Outdoor robot
By installing wind direction sensors, steering gears, and controllers on outdoor robots, and utilizing auxiliary wheels and reducers, the problem of capsizing caused by strong winds during offshore platform operations was solved, achieving robot stability and normal operation.
Patent Information
- Application Number
- CN202520421903.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2035-03-11
AI Technical Summary
Existing outdoor robots are prone to capsizing due to severe environmental factors such as strong winds and heavy rain when operating on offshore platforms, which can affect normal operations and potentially cause economic losses.
A wind direction sensor, a steering mechanism, and a controller are installed on the robot body. The wind direction sensor detects the wind direction and the controller controls the steering mechanism to drive the auxiliary wheels to turn, thereby changing the robot's direction of movement. The auxiliary wheels are supported on the ground to maintain stability, and the speed is reduced by a speed reducer.
This effectively prevents robots from tipping over in strong winds, maintains stability, ensures normal operation, and reduces economic losses.
Smart Images
Figure CN223878121U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field, especially a kind of outdoor robot. BACKGROUND
[0002] Outdoor robot has been widely applied in industrial automation, logistics handling, cleaning maintenance and other fields to replace manual operation in harsh environment. Outdoor robot generally has its own specific running route, and works according to its own specific running route through driving wheel and other movement mechanisms.
[0003] However, outdoor robot working on offshore platform usually needs to face many harsh offshore environments, such as strong wind, heavy rain and so on. This means that outdoor robot needs to pay attention to its running speed, balance and other performances to overcome adverse environmental factors such as strong wind, heavy rain and slippery ground.
[0004] The existing outdoor robot lacks corresponding anti-toppling design, and is easy to roll over due to factors such as strong wind, heavy rain and slippery ground. This can easily affect the normal operation of offshore platform, and even damage the outdoor robot and cause economic loss in serious cases. INVENTION CONTENTS
[0005] The utility model embodiment proposes an outdoor robot to overcome the above problems.
[0006] The outdoor robot of the utility model embodiment comprises robot main body, wind direction sensor, steering gear, auxiliary wheel and controller.
[0007] The wind direction sensor is arranged on the robot main body, and a plurality of wind direction sensors are arranged along the circumference of the robot main body to detect wind direction and send wind direction signal to the controller.
[0008] The auxiliary wheel is movably mounted on the robot main body and supported on the ground to assist the robot main body in steering during operation.
[0009] The steering gear is mounted on the robot main body, and the power output end of the steering gear is drivingly connected with the auxiliary wheel to drive the auxiliary wheel to steer.
[0010] The controller is arranged on the robot main body, and the controller is used for receiving wind direction signal and controlling the steering gear to steer the auxiliary wheel to the direction opposite to the wind direction.
[0011] Optionally, the robot main body comprises cylindrical shell and arc-shaped dome, and the cylindrical shell is fixedly connected with the arc-shaped dome.
[0012] The steering device and the controller are arranged inside the cylindrical shell, the wind direction sensor is arranged outside the cylindrical shell, and the auxiliary wheel is arranged at the lower end outside the cylindrical shell.
[0013] Optionally, the wind direction sensor is arranged with four to eight and uniformly arranged along the circumference of the cylindrical shell.
[0014] Optionally, the outdoor robot further comprises a driving wheel and a speed reducer;
[0015] The driving wheel is rotatably mounted at the lower end of the cylindrical shell to drive the robot body to move;
[0016] The speed reducer is arranged outside the cylindrical shell and is used to reduce the moving speed of the robot body under the control of the controller.
[0017] Optionally, the speed reducer comprises a speed reduction telescopic rod and a friction damping structure;
[0018] The fixed end of the speed reduction telescopic rod is fixed outside the cylindrical shell, and the extending end is arranged towards the ground;
[0019] The friction damping structure is arranged on the extending end of the speed reduction telescopic rod and is used to abut on the ground to reduce the moving speed of the robot body.
[0020] Optionally, the speed reducer is arranged with at least two.
[0021] Optionally, the speed reducer is arranged at the lower end of the cylindrical shell.
[0022] Optionally, the steering device comprises a steering disc and a driving assembly,
[0023] The steering disc is rotatably mounted at the lower end inside the cylindrical shell, and the auxiliary wheel is mounted on the steering disc;
[0024] The power output end of the driving assembly is in transmission connection with the steering disc to drive the steering disc to rotate.
[0025] Optionally, the driving assembly is a bidirectional driving motor, and the power output end of the bidirectional driving motor is in transmission connection with the steering disc through a transmission rod.
[0026] Optionally, the outdoor robot further comprises a wind sensor and a recycling device;
[0027] The wind sensor is arranged on the arc-shaped dome and is used to detect the wind level of the environment where the robot body is located and send a wind level signal to the recycling device;
[0028] The recovery device is used to drive the robot body to return to a predetermined position after the wind sensor sends a wind level signal of a high wind level.
[0029] Compared with the prior art, the utility model has the advantages as follows:
[0030] The outdoor robot comprises a robot body, wind direction sensors, a steering device, auxiliary wheels and a controller, the wind direction sensors are arranged on the robot body and are arranged in a plurality of circumferential directions of the robot body, the auxiliary wheels are movably installed on the robot body and are supported on the ground, and a power output end of the steering device is in transmission connection with the auxiliary wheels to drive the auxiliary wheels to steer. BRIEF DESCRIPTION OF DRAWINGS
[0031] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the utility model, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.
[0032] Figure 1 It is a structural schematic diagram of the outdoor robot of the utility model;
[0033] Figure 2 It is Figure 1 a structural schematic diagram of a speed reducer;
[0034] Reference signs: 1, robot body; 11, cylindrical shell; 12, arc-shaped dome; 2, wind direction sensor; 3, controller; 4, steering device; 41, steering disc; 5, wind sensor; 6, speed reducer; 61, speed reduction telescopic rod; 62, friction damping structure; 7, driving wheel; 8, auxiliary wheel. DETAILED DESCRIPTION
[0035] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the following will make further detailed description of the utility model by combining with the drawings and specific embodiments.
[0036] This utility model embodiment proposes an outdoor robot. The outdoor robot described in this utility model embodiment is suitable for working environments with harsh conditions that easily cause outdoor robots to tip over, such as offshore work platforms, Gobi Desert, and other natural environments with challenging conditions. In particular, offshore work platforms are constantly exposed to strong winds and slippery ground, resulting in poor stability for outdoor robots during operation, making them prone to tipping over due to strong winds and other factors.
[0037] To overcome the above environmental impacts, please refer to Figure 1 As shown, the outdoor robot of this utility model adds a wind direction sensor 2, a steering mechanism 4, auxiliary wheels 8, and a controller 3 to the robot body 1. The robot body 1 generally adopts an existing robot structure, which can be a transport robot structure or an inspection robot structure depending on the application scenario. Regardless of the robot structure adopted, the robot body 1 is equipped with a power source and driving components. The driving components can be tracks or wheels. In use, the robot body 1 can move along a preset route under the drive of the power source and driving components. The power source is generally an electric motor, and the power output end of the motor is directly connected to the driving components, or connected through a transmission component such as a gear set.
[0038] However, relying solely on drive components is insufficient to withstand the impact of strong winds and other factors on outdoor robots. Therefore, the robot body 1 is equipped with a wind direction sensor 2, a steering mechanism 4, a controller 3, and auxiliary wheels 8. (See reference...) Figure 1 As shown, wind direction sensors 2 are mounted on the robot body 1, and multiple sensors are arranged around the circumference of the robot body 1 to detect the wind direction in the outdoor robot's environment. The wind direction sensors 2 require a certain level of wind force to be activated, generally requiring a gale-force wind. A gale-force wind generally refers to a Beaufort scale 8 near the ground, i.e., an average wind speed of 17.2–20.7 m / s or higher. In some cases, a Beaufort scale 6, i.e., an average wind speed of 10.8–13.8 m / s or higher, can also be considered a gale. When the outdoor robot is in a gale-force environment, one or more wind direction sensors 2 facing the wind direction will receive a certain amount of wind and send a wind direction signal to the controller 3.
[0039] The controller 3, after receiving the wind direction signal, controls the steering device 4 to change the orientation of the auxiliary wheel 8 according to the signal of the corresponding wind direction sensor 2, so that the robot in operation changes the moving direction to the direction towards the wind direction. In this way, the outdoor robot can be prevented from being blown over from the side of the moving direction of the outdoor robot by strong wind, so as to avoid the interference of the strong wind to the normal movement and operation of the outdoor robot. The direction towards the wind direction includes the direction directly opposite to the wind direction and the direction slightly deviated from the direction directly opposite to the wind direction. In the embodiment of the utility model, the direction directly opposite to the wind direction refers to a direction range directly opposite to the wind direction and distributed in a fan shape, and the direction range is determined by the triggered wind direction sensor 2.
[0040] The controller 3 adopts the existing control structure, and is provided with a communication line between the controller 3 and the wind direction sensor 2, and receives the wind direction signal sent by the wind direction sensor 2 after being triggered through the communication line. After receiving the trigger signal, the controller 3 can control the steering device 4 to steer, so as to make the auxiliary wheel 8 turn to the direction towards the wind direction. In this way, the robot in operation can change the moving direction to the direction towards the wind direction, so as to prevent the outdoor robot from being blown over from the side of the moving direction of the outdoor robot by strong wind, and to prevent the strong wind from interfering with the normal movement and operation of the outdoor robot. In the embodiment, the controller 3 is specifically arranged in the interior of the robot body 1, so as to prevent the controller 3 from being affected by the environment and causing failure.
[0041] The rotation of the steering device 4 depends on the predetermined route. That is to say, when the outdoor robot is normally operated, the robot body 1 is controlled by itself or the outside to move on the offshore operation platform along the preset route. The steering device 4 drives the auxiliary wheel 8 to steer according to the predetermined route, so as to adjust the moving direction of the outdoor robot. When the robot body 1 is in the strong wind environment, one or more wind direction sensors 2 on the robot body 1 can receive a certain amount of wind and send the wind direction signal to the controller 3 due to the wind force and other environmental factors. The controller 3, after receiving the wind direction signal, controls the steering device 4 to change the orientation of the auxiliary wheel 8 according to the signal of the corresponding wind direction sensor 2, so that the robot in operation changes the moving direction to the direction towards the wind direction.
[0042] On the basis of the foregoing structure, the robot body 1 can comprise a cylindrical shell 11 and an arc-shaped dome 12, and the cylindrical shell 11 is fixedly connected with the arc-shaped dome 12 to form a relatively closed interior space of the robot body 1. Correspondingly, the controller 3 and the steering device 4 are arranged in the interior of the cylindrical shell 11, and the wind direction sensor 2 is arranged outside the cylindrical shell 11 to receive the strong wind information. The auxiliary wheel 8 is arranged below the cylindrical shell to drive the outdoor robot to steer when moving, and also to assist the outdoor robot to keep stable.
[0043] The wind direction sensors 2 can be specifically provided four to eight and evenly arranged along the circumference of the cylindrical shell 11. In this way, the outdoor robot can perceive the wind direction as comprehensively as possible. When the wind direction sensors 2 are evenly arranged four along the circumference of the cylindrical shell 11, the four wind direction sensors 2 can be arranged on the same horizontal circumference, and any two adjacent wind direction sensors 2 are separated by 90 degrees. Let the four wind direction sensors 2 correspond to the east, south, west, and north directions respectively. For convenience, the wind direction sensor 2 corresponding to the east direction is the wind direction sensor 2A, the wind direction sensor 2 corresponding to the south direction is the wind direction sensor 2B, the wind direction sensor 2 corresponding to the west direction is the wind direction sensor 2C, and the wind direction sensor 2 corresponding to the north direction is the wind direction sensor 2D. When the outdoor robot is blown by a strong wind from the east direction, the wind direction sensor 2A is triggered and sends a wind direction signal A to the controller 3. After the controller 3 receives the wind direction signal A, it controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the east direction. When the outdoor robot is blown by a strong wind from the south direction, the wind direction sensor 2B is triggered and sends a wind direction signal B to the controller 3. After the controller 3 receives the wind direction signal B, it controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the south direction. When the outdoor robot is blown by a strong wind from the west direction, the wind direction sensor 2C is triggered and sends a wind direction signal C to the controller 3. After the controller 3 receives the wind direction signal C, it controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the west direction. When the outdoor robot is blown by a strong wind from the north direction, the wind direction sensor 2D is triggered and sends a wind direction signal D to the controller 3. After the controller 3 receives the wind direction signal D, it controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the north direction.
[0044] When the outdoor robot is subjected to a strong wind from the southeast direction, the wind direction sensor 2A and the wind direction sensor 2B are both triggered, and send the wind direction signal A and the wind direction signal B to the controller 3. After the controller 3 receives the wind direction signal A and the wind direction signal B, it controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the southeast direction. When the outdoor robot is subjected to a strong wind from the southwest direction, the wind direction sensor 2B and the wind direction sensor 2C are both triggered, and send the wind direction signal B and the wind direction signal C to the controller 3. After the controller 3 receives the wind direction signal B and the wind direction signal C, it controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the southwest direction. When the outdoor robot is subjected to a strong wind from the northeast direction, the wind direction sensor 2A and the wind direction sensor 2D are both triggered, and send the wind direction signal A and the wind direction signal D to the controller 3. After the controller 3 receives the wind direction signal A and the wind direction signal D, it controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the northeast direction. When the outdoor robot is subjected to a strong wind from the northwest direction, the wind direction sensor 2C and the wind direction sensor 2D are both triggered, and send the wind direction signal C and the wind direction signal D to the controller 3. After the controller 3 receives the wind direction signal C and the wind direction signal D, it controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the northwest direction. The wind direction signal A, the wind direction signal B, the wind direction signal C, and the wind direction signal D are all level signals output by the wind direction sensor 2.
[0045] When the eight wind direction sensors 2 are evenly arranged on the circumference of the cylindrical shell 11, the eight wind direction sensors 2 can be arranged on the same horizontal circumference, and any two adjacent wind direction sensors 2 are separated by 45 degrees. Let the eight wind direction sensors 2 correspond to the eight directions of east, south, west, north, southeast, northeast, southwest, and northwest respectively. For convenience of calling, the wind direction sensor 2 corresponding to the east direction is wind direction sensor 2a, the wind direction sensor 2 corresponding to the south direction is wind direction sensor 2b, the wind direction sensor 2 corresponding to the west direction is wind direction sensor 2c, and the wind direction sensor 2 corresponding to the north direction is wind direction sensor 2d. The wind direction sensor 2 corresponding to the southeast direction is wind direction sensor 2e, the wind direction sensor 2 corresponding to the southwest direction is wind direction sensor 2f, the wind direction sensor 2 corresponding to the northeast direction is wind direction sensor 2g, and the wind direction sensor 2 corresponding to the northwest direction is wind direction sensor 2h. When the outdoor robot is blown by a strong wind from the east direction, the wind direction sensor 2a is triggered and sends a wind direction signal a to the controller 3. After receiving the wind direction signal a, the controller 3 controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the east direction. When the outdoor robot is blown by a strong wind from the south direction, the wind direction sensor 2b is triggered and sends a wind direction signal b to the controller 3. After receiving the wind direction signal b, the controller 3 controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the south direction. When the outdoor robot is blown by a strong wind from the west direction, the wind direction sensor 2c is triggered and sends a wind direction signal c to the controller 3. After receiving the wind direction signal c, the controller 3 controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the west direction. When the outdoor robot is blown by a strong wind from the north direction, the wind direction sensor 2d is triggered and sends a wind direction signal d to the controller 3. After receiving the wind direction signal d, the controller 3 controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the north direction. When the outdoor robot is blown by a strong wind from the southeast direction, the wind direction sensor 2e is triggered and sends a wind direction signal e to the controller 3. After receiving the wind direction signal e, the controller 3 controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the southeast direction. When the outdoor robot is blown by a strong wind from the southwest direction, the wind direction sensor 2f is triggered and sends a wind direction signal f to the controller 3. After receiving the wind direction signal f, the controller 3 controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the southwest direction. When the outdoor robot is blown by a strong wind from the northeast direction, the wind direction sensor 2g is triggered and sends a wind direction signal g to the controller 3. After receiving the wind direction signal g, the controller 3 controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the northeast direction. When the outdoor robot is blown by a strong wind from the northwest direction, the wind direction sensor 2h is triggered and sends a wind direction signal h to the controller 3. After receiving the wind direction signal h, the controller 3 controls the steering device 4 to drive the auxiliary wheel 8 to rotate to the northwest direction. Similarly, the wind direction signal a, the wind direction signal b, the wind direction signal c, the wind direction signal d, the wind direction signal e, the wind direction signal f, the wind direction signal g, and the wind direction signal h are all level signals output by the wind direction sensor 2.
[0046] The arrangement of the wind direction sensor 2 with five, six, seven, or more, is described above and will not be repeated here.
[0047] On the basis of the foregoing structure, further, as shown in Figure 1 The outdoor robot further comprises a drive wheel 7 and a speed reducer 6. The drive wheel 7 is rotatably mounted at the lower end of the cylindrical shell 11 to drive the robot body 1 to move. The speed reducer 6 is also arranged on the robot body 1. When the controller 3 receives the wind direction signal from the wind direction sensor 2, the controller 3 can control the speed reducer 6 to operate and reduce the moving speed of the robot body 1 to help the robot body 1 to maintain stability as much as possible.
[0048] As shown in Figure 2 The speed reducer 6 specifically comprises a speed-reducing telescopic rod 61 and a friction damping structure 62 arranged on the extending end of the speed-reducing telescopic rod 61. The friction damping structure 62 can be a rubber pad, a patterned steel plate with anti-skid patterns, or other structures with large friction damping with the ground. The fixed end of the speed-reducing telescopic rod 61 is fixed to the outer lower end of the cylindrical shell 11, and the extending end is arranged towards the ground; the friction damping structure 62 is arranged on the extending end of the speed-reducing telescopic rod 61 to abut against the ground and reduce the moving speed of the robot body 1. The speed-reducing telescopic rod 61 can be a hydraulic telescopic rod, a pneumatic telescopic rod, or other existing telescopic rod structures. When the wind direction sensor 2 on the outdoor robot sends a wind direction signal, under the control of the controller 3, the speed-reducing telescopic rod 61 extends, so that the friction damping structure 62 abuts against the ground to increase the friction resistance between the outdoor robot and the ground, thereby reducing the moving speed of the outdoor robot. In addition, the speed-reducing telescopic rod 61 and the friction damping structure 62 can also provide support for the robot body 1 to help the robot body 1 maintain stability when the robot body 1 slides sideways.
[0049] Of course, the speed reducer 6 can also have other designs. For example, the speed reducer 6 can also be a caliper brake structure arranged on the drive wheel 7. When the wind direction sensor 2 on the outdoor robot sends a wind direction signal, under the control of the controller 3, the brake caliper of the caliper brake structure clamps the drive wheel 7 of the outdoor robot to reduce the moving speed of the outdoor robot. Alternatively, a scissor-type telescopic structure can be used instead of the speed-reducing telescopic rod 61, and the friction damping structure 62 is arranged on the extending end of the scissor-type telescopic structure. Alternatively, a rigid swing rod hinged on the robot body 1 can be used instead of the speed-reducing telescopic rod 61, and the friction damping structure 62 is arranged at the end of the rigid swing rod. When the wind direction sensor 2 on the outdoor robot sends a wind direction signal, under the control of the controller 3, the rigid swing rod is flipped down, so that the friction damping structure 62 abuts against the ground to reduce the moving speed of the outdoor robot. The rigid swing rod can be driven by a motor, or by a hydraulic cylinder or a pneumatic cylinder.
[0050] Preferably, the decelerator 6 can be provided with at least two. Compared with the technical solution of providing only one decelerator 6 on the robot body 1, when the structure and size of the decelerator 6 do not change, the decelerator 6 provided with at least two can provide greater frictional damping when the outdoor robot slips sideways, and can more effectively achieve deceleration. In implementation, considering the installation space on the robot body 1, the decelerator 6 can generally be provided with two or three. Of course, in some special cases, such as facing a relatively large outdoor robot, the number of decelerators 6 can also be more, which can be four, five or even more. Of course, the decelerator 6 can also be provided with only one on the robot body 1 to reduce the processing cost of the outdoor robot. The arrangement of the at least two decelerators 6 on the robot body 1 can be determined according to actual needs. For example, when the decelerator 6 is provided with three on the robot body 1, the decelerator 6 can be uniformly arranged along the circumference of the robot body 1, that is, the decelerator 6 is arranged in a triangular shape on the robot body 1. The decelerator 6 can also be arranged side by side in a certain direction on the robot body 1, or arranged in an array on the robot body 1. The number and position of the decelerator 6 provided on the robot body 1 depend on actual needs, which will not be described here.
[0051] In implementation, the decelerator 6 is preferably provided at the lower end of the robot body 1. In this way, the extension stroke of the decelerator 6 is shorter, and thus the decelerator 6 can be moved in place in time when the outdoor robot is affected by strong wind. This can improve the reliability of the decelerator 6 and prevent the situation from occurring that the outdoor robot has been severely affected by strong wind and the decelerator 6 is moved in place. In addition, this is also conducive to the miniaturization of the decelerator 6, and thus is conducive to reducing the production and processing cost of the outdoor robot.
[0052] In the outdoor robot described in the embodiment of the utility model, the steering device 4 specifically comprises a steering disc 41 and a driving assembly, the steering disc 41 is rotatably installed at the lower end inside the cylindrical shell 11, and the auxiliary wheel 8 is installed on the steering disc 41. The arrangement of the steering disc 41 facilitates the installation of the auxiliary wheel 8 and provides a good transmission path for the driving assembly to drive the auxiliary wheel 8 to steer. The driving assembly can specifically be a bidirectional driving motor. The bidirectional driving motor is a driving motor that can rotate forward and backward, and under the control of the controller 3, the bidirectional driving motor can drive the steering disc 41 to steer to a predetermined position. The power output end of the bidirectional driving motor is in transmission connection with the steering disc 41 through a transmission rod, that is, the output end of the bidirectional driving motor is coaxially connected with the transmission rod, and the transmission rod is coaxially connected with the steering disc 41. In this way, the torque output by the bidirectional driving motor can directly act on the steering disc 41, thereby effectively simplifying the transmission path, simplifying the structure of the steering device 4, and reducing the implementation cost of the steering device 4.
[0053] Of course, the steering wheel 41 can also be a toothed disc, that is, the outer peripheral side of the steering wheel 41 has meshing teeth. The auxiliary wheel 8 is fixed to the side of the toothed disc facing the ground. A bidirectional driving motor is fixed on the robot body 1, and the power output end of the bidirectional driving motor is engaged with the toothed disc through a set of gear sets or rod sets.
[0054] The outdoor robot can also include a wind sensor 5 and a recovery device. The wind sensor 5 is arranged on the arc-shaped dome 12 to detect the wind level of the environment where the robot body 1 is located. When the wind of the environment where the robot body 1 is located exceeds the gale and reaches the strong wind, the wind sensor 5 is triggered and sends a wind level signal to the recovery device. The recovery device is pre-installed with a navigation system for returning, and when the recovery device receives the wind level signal, the recovery device can forcibly drive the robot body 1 to stop all actions and control the driving wheel 7 and the auxiliary wheel 8 to return to the safe position according to the preset route. That is, the action priority of the recovery device is higher than that of other devices. In this way, the outdoor robot can be prevented from working in a strong wind environment and being damaged due to strong wind weather.
[0055] In summary, when the outdoor robot on the offshore work platform moves normally, if it encounters a gale environment, the wind direction sensor 2 on the outdoor robot will be triggered and send a wind direction signal to the controller 3. After receiving the wind direction signal, the controller 3 controls the auxiliary wheel 8 to turn towards the direction of the wind direction, so as to ensure that the outdoor robot will not be affected by the wind force in the direction other than the moving direction. At the same time, the auxiliary wheel 8 also provides good support for the robot body 1. On the other hand, under the control of the controller 3, the speed-reducing telescopic rod 61 is extended, and the friction damping structure 62 is abutted on the ground to increase the friction resistance between the outdoor robot and the ground, thereby reducing the moving speed of the outdoor robot.
[0056] When the wind force of the environment where the outdoor robot is located is weakened, the speed reducer 6 is retracted so that the outdoor robot can continue to work normally.
[0057] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
[0058] It should be noted that for ordinary skilled persons in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.
[0059] Finally, it needs to be pointed out that in this paper, such as the first and second relationship terms are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "includes", "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or terminal device. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of other identical elements in the process, method, article or terminal device including the element.
[0060] The outdoor robot provided by the utility model is introduced in detail above, the principle and implementation mode of the utility model are described in this paper by applying specific examples, the above embodiment is only used to help understand the structure of the utility model and its core idea; at the same time, for the general technical personnel in the field, according to the idea of the utility model, the specific implementation mode and application range will have changes, and the above is described, the content of the specification should not be understood as the limitation of the utility model.
Claims
1. An outdoor robot, characterized in that, The outdoor robot comprises a robot body, a wind direction sensor, a steering device, an auxiliary wheel and a controller. The wind direction sensor is arranged on the robot body and is provided with a plurality of wind direction sensors arranged along the circumference of the robot body to detect the wind direction and send a wind direction signal to the controller. The auxiliary wheel is movably arranged on the robot body and is supported on the ground to assist the robot body in steering during operation. The steering device is arranged on the robot body and is drivingly connected to the auxiliary wheel to drive the auxiliary wheel to steer. The controller is arranged on the robot body and is configured to receive the wind direction signal and control the steering device to steer the auxiliary wheel to a direction opposite to the wind direction.
2. The outdoor robot of claim 1, wherein, The robot body comprises a cylindrical shell and an arc-shaped dome. The steering device and the controller are arranged inside the cylindrical shell, the wind direction sensor is arranged outside the cylindrical shell, and the auxiliary wheel is arranged at the lower end of the cylindrical shell.
3. The outdoor robot of claim 2, wherein, The wind direction sensor is provided with four to eight wind direction sensors arranged uniformly along the circumference of the cylindrical shell.
4. The outdoor robot of claim 2, wherein, The outdoor robot further comprises a driving wheel and a speed reducer. The driving wheel is rotatably arranged at the lower end of the cylindrical shell to drive the robot body to move. The speed reducer is arranged outside the cylindrical shell and is configured to reduce the moving speed of the robot body under the control of the controller.
5. The outdoor robot of claim 4, wherein, The speed reducer comprises a speed-reducing telescopic rod and a friction damping structure. The fixed end of the speed-reducing telescopic rod is fixed outside the cylindrical shell, and the extending end is arranged towards the ground. The friction damping structure is arranged on the extending end of the speed-reducing telescopic rod to abut against the ground to reduce the moving speed of the robot body.
6. The outdoor robot of claim 4, wherein, The speed reducer is provided with at least two speed reducers.
7. The outdoor robot of claim 4, wherein, The speed reducer is arranged at the lower end of the cylindrical shell.
8. The outdoor robot of claim 2, wherein, The steering device comprises a steering disc and a driving assembly. The steering disc is rotatably arranged at the lower end of the cylindrical shell, and the auxiliary wheel is arranged on the steering disc. The driving assembly is drivingly connected to the steering disc to drive the steering disc to rotate.
9. The outdoor robot of claim 8, wherein, The driving assembly is a bidirectional driving motor, and the driving motor is drivingly connected to the steering disc through a transmission rod.
10. The outdoor robot of claim 2, wherein, The outdoor robot further comprises a wind force sensor and a recovery device. The wind force sensor is arranged on the arc-shaped dome and is configured to detect the wind force level of the environment where the robot body is located and send a wind force level signal to the recovery device. The recovery device is configured to drive the robot body to return to a predetermined position after the wind force sensor sends a wind force level signal of a gale level.