Working method and mounting device of laser radar and binocular camera

Abstract

The invention relates to the technical field of high-voltage lines, in particular to an operation method and installation device for a laser radar and a binocular camera, and the device comprises an interface assembly, a clamping assembly disposed on the interface assembly, a delay assembly rotatably disposed on the clamping assembly, and an elastic assembly fixedly disposed on the delay assembly. The mechanical arm monitoring device comprises an elastic assembly and further comprises a sealing assembly and a monitoring assembly which are fixedly arranged on the elastic assembly, the interface assembly comprises an interface ring, and an L-shaped groove, an inclined groove and a limiting groove are formed in the interface ring. The elastic assembly and the delay assembly have the function of releasing the clamping assembly and have the delay effect, the situation of mistaken touch is avoided, and therefore rapid installation and disassembly of the monitoring equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of high-voltage line technology, and in particular to a method and installation device for operating a lidar and a binocular camera. Background Technology

[0002] High-voltage lines are vital for power transmission, and protecting power production safety is of paramount importance. In substations, lines are exposed to the elements, and constant rain erosion negatively impacts power supply, potentially affecting the entire line's power supply. Therefore, substation line duct plates require frequent maintenance. Manual maintenance is highly dangerous and difficult. Currently, robotic arms are used to replace manual labor, avoiding direct contact with live parts. The operation requires the assistance of LiDAR, binocular cameras, and various cameras. LiDAR modeling of the scene is greatly affected by environmental factors and has blind spots. Binocular cameras for target localization are significantly affected by lighting conditions, impacting ranging accuracy. This invention aims to solve the limitations of modeling and ranging.

[0003] When working, LiDAR and binocular cameras need to be mounted on a robotic arm. However, robotic arms are generally not used for supporting just one type of equipment and are usually replaced as needed. This results in slow and inconvenient connection between LiDAR and binocular cameras, affecting the smoothness of the work and the time spent. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problem that monitoring equipment is not easy to disassemble and assemble quickly in the above or existing technologies, the present invention is proposed.

[0006] Therefore, the object of the present invention is to provide a method for operating a lidar and a binocular camera.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: including a working method;

[0008] First, the lidar and binocular camera are supported in the working area using an installation device;

[0009] A 3D point cloud model is generated by using LiDAR for scene modeling.

[0010] Target localization and ranging are performed using a binocular camera;

[0011] Once completed, a controller is used to control the movement and working mode of the robotic arm.

[0012] As a preferred embodiment of the present invention applied to the operation method of lidar and binocular camera, the binocular camera adopts the principle of binocular vision and utilizes the differences between binocular images.

[0013] As a preferred embodiment of the operating method of the present invention applied to lidar and binocular camera, the lidar uses a fan-shaped scanning method for image recognition and target recognition.

[0014] The beneficial effects of this method are as follows: The lidar uses a fan-shaped scanning method for image recognition and target identification, and the scanning range covers the entire field of view, effectively avoiding blind spots. The binocular camera uses the principle of binocular vision, utilizing the differences between binocular images to perform three-dimensional reconstruction of the target, and uses a multi-frame image matching algorithm to improve ranging accuracy. The image processing module uses image segmentation, target recognition, and other algorithms to identify and locate the target. Finally, the information is integrated by the computer and transmitted to the controller, enabling the robotic arm to perform corresponding actions and modes, effectively improving the efficiency and safety of substation line diversion plate maintenance.

[0015] Another object of the present invention is to provide an installation device, which includes an interface component, a snap-fit ​​component disposed on the interface component, a delay component rotatably disposed on the snap-fit ​​component, an elastic component fixedly disposed on the delay component, a sealing component and a monitoring component fixedly disposed on the elastic component.

[0016] In a preferred embodiment of the installation device of the present invention, the interface component includes an interface ring, and the interface ring is provided with an L-shaped groove, an inclined groove and a limiting groove.

[0017] In a preferred embodiment of the installation device of this invention, the snap-fit ​​assembly includes a connector block, an inner cavity on the connector block, a coil spring fixedly disposed on the inner cavity, a transmission rod fixedly disposed on the coil spring, a limiting plate fixedly disposed on the connector block, a turntable fixedly disposed on the transmission rod, and a snap-fit ​​block fixedly disposed on the turntable. The connector block and the interface ring are compatible.

[0018] In a preferred embodiment of the installation device of the present invention, the delay component includes a circular block disposed on the transmission rod, a trigger block fixedly disposed on the circular block, a transmission housing rotatably disposed on the circular block, and a force-bearing block fixedly disposed on the transmission housing.

[0019] In a preferred embodiment of the installation device of the present invention, the elastic component includes a housing, a vertical groove on the housing, an inner tube rotatably mounted on the housing, a spiral groove on the inner tube, a round rod slidably mounted on the vertical groove and the spiral groove, a transmission disc and an outer tube fixedly mounted on the round rod, and a No. 3 spring fixedly mounted on the transmission disc. The inner tube and the transmission housing are connected.

[0020] In a preferred embodiment of the installation device of the present invention, the sealing assembly includes a cam fixedly disposed on the equipment housing, and a flexible ring and a limiting block fixedly disposed on the cam.

[0021] As a preferred embodiment of the wire harnessing device of the present invention, wherein: the end of the interface ring is fixedly provided with a wire harnessing device for a boiler, which includes a mounting component, which includes a base component and a fixing component disposed on the base component, a rotating component rotatably disposed on the fixing component, and a wire harnessing component fixedly disposed on the rotating component; an adjusting component, which includes a main body component disposed on the base component and a clamping component fixedly disposed on the main body component, a limiting component and a spring component rotatably disposed on the main body component, and a transmission component fixedly disposed on the limiting component and the spring component, wherein the transmission component and the clamping component are connected.

[0022] The beneficial effects of the installation device of the present invention: The present invention completes the function of quickly installing the monitoring equipment to the robotic arm through the interface component and the snap-fit ​​component. The elastic component and the delay component have the function of releasing the snap-fit ​​component and have the effect of delaying, avoiding accidental contact, thereby improving the rapid installation and disassembly of the monitoring equipment. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall installation device.

[0025] Figure 2 This is a schematic diagram of the internal structure of the installation device.

[0026] Figure 3 This is a schematic diagram of the interface component structure for the installation device.

[0027] Figure 4 This is a schematic diagram of the snap-fit ​​assembly structure for the mounting device.

[0028] Figure 5 This is a schematic diagram of the delay component structure for the installation device.

[0029] Figure 6 This is a schematic diagram of the elastic component structure of the mounting device.

[0030] Figure 7 This is a schematic diagram of the sealing assembly structure for the installation device.

[0031] Figure 8 This is a schematic diagram of the overall structure of Example 3.

[0032] Figure 9 This is a schematic diagram of the installation component structure in Example 3.

[0033] Figure 10 This is a partial structural diagram of Example 3.

[0034] Figure 11 This is a schematic diagram of the wire harness assembly structure in Embodiment 3.

[0035] Figure 12 This is a schematic diagram of the adjustment component structure in Example 3.

[0036] Figure 13 This is a schematic diagram of the main component structure of Embodiment 3.

[0037] Figure 14 This is a schematic diagram of the clamping component structure in Embodiment 3.

[0038] Figure 15 This is a schematic diagram of the limiting component and elastic component structure in Embodiment 3.

[0039] Figure 16 This is a schematic diagram of the transmission component structure in Embodiment 3. Detailed Implementation

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0042] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0043] Example 1 is the first embodiment of the present invention. This embodiment provides a method for operating a lidar and a binocular camera, including the operating method.

[0044] First, the lidar and binocular camera are mounted on the working area using mounting device M. The lidar is used to model the scene, creating a 3D point cloud model. The binocular camera is used for target localization and ranging. After completion, a controller controls the movement and working mode of the robotic arm. The lidar uses a fan-shaped scanning method for image and target recognition, covering the entire field of view and effectively avoiding blind spots. The binocular camera uses the principle of binocular vision, utilizing the differences between binocular images to perform 3D reconstruction of the target. A multi-frame image matching algorithm is used to improve ranging accuracy. The image processing module uses image segmentation and target recognition algorithms to identify and locate the target. Finally, the information is integrated by the computer and transmitted to the controller, causing the robotic arm to perform corresponding actions and modes.

[0045] Binocular cameras use the principle of binocular vision to reconstruct the target in three dimensions by utilizing the differences between binocular images, and employ multi-frame image matching algorithms to improve ranging accuracy.

[0046] The lidar uses a fan-shaped scanning method for image recognition and target identification. The scanning range of the lidar covers the entire field of view, effectively avoiding blind spots.

[0047] Example 2, refer to Figures 1-7 In the second embodiment of the present invention, an installation device M is provided, which includes an interface component 301, a snap-fit ​​component 302 disposed on the interface component 301, a delay component 303 rotatably disposed on the snap-fit ​​component 302, an elastic component 304 fixedly disposed on the delay component 303, a sealing component 305 and a monitoring component 306 fixedly disposed on the elastic component 304. The snap-fit ​​component 302 can snap into the interface component 301 and automatically locks after insertion. The elastic component 304 can control the delay component 303 to delay the triggering of the snap-fit ​​component 302 to unlock, so that it has the effect of preventing accidental contact.

[0048] Specifically, the interface component 301 includes an interface ring 301a, and the interface ring 301a is provided with an L-shaped groove 301b, an inclined groove 301c and a limiting groove 301d. The inner wall of the interface ring 301a has two L-shaped grooves 301b symmetrically mirrored, and two more L-shaped grooves 301b are mirrored on the top of the two L-shaped grooves 301b. The top of the outer wall of the interface ring 301a is provided with three limiting grooves 301d.

[0049] Furthermore, the snap-fit ​​assembly 302 includes a connector block 302a, and an inner cavity 302b on the connector block 302a. The inner cavity 302b is opened at the bottom of the connector block 302a. It also includes a coil spring 302c fixedly mounted on the inner cavity 302b. The coil spring 302c is located inside the inner cavity 302b. It also includes a transmission rod 302d fixedly mounted on the coil spring 302c. The transmission rod 302d is located at the center of the coil spring 302c and passes through the upper and lower ends of the connector block 302a. It also includes a limiting device fixedly mounted on the connector block 302a. The device includes two limit plates 302e, which are located on the outer wall of the connector block 302a. It also includes a turntable 302f fixed on the transmission rod 302d, which is located at the bottom of the connector block 302a corresponding to the transmission rod 302d. It also includes two locking blocks 302g fixed on the turntable 302f, which are located on the outer wall of the turntable 302f. The connector block 302a and the interface ring 301a are adapted to each other, and the outer wall of the connector block 302a and the inner wall of the interface ring 301a are adapted to each other.

[0050] Furthermore, the delay component 303 includes a circular block 303a disposed on the transmission rod 302d, the circular block 303a being located at the top of the transmission rod 302d, and a trigger block 303b fixedly disposed on the circular block 303a, having three trigger blocks 303b evenly distributed on the outer wall of the circular block 303a. It also includes a transmission shell 303c rotatably disposed on the circular block 303a, the transmission shell 303c being located at the center of the top of the circular block 303a, and a force-receiving block 303d fixedly disposed on the transmission shell 303c, having three force-receiving blocks 303d evenly distributed on the inner wall of the transmission shell 303c.

[0051] Furthermore, the elastic component 304 includes a housing 304a, and two vertical grooves 304b symmetrically formed on the outer wall of the housing 304a. It also includes an inner tube 304c rotatably mounted on the housing 304a, located inside the housing 304a. The inner tube 304c also has a helical groove 304d, which is a semi-circular helix. There are two helical grooves 304d symmetrically formed on both sides of the inner tube 304c, with the bottom of each groove 304d aligned with its corresponding vertical groove 304b. Finally, it includes a round rod 30 slidably mounted on the vertical grooves 304b and the helical grooves 304d. 4e, There are two round rods 304e, each of which slides inside the corresponding vertical groove 304b and spiral groove 304d. It also includes a transmission disk 304f and an outer tube 304g fixed on the round rods 304e. The transmission disk 304f is fixed at the center of both round rods 304e. The transmission disk 304f can slide inside the inner tube 304c. The outer tube 304g is fixed to the opposite end of the round rods 304e corresponding to the outer wall of the equipment housing 304a. It also includes a third spring 304h fixed on the transmission disk 304f. The third spring 304h is located at the top of the transmission disk 304f. The inner tube 304c is connected to the transmission housing 303c. The bottom of the inner tube 304c is fixed to the top of the transmission housing 303c.

[0052] Furthermore, the sealing assembly 305 includes a cam 305a fixedly disposed on the equipment housing 304a, one flat end of the cam 305a being located at the bottom of the equipment housing 304a, the center of the cam 305a having a hole through which the transmission rod 302d can pass, as well as a flexible ring 305b and a limiting block 305c fixedly disposed on the cam 305a.

[0053] In use, when the monitoring device needs to be installed on the robotic arm, the connector block 302a is inserted into the inner wall of the interface ring 301a. At this time, the limiting block 305c is aligned with the limiting groove 301d. As insertion continues, the locking block 302g is affected by the tilting groove 301c and enters the L-shaped groove 301b. The limiting plate 302e enters along with it. During this process, the adjustable turntable 302f of the locking block 302g drives the transmission rod 302d to coil the coil spring 302c, which in turn drives the round block 303b to rotate. This causes the round block 303b to drive the trigger block 303b to abut against the force block 303d. When the locking block 302g enters the bottom of the L-shaped groove 301b, the locking block 302g is released from the restriction. At this time, the coil spring 302c can drive the transmission rod 302d, the turntable 302f, and the locking block 302g to engage at the bottom of the L-shaped groove 301b. The installation is completed by simply inserting the transmission rod 302d into the spiral groove 304d, which drives the round block 303a and the trigger block 303b to reset. The process is extremely quick. When disassembly is required, the outer tube 304g is pulled upward to move the round rod 304e and the transmission disc 304f. The round rod 304e moves inside the spiral groove 304d, so it can drive the inner tube 304c to rotate. The transmission disc 304f can also compress the No. 3 spring 304h. When the inner tube 304c rotates, it can drive the transmission shell 303c, which drives the force block 303d to drag the trigger block 303b after a delay. The trigger block 303b can drive the round block 303a, the transmission rod 302d, the turntable 302f and the locking block 302g to rotate, so that the locking block 302g can be disengaged from the bottom of the L-shaped groove 301b.

[0054] In summary, the interface component 301 and the snap-fit ​​component 302 enable the rapid installation of the monitoring equipment onto the robotic arm. The elastic component 304 and the delay component 303 have the function of releasing the snap-fit ​​component 302 and also have a delay effect, avoiding accidental contact, thereby improving the rapid installation and disassembly of the monitoring equipment.

[0055] Example 3, referring to Figures 8-16 This is the third embodiment of the present invention. Unlike the previous embodiment, it can achieve the effect that the wires will not affect the operation of the robotic arm after the inspection equipment is installed. It includes a wire harnessing device for the boiler fixed at the end of the interface ring 301a, and an installation component 100, which includes a base component 101, a fixing component 102 disposed on the base component 101, a rotating component 103 rotatably disposed on the fixing component 102, and a wire harnessing component 104 fixedly disposed on the rotating component 103.

[0056] The base component 101 is a robotic arm, the fixed component 102 can be held on one of the arms on the base component 101, the rotating component 103 rotates based on the fixed component 102, and the wire harnessing component 104 can guide the wire while protecting it.

[0057] The adjusting component 200 includes a main body component 201 disposed on the base component 101, and a clamping component 202 fixedly disposed on the main body component 201. It also includes a limiting component 203 and an elastic component 204 rotatably disposed on the main body component 201, and a transmission component 205 fixedly disposed on the limiting component 203 and the elastic component 204. The transmission component 205 is connected to the clamping component 202.

[0058] The main body component 201 provides a clamping component 202 with a restoring force. The cooperation of the limiting component 203 and the elastic component 204 allows the main body component 201 to hold onto the base component 101. After holding, the clamping component 202 can be driven by the transmission component 205 to limit the wire harness component 104. Since the fixing component 102 and the main body component 201 are held on two adjacent arms of the robotic arm, when the robotic arm is operating, the adjusting component 200 can drive the wire harness component 104 to trigger the rotation effect of the rotating component 103, so that it can move with the robotic arm.

[0059] In use, the base component 101 is a robotic arm, the fixed component 102 can hold one of the arms on the base component 101, the rotating component 103 rotates based on the fixed component 102, and the wire harnessing component 104 can guide the wire while protecting it. The main body component 201 provides the clamping component 202 with a restoring force. The cooperation of the limiting component 203 and the elastic component 204 allows the main body component 201 to hold the base component 101. After holding, the transmission component 205 can drive the clamping component 202 to limit the wire harnessing component 104. Since the fixed component 102 and the main body component 201 hold the two adjacent arms of the robotic arm, when the robotic arm is operating, the adjusting component 200 can drive the wire harnessing component 104 to trigger the rotation of the rotating component 103, so that it can move with the robotic arm.

[0060] In summary, by using the fixing component 102, the rotating component 103, and the wire harness component 104, the wires can be bundled and placed on the outside of the robotic arm while being protected. With the adjustment component 200, the bending angle of the wire harness component 104 can be adjusted after installation to adapt it to various robotic arms.

[0061] The basic component 101 includes a second arm 101a, a third arm 101b and a first arm 101c rotatably mounted on the second arm 101a. The third arm 101b is located at the top of the second arm 101a, and the first arm 101c is located at the bottom of the second arm 101a. It also includes a fixed seat 101d rotatably mounted on the first arm 101c.

[0062] Specifically, the fixing component 102 includes a clamp 102a and a connecting block 102b fixed on the clamp 102a. The clamp 102a is adapted to the second arm 101a and can be held on the outer wall of the second arm 101a.

[0063] Furthermore, the rotating assembly 103 includes a rotating block 103a rotatably mounted on the connecting block 102b. The rotating block 103a is located at the end of the connecting block 102b away from the clamp 102a. The rotating block 103a is provided with an opening groove 103b and a mounting groove 103c. The opening groove 103b is formed on the surface of the rotating block 103a, and the mounting groove 103c is formed inside the opening groove 103b.

[0064] Furthermore, the cable harness assembly 104 also includes a flexible semi-circular strip 104a disposed on the mounting groove 103c. The flexible semi-circular strip 104a is located inside the mounting groove 103c, and the flexible semi-circular strip 104a is provided with a groove 104b and a cable harness groove 104c. The flexible semi-circular strip 104a has a groove 104b on one side of the mounting groove 103c and a cable harness groove 104c on the other side. The groove 104b is adapted to the mounting groove 103c. The assembly also includes a wire 104d disposed on the cable harness groove 104c. The wire 104d can be deformed by squeezing the flexible semi-circular strip 104a, so that the wire 104d enters the cable harness groove 104c.

[0065] The rest of the structure is the same as in Example 1.

[0066] In use, after the clamp 102a is installed on the outer wall of the second arm 101a, the wire 104d is inserted into the wire harness groove 104c through the opening groove 103b. At this time, the other end of the flexible semicircular belt 104a can be limited by the adjusting component 200. At this time, the flexible semicircular belt 104a will be in an outward arc-shaped bend, so that the wire at the joint of the robotic arm is away from the robotic arm. When the robotic arm bends, it can avoid being restricted by the wire 104d. When the joint of the robotic arm rotates, the adjusting component 200 can drive the flexible semicircular belt 104a to rotate around the rotating block 103a as the base point, so that the wire will not affect the operation of the robotic arm at all.

[0067] In summary, this method solves the limitations imposed by cables on robotic arms, allows for the installation of various cables to adapt to different devices mounted on the robotic arm, and enables the cables to move with the robotic arm during operation, thus avoiding the problem of cables getting stuck at the joints of the robotic arm.

[0068] It includes a main component 201 comprising a multi-groove block 201a, and a sliding groove 201b, a circular groove 201c, and a first reserved groove 201d on the multi-groove block 201a. The first reserved groove 201d is formed on both sides of the multi-groove block 201a, and a sliding groove 201b is formed in the middle corresponding to the first reserved groove 201d. A circular groove 201c is formed at one end corresponding to the sliding groove 201b. It also includes a first spring 201e fixedly mounted on the circular groove 201c, the first spring 201e being located inside the circular groove 201c. Furthermore, it includes a slider 201f slidably mounted on the sliding groove 201b, the slider 201f being located inside the sliding groove 201b. The device includes a force-receiving roller 201g rotatably mounted on a first reserved groove 201d. There are two force-receiving rollers 201g, each located at one end of the first reserved groove 201d near the circular groove 201c. It also includes a semi-circular ring 201h fixedly mounted on a multi-groove block 201a. The semi-circular ring 201h is located at one end of the circular groove 201c corresponding to the multi-groove block 201a. The semi-circular ring 201h is provided with a second reserved groove 201i and a third reserved groove 201j. The second reserved groove 201i is opened on the outer wall of the semi-circular ring 201h. The second reserved groove 201i is recessed. The third reserved groove 201j is opened at both ends of the semi-circular ring 201h.

[0069] Specifically, the clamping assembly 202 includes a mounting plate 202a fixedly mounted on the multi-slot block 201a, the mounting plate 202a being located at the end of the multi-slot block 201a away from the circular slot 201c, and a through slot 202b provided on the mounting plate 202a, with each through slot 202b corresponding to the first reserved slot 201d. It also includes a stop block 202c fixedly mounted on the mounting plate 202a, the stop block 202c being located at the end of the mounting plate 202a away from the multi-slot block 201a, and an arc-shaped groove 202c provided on the stop block 202c. 02d, the abutment block 202c has an arc-shaped groove 202d at one end away from the mounting plate 202a, and also includes a concave plate 202e that is slidably disposed on the through groove 202b. The two ends of the concave plate 202e are located inside the two through grooves 202b. The concave plate 202e also has a shaped groove 202f. The shaped groove 202f is provided on the inner side of the concave plate 202e. The shaped groove 202f is adapted to the flexible semi-circular band 104a. The shaped groove 202f can be adapted to the groove 104b, so that the flexible semi-circular band 104a can slide inside the shaped groove 202f.

[0070] Furthermore, the limiting component 203 includes a first arc plate 203a rotatably mounted on the semi-circular ring 201h, the first arc plate 203a being located at the third reserved groove 201j on one end of the semi-circular ring 201h, and a docking ring 203b fixedly mounted on the first arc plate 203a, the docking ring 203b being located on the first arc plate 203a away from the semi-circular ring 201h.

[0071] Furthermore, the elastic component 204 includes a second arc-shaped plate 204a rotatably mounted on the semi-circular ring 201h. The second arc-shaped plate 204a is located at the third reserved groove at the other end of the semi-circular ring 201h. The second arc-shaped plate 204a has a mating groove 204b and a cavity 204c. The bottom of the second arc-shaped plate 204a away from the semi-circular ring 201h has the mating groove 204b, and the top of the second arc-shaped plate 204a at the mating groove 204b has the cavity 204c. It also includes... The cavity 204c contains a force-receiving disk 204d and a second spring 204e. The second spring 204e is fixed at the top of the cavity 204c. The force-receiving disk 204d slides inside the cavity 204c at the bottom of the second spring 204e. The cavity 204c also includes a locking rod 204f fixed on the force-receiving disk 204d. The locking rod 204f is fixed on the inner wall of the force-receiving disk 204d. The locking rod 204f extends through the upper and lower ends of the cavity 204c. The outer wall of the locking rod 204f is adapted to the inner wall of the mating ring 203b.

[0072] Furthermore, the transmission assembly 205 includes a third arc-shaped plate 205a and a shaft 205b rotatably mounted on the third arc-shaped plate 205a. There are two third arc-shaped plates 205a. The shaft 205b is located at one end of the third arc-shaped plate 205a. The assembly also includes a transmission belt 205c fixedly mounted on the shaft 205b, located on the outer wall of the shaft 205b. Additionally, it includes a sliding plate 205d fixedly mounted on the transmission belt 205c, located at the end of the transmission belt 205c away from the shaft 205b. The third arc plate 205a is connected to the first arc plate 203a and the second arc plate 204a. The ends of the two third arc plates 205a away from the shaft 205b are respectively fixed to the ends of the first arc plate 203a and the second arc plate 204a corresponding to the third reserved groove 201j. The slide plate 205d is connected to the concave plate 202e and the slider 201f. The two slide plates 205d are respectively fixed at the two ends of the concave plate 202e passing through the through groove 202b. The middle part of the two slide plates 205d is fixed together with the slider 201f.

[0073] The rest of the structure is the same as in Example 2.

[0074] In use, by attaching the semicircular ring 201h to the outer wall of the first arm 101c, the locking rod 204f is pulled up, causing the force-receiving plate 204d to press the second spring 204e upwards. Simultaneously, the first arc plate 203a and the second arc plate 204a are rotated to bring them closer together. At this point, the docking ring 203b is positioned within the docking groove 204b. Then, the locking rod 204f is released, causing the second spring 204e to drive the force-receiving plate 204d to engage the locking rod 204f into the inner wall of the docking ring 203b. This allows the semicircular ring 201h, the first arc plate 203a, and the second arc plate 204a to hold the first arm 101c. Simultaneously, the first arc plate 203a and the second arc plate 204a will drive the corresponding third arc plate... The rotating plate 205a causes the third arc plate 205a to drive the shaft 205b to pull the transmission belt 205c. Because the transmission belt 205c is limited by the force roller 201g, it will pull the slide plate 205d to move the concave plate 202e. The concave plate 202e will drive the flexible semi-circular belt 104a to approach the arc groove 202d of the abutment block 202c, thereby limiting the flexible semi-circular belt 104a. During this process, the slide plate 205d will also drive the slider 201f to squeeze the first spring 201e. When adjustment or disassembly is required, the spring component 204 can be unlocked to allow the first spring 201e to drive the whole assembly to reset. At this time, the bending degree of the wire harness assembly 104 can be adjusted.

[0075] In summary, it facilitates the installation of the wire harness device, and the adjustment of the wire harness device can be limited during the installation process. After disassembly, the wire harness assembly 104 can be adjusted to quickly adjust the wire harness assembly 104 to the bending angle required by the robotic arm, so that it can be quickly adjusted and installed when installed on different robotic arms.

[0076] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0077] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0078] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0079] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for operating a lidar and a binocular camera, characterized in that: Including work methods; First, the lidar and binocular camera are supported in the working area using the mounting device (M); A 3D point cloud model is generated by using LiDAR for scene modeling. Target localization and ranging are performed using a binocular camera; Once completed, a controller is used to control the movement and working mode of the robotic arm.

2. The method for operating a lidar and binocular camera as described in claim 1, characterized in that: Binocular cameras use the principle of binocular vision, utilizing the differences between binocular images.

3. The method for operating a lidar and binocular camera as described in claim 2, characterized in that: LiDAR uses a fan-shaped scanning method for image recognition and target identification.

4. An installation device, characterized in that: Including the mounting device (M) as described in any one of claims 1-3, It includes an interface component (301), a snap-fit ​​component (302) disposed on the interface component (301), a delay component (303) rotatably disposed on the snap-fit ​​component (302), an elastic component (304) fixedly disposed on the delay component (303), a sealing component (305) and a monitoring component (306) fixedly disposed on the elastic component (304).

5. The installation device as described in claim 4, characterized in that: The interface component (301) includes an interface ring (301a), and the interface ring (301a) is provided with an L-shaped groove (301b), an inclined groove (301c) and a limiting groove (301d).

6. The installation device as described in claim 4 or 5, characterized in that: The snap-fit ​​assembly (302) includes a connector block (302a) and an inner cavity (302b) on the connector block (302a). It also includes a coil spring (302c) fixedly disposed on the inner cavity (302b), a transmission rod (302d) fixedly disposed on the coil spring (302c), a limiting plate (302e) fixedly disposed on the connector block (302a), a turntable (302f) fixedly disposed on the transmission rod (302d), and a locking block (302g) fixedly disposed on the turntable (302f). The connector block (302a) and the interface ring (301a) are compatible.

7. The installation device as described in claim 6, characterized in that: The delay component (303) includes a circular block (303a) disposed on the transmission rod (302d), a trigger block (303b) fixedly disposed on the circular block (303a), a transmission housing (303c) rotatably disposed on the circular block (303a), and a force-receiving block (303d) fixedly disposed on the transmission housing (303c).

8. The installation device as described in claim 7, characterized in that: The elastic component (304) includes a housing (304a) and a vertical groove (304b) on the housing (304a), an inner tube (304c) rotatably mounted on the housing (304a), a spiral groove (304d) on the inner tube (304c), a round rod (304e) slidably mounted on the vertical groove (304b) and the spiral groove (304d), a transmission disc (304f) and an outer tube (304g) fixedly mounted on the round rod (304e), and a No. 3 spring (304h) fixedly mounted on the transmission disc (304f). The inner tube (304c) is connected to the transmission housing (303c).

9. The installation device as described in claim 8, characterized in that: The sealing assembly (305) includes a cam (305a) fixedly disposed on the device housing (304a), and a flexible ring (305b) and a limiting block (305c) fixedly disposed on the cam (305a).

10. The installation device as described in claim 9, characterized in that: The interface ring (301a) is fixedly provided with a boiler wiring device at its end, which includes an installation component (100), which includes a base component (101), a fixing component (102) disposed on the base component (101), a rotating component (103) rotatably disposed on the fixing component (102), and a wiring assembly (104) fixedly disposed on the rotating component (103); and an adjustment component (200), which includes a main component (201) disposed on the base component (101), a clamping component (202) fixedly disposed on the main component (201), a limiting component (203) and an elastic component (204) rotatably disposed on the main component (201), and a transmission component (205) fixedly disposed on the limiting component (203) and the elastic component (204), wherein the transmission component (205) and the clamping component (202) are connected.

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