Loading arm based on binocular camera positioning and automatic alignment method

Abstract

The invention relates to the technical field of crane pipe automatic alignment, in particular to a crane pipe based on binocular camera positioning and an automatic alignment method.The crane pipe comprises a steering base, an industrial controller is embedded in the upper surface of one side of the steering base through bolts, and a steering shaft is arranged on the upper surface of the other side of the steering base in a penetrating mode through a bearing; the top end of the steering shaft is connected with a stand column through a bolt, an angle sensor is installed at the top end of the stand column, a pipe frame is fixed to the outer wall of one side of the upper end of the stand column, an upper fork arm is arranged at the upper end of the other side of the pipe frame, and a batching mechanism is fixed to the top end of the upper fork arm. According to the automatic crane pipe alignment method based on binocular camera positioning, the binocular camera is arranged, rapid identification of alignment area coordinate points is achieved through an industrial controller in cooperation with the ground clearance detected by a distance sensor, after alignment area identification coordinates are connected, the middle point position is automatically judged, and an insertion pipe is adjusted to move to the middle point position; and automatic alignment of the crane pipe is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic alignment of loading arms, and in particular to a loading arm and an automatic alignment method based on binocular camera positioning. Background Art

[0002] A loading arm is a telescopic and movable pipe, mainly used for liquid loading and unloading operations in industries such as petroleum and chemical industry. Compared with traditional hoses, it has higher safety, flexibility and service life, and is used to replace old hose connections. It is an ideal special equipment in the process of receiving and delivering oil products, and can also be widely used in the chemical industry and other industries to receive and deliver various liquid raw materials.

[0003] After searching, there is a method for automatically aligning the tank mouth of a cantilever train full-automatic loading arm and a cantilever train full-automatic loading arm with a publication number of CN109368586A, which includes a column, an inner arm and an outer arm. The inner arm is arranged between the column and the outer arm. It judges and calculates the position of the center of the tank mouth through a detection cycle, has relatively high requirements for the shape of the alignment area, has poor detection effect on asymmetric alignment areas, and has many detection cycles, affecting the alignment efficiency. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a loading arm and an automatic alignment method based on binocular camera positioning, which solves the existing problems mentioned in the above background art.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A loading arm and an automatic alignment method based on binocular camera positioning, including: A swivel base, on the upper surface of one side of the swivel base, an industrial controller is embedded through bolts, on the upper surface of the other side of the swivel base, a swivel shaft is passed through a bearing, at the top of the swivel shaft, a column is installed and connected through bolts, an angle sensor is installed at the top of the column, on the outer wall of one side of the upper end of the column, a pipe rack is fixed, on the other side of the upper end of the pipe rack, an upper fork arm is arranged, at the top of the upper fork arm, a batching mechanism is fixed, on the lower end of the side of the pipe rack away from the column, a lower fork arm is arranged, at the other end of the lower fork arm, a feeding mechanism is connected, at the other end of the feeding mechanism, a sealing cover integrated part is connected through a rotary joint, at the lower end of the sealing cover integrated part, an insertion pipe is connected, on the outer wall of the upper end of the insertion pipe, a fitting ring is provided in a circular shape, on the outer wall of one end of the fitting ring, a binocular camera with a vertically downward orientation is installed through bolts, and on the outer wall of the other end of the fitting ring, a distance sensor with a vertically downward detection end is installed through bolts.

[0006] Optionally, a drive motor is also installed on the upper surface of the steering base near the industrial controller through bolts. A first reduction gear set is installed at the lower end inside the steering base through a rotating shaft, and the output shaft of the drive motor is connected to one end of the first reduction gear set. The other end of the first reduction gear set is connected to a second reduction gear set, and the other end of the second reduction gear set is connected to the lower end of the steering shaft.

[0007] Optionally, the second reduction gear set forms a rotary connection with the steering base through the first reduction gear set and the output shaft of the drive motor, and the column forms a rotational connection with the steering base through the steering shaft and the second reduction gear set.

[0008] Optionally, the batching mechanism forms a rotational connection with the steering base through the upper fork arm, the pipe rack and the column. One end of the batching mechanism is provided with a batching port, and a batching pipe is connected to the lower end of the batching port. The batching pipe is fixed on the upper surface of the upper fork arm through a fastener. The other end of the batching pipe is connected to an anti-collision pipe, and the other end of the anti-collision pipe is connected to a pressurizing mechanism through a pipeline. The lower end of the pressurizing mechanism is connected to a mixing hose.

[0009] Optionally, the end of the mixing hose away from the pressurizing mechanism is connected to the upper surface of the sealing cover integral part, and the batching mechanism forms a communicating connection with the insertion pipe through the anti-collision pipe and the sealing cover integral part. An inlet chamber is opened at the connection between the pressurizing mechanism and the anti-collision pipe. A micro motor is installed on the outer wall of the pressurizing mechanism near the inlet chamber through bolts. A circular sealing plate is fixed to the output shaft of the micro motor, and the sealing plate passes through the inside of the inlet chamber through a bearing. A pressurizing chamber is opened inside the pressurizing mechanism on the side away from the inlet chamber. A booster pump is installed on the outer wall of the pressurizing mechanism near the pressurizing chamber through bolts, and the output end of the booster pump is connected to the input end of the pressurizing chamber through a pipeline.

[0010] Optionally, a steering pipe is connected to the connection between the feeding mechanism and the lower fork arm through a rotary joint. A swivel base is fixed to the outer wall of one side of the lower fork arm. The other end of the swivel base is installed with a hydraulic rod through a rotating shaft, and the telescopic end of the hydraulic rod is connected to the upper surface of the end of the steering pipe away from the lower fork arm through a rotating shaft.

[0011] Optionally, the lower fork arm forms a communicating connection with the steering pipe, the sealing cover integral part and the insertion pipe through the rotary joint, and the steering pipe forms a communicating connection with the lower fork arm through the telescopic end of the hydraulic rod and the swivel base. And the sealing cover integral part and the insertion pipe form a rotational connection with the steering pipe.

[0012] Optionally, the distance between the distance sensor and the lowest end of the insertion pipe is denoted as H1, and the height from the ground detected by the distance sensor is denoted as H2. When the lowest end of the insertion pipe is located in the alignment area, the height from the ground detected by the distance sensor is denoted as 0.

[0013] Optionally, the industrial controller records the position where the initial distance sensor detects that the height from the ground is 0 through a binocular camera, establishes a plane rectangular coordinate system, denoted as (0, 0). Then, the rotating base drives the column to rotate, making the distance sensor move in an arc, and cooperates with the binocular camera to record all the positions where the distance sensor detects that the height from the ground is 0. At the same time, the rotation angle is recorded through the angle sensor, and the coordinate points on the corresponding trajectory are denoted as (X n , Y n ), where n = 1, 2, 3 •••.

[0014] Optionally, after the feeding mechanism drives the inserting pipe to rotate from one side of the alignment area to the other side by the rotating base, the telescopic end of the hydraulic rod expands and contracts to drive the inserting pipe to move away from or close to the column. Then, the column is controlled to rotate again, making the distance sensor move in an arc, and cooperates with the binocular camera to record all the positions where the distance sensor detects that the height from the ground is 0. At the same time, the rotation angle is recorded through the angle sensor. According to the distance between the inserting pipe and the column, the coordinate points on the corresponding trajectory are recorded by the industrial controller. The above operations are repeated until all the corresponding coordinate points in the alignment area are recorded. The industrial controller connects all the coordinate points to form a graphic of the alignment plane, calculates the midpoint of the graphic of the alignment plane by the industrial controller, and then controls the column to rotate by the industrial controller, cooperating with the telescopic control of the inserting pipe by the feeding mechanism, so that the inserting pipe reaches the midpoint of the alignment area, realizing automatic alignment.

[0015] The present invention provides a loading arm and an automatic alignment method based on binocular camera positioning, having the following beneficial effects: The automatic alignment method of the loading arm based on binocular camera positioning is provided with a binocular camera, which cooperates with the ground distance detected by the distance sensor, and realizes the rapid identification and marking of the coordinate points in the alignment area through the industrial controller. After connecting the marked coordinates in the alignment area, the midpoint position is automatically judged and the inserting pipe is adjusted to move to the midpoint position, realizing the automatic alignment of the loading arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the combined operation state of the present invention; Figure 2 It is an enlarged schematic structural diagram of the disassembled state of the rotating base part of the present invention; Figure 3 It is an enlarged schematic diagram of the internal structure of the rotating base of the present invention; Figure 4 It is an enlarged schematic structural diagram of a part of the batching mechanism of the present invention; Figure 5 It is an enlarged schematic structural diagram of a part of the feeding mechanism and the sealing cover integral part of the present invention; Figure 6 It is an enlarged sectional schematic structural diagram of a part of the pressurizing mechanism of the present invention Figure 7 This is a schematic flow diagram of the method for aligning the loading arm of the present invention.

[0017] In the figure: 1. Steering base; 101. Driving motor; 102. First reduction gear set; 103. Second reduction gear set; 2. Industrial controller; 3. Steering shaft; 4. Column; 5. Angle sensor; 6. Pipe rack; 7. Upper fork arm; 8. Batching mechanism; 801. Batching port; 802. Batching pipe; 803. Anti-collision pipe; 804. Pressurizing mechanism; 8041. Feed chamber; 8042. Micro motor; 8043. Sealing plate; 8044. Pressurizing chamber; 8045. Booster pump; 805. Mixing hose; 9. Lower fork arm; 10. Feeding mechanism; 1001. Steering pipe; 1002. Rotating base; 1003. Hydraulic rod; 11. Sealing cover integral part; 12. Insertion pipe; 13. Fitting ring; 14. Binocular camera; 15. Distance sensor. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0019] In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0020] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] Please refer to Figures 1 to 5, the present invention provides a technical solution: a loading arm based on binocular camera positioning, including: a swivel base 1, on the upper surface of one side of the swivel base 1, an industrial controller 2 is embedded by bolts, on the upper surface of the other side of the swivel base 1, a swivel shaft 3 is passed through by a bearing, at the top of the swivel shaft 3, a column 4 is installed and connected by bolts, at the top of the column 4, an angle sensor 5 is installed, on the outer wall of one side of the upper end of the column 4, a pipe rack 6 is fixed, on the upper end of the other side of the pipe rack 6, an upper fork arm 7 is provided, at the top of the upper fork arm 7, a batching mechanism 8 is fixed, on the lower end of the side of the pipe rack 6 away from the column 4, a lower fork arm 9 is provided, at the other end of the lower fork arm 9, a feeding mechanism 10 is connected, at the other end of the feeding mechanism 10, a sealing cover integral part 11 is connected through a rotary joint. The rotary joint is used to keep the two connected structures in communication while enabling the two connected structures to be rotationally adjusted; at the lower end of the sealing cover integral part 11, a spigot 12 is connected, on the outer wall of the upper end of the spigot 12, a fitting ring 13 is annularly provided, on the outer wall of one end of the fitting ring 13, a binocular camera 14 with a vertically downward orientation is installed by bolts, on the outer wall of the other end of the fitting ring 13, a distance sensor 15 with a vertically downward detection end is installed by bolts.

[0022] Please refer to Figures 2 to 3 , the present invention provides a technical solution: a loading arm based on binocular camera positioning, including: on the upper surface of the swivel base 1 near the industrial controller 2, a driving motor 101 is also installed by bolts. At the lower end inside the swivel base 1, a first reduction gear set 102 is installed through a rotating shaft, and the output shaft of the driving motor 101 is connected to one end of the first reduction gear set 102. The other end of the first reduction gear set 102 is connected to a second reduction gear set 103, and the other end of the second reduction gear set 103 is connected to the lower end of the swivel shaft 3. The second reduction gear set 103 forms a rotational connection between the output shaft of the first reduction gear set 102 and the driving motor 101 and the swivel base 1, and the column 4 forms a rotational connection with the swivel base 1 through the swivel shaft 3 and the second reduction gear set 103. The first reduction gear set 102 and the second reduction gear set 103 are used for fine control of the steering of the column 4. By reducing the rotation speed of the column 4 with a large gear ratio, stable control of the column 4 when adjusting the rotation angle is realized.

[0023] Please refer to Figure 1 , Figure 4 and Figure 6, the present invention provides a technical solution: a loading arm based on binocular camera positioning, comprising: a batching mechanism 8 is rotationally connected to a steering base 1 through an upper fork arm 7, a pipe rack 6 and a column 4. One end of the batching mechanism 8 is provided with a batching port 801, the lower end of the batching port 801 is connected to a batching pipe 802, and the batching pipe 802 is fixed on the upper surface of the upper fork arm 7 through fasteners. The other end of the batching pipe 802 is connected to a collision-proof pipe 803, and the other end of the collision-proof pipe 803 is connected to a pressurizing mechanism 804 through a pipeline. The pipeline is used to connect various parts in the batching mechanism 8 to ensure stable material transportation; the lower end of the pressurizing mechanism 804 is connected to a mixing hose 805, and the end of the mixing hose 805 away from the pressurizing mechanism 804 is connected to the upper surface of a sealing cover integrated part 11, and the batching mechanism 8 is in a communicating connection with an insertion pipe 12 through the collision-proof pipe 803 and the sealing cover integrated part 11. An inlet chamber 8041 is formed at the connection between the pressurizing mechanism 804 and the collision-proof pipe 803. A micro motor 8042 is installed on the outer wall of the pressurizing mechanism 804 near the inlet chamber 8041 through bolts. The output shaft of the micro motor 8042 is fixed with a circular sealing plate 8043, and the sealing plate 8043 is inserted into the interior of the inlet chamber 8041 through a bearing. The sealing plate 8043 cooperates with the rotation of the output shaft of the micro motor 8042 to control the feeding rate and opening / closing of the inlet chamber 8041, improving the controllability; a pressurizing chamber 8044 is formed inside the pressurizing mechanism 804 on the side away from the inlet chamber 8041. A booster pump 8045 is installed on the outer wall of the pressurizing mechanism 804 near the pressurizing chamber 8044 through bolts, and the output end of the booster pump 8045 is connected to the input end of the pressurizing chamber 8044 through a pipeline. The provided batching mechanism 8 is used to assist in mixing and transporting materials, realizing the combined transportation of multiple materials. The booster pump 8045 pressurizes the materials input into the inlet chamber 8041 in the pressurizing chamber 8044, improving the smoothness of material transportation, increasing the material transportation rate, and further enhancing the functionality of the loading arm during material feeding.

[0024] Please refer to Figure 1 and Figure 5, the present invention provides a technical solution: a loading arm based on binocular camera positioning, including: a rotary joint is connected between the connection part of the feeding mechanism 10 and the lower fork arm 9 and a steering pipe 1001. The lower fork arm 9 is connected in a communicating manner between the steering pipe 1001, a sealing cover integral part 11 and an inserting pipe 12 through rotary joints. A swivel base 1002 is fixed on one outer wall of the lower fork arm 9. The other end of the swivel base 1002 is installed with a hydraulic rod 1003 through a rotating shaft. And the telescopic end of the hydraulic rod 1003 is connected to the upper surface of the end of the steering pipe 1001 far from the lower fork arm 9 through a rotating shaft. And the steering pipe 1001 is connected in a communicating manner with the lower fork arm 9 through the telescopic end of the hydraulic rod 1003 and the swivel base 1002. And the sealing cover integral part 11 and the inserting pipe 12 are rotatably connected to the steering pipe 1001. The provided inserting pipe 12 realizes telescopic lifting control through the control and adjustment of the steering pipe 1001 and the telescopic end of the hydraulic rod 1003, facilitating the realization of the automatic alignment function.

[0025] Please refer to Figure 6 , a method for automatic alignment of a loading arm based on binocular camera positioning, including: the distance between the distance sensor 15 and the lowermost end of the inserting pipe 12 is denoted as H1, the height from the ground detected by the distance sensor 15 is denoted as H2. When the lowermost end of the inserting pipe 12 is located in the alignment area, the height from the ground detected by the distance sensor 15 is denoted as 0. The industrial controller 2 records the position where the initial distance sensor 15 detects the height from the ground as 0 through the binocular camera 14, and establishes a plane rectangular coordinate system, denoted as 0,0. Then the steering base 1 drives the column 4 to rotate, making the distance sensor 15 move in an arc, and cooperates with the binocular camera 14 to record all positions where the distance sensor 15 detects the height from the ground as 0. At the same time, the rotation angle is recorded through the angle sensor 5. The coordinate points on the corresponding trajectory are denoted as (X n , Y n ), n = 1, 2, 3 •••. After the feeding mechanism 10 drives the inserting pipe 12 to rotate from one side of the alignment area to the other side under the drive of the steering base 1, through the telescopic movement of the telescopic end of the hydraulic rod 1003, the inserting pipe 12 is driven to move away from or close to the column 4. Then the column 4 is controlled to rotate again, making the distance sensor 15 move in an arc, and cooperates with the binocular camera 14 to record all positions where the distance sensor 15 detects the height from the ground as 0. At the same time, the rotation angle is recorded through the angle sensor 5. According to the distance between the inserting pipe 12 and the column 4, the industrial controller 2 records the coordinate points on the corresponding trajectory. Repeat the above operations until all the corresponding coordinate points in the alignment area are recorded. The industrial controller 2 connects all the coordinate points to form an alignment plane graph. The industrial controller 2 calculates the midpoint of the alignment plane graph. Then the industrial controller 2 controls the rotation of the column 4, and cooperates with the feeding mechanism 10 to control the telescopic movement of the inserting pipe 12, so that the inserting pipe 12 reaches the midpoint of the alignment area, realizing automatic alignment.

[0026] In summary, for the automatic alignment method of the loading arm based on binocular camera positioning, when in use, first place the swivel base 1 of the loading arm on a stable and horizontal working surface in the working environment and reinforce it with fasteners to prevent the loading arm from tipping over or shifting. The swivel base 1 drives the first reduction gear set 102 and the second reduction gear set 103 to rotate through the output shaft of the drive motor 101 (model: Delta-ECMA-E21320SS). The output shaft of the drive motor 101 has a fast rotation speed, high precision, and is stable and easy to control. Thus, the swivel shaft 3 can drive the column 4 to perform stable and precise rotation adjustment on the swivel base 1, and the rotation angle can be sensed by the angle sensor 5 (model: VOLKE-DMN) and recorded and fed back by the industrial controller 2 (model: Keyence LJ-X8000), facilitating the industrial controller 2 to control the rotation direction, start, and stop of the output shaft of the drive motor 101 according to the transmitted data. Subsequently, the column 4 controls the rotation of the upper fork arm 7 and the lower fork arm 9 through the pipe rack 6. The lower fork arm 9 is connected to the swivel pipe 1001 through the lower end material port and the rotary joint, and the rotation function of the swivel pipe 1001 is realized through the expansion and contraction of the telescopic end of the hydraulic rod 1003 installed on the swivel base 1002. The swivel pipe 1001 is connected to the insertion pipe 12 through the sealing cover integral part 11 connected by the rotary joint to realize material transportation. When the pressure of the transported material is insufficient or the feeding rate is low, the micro motor 8042 (model: Zhonggu Weike-HS86128) can be used to control the sealing plate 8043 to increase the opening angle. The micro motor 8042 has a demand customization function, facilitating modulation according to the feeding operation requirements. At the same time, start the booster pump 8045 (model: Baisscott-GPB02), which pressurizes and transports the material passing through the booster mechanism 804 by inputting pressurized air into the booster chamber 8044 to increase the feeding rate. The loading arm, through the control function of the industrial controller 2, coordinates with the ground clearance detected by the distance sensor 15 (model: ACR-LRS110HT) and the coordinate identification of the captured alignment area by the binocular camera 14 (model: PEA020-800-Y180), realizes the coordinate marking recognition of the alignment area, and realizes the midpoint recognition of the alignment area by connecting the coordinates of the alignment area. Furthermore, by controlling the rotation of the swivel shaft 3 and the swivel pipe 1001, the expansion, contraction, and lifting of the insertion pipe 12 are adjusted to make the insertion pipe 12 located above the midpoint of the alignment area, realizing the automatic alignment of the loading arm and facilitating the stable transportation of materials.

[0027] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A loading arm based on binocular camera positioning, characterized in that, Including: A steering base (1), on the upper surface of one side of the steering base (1), an industrial controller (2) is embedded by bolts. On the upper surface of the other side of the steering base (1), a steering shaft (3) is passed through by a bearing. The top end of the steering shaft (3) is installed and connected with a column (4) by bolts. An angle sensor (5) is installed at the top end of the column (4). On the outer wall of one side of the upper end of the column (4), a pipe rack (6) is fixed. On the upper end of the other side of the pipe rack (6), an upper fork arm (7) is arranged. At the top end of the upper fork arm (7), a batching mechanism (8) is fixed. On the lower end of the side of the pipe rack (6) away from the column (4), a lower fork arm (9) is arranged. The other end of the lower fork arm (9) is connected with a feeding mechanism (10). The other end of the feeding mechanism (10) is connected with a seal cover integrated part (11) through a rotary joint. The lower end of the seal cover integrated part (11) is connected with an insertion pipe (12). An accessory ring (13) is annularly arranged on the outer wall of the upper end of the insertion pipe (12). On the outer wall of one end of the accessory ring (13), a binocular camera (14) facing vertically downward is installed by bolts. On the outer wall of the other end of the accessory ring (13), a distance sensor (15) with the detection end vertically downward is installed by bolts.

2. The articulated pipe based on binocular camera positioning according to claim 1, wherein: On the upper surface of the side of the steering base (1) close to the industrial controller (2), a driving motor (101) is also installed by bolts. At the lower end inside the steering base (1), a first reduction gear set (102) is installed by a rotating shaft. And the output shaft of the driving motor (101) is connected to one end of the first reduction gear set (102). The other end of the first reduction gear set (102) is connected with a second reduction gear set (103). And the other end of the second reduction gear set (103) is connected to the lower end of the steering shaft (3).

3. The articulated pipe based on binocular camera positioning according to claim 2, wherein: The second reduction gear set (103) is rotationally connected with the steering base (1) through the first reduction gear set (102) and the output shaft of the driving motor (101). And the column (4) is rotationally connected with the steering base (1) through the steering shaft (3) and the second reduction gear set (103).

4. The articulated pipe based on binocular camera positioning according to claim 1, wherein: The batching mechanism (8) is rotationally connected with the steering base (1) through the upper fork arm (7), the pipe rack (6) and the column (4). One end of the batching mechanism (8) is provided with a batching port (801). The lower end of the batching port (801) is connected with a batching pipe (802). And the batching pipe (802) is fixed on the upper surface of the upper fork arm (7) through a fastener. The other end of the batching pipe (802) is connected with an anti-collision pipe (803). The other end of the anti-collision pipe (803) is connected with a pressurizing mechanism (804) through a pipeline. The lower end of the pressurizing mechanism (804) is connected with a mixing hose (805).

5. The articulated pipe based on binocular camera positioning according to claim 4, wherein: One end of the mixing hose (805) away from the pressurizing mechanism (804) is connected to the upper surface of the integrated sealing cover (11), and the batching mechanism (8) is connected in communication with the insertion tube (12) through the anti-collision pipe (803) and the integrated sealing cover (11). An inlet chamber (8041) is formed at the connection between the pressurizing mechanism (804) and the anti-collision pipe (803). A micro motor (8042) is mounted on the outer wall of the pressurizing mechanism (804) near the inlet chamber (8041) by bolts. A circular sealing plate (8043) is fixed to the output shaft of the micro motor (8042), and the sealing plate (8043) is arranged inside the inlet chamber (8041) through a bearing. A pressurizing chamber (8044) is formed inside the pressurizing mechanism (804) on the side away from the inlet chamber (8041). A booster pump (8045) is mounted on the outer wall of the pressurizing mechanism (804) near the pressurizing chamber (8044) by bolts, and the output end of the booster pump (8045) is connected to the input end of the pressurizing chamber (8044) through a pipeline.

6. The articulated pipe based on binocular camera positioning according to claim 1, wherein: A swivel pipe (1001) is connected to the connection between the feeding mechanism (10) and the lower fork arm (9) through a rotary joint. A swivel base (1002) is fixed to the outer wall of one side of the lower fork arm (9). The other end of the swivel base (1002) is provided with a hydraulic rod (1003) through a rotating shaft, and the telescopic end of the hydraulic rod (1003) is connected to the upper surface of the end of the swivel pipe (1001) away from the lower fork arm (9) through a rotating shaft.

7. The articulated pipe based on binocular camera positioning according to claim 6, wherein: The lower fork arm (9) is connected in communication with the swivel pipe (1001), the integrated sealing cover (11) and the insertion tube (12) through a rotary joint. The swivel pipe (1001) is connected in communication with the lower fork arm (9) through the telescopic end of the hydraulic rod (1003) and the swivel base (1002), and the integrated sealing cover (11) and the insertion tube (12) are rotatably connected to the swivel pipe (1001).

8. An automatic alignment method for a loading arm based on binocular camera positioning, including a loading arm based on binocular camera positioning described in claims 1-7, characterized in that: The distance between the distance sensor (15) and the lowest end of the insertion tube (12) is denoted as H1, and the height from the ground detected by the distance sensor (15) is denoted as H2. When the lowest end of the insertion tube (12) is located in the alignment area, the height from the ground detected by the distance sensor (15) is denoted as 0.

9. The automatic alignment method of the loading arm based on binocular camera positioning according to claim 8, characterized in that: The industrial controller (2) records the position where the initial distance sensor (15) detects that the height from the ground is 0 through the binocular camera (14), establishes a plane rectangular coordinate system, denoted as (0, 0). Then, the turning base (1) drives the column (4) to rotate, causing the distance sensor (15) to move in an arc. In cooperation with the binocular camera (14), all positions where the distance sensor (15) detects that the height from the ground is 0 are recorded. At the same time, the rotation angle is recorded through the angle sensor (5), and the coordinate points on the corresponding trajectory are denoted as (X n , Y n ), where n = 1, 2, 3 ···.

10. The automatic alignment method of the loading arm based on binocular camera positioning according to claim 8, characterized in that: After the feeding mechanism (10) drives the intubation tube (12) to rotate from one side of the alignment area to the other side by the steering base (1), the telescopic end of the hydraulic rod (1003) is telescoped to drive the intubation tube (12) to move away from or close to the column (4). Then, the column (4) is controlled to rotate again, so that the distance sensor (15) moves in an arc, and the binocular camera (14) is used to record the positions where all the distance sensors (15) detect that the height from the ground is 0. At the same time, the rotation angle is recorded by the angle sensor (5). According to the distance between the intubation tube (12) and the column (4), the coordinate points on the corresponding trajectory are recorded by the industrial controller (2). The above operations are repeated until all the corresponding coordinate points in the alignment area are recorded. The industrial controller (2) connects all the coordinate points to form the alignment plane graph. The industrial controller (2) calculates the midpoint of the alignment plane graph. Then, the industrial controller (2) controls the rotation of the column (4) and cooperates with the telescopic control of the intubation tube (12) by the feeding mechanism (10) to make the intubation tube (12) reach the midpoint of the alignment area, realizing automatic alignment.

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