The invention discloses a movable machine. The movable machine is characterized by A and B. The machine comprises a body (1), a take-up and pay-off mechanism (2), a cable (3) and a flying device (4).The flying device (4) is used for carrying an external object connecting part (6) to fly; the external object connecting part (6) comprises a part for connecting an external object in the cable, or apart connected with the cable (3) and used for connecting the external object; and the body (1) is connected with the external object connecting part (6) through the take-up and pay-off mechanism (2)and the cable (3). B comprises any one or more of B1, B2 and B3; B1: a control device of the machine is used for making the flying device (4) carrying the external object connecting part (6) fly so that the external object connecting part (6) is connected with the external object with a movable position; and the take-up and pay-off mechanism (2) is controlled to take up the cable (3) to enable theexternal object to move towards the body (1) and/or restrain a movement range of the external object. By implementing the technical scheme of the invention, the movable machine has the following beneficial effects that a flying manipulator is constructed for the machine so that the machine can capture the external object with the movable position or can climb up a slope or the machine is prevented from sliding down the slope, and the movement range is expanded (equivalent to a real cornice wall walking capability).

    本发明公开了:一种可移动的机器;其特征在于A和B;该机器包括:本体(1)、收放机构(2)、索缆(3)和飞行装置(4);该飞行装置(4)用于搭载外部物体连接部件(6)飞行;该外部物体连接部件(6)包括:该索缆中用于连接外部物体的部分,或与该索缆(3)连接的用于连接外部物体的部件;该本体(1)与该外部物体连接部件(6)通过收放机构(2)和索缆(3)连接;B:包括B1、B2、B3中任一种或任意多种;B1:该机器的控制装置用于:控制搭载该外部物体连接部件(6)的飞行装置(4)飞行,使该外部物体连接部件(6)连接位置能移动的外部物体;控制收放机构(2)收索缆(3)使:该外部物体向该本体(1)移动和/或约束该外部物体的活动范围。实施本发明的技术方案,具有以下有益效果:为机器构建了会飞的机械手,使机器能捕获位置能移动的外部物体或,使机器能上坡或防止溜坡,扩大了活动范围(相当于真正的具备了飞檐走壁的能力)。


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    Title :

    Movable machine, control method, storage medium and control device


    Additional title:

    一种可移动的机器、控制方法、存储介质及控制装置


    Contributors:

    Publication date :

    2020-10-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B64C AEROPLANES , Flugzeuge



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