Outdoor-Roboter

Abstract

Outdoor robot, characterized in that the outdoor robot comprises a robot body, a balance sensor mechanism, a support mechanism and a controller; wherein the balance sensor mechanism comprises an oscillator and a trigger, wherein the oscillator is movably suspended from the robot body, wherein the triggers are provided as a plurality and are fixedly mounted on the robot body; wherein the oscillator has a pivoting stroke relative to the robot body, and wherein the oscillator has, within the pivoting stroke, a home position corresponding to the normal working posture of the robot body and a trigger position for triggering any trigger by pivoting; wherein the support mechanism is arranged on the robot body, the support mechanism having a support posture for extending and supporting the robot body and a retraction posture for retracting to the initial state; wherein the controller receives a trigger signal when the trigger is triggered and controls the corresponding support mechanism to extend to prevent the robot body from tipping over.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of robots, in particular to an outdoor robot. STATE OF THE ART

[0002] Outdoor robots are currently widely used in industrial automation, logistics, cleaning and maintenance, and other fields to replace manual labor in harsh environments. Outdoor robots generally have their own specific operating routes and perform tasks according to their specific operating routes via a motion mechanism such as a drive wheel.

[0003] However, an outdoor robot deployed on an offshore platform is typically exposed to many harsh offshore environments, such as strong winds, heavy rainfall, and the like. This means the outdoor robot must pay attention to its running speed, balance, and other performance to overcome adverse environmental factors such as strong winds, heavy rainfall, and slippery ground.

[0004] The existing outdoor robot lacks an appropriate anti-tip structure and is prone to tipping over due to factors such as strong winds, heavy rainfall, and slippery ground. This can easily disrupt the normal operation of the offshore platform and, in serious cases, even damage the outdoor robot and cause economic losses. CONTENTS OF THE PRESENT UTILITY MODEL

[0005] Embodiments of the present utility model propose an outdoor robot to overcome the above-mentioned problems.

[0006] The outdoor robot of the embodiments of the present utility model includes a robot body, a balance sensor mechanism, a support mechanism, and a controller; wherein the balance sensor mechanism comprises an oscillator and a trigger, wherein the oscillator is movably suspended from the robot body, wherein the trigger is provided as a plurality and is fixedly mounted on the robot body; wherein the oscillator has a pivoting stroke relative to the robot body, and wherein the oscillator has, within the pivoting stroke, a home position corresponding to the normal working posture of the robot body and a trigger position for triggering any trigger by pivoting, wherein the support mechanism is arranged on the robot body, the support mechanism having a support posture for extending and supporting the robot body and a retraction posture for retracting to the initial state; wherein the controller receives a trigger signal when the trigger is triggered and controls the corresponding support mechanism to extend to prevent the robot body from tipping over.

[0007] Preferably, the robot body comprises a cylindrical shell and an arcuate dome, the cylindrical shell being fixedly connected to the arcuate dome; wherein the balance sensor mechanism and the controller are arranged within the cylindrical shell, wherein the support mechanism is arranged outside the cylindrical shell.

[0008] Preferably, the oscillator comprises a flexible tension element and a counterweight pendulum; wherein one end of the flexible tension element is fixedly connected to the underside of the arched dome and the other end is fixedly connected to the counterweight pendulum; wherein the trigger is arranged on the inner wall of the cylindrical shell; wherein the counterweight pendulum has a pivoting contact portion, wherein the trigger has a trigger contact portion, wherein, when the oscillator is in the trigger position, the pivoting contact portion and the trigger contact portion are electrically connected to each other such that the trigger is triggered and emits a trigger signal.

[0009] Preferably, it is provided that the flexible tension element extends along the direction of gravity and the extension direction coincides with the center of gravity of the robot body when the flexible tension element and the counterweight pendulum are in the starting position; wherein the extension direction of the flexible tension element is directed in the direction of the trigger when the flexible tension element and the counterweight pendulum are in the triggering position, wherein the trigger is provided according to the position of the counterweight pendulum.

[0010] Preferably, the outdoor robot further comprises a drive wheel, a displacement sensor and a reduction gear; wherein the drive wheel is rotatably mounted at the lower end of the cylindrical shell to move the robot body; wherein the displacement sensor is arranged within the arcuate dome and is used to detect the side-slide displacement of the robot body and send a side-slide displacement signal to the controller; wherein the reduction gear is arranged on the robot body and is used to reduce the traveling speed of the robot body under the control of the controller.

[0011] Preferably, the reduction gear comprises a reduction telescopic rod and a friction damping structure; wherein the fixed end of the reduction telescopic rod is fixed to the outer lower end of the cylindrical shell and the extended end is arranged towards the ground; wherein the friction damping structure is arranged at the extended end of the reduction telescopic rod and is used to contact the ground to reduce the traveling speed of the robot body.

[0012] Preferably, at least two reduction gears are provided.

[0013] Preferably, the support mechanism is provided as a plurality and comprises a supporting telescopic rod and an elastic base; wherein the fixed end of the supporting telescopic rod is attached to the outer lower end of the cylindrical shell and the extended end is arranged towards the ground; wherein the elastic base is arranged at the extended end of the supporting telescopic rod and is used for contact with the ground.

[0014] Preferably, the support mechanisms are arranged uniformly along the circumferential direction.

[0015] Preferably, at least eight triggers are provided, which are arranged evenly along the circumferential direction of the inner wall of the robot body.

[0016] Compared to the state of the art, the utility model has the following advantages: The outdoor robot of the present utility model comprises a robot body, a balance sensor mechanism, a support mechanism, and a controller. Specifically, the balance sensor mechanism includes an oscillator movably suspended from the robot body and a plurality of actuators fixedly mounted on the robot body. When the robot body moves normally, the oscillator is in the home position. When the robot body tilts sideways, the oscillator deflects relative to the robot body until a actuator corresponding to the tilt direction is triggered. At this time, the actuator sends a trigger signal to the controller. Upon receiving the trigger signal, the controller controls the support mechanism to extend into a support posture, thus helping the robot body maintain its stability.This makes the outdoor robot better able to cope with lateral tilt, and it does not tilt sideways so easily due to environmental factors such as wind, can overcome the influence of the offshore platform environment and perform normal operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly explain the technical solutions of the embodiments of the present utility model, the drawings necessary for the descriptions of the embodiments of the present utility model are briefly described below. Obviously, the attached drawings in the following description represent only some embodiments of the present utility model, and other drawings can be obtained from these drawings without any creative effort by those skilled in the art. Fig. 1 is a schematic structural diagram of the outdoor robot of the present utility model; Fig. 2 is a schematic structural representation of the support mechanism in Fig. 1; Fig. 3 is a schematic structural diagram of the reduction gear in Fig. 1;

[0018] Reference numerals: 1. Robot body; 11. Cylindrical shell; 12. Arched dome; 2. Balance sensing mechanism; 21. Oscillator; 211. Flexible tension member; 212. Counterweight pendulum; 22. Trigger; 3. Controller; 4. Support mechanism; 41. Supporting telescopic rod; 42. Elastic base; 5. Displacement sensor; 6. Reduction gear; 61. Reduction telescopic rod; 62. Friction damping structure; 7. Drive wheel; 8. Auxiliary wheel. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned purposes, features and advantages of the present utility model clearer and easier to understand, the present utility model is described in more detail below together with the attached drawings and specific implementation methods.

[0020] The embodiments of the present utility model relate to an outdoor robot. The outdoor robot described in the embodiments of the present utility model is suitable for some work spaces with harsh environments where the outdoor robot is prone to tipping, such as offshore operating platforms, deserts, and other natural environments with harsh natural conditions. For example, the offshore operating platform is exposed to strong winds, waves, and other influences throughout the year, and the ground is slippery. The outdoor robot exhibits poor stability during operation and is prone to tipping and sliding sideways due to wind and waves.

[0021] To overcome the above-mentioned environmental influences, as in Fig. As shown in Figure 1, the outdoor robot of the present utility model is equipped with a balance sensor mechanism 2, a support mechanism 4, a controller 3, and other structures on the robot body 1. The robot body 1 generally adopts an existing robot structure and can be the structure of a transport robot or the structure of an inspection robot depending on the application scenario. Regardless of the robot structure adopted by the robot body 1, the robot body 1 is equipped with a power source, a drive element, and an auxiliary wheel 8. The drive element can be a crawler or a wheel. In use, the robot body 1 can move along a preset route using a power source and a drive element and rotate under the action of the auxiliary wheel 8.The energy source is generally an electric motor whose power output is connected to the drive element directly or via a transmission component, such as a gear.

[0022] However, the drive element alone cannot withstand the effects of strong wind and other influences on outdoor robots. For this purpose, a balance sensor mechanism 2, a support mechanism 4, a controller 3, and other structures are provided on the robot body 1. Referring to Fig. 1, the balance sensor mechanism 2 specifically includes an oscillator 21 and a trigger 22. The oscillator 21 is movably suspended from the robot body 1. The oscillator 21 is provided as a plurality of oscillators, all of which are fixedly mounted on the robot body 1. When the robot body 1 tilts sideways, the oscillator 21 may oscillate relative to the trigger 22 due to gravity. The swing direction of the oscillator 21 is not limited, but the swing amplitude depends on the range of lateral tilt that the outdoor robot can withstand. Generally, the maximum angle by which the oscillator 21 can be deflected is no more than 45 degrees. That is, the trigger 22 should be arranged at a position that ensures that the trigger 22 can be triggered after the oscillator 21 has swung at an angle of no more than 45 degrees.

[0023] At the same time, the robot body 1 can maintain a relatively stable working posture even when its lateral tilt angle is small. That is, under normal circumstances, the deflection angle of the oscillator 21 when the trigger 22 is triggered cannot be too small, and the deflection angle is generally greater than 10 degrees.

[0024] Within the swing stroke of the oscillator 21, the oscillator 21 has an initial position corresponding to the normal working posture of the robot body 1 and a trigger position for swinging and triggering one of the triggers 22. Typically, the normal working posture of the robot body 1 is perpendicular to the ground, and the initial position of the oscillator 21 is accordingly a position of the oscillator 21 perpendicular to the ground. When the oscillator 21 deviates from the initial position due to the lateral tilt of the robot body 1 and deflects to a position where it touches and triggers the trigger 22, the position of the oscillator 21 is the trigger position of the oscillator 21. That is, the initial position of the oscillator 21 is normally single, and the trigger position is set to a multiple according to the number of triggers 22.

[0025] The controller 3 adopts an existing control structure. A communication line is provided between the controller and the trigger 22, and a trigger signal sent from the trigger 22 after triggering is received via the communication line. After receiving the trigger signal, the controller 3 can control the support mechanism 4 to support it on the ground to help the outdoor robot maintain balance and prevent the outdoor robot from tipping over. In the present embodiment, the controller 3 and the balance sensor mechanism 2 are arranged inside the robot body 1 to prevent malfunctions of the controller 3 and the balance sensor mechanism 2 due to environmental influences.

[0026] The support mechanism 4 is arranged outside the robot body 1 and has a support posture and a retracted posture. When the robot body 1 is in a normal working posture, the support mechanism 4 is in a retracted posture to prevent the support mechanism 4 from interfering with the normal work of the robot body 1. When the robot body 1 tilts sideways and the trigger 22 is triggered, the support mechanism 4 moves and deforms from the retracted posture to the support posture and is firmly supported on the ground to help the robot body 1 maintain a stable posture.

[0027] When the robot body 1 moves normally on the offshore operating platform, the oscillator 21 generally remains in or near the home position due to its own weight. When the robot body 1 tilts sideways due to environmental factors such as wind, the oscillator 21 will deflect relative to the robot body 1 until the trigger 22 corresponding to the tilt direction is triggered. At this time, the trigger 22 sends a trigger signal to the controller 3. After receiving the trigger signal, the controller 3 controls the support mechanism 4 to move and deform into the support posture to help the robot body 1 maintain a stable posture. This makes the outdoor robot more able to cope with lateral tilt and less likely to tilt sideways due to environmental factors such as wind, overcoming the influence of the offshore platform environment and ensuring normal operation.

[0028] Based on the above structure, the robot body 1 may include a cylindrical shell 11 and an arcuate dome 12, and the cylindrical shell 11 and the arcuate dome 12 are firmly connected to each other to form a relatively closed interior of the robot body 1. Accordingly, the balance sensor mechanism 2 and the controller 3 are arranged inside the cylindrical shell 11, and the support mechanism 4 is arranged outside the cylindrical shell 11.

[0029] With reference to Fig. 1, the oscillator 21 comprises a flexible tension member 211 and a counterweight pendulum 212, with one end of the flexible tension member 211 being fixedly connected to the bottom of the arched dome 12 and the other end being fixedly connected to the counterweight pendulum 212. The flexible tension member 211 may be a flexible structure such as a rope, an iron chain, or a cable, and the counterweight pendulum 212 may specifically have the shape of a sphere, a cube, or the like. The trigger 22 is accordingly arranged on the inner wall of the cylindrical shell 11.

[0030] The counterweight pendulum 212 has a pivoting contact portion, and the trigger 22 has a trigger contact portion. When the oscillator 21 pivots to the trigger position, the pivoting contact portion and the trigger contact portion are electrically connected to each other, so that the trigger 22 is triggered and emits a trigger signal. This triggering method is relatively sensitive and can significantly increase the response speed of the trigger 22; at the same time, the structure is simple and reliable and easy to implement. In a specific implementation, the counterweight pendulum 212 can be made of insulating material, and the part of the counterweight pendulum 212 used to trigger the trigger 22 is provided with a conductive structure, such as a conductive plate, wherein the conductive part is the pivoting contact portion on the counterweight pendulum 212.Accordingly, the trigger 22 is provided with two contacts as trigger contact sections. When the counterweight pendulum 212 swings to the trigger position, the conductive part short-circuits the two contacts, causing the trigger 22 to send a short-circuit signal to the controller 3, wherein the short-circuit signal is the aforementioned trigger signal. Alternatively, the counterweight pendulum 212 is made of a conductive material, and the flexible tension member 211 is a cable, and the cable is electrically connected to the counterweight pendulum 212. The part of the counterweight pendulum 212 used to trigger the contactor is the trigger contact section. The trigger 22 is provided with a single contact point as the trigger contact section. The trigger 22 and the counterweight pendulum 212 are connected via a cable to form an open circuit.When the counterweight pendulum 212 is influenced by the inclination of the robot body 1 and deflects to the trigger position, the trigger contact section and the swing contact section are short-circuited, so that the trigger 22 sends a short-circuit signal to the controller 3, the short-circuit signal being the trigger signal already mentioned.

[0031] Of course, in addition to the contact triggering method mentioned above, a non-contact triggering method can also be used to trigger the trigger 22. For example, the counterweight pendulum 212 is movably suspended from the robot body 1 via a flexible tension member 211, such as a rope or iron chain, so that the trigger 22 is specifically a proximity switch. When the robot body 1 tilts, the counterweight pendulum 212 deflects and approaches the proximity switch until the proximity switch is triggered. At this time, the position of the counterweight pendulum 212 is the aforementioned trigger position.

[0032] It should be noted that whether it is a contact triggering method or a non-contact triggering method, both are based on the structural premise that the counterweight pendulum 212 is movably suspended from the robot body 1 via a flexible tension member 211, and the counterweight pendulum 212 can trigger the trigger 22 by deflection. Under this structural premise, the specific structures of the oscillator 21 and the trigger 22 can be specially designed according to actual requirements, and the above-mentioned contact triggering method and the non-contact triggering method are specific examples given for ease of explanation.

[0033] When the flexible tension member 211 and the counterweight pendulum 212 are in the home position during assembly, the flexible tension member 211 extends along the direction of gravity, and the extension direction coincides with the center of gravity of the robot body 1. This can ensure that the balance sensor mechanism accurately detects the lateral inclination of the robot body 1. Generally, the center of gravity of the robot body 1 is located on the axis of the cylindrical shell 11. Therefore, during assembly, the flexible tension member 211 in the home position can naturally be suspended from the axis of the cylindrical shell 11, and the counterweight pendulum 212 can be suspended from the lower end of the flexible tension member 211.When the flexible tension member 211 and the counterweight pendulum 212 are in the trigger position, the extending direction of the flexible tension member 211 is directed toward the trigger 22, and at this time, the position of the trigger 22 is adjusted according to the position of the counterweight pendulum 212.

[0034] Based on the above structure, further reference to Fig. 1, the outdoor robot may further include a drive wheel 7, a displacement sensor 5, and a reduction gear 6. The drive wheel 7 is rotatably mounted at the lower end of the cylindrical shell 11 to move the robot body 1. Since the offshore operating platform may be subject to heavy rain, waves, and the like, water may accumulate and the ground may be slippery. During operation of the outdoor robot, it may slip sideways due to the slipping of the drive wheel 7. For this purpose, a displacement sensor 5 may be provided on the robot body 1 to detect a sideways displacement of the robot body 1 when the robot body 1 slides sideways and send a sideways displacement signal to the controller 3. The reduction gear 6 is also arranged on the robot body 1.After the controller 3 receives the side-slip displacement signal from the displacement sensor 5, the controller 3 can control the reduction gear 6 to reduce the traveling speed of the robot body 1, thereby curbing the tendency of the robot body 1 to side-slip, thus making it easier for the outdoor robot to quickly return to the predetermined route.

[0035] The displacement sensor 5 can have several options. For example, the displacement sensor 5 can be a laser displacement sensor 5, and the laser displacement sensors 5 are arranged on the robot body 1 as a plurality of them, and the laser emission end of the laser displacement sensor 5 points in the horizontal direction. When the laser displacement sensor 5 detects that the robot body 1 has shifted in a direction other than the specified direction, a side-slip displacement signal can be sent to the controller 3.

[0036] With reference to Fig. 3, the reduction gear 6 specifically includes a reduction telescopic rod 61 and a friction damping structure 62 disposed at the extended end of the reduction telescopic rod 61. The friction damping structure 62 may be a rubber pad, a patterned steel plate with an anti-slip pattern, or the like, which has high friction damping with the ground. The fixed end of the reduction telescopic rod 61 is fixed to the outer lower end of the cylindrical shell 11, and the extended end is disposed toward the ground; the friction damping structure 62 is provided at the extended end of the reduction telescopic rod 61 to abut the ground and reduce the traveling speed of the robot body 1. The reduction telescopic rod 61 may be an existing telescopic rod structure, such as a hydraulic telescopic rod, a pneumatic telescopic rod, or the like.When the displacement sensor 5 on the outdoor robot sends the side-sliding displacement signal, the reduction telescopic rod 61 is extended under the control of the controller 3, so that the friction damping structure 62 is brought into contact with the ground, thereby increasing the frictional resistance between the outdoor robot and the ground and thus reducing the traveling speed of the outdoor robot. Furthermore, the reduction telescopic rod 61 and the friction damping structure 62 can also provide support for the robot body 1 to help keep the robot body 1 stable when the robot body 1 slides sideways.

[0037] Of course, the reduction gear 6 can also have other designs. For example, the reduction gear 6 can also be a rim brake structure arranged on the drive wheel 7. When the displacement sensor 5 on the outdoor robot sends the sideslip displacement signal, the brake caliper of the rim brake structure, under the control of the controller 3, clamps the drive wheel 7 of the outdoor robot to reduce the travel speed of the outdoor robot. Alternatively, the reduction telescopic rod 61 can be replaced by a scissor-like telescopic structure, in which case the friction damping structure 62 is arranged at the extended end of the scissor-like telescopic structure. Alternatively, the reduction telescopic rod 61 can be replaced by a rigid rocker arm hinged to the robot body 1, and the friction damping structure 62 is arranged at the end of the rigid rocker arm.When the displacement sensor 5 on the outdoor robot sends the side-slip displacement signal, the rigid rocker arm folds down under the control of the controller 3, causing the friction damping structure 62 to rest on the ground to reduce the traveling speed of the outdoor robot. The rigid rocker arm can be driven by an electric motor, a hydraulic cylinder, or an air cylinder.

[0038] Preferably, at least two reduction gears 6 may be provided. Compared with the technical solution in which only one reduction gear 6 is mounted on the robot body 1, if the structure and size of the reduction gear 6 are not changed, at least two reduction gears 6 are provided, which can provide stronger friction damping when the outdoor robot slides sideways, thereby further reducing the distance the outdoor robot slides sideways, making it easier for the outdoor robot to quickly return to its predetermined operating route. During implementation, two or three reduction gears 6 can basically be provided on the robot body 1, taking into account the installation space. Of course, in some special cases, such as a relatively large outdoor robot, the number of reduction gears 6 may be larger, specifically four, five, or even more.Of course, only one reduction gear 6 can be provided on the robot body 1 to reduce the processing costs of the outdoor robot. The arrangement of the at least two reduction gears 6 on the robot body 1 can be specifically determined according to actual requirements. For example, if three reduction gears 6 are provided on the robot body 1, the reduction gears 6 can be arranged evenly along the circumferential direction of the robot body 1, that is, the reduction gears 6 are arranged in a ". "-shape on the robot body 1. The reduction gears 6 can also be arranged side by side on the robot body 1 along a specific direction or in a row on the robot body 1. The exact number and position of the reduction gears 6 arranged on the robot body 1 depend on the actual requirements and are not described in detail here.

[0039] With reference to Fig.2, the support mechanism 4 specifically includes a supporting telescopic rod 41 and an elastic base 42 disposed at the extended end of the supporting telescopic rod 41. The elastic base 42 may be an elastic pad such as a rubber pad, a foam pad, or the like to provide elastic cushioning to the supporting telescopic rod during support. The supporting telescopic rod 41 may be an existing telescopic rod structure, such as a hydraulic telescopic rod, a pneumatic telescopic rod, or the like. The fixed end of the supporting telescopic rod 41 is fixed to the outer lower end of the cylindrical shell 11, and the extended end is disposed toward the ground; the elastic base 42 is disposed at the extended end of the supporting telescopic rod 41 and is used for contact with the ground.When the robot body 1 is in a normal working posture, the supporting telescopic rod 41 of the support mechanism 4 is in a retracted posture to avoid disrupting the normal work of the robot body 1. When the robot body 1 tilts sideways and the trigger 22 of the balance sensor mechanism 2 is triggered, the telescopic end of the supporting telescopic rod 41 extends under the control of the controller 3, that is, the supporting telescopic rod 41 is deformed from the retracted posture to the supporting posture. The elastic base 42 is applied to the ground to help the robot body 1 maintain a stable posture.

[0040] When the support mechanism 4 adopts the above structure, it must cooperate with another support mechanism 4 to ensure the supporting effect on the robot body 1. That is, a plurality of support mechanisms 4 must be provided. When the robot body 1 tilts laterally in a certain direction, the support mechanism 4 is deformed into a supporting posture in the corresponding direction, so that the robot body 1 is supported in that direction. For example, the number of support mechanisms 4 may be three, four, six, eight, or the like. Note that the specific number of support mechanisms 4 depends on actual needs. Based on this, the support mechanisms 4 can be evenly arranged along the circumferential direction on the robot body 1. In this way, the supporting effect of the support mechanisms 4 can be more comprehensive and balanced.For example, if the outdoor robot's trajectory is a straight line, four support mechanisms 4 can be evenly arranged along the circumferential direction of the robot body 1, corresponding to east, south, west, and north. When the outdoor robot is influenced by the east wind and tilts to the west, all support mechanisms 4 are extended synchronously, and the support mechanisms 4 corresponding to the west direction are supported on the ground first. After the robot body 1 returns to its normal working posture, the support mechanisms 4 in other directions are also subsequently supported on the ground to help the robot body 1 regain its stability. Similarly, the support mechanisms 4 can correspond to eight directions, namely east, south, west, north, southeast, northeast, southwest, and northwest, and eight support mechanisms can be evenly arranged along the circumference of the robot body 1.When the outdoor robot is influenced by the northeast wind and tilts to the southwest, all support mechanisms 4 are extended synchronously, and the support mechanisms 4 corresponding to the southwest direction are first supported on the ground. After the robot body 1 returns to its normal working posture, the support mechanisms 4 in other directions are also subsequently supported on the ground to help the robot body 1 regain its stability.

[0041] Of course, in other embodiments, only one support mechanism 4 may be provided, and in this case, the support mechanism 4 may be a support frame. The support frame is arranged around the robot body 1 and can move up and down relative to the robot body 1 by a power source, such as an oil cylinder, an air cylinder, or an electric cylinder. When the robot body 1 tilts sideways, the controller 3 controls the support frame to fall down and rest on the ground, thus providing support for the robot body 1.

[0042] According to the above, there are at least eight actuators 22, and they are evenly arranged along the circumferential direction of the robot body 1. If the number of actuators 22 is too few, a large arrangement gap will be created between the actuators 22. If the oscillator 21 oscillates in the direction of the arrangement gap between the actuators 22, the actuators 22 cannot be triggered even if the oscillator 21 swings at a sufficient angle. That is, if the number of actuators 22 is too few, the monitoring capability of the lateral tilt balance sensor mechanism 2 will be severely limited, and a large blind monitoring area will be created. To ensure a sufficient arrangement density of the actuators 22 on the robot body 1, at least eight actuators 22 are provided.That is, in the eight basic directions of east, south, west, north, southeast, southwest, northeast, and northwest, the robot body 1 has at least one trigger 22 corresponding to one of the directions. For example, if there are eight triggers 22 and the outdoor robot is influenced by the northeast wind and tilts to the southwest, the oscillator 21 swings toward the trigger 22 corresponding to the southwest direction, and the trigger 22 corresponding to the southwest side is triggered by the oscillator 21 and sends out a trigger signal. If there are twelve triggers 22 and the outdoor robot is influenced by the northeast wind and tilts to the southwest, the oscillator 21 swings toward the trigger 22 corresponding to the southwest direction, and multiple triggers 22 corresponding to the southwest side can be triggered by the oscillator 21 and send out a trigger signal.Of course, the number of triggers 22 can be nine, ten or even more, and the specific number of triggers 22 depends on the actual needs and is not described in detail here.

[0043] In practice, the displacement sensor 5 is preferably arranged at the upper end of the robot body 1. When the robot body 1 tilts sideways, the displacement sensor 5 at the upper end of the robot body 1 can easily detect a certain displacement and then send a corresponding signal to cause the reduction gear 6 to decelerate the movement of the robot body 1. In this way, the displacement sensor 5 and the reduction gear 6 can also decelerate the robot body 1 when it tilts sideways, thereby playing a certain supporting role in preventing the robot body 1 from tilting sideways.

[0044] The support mechanism 4 and the reduction gear 6 are preferably arranged at the lower end of the robot body 1. In this way, the extension stroke of the support mechanism 4 and the reduction gear 6 can be shortened, so that the support mechanism 4 and the reduction gear 6 can move to the correct position in time when the outdoor robot tips over or slides sideways. This can improve the reliability of the support mechanism 4 and the reduction gear 6 and prevent the situation that the support mechanism 4 and the reduction gear 6 only move into position after the outdoor robot has already tipped over or slided sideways a certain distance. In addition, this also contributes to the miniaturization of the support mechanism 4 and the reduction gear 6, thus helping to reduce the production and processing costs of the outdoor robot.

[0045] When the outdoor robot of the embodiments of the present utility model moves normally on the offshore operating platform and encounters strong winds, the outdoor robot exhibits a certain lateral tilt, and then the oscillator 21 in the balance sensor mechanism 2 pivots a certain amount. If the wind force is too strong, the tilt angle of the outdoor robot is too large, but it does not completely fall over, and the oscillator 21 contacts the trigger 22 in the corresponding direction of the lateral tilt. The oscillator 21 has a pivot contact portion, and the trigger 22 has a trigger contact portion. When the oscillator 21 pivots and contacts the trigger 22 in the corresponding direction of the lateral tilt, the pivot contact portion and the trigger contact portion are electrically connected to each other, so that the trigger 22 is triggered and sends a trigger signal.The controller 3 then controls the multiple support mechanisms 4 to extend simultaneously, and the support mechanism 4 corresponding to the tilt direction touches the ground first, causing the outdoor robot to return to a normal working posture. The other support mechanisms 4 then touch the ground to ensure the stability of the robot after it returns to its normal position.

[0046] In addition, during heavy rain, the ground on the offshore operating platform may become slippery or even flooded. This reduces the grip of the outdoor robot, making it easy to slide sideways when moving. The displacement sensor 5 detects the side-sliding displacement of the outdoor robot. If the platform ground is too slippery, the displacement sensor 5 detects that the robot has slid sideways a certain distance and immediately sends a side-sliding displacement signal to the controller 3. When the displacement sensor 5 on the outdoor robot sends the side-sliding displacement signal, the reduction telescopic rod 61 is extended under the control of the controller 3, so that the friction damping structure 62 is brought into contact with the ground, thereby increasing the frictional resistance between the outdoor robot and the ground and thus reducing the traveling speed of the outdoor robot.

[0047] When the outdoor robot is fully reset, the reduction gear 6 and the support mechanism 4 are retracted, allowing the outdoor robot to continue its normal operation.

[0048] The above only represents specific embodiments of the present utility model, but the scope of the present utility model is not limited thereto. Anyone familiar with the technical field can easily imagine modifications or substitutions within the technical scope disclosed in the present utility model, and these should be covered by the scope of the present utility model. Therefore, the scope of the present utility model should be subject to the scope of the claims.

[0049] It should be noted that for the average person skilled in the art, some improvements and modifications are also made, which are to be considered as part of the scope of protection of the present utility model, without deviating from the principle of the present utility model.

[0050] Finally, it should be noted that in this article, relational terms such as "first" and "second" or the like are used merely to distinguish one entity or operation from another and do not necessarily require or imply any actual relationship or order between those entities or operations. Furthermore, the terms "comprise," "include," or other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, object, or terminal comprising a set of elements includes not only those elements but also other elements not explicitly listed or even elements inherent in that process, method, object, or terminal. Without further limitation, a process, method, object, or terminal characterized by the statement "comprises a..." includes...’ does not exclude the presence of additional identical elements in the process, procedure, article or terminal which it comprises.

[0051] The outdoor robot described in the utility model is introduced in detail above, and the principle and embodiment of the utility model are described in detail in this article through concrete examples. The description of the above embodiments is only for understanding the structure and core idea of ​​the utility model; at the same time, changes in the specific implementation methods and application scope will occur for those of ordinary skill in the art according to the concept of the present utility model. In summary, the content of this specification should not be construed as a limitation of the present utility model.

Claims

[1] Outdoor robots, characterized by that the outdoor robot comprises a robot body, a balance sensor mechanism, a support mechanism and a controller; wherein the balance sensor mechanism comprises an oscillator and a trigger, wherein the oscillator is movably suspended from the robot body, wherein the triggers are provided as a plurality and are fixedly mounted on the robot body; wherein the oscillator has a pivoting stroke relative to the robot body, and wherein the oscillator has, within the pivoting stroke, a home position corresponding to the normal working posture of the robot body and a trigger position for triggering any trigger by pivoting; wherein the support mechanism is arranged on the robot body, the support mechanism having a support posture for extending and supporting the robot body and a retraction posture for retracting to the initial state; wherein the controller receives a trigger signal when the trigger is triggered and controls the corresponding support mechanism to extend to prevent the robot body from tipping over. [2] Outdoor robot according to claim 1, characterized by in that the robot body comprises a cylindrical shell and an arcuate dome, wherein the cylindrical shell is fixedly connected to the arcuate dome; wherein the balance sensor mechanism and the controller are arranged within the cylindrical shell, wherein the support mechanism is arranged outside the cylindrical shell. [3] Outdoor robot according to claim 2, characterized by that the oscillator comprises a flexible tension element and a counterweight pendulum; wherein one end of the flexible tension element is fixedly connected to the underside of the arched dome and the other end is fixedly connected to the counterweight pendulum; wherein the trigger is arranged on the inner wall of the cylindrical shell; wherein the counterweight pendulum has a pivoting contact portion, wherein the trigger has a trigger contact portion, wherein, when the oscillator is in the trigger position, the pivoting contact portion and the trigger contact portion are electrically connected to each other such that the trigger is triggered and emits a trigger signal. [4] Outdoor robot according to claim 3, characterized bythat the flexible tension member extends along the direction of gravity and the extension direction coincides with the center of gravity of the robot body when the flexible tension member and the counterweight pendulum are in the home position; wherein the extension direction of the flexible tension member is directed towards the trigger when the flexible tension member and the counterweight pendulum are in the trigger position, wherein the trigger is provided according to the position of the counterweight pendulum. [5] Outdoor robot according to one of claims 2 to 4, characterized by that the outdoor robot also includes a drive wheel, a displacement sensor and a reduction gear; wherein the drive wheel is rotatably mounted at the lower end of the cylindrical shell to move the robot body; wherein the displacement sensor is arranged within the arcuate dome and is used to detect the side-slide displacement of the robot body and send a side-slide displacement signal to the controller; wherein the reduction gear is arranged on the robot body and is used to reduce the traveling speed of the robot body under the control of the controller. [6] Outdoor robot according to claim 5, characterized by that the reduction gear comprises a reduction telescopic rod and a friction damping structure; wherein the fixed end of the reduction telescopic rod is fixed to the outer lower end of the cylindrical shell and the extended end is arranged towards the ground; wherein the friction damping structure is arranged at the extended end of the reduction telescopic rod and is used to contact the ground to reduce the traveling speed of the robot body. [7] Outdoor robot according to claim 5 or 6, characterized by that at least two reduction gears are provided. [8] Outdoor robot according to one of claims 2 to 7, characterized by that the support mechanism is provided as a plurality, comprising a supporting telescopic rod and an elastic base; wherein the fixed end of the supporting telescopic rod is attached to the outer lower end of the cylindrical shell and the extended end is arranged towards the ground; wherein the elastic base is arranged at the extended end of the supporting telescopic rod and is used for contact with the ground. [9] Outdoor robot according to claim 8, characterized by that the support mechanisms are arranged evenly along the circumferential direction. [10] Outdoor robot according to claim 2, characterized bythat at least eight triggers are provided, which are evenly arranged along the circumferential direction of the inner wall of the robot body.

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