axles of the two second wheels 31, and the line L1 connecting the axles of the two first wheels 21 passes through the midpoint P2 of the line L2 connecting the axles of the two second wheels 31, or the distance between the midpoint P2 of the line L1 connecting the axles of the two first wheels 21 and the line L2 connecting the axles of the two second wheels 31 is within a preset range. The preset range can be specifically set according to actual needs. For example, the preset range can be specifically set according to the structural dimensions of the frame 10, the arrangement of components in the chassis module 100, the type of the walking robot 1000, etc. For example, the preset range can be 0cm-10cm. For instance, the distance between the midpoint P2 of the line connecting the axles of the two first wheels 21 (L1) and the line connecting the axles of the two second wheels 31 (L2) can be 0cm, 1cm, 2cm, 5cm, 10cm, etc. The angle between the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel 31 can be specifically set according to actual needs and is not specifically limited in this application. For example, the angle can be 1°, 5°, 10°, 20°, 30°, 45°, 60°, 75°, 80°, etc. The deflection directions of the two omnidirectional wheels relative to the frame 10 are set to opposite directions. The angle between the rotation axes of the two omnidirectional wheels and the rotation axis of the second wheel 31 can be the same or different.

[0155] Referring to Figure 10, in the eighth embodiment, on the horizontal projection plane perpendicular to the height direction of the chassis module 100, the rolling direction D1 of the omnidirectional wheel 2112 is parallel to the rolling direction D3 of the second wheel 31. The rotation axis of the omnidirectional wheel is perpendicular to the rotation axis of the second wheel 31, that is, the rolling direction D2 of the omnidirectional wheel is perpendicular to the rolling direction D3 of the second wheel 31. The angle α3 between the rotation axis of the omnidirectional wheel and the line L3 connecting the midpoint P2 of the line L2 connecting the axis of the omnidirectional wheel and the axis of the two second wheels 31 is 0°. When the walking robot 1000 travels in a straight line along the length direction X, since the rolling direction D1 of the roller 2112 is the same as the rolling direction D3 of the second wheel 31, the wear of the roller 2112 on the ground can be reduced, the resistance of the ground on the walking robot 1000 can be reduced, and the service life of the omnidirectional wheel can be improved. When the walking robot 1000 turns in place, it can drive the omnidirectional wheels to rotate. The traction force F generated by the omnidirectional wheels on the frame 10 forms a torque on the frame 10 centered on the midpoint P2 of the line connecting the axes of the two second wheels 31. This torque is beneficial to the in-place turning of the walking robot 1000, thereby improving the rotational power and speed of the walking robot 1000 when turning in place, as well as improving stability and smoothness when turning in place.

[0156] Please refer to Figures 1, 6, and 11 together. Figure 11 is a bottom view of the ninth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1. On the horizontal projection plane perpendicular to the height direction of the chassis module 100, the rolling direction D1 of the omnidirectional wheel's roller 2112 is perpendicular to the line L3 connecting the midpoint P2 of the line connecting the axis of the omnidirectional wheel and the axis of the two second wheels 31. When the walking robot 1000 controls the two second wheels 31 to rotate differentially to turn in place, the rolling direction D1 of the roller 2112 is perpendicular to the line L3. This makes the rolling direction D1 of the roller 2112 the same as or similar to the tangential direction of the omnidirectional wheel's motion trajectory relative to the ground. On the one hand, this reduces the motion resistance of the ground on the omnidirectional wheel, reduces the rotational resistance of the walking robot 1000 when turning in place, improves the smoothness of rotation, and improves the motion control accuracy. On the other hand, it reduces the wear on the roller 2112.

[0157] In the first to ninth embodiments of this application, the rotation axes of the two first wheels 21 and the rotation axes of the two second wheels 31 are all fixed relative to the frame 10, and neither the two first wheels 21 nor the two second wheels 31 deflect relative to the frame 10. When the walking robot 1000 turns, it achieves steering by controlling the wheel speed difference of the two second wheels 31. This avoids the need for a complex steering structure in the walking robot 1000, simplifies the structure of the walking robot 1000, reduces the overall weight of the walking robot 1000, and improves the walking power of the walking robot 1000.

[0158] In other embodiments of this application, existing walking robots are prone to insufficient steering force when operating on complex terrain, making it difficult or even impossible for the walking robot to turn in place.

[0159] In view of the above problems, another embodiment of this application provides a chassis module and a walking robot to solve the problem of difficulty in turning on the spot for a walking robot.

[0160] Please refer to Figures 1 and 2 together. The walking robot 1000 includes a chassis module 100 and a shell 200. The shell 200 is mounted on the chassis module 100 to prevent external impurities or moisture from entering the interior of the walking robot 1000. The walking robot 1000 can be configured as a lawn mowing robot, a pesticide spraying robot, a crop harvesting robot, a sweeping robot, a transport robot, etc. In this embodiment, the walking robot 1000 is configured as a lawn mowing robot as an example to describe its structure in detail.

[0161] In some embodiments, for clarity, referring to Figures 1 and 2, the X-axis direction is defined as the length direction of the walking robot 1000, the Y-axis direction as the width direction of the walking robot 1000, and the Z-axis direction as the height direction of the walking robot 1000. The length direction X, width direction Y, and height direction Z of the walking robot 1000 are mutually perpendicular. The length direction X of the walking robot 1000 can refer to the front-back direction of the walking robot 1000. The side of the walking robot 1000 along the positive direction of the X-axis (the direction pointed to by the arrow) is the front, front side, or front end of the walking robot 1000, and the opposite direction of the positive direction of the X-axis is the rear, rear side, or rear end of the walking robot 1000. The width direction Y of the walking robot 1000 can refer to the left-right direction of the walking robot. The length direction X of the walking robot 1000 is parallel to the length direction of the chassis module 100, the width direction Y of the walking robot 1000 is parallel to the width direction of the chassis module 100, and the height direction Z of the walking robot 1000 is parallel to the height direction of the chassis module 100.

[0162] It should be noted that the terms "parallel" and "perpendicular" in this application are not absolute. Perfectly horizontal or approximately parallel due to factors such as processing and assembly errors (e.g., an angle of 0.1° or 1° between two structural features) are all within the scope of "parallel" in this application. Similarly, perfectly horizontal or approximately perpendicular due to factors such as processing and assembly errors (e.g., an angle of 89.9° or 89° between two structural features) are all within the scope of "perpendicular" in this application. This application does not impose specific limitations in these respects.

[0163] It should be noted that the "midpoint P2" of the line L2 connecting the axles of the two second wheels 31 in this application does not strictly refer to the midpoint of the line L2. The midpoint of the line L2 and the points within a set distance from the midpoint are all within the range of the "midpoint P2" in this application. This set range can be 0cm-10cm, for example, points with distances of 0cm, 1cm, 2cm, 5cm, or 10cm from the midpoint.

[0164] Please refer to Figures 1, 2, and 12 together. Figure 12 is a bottom view of the tenth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1. The chassis module 100 includes a frame 10, two first wheels 21, two second wheels 31, a first drive member 22, and a second drive member 32. The two first wheels 21 are respectively mounted at both ends of the frame 10 along the length direction of the chassis module 100. At least one first wheel 21 is configured as an omnidirectional wheel, and the deflection angle of the rotation axis of the two first wheels 21 relative to the length direction of the chassis module 100 is fixed. At least one first wheel 21 is drive-connected to the first drive member 22. The two second wheels 31 are respectively mounted at both ends of the frame 10 along the width direction of the chassis module 100, and the deflection angle of the rotation axis of the two second wheels 31 relative to the length direction of the chassis module 100 is fixed. The two second wheels 31 are drive-connected to the second drive member 32. On the horizontal projection plane perpendicular to the height of the chassis module 100, the rotation axes of the two second wheels 31 are collinear. The angle α1 between the rotation axis of the omnidirectional wheel and the line L3 connecting the midpoint P2 of the line L2 connecting the center of the omnidirectional wheel and the center of the two second wheels 31 is greater than 0° and less than 90°. Note that "collinear arrangement" of the rotation axes of the two second wheels 31 in this application does not mean that the rotation axes of the two second wheels 31 are absolutely coincident. Collinearity, or approximately collinearity of the rotation axes of the two second wheels 31 due to factors such as processing errors and assembly errors (the distance between the rotation axes of the two second wheels 31 is within a set range), are all within the range of "collinear arrangement" in this application. For example, the distance between the rotation axes of the two second wheels 31 is within 0cm-10cm.

[0165] The axle of the first wheel 21 is a point located on or near the rotation axis of the first wheel 21, passing through or near the midpoint of the axial length of the first wheel 21. The axial length of the first wheel 21 refers to the length of the first wheel 21 along a direction parallel to its rotation axis. For example, the area near the rotation axis of the first wheel 21 can be a position within 0cm-10cm of the rotation axis. The axle of the omnidirectional wheel is the axle of the first wheel 21. The axle of the second wheel 31 is a point located on or near the rotation axis of the second wheel 31, passing through or near the midpoint of its axial length. The axial length of the second wheel 31 refers to the length of the second wheel 31 along a direction parallel to its rotation axis. The location near the rotation axis of the second wheel 31 can be, for example, a position with a distance of 0cm-10cm from the rotation axis of the second wheel 31. The location near the midpoint of the axial length of the second wheel 31 can be, for example, a position with a distance of 0cm-10cm from the midpoint of the axial length of the second wheel 31.

[0166] In some embodiments, at least one first wheel 21 is configured as an omnidirectional wheel, and the rotation axes of the two first wheels 21 have a fixed deflection angle relative to the length direction of the chassis module 100, and the rotation axes of the two second wheels 31 have a fixed deflection angle relative to the length direction of the chassis module 100. On a horizontal projection plane perpendicular to the height direction of the chassis module 100, the rotation axes of the two second wheels 31 are collinearly arranged, and the angle α1 between the rotation axis of the omnidirectional wheel and the line L3 connecting the axis of the omnidirectional wheel and the midpoint P2 of the line connecting the axis of the omnidirectional wheel and the axis of the two second wheels 31 is greater than 0° and less than 90°. On the one hand, when the walking robot 1000 controls the differential rotation of the two second wheels 31 to perform on-the-spot turning in complex terrain (such as uphill ground, high grass ground, or low friction terrain such as sandy ground, slippery ground, etc.), the walking robot 1000 can control the rotation of the omnidirectional wheel. Since the angle α1 between the rotation axis of the omnidirectional wheel and the line L3 connecting the midpoint P2 of the line L2 connecting the omnidirectional wheel's axis and the axes of the two second wheels 31 is greater than 0° and less than 90°, meaning the rolling direction D2 of the omnidirectional wheel is set at an angle to the line L3, the traction force F generated by the omnidirectional wheel on the frame 10 when it rotates is spaced apart from the rotation center of the walking robot 1000. This traction force F generates torque on the frame 10 and drives the frame 10 to rotate, thereby providing additional steering driving force for the walking robot 1000, thus improving the walking robot 1000's ability to turn in place and making its turning in place smoother. On the other hand, the deflection angles of the rotation axes of the two first wheels 21 and the two second wheels 31 relative to the frame 10 are fixed, which avoids setting up a complex steering structure in the walking robot 1000, simplifies the structure of the walking robot 1000, reduces the overall weight of the walking robot 1000, and improves the walking power and turning power of the walking robot 1000. On the other hand, the omnidirectional wheels can provide support for the walking robot 1000 in multiple directions to counteract or balance the instability caused by factors such as terrain structure, ground condition, tire structure, and tire material when the two second wheels 31 rotate at different speeds, thereby improving the stability and driving performance of the walking robot 1000. Furthermore, the two first wheels 21 are respectively installed at both ends of the frame 10 along the length of the chassis module 100, and the two second wheels 31 are respectively installed at both ends of the frame 10 along the width of the chassis module 100. Compared to traditional walking robots where both front and rear wheels are arranged along the width of the chassis, the walking robot 1000 in this application has a higher probability of having more wheels in contact with the ground when encountering situations where the chassis module 1000 is lifted up in complex terrain. For example, when the walking robot 1000 experiences a nose-up or tail-up situation, only one of the first wheels 21 will be lifted off the ground, while the other first wheel 21 will remain in contact with the ground.When the first wheel 21 in contact with the ground is connected to the first drive member 22, the walking robot 1000 can control the first drive member 22 to drive the first wheel 21 to rotate. The rotation of the first wheel 21 provides additional traction to the walking robot 1000, enabling it to leave the trapped position and improving its off-road capability. Alternatively, for example, when the walking robot 1000 encounters a ditch or a steep slope causing the second wheel 31 to become suspended off the ground, the walking robot 1000 can control the first drive member 22 to drive the first wheel 21 to rotate. The rotation of the first wheel 21 provides traction, enabling the walking robot 1000 to leave the trapped position and improving its off-road capability. Furthermore, the collinear arrangement of the rotation axes of the two second wheels 31 can also improve the stability of the walking robot 1000 during movement and turning on the spot. The specific value of the included angle α1 can be set according to actual needs and is not specifically limited in this application. For example, the included angle α1 can be 1°, 5°, 10°, 20°, 30°, 45°, 60°, 75°, 80°, etc.

[0167] Exemplarily, both first wheels 21 may be configured as omnidirectional wheels. In some embodiments, one of the two first wheels 21 is configured as an omnidirectional wheel. In some embodiments, the chassis module 100 further includes an axle 33 connected to the frame 10. The two second wheels 31 are respectively mounted on the frame 10 via the axle 33.

[0168] In some embodiments, the two first wheels 21 are respectively driven by the first drive member 22. The first drive member 22 can drive the two first wheels 21 to rotate in the same or opposite directions, at the same speed or at a different speed. In this way, the two first wheels 21 and the two second wheels 31 rotate independently. When the walking robot 1000 is traveling in complex terrain, even if some wheels are suspended in the air, it can still continue to travel or turn in place by the other wheels, thereby improving the walking robot 1000's traveling and turning capabilities, as well as its adaptability to complex terrain and its applicability. In some embodiments, one of the two first wheels 21 is driven by the first drive member 22. The first wheel 21 driven by the first drive member 22 can actively rotate relative to the frame 10 under the drive of the first drive member 22 to drive the frame 10 to move relative to the ground. The other first wheel 21 can rotate under the drive of the frame 10 when the frame 10 moves relative to the ground.

[0169] In some embodiments, the chassis module 100 further includes a controller 40. The controller 40 is connected to the first drive member 22 and the second drive member 32, respectively. The controller 40 can control the rotation direction and speed difference of the two second wheels 31 driven by the second drive member 32 to achieve the movement and steering of the walking robot 1000. Specifically, when the two second wheels 31 rotate in the same direction and the speed difference is zero or approximately zero, the walking robot 1000 travels along the length direction X. When the two second wheels 31 rotate in opposite directions and the speed difference is zero or approximately zero, the walking robot 1000 performs a turn in place. When the absolute value of the speed difference between the two second wheels 31 is greater than zero, the walking robot 1000 turns towards the wheel with the smaller speed. The controller 40 is also used to receive preset commands and control the operation of the first drive member 22 and the second drive member 32 according to the preset commands.

[0170] In some embodiments, the controller 40 controls the two second wheels 31 to rotate together and controls the two first wheels 21 to be unloaded. When the first wheels 21 are unloaded, they can passively rotate relative to the frame 10. When the walking robot 1000 is placed on the ground and the frame 10 moves relative to the ground, the frame 10 can drive the first wheels 21 to rotate relative to the frame 10. This allows the walking robot 1000 to have sufficient driving performance in flat ground, low-resistance environments, while reducing the power consumption of the walking robot 1000 and enabling it to perform turning, stationary turning, and other driving actions. The preset command can be configured as a first command. The controller 40 receives the first command and, according to the first command, controls the second drive unit 32 to drive the two second wheels 31 to rotate together and controls the two first wheels 21 to be unloaded.

[0171] In some embodiments, the controller 40 controls the two first wheels 21 to rotate in opposite directions and the two second wheels 31 to rotate in opposite directions. Thus, when the controller 40 controls the two second wheels 31 to rotate in opposite directions, causing the walking robot 1000 to turn in place around the midpoint P2 of the line connecting the axes of the two second wheels 31, the two first wheels 21 rotate in opposite directions, and the traction force F generated by the two first wheels 21 on the frame 10 is along the rolling direction D2 of the first wheels 21. The traction force F is perpendicular to the line L3 connecting the axis of the omnidirectional wheel and the midpoint P2 of the line connecting the axes of the two second wheels 31. Alternatively, the traction force F can be decomposed into a first component F1 perpendicular to the line L3 and a second component F2 parallel to the line L3. The second component F2 points towards the rotation center of the walking robot 1000. The second components F2 of the two first wheels 21 are collinear, and the mutual cancellation of the two second components F2 can improve the stability of the walking robot 1000 when turning in place. For example, when the walking robot 1000 deviates during a turn in place, the first wheel 21 on the side closer to the deviating direction rotates in a direction similar to the deviating direction. The second component force F2 generated by this first wheel 21 on the frame 10 when rubbing against the ground is small. Conversely, the first wheel 21 on the side farther from the deviating direction rotates in the opposite direction, generating a larger second component force on the frame 10 when rubbing against the ground. This larger second component force F2 generates a traction force on the frame 10 opposite to the deviating direction, thereby reducing or preventing the walking robot 1000 from deviating during a turn in place and improving its stability. The extension direction of the first component force F1 is spaced apart from the rotation center of the walking robot 1000. The traction force F or the first component force F1 creates a torque on the frame 10 centered at the midpoint P2 of the line connecting the axes L2 of the two second wheels 31. This torque tends to cause the frame 10 to rotate around the midpoint P2 of the line connecting the axes L2 of the two second wheels 31, thereby providing additional steering driving force for the walking robot 1000 to overcome the motion resistance when the first wheel 21 swings relative to the ground, thus improving the stationary turning ability of the walking robot 1000 and making the stationary turning of the walking robot 1000 smoother. The preset command can be configured as a second command. The controller 40 receives the second command and controls the first drive member 22 to drive the two first wheels 21 to rotate in opposite directions according to the second command, and also controls the second drive member 32 to drive the two second wheels 31 to rotate in opposite directions.

[0172] In some cases, the walking robot 1000 can also adjust the rotation direction and speed of the two first wheels 21 and the two second wheels 31 in real time to adjust the body posture of the walking robot 1000 and improve the stability of the walking robot 1000 when driving and turning on the spot.

[0173] In some embodiments, the omnidirectional wheel includes at least one wheel assembly 211. Each wheel assembly 211 includes a wheel body 2111 and a plurality of rollers 2112. The rotation axis of the wheel body 2111 is the rotation axis of the omnidirectional wheel, and the omnidirectional wheel rotates about a direction perpendicular to the rotation axis. The plurality of rollers 2112 are arranged at intervals along the circumferential direction of the wheel body 2111. The rollers 2112 are rotatable relative to the wheel body 2111. The rolling direction D1 of the rollers 2112 is perpendicular to the rotation axis of the rollers 2112. Grooves are formed on the rollers 2112 along the circumferential direction of the rollers 2112, and forming grooves can increase the friction between the omnidirectional wheel and the ground when rolling.

[0174] In some embodiments, when the omnidirectional wheel includes multiple wheel sets 211, all wheel sets 211 are coaxially arranged. All wheel sets 211 are fixedly connected together, or all wheel sets 211 are fixedly connected to the axle of the omnidirectional wheel. Along the axial direction of the omnidirectional wheel, the rollers 2112 in adjacent wheel sets 211 are staggered. In the orthographic projection onto a plane perpendicular to the rotation axis of the wheel body 2111, the outlines of all rollers 2112 connect to form a circle, thereby improving the stability of the omnidirectional wheel when rolling on the ground, reducing or eliminating vibration of the walking robot 1000 during travel, and improving stability. The number of wheel sets 211 can be specifically set according to actual needs, and is not specifically limited in this application. For example, wheel sets 211 can be one, two, three, four, etc. The term "circle" in this application does not refer to an absolute circle; approximate circles due to factors such as processing errors and assembly errors are also within the scope of "circle" in this application.

[0175] Please refer to Figures 12 and 13 together. Figure 13 is a bottom view of the eleventh embodiment of the chassis module 100 of the walking robot 1000 in Figure 1. On the horizontal projection plane perpendicular to the height direction of the chassis module 100, the rotation axis of the omnidirectional wheel is parallel to the rotation axis of the second wheel 31. The line L1 connecting the axes of the two first wheels 21 forms an acute angle with the line L2 connecting the axes of the two second wheels 31.

[0176] In the tenth embodiment, the rolling direction D1 of the omnidirectional wheel's roller 2112 is perpendicular to the rolling direction D2 of the omnidirectional wheel. When the walking robot 1000 travels in a straight line along the length direction X, since the rolling direction D1 of the roller 2112 is perpendicular to the rolling direction D2 of the omnidirectional wheel (the rolling direction of the omnidirectional wheel is the same as the rolling direction of the first wheel 21), the roller 2112 hardly rotates. This reduces the power loss of the first wheel 21 when it rotates, increases the traction power of the first wheel 21 on the frame 10, improves driving efficiency, enhances the driving stability of the walking robot 1000, improves motion control accuracy, and reduces wear on the roller 2112.

[0177] In the eleventh embodiment, the rolling direction D1 of the omnidirectional wheel's roller 2112 is perpendicular to the line L3 connecting the omnidirectional wheel's axis and the midpoint P2 of the line connecting the axes of the two second wheels 31. The line L1 connecting the axes of the two first wheels 21 passes through the midpoint P2 of the line connecting the axes of the two second wheels 31, and the rotation axis of the roller 2112 is parallel to the line L3. Thus, when the walking robot 1000 controls the differential rotation of the two second wheels 31 to perform a turn in place, the rolling direction D1 of the roller 2112 is the same as or close to the tangential direction of the omnidirectional wheel's trajectory relative to the ground. This roller 2112 creates rolling friction between the omnidirectional wheel and the ground, thereby reducing the ground's resistance to the omnidirectional wheel's movement, reducing the rotational resistance of the walking robot 1000 during in-place turns, improving the smoothness of in-place turns, increasing motion control accuracy, and reducing wear on the roller 2112. In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module 100, the distance between the midpoint P2 of the line connecting the axles of the two first wheels 21 and the line connecting the axles of the two second wheels 31 is within a preset range. This preset range can be specifically set according to actual needs. For example, it can be specifically set based on the structural dimensions of the frame 10, the arrangement of components in the chassis module 100, the type of the walking robot 1000, etc. For example, the preset range can be 0cm-10cm; for instance, the distance between the midpoint P2 of the line connecting the axles of the two first wheels 21 and the line connecting the axles of the two second wheels 31 can be 0cm, 1cm, 2cm, 5cm, 10cm, etc.

[0178] Please refer to Figures 1, 14, 15, and 16. Figure 14 is a bottom view of the twelfth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1; Figure 15 is a bottom view of the thirteenth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1; and Figure 16 is a bottom view of the fourteenth embodiment of the chassis module 100 of the walking robot 1000 in Figure 1. On a horizontal projection plane perpendicular to the height direction of the chassis module 100, the angle α2 between the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel 31 is greater than 0° and less than 90°. The line L1 connecting the axes of the two first wheels 21 is perpendicular to the line L2 connecting the axes of the two second wheels 31, and the line L1 passes through the midpoint P2 of the line L2 connecting the axes of the two second wheels 31. The rotation axes of the two omnidirectional wheels are respectively set at an angle to the rotation axis of the second wheel 31. Thus, when the walking robot 1000 turns or turns in place, it can control the omnidirectional wheels to rotate, causing the omnidirectional wheels to generate a traction force F on the frame 10. The traction force F is along the rolling direction of the omnidirectional wheels. The midpoint P2 of the line connecting the axles of the two second wheels 31 is spaced apart from the extension direction of the traction force F. The traction force F will generate a rotational torque on the frame 10 with the midpoint P2 of the line connecting the axles of the two second wheels 31 as the center of rotation. This rotational torque tends to make the frame 10 rotate, thereby providing additional steering driving force for the walking robot 1000, improving the driving force of the walking robot 1000 when turning or turning in place, and improving the smoothness of turning or turning in place. In some embodiments, on the horizontal projection plane perpendicular to the height direction of the chassis module 100, the distance between the midpoint P2 of the line connecting the axles of the two first wheels 21 and the line connecting the axles of the two second wheels 31 is within a preset range. The preset range can be specifically set according to actual needs. For example, the preset range can be specifically set according to the structural dimensions of the frame 10, the arrangement of components in the chassis module 100, the type of the walking robot 1000, etc. For example, the preset range can be 0cm-10cm. For instance, the distance between the midpoint P2 of the line connecting the axles of the two first wheels 21 and the line connecting the axles of the two second wheels 31 can be 0cm, 1cm, 2cm, 5cm, 10cm, etc.

[0179] In this embodiment, the direction and magnitude of the angle α2 formed by the rotation axes of the two omnidirectional wheels and the rotation axis of the second wheel 31 can be the same or different. The rotation axes of the two omnidirectional wheels can be parallel or at an angle. The angle α2 between the rotation axes of the omnidirectional wheels and the rotation axis of the second wheel 31 can be specifically set according to actual needs, and is not specifically limited in this application. For example, the angle α2 can be 1°, 5°, 10°, 20°, 30°, 45°, 60°, 75°, 80°, etc. As shown in Figure 14, in the twelfth embodiment, the deflection directions of the two omnidirectional wheels relative to the frame 10 are set to the same direction, and the magnitude of the angle α2 between the rotation axes of the two omnidirectional wheels and the rotation axis of the second wheel 31 is set to be the same. As shown in Figure 15, in the thirteenth embodiment, the deflection directions of the two omnidirectional wheels relative to the frame 10 are set to opposite directions, and the magnitude of the angle α2 between the rotation axes of the two omnidirectional wheels and the rotation axis of the second wheel 31 is set to be the same. In the third and fourth embodiments, the rolling direction D1 of the roller 2112 of the omnidirectional wheel is perpendicular to the rolling direction D2 of the omnidirectional wheel.

[0180] Referring to Figure 16, in the fourteenth embodiment, on the horizontal projection plane perpendicular to the height direction of the chassis module 100, the rolling direction D1 of the omnidirectional wheel's roller 2112 is perpendicular to the line L3 connecting the midpoint P2 of the line connecting the axis of the omnidirectional wheel and the axis of the two second wheels 31. Thus, when the walking robot 1000 controls the two second wheels 31 to rotate differentially for in-place turning, the rolling direction D1 of the roller 2112 is the same as or close to the tangential direction of the omnidirectional wheel's trajectory relative to the ground. The roller 2112 creates rolling friction between the omnidirectional wheel and the ground, thereby reducing the ground's resistance to the omnidirectional wheel's movement, reducing the rotational resistance of the walking robot 1000 when turning in place, improving rotational smoothness, enhancing motion control accuracy, and reducing wear on the roller 2112.

[0181] Please refer to Figures 12, 13, 14, 15, and 16. The line L1 connecting the axles of the two first wheels 21 passes through the midpoint P2 of the line L2 connecting the axles of the two second wheels 31. Alternatively, the distance between the midpoint P2 of the line L1 connecting the axles of the two first wheels 21 and the line L2 connecting the axles of the two second wheels 31 is within a preset range. This preset range can be specifically set according to actual needs. For example, it can be set based on the structural dimensions of the frame 10, the arrangement of components in the chassis module 100, and the type of the walking robot 1000. For instance, the preset range can be 0cm-10cm, such as the distance between the midpoint P2 of the line L1 connecting the axles of the two first wheels 21 and the line L2 connecting the axles of the two second wheels 31 being 0cm, 1cm, 2cm, 5cm, 10cm, etc. Thus, when the walking robot 1000 controls the two second wheels 31 to rotate differentially for in-place turning, the walking robot 1000 can control the two first wheels 21 to rotate in opposite directions. The traction force F generated by the two first wheels 21 on the frame 10 when rotating can be decomposed into a first component force F1 and a second component force F2. The first component force F1 is perpendicular to the connecting line L3. The second component force F2 is parallel to the connecting line L3. The second component force F2 points towards the rotation center of the walking robot 1000 when turning in place. The second component forces F2 of the two first wheels 21 are collinear and cancel each other out, making the walking robot 1000 more stable when turning. The extension direction of the first component force F1 is spaced apart from the rotation center of the walking robot 1000. The traction force F or the first component force F1 forms a torque on the frame 10 centered on the midpoint P2 of the line connecting the axes of the two second wheels 31. This torque tends to cause the frame 10 to rotate around the midpoint P2 of the line connecting the axes of the two second wheels 31, thereby providing additional steering driving force for the walking robot 1000 to overcome the motion resistance when the first wheel 21 swings relative to the ground, thereby improving the steering ability of the walking robot 1000 and making the steering of the walking robot 1000 smoother.

[0182] In some embodiments, the chassis module 100 further includes a cutting element 51. The cutting element 51 is mounted on the frame 10. The cutting element 51 is located at the bottom of the frame 10 (the side of the frame 10 closest to the ground). The cutting element 51 is provided with blades for mowing lawns. On a horizontal projection plane perpendicular to the height direction of the chassis module 100, the cutting element 51 is at least partially located within the quadrilateral region Q1 formed by the lines connecting the axles of the two first wheels 21 and the two second wheels 31. Thus, when the walking robot 1000 is placed on the ground, the front, rear, left, and right sides of the frame 10 are protected by the shielding of the first wheels 21 and the second wheels, preventing the user from touching the cutting element 51 through the gap between the frame 10 and the ground, avoiding injury to the user from the cutting element 51, and improving the safety of using the walking robot 1000. Furthermore, compared to the sides of the frame 10, the four corners of the frame 10 are further away from its center. The cutting element 51 is located within the quadrilateral region Q1, ensuring sufficient distance between the edge of the cutting element 51 and the outer walls of the four corners of the frame 10. This corner protection prevents the user from touching the cutting element 51. The outline of the quadrilateral region Q1 can be, but is not limited to, a rhombus, parallelogram, perpendicular quadrilateral, or other regular or irregular quadrilaterals; no specific limitation is made in this application. When the walking robot 1000 is configured as another type of robot, the chassis module 100 may not include the cutting element 51.

[0183] In some embodiments, on a horizontal projection plane perpendicular to the height direction of the chassis module 100, the cutting element 51 is located at or near the intersection of the line connecting the axles of the two first wheels 21 (L1) and the line connecting the axles of the two second wheels 31 (L2). This ensures that, on the one hand, the cutting element 51 has sufficient distance from the surrounding sides of the frame 10, preventing the user from touching it and improving safety; on the other hand, it allows the mass distribution of the walking robot 1000 to be closer to its center, improving the stability of the walking robot 1000. For example, the distance between the cutting element 51 and the intersection of the line connecting the axles of the two first wheels 21 (L1) and the line connecting the axles of the two second wheels 31 (L2) can be 0cm-10cm, such as 0cm, 1cm, 2cm, 5cm, 10cm, etc.

[0184] In some embodiments, the chassis module 100 further includes a cutting driver 52. The cutting driver 52 is mounted on the frame 10. The cutting driver 52 is drively connected to the cutter 51 and is used to drive the cutter 51 to rotate so that the cutter 51 mows the lawn. The cutting driver 52 may be configured as a motor or may be configured as a driver with other structures. The output shaft of the motor is connected to the cutter 51 or to the cutter 51 through a transmission structure.

[0185] Please refer to Figures 1 and 2 together. The first drive member 22 and / or the second drive member 32 are configured as drive motors to reduce the space occupied by the first drive member 22 and / or the second drive member 32 on the frame 10, improve the structural compactness, and reserve more space for the cutting driver 52. Exemplarily, both the first drive member 22 and the second drive member 32 are configured as drive motors. The output shaft of the drive motor is connected to the corresponding first wheel 21 or second wheel 31, or is driven by the corresponding first wheel 21 or second wheel 31 through a transmission structure. The first drive member 22 may include one drive motor, which is driven by one first wheel 21 or by both first wheels 21 respectively; alternatively, the first drive member 22 may include two drive motors, each driven by one of the two first wheels 21 respectively. The second drive member may include one drive motor, which is driven by both first wheels 21 respectively; alternatively, the second drive member 32 may include two drive motors, each driven by one of the two second wheels 31 respectively. In some embodiments, one of the first drive member 22 and the second drive member 32 is configured as a drive motor, while the other is configured as a drive member of other structures.

[0186] In some embodiments, the drive motor can be configured as a hub motor. A hub motor integrates power, transmission, and braking devices within the wheel hub; it is also known as an in-wheel motor, electric wheel, wheel motor, etc. The hub motor is mounted in the hub of the first wheel 21 and the second wheel 31. The first drive member 22 includes one hub motor mounted in the hub of one of the two first wheels 21, or the first drive member 22 includes two hub motors, each mounted in one of the hubs of the two first wheels 21. The second drive member 32 includes two hub motors. In some embodiments, one of the first drive member 22 and the second drive member 32 is configured as a hub motor, and the other as a driver with other structures; or both the first drive member 22 and the second drive member 32 are configured as drivers with other structures. In some embodiments, the drive motor can also be a non-hub motor, which can be mounted on the frame 10. A non-hub motor refers to a motor whose drive structure is located outside the wheel hub.

[0187] In some embodiments, the center of gravity of the walking robot 1000, projected along the height direction of the chassis module 100, coincides with the midpoint P2 of the line connecting the axles of the two second wheels 31. When the walking robot 1000 controls the differential rotation of the two second wheels 31 to perform a turn in place on a sloping terrain, the coincidence of the center of gravity of the walking robot 1000 with the midpoint P2 of the line connecting the axles of the two second wheels 31 can improve the stability of the walking robot 1000 when turning in place, avoid instability of the walking robot 1000 due to excessive movement of the center of gravity, and prevent the walking robot 1000 from slipping on the slope. In this application, the coincidence of the center of gravity of the walking robot 1000 with the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 does not mean that the center of gravity of the walking robot 1000 and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 are absolutely coincident. Complete coincidence or approximate coincidence of the center of gravity of the walking robot 1000 and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 due to factors such as processing errors and assembly errors (the distance between the center of gravity of the walking robot 1000 and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 is within a predetermined range) are all within the range of "coincidence" in this application. For example, the distance between the center of gravity of the walking robot 1000 and the midpoint P2 of the line L2 connecting the axles of the two second wheels 31 is within 0cm-10cm.

[0188] In some embodiments, the chassis module 100 further includes an elastic suspension 61. The elastic suspension 61 is mounted on the frame 10. The first wheel 21 is mounted on the elastic suspension 61. Two elastic suspensions 61 can be configured, with each of the two first wheels 21 mounted on a corresponding elastic suspension 61. When the walking robot 1000 is moving, due to the terrain, the first wheel 21 will bounce up and down relative to the frame 10 with the undulations of the ground. The elastic suspension 61 can provide elastic cushioning between the first wheel 21 and the frame 10, reducing rigid impact between the first wheel 21 and the frame 10, reducing vibration of the frame 10, and improving the stability of the walking robot 1000 during movement. When the walking robot 1000 passes over a pothole, the elastic suspension 61 can elastically deform, causing the first wheel 21 to enter the pothole and be supported on the bottom wall of the pothole, preventing the frame 10 from touching the ground and avoiding damage to the frame 10. In some embodiments, the elastic suspension 61 may be configured as one, with one of the two first wheels 21 mounted on the elastic suspension 61, to reduce the manufacturing cost of the walking robot 1000. In some embodiments, the elastic suspension 61 may be configured as multiple, with the first wheel 21 and / or the second wheel 31 mounted on the elastic suspension 61, to improve the driving stability of the walking robot 1000. For example, both first wheels 21 may be mounted on the elastic suspension 61.

[0189] In some embodiments, the first wheel 21 and / or the second wheel 31 are located on the side of the frame 10 closest to the ground, or the first wheel 21 and / or the second wheel 31 are located on the side of the frame 10. Exemplarily, the two first wheels 21 are located on the side of the frame 10 closest to the ground to shield the two first wheels 21 from the frame 10 and the housing 200, making the walking robot 1000 more compact and aesthetically pleasing. The two second wheels 31 are located on the side of the frame 10 to provide more installation space inside the body, allowing the interior to accommodate other components, and to increase the wheelbase between the two second wheels 31, improving the walking stability of the walking robot 1000. In some embodiments, both the two first wheels 21 and the two second wheels may be located on the side of the frame 10 closest to the ground to make the walking robot 1000 more compact and aesthetically pleasing. In some embodiments, the two second wheels 31 are located on the side of the frame 10 closest to the ground, and the two first wheels 21 are located on the side of the frame 10. In some embodiments, both the two first wheels 21 and the two second wheels may be located on the side of the frame 10.

[0190] In other embodiments of this application, the cutting disc is a rotating component of the robot used for mowing lawns. When the cutting disc rotates, it can trim lawns or other vegetation. However, existing cutting discs are located at the edge of the frame, making them easy to scratch users and reducing safety during use.

[0191] In view of the above problems, another embodiment of this application provides a chassis component (the term "chassis module" in other embodiments and "chassis component" here refer to the same technical feature) and a walking device (the term "walking robot" in other embodiments and "walking device" here refer to the same technical feature) to solve the technical problem of low safety in the use of chassis components in the prior art.

[0192] Please refer to Figure 1, which is a schematic diagram of the structure of the walking device 1000 provided in an embodiment of this application. The walking device 1000 includes a housing 200 and a chassis assembly 100. The housing 200 is disposed on the chassis assembly 100. Exemplarily, the housing 200 covers the top of the chassis assembly 100, thereby preventing rainwater or other impurities from entering the chassis assembly 100 and causing damage to the chassis assembly 100.

[0193] Please continue referring to Figure 1. The walking device 1000 may include, but is not limited to, hand-held, riding, and fully automatic intelligent walking devices 1000, etc., and this application does not limit it in this regard. The walking device 1000 can move on the ground. For example, the walking device 1000 can move on the ground by being pushed by a user. Or, for example, the walking device 1000 has its own mobility. Exemplarily, the walking device 1000 includes drive wheels, and the walking device 1000 can move automatically on the ground via the drive wheels. The walking device 1000 can be configured as, but is not limited to, a lawnmower, a pesticide sprayer, a crop harvester, a sweeper, a transport device, etc. In this embodiment, the walking device 1000 can be configured as a lawnmower. Of course, in some embodiments, the walking device 1000 can also be, but is not limited to, a sweeper or other intelligent devices.

[0194] It should be noted that Figure 1 is only intended to schematically illustrate the arrangement between the housing 200 and the chassis assembly 100, and is not intended to specifically limit the connection positions, connection relationships, or specific structures of the various components. Figure 1 is merely a schematic diagram of the structure of the walking device 1000 according to an embodiment of this application, and does not constitute a specific limitation on the walking device 1000. In other embodiments of this application, the walking device 1000 may include more or fewer components than shown in Figure 1, or combine certain components, or different components. For example, the walking device 1000 may also include, but is not limited to, a lifting mechanism, connecting cables, safety protection structures, etc. The lifting mechanism is disposed on the chassis assembly 100, and the lifting mechanism is used to drive the chassis assembly 100 to rise and fall, so that the walking device 1000 can meet the walking requirements of different working conditions.

[0195] Please refer to Figures 1 and 17 together. Figure 17 is a bottom view of the fifteenth embodiment of the chassis assembly 100 of the walking device 1000 in Figure 1. The chassis assembly 100 provided in this application includes a frame 10, two first wheels 21, two second wheels 31, and a cutting disc 51 (the term "cutting element" in other embodiments refers to the same technical feature as "cutting disc" here). The two first wheels 21 are respectively mounted at both ends of the frame 10 along the length direction X of the chassis assembly 100, and the two second wheels 31 are respectively mounted on both sides of the frame 10 along the width direction Y of the chassis assembly 100. The cutting disc 51 is disposed on the frame 10, and on a horizontal projection plane perpendicular to the height direction Z of the chassis assembly 100, the cutting disc 51 is at least partially located within the quadrilateral region Q1 formed by connecting the axles of the two first wheels 21 and the axles of the two second wheels 31.

[0196] The chassis assembly 100 provided in this application is based on the fact that the cutting disc 51 is located at least partially within the quadrilateral area Q1 formed by connecting the axles of the two first wheels 21 and the two second wheels 31. Thus, the two first wheels 21 and the two second wheels 31 can shield the cutting disc 51, preventing the user from touching the cutting disc 51, thereby improving the safety and aesthetics of the chassis assembly 100.

[0197] For accuracy, all references to directions herein should be made to Figures 1 and 2. The term "length direction X" refers to the direction of travel of the traveling device 1000, which is the arrangement direction of the two first wheels 21 within the traveling device 1000, i.e., the front-to-back direction (where the positive X-axis is forward). The term "width direction Y" refers to the arrangement direction of the two second wheels 31 within the traveling device 1000, i.e., the left-to-right direction (where the positive Y-axis is right). The term "height direction Z" refers to the direction of the arrangement of the first wheel 21 or second wheel 31 abutting the supporting plane with the highest protruding part of the traveling device 1000, i.e., the up-down direction (where the positive Z-axis is up). The length direction X, width direction Y, and height direction Z together constitute the three orthogonal directions of the traveling device 1000. For ease of description, the up-down, left-to-right, and front-to-back orientations in this application are relative positions and do not constitute a limitation on implementation. In this design, the length direction X of the mobile device 1000 is parallel to the length direction X of the chassis assembly 100, the width direction Y of the mobile device 1000 is parallel to the width direction Y of the chassis assembly 100, and the height direction Z of the mobile device 1000 is parallel to the height direction Z of the chassis assembly 100. The length direction X, width direction Y, and height direction Z of the mobile device 1000 can be customized according to the specific structure of the product and the viewing angle of the accompanying drawings; this application does not impose specific limitations on these aspects.

[0198] It should be noted that the axle center of the first wheel 21 refers to the location point of the center or a nearby midpoint of the first wheel 21. For example, the axle center of the first wheel 21 can be a location point located on the central axis of the first wheel 21 and passing through the midpoint or a nearby midpoint of the axial length of the first wheel 21, where the axial length of the first wheel 21 refers to the length of the first wheel 21 along a direction parallel to the central axis of the first wheel. The axle center of the second wheel 31 refers to the location point of the center or a nearby midpoint of the second wheel 31. For example, the axle center of the second wheel 31 is a location point located on the central axis of the second wheel 31 and passing through the midpoint or a nearby midpoint of the axial length of the second wheel 31, where the axial length of the second wheel 31 refers to the length of the second wheel 31 along a direction parallel to the central axis of the second wheel 31.

[0199] Exemplarily, in the longitudinal direction X of the walking device 1000, the cutting disc 51 is located between two first wheels 21. In some embodiments, one first wheel 21 is mounted on the front side of the frame 10 along the longitudinal direction X of the chassis assembly 100, and the other first wheel 21 is mounted on the rear side of the frame 10 along the longitudinal direction X of the chassis assembly 100. One second wheel 31 is mounted on the left side of the frame 10 along the width direction Y of the chassis assembly 100, and the other second wheel 31 is mounted on the right side of the frame 10 along the width direction Y of the chassis assembly 100.

[0200] In some embodiments, two first wheels 21 may be mounted at the midpoint of two sides of the frame 10 along the length direction X of the chassis assembly 100. Two second wheels 31 may also be mounted at the midpoint of two sides of the frame 10 along the width direction Y of the chassis assembly 100. Of course, in some embodiments, at least one first wheel 21 may be mounted near the end or midpoint of two sides of the frame 10 along the length direction X of the chassis assembly 100. Two second wheels 31 may also be mounted near the midpoint of two sides of the frame 10 along the width direction Y of the chassis assembly 100. Two second wheels 31 are arranged opposite each other along the width direction Y of the traveling device 1000 and are coaxially arranged. This enables differential reversing of the traveling device 1000. Furthermore, compared to existing traveling devices that place four wheels on both sides of the frame along the width direction of the traveling device, with the midpoint of the line connecting the axles of the two rear wheels (i.e., the rotation center) located at the rear of the traveling device, resulting in a relatively large distance between the front wheels and the rotation center, a longer lever arm, and a larger torque acting on the rotation center, which reduces the stability of the traveling device in place, this application... By placing two first wheels 21 at both ends of the frame 10 along the length X of the traveling device 1000, and two second wheels 31 on both sides of the frame 10 along the width Y of the traveling device 1000, the rotation center of the traveling device 1000 is located at or near the middle of the frame 10. Therefore, the distance from each part of the traveling device 1000 to the rotation center is short. When the traveling device 1000 rotates in place on a ramp, the torque generated by the component of gravity of each part of the traveling device 1000 is small, thus improving the stability of the traveling device 1000's rotation in place. The two first wheels 21 can be arranged opposite each other or staggered along the length X of the traveling device 1000. The central axes of the two first wheels 21 can be arranged parallel or at an angle. The positions of the two first wheels 21 and the two second wheels 31 can be set according to actual conditions, and this embodiment does not impose specific limitations.

[0201] As shown in Figure 17, the entire cutting disc 51 is located within the quadrilateral region Q1. In some embodiments, the entire outer edge of the cutting disc 51 is located within the quadrilateral region Q1. Therefore, the distance between the outer edge of the cutting disc 51 and any side of the frame 10 is not too small, preventing the user from touching the cutting disc 51 from the side of the frame 10, avoiding injury to the user from the cutting disc 51, and improving the safety of the mobile device 1000. As shown in Figure 18, Figure 18 is a bottom view of the sixteenth embodiment of the chassis assembly 100 of the mobile device 1000 in Figure 1. A portion of the structure of the cutting disc 51 is located within the quadrilateral region Q1, while the remaining portion of the structure of the cutting disc 51 is located outside the quadrilateral region Q1. In some embodiments, the outer edge of the cutting disc 51 intersects the contour of the quadrilateral region Q1.

[0202] Please refer to Figures 1, 17, and 19 together. Figure 19 is a bottom view of the seventeenth embodiment of the chassis assembly 100 of the walking device 1000 in Figure 1. In some embodiments, the cutting disc 51 is located between two second wheels 31. Thus, the two second wheels 31 can block the cutting disc 51, preventing the user from touching the cutting disc 51 from the side of the frame 10, avoiding injury to the user from the cutting disc 51, and improving the safety of using the walking device 1000.

[0203] In some embodiments, the center of the cutting disc 51 passes through the line connecting the axles of the two second wheels 31. As shown in FIG17, the center of the cutting disc 51 passes through the midpoint of the line connecting the axles of the two second wheels 31, that is, the distance between the cutting disc 51 and one of the second wheels is equal to the distance between the cutting disc 51 and the other second wheel 31. Therefore, the center of gravity of the traveling device 1000 is close to the midpoint of the line connecting the axles of the two second wheels 31, improving the stability of the traveling device 1000. As shown in FIG19, of course, in some embodiments, the center of the cutting disc 51 is spaced apart from the midpoint of the line connecting the axles of the two second wheels 31. For example, the cutting disc 51 may be positioned close to one of the second wheels 31, that is, the distance between the cutting disc 51 and one of the second wheels 31 is greater than the distance between the cutting disc 51 and the other second wheel 31.

[0204] Please refer to Figures 1 and 20 together. Figure 20 is a bottom view of the eighteenth embodiment of the chassis assembly 100 of the walking device 1000 in Figure 1. On the horizontal projection plane, the line connecting the axles of the two first wheels 21 is the first connecting line 301, and the line connecting the axles of the two second wheels 31 is the second connecting line 302. The cutting disc 51 is located at the intersection of the first connecting line 301 and the second connecting line 302. As a result, on the one hand, the distance from the cutting disc 51 to the four corners of the frame 10 is greater than the distance from the cutting disc 51 to the side of the frame 10, and the distance from any side of the frame 10 to the cutting disc 51 is not too close, thereby preventing the user from hitting the cutting disc 51 and improving the safety and aesthetics of the chassis assembly 100; on the other hand, this makes the center of gravity of the walking device 1000 coincide with or close to the intersection of the first connecting line 301 and the second connecting line 302, thereby improving the stability of the walking device 1000 during travel.

[0205] For example, the number of cutting discs 51 can be one. Of course, in some embodiments, the number of cutting discs 51 can also include multiple ones. For example, the number of cutting discs 51 can include two. The two cutting discs 51 are arranged sequentially along the width direction Y of the traveling device 1000 and located between the two second wheels 31. It should be noted that the position of the cutting discs 51 can be determined according to factors such as the spatial layout of the traveling device 1000 and the number of cutting discs 51, and this application does not make specific limitations.

[0206] In some embodiments, the chassis assembly 100 further includes a first drive member 22 and a second drive member 32. The first drive member 22 is driven to the first wheel 21. The first drive member 22 is used to drive the first wheel 21 to rotate. The second drive member 32 is driven to the second wheel 31 and is used to drive the second wheel 31 to rotate. Thus, at least one first wheel 21 and two second wheels 31 can be configured as drive wheels and rotate independently of each other. Exemplarily, in some embodiments, both the first drive member 22 and the second drive member include two. The two first wheels 21 are connected to the two first drive members 22 in a one-to-one correspondence. The two second wheels 31 are connected to the two second drive members 32 in a one-to-one correspondence, so that each second drive member 32 is used to drive the corresponding second wheel 31 to rotate, thereby realizing the differential steering function of the two second wheels 31, so that the walking device 1000 can achieve more flexible and precise steering. Understandably, the walking device 1000 often needs to operate on complex terrain. If only the left and right second wheels 31 are used as drive wheels, the walking device 1000 is prone to a situation where the front and rear first wheels 21 are on the ground while the left and right second wheels 31 are suspended in the air when climbing a slope, which will lead to the walking device 1000 failing to climb the slope. Therefore, the walking device 1000 provided in this application embodiment, by also using at least one of the two first wheels 21 as drive wheels, allows the walking device 1000 to drive at least one first wheel 21 to rotate when rotating in place through the differential speed of the two second wheels 31, thereby increasing the stability of the walking device 1000 in place rotation. Of course, in some embodiments, the number of first drive members 22 may include one, which is used to drive one of the first wheels 21 to rotate; or, the first drive member 22 is used to drive both first wheels 21 to rotate simultaneously. The number of second drive members 32 may also include one, which is used to drive one of the second wheels 31 to rotate; or, the second drive member 32 is used to drive both second wheels 31 to rotate simultaneously.

[0207] In some embodiments, the number of first driving members 22 includes two, with each of the two first wheels 21 being connected to one of the two first driving members 22 in a transmission manner. Thus, both the two first wheels 21 and the two second wheels 31 are configured as driving wheels and rotate independently of each other. Therefore, when the walking device 1000 achieves rotation in place through the differential speed of the two second wheels 31, the stability of the walking device 1000's rotation in place can be increased by driving the two first wheels 21 to rotate in opposite directions at the same speed. It should be noted that when the walking device 1000 is climbing a slope, the speed of the two first wheels 21 can be adjusted in real time according to the actual situation. The first driving member 22 and / or the second driving member 32 can be configured as a drive motor. The drive motor can be a hub motor; or it can be a non-hub motor. It should be noted that a hub motor is a motor that directly integrates the hub and the drive structure into one unit, that is, the motor, transmission, and braking device are all integrated into the hub, commonly known as an electric wheel, also called a wheel motor or wheel motor. A non-hub motor refers to a motor whose drive structure is located outside the hub.

[0208] Please refer to Figures 1, 20, and 21 together. Figure 21 is a bottom view of the nineteenth embodiment of the chassis assembly 100 of the mobile device 1000 in Figure 1. In the nineteenth embodiment, the first drive member 22 and / or the second drive member 32 are configured as hub motors. This reduces the space occupied by the first drive member 22 and / or the second drive member 32 on the frame 10, improves space utilization and transmission efficiency, increases the mobility of the mobile device 1000, reduces the complexity of design changes to the chassis assembly 100, and shortens the development cycle and development cost of the chassis assembly 100. In some embodiments, the first wheel 21 and / or the second wheel 31 each include a hub 201 and a tire disposed on the hub 201. The hub motor is installed inside the hub 201, thereby giving the entire hub motor of the first wheel and / or the second wheel 31 advantages such as compact structure, high space utilization, large output torque, and stable braking. Exemplarily, in some embodiments, both the first drive member 22 and the second drive member 32 are configured as hub motors. Of course, in some embodiments, one of the first driving member 22 and the second driving member 32 is configured as a hub motor, and the other of the first driving member 22 and the second driving member 32 is configured as a non-hub motor; or, both the first driving member 22 and the second driving member 32 are configured as non-hub motors. This application does not impose specific limitations on these embodiments. The structure and driving force of the first driving member 22 and the second driving member 32 can be the same or different.

[0209] In some embodiments, the chassis assembly 100 further includes a mowing motor (the term "cutting driver" in other embodiments refers to the same technical feature as "mowing motor" here) 52. The mowing motor 52 is mounted on the frame 10 and is driveably connected to the cutting disc 51. Thus, since the first drive member 22 and the second drive member 32 can be configured as hub motors, the frame 10 can provide sufficient space for the installation of the mowing motor 52, resulting in a simple and compact structure and high space utilization of the walking device 1000. The mowing motor 52 can be used to drive the cutting disc 51 to rotate, thereby mowing lawns or other vegetation. In some embodiments, the mowing motor 52 can also be used to lift the cutting disc 51 to meet mowing height requirements.

[0210] In some embodiments, the chassis assembly 100 further includes a controller 40. The controller 40 is connected to the mowing motor 52. The controller 40 is used to drive the mowing blades of the mowing motor 52 to perform mowing operations. The controller 40 can also be connected to the first drive member 22 and the second drive member 32. The controller 40 is used to control the two first wheels 21 and the two second wheels 31 to rotate independently, so that the walking device 1000 can meet the walking requirements of different working conditions. For example, the controller 40 is also used to control the first drive member 22 to drive the first wheels 21 to rotate, and to control the second drive member 32 to drive the second wheels 31 to rotate. The first drive member 22 and the second drive member 32 can work simultaneously; or they can work at different times. The controller 40 can control the working mode of the first drive member 22 and the second drive member 32 according to the walking requirements of the walking device 1000 under different working conditions.

[0211] For example, in some embodiments, the controller 40 controls the two first drive members 22 to drive the two first wheels 21 to rotate, and controls the two second drive members 32 to drive the two second wheels 31 to rotate, thereby making the walking device 1000 suitable for climbing scenarios. In some embodiments, the controller 40 controls the two first drive members 22 to drive the two first wheels 21 to rotate, and controls the two second drive members 32 to stop working, so that the two second wheels 31 are in an unloaded state, thereby making the walking device 1000 suitable for straight-line driving scenarios and terrain where the left and right second wheels 31 are easily suspended in the air. In some embodiments, the controller 40 controls the two first drive members 22 to stop working, so that the two first wheels 21 are in an unloaded state, and controls the two second drive members 32 to drive the two second wheels 31 to rotate, thereby making the walking device 1000 suitable for straight-line driving scenarios, turning scenarios, and turning-in-place scenarios. In some embodiments, the controller 40 controls two second drive members 32 to drive two second wheels 31 to rotate, controls one of the first drive members 22 to drive the first wheel 21 located at the front end of the walking device 1000 to rotate, and controls the other first drive member 22 to stop working, so that the first wheel 21 located at the rear end of the walking device 1000 is in an unloaded state, thereby making the walking device 1000 suitable for medium performance and steering scenarios. In some embodiments, the controller 40 controls two second drive members 32 to drive two second wheels 31 to rotate, controls one of the first drive members 22 to drive the first wheel 21 located at the rear end of the walking device 1000 to rotate, and controls the other first drive member 22 to stop working, so that the first wheel 21 located at the front end of the walking device 1000 is in an unloaded state, thereby making the walking device 1000 suitable for medium performance and steering scenarios.

[0212] Please refer again to Figures 1 and 20. On the horizontal projection plane, the outline of the quadrilateral region Q1 is rhomboid. Therefore, when the walking device 1000 rotates in place around the midpoint of the line connecting the axes of the two second wheels 31, it ensures that the walking device 1000 requires minimal space for turning in place, making it suitable for turning in narrow spaces. This enhances the adaptability of the walking device 1000 and improves its maneuverability. Of course, in some embodiments, the outline of the quadrilateral region Q1 can also be, but is not limited to, a perpendicular quadrilateral or other regular or irregular quadrilaterals; this application does not impose specific limitations.

[0213] In some embodiments, on the horizontal projection plane, the midpoint of the line connecting the axles of the two second wheels 31 coincides with the center of gravity of the walking device 1000. Understandably, when the walking device 1000 turns on a slope, insufficient grip of the first wheel 21 may cause the walking device 1000 to slip down the slope. Therefore, on the one hand, when the traveling device 1000 turns on the slope, by controlling the rotation center of the traveling device 1000 to be at the midpoint of the line connecting the axles of the two second wheels 31 and coinciding with the center of gravity of the traveling device 1000, the weight distribution of each part of the traveling device 1000 is made uniform, reducing the centrifugal force caused by uneven weight distribution. Moreover, the two second wheels 31 can evenly distribute the weight of the traveling device 1000, improving the grip of the two second wheels 31, preventing the traveling device 1000 from tilting or tipping over, and improving the stability of the traveling device 1000 rotating in place on the slope, preventing the traveling device 1000 from slipping down the slope. On the other hand, by setting the rotation center of the traveling device 1000 at the midpoint of the line connecting the axles of the two second wheels 31, the controller 40 of the traveling device 1000 can more accurately calculate and control the rotation speed of the first wheel 21 and the second wheel 31, thereby achieving precise control of the traveling device 1000's rotation in place.

[0214] Of course, in some embodiments, on the horizontal projection plane, the midpoint of the line connecting the axles of the two second wheels 31 is at a preset distance from the center of gravity of the chassis assembly 100. It should be noted that the preset distance can be determined based on the vehicle model of the walking device 1000 or the arrangement of its functional components, ensuring that the walking device 1000 can successfully climb slopes, all of which fall within the scope of protection of this application. For example, the center of gravity of the chassis assembly 100 can be located within a preset area. The preset area can be an area with the midpoint of the line connecting the axles of the two second wheels 31 as its center and a radius of a preset radius; or, the preset area can also be the area corresponding to the line connecting the axles of the two second wheels 31; or, the preset area can also be the area perpendicular to the line connecting the axles of the two second wheels. The preset radius is less than or equal to 10 cm. For example, the preset radius can be, but is not limited to, 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, or 10 cm.

[0215] Please refer to Figures 1, 20, and 22 together. Figure 22 is a bottom view of the chassis assembly 100 of the walking device 1000 in Figure 1 according to a twentieth embodiment. In the twentieth embodiment, the chassis assembly 100 includes two first drive members 22 and two second drive members 32. Each first drive member 42 is used to drive the corresponding first wheel 21 to rotate, and each second drive member 32 is used to drive the corresponding second wheel 31 to rotate. On the horizontal projection plane, the first connecting line 301 passes through the midpoint of the second connecting line 302; or, the midpoints of the first connecting line 301 and the second connecting line 302 are separated by a predetermined distance. Therefore, when the second drive unit 32 drives the two second wheels 31 to differentially steer, so that the walking device 1000 rotates in place around the midpoint of the line connecting the axes of the two second wheels 31, the first drive unit 22 drives the two first wheels 21 to rotate in opposite directions, so that the two first wheels 21 can generate mutually canceling traction forces F. The first wheel 21 generates a first component force F1 in the direction perpendicular to the first connecting line 301, and a second component force F2 in the direction of the first connecting line 301. Under the action of the first component force F1, the first wheel 21 rotates in the direction perpendicular to the first connecting line 301, thereby overcoming the resistance of the ground to the swing of the first wheel 21 to a certain extent and improving the smoothness of the walking device 1000's rotation in place. The two first wheels 21 also generate a second component force F2 in opposite directions, thereby improving the stability of the walking device 1000's rotation in place and thus improving the success rate of the walking device 1000's climbing.

[0216] Please refer to Figures 1 and 21 together. In some embodiments, at least one of the two first wheels 21 is configured as an omnidirectional wheel. The omnidirectional wheel includes at least one wheel set 211. Each wheel set 211 includes a wheel body 2111 and a plurality of rollers 2112. The plurality of rollers 2112 are arranged at intervals along the circumferential direction of the wheel body 2111. The rotation axes of the two first wheels 21 are parallel to the rotation axes of the two second wheels 31. In some embodiments, the rotation axes of the two first wheels 21 are parallel to the second connecting line 302, and the rotation axes of the two second wheels 31 are respectively collinear with the second connecting line 302. Thus, on the one hand, the steering of the walking device 1000 can be achieved by the differential speed of the left and right second wheels 31, without the need for a complex steering structure. Furthermore, when the walking device 1000 is turning, the rollers 2112 of the omnidirectional wheels can also reduce the resistance of the ground to the movement of the walking device 1000. On the other hand, by utilizing the omnidirectional movement characteristics of the omnidirectional wheels, the driving and steering capabilities of the walking device 1000 are improved, the labor intensity and steering difficulty are reduced, and the obstacle crossing performance and adaptability to complex ground environments of the walking device 1000 are enhanced.

[0217] Exemplarily, in some embodiments, both first wheels 21 are configured as omnidirectional wheels. An omnidirectional wheel includes two wheel sets 211. The two wheel sets 211 are connected and coaxially arranged. This results in a larger contact area between the omnidirectional wheel and the ground, allowing the walking device 1000 to travel more stably. When facing undulating terrain such as valleys and hills, or obstacles such as sand, gravel, and debris, the walking device 1000's ability to traverse obstructed terrain is improved. Of course, in some embodiments, the omnidirectional wheel may also include one or more wheel sets 211.

[0218] In some embodiments, the rollers 2112 of two adjacent wheel sets 211 are staggered along the circumferential direction of the wheel set 211, and all the rollers 2112 form a complete circle in the vertical plane of the axis of the omnidirectional wheel, thereby improving the contact efficiency between the omnidirectional wheel and the ground, and making the walking device 1000 travel more stably.

[0219] Please refer to Figures 1, 22, 23, 24, and 25 together. Figure 23 is a bottom view of the twenty-first embodiment of the chassis assembly 100 of the walking device 1000 in Figure 1; Figure 24 is a bottom view of the twenty-second embodiment of the chassis assembly 100 of the walking device 1000 in Figure 1; and Figure 25 is a bottom view of the twenty-third embodiment of the chassis assembly 100 of the walking device 1000 in Figure 1. In the twenty-third embodiment, both first wheels 21 are configured as omnidirectional wheels. On the horizontal projection plane, the line connecting the axles of the two second wheels 31 is the second connecting line 302, and the rotation axes of the two second wheels 31 are collinear with the second connecting line 302. The line connecting the axle of the omnidirectional wheel and the midpoint of the second connecting line 302 is the third connecting line 303. The rotation axis of the omnidirectional wheel is set at an angle to the third connecting line 303. The minimum angle formed between the rotation axis of the omnidirectional wheel and the third connecting line 303 is the first angle, denoted as α, where 0° < α < 90°. For example, the first angle can be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70°, or 80°. Specifically, the first wheel 21 and the second wheel 31 can only rotate around their own central axis and do not deflect relative to the frame 10, i.e., they are fixed relative to the frame 10. The central axes of the two second wheels 31 are collinear, and the rolling direction of the omnidirectional wheel is not parallel to the line connecting the axis of the omnidirectional wheel and the midpoint of the line connecting the axes of the two second wheels 31 (i.e., the third connecting line 303). The angle between the rotation axis of the omnidirectional wheel and the third connecting line 303 is greater than 0 degrees and less than 90 degrees. Therefore, when the traveling device 1000 rotates in place around the midpoint of the line connecting the axes of the two second wheels 31, the controller 40 controls the two first wheels 21 to rotate in opposite directions at the same speed. This allows the two omnidirectional wheels to generate a first component force F1 along the swing direction of the omnidirectional wheels when the traveling device 1000 rotates in place. This overcomes the resistance of the ground to the swing of the omnidirectional wheels to a certain extent and improves the smoothness of the traveling device 1000's turning in place. It also allows the two omnidirectional wheels to generate a second component force F2 in opposite directions, thereby improving the stability of the traveling device 1000's turning in place.

[0220] It should be noted that the axis of rotation of the first wheel 21 is its central axis, i.e., the axis of rotation of the omnidirectional wheel is its central axis, and the axis of rotation of the second wheel 31 is its central axis. For ease of description, this paper defines the rolling direction of the roller 2112 as the first direction D1, the rolling direction of the omnidirectional wheel as the second direction D2, and the rolling direction of the second wheel 31 as the third direction D3. The axis of rotation of the omnidirectional wheel is perpendicular to its rolling direction (i.e., the second direction D2). The axis of rotation of the second wheel 31 is perpendicular to its rolling direction (i.e., the third direction D3).

[0221] Please refer again to Figures 22 and 23. On the horizontal projection plane, the axis of rotation of the omnidirectional wheel is parallel to the axis of rotation of the second wheel 31. In some embodiments, the axes of rotation of the two first wheels 21 are parallel, the axes of rotation of the two second wheels 31 are parallel, and the axes of rotation of the first wheels 21 are parallel to the axes of rotation of the second wheels 31. This facilitates the manufacturing and assembly of the first wheels 21 and the second wheels 31 with the frame 10, and allows the walking device 1000 to turn by differential speed of the two second wheels 31, eliminating the need for a complex steering structure. Furthermore, when both the first wheels 21 and the two second wheels 31 are configured as drive wheels, the power of the walking device 1000 can be increased. When the walking device 1000 turns, the rollers 2112 of the omnidirectional wheel can also reduce the resistance of the ground to the movement of the walking device 1000, improving the stability of the walking device 1000 when turning in place.

[0222] As shown in Figures 1 and 23, in some embodiments, the rolling direction of the roller 2112 (i.e., the first direction D1) is perpendicular to the line connecting the axis of the omnidirectional wheel and the midpoint of the second connecting line 302 (i.e., the third connecting line 303). Therefore, when the traveling device 1000 rotates around the midpoint of the line connecting the axes of the left and right second wheels 31, the velocity direction of the front and rear first wheels 21 is the same as or approximately the same as the rolling direction of the roller 2112 to which the first wheel 21 belongs. This reduces the resistance of the ground to the movement of the front and rear first wheels 21, improving the stability of the traveling device 1000 when turning in place.

[0223] As shown in Figures 24 and 25, on the horizontal projection plane, the line connecting the axles of the two first wheels 21 passes through the midpoint of the line connecting the axles of the two second wheels 31, that is, the first connecting line 301 passes through the midpoint of the second connecting line 302, and the first connecting line 301 and the second connecting line 302 are perpendicular. The rotation axis of the omnidirectional wheel is set at an angle to the rotation axis of the second wheel 31, that is, the rolling direction of the omnidirectional wheel (i.e., the second direction D2) is set at an angle to the rolling direction of the second wheel 31 (i.e., the third direction D3). The smallest angle formed by the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel 31 is the second angle, denoted as β, where 0° < β < 90°. For example, the second angle can be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70°, or 80°, etc. Therefore, when the traveling device 1000 rotates around the midpoint of the line connecting the axes of the two second wheels 31, by controlling the two first wheels 21 to rotate in opposite directions, the two omnidirectional wheels can generate a first component force F1 along the swing direction of the omnidirectional wheels when the traveling device 1000 rotates in place. This reduces the resistance of the ground to the movement of the two first wheels 21, improves the smoothness of the traveling device 1000 turning in place, and also generates a second component force F2 in opposite directions, which improves the stability of the traveling device 1000 turning in place.

[0224] Referring again to Figures 1 and 20, in some embodiments, at least one of the two first wheels 21 is configured as an omnidirectional wheel, and the rotation axes of the two first wheels 21 are parallel to the rotation axes of the two second wheels 31. On the horizontal projection plane, the line connecting the axes of the two first wheels 21 is a first connecting line 301, and the line connecting the axes of the two second wheels 31 is a second connecting line 302. The first connecting line 301 and the second connecting line 302 are perpendicular. The rolling direction of the roller 2112 (i.e., the first direction D1) is perpendicular to the first connecting line 301. The line connecting the axes of the two first wheels 21 passes through the midpoint of the line connecting the axes of the two second wheels 31, that is, the first connecting line 301 passes through the midpoint of the second connecting line 302, or the midpoints of the first connecting line 301 and the second connecting line 302 are spaced apart by a predetermined distance. Therefore, when the traveling device 1000 rotates around the midpoint of the line connecting the axes of the two second wheels 31, by controlling the two first wheels 21 to rotate in opposite directions, the two omnidirectional wheels can generate a first component force F1 along the swing direction of the omnidirectional wheels when the traveling device 1000 rotates in place, thereby reducing the resistance of the ground to the movement of the two first wheels 21 and improving the smoothness of the traveling device 1000 turning in place; it can also generate a second component force F2 in opposite directions, which improves the stability of the traveling device 1000 turning in place.

[0225] Please refer again to Figures 1, 20, and 23. In some embodiments, at least one of the two first wheels 21 is configured as an omnidirectional wheel, and the rotation axes of the two first wheels 21 are parallel to the rotation axes of the two second wheels 31. On the horizontal projection plane, the line connecting the axis of the omnidirectional wheel and the midpoint of the second connecting line 302 is the third connecting line 303, and the rolling direction of the roller 2112 (i.e., the first direction D1) is perpendicular to the third connecting line 303. Exemplarily, in some embodiments, the first wheel 21 located at the front end of the walking device 1000 is configured as an omnidirectional wheel, and the rolling direction of the roller 2112 of the omnidirectional wheel is perpendicular to the third connecting line 303. Therefore, by utilizing the speed difference between the left and right second wheels 31, when the walking device 1000 rotates in place around the midpoint of the line connecting the axes of the two second wheels 31, the speed direction of the omnidirectional wheel at the front end of the walking device 1000 is the same as or approximately the same as the rolling direction of the roller 2112. On the one hand, this reduces wear on the roller 2112, and on the other hand, the resistance of the ground to the movement of the omnidirectional wheel is smaller when the walking device 1000 rotates, thus improving the stability of the walking device 1000 when turning in place. Of course, in some embodiments, the first wheel 21 at the rear end of the walking device 1000 is configured as an omnidirectional wheel, and the rolling direction of the roller 2112 of the omnidirectional wheel is perpendicular to the third connecting line 303; or, both the first wheels 21 at the front and rear ends of the walking device 1000 are configured as omnidirectional wheels, and the rolling direction of the roller 2112 of the omnidirectional wheel is perpendicular to the line connecting the axes of the two first wheels 21. Therefore, by utilizing the speed difference between the left and right second wheels 31, when the walking device 1000 rotates in place at the midpoint of the line connecting the axes of the two second wheels 31, the speed direction of the omnidirectional wheel located at the front end of the walking device 1000 is the same as or approximately the same as the rolling direction of the roller 2112. On the one hand, this can reduce the wear on the roller 2112, and on the other hand, the resistance of the ground to the movement of the omnidirectional wheel is smaller when the walking device 1000 rotates, thus improving the stability of the walking device 1000 when turning in place.

[0226] Please refer again to Figures 1, 22, and 23. In some embodiments, at least one of the two first wheels 21 is configured as an omnidirectional wheel, and the rotation axes of the two first wheels 21 are parallel to the rotation axes of the two second wheels 31. On the horizontal projection plane, the line connecting the axes of the two first wheels 21 is the first connecting line 301, and the line connecting the axes of the two second wheels 31 is the second connecting line 302. The line connecting the axes of the two first wheels 21 passes through the midpoint of the line connecting the axes of the two second wheels 31, that is, the first connecting line 301 passes through the midpoint of the second connecting line 302. The minimum included angle formed by the first connecting line 301 and the second connecting line 302 is the third included angle, denoted as γ. Where 0° < γ < 90°, that is, the line connecting the axes of the two first wheels 21 (i.e., the first connecting line 301) and the line connecting the axes of the two second wheels 31 (i.e., the second connecting line 302) are not perpendicular. For example, the third included angle can be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70°, or 80°. The rolling direction of the roller 2112 (i.e., the first direction D1) is parallel to the central axis of the omnidirectional wheel, that is, the rolling direction of the roller 2112 (i.e., the first direction D1) is perpendicular to the rolling direction of the omnidirectional wheel (i.e., the second direction D2). The chassis assembly 100 also includes a first drive member 22, which is used to drive the omnidirectional wheel to rotate. Therefore, on the one hand, the rolling direction of roller 2112 is perpendicular to the rolling direction of omnidirectional wheel. When the traveling device 1000 is moving straight, the omnidirectional wheel rotates but roller 2112 hardly rotates, thereby improving the stability of the straight-moving motion of the traveling device 1000, improving the accuracy of motion control, and reducing the wear on roller 2112. On the other hand, since the first connecting line 301 and the second connecting line 302 are not perpendicular, when the traveling device 1000 rotates in place around the midpoint of the line connecting the axes of the two second wheels 31, the controller 40 controls the two first wheels 21 to rotate in opposite directions at the same speed. This allows the two omnidirectional wheels to generate a first component force F1 along the swing direction of the omnidirectional wheels when the traveling device 1000 is rotating in place, thereby overcoming the resistance of the ground to the swing of the omnidirectional wheels to a certain extent and improving the smoothness of the traveling device 1000 turning in place. It also allows the two omnidirectional wheels to generate a second component force F2 in opposite directions, thereby improving the stability of the traveling device 1000 turning in place.

[0227] Please refer to Figures 1, 23, and 26 together. Figure 26 is a bottom view of the chassis assembly 100 of the walking device 1000 in Figure 1 according to a twenty-fourth embodiment. In the twenty-fourth embodiment, at least one of the two first wheels 21 is configured as an omnidirectional wheel, the rotation axes of the two first wheels 21 are parallel, and the rotation axes of the two second wheels 31 are parallel. As shown in Figure 23, the rotation axes of the first wheels 21 and the rotation axes of the second wheels 31 are parallel. As shown in Figure 26, the rotation axes of the first wheels 21 and the rotation axes of the second wheels 31 are set at an angle. In some embodiments, the minimum angle formed by the rotation axes of the first wheels 21 and the rotation axes of the second wheels 31 is a second angle, denoted as β, where 0° < β < 90°. For example, the second angle can be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70°, or 80°, etc. As shown in Figures 23 and 26, on the horizontal projection plane, the line connecting the axles of the two second wheels 31 is the second connecting line 302, and the line connecting the axle of the omnidirectional wheel and the midpoint of the second connecting line 302 is the third connecting line 303. The rolling direction of the roller 2112 (i.e., the first direction D1) is perpendicular to the third connecting line 303. Therefore, when the traveling device 1000 rotates in place around the midpoint of the line connecting the axles of the two second wheels 31, the oscillation direction of the omnidirectional wheel is the same as or approximately the same as the rolling direction of the roller 2112 to which the first wheel 21 belongs. This reduces wear on the roller 2112 from the ground, decreases the resistance of the ground to the movement of the two first wheels 21, and improves the stability of the traveling device 1000 when turning in place.

[0228] Please refer to Figures 1 and 27 together. Figure 27 is a bottom view of the chassis assembly 100 of the walking device 1000 in Figure 1 according to a twenty-fifth embodiment. In the twenty-fifth embodiment, the chassis assembly 100 includes two first drive members 22 and two second drive members 32. Each first drive member 42 is used to drive the corresponding first wheel 21 to rotate, and each second drive member 32 is used to drive the corresponding second wheel 31 to rotate. Both first wheels 21 are configured as omnidirectional wheels. The rotation axes of the two second wheels 31 are collinear, that is, the rotation axes of the two second wheels 31 are collinear with the second connecting line 302. On the horizontal projection plane, the line connecting the axes of the two first wheels 21 passes through the midpoint of the line connecting the axes of the two second wheels 31, that is, the first connecting line 301 passes through the midpoint of the second connecting line 302, and the first connecting line 301 and the second connecting line 302 are perpendicular. The rotation axis of the omnidirectional wheel is set at an angle to the rotation axis of the second wheel 31. In some embodiments, the rotation axis of the first wheel 21 is perpendicular to the rotation axis of the second wheel 31. The rolling direction of roller 2112 (i.e., the first direction D1) is perpendicular to the axis of rotation of the second wheel 31, that is, the first direction D1 is parallel to the rolling direction of the second wheel 31 (i.e., the third direction D3). Therefore, when the traveling device 1000 is moving straight, the wear of the roller 2112 on the ground can be reduced, and the resistance of the ground to the movement of the traveling device 1000 can be reduced.

[0229] Please refer to Figures 1 and 28 together. Figure 28 is a bottom view of the chassis assembly 100 of the walking device 1000 in Figure 1 according to a twenty-sixth embodiment. In the twenty-sixth embodiment, the chassis assembly 100 includes two first wheels 21, two second wheels 31, a first drive member 22, and a second drive member 32. At least one of the two first wheels 21 is driven by the first drive member 22, and each second wheel 31 is driven by the second drive member 32. The first drive member 22 is used to drive the corresponding first wheel 21 to rotate. The second drive member 32 is used to drive the corresponding second wheel 31 to rotate. Both the two first wheels 21 and the two second wheels 31 can be configured as drive wheels and rotate independently of each other. In some embodiments, the two first wheels 21 are connected to the two first drive members 22 in a one-to-one correspondence, and the two second wheels 31 are connected to the two second drive members 32 in a one-to-one correspondence, so that each second drive member 32 is used to drive the corresponding second wheel 31 to rotate, thereby realizing the differential steering function of the two second wheels 31, so that the walking device 1000 can achieve more flexible and precise steering. Understandably, the walking device 1000 often needs to operate on complex terrain. If only the left and right second wheels 31 are used as drive wheels, the walking device 1000 is prone to a situation where the front and rear first wheels 21 are on the ground while the left and right second wheels 31 are suspended in the air when climbing a slope, which will cause the walking device 1000 to fail to climb the slope. Therefore, the walking device 1000 provided in this application embodiment, by also using at least one of the two first wheels 21 as drive wheels, can increase the stability of the walking device 1000's rotation in place by driving at least one first wheel 21 when the walking device 1000 rotates in place through the differential speed of the two second wheels 31.

[0230] In some embodiments, on the horizontal projection plane, the line connecting the midpoint of the line connecting the axis of the omnidirectional wheel and the axis of the two second wheels 31 (i.e., the third connecting line 303) is perpendicular to the rolling direction of the roller 2112 (i.e., the first direction D1). Therefore, when the traveling device 1000 rotates around the midpoint of the line connecting the axis of the two second wheels 31, the velocity direction of the two first wheels 21 is the same as or approximately the same as the rolling direction of the roller 2112 to which the first wheel 21 belongs. This reduces wear on the roller 2112, and the resistance of the ground to the movement of the omnidirectional wheel is smaller when the traveling device 1000 rotates, improving the stability of the traveling device 1000 when turning in place.

[0231] In other embodiments of this application, when a walking device equipped with omnidirectional wheels turns in place on a slope, the rollers installed on the omnidirectional wheels can move freely, resulting in insufficient grip on the slope and making it easy to slip.

[0232] In view of the above problems, this application provides a walking device (the term "walking robot" in other embodiments refers to the same technical feature as "walking device" here), a control method for the walking device, and an electronic device to solve the technical problem that existing walking devices equipped with omnidirectional wheels are prone to slipping when turning on a slope.

[0233] Referring to Figure 1, the walking device 1000 includes a housing 200 and a chassis assembly (the term "chassis module" in other embodiments refers to the same technical feature as "chassis assembly" here) 100. The housing 200 is disposed on the chassis assembly 100. Exemplarily, the housing 200 covers the top of the chassis assembly 100, thereby preventing rainwater or other impurities from entering the chassis assembly 100 and causing damage to it. The walking device 1000 may include, but is not limited to, hand-held, riding, and fully automatic intelligent walking devices 1000, etc., and this application does not limit it in this regard. The walking device 1000 can move on the ground. For example, the walking device 1000 can move on the ground by being pushed by a user. Alternatively, the walking device 1000 has its own mobility. In some embodiments, the walking device 1000 includes drive wheels, which allow the walking device 1000 to move automatically on the ground. The walking device 1000 can be configured as, but is not limited to, a lawnmower, a pesticide sprayer, a crop harvester, a sweeper, a transport device, etc. In this embodiment, the walking device 1000 can be configured as a lawnmower. Of course, in some embodiments, the walking device 1000 can also be, but is not limited to, a sweeper or other intelligent device.

[0234] It should be noted that Figure 1 is only intended to schematically illustrate the arrangement between the housing 200 and the chassis assembly 100, and is not intended to specifically limit the connection positions, connection relationships, or specific structures of the various components. Figure 1 is merely a schematic diagram of the structure of the walking device 1000 according to an embodiment of this application, and does not constitute a specific limitation on the walking device 1000. In other embodiments of this application, the walking device 1000 may include more or fewer components than shown in Figure 1, or combine certain components, or different components. For example, the walking device 1000 may also include, but is not limited to, a lifting mechanism, connecting cables, safety protection structures, etc. The lifting mechanism is disposed on the chassis assembly 100, and the lifting mechanism is used to drive the chassis assembly 100 to rise and fall, so that the walking device 1000 can meet the walking requirements of different working conditions.

[0235] Please refer to Figures 1 and 29 together. Figure 29 is a structural schematic diagram of the walking device 1000 provided in the second embodiment of this application. The walking device 1000 includes a frame 10, two first wheels 21, two second wheels 31, a second drive unit 32, a controller 40, and a slope sensor 80. The controller 40 is electrically connected to the second drive unit 32 and the slope sensor 80. The two first wheels 21 are disposed at both ends of the frame 10 along the length direction X of the walking device 1000, and the two second wheels 31 are disposed on both sides of the frame 10 along the width direction Y of the walking device 1000. At least one of the two first wheels 21 is configured as an omnidirectional wheel. The controller 40 is connected to the two second drive units 32. The second drive units 32 are drive-connected to the second wheels 31. The slope sensor 80 is used to detect the tilt angle of the frame 10 relative to a preset plane. The controller 40 is used to control the differential rotation of the two second wheels 31 via the second drive unit 32 when the tilt angle is greater than or equal to a preset threshold and the walking device 1000 enters the steering mode, causing the walking device 1000 to rotate in place around the rotation center. The rotation center is either the midpoint of the line connecting the axles of the two second wheels 31 or a position passing through the line connecting the axles of the two second wheels 31 and a preset distance from the midpoint of the line connecting the axles of the two second wheels 31. The center of gravity of the walking device 1000 is located within a preset area, which is a region with the midpoint of the line connecting the axles of the two second wheels 31 as its center and a radius of a preset radius.

[0236] This application provides a walking device 1000. When the tilt angle of the frame 10 relative to a preset plane is greater than or equal to a preset threshold, and the walking device 1000 enters a turning mode, the second drive member 32 drives the two second wheels 31 to rotate differentially, causing the walking device 1000 to rotate in place around the rotation center. Therefore, on the one hand, when the walking device 1000 turns on a slope, by controlling the walking device 1000 to rotate in place around the rotation center, since the center of gravity of the walking device 1000 is located within a preset area, the center of gravity of the walking device 1000 coincides with or is approximately coincident with the rotation center of the walking device 1000, thereby making the weight distribution of each part of the walking device 1000 uniform and reducing the centrifugal force caused by uneven weight distribution. Furthermore, the two second wheels 31 on the left and right can evenly distribute the weight of the traveling device 1000, improving the grip of the two second wheels 31, preventing the traveling device 1000 from tilting or tipping over, and improving the stability of the traveling device 1000 when rotating in place on a slope, preventing the traveling device 1000 from slipping down the slope. On the other hand, by setting the rotation center of the traveling device 1000 in place at or near the midpoint of the line connecting the axles of the two second wheels 31, the controller 40 of the traveling device 1000 can more accurately calculate and control the rotation speed of the first wheel 21 and the second wheel 31, thereby achieving precise control of the traveling device 1000's rotation in place. On the other hand, existing walking devices have four wheels positioned on both sides of the frame along the width direction of the walking device, with the midpoint of the line connecting the axles of the two rear wheels (i.e., the rotation center) located at the rear of the walking device. This results in a relatively long distance between the front wheels and the rotation center of the walking device, leading to a longer lever arm and a larger torque from the front wheels acting on the rotation center, which reduces the stability of the walking device's rotation in place. Compared to robots in the prior art, this application positions two first wheels 21 at both ends of the frame 10 along the length direction X of the walking device 1000, and two second wheels 31 on both sides of the frame 10 along the width direction Y of the walking device 1000. This positions the rotation center of the walking device 1000 at or near the middle of the frame 10. Consequently, the distance from each part of the walking device 1000 to the rotation center is shorter. When the walking device 1000 rotates in place on a ramp, the torque generated by the component of gravity of each part of the walking device 1000 is smaller, thus improving the stability of the walking device 1000's rotation in place.

[0237] It should be noted that the axle center of the first wheel 21 refers to the center or a point near the center of the first wheel 21. For example, the axle center of the first wheel 21 can be located on the central axis of the first wheel 21, passing through the midpoint or a point near the center of the axial length of the first wheel 21. The axial length of the first wheel 21 refers to the length of the first wheel 21 along a direction parallel to its central axis. The axle center of the second wheel 31 refers to the center or a point near the center of the second wheel 31. For example, the axle center of the second wheel 31 is located on the central axis of the second wheel 31, passing through the midpoint or a point near the center of the axial length of the second wheel 31. The axial length of the second wheel 31 refers to the length of the second wheel 31 along a direction parallel to its central axis. The term "preset plane" can be any plane. For example, if the relative angle between a preset plane and the sea level is known to be 20 degrees, and the tilt angle of the frame 10 relative to the preset plane is detected to be 30 degrees, then the tilt angle of the frame relative to the sea level can be calculated to be 50 degrees. Of course, the preset plane can be the sea level, which is parallel to the horizontal plane.

[0238] In some embodiments, the center of gravity of the chassis assembly 100 coincides with the midpoint of the line connecting the axles of the two second wheels 31, thereby enabling the controller 40 of the traveling device 1000 to more accurately calculate and control the rotational speeds of the first wheel 21 and the second wheel 31, thus achieving precise control over the stationary rotation of the traveling device 1000. Of course, in some embodiments, on the horizontal projection plane, the midpoint of the line connecting the axles of the two second wheels 31 is spaced at a preset distance from the center of gravity of the traveling device 1000. The preset distance can be set according to the vehicle model of the traveling device 1000 or the arrangement of its functional elements, as long as it ensures that the traveling device 1000 can successfully climb a slope, it falls within the scope of protection of this application. The preset area can be a region with the midpoint of the line connecting the axles of the two second wheels 31 as its center and a radius of a preset radius. The preset radius is less than or equal to the preset distance. In some embodiments, the preset area may be the area corresponding to the left-right displacement of the midpoint of the line connecting the axles of the two second wheels 31; or, the preset area may be the area corresponding to the front-back displacement of the midpoint of the line connecting the axles of the two second wheels 31.

[0239] For accuracy, all references to directions herein should be made to Figures 1 and 2. The term "length direction X" refers to the travel direction of the traveling device 1000, which is the arrangement direction of the two first wheels 21 within the traveling device 1000, i.e., the front-to-back direction (where the positive X-axis is forward). The term "width direction Y" refers to the arrangement direction of the two second wheels 31 within the traveling device 1000, i.e., the left-to-right direction (where the positive Y-axis is right). The term "height direction Z" refers to the direction of the arrangement of the first wheel 21 or second wheel 31 abutting the supporting plane with the highest protruding part of the traveling device 1000, i.e., the up-down direction (where the positive Z-axis is up). The length direction X, width direction Y, and height direction Z together constitute the three orthogonal directions of the traveling device 1000. For ease of description, the up-down, left-to-right, and front-to-back orientations in this invention are relative positions and do not constitute a limitation on implementation. In this configuration, the length direction X of the mobile device 1000 is parallel to the length direction X of the chassis assembly 100; the width direction Y of the mobile device 1000 is parallel to the width direction Y of the chassis assembly 100; and the height direction Z of the mobile device 1000 is parallel to the height direction Z of the chassis assembly 100. The length direction X, width direction Y, and height direction Z of the mobile device 1000 can be customized according to the specific structure of the product and the viewing angle shown in the accompanying drawings; this application does not impose specific limitations.

[0240] In some embodiments, two first wheels 21 may be mounted at the midpoint of two sides of the frame 10 along the length direction X of the chassis assembly 100. Two second wheels 31 may also be mounted at the midpoint of two sides of the frame 10 along the width direction Y of the chassis assembly 100. In some embodiments, at least one first wheel 21 may be mounted near the end or midpoint of two sides of the frame 10 along the length direction X of the chassis assembly 100. Two second wheels 31 may also be mounted near the midpoint of two sides of the frame 10 along the width direction Y of the chassis assembly 1000. The two second wheels 31 are arranged opposite to each other along the width direction Y of the traveling device 1000 and are coaxial, thereby enabling the differential reversing function of the traveling device 1000. The two first wheels 21 may be arranged opposite to each other or staggered along the length direction X of the traveling device 1000. The central axes of the two first wheels 21 may be arranged parallel or at an angle. The positions of the two first wheels 21 and the two second wheels 31 can be set according to actual conditions, and this application embodiment does not impose specific limitations.

[0241] In some embodiments, both second wheels 31 are configured as drive wheels. The walking device 1000 includes two second drive members 32. The two second wheels 31 are connected one-to-one with the two second drive members 32, so that each second drive member 32 is used to drive the corresponding second wheel 31 to rotate, thereby realizing the differential steering function of the two second wheels 31. This allows the walking device 1000 to achieve more flexible and precise steering, and enables the walking device 1000 to operate on complex terrain as often as possible. In some embodiments, the walking device 1000 includes one second drive member 32, which is used to drive one of the second wheels 31 to rotate; or, the second drive member 32 is used to drive both second wheels to rotate simultaneously.

[0242] In some embodiments, the slope sensor 80 is disposed on the frame 10. The slope sensor 80 can be directly mounted on the frame 10; or it can be indirectly mounted on the frame 10 through other functional components of the walking device 1000, thereby realizing the detection of the tilt angle of the frame 10 relative to a preset plane. The slope sensor 80 may include, but is not limited to, at least one of a gravity acceleration sensor, a gyroscope, a total station, a laser rangefinder, and a magnetometer.

[0243] In some embodiments, the walking device 1000 further includes a counterweight 90. The counterweight 90 is movably mounted on the frame 10. The controller 40 controls the counterweight 90 to move relative to the frame 10 to a target position, wherein, when the counterweight 90 is at the target position, the center of gravity of the walking device 1000 coincides with the midpoint of the line connecting the axles of the two second wheels 31. The walking device 1000 may also include a driver connected to the controller 40, which controls the driver to drive the counterweight 90 to move relative to the frame 10. In some embodiments, the walking device 1000 further includes a guide rail. The guide rail is mounted on the frame 10, and the counterweight 90 slides against the guide rail, thereby improving the smoothness and reliability of the movement of the counterweight 90 relative to the frame 10.

[0244] In some embodiments, the controller 40 is further configured to determine the target position of the counterweight 90 relative to the frame 10 corresponding to the current tilt angle of the frame 10, based on a predefined correspondence between the tilt angle of the frame 10 and the position of the counterweight 90.

[0245] In some embodiments, the walking device 1000 further includes a center of gravity detector 95. The center of gravity detector 95 is connected to the controller 40. The center of gravity detector 95 is disposed on the frame 10 of the walking device and is used to detect the current center of gravity position of the walking device 1000. The center of gravity detector 95 can be, but is not limited to, an accelerometer, a gyroscope, etc. The controller 40 is also used to acquire the current center of gravity position of the walking device 1000 detected by the center of gravity detector, and determine the target position for the counterweight 90 to move relative to the frame 10 based on the current center of gravity position of the walking device 1000.

[0246] Please refer to Figures 29 and 30 together. Figure 30 is a structural schematic diagram of the walking device 1000 provided in the third embodiment of this application. In some embodiments, the counterweight 90 may include a first counterweight 91 and a second counterweight 92. The first counterweight 91 moves relative to the frame 10 along the line connecting the axes of the two first wheels 21. The second counterweight 92 moves relative to the frame 10 along the line connecting the axes of the two second wheels 31. The controller 40 is also used to control the first counterweight 91 to move a first preset distance relative to the frame 10 along the line connecting the axes of the two first wheels 21; and / or, to control the second counterweight 92 to move a second preset distance relative to the frame 10 along the line connecting the axes of the two second wheels 31. Therefore, since the first counterweight 91 can move relative to the frame 10 along the line connecting the axes of the two first wheels 21, and the second counterweight 92 can move relative to the frame 10 along the line connecting the axes of the two second wheels 31, it is convenient for the traveling equipment 1000 to adjust the first counterweight 91 and the second counterweight 92 so that the weight distribution of each part of the traveling equipment 1000 in the length direction X and the width direction Y is uniform, preventing the traveling equipment 1000 from tilting or tipping over, and improving the stability of the traveling equipment 1000 in place.

[0247] It should be noted that the number of counterweights 90 and their movement path can be set according to factors such as the spatial layout of the various functional components of the walking device 1000 and the arrangement of the first wheel 21 and the second wheel 31. This application embodiment does not impose specific limitations. For example, the number of counterweights 90 can be two, three, or more, and the counterweights 90 move relative to the frame 10 along a preset trajectory. The preset trajectory can be a regular or irregular trajectory such as a circle, ellipse, S-shape, zigzag, or straight line.

[0248] Please refer to Figures 1, 29, and 17 together. In some embodiments, the chassis assembly 100 of the walking device 1000 further includes a cutting disc 51 (the term "cutting element" in other embodiments refers to the same technical feature as "cutting disc" here). The cutting disc 51 is disposed on the frame 10. On a horizontal projection plane perpendicular to the height direction Z of the chassis assembly 100, the cutting disc 51 is at least partially located within the quadrilateral region Q1 formed by the connection of the axles of the two first wheels 21 and the two second wheels 31. Using the chassis assembly 100 provided in this application, based on the fact that the cutting disc 51 is at least partially located within the quadrilateral region Q1 formed by the connection of the axles of the two first wheels 21 and the two second wheels 31, the two first wheels 21 and the two second wheels 31 can shield the cutting disc 51, preventing the user from touching it, thus improving the safety and aesthetics of the chassis assembly 100. The cutting disc 51 and the counterweight 90 are disposed independently of each other. In some embodiments, the cutting disc 51 can be configured as a counterweight 90, thereby eliminating the need for an additional counterweight 90 in the mobile device 1000, reducing production costs and improving structural compactness. The controller 40 is also used to control the cutting disc 51 to move relative to the frame 10 along a preset trajectory, such that the center of gravity of the mobile device 1000 coincides with the midpoint of the line connecting the axles of the two second wheels. Exemplarily, the preset trajectory is a straight line. The preset trajectory can be, but is not limited to, the path corresponding to the line connecting the axles of the two first wheels 21; and / or the path corresponding to the line connecting the axles of the two second wheels 31.

[0249] Exemplarily, in some embodiments, the cutting disc 51 is located between two first wheels 21 along the length X of the walking device 1000. One of the first wheels 21 is mounted on the front side of the frame 10 along the length X of the chassis assembly 100, and the other of the first wheels 21 is mounted on the rear side of the frame 10 along the length X of the chassis assembly 100. One of the second wheels 31 is mounted on the left side of the frame 10 along the width Y of the chassis assembly 100, and the other of the second wheels 31 is mounted on the right side of the frame 10 along the width Y of the chassis assembly 100.

[0250] As shown in Figure 17, the entire cutting disc 51 is located within the quadrilateral region Q1. In some embodiments, the entire outer edge of the cutting disc 51 is located within the quadrilateral region Q1. Therefore, the distance between the outer edge of the cutting disc 51 and any side of the frame 10 is not too small, preventing the user from touching the cutting disc 51 from the side of the frame 10, avoiding injury to the user from the cutting disc 51, and improving the safety of the mobile device 1000.

[0251] Please refer to Figures 1 and 18 together. As shown in Figure 18, in some embodiments, a portion of the structure of the cutting disc 51 is located within the quadrilateral region Q1, while the remaining portion of the structure of the cutting disc 51 is located outside the quadrilateral region Q1. In some embodiments, the outer edge of the cutting disc 51 intersects the contour of the quadrilateral region Q1.

[0252] Please refer to Figures 1, 17, and 19 together. In some embodiments, the cutting disc 51 is located between two second wheels 31. Thus, the two second wheels 31 can block the cutting disc 51, preventing the user from touching it from the side of the frame 10, avoiding injury to the user from the cutting disc 51, and improving the safety of the mobile equipment 1000.

[0253] In some embodiments, the center of the cutting disc 51 passes through the line connecting the axles of the two second wheels 31. In some embodiments, as shown in FIG17, the center of the cutting disc 51 coincides with the midpoint of the line connecting the axles of the two second wheels 31, that is, the distance between the cutting disc 51 and one of the second wheels 31 is equal to the distance between the cutting disc 51 and the other second wheel 31. Therefore, the center of gravity of the traveling device 1000 is close to the midpoint of the line connecting the axles of the two second wheels 31, improving the stability of the traveling device 1000. As shown in FIG19, in some embodiments, the midpoints of the lines connecting the center of the cutting disc 51 and the axles of the two second wheels 31 are spaced apart. For example, the cutting disc 51 may be positioned close to one of the second wheels 31, that is, the distance between the cutting disc 51 and one of the second wheels 31 is greater than the distance between the cutting disc 51 and the other second wheel 31.

[0254] Please refer to Figures 1 and 31 together. Figure 31 is a bottom view of the twenty-seventh embodiment of the chassis assembly 100 of the walking device 1000 in Figure 1. On the horizontal projection plane, the line connecting the axles of the two first wheels 21 is the first connecting line 301, and the line connecting the axles of the two second wheels 31 is the second connecting line 302. The cutting disc 51 is located at the intersection of the first connecting line 301 and the second connecting line 302. Thus, on the one hand, the distance from the cutting disc 51 to the four corners of the frame 10 is greater than the distance from the cutting disc 51 to the side of the frame 10, and the distance from any side of the frame 10 to the cutting disc 51 is not too close, thereby preventing the user from hitting the cutting disc 51 and improving the safety and aesthetics of the chassis assembly 100; on the other hand, the center of gravity of the walking device 1000 is set to coincide with or be close to the intersection of the first connecting line 301 and the second connecting line 302, thereby improving the stability of the walking device 1000 during travel.

[0255] Exemplarily, in some embodiments, the number of cutting discs 51 can be one. Of course, in some embodiments, the number of cutting discs 51 can also include multiples. For example, two cutting discs 5051 can be included. The two cutting discs 5051 are arranged sequentially along the width direction Y of the traveling device 1000 and located between the two second wheels 31. It should be noted that the position of the cutting discs 51 can be determined based on factors such as the spatial layout of the traveling device 1000 and the number of cutting discs 51, and this application does not impose specific limitations.

[0256] In some embodiments, the chassis assembly 100 of the walking device 1000 further includes a first drive member 22. The first drive member 22 is drively connected to the first wheel 21. Thus, both the first wheel 21 and the two second wheels 31 can be configured as drive wheels and rotate independently of each other. Understandably, the walking device 1000 often needs to operate on complex terrain. If only the left and right second wheels 31 are used as drive wheels, the walking device 1000 is prone to a situation where the front and rear first wheels 21 are on the ground while the left and right second wheels 31 are suspended in the air when climbing a slope, which may lead to the walking device 1000 failing to climb the slope. Therefore, the walking device 1000 provided in this application embodiment, by also using at least one of the two first wheels 21 as drive wheels, allows the walking device 1000 to rotate in place by driving at least one first wheel 21 when rotating in place through the differential speed of the two second wheels 31, thereby increasing the stability of the walking device 1000's rotation in place.

[0257] In some embodiments, the number of first driving members 22 includes two, with two first wheels 21 correspondingly connected to the two first driving members 22. Thus, both the two first wheels 21 and the two second wheels 31 are configured as drive wheels and rotate independently of each other. Therefore, when the walking device 1000 achieves rotation in place through the differential speed of the two second wheels 31, the stability of the walking device 1000's rotation in place can be increased by driving the two first wheels 21 to rotate in opposite directions at the same speed. Of course, in some embodiments, the walking device 1000 may include one first driving member 22 for driving one of the first wheels 21 to rotate; or, the first driving member 22 may be used to drive both first wheels to rotate simultaneously.

[0258] It should be noted that when the walking device 1000 is climbing a slope, the speed of the two first wheels 21 can be adjusted in real time according to the actual situation. For example, in some embodiments, the controller 40 controls the two second drive members 32 to drive the two second wheels to rotate respectively, and controls the two first drive members 22 to drive the two first wheels 21 to rotate respectively, so that the walking device 1000 can be used in climbing scenarios. In some embodiments, the controller 40 controls the two second drive members 32 to stop working so that the two second wheels 31 are in an unloaded state, and controls the two first drive members 22 to drive the two first wheels 21 to rotate respectively, so that the walking device 1000 can be used in straight-line driving scenarios and terrain where the left and right second wheels 31 are easily suspended in the air. In some embodiments, the controller 40 controls the two second drive members 32 to drive the two second wheels 31 to rotate respectively, and controls the two first drive members 22 to stop working so that the two first wheels 21 are in an unloaded state, so that the walking device 1000 can be used in straight-line driving scenarios, turning scenarios, and turning-in-place scenarios. In some embodiments, the controller 40 controls two second drive members 32 to drive two second wheels 31 to rotate, controls one of the first drive members 22 to drive the first wheel 21 located at the front end of the walking device 1000 to rotate, and controls the other first drive member 22 to stop working, so that the first wheel 21 located at the rear end of the walking device 1000 is in an unloaded state, thereby making the walking device 1000 suitable for medium performance and steering scenarios. In some embodiments, the controller 40 controls two second drive members 32 to drive two second wheels 31 to rotate, controls one of the first drive members 22 to drive the first wheel 21 located at the rear end of the walking device 1000 to rotate, and controls the other first drive member 22 to stop working, so that the first wheel 21 located at the front end of the walking device 1000 is in an unloaded state, thereby making the walking device 1000 suitable for medium performance and steering scenarios.

[0259] Please refer to Figures 1 and 31 together. On the horizontal projection plane, the outline of the quadrilateral region Q1 is rhomboid. Therefore, when the walking device 1000 rotates in place around the midpoint of the line connecting the axes of the two second wheels 31, it ensures that the walking device 1000 requires minimal space for turning in place, making it suitable for turning in narrow spaces. This enhances the adaptability of the walking device 1000 and improves its maneuverability. Of course, in some embodiments, the outline of the quadrilateral region Q1 can also be, but is not limited to, a perpendicular quadrilateral or other regular or irregular quadrilaterals; this application does not impose specific limitations.

[0260] Please refer to Figures 1, 29, 31, and 21. The second drive component 32 and / or the first drive component 22 can be configured as a drive motor. The drive motor can be a hub motor; or it can be a non-hub motor. It should be noted that a hub motor is a motor that directly integrates the hub and the drive structure into one unit, that is, the motor, transmission, and braking device are all integrated into the hub, commonly known as an electric wheel, also called a wheel motor or wheel motor. A non-hub motor refers to a motor whose drive structure is located outside the hub. Exemplarily, in some embodiments, the second drive component 32 and / or the first drive component 22 are configured as hub motors. This reduces the space occupied by the second drive component 32 and / or the first drive component 22 on the frame 10, improves space utilization and transmission efficiency, increases the mobility of the mobile equipment 1000, reduces the complexity of design changes to the chassis assembly 100, and shortens the development cycle and development cost of the chassis assembly 100. In some embodiments, the first wheel 21 and / or the second wheel 31 each include a hub 201 and a tire disposed on the hub 201. The hub motor is installed inside the hub 201, thereby giving the entire hub motor of the first wheel 21 and / or the second wheel 31 advantages such as compact structure, high space utilization, large output torque, and stable braking. Exemplarily, in this embodiment, both the second drive member 32 and the first drive member 22 are configured as hub motors. Of course, in some embodiments, one of the second drive member 32 and the first drive member 22 is configured as a hub motor, and the other is configured as a non-hub motor; or, both the second drive member 32 and the first drive member 22 are configured as non-hub motors. This application does not specifically limit the embodiments. The structure and driving force of the second drive member 32 and the first drive member 22 can be the same or different.

[0261] In some embodiments, the chassis assembly 100 further includes a mowing motor 52 (the term "cutting driver" in other embodiments refers to the same technical feature as "mowing motor" here). The mowing motor 52 is mounted on the frame 10 and is drivenly connected to the cutting disc 51. Thus, the frame 10 provides sufficient space for the installation of the mowing motor 52, resulting in a simple and compact structure and high space utilization of the mobile device 1000. The mowing motor 52 can be used to drive the cutting disc 51 to rotate, thereby mowing lawns or other vegetation. In some embodiments, the mowing motor 52 can also drive the cutting disc 51 to rise and fall, thereby meeting the requirements for mowing height.

[0262] In some embodiments, the chassis assembly 100 further includes a controller 40. The controller 40 is connected to the mowing motor 52. The controller 40 is used to drive the mowing blades of the mowing motor 52 to perform mowing operations. The controller 40 can also be connected to the second drive member 32 and the first drive member 22. The controller 40 is used to control the two first wheels 21 and the two second wheels 31 to rotate independently, so that the walking device 1000 can meet the walking requirements of different working conditions. For example, the controller 40 is also used to control the second drive member 32 to drive the second wheels 31 to rotate, and to control the first drive member 22 to drive the first wheels 21 to rotate. The second drive member 32 and the first drive member 22 can work simultaneously; or they can work at different times. The controller 40 can control the working mode of the second drive member 32 and the first drive member 22 according to the walking requirements of the walking device 1000 under different working conditions.

[0263] Referring to Figures 1 and 21, in some embodiments, at least one of the two first wheels 21 is configured as an omnidirectional wheel. An omnidirectional wheel includes at least one wheel set 211, each wheel set 211 including a wheel body 2111 and a plurality of rollers 2112, the rollers 2112 being arranged at intervals along the circumferential direction of the wheel body 2111. Thus, by utilizing the omnidirectional movement characteristic of the omnidirectional wheel, the driving and steering capabilities of the mobile device 1000 are improved, reducing labor intensity and steering difficulty, and enhancing the obstacle-crossing performance and adaptability to complex ground environments of the mobile device 1000.

[0264] Exemplarily, in some embodiments, both first wheels 21 are configured as omnidirectional wheels. An omnidirectional wheel includes two wheel sets 211. The two wheel sets 211 are connected and coaxially arranged. This results in a larger contact area between the omnidirectional wheel and the ground, allowing the walking device 1000 to travel more stably. When facing undulating terrain such as valleys and hills, or obstacles such as sand, gravel, and debris, the walking device 1000's ability to traverse obstructed terrain is improved. Of course, in some embodiments, the omnidirectional wheel may also include one or more wheel sets 211.

[0265] In some embodiments, the rollers 2112 of two adjacent wheel sets 211 are staggered along the circumferential direction of the wheel set 211, and all the rollers 2112 form a complete circle in the vertical plane of the axis of the omnidirectional wheel, thereby improving the contact efficiency between the omnidirectional wheel and the ground, and making the walking device 1000 travel more stably.

[0266] Please refer to Figures 1, 31, and 32 together. Figure 32 is a bottom view of a twenty-eighth embodiment of the chassis assembly 100 of the walking device 1000 in Figure 1. In some embodiments, the walking device 1000 includes a second drive member 32 and a first drive member 22. At least one of the two first wheels 21 is configured as an omnidirectional wheel, and the first drive member 22 is used to drive the omnidirectional wheel to rotate. The omnidirectional wheel includes a wheel body 2111 and a plurality of rollers 2112 disposed on the wheel body 2111. The rotation axes of the two first wheels 21 are parallel to the rotation axes of the two second wheels 31. On a horizontal projection plane perpendicular to the height direction of the walking device 1000, the line connecting the axles of the two first wheels 21 is the first connecting line 301, and the line connecting the axles of the two second wheels 31 is the second connecting line 302. The first connecting line 301 passes through the midpoint of the second connecting line 302, and the minimum included angle formed by the first connecting line 301 and the second connecting line 302 is the first included angle, denoted as α. Where 0° < α < 90°, meaning the line connecting the axles of the two first wheels 21 (i.e., the first connecting line 301) and the line connecting the axles of the two second wheels 31 (i.e., the second connecting line 302) are not perpendicular. For example, the first included angle can be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70°, or 80°, etc. The rolling direction of roller 2112 (i.e., the first direction D1) is parallel to the central axis of the omnidirectional wheel, that is, the rolling direction of roller 2112 (i.e., the first direction D1) is perpendicular to the rolling direction of the omnidirectional wheel (i.e., the second direction D2), and the rolling direction of roller 2112 (i.e., the first direction D1) is parallel to the rotation axis of the omnidirectional wheel.

[0267] Understandably, when the controller 40 controls the walking device 1000 to rotate in place around the rotation center, the second drive member 32 drives the two second wheels 31 on the left and right to rotate in opposite directions, and the first drive member 22 drives the two first wheels 21 at the front and rear to rotate in opposite directions, so that the two first wheels 21 can generate mutually canceling traction forces F. The first wheel 21 generates a first component force F1 in the direction perpendicular to the first connecting line 301, and a second component force F2 in the direction of the first connecting line 301. Under the action of the first component force F1, the two first wheels 21 rotate in the direction perpendicular to the first connecting line 301, thereby overcoming the resistance of the ground to the swing of the first wheel 21 to a certain extent, increasing the smoothness of the walking device 1000's rotation in place. Under the action of the second component force F2, the first wheel 21 can also improve the stability of the walking device 1000's rotation in place, thereby improving the success rate of the walking device 1000's climbing. Therefore, on the one hand, since the rolling direction of roller 2112 is perpendicular to the rolling direction of omnidirectional wheel, when the traveling device 1000 is moving straight, the omnidirectional wheel rotates but roller 2112 hardly rotates, thereby improving the stability of the straight-moving motion of the traveling device 1000, improving the accuracy of motion control, and reducing the wear on roller 2112; on the other hand, since the first connecting line 301 and the second connecting line 302 are not perpendicular, when the traveling device 1000 rotates in place around the midpoint of the line connecting the axes of the two second wheels 31, the controller 40 controls the two first wheels 21 to rotate in opposite directions and at the same speed, which can make the two omnidirectional wheels generate a first component force F1 along the swing direction of the omnidirectional wheel when the traveling device 1000 is rotating in place, thereby overcoming the resistance of the ground to the swing of the omnidirectional wheel to a certain extent, and can also make the two omnidirectional wheels generate a second component force F2 in opposite directions, making the rotation of the traveling device 1000 in place smoother.

[0268] Please refer to Figures 1, 32, 33, and 34 together. Figure 33 is a bottom view of the chassis assembly 100 of the walking device 1000 in Figure 1 according to a twenty-ninth embodiment; Figure 34 is a bottom view of the chassis assembly 100 of the walking device 1000 in Figure 1 according to a thirtieth embodiment. In some embodiments, the walking device 1000 includes a second drive member 32 and a first drive member 22. At least one of the two first wheels 21 is configured as an omnidirectional wheel, and the first drive member 22 is used to drive the omnidirectional wheel to rotate. On a horizontal projection plane perpendicular to the height direction of the walking device 1000, the line connecting the axles of the two first wheels 21 is a first connecting line 301, and the line connecting the axles of the two second wheels 31 is a second connecting line 302. The second connecting line 302 is collinear with the rotation axes of the two second wheels 31, and the line connecting the axle of the omnidirectional wheel and the midpoint of the second connecting line 302 is a third connecting line 303. The rotation axis of the omnidirectional wheel is set at an angle to the third connecting line 303. The minimum angle formed between the rotation axis of the omnidirectional wheel and the third connecting line 303 is the second angle, denoted as β, where 0° < β < 90°. For example, the second angle can be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70°, or 80°. In some embodiments, the first wheel 21 and the second wheel 31 can only rotate around their own central axis and do not deflect relative to the frame 10, i.e., they are fixed relative to the frame 10. The central axes of the two second wheels 31 are collinear, and the rolling direction of the omnidirectional wheel (i.e., the second direction D2) is not parallel to the line connecting the axis of the omnidirectional wheel and the midpoint of the line connecting the axes of the two second wheels 31 (i.e., the third connecting line 303). The angle between the rotation axis of the omnidirectional wheel and the third connecting line 303 is greater than 0 degrees and less than 90 degrees. Therefore, when the traveling device 1000 rotates in place around the midpoint of the line connecting the axes of the two second wheels 31, the controller 40 controls the two first wheels 21 to rotate in opposite directions at the same speed. This allows the two omnidirectional wheels to generate a first component force F1 along the swing direction of the omnidirectional wheels when the traveling device 1000 rotates in place, thereby overcoming the resistance of the ground to the swing of the omnidirectional wheels to a certain extent. It also allows the two omnidirectional wheels to generate a second component force F2 in opposite directions, making the rotation of the traveling device 1000 in place smoother.

[0269] It should be noted that the axis of rotation of the first wheel 21 is its central axis, i.e., the axis of rotation of the omnidirectional wheel is its central axis, and the axis of rotation of the second wheel 31 is its central axis. For ease of description, this paper defines the rolling direction of the roller 2112 as the first direction D1, the rolling direction of the omnidirectional wheel as the second direction D2, and the rolling direction of the second wheel 31 as the third direction D3. The axis of rotation of the omnidirectional wheel is perpendicular to its rolling direction (i.e., the second direction D2). The axis of rotation of the second wheel 31 is perpendicular to its rolling direction (i.e., the third direction D3).

[0270] Please refer again to Figures 33 and 34. At least one of the two first wheels 21 is configured as an omnidirectional wheel, and the first drive member 22 is used to drive the omnidirectional wheel to rotate. On a horizontal projection plane perpendicular to the height direction of the walking device 1000, the line connecting the axles of the two first wheels 21 is the first connecting line 301, and the line connecting the axles of the two second wheels 31 is the second connecting line 302. The first connecting line 301 passes through the midpoint of the second connecting line 302, and the first connecting line 301 and the second connecting line 302 are perpendicular. The second connecting line 302 is collinear with the rotation axes of the two second wheels 31. The rotation axis of the omnidirectional wheel is set at an angle to the rotation axis of the second wheel 31, that is, the rolling direction of the omnidirectional wheel (i.e., the second direction D2) is set at an angle to the rolling direction of the second wheel 31 (i.e., the third direction D3). The minimum angle formed between the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel 31 is the third angle, denoted as γ, where 0° < γ < 90°. For example, the third angle can be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70°, or 80°. When the traveling device 1000 rotates around the midpoint of the line connecting the axes of the left and right second wheels 31, the velocity direction of the front and rear first wheels 21 is the same as or approximately the same as the rolling direction of the rollers 2112 to which the first wheels 21 belong, thereby reducing the resistance of the ground to the movement of the front and rear first wheels 21 and improving the stability of the traveling device 1000 when turning in place.

[0271] Please refer to Figures 29, 30, and 35 together. Figure 35 is a schematic flowchart illustrating a control method for a walking device 1000 provided in an embodiment of this application. The control method is applied to the aforementioned walking device 1000. The controller 40 is used to execute the following control method for the walking device 1000. The control method for the walking device 1000 may include the following steps S121-S122.

[0272] Step S121: Obtain the tilt angle of the frame relative to the preset plane.

[0273] The controller 40 detects the tilt angle of the frame relative to a preset plane using a slope sensor 80. The slope sensor 80 may include, but is not limited to, at least one of a gravity acceleration sensor, gyroscope, total station, laser rangefinder, and magnetometer. When the angle detected by the slope sensor 80 is greater than or equal to a preset threshold, it is determined that the walking device 1000 is traveling on a slope. When the angle detected by the slope sensor 80 is less than the preset threshold, it is determined that the walking device 1000 is traveling on flat ground. The preset threshold may be, but is not limited to, 5°, 10°, 15°, or 20°, etc. It should be noted that the preset threshold can be set according to specific design requirements, and this embodiment does not impose specific limitations.

[0274] Step S122: When the tilt angle is greater than or equal to a preset threshold and the walking device enters steering mode, the differential speed of the two second wheels is controlled, causing the walking device to rotate in place around a rotation center. The rotation center is the midpoint of the line connecting the axles of the two second wheels or a position near the midpoint, and the center of gravity of the walking device is located within a preset area. The preset area is a region with the midpoint of the line connecting the axles of the two second wheels as its center and a radius of a preset radius. The preset radius is less than or equal to 10cm. For example, the preset radius can be, but is not limited to, 1cm, 2cm, 3cm, 4cm, 5cm, 6cm, 7cm, 8cm, 9cm, or 10cm.

[0275] In some embodiments, the control method further includes: when the walking device receives a steering command, determining that the walking device has entered a steering mode. The steering command is used to instruct the walking device 1000 to rotate in place. For example, the steering command is generated when the walking device 1000 performs a steering operation. In another possible implementation, the steering command can also be triggered by the user. For example, the walking device can generate the steering command in response to the user's rotation of the steering wheel. This improves the flexibility of performing various functional operations on the walking device 1000. For another example, the preset command can also be jointly determined by the walking device 1000 and the user. For example, when the walking device 1000 initially determines that it needs to perform a steering operation according to the above methods, it issues a prompt message to the user, who then confirms whether to perform the steering operation. The prompt message is used to prompt the user whether to perform the steering operation. The prompt message may include at least one of sound signals, light signals, text information, and vibration information; this application embodiment does not limit this in any way.

[0276] The control method for the walking device 1000 provided in this application embodiment is based on the following: when the tilt angle is greater than or equal to a preset threshold and the walking device 1000 enters a turning mode, the second drive component 32 controls the differential rotation of the two second wheels 31, causing the walking device 1000 to rotate in place around the rotation center. On the one hand, when the walking device 1000 turns on a slope, by controlling the walking device 1000 to rotate in place around the rotation center, since the center of gravity of the walking device 1000 is located within a preset area, the center of gravity of the walking device 1000 coincides with or is approximately coincident with the rotation center of the walking device 1000, thereby making the weight distribution of each part of the walking device 1000 uniform and reducing the centrifugal force generated by the uneven weight distribution of the walking device 1000. Furthermore, the two second wheels 31 on the left and right can evenly distribute the weight of the walking device 1000, improve the grip of the two second wheels 31, prevent the walking device 1000 from tilting or tipping over, improve the stability of the walking device 1000 rotating in place on the slope, and prevent the walking device 1000 from slipping down the slope; on the other hand, the rotation center of the walking device 1000 is set at or near the midpoint of the line connecting the axes of the two second wheels 31, so that the controller 40 of the walking device 1000 can more accurately calculate and control the rotation speed of the first wheel 21 and the second wheel 31, thereby achieving precise control of the rotation of the walking device 1000 in place.

[0277] In some embodiments, the center of gravity of the walking device 1000 coincides with the midpoint of the line connecting the axles of the two second wheels 31, thereby enabling the controller 40 of the walking device 1000 to more accurately calculate and control the rotational speeds of the first wheel 21 and the second wheel 31, thus achieving precise control of the walking device 1000's rotation in place. Of course, in some embodiments, on the horizontal projection plane, the midpoint of the line connecting the axles of the two second wheels 31 is spaced at a preset distance from the center of gravity of the walking device 1000. It should be noted that the preset distance can be set according to the vehicle model of the walking device 1000 or the arrangement of its functional components, as long as it ensures that the walking device 1000 can successfully climb a slope, it falls within the scope of protection of this application embodiment. The preset area can be a region with the midpoint of the line connecting the axles of the two second wheels 31 as its center and a radius of a preset radius. The preset radius is less than or equal to the preset distance. In some embodiments, the preset area may be the area corresponding to the left-right displacement of the midpoint of the line connecting the axles of the two second wheels 31; or, the preset area may be the area corresponding to the front-back displacement of the midpoint of the line connecting the axles of the two second wheels 31.

[0278] In some embodiments, the preset area includes a designated location, wherein the designated location is the midpoint of the line connecting the axles of the two second wheels, and the center of gravity of the walking device coincides with the designated location. Thus, the rotation center of the walking device 1000 is the midpoint of the line connecting the axles of the two second wheels 31, and coincides with the center of gravity of the walking device 1000. This ensures a uniform weight distribution across all parts of the walking device 1000, reducing centrifugal force caused by uneven weight distribution. Furthermore, the two second wheels 31 can evenly distribute the weight of the walking device 1000, improving their grip and preventing the walking device 1000 from tilting or tipping over. This enhances the stability of the walking device 1000 when rotating in place on a slope and prevents it from slipping downhill.

[0279] In some embodiments, the control method further includes controlling the counterweight to move relative to the frame to a target position. When the counterweight is at the target position, the center of gravity of the traveling device coincides with the midpoint of the line connecting the axles of the two second wheels. Therefore, the controller 40 of the traveling device 1000 can more accurately calculate and control the rotational speeds of the first wheel 21 and the second wheel 31, thereby achieving precise control of the traveling device 1000's rotation in place.

[0280] Since the counterweight 90 is movably mounted on the frame 10, when the controller 40 detects that the center of gravity of the traveling device 1000 deviates from the midpoint of the line connecting the axles of the two second wheels 31, the controller controls the counterweight 90 to move relative to the frame 10 to the target position, so that the center of gravity of the traveling device 1000 coincides or nearly coincides with the midpoint of the line connecting the axles of the two second wheels 31, thereby preventing the traveling device 1000 from tilting or tipping over, improving the stability of the traveling device 1000 rotating in place on the slope, and preventing the traveling device 1000 from slipping down the slope.

[0281] In some embodiments, the control method further includes: determining the target position of the counterweight relative to the frame, corresponding to the current tilt angle of the frame, based on a predefined correspondence between the tilt angle of the frame and the position of the counterweight.

[0282] In other embodiments, determining the target position of the counterweight relative to the frame includes: acquiring the current center of gravity position of the walking device detected by the center of gravity detector, and determining the target position to which the counterweight moves relative to the frame based on the current center of gravity position of the walking device. The center of gravity detector 95 is disposed on the frame 10 of the walking device 1000 and is used to detect the center of gravity position of the walking device 1000. The center of gravity detector 95 can be, but is not limited to, an accelerometer, a gyroscope, etc.

[0283] In some embodiments, controlling the counterweight to move relative to the frame to the target position includes: controlling the first counterweight to move a first preset distance relative to the frame along the line connecting the axes of the two first wheels; and / or controlling the second counterweight to move a second preset distance relative to the frame along the line connecting the axes of the two second wheels. Thus, since the first counterweight 91 can move relative to the frame 10 along the line connecting the axes of the two first wheels 21, and the second counterweight 92 can move relative to the frame 10 along the line connecting the axes of the two second wheels 31, it is convenient for the traveling device 1000 to adjust the first counterweight 91 and the second counterweight 92, so that the weight distribution of each part of the traveling device 1000 in the length direction X and the width direction Y is uniform, preventing the traveling device 1000 from tilting or tipping over, and improving the stability of the traveling device 1000 in place.

[0284] In some embodiments, the control method further includes: when the tilt angle is greater than or equal to the preset threshold and the walking device enters the steering mode, controlling the second drive member to drive the first wheel to rotate. At least one of the two first wheels 21 is connected to the first drive member 22 in a transmission manner. Understandably, the walking device 1000 often needs to operate on complex terrain. If only the left and right second wheels 31 serve as drive wheels, the walking device 1000 may experience a situation where the front and rear first wheels 21 are on the ground while the left and right second wheels 31 are suspended in the air when climbing a slope, which could lead to the walking device 1000 failing to climb the slope. Therefore, this application controls the first driving member 22 to drive at least one first wheel 21 to work. By controlling the two first wheels 21 to rotate in opposite directions, the two omnidirectional wheels can generate a first component force F1 along the swing direction of the omnidirectional wheels when the walking device 1000 rotates in place, thereby reducing the resistance of the ground to the movement of the front and rear first wheels 21. It can also generate a second component force F2 in opposite directions, thereby improving the stability of the walking device 1000's rotation in place and increasing the success rate of the walking device 1000 in climbing hills.

[0285] Please refer to Figure 36, which is a block diagram of the unit composition of an electronic device 800 provided in an embodiment of this application. The electronic device 800 may include, but is not limited to, a processor 810 and a memory 820. The processor 810 and the memory 820 are interconnected. 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 via a bus 840, and the memory 820 is used to store a computer program. The computer program includes program instructions. The processor 810 is used to call the program instructions stored in the memory 820, causing the electronic device 800 to execute the various steps of the control method corresponding to Figure 35. The electronic device 800 may be, but is not limited to, a mobile terminal independent of a walking device or a vehicle-mounted terminal installed on a walking device.

[0286] In some embodiments, the processor 810 executes instructions stored in the memory 820 to control the communication interface 830 to receive and send signals, thus completing the steps in the above method. The memory 820 may be integrated into the processor 810 or may be separate from the processor 810.

[0287] As one implementation approach, the functionality of the communication interface 830 can be implemented using transceiver circuitry or a dedicated transceiver chip. The processor 810 can be implemented using a dedicated processing chip, processing circuitry, the processor 810 itself, or a general-purpose chip.

[0288] As another implementation method, the electronic device 800 provided in this application embodiment can be implemented using a general-purpose computer. The program code that implements the functions of the processor 810 and the communication interface 830 is 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 code in the memory 820.

[0289] For the concepts, explanations, detailed descriptions, and other steps related to the technical solutions provided in the embodiments of this application involved in the electronic device 800, please refer to the description of the method steps performed by the device in the foregoing method or other embodiments, which will not be repeated here.

[0290] As another implementation of this embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. The computer program includes program instructions. When executed by processor 810, the program instructions cause processor 810 to perform the control method described in the above method embodiment.

[0291] As another implementation of this embodiment, a computer program product containing instructions is provided, which, when executed, perform the method in the above method embodiment.

[0292] Those skilled in the art will understand that, for ease of explanation, only one memory 820 and processor 810 are shown in Figure 36. In actual terminals or servers, multiple processors 810 and memory 820 may exist. The memory 820 may also be referred to as a storage medium or storage device, etc., and the embodiments of this application do not impose such limitations.

[0293] Understandably, in the embodiments of this application, the processor 810 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The processor 810 is the control center of the electronic device 800, connecting various parts of the entire electronic device 800 through various interfaces and lines.

[0294] Those skilled in the art should understand that Figure 36 is merely an example of electronic device 800 and does not constitute a limitation on electronic device 800. Electronic device 800 may include more or fewer components than shown in Figure 36, or combine certain components, or different components. For example, electronic device 800 may also include input / output devices, network access devices, etc.

[0295] The memory 820 mentioned in this application embodiment can be volatile memory or non-volatile memory, or it can include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM).

[0296] It should be noted that when the processor 810 is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory 820 (memory module) is integrated into the processor 810.

[0297] It should be noted that the memory 820 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0298] In addition to the data bus, bus 840 may also include a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus 840 in the diagram.

[0299] In implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware in the processor 810 or by instructions in software form. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by the hardware processor 810, or execution by a combination of hardware and software modules in the processor 810. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory 820, and the processor 810 reads the information in the memory 820 and, in conjunction with its hardware, completes the steps of the above control method. To avoid repetition, detailed descriptions are not provided here.

[0300] In the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0301] Those skilled in the art will recognize that the various illustrative logical blocks (ILBs) and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0302] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0303] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0304] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0305] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A 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 flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0306] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A chassis module, characterized by include: frame; Two first wheels are respectively installed at both ends of the frame along the length of the chassis module, and at least one of the first wheels is configured as an omnidirectional wheel; A first driving member, at least one of the first wheels is connected in transmission to the first driving member; Two second wheels are respectively installed at both ends of the frame along the width direction of the chassis module; The second drive unit, and the two second wheels are respectively connected to the second drive unit for transmission.

2. The chassis module of claim 1, wherein, The chassis module further includes a controller connected to the first drive unit and the second drive unit. The controller is used to control the second drive unit to drive two second wheels to rotate together, and / or, the controller is used to control the first drive unit to drive at least one first wheel to rotate.

3. The chassis module of claim 1, wherein, The chassis module also includes a cutting component, which is mounted on the frame. On a horizontal projection plane perpendicular to the height direction of the chassis module, the cutting component is at least partially located within a quadrilateral area formed by the line connecting the axles of the two first wheels and the axles of the two second wheels.

4. The chassis module of claim 3, wherein, On a horizontal projection plane perpendicular to the height direction of the chassis module, the cutting element is located at the intersection of the line connecting the axles of the two first wheels and the line connecting the axles of the two second wheels.

5. The chassis module of claim 3, wherein, The first drive unit and / or the second drive unit are configured as hub motors, and the chassis module further includes a cutting driver for driving the cutting component to rotate.

6. The chassis module of claim 1, wherein, The chassis module also includes a cutting component, which is mounted on the frame and located between the two second wheels.

7. The chassis module of claim 1, wherein, On the projection plane perpendicular to the height direction of the chassis module, the outline of the quadrilateral region formed by the lines connecting the axles of the two first wheels and the axles of the two second wheels is rhomboid.

8. The chassis module of claim 1, wherein, The omnidirectional wheel includes at least one wheel set, each wheel set including a wheel body and multiple rollers. The multiple rollers are arranged at intervals along the circumferential direction of the wheel body. When the omnidirectional wheel includes multiple wheel sets, all wheel sets are coaxially arranged. Along the axial direction of the omnidirectional wheel, the rollers in two adjacent wheel sets are staggered. On the projection plane perpendicular to the rotation axis of the wheel body, the outlines of all the rollers are connected to form a circle.

9. The chassis module according to claim 1, characterized in that, The rotation axes of the two second wheels are parallel or collinear with each other, and the rotation axes of the two first wheels are parallel to the rotation axes of the second wheels.

10. The chassis module according to claim 9, characterized in that, On a horizontal projection plane perpendicular to the height direction of the chassis module, the line connecting the axles of the two first wheels is perpendicular to the line connecting the axles of the two second wheels. The line connecting the axles of the two first wheels passes through the midpoint of the line connecting the axles of the two second wheels, or the distance between the midpoints of the lines connecting the axles of the two first wheels and the line connecting the axles of the two second wheels is within a preset range. The rolling direction of the rollers of the omnidirectional wheel is perpendicular to the line connecting the axles of the two first wheels.

11. The chassis module according to claim 9, characterized in that, On a horizontal projection plane perpendicular to the height direction of the chassis module, the line connecting the axles of the two first wheels forms an acute angle with the line connecting the axles of the two second wheels, and the line connecting the axles of the two first wheels passes through the midpoint of the line connecting the axles of the two second wheels.

12. The chassis module according to claim 11, characterized in that, The rolling direction of the rollers of the omnidirectional wheel is perpendicular to the rolling direction of the omnidirectional wheel, or the rolling direction of the rollers of the omnidirectional wheel is perpendicular to the line connecting the axes of the two first wheels.

13. The chassis module according to claim 9, characterized in that, On a horizontal projection plane perpendicular to the height direction of the chassis module, the rolling direction of the omnidirectional wheel is perpendicular to the line connecting the center of the omnidirectional wheel and the midpoint of the line connecting the centers of the two second wheels.

14. The chassis module according to claim 1, characterized in that, The two second wheels are respectively mounted on the frame via axles. On the horizontal projection plane perpendicular to the height direction of the chassis module, the rotation axes of the two second wheels are collinear. The angle between the rotation axis of the omnidirectional wheel and the line connecting the center of the omnidirectional wheel and the midpoint of the line connecting the center of the two second wheels is less than 90°.

15. The chassis module according to claim 14, characterized in that, On a horizontal projection plane perpendicular to the height direction of the chassis module, the rotation axis of the omnidirectional wheel is parallel to the rotation axis of the second wheel, and the rolling direction of the roller of the omnidirectional wheel is perpendicular to the rolling direction of the omnidirectional wheel, or the rolling direction of the roller of the omnidirectional wheel is perpendicular to the line connecting the axis of the omnidirectional wheel and the midpoint of the line connecting the axes of the two second wheels.

16. The chassis module according to claim 14, characterized in that, On a horizontal projection plane perpendicular to the height direction of the chassis module, the angle between the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel is greater than 0° and less than 90°. The line connecting the axles of the two first wheels is perpendicular to the line connecting the axles of the two second wheels and passes through the midpoint of the line connecting the axles of the two second wheels.

17. The chassis module according to claim 16, characterized in that, On a horizontal projection plane perpendicular to the height direction of the chassis module, the rolling direction of the omnidirectional wheel is parallel to the rolling direction of the second wheel.

18. The chassis module according to claim 14, characterized in that, On a horizontal projection plane perpendicular to the height direction of the chassis module, the rolling direction of the omnidirectional wheel is perpendicular to the line connecting the center of the omnidirectional wheel and the midpoint of the line connecting the centers of the two second wheels.

19. The chassis module according to claim 14, characterized in that, On a horizontal projection plane perpendicular to the height direction of the chassis module, the line connecting the axles of the two first wheels passes through the midpoint of the line connecting the axles of the two second wheels, or the distance between the line connecting the axles of the two second wheels and the midpoint of the line connecting the axles of the two second wheels is within a preset range.

20. A walking robot, characterized in that, The walking robot includes a housing and a chassis module as described in any one of claims 1-19, wherein the housing is mounted on the chassis module.

21. The walking robot according to claim 20, characterized in that, The center of gravity of the walking robot, when projected along the height direction of the chassis module, coincides with the midpoint of the line connecting the axles of the two second wheels.

Images