Installation structure of port inspection robot vision system

Abstract

The utility model belongs to the technical field of visual systems, and particularly relates to a mounting structure of a port inspection robot visual system, which comprises a mounting plate, a protective cover is hermetically arranged on the mounting plate, a PLC (programmable logic controller) control chip is arranged in the protective cover, a longitudinal adjusting mechanism is arranged at the top of the protective cover, and the PLC control chip is connected with the longitudinal adjusting mechanism. An angle adjusting mechanism is arranged in the longitudinal adjusting mechanism, mounting shells are detachably arranged on the two sides of the angle adjusting mechanism through inserting assemblies, and visual integration assemblies are arranged in the mounting shells. The two visual integration assemblies are detachably arranged on the longitudinal adjusting mechanism through the inserting assemblies, so that the visual integration assemblies can be independently maintained and replaced conveniently, meanwhile, the two visual integration assemblies can synchronously rotate in different directions under the action of the angle adjusting mechanism, and meanwhile the visual integration assemblies are matched with the longitudinal adjusting mechanism. The environment data can be acquired and analyzed from multiple angles, so that various complex environment requirements are met.

Description

Technical Field

[0001] The utility model belongs to the technical field of visual systems, and in particular relates to an installation structure of a port inspection robot visual system. Background Art

[0002] With the sustained and rapid development of my country's economy, foreign trade is becoming more and more frequent. Smarter and more efficient mobile robots will also play a huge role in the transformation and upgrading of fully automated seaports. Inspection robots used in the security environment of ports are required to be able to inspect along a predetermined route and automatically identify multiple targets.

[0003] Traditional inspections are conducted manually to roughly assess and judge the equipment and environment, mainly through seeing, touching, listening, smelling, etc. In addition, there are numerous shortcomings of manual inspections, including high labor intensity, low work efficiency, low detection quality, single means, and difficulty in ensuring personal safety. Moreover, with the increasing workload of inspections and the restrictions of various difficult and harsh environments, it is even more difficult to ensure the quality and quantity of inspections. Therefore, intelligent inspection robots are the best choice to replace traditional manual inspections;

[0004] The existing inspection robot vision system is inconvenient to install and disassemble, which makes maintenance and replacement time-consuming and labor-intensive. At the same time, the existing inspection robot camera is fixedly set and the data collection range is narrow, which makes it unable to adapt to various complex environmental requirements.

[0005] In order to solve the above problems, this application proposes an installation structure of a port inspection robot vision system. Utility Model Content

[0006] In order to solve the problems raised in the above background technology, the utility model provides an installation structure of a port inspection robot vision system, which has the characteristics of convenient installation and disassembly and can realize multi-angle adjustment.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an installation structure of a port inspection robot vision system, comprising a mounting plate fixedly connected to the inspection robot, a protective cover shell sealed on the mounting plate, a PLC control chip arranged inside the protective cover shell, a longitudinal adjustment mechanism arranged on the top of the protective cover shell, an angle adjustment mechanism arranged inside the longitudinal adjustment mechanism, mounting shells are detachably arranged on both sides of the angle adjustment mechanism through plug-in components, and a vision integration component is arranged inside the mounting shell.

[0008] As a preferred installation structure of a port inspection robot vision system of the utility model, the installation shell is a sealed structure, and a transparent protective plate is provided at the front end of the installation shell.

[0009] As a preferred installation structure of a port inspection robot vision system of the utility model, the vision integration component includes a camera, a laser radar, a GPS and an environmental perception sensor group.

[0010] As a preferred installation structure of a port inspection robot vision system of the utility model, the longitudinal adjustment mechanism includes a rotating cylinder, both ends of which are rotatably connected to the protective cover shell through a rotating shaft, and one end of a group of the rotating shafts is provided with a first drive motor fixed to the inner wall of the protective cover shell.

[0011] As a preferred installation structure of a port inspection robot vision system of the utility model, the angle adjustment mechanism includes two groups of mutually meshing drive gears, one group of which is provided with a second drive motor in the middle, and the other group of drive gears is rotatably connected to the rotating cylinder through a column, and one side of the two groups of drive gears is meshed with a driven gear.

[0012] As a preferred installation structure of a port inspection robot vision system of the utility model, the plug-in assembly includes a driving rod passing through the rotating cylinder, the bottom of the driving rod is fixedly connected to the driven gear, the top of the driving rod is plugged with a connecting sleeve, and the top of the connecting sleeve is provided with the mounting shell.

[0013] As a preferred installation structure of a port inspection robot vision system of the utility model, limit blocks are evenly arranged on the circumference of the top of the driving rod, a limit groove engaged with the limit block is arranged inside the connecting sleeve, and a limit top screw abutting against the driving rod is screwed on the bottom of the connecting sleeve.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the two groups of visual integrated components in the present invention can be detachably mounted on the longitudinal adjustment mechanism through plug-in components, which facilitates the individual maintenance and replacement of the visual integrated components; at the same time, the two groups of visual integrated components can rotate synchronously in opposite directions under the action of the angle adjustment mechanism, and in conjunction with the longitudinal adjustment mechanism, can realize multi-angle acquisition and analysis of environmental data, thereby being suitable for various complex environmental requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 It is an axonometric drawing of the utility model;

[0017] Figure 2 It is a cross-sectional view of the utility model;

[0018] Figure 3This is a schematic diagram of the structure of the visual integration component in the utility model;

[0019] Figure 4 It is a structural schematic diagram of the longitudinal adjustment mechanism in the utility model;

[0020] Figure 5 It is a structural schematic diagram of the plug-in assembly in the utility model.

[0021] In the figure: 1. Mounting plate; 2. Protective cover shell; 3. PLC control chip; 4. Longitudinal adjustment mechanism; 401. Rotating cylinder; 402. Rotating shaft; 403. First drive motor; 5. Angle adjustment mechanism; 501. Drive gear; 502. Second drive motor; 503. Column; 504. Driven gear; 6. Plug-in assembly; 601. Drive rod; 602. Connecting sleeve; 603. Limiting top screw; 7. Mounting shell; 8. Visual integration assembly; 9. Protective plate. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] Example 1

[0024] like Figure 1 and Figure 2 As shown;

[0025] A mounting structure of a port inspection robot vision system comprises a mounting plate 1 fixedly connected to the inspection robot, a protective cover shell 2 being sealed on the mounting plate 1, a PLC control chip 3 being arranged inside the protective cover shell 2, a longitudinal adjustment mechanism 4 being arranged on the top of the protective cover shell 2, an angle adjustment mechanism 5 being arranged inside the longitudinal adjustment mechanism 4, mounting shells 7 being detachably arranged on both sides of the angle adjustment mechanism 5 via plug-in components 6, a vision integration component 8 being arranged inside the mounting shell 7, the mounting shell 7 being a sealed structure, and a transparent protective plate 9 being arranged at the front end of the mounting shell 7, and the vision integration component 8 comprising a camera, a laser radar, a GPS and an environmental perception sensor group.

[0026] It should be noted that: in this embodiment, the visual system of the inspection robot needs to combine external environment perception modules such as cameras, lidars, GPS, etc. to obtain the robot's position, direction and environmental information in space. The PLC control chip 3 uses the deep learning open source framework TensorFlow to build and implement the model of the acquired environmental information to complete the inspection robot's target detection performance in complex scenes and improve the task; the working principles of cameras, lidars, GPS and environmental perception sensor groups are existing technologies and will not be explained in detail here.

[0027] In this embodiment: two groups of visual integration components 8 are detachably mounted on the longitudinal adjustment mechanism 4 through the plug-in components 6, so that the visual integration components 8 can be easily maintained and replaced separately. At the same time, the two groups of visual integration components 8 can rotate synchronously in opposite directions under the action of the angle adjustment mechanism 5, and cooperate with the longitudinal adjustment mechanism 4 to realize multi-angle acquisition and analysis of environmental data, thereby being suitable for various complex environmental requirements.

[0028] In an optional embodiment, the longitudinal adjustment mechanism 4 includes a rotating cylinder 401 , both ends of which are rotatably connected to the protective cover shell 2 via a rotating shaft 402 , and one end of a set of rotating shafts 402 is provided with a first driving motor 403 fixed to the inner wall of the protective cover shell 2 .

[0029] In this embodiment: the first driving motor 403 is started, and the first driving motor 403 drives the rotating cylinder 401 to rotate through the rotating shaft 402, so as to adjust the longitudinal angle of the visual integration component 8.

[0030] like Figure 4 As shown;

[0031] In an optional embodiment, the angle adjustment mechanism 5 includes two groups of mutually meshing drive gears 501, wherein a second drive motor 502 is provided in the middle of one group of drive gears 501, and the other group of drive gears 501 is rotatably connected to the rotating cylinder 401 through a column 503, and one side of the two groups of drive gears 501 is meshed with a driven gear 504.

[0032] In this embodiment: the second drive motor 502 is started, the second drive motor 502 drives the drive gear 501 to rotate, and the two sets of meshing drive gears 501 respectively drive the two sets of driven gears 504 to rotate in opposite directions, thereby realizing the two sets of visual integrated components 8 to synchronously identify the surrounding environment.

[0033] like Figure 5 As shown;

[0034] In an optional embodiment, the plug-in assembly 6 includes a driving rod 601 that passes through the rotating cylinder 401, the bottom of the driving rod 601 is fixedly connected to the driven gear 504, the top of the driving rod 601 is plugged with a connecting sleeve 602, the top of the connecting sleeve 602 is provided with a mounting shell 7, and the top of the driving rod 601 is evenly provided with limit blocks, and the inside of the connecting sleeve 602 is provided with a limit groove that engages with the limit block, and the bottom of the connecting sleeve 602 is screwed with a limit top screw 603 that abuts against the driving rod 601.

[0035] In this embodiment: the installation shell 7 is fixed to the connecting sleeve 602 , the connecting sleeve 602 is plugged into the driving rod 601 , and the connecting sleeve 602 can be fixed by tightening the limiting top screw 603 .

[0036] It should be noted that all rotating nodes of the installation structure adopt bearing transmission and are provided with sealing rings, thereby ensuring the overall sealing to adapt to various complex working environments and improve the service life.

[0037] The working principle and use process of the utility model are as follows: the PLC control chip 3 is electrically connected to the first drive motor 403, the second drive motor 502 and the visual integrated component 8 respectively. The mounting structure of the device is installed on the inspection robot through the mounting plate 1, and the mounting shell 7 is fixed to the connecting sleeve 602. The connecting sleeve 602 is plugged with the driving rod 601. The connecting sleeve 602 can be fixed by tightening the limit screw 603. After accepting the inspection task, the inspection robot will inspect according to the established route. Starting from the starting point, the robot will stop and activate the visual integrated component 8 every time it reaches an inspection task point, start the second drive motor 502, and the second drive motor 502 drives the drive gear 501 to rotate. The two sets of meshing drive gears 501 respectively drive the two sets of driven gears 504 to rotate in different directions, thereby realizing that the two sets of visual integrated components 8 synchronously recognize the surrounding environment; start the first drive motor 403, and the first drive motor 403 drives the rotating cylinder 401 to rotate through the rotating shaft 402, thereby realizing the adjustment of the longitudinal angle of the visual integrated component 8.

[0038] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A mounting structure for a port inspection robot vision system, comprising a mounting plate (1) fixedly connected to the inspection robot, characterized in that: A protective cover shell (2) is sealed on the mounting plate (1), a PLC control chip (3) is arranged inside the protective cover shell (2), a longitudinal adjustment mechanism (4) is arranged on the top of the protective cover shell (2), an angle adjustment mechanism (5) is arranged inside the longitudinal adjustment mechanism (4), mounting shells (7) are detachably arranged on both sides of the angle adjustment mechanism (5) via plug-in components (6), and a visual integration component (8) is arranged inside the mounting shell (7).

2. The installation structure of the port inspection robot vision system according to claim 1 is characterized in that: The installation shell (7) is a sealed structure, and a transparent protective plate (9) is provided at the front end of the installation shell (7).

3. The installation structure of the port inspection robot vision system according to claim 2 is characterized in that: The visual integration component (8) includes a camera, a laser radar, a GPS and an environment perception sensor group.

4. The installation structure of the port inspection robot vision system according to claim 3 is characterized by: The longitudinal adjustment mechanism (4) comprises a rotating cylinder (401), both ends of which are rotatably connected to the protective cover shell (2) via a rotating shaft (402), wherein one end of a group of the rotating shafts (402) is provided with a first driving motor (403) fixed to the inner wall of the protective cover shell (2).

5. The installation structure of the port inspection robot vision system according to claim 4 is characterized in that: The angle adjustment mechanism (5) comprises two groups of mutually meshing driving gears (501), wherein a second driving motor (502) is provided in the middle of one group of the driving gears (501), and the other group of the driving gears (501) is rotationally connected to the rotating cylinder (401) via a column (503), and one side of the two groups of the driving gears (501) is meshed with a driven gear (504).

6. The installation structure of the port inspection robot vision system according to claim 5 is characterized in that: The plug-in assembly (6) comprises a driving rod (601) penetrating the rotating cylinder (401), the bottom of the driving rod (601) being fixedly connected to the driven gear (504), the top of the driving rod (601) being plugged with a connecting sleeve (602), and the top of the connecting sleeve (602) being provided with the mounting shell (7).

7. The installation structure of the port inspection robot vision system according to claim 6 is characterized in that: Limit blocks are evenly arranged on the circumference of the top of the driving rod (601), a limit groove engaged with the limit block is arranged inside the connecting sleeve (602), and a limit top screw (603) abutting against the driving rod (601) is screwed on the bottom of the connecting sleeve (602).

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