Image acquisition device, sorting system, image acquisition method and readable storage medium

Abstract

The invention relates to the technical field of image acquisition, in particular to image acquisition equipment, a sorting system, an image acquisition method and a computer readable storage medium. The image acquisition device is used for acquiring an image in the target equipment, and comprises a flexible conduit which is used for extending into the target equipment; the camera is arranged in the flexible conduit, is located at the first end of the flexible conduit, and is used for collecting a target image of a target position in the target equipment; the control mechanism is connected with the flexible conduit and used for adjusting the posture of the flexible conduit so that the camera can face the target position and collect a target image of the target position. The camera can extend into the target equipment through the flexible conduit and acquire the target image of the internal condition of the target equipment, so that the target image acquisition mode is more flexible and convenient, and the purpose of improving the convenience of observing the internal condition of the target equipment is achieved.

Description

Technical Field

[0001] The present invention relates to the field of image acquisition technology, and in particular to an image acquisition device, a sorting system, an image acquisition method and a computer-readable storage medium. Background Art

[0002] In industrial production, industrial equipment may cause damage to its own parts or other abnormalities due to processing target objects, which will affect its own performance and production quality. However, when the industrial equipment is large in size, has a large number of internal parts and a complex layout of parts, it is difficult to quickly understand the specific internal situation due to the limited internal space of the industrial equipment. Summary of the invention

[0003] In order to overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides an image acquisition device for acquiring images inside a target device, including: a flexible catheter for extending into the target device; a camera, arranged in the flexible catheter and located at the first end of the flexible catheter, for acquiring a target image of a target position inside the target device; a control mechanism, connected to the flexible catheter, for adjusting the posture of the flexible catheter so that the camera can face the target position and acquire the target image of the target position.

[0004] In some embodiments, a fluid outlet is provided at the first end of the flexible conduit; the image acquisition device further includes: a cleaning mechanism, disposed in the flexible conduit and connected to the fluid outlet, for spraying fluid through the fluid outlet to clean the target position and / or the outer side of the camera.

[0005] In some embodiments, the fluid outlet includes: an air outlet; the cleaning mechanism includes: an air outlet pipe, fixed to the inner wall of the flexible conduit, one end of which is connected to the air outlet, and the other end is used to connect to the air supply device to allow the gas to be ejected from the air outlet through the air outlet pipe.

[0006] In some embodiments, the air outlet tube is adjacent to the lens of the camera.

[0007] In some embodiments, the fluid outlet includes: a liquid outlet; the cleaning mechanism includes: a liquid outlet pipe, fixed to the inner wall of the flexible conduit, one end of which is connected to the liquid outlet, and the other end is used to connect to a liquid supply device for spraying liquid from the liquid outlet through the liquid outlet pipe.

[0008] In some embodiments, a light outlet is provided at the first end of the flexible conduit; the image acquisition device further includes: a light emitting device, fixed to the inner wall of the flexible conduit and arranged corresponding to the light outlet, for emitting light from the light outlet.

[0009] In some embodiments, the flexible catheter includes at least one steering section for bending the flexible catheter to adjust the posture of the flexible catheter so that the camera can be directed toward a target location.

[0010] In some embodiments, the steering section includes a snake-bone mechanism, and the control mechanism includes: a plurality of knobs and a plurality of steel wires corresponding to the knobs one by one, one end of each steel wire is connected to the corresponding knob, and the other end is connected to the snake-bone mechanism, so as to control the bending of the snake-bone mechanism by rotating the knob; or, the steering section includes a universal tube, and the control mechanism includes: a motor, which is arranged in the universal tube and connected to the universal tube, and is used to drive the universal tube to bend.

[0011] In some embodiments, the image acquisition device further includes: a hard sleeve, which is disposed outside of at least a portion of the flexible catheter and is used to support and guide the flexible catheter to extend into the interior of the target device.

[0012] In a second aspect, the present disclosure further provides a sorting system, including: a sorting device; and an image acquisition device such as any of the above embodiments, used to acquire images inside the sorting device.

[0013] In some embodiments, the sorting device: a shell is provided with one or more through holes; a flexible conduit of the image acquisition device extends into the shell from the through hole, and the target image is acquired through the camera.

[0014] In some embodiments, the sorting system further includes: a display, which is communicatively connected to the camera via the signal enhancement module, and is used to receive and display the target image.

[0015] In a third aspect, the present disclosure further provides an image acquisition method, which is applied to an image acquisition device as in any of the above embodiments, and the method includes: adjusting the posture of the flexible catheter through a control mechanism so that the camera faces a target position; and acquiring a target image of the target position through the camera.

[0016] In some embodiments, a fluid outlet is provided at the first end of the flexible conduit; the image acquisition device further includes: a cleaning mechanism, disposed in the flexible conduit and connected to the fluid outlet; the method further includes: spraying fluid through the fluid outlet to clean the target position and / or the outer side of the camera.

[0017] In some embodiments, adjusting the posture of the flexible catheter by the control mechanism includes: acquiring a current image by a camera; and adjusting the posture of the flexible catheter by the control mechanism based on the current image and the target position.

[0018] In a fourth aspect, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the image acquisition method as described in any of the above embodiments.

[0019] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0020] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: the image acquisition device provided by the present disclosure can realize flexible and convenient image acquisition of the target position inside the target device through the coordinated work of the flexible catheter, the camera and the control mechanism. By extending the flexible catheter into the target device, the camera can be closer to the target position to be observed, so as to obtain a more specific, clearer and targeted target image. The position and posture of the flexible catheter can be conveniently adjusted through the control structure, so that the target image can be obtained from different positions and angles, and the image information of multiple positions of different components can be conveniently obtained to meet various image acquisition needs, so as to achieve the purpose of improving the convenience of observing the internal situation of the target device, thereby helping to improve the convenience and efficiency of observing the internal situation of the target device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0022] Figure 1 It is a schematic diagram of the structure of a sorting device according to an exemplary embodiment of the disclosure;

[0023] Figure 2 is a schematic diagram of the structure of an image acquisition device according to an exemplary embodiment of the disclosure;

[0024] Figure 3 is a schematic diagram of another image acquisition device structure according to an exemplary embodiment of the disclosure;

[0025] Figure 4 is a schematic diagram of the structure of another image acquisition device according to an exemplary embodiment of the disclosure;

[0026] Figure 5 is a schematic diagram of the structure of another image acquisition device according to an exemplary embodiment of the disclosure;

[0027] Figure 6 is a schematic structural diagram of an image acquisition device according to another exemplary embodiment of the present disclosure;

[0028] Figure 7 is a schematic structural diagram of another image acquisition device according to another exemplary embodiment of the present disclosure;

[0029] Figure 8 is a schematic diagram of a flexible conduit structure according to an exemplary embodiment of the disclosure;

[0030] Fig. 9 is a schematic structural diagram of an image acquisition device according to another exemplary embodiment of the present disclosure;

[0031] Fig.10 is a schematic diagram of another flexible conduit structure according to an exemplary embodiment of the disclosure;

[0032] Fig.11 is a schematic structural diagram of another image acquisition device according to another exemplary embodiment of the present disclosure;

[0033] Fig.12 is a schematic structural diagram of another image acquisition device according to another exemplary embodiment of the present disclosure;

[0034] Fig.13 is a schematic diagram of a sorting system architecture according to an exemplary embodiment of the disclosure;

[0035] Fig.14 It is a schematic diagram of the structure of a material sorting device according to an exemplary embodiment of the disclosure;

[0036] Fig.15 is another schematic diagram of a sorting system architecture according to an exemplary embodiment of the disclosure;

[0037] Fig.16 is a schematic diagram of another sorting system architecture according to an exemplary embodiment of the disclosure;

[0038] Fig.17 is a flowchart of an image acquisition method according to an exemplary embodiment of the disclosure;

[0039] Fig.18 It is a flowchart of another image acquisition method according to an exemplary embodiment of the disclosure. DETAILED DESCRIPTION

[0040] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0041] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0042] In industrial production, industrial equipment will cause damage to its own parts due to processing target objects, which will affect its own performance and production quality. Since the number of parts inside industrial equipment is relatively large, the layout is complex, and the internal space is limited, when it is necessary to observe the internal situation of industrial equipment, it is necessary to disassemble the equipment for close observation. However, when the industrial equipment is large in size, if the equipment is still disassembled to understand the internal situation of the industrial equipment, it will not only be time-consuming but also cause parts to be lost or cause secondary damage to the equipment.

[0043] For example, the industrial equipment is a material sorting equipment. The structure of the material sorting equipment 100 can be as follows: Figure 1 As shown, it includes a feeding mechanism 110, a transmission mechanism 120, a detection mechanism 130 and a sorting device 140. The feeding mechanism 110 is used to feed the material to be sorted into the transmission mechanism 120. The transmission mechanism 120 can be a structure such as a conveyor belt or a chute, which is used to transport the material to be sorted fed by the feeding mechanism 110. The detection mechanism 130 is used to detect the material transported on the transmission mechanism 120 to detect whether the material is a material to be rejected; the material to be rejected refers to the material to be separated by the sorting equipment. The material to be rejected can be a required material or an unrequired material, as long as the material can be sorted. The sorting device 140 is used to reject the material to be rejected. The material sorting equipment 100 can be used for ore sorting, and can also be used for tasks such as food sorting or waste sorting. Since the material sorting equipment 100 is large in size and involves a large number of processing mechanisms, the internal situation of the material sorting equipment is relatively complex and the number of parts involved is also large, so it will be very inconvenient to observe its internal situation.

[0044] In some related technologies, an observation window is set outside the target device to observe the internal situation of the target device. However, the observation range of the observation window is limited, and the glass window is easily shattered when the device is running. In other related technologies, a camera is set inside the target device to observe the internal situation of the target device. However, the internal space of the target device is limited, which is inconvenient to install, and limits the installation position of the camera. In addition, the installation position is fixed, and the camera can only collect relevant images corresponding to its installation position, resulting in a limited observation position.

[0045] To solve the above problems, an exemplary embodiment of the present disclosure provides an image acquisition device, which enables a camera to be extended into a target device through a flexible catheter and obtain a target image of the internal situation of the target device, so as to make the method of obtaining the target image more flexible and convenient, thereby achieving the purpose of improving the convenience of observing the internal situation of the target device.

[0046] like Figure 2 As shown, the present disclosure provides an image acquisition device 200 for acquiring an image inside a target device 300 , which may include: a flexible catheter 210 , a camera 220 , and a control mechanism 230 .

[0047] The flexible conduit 210 is used to extend into the target device 300. The flexible conduit 210 is a flexible tubular structure with a certain length and can change its posture according to needs, so that it can be extended into the target device 300, which can better adapt to the complex shape and narrow space inside the target device 300. In some optional examples, the material of the flexible conduit 210 may include but is not limited to metal, rubber, plastic, etc. If the material of the flexible conduit 210 is metal, the metal type of the metal may be a soft metal or memory metal that can be deformed at room temperature; or, the metal may be a metal with good ductility and flexibility such as stainless steel, copper, aluminum, etc., which can be deformed to a certain extent at room temperature, and also has good strength and corrosion resistance, and can meet the use requirements of the flexible conduit 210.

[0048] The camera 220 can be arranged in the flexible conduit 210 and located at the first end of the flexible conduit 210, and is used to collect the target image of the target position inside the target device 300. The camera 220 can be fixedly arranged in the flexible conduit 210 and close to the first end. The end surface of the first end of the flexible conduit 210 can be provided with a through hole, and the lens of the camera 220 can be embedded in the through hole and sealed and fixedly connected with the through hole. The end surface of the first end of the flexible conduit 210 can also be provided with a sealed and transparent area, and the lens of the camera 220 can be arranged in the transparent area to obtain an image. In some examples, the outer side surface of the camera 220 can be flush with the outer surface of the first end, so that it is easy to control the camera 220 to quickly and accurately reach the image acquisition position. In other examples, the height difference between the outer side surface of the camera 220 and the outer surface of the first end is less than or equal to the first height, so that in the process of image acquisition, the outer side wall of the flexible conduit 210 can be prevented from affecting the acquisition range of the camera 220 for image acquisition of the target position. Among them, the first height can be set according to actual needs, such as 1mm, 2mm, etc., which is not limited here. By setting the camera 220 at the first end of the flexible catheter 210, the camera 220 can move along with the flexible catheter 210 in the target device 300 and approach the target position to be observed, so that the camera 220 can better capture the details and features of the target position when taking images, thereby obtaining a target image that is helpful for targeted observation of the target position.

[0049] In some examples, the device type of the camera 220 can be a camera based on a complementary metal oxide semiconductor (CMOS) module or a camera based on a charge coupled device (CCD) module. If a camera based on a CMOS module is used as the camera 220 of the image acquisition device 200, it helps to reduce the construction cost and power consumption of the image acquisition device 200. If a camera based on a CCD module is used, it helps to improve the acquisition quality of the target image.

[0050] In other examples, the inner diameter of the flexible catheter 210 can be 10mm-20mm, so that the flexible catheter 210 can flexibly move within the limited internal space of the target device 300 and better adapt to the narrow space inside the target device 300. At this time, the specification size of the camera 220 can be less than or equal to 10mm, so that it can not only be conveniently installed in the flexible catheter 210, but also the target image relative to the target position can be flexibly captured through the camera 220, so that the obtained target image is more targeted and accurate.

[0051] The control mechanism 230 can be connected to the flexible conduit 210, and is used to adjust the posture of the flexible conduit 210 so that the camera 220 can face the target position and collect the target image of the target position. In order to allow the flexible conduit 210 to accurately extend the camera 220 into the appropriate position inside the target device 300, the posture of the flexible conduit 210 can be specifically adjusted by the control 230, so that the camera 220 reaches the appropriate collection position and adjusts the image collection angle and direction, so that the camera 220 can collect targeted images of the target position. Among them, the posture adjustment includes but is not limited to: bending, stretching, and rotating, etc., which can change the posture of the flexible conduit 210.

[0052] In some cases, it is necessary to observe images at different positions of a mechanism in the target device 300. The position and angle of the flexible conduit 210 can be adjusted by the control mechanism 230 to approach different positions of the mechanism and obtain clear images from close distances. For example, the target device 300 is a material sorting device, in which the transmission mechanism can be a conveyor belt. During the operation of the material sorting device, it is necessary to obtain images of the surface of the belt body of the conveyor belt, the image of the transmission mechanism of the conveyor belt, and the image of the power mechanism, so as to determine whether there is an abnormality in the working state of the conveyor belt. The image of the surface of the belt body of the conveyor belt needs to be obtained from above the conveyor belt, and the transmission mechanism and the power mechanism need to be obtained from the side of the conveyor belt. The control mechanism 230 of the image acquisition device 200 of the embodiment of the present disclosure can adjust the position and shooting angle of the flexible conduit 210, and obtain the target image from the top and side of the conveyor belt at close distances, so that the image is clearer and the accuracy of subsequent judgments is improved.

[0053] The type of control mechanism 230 for adjusting the posture of the flexible conduit 210 may be manual or automatic control, and the specific control type may be determined according to the requirements. For example, if the control type of the control mechanism 230 is manual control, the control mechanism 230 may include a control component such as a knob, a rocker or a handle that can be used for manual operation, and then the relevant personnel may manually adjust the bending degree and direction of the flexible conduit 210 by operating the control component to ensure that the camera 220 can stably aim at the target position.

[0054] If the control type of the control mechanism 230 is automatic control, the control mechanism 230 may include control components such as motors, sensors and controllers that can be used for automatic control. Based on the relevant sensor data obtained, in the absence of human interference, the control mechanism 230 can automatically adjust the bending degree and direction of the flexible catheter 210 to ensure that the camera 220 can be stably aligned with the target position, thereby helping to improve the intelligence of the image acquisition device 200.

[0055] The image acquisition device 200 provided by the present disclosure can realize flexible and convenient image acquisition of the target position inside the target device 300 through the coordinated work of the flexible catheter 210, the camera 220 and the control mechanism 230. By extending the flexible catheter 210 into the target device 300, the camera 220 can be closer to the target position to be observed, so as to obtain a more specific, clearer and targeted target image. The position and posture of the flexible catheter 210 can be conveniently adjusted through the control structure 230, so that the target image can be obtained from different positions and angles, and the image information of multiple positions of different components can be conveniently obtained to meet various image acquisition requirements, so as to achieve the purpose of improving the convenience of observing the internal situation of the target device 300, thereby helping to improve the convenience and efficiency of observing the internal situation of the target device 300.

[0056] In some working conditions, for example, the target device 300 is a mineral sorting machine, and the dust inside the device is large. Long-distance shooting is seriously affected by the dust, and it is not easy to observe the specific internal details from the outside, or it is not easy to obtain clear image information when shooting from a long distance. The image acquisition device 200 provided by the present disclosure can capture images of the target position from a close distance, thereby reducing or avoiding the impact of internal dust on shooting, making the acquired image clearer, facilitating subsequent use and recognition, and improving the accuracy and reliability of subsequent judgment or control.

[0057] In some embodiments, Figure 3As shown, the first end of the flexible conduit 210 may be provided with a fluid outlet 211; the image acquisition device may further include: a cleaning mechanism 240, which is disposed in the flexible conduit 210 and communicated with the fluid outlet 211, and is used to spray fluid through the fluid outlet 211 to clean the target position and / or the outer side of the camera 220. The cleaning mechanism 240 may refer to a mechanism for cleaning the equipment of the cleaning object. The cleaning object may be a target position inside the target device 300, such as some parts that need to be observed in the target device 300; or it may be the outer side of the camera 220 in the image acquisition device 200, such as the outside of the lens. The cleaning mechanism 240 may include a fluid conducting device, such as a conduit, a nozzle, etc. The fluid used for cleaning may be a gas, or a liquid, or may be cleaned by gas and liquid respectively. The liquid may be water or a cleaning liquid, which may be determined according to the needs and is not limited here. By arranging the cleaning mechanism 240 in the flexible conduit 210, the overall space size of the image acquisition device 200 can be saved, and the cleaning mechanism 240 can be moved along with the movement of the flexible conduit 210 and the camera 220 inside the target device 300, so that when the cleaning object needs to be cleaned, the position of the cleaning object can be quickly determined. In addition, by connecting the cleaning mechanism 240 with the fluid outlet 211, the cleaning object to be cleaned can be cleaned in a targeted manner according to the needs in the process of following the movement of the flexible conduit 210, thereby ensuring the timeliness and accuracy of the cleaning, and further ensuring the quality of the captured target image.

[0058] In some examples, the number of cleaning mechanisms 240 may be at least one. Wherein, when the number of cleaning mechanisms 240 is one and the type of fluid to be ejected is one, the cleaning mechanism 240 may eject the fluid through the fluid outlet 211 connected thereto. When the number of cleaning mechanisms 240 is one and the type of fluid to be ejected is multiple, the fluid may be ejected from the fluid outlet 211 connected thereto by alternate ejection or combined ejection. When the number of cleaning mechanisms 240 is multiple and corresponds to the type of fluid to be ejected, the cleaning mechanism 240 may eject the fluid of the corresponding fluid type through the fluid outlet 211 connected thereto.

[0059] In some working conditions, taking the cleaning mechanism 240 as a conduit, when the number of conduits is one and the number of fluid types is one, the conduit can spray fluid through the fluid outlet 211 connected thereto. In other working conditions, when the number of conduits is one and the number of fluid types is multiple, the conduit can spray fluids of multiple fluid types through the fluid outlet 211 connected thereto in an alternating or combined manner. In still other working conditions, when the number of conduits is multiple and corresponds to multiple fluid types, taking the multiple fluids as gas and liquid as an example, the conduit can be divided into an air outlet pipe and a liquid outlet pipe according to the corresponding fluid types sprayed therefrom, so that the air outlet pipe can spray gas through the fluid outlet 211 connected thereto, and the liquid outlet pipe can spray liquid through the fluid outlet 211 connected thereto.

[0060] In some optional examples, the data transmission line connected to the camera 220 can be arranged in the flexible conduit 210 and fixed inside the flexible conduit 210, which can better organize and wire the lines, make the lines more neat and orderly, improve the aesthetics of the image acquisition device, and also help reduce the failures and maintenance problems that may be caused by line confusion, and can effectively prevent the data transmission line from being damaged by the external environment, extend the service life of the data transmission line, and thus improve the reliability of the camera 220. Among them, the data transmission line is at least used to transmit the image acquisition data of the camera 220. For example, the data transmission line can be a MIPI (Mobile Industry Processor Interface, a high-speed serial data line standard for mobile devices) data line or an HDMI (High-Definition Multimedia Interface) data line, depending on the interface requirements of the camera 220.

[0061] In some working conditions, in order to ensure the performance and quality of the camera 220, the camera 220 and the data transmission line connected thereto may be enclosed and packaged in a flexible conduit 210, and the camera 220 may be isolated from the cleaning mechanism 240 by an insulating layer to prevent the cleaning structure 240 from damaging or interfering with the line and performance of the camera 220 during the process of spraying fluid, thereby ensuring the shooting clarity and accuracy of the camera 220.

[0062] In some embodiments, Figure 4As shown, the fluid outlet 211 may include: an air outlet 2111; the cleaning mechanism 240 may include: an air outlet pipe 241, which is fixed to the inner wall of the flexible conduit 210, one end of which is connected to the air outlet 2111, and the other end is used to connect the air supply device 400, so that the gas is ejected from the air outlet 211 through the air outlet pipe 241. By fixing the air outlet pipe 241 to the inner wall of the flexible conduit 210, the structural stability between the air outlet pipe 241 and the flexible conduit 210 can be ensured, so that when the air outlet pipe 241 moves with the flexible conduit 210, the air outlet pipe 241 can be effectively prevented from being separated from the flexible conduit 210. The air supply device 400 can be a device for providing gas, such as an air pump, a fan, an air compressor, etc. By connecting the gas outlet 2111 with the gas supply device 400 through the gas outlet pipe 241, the gas provided by the gas supply device 400 can be transported to the gas outlet 2111 through the gas outlet pipe 241 and ejected therefrom, so that the cleaning purpose can be achieved by gas jetting to keep the target device 300 clean. For example, when there is dust, debris or other contaminants on the cleaning object, the dust, debris or other contaminants on the surface of the cleaning object can be blown away by gas jetting to keep the cleaning object clean, thereby ensuring the quality of the captured target image.

[0063] In some optional examples, the cleaning object is a target position inside the target device 300. In order to enable the camera 220 to capture the target image of the target position, the flexible conduit 210 can be controlled by the control mechanism 230 to adjust the camera 220 to a capture position relative to the target position, and since the air outlet 2111 and the camera 220 are both located at the first end of the flexible conduit 210, when the target position needs to be cleaned, the gas provided by the air supply device 400 can flow into the air outlet 2111 through the air outlet pipe 241, and sprayed from the air outlet 2111 to the target position, so as to blow away the dust, debris or other pollutants on the target position, thereby ensuring the cleanliness of the target position.

[0064] In other embodiments, the air outlet pipe 241 can be adjacent to the lens of the camera 210, and then when the cleaning object is the camera 210, or when the cleaning target position is at the cleaning target position, the gas ejected from the air outlet 2111 can flow through the outer side surface of the camera 210 (the position of the lens) or drive the airflow on the outer side surface of the camera 210, thereby blowing away the dust, debris or other contaminants on the outer side surface of the camera 210 to achieve the purpose of cleaning.

[0065] In some other embodiments, Figure 5As shown, the fluid outlet 211 may include: a liquid outlet 2112; the cleaning mechanism 240 may include: a liquid outlet pipe 242, fixed to the inner wall of the flexible conduit 210, one end of which is connected to the liquid outlet 2112, and the other end is used to connect the liquid supply device 500, so that the liquid is sprayed out from the liquid outlet through the liquid outlet pipe 2112. By fixing the liquid outlet pipe 242 to the inner wall of the flexible conduit 210, the structural stability between the liquid outlet pipe 242 and the flexible conduit 210 can be ensured, so that when the liquid outlet pipe 242 moves with the flexible conduit 210, the situation that the liquid outlet pipe 242 is separated from the flexible conduit 210 can be effectively avoided. The liquid supply device 500 can be a device for providing liquid, such as a water pump, a water tank, a liquid supply tank, etc. By connecting the liquid outlet 2112 with the liquid supply device 500 through the liquid outlet pipe 242, the liquid provided by the liquid supply device 500 can be transported to the liquid outlet 2112 through the liquid outlet pipe 242 and sprayed therefrom, so that the cleaning purpose can be achieved by liquid cleaning to keep the target device 300 clean. In some examples, the hydraulic working mode of the liquid supply device 500 can be adjusted to control the hydraulic force and flow rate of the liquid transmitted from the liquid outlet pipe 242 to the liquid outlet 2112 and sprayed from the liquid outlet 2112 to meet the required cleaning effect. For example, when it is necessary to clean the target position, the liquid can be controlled to spray from the liquid outlet 2112 by increasing the hydraulic force and flow rate of the liquid, so that the outflowing liquid can wash away the contaminants at the target position. When it is necessary to clean the outer side of the camera 220, the liquid can be controlled to flow out from the liquid outlet 2112 by reducing the hydraulic force and flow rate of the liquid, so that the outflowing liquid can wash away the contaminants on the outer side of the camera 220 deployed at the same first end.

[0066] In other examples, the position and angle of the flexible conduit 210 can be flexibly adjusted as needed, so that the liquid flowing out of the liquid outlet 2112 can be precisely sprayed onto the cleaning object to be cleaned, thereby achieving the desired cleaning effect.

[0067] In some further embodiments, Figure 6 As shown, the fluid outlet 211 may include an air outlet 2111 and a liquid outlet 2112, and the cleaning mechanism 240 may include: an air outlet pipe 241 and a liquid outlet pipe 242, so that the image acquisition device 200 can clean the target position or the outer side of the camera 220 by gas, or by liquid, or by a combination of gas and liquid to clean the target position or the outer side of the camera 220 to achieve the required cleaning effect, thereby making the cleaning process more flexible and convenient, which is beneficial to extending the service life of the target device 300 or the camera 220 and reducing the maintenance cost of the equipment.

[0068] In some embodiments, Figure 7 As shown, the first end of the flexible conduit 210 may be provided with a light outlet 212; the image acquisition device may further include: a light emitting device 250, fixed to the inner wall of the flexible conduit 210 and arranged corresponding to the light outlet 212, for emitting light from the light outlet 212. The light emitting device 250 is a device for converting electrical energy into light energy to provide a light source for the image acquisition device 200 to move inside the target device 300. For example, the light emitting device 250 may include a light emitting diode (LED), a cold cathode fluorescent lamp (CCFL) or a laser diode (LD). By fixing the light-emitting device 250 to the inner wall of the flexible conduit 210 and setting it corresponding to the light outlet 212, the light-emitting device 250 can be effectively prevented from being displaced or falling off when the flexible conduit 210 moves inside the target device 300, and light can be emitted from the light outlet 212 more concentratedly, thereby improving the lighting effect inside the target device 300, so that the camera 220 can collect the target image in an environment with a light source, which helps to improve the effectiveness and reliability of the target image, so that the processing efficiency can be improved when the target image is subsequently identified, analyzed and processed.

[0069] In some working conditions, inside the flexible conduit 210, the light emitting device 250 may be adjacent to the camera 220 so that the light emitted by the light emitting device 250 may directly illuminate the field of view of the camera 220, providing sufficient lighting for the camera 220. In addition, the adjacent setting may reduce the scattering and reflection of light, avoid shadow or reflection interference, thereby enabling the camera 220 to capture clearer and brighter target images, helping to enhance the performance and practicality of the image acquisition device 200.

[0070] Under other working conditions, the light-emitting device 250 and the camera 220 can be sealed in the flexible conduit 210, and the light-emitting device 250 and the camera 220 can be isolated from the cleaning mechanism 240 by an insulating layer, which can effectively prevent dust, liquid and other pollutants from damaging the light-emitting device 250 and the camera 220, and can effectively prevent current leakage and electrical interference, thereby ensuring the normal operation of the light-emitting device 250 and the camera 220.

[0071] In some embodiments, Figure 8As shown, the flexible conduit 210 may include at least one turning section 213, which is used to bend the flexible conduit 210 to adjust the posture of the flexible conduit 210 so that the camera 220 can be directed to the target position. The turning section 213 refers to a part or all of the conduit in the flexible conduit 210 that can change the direction of the first end. During the image acquisition process, the posture of the turning section 213 can be adjusted by the control mechanism 230 to change the direction of the first end of the flexible conduit 210 so that the camera 220 located at the first end can be directed to the target position to meet the image acquisition requirements.

[0072] When the flexible conduit 210 includes a single turning section 213, the control mechanism 230 can be used to adjust the posture of the turning section 213 to adjust the posture of the flexible conduit 210, thereby reducing the difficulty of adjustment and making the adjustment process more convenient and faster.

[0073] In the case where the flexible conduit 210 includes multiple turning sections 213, by arranging the turning tubes 213 in sections, the flexible conduit 210 can be more flexibly adapted to different layouts and space requirements, thereby helping to avoid the influence of "obstacles" inside the target device 300 on image acquisition. In addition, by configuring the turning sections 213 in the flexible conduit 210, it is helpful to install and disassemble separately, reduce the complexity of the overall installation, and improve the maintenance efficiency.

[0074] In some embodiments, the steering section 213 may include a snake mechanism, and the control mechanism 230 may include: a plurality of knobs 231 and a plurality of steel wires 232 corresponding to the knobs, one end of each steel wire 232 is connected to the corresponding knob 231, and the other end is connected to the snake mechanism 213, so that the knob 231 is rotated to control the bending of the snake mechanism 213. Fig. 9 As shown, the knob 231 and the snake-bone mechanism 213 can be connected via the corresponding steel wire 232. The snake-bone mechanism is a mechanical structure composed of a series of interconnected segments, similar to the skeleton of a snake, and can perform complex movements in a small space. By controlling the rotation direction of the knob 231, the tension at the corresponding connection position of the snake-bone mechanism 213 can be changed, and then combined with the tension at other connection positions of the snake-bone mechanism 213, the posture adjustment of the snake-bone mechanism 213 can be achieved, and the direction and angle of the flexible catheter 210 can be changed. That is, during the rotation of the knob 231, the force on the steel wire 232 connected to the snake-bone mechanism 213 will change, and then the tension at the connection position between the snake-bone mechanism and the steel wire 232 will change, causing the snake-bone mechanism 213 to deform and change its own posture. It should be noted that Fig. 9It is only used to illustrate the connection relationship between a single knob 231 and the snake mechanism 213. The specific number of knobs 231 and the corresponding number of steel wires 232 can be configured according to actual needs.

[0075] In some embodiments, the steering section 213 may include a universal tube, and the control mechanism 230 may include: a motor 233, which is disposed in the universal tube 213 and connected to the universal tube 213, and is used to drive the universal tube 213 to bend. Fig.10 As shown, the universal tube is a tubular structure with multiple degrees of freedom that can be flexibly bent and rotated in different directions. By arranging the motor 233 inside the universal tube 213 and connecting it to the universal tube 213, the rotational movement of the motor 233 can drive the joints or connectors of the universal tube 213 to deform during the movement of the flexible catheter 210, thereby achieving the purpose of adjusting the posture of the flexible catheter 210. For example: the motor 233 can convert the rotational motion into linear motion or angle change through a mechanical transmission device (such as a gear, a rack, a lead screw, etc.), so that the universal tube 213 is bent, thereby making the posture adjustment process of the flexible catheter 210 more convenient and intelligent, which helps to improve the efficiency of target image acquisition and enhance the performance of the image acquisition device 200.

[0076] In some embodiments, Fig.11 As shown, the image acquisition device 200 may also include: a hard sleeve 260, which is arranged outside at least part of the flexible conduit 210, and is used to support and guide the flexible conduit 210 to extend into the target device 300. The hard sleeve 260 is a sleeve with high strength and is not easy to change its posture. The inner diameter of the hard sleeve is greater than or equal to the outer diameter of the flexible sleeve 210, so that when the hard sleeve 260 is needed to support and guide the flexible conduit 210 to extend into the target device 300, the flexible conduit 210 can pass from one end of the hard sleeve 260 to the other end. Since the flexible conduit 210 itself has a certain degree of flexibility, in the absence of external force support, the flexible conduit 210 may bend or deform, causing the target position corresponding to the camera 220 to shift, affecting the target image quality. Therefore, by arranging the hard sleeve 260 on the outside of at least part of the flexible conduit 210, additional support can be provided for the outside of the part of the conduit, so that the flexible conduit 210 maintains a certain shape and rigidity, thereby more easily extending into the target device 300, reducing friction and collision between the flexible conduit 210 and the outside, and helping to extend the service life of the flexible conduit 210. In addition, by arranging the hard sleeve 260 on the outside of at least part of the flexible conduit 210, the bending and swinging range of the part of the conduit can be limited, thereby helping to improve the accuracy and reliability of the insertion of the flexible conduit 210.

[0077] In other embodiments, the hard sleeve 260 may be a retractable sleeve, so that the retractable length of the hard sleeve 260 may be controlled as required to meet different usage requirements.

[0078] In some optional implementation scenarios, such as Fig.12 As shown, the image acquisition device 200 may include a flexible catheter 210, a camera 220, a control mechanism 230, a cleaning mechanism 240, a light emitting device 250 and a hard sleeve 260. Among them, the camera 220 is arranged in the flexible catheter 210 and is located at the first end of the flexible catheter 210. The turning section 213 of the flexible catheter 210 may include a snake-bone mechanism, and the control mechanism 230 may include: a plurality of knobs 231 and a plurality of steel wires 232 corresponding to the knobs one by one, one end of each steel wire 232 is connected to the corresponding knob 231, and the other end is connected to the snake-bone mechanism 213, so that the bending of the snake-bone mechanism 213 can be controlled by rotating the knob 231. The first end of the flexible catheter 210 is provided with an air outlet 2111 and a liquid outlet 2112; the cleaning mechanism 240 includes: an air outlet pipe 241 and a liquid outlet pipe 242 (not drawn in the figure, only 230 is used to represent the control mechanism, and the specific connection relationship is referred to Fig. 9 The first end of the flexible conduit 210 may also be provided with a light outlet 212. The light emitting device 250 may be fixed to the inner wall of the flexible conduit 210 and disposed corresponding to the light outlet 212.

[0079] By using this image acquisition device 200 to acquire images inside the target device 300, the flexible conduit 210 can be inserted into the target device 300, so that the camera 220 can be closer to the target position that needs to be observed inside the target device 300, and then carry out targeted acquisition. The tension at one end of the steel wire 232 connected to it is adjusted by the knob 232, and the tension at the connection position between the other end of the steel wire 232 and the snake-bone mechanism 213 is changed, and then the position and posture of the flexible conduit 210 are improved by combining the tension at the connection position between the snake-bone mechanism 213 and other steel wires 232, so that the target image can be acquired from different positions and angles, and the image information of multiple positions of different components can be acquired conveniently, so as to meet various image acquisition requirements. In addition, by supporting and guiding the flexible conduit 210 with the hard conduit 260, the accuracy and reliability of the insertion of the flexible conduit 210 can be improved, so that the corresponding target position of the camera 220 during image acquisition is more accurate, which helps to ensure the quality and reliability of the target image. Furthermore, the light emitting device 250 can ensure that the camera 220 has sufficient light source to ensure the quality of its image acquisition when it moves inside the target device 300, thereby helping to improve the acquisition clarity and quality of the target image. Through the gas outlet pipe 241 and the liquid outlet pipe 242, the target position and the outer side of the camera 210 can be cleaned by gas or liquid during the process of the flexible conduit 210 extending into the target device 300, thereby not only ensuring the acquisition clarity of the target image, but also helping to enhance the practicality of the image acquisition device 200.

[0080] The image acquisition device 200 provided by the present invention can make the image acquisition process for the inside of the target device 300 more flexible and adaptable, can ensure the image acquisition quality, and has cleaning and lighting functions, low cost, and takes up little space, so as to better complete the inspection and maintenance work of the inside of the target device 300.

[0081] Based on the same inventive concept, the present disclosure also provides a sorting system 600. Fig.13 As shown, the sorting system includes a material sorting device 610 and an image acquisition device 200 .

[0082] The material sorting device 610 is a device for performing material sorting. For example, the material sorting device 610 may be a device for performing tasks such as ore sorting, food sorting, or waste sorting.

[0083] The image acquisition device 200 is used to acquire images inside the material sorting device 610. The image acquisition device 200 may be any image acquisition device provided in any of the aforementioned embodiments of the present disclosure, and the specific structure content will not be repeated here.

[0084] The sorting system 600 provided in the present disclosure can flexibly and quickly acquire a target image at a target position inside the material sorting equipment 610 by extending the flexible conduit 210 of the image acquisition device 200 into the interior of the material sorting equipment 610 and using the camera 220 on the flexible conduit 210 to observe the target position, thereby making the process of observing the internal conditions of the equipment more convenient, facilitating subsequent targeted maintenance of the internal parts of the material sorting equipment 610 by obtaining the target image, and helping to extend the service life of the material sorting equipment 610.

[0085] In some embodiments, Fig.14 As shown, the material sorting device 610 may include: a housing 611, provided with one or more through holes 6111; the flexible conduit 210 of the image acquisition device 200 may extend into the housing 611 through the through holes 6111, and the target image may be acquired through the camera 220. Through the through holes 6111 on the housing 611 of the material sorting device 610, it is possible to clearly define the entrance for the flexible conduit 210 to extend into the interior of the material sorting device 610 for observation, and then when the image acquisition device 200 is required to observe the interior of the material sorting device 610, the flexible conduit 210 may be extended into the material sorting device 610 through one or more through holes 6111 on the housing 611 and close to the target position for observation, thereby obtaining the desired target image and ensuring the quality of the target image.

[0086] The number and position of the through holes 6111 on the housing 611 can be determined based on actual observation requirements to ensure the effect of image acquisition and the convenience of operation. In some examples, the through holes 6111 correspond to the target positions, and the flexible conduit 210 can extend into different target positions inside the material sorting device 610 through different through holes 6111 to meet various image acquisition requirements.

[0087] In some embodiments, Fig.15As shown, the sorting system 600 may further include: a display 620, which may be connected to the camera 220 through a signal enhancement module for receiving and displaying the target image. Through the display 620, the target image captured by the camera 220 may be displayed more intuitively, so that relevant personnel may quickly understand the actual image content of the target image, so that when the shooting position and / or angle of the camera 220 need to be adjusted later, the posture of the flexible conduit 210 may be changed in time to ensure the accuracy and effectiveness of the acquisition of the target image. Since the material sorting device 610 and the image acquisition device 200 are two independent devices, the length of the flexible conduit 210 must meet a certain length to ensure the image acquisition requirements of the camera 220 in the material sorting device 610. Therefore, by connecting the camera 220 to the display 620 through the signal enhancement module, the data transmission signal strength between the camera 220 and the display 620 may be enhanced, thereby effectively reducing the loss of the image signal captured by the camera 220 in the transmission to the display 620, and ensuring the quality and reliability of the target image.

[0088] In other embodiments, the length of the flexible catheter 210 can be between [3.5m, 5m], thereby increasing the operating range and being able to better adjust the position and angle of the image acquisition device to obtain more accurate and comprehensive target images to meet different scene requirements.

[0089] In some other embodiments, the image resolution of the display 620 can be greater than or equal to 1280*720, and the frame rate can be greater than or equal to 30fps, so that by displaying the target image through the display 620, the details can be better captured and restored, making the obtained target image clearer and displaying the content of the image more accurately, so that subsequent relevant personnel can perform targeted processing on the target location based on the obtained target image.

[0090] In some implementation scenarios, such as Fig.16 As shown, the sorting system architecture for performing image acquisition through the image acquisition system may also include: material sorting equipment 600, image acquisition device 200, image processing board 700 and host computer 800. Among them, the display 620 is deployed in the host computer 800.

[0091] The flexible conduit 210 is extended into the material sorting device 600, and the posture of the flexible conduit 210 is adjusted by the control mechanism 230 of the image acquisition device 200 so that the orientation of the camera 220 corresponds to the target position inside the material sorting device 600, and the target image is obtained. In order to intuitively and quickly understand the content of the target image, the image data collected by the camera 220 is transmitted to the image processing board 700 for processing based on the MIPI data line connected to the camera 220, and the processing result is uploaded to the host computer 800 and displayed by the display 620. Among them, the host computer 800 can control the camera 220 to perform any of the following functions through the image processing board 700: setting image contrast, brightness, taking pictures, storage and other functions.

[0092] In other implementation scenarios, the camera 220 can be directly connected to the host computer 800 via USB, which helps to reduce the transmission loss of image data and ensure the display quality of the target image.

[0093] Based on the same inventive concept, the present invention provides an image acquisition method, which is applied to any one of the image acquisition devices 200 in the above embodiments, such as Fig.17 As shown, the image acquisition method includes the following steps:

[0094] Step S1701, adjusting the posture of the flexible catheter through a control mechanism so that the camera faces the target position.

[0095] The target position can be understood as the position where the image is to be captured. The target position can be any position in the target device where the internal structure is to be observed, or other positions that need to be observed. In order to improve the image acquisition quality of the camera, the posture of the flexible catheter is adjusted by the control mechanism, the bending degree and / or rotation direction of the flexible catheter is changed, so that the first end of the flexible catheter can be oriented toward the target position, so that the direction of the camera set at the first end corresponds to the target position, thereby ensuring that the required image information can be obtained.

[0096] In some examples, the posture of the flexible conduit can be determined by adjusting the control mechanism manually or automatically. For example, the relevant personnel can manually adjust the bending degree and / or rotation direction of the flexible conduit through the control mechanism to prompt the camera to face the target position so as to meet the image acquisition requirements. For another example, the control mechanism can determine the vector distance between itself and the target position based on the current position of the flexible conduit, and then make targeted adjustments to the posture of the flexible conduit based on the vector distance, so as to prompt the camera to face the target position, and by remotely controlling the flexible conduit, the operator can be prevented from directly contacting the dangerous area or performing difficult operations, thereby improving the safety and efficiency of the work. Among them, the current position of the flexible conduit can be determined by the control mechanism based on the image acquisition data cached in real time by the camera or other feedback mechanisms.

[0097] Step S1702: Capture a target image at a target position through a camera.

[0098] The image acquisition method provided by the present invention adjusts the posture of the flexible catheter through a control mechanism so that the camera is directed toward the target position, which can make the image acquisition method more flexible. The target image of the target position acquired by the camera can ensure the acquisition accuracy of the target image and enhance the adaptability of the image acquisition device, so that when the situation of the target position is subsequently analyzed and processed based on the obtained target image, the reliability of the results can be guaranteed.

[0099] In some embodiments, the above step S1701 includes:

[0100] Step a1, obtaining the current image through the camera;

[0101] Step a2: adjusting the posture of the flexible catheter through a control mechanism based on the current image and the target position.

[0102] Specifically, in order to determine whether the position where the camera currently captures the image is the target position, the current image captured by the camera is obtained. The difference between the current position and the target position is determined by identifying and analyzing the current image, so as to clarify the adjustment direction of the flexible catheter posture through the control mechanism, and then carry out targeted control to enable the camera to face the target position, thereby ensuring the accuracy and reliability of the target image acquisition.

[0103] In some examples, the current position corresponding to the current image can be determined based on image recognition, and then the posture of the flexible catheter can be adjusted by a control mechanism based on the current image and the target position. The current image features of the current image are extracted, and the current image features are matched with the preset image feature library to obtain a matching result. The image feature library includes multiple candidate image features, and the candidate image features correspond to the positions to be observed one by one. If the matching result indicates that there is a target image feature matching the current image feature among the multiple candidate image features, the position to be observed corresponding to the target image feature is determined as the current position corresponding to the current image. If the position to be observed corresponding to the target image feature is the target position, the current posture of the flexible catheter can be maintained by the control mechanism so that the direction of the camera can be aligned with the target position. If the position to be observed corresponding to the target image feature is not the target position, the bending, stretching and / or rotation posture of the flexible catheter is adjusted based on the vector distance between the position to be observed and the target position, so that the camera is directed to the target position.

[0104] In other examples, if the current image feature is not included in multiple candidate image features, the orientation of the camera is monitored in real time by observing a display or other feedback mechanism, and the position of the flexible catheter is adjusted through a control mechanism until the camera is accurately oriented toward the target position to meet image acquisition requirements.

[0105] In some other examples, path planning can be performed in advance based on the target position and the initial position of the flexible catheter to determine the moving route of the flexible catheter and the preset posture during the movement. Through the recognition and processing results of the current image, the current posture of the flexible catheter can be clarified and the next posture of the next position can be predicted. Then, during the movement of the flexible catheter, the current posture of the flexible catheter is adjusted by the control mechanism according to the next posture until the flexible catheter reaches the target position. At this time, the target posture of the flexible catheter at the target position is the posture that enables the camera to face the target position.

[0106] It should be noted that the above posture adjustment process is only used as an example, and the specific adjustment process can be determined according to actual needs.

[0107] In some embodiments, a fluid outlet is provided at the first end of the flexible conduit; the image acquisition device further comprises: a cleaning mechanism disposed in the flexible conduit and connected to the fluid outlet. Fig.18 As shown, the image acquisition method includes the following steps:

[0108] Step S1801, adjusting the posture of the flexible catheter through a control mechanism so that the camera faces the target position.

[0109] Step S1802: Capture a target image at a target position through a camera.

[0110] Step S1803, spraying fluid through the fluid outlet to clean the target position and / or the outer side of the camera.

[0111] A cleaning mechanism may also be provided in the flexible conduit and connected to the fluid outlet opened at the first end of the flexible conduit. Thus, during the image acquisition process, the target position and / or the outer side of the camera may be cleaned in a targeted manner by controlling the flow of fluid in the cleaning mechanism to ensure that the target position and / or the outer side of the camera are in a clean state when the camera is acquiring the target image, thereby helping to ensure the clarity and reliability of the target image.

[0112] In some examples, when it is determined that the orientation of the camera is relative to the target position, the fluid is controlled to spray out from the fluid outlet, and the target position and the outer side of the camera are cleaned at the same time to remove as much dust, debris or other contaminants as possible from the target position and the outside of the camera, thereby improving the acquisition quality of the target image.

[0113] In other examples, the fluid can be ejected from the fluid outlet through the connection between the cleaning mechanism and the fluid outlet based on the display result of the target image, thereby not only ensuring the shooting quality of the target image, but also avoiding unnecessary fluid consumption and saving resources. For example, if the display result of the target image indicates that there is no problem with the current image shooting quality, but the detailed features of the target position are blocked by other contaminants, the fluid is ejected through the fluid outlet to clean the target position to eliminate the interference on the target position, so that when the target position is subsequently photographed by the camera again, a clear target image can be obtained, which is conducive to improving the quality and accuracy of image shooting and facilitating accurate observation and analysis of the target position. For another example, if the display result of the target image indicates that the current image shooting quality is poor, the fluid is ejected through the fluid outlet to clean the outer side of the camera to eliminate the interference on the camera, so that when the target position is subsequently photographed by the camera again, the shooting quality of the target image is improved. If clear features of the target position cannot be obtained after removing the interference on the outer side of the camera and shooting again, it indicates that there are interferences at the target position, and then fluid is sprayed out through the fluid outlet to clean the target position to eliminate the interference at the target position, so as to eliminate the interference in the current shooting environment as much as possible and improve the acquisition quality and clarity of the target image.

[0114] According to the image acquisition method provided by the present invention, by spraying fluid from the fluid outlet to clean the cleaning object, it can be ensured that interference from dust, debris or other pollutants can be avoided during the image acquisition process, so that the image acquisition environment of the camera is in a clean state, thereby achieving the purpose of improving the target image acquisition quality.

[0115] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0116] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0117] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0118] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. An image acquisition device for acquiring an image inside a target device, comprising: A flexible conduit, used to extend into the interior of the target device; a camera, disposed in the flexible conduit and located at a first end of the flexible conduit, for collecting a target image of a target position inside the target device; The control mechanism is connected to the flexible catheter and is used to adjust the posture of the flexible catheter so that the camera can face the target position and collect the target image of the target position.

2. The image acquisition device according to claim 1, wherein: The first end of the flexible conduit is provided with a fluid outlet; The image acquisition device further includes: a cleaning mechanism, which is disposed in the flexible conduit and communicated with the fluid outlet, and is used for spraying fluid through the fluid outlet to clean the target position and / or the outer side of the camera.

3. The image acquisition device according to claim 2, wherein: The fluid outlet comprises: an air outlet; The cleaning mechanism comprises: an air outlet pipe fixed to the inner wall of the flexible conduit, one end of which is connected to the air outlet, and the other end of which is used to connect to the air supply device so that the gas can be ejected from the air outlet through the air outlet pipe.

4. The image acquisition device according to claim 3, wherein: The air outlet pipe is adjacent to the lens of the camera.

5. The image acquisition device according to any one of claims 2 to 4, wherein: The fluid outlet comprises: a liquid outlet; The cleaning mechanism comprises: a liquid outlet pipe fixed to the inner wall of the flexible conduit, one end of which is connected to the liquid outlet, and the other end of which is used to connect to a liquid supply device so that the liquid can be sprayed out from the liquid outlet through the liquid outlet pipe.

6. The image acquisition device according to claim 1, wherein: The first end of the flexible conduit is provided with a light outlet; The image acquisition device further includes: a light emitting device, which is fixed to the inner wall of the flexible conduit and is arranged corresponding to the light outlet, and is used to emit light from the light outlet.

7. The image acquisition device according to claim 1, wherein: The flexible catheter includes at least one turning section for bending the flexible catheter to adjust the posture of the flexible catheter so that the camera can be directed toward the target position.

8. The image acquisition device according to claim 7, wherein: The steering section includes a snake-bone mechanism, and the control mechanism includes: a plurality of knobs and a plurality of steel wires corresponding to the knobs one by one, one end of each steel wire is connected to the corresponding knob, and the other end is connected to the snake-bone mechanism, so that the bending of the snake-bone mechanism can be controlled by rotating the knob; or, The steering section includes a universal tube, and the control mechanism includes: a motor, which is arranged in the universal tube and connected to the universal tube, and is used to drive the universal tube to bend.

9. The image acquisition device according to claim 1, wherein: The image acquisition device further includes: a hard sleeve, which is arranged outside at least a part of the flexible catheter and is used to support and guide the flexible catheter to extend into the interior of the target device.

10. A sorting system comprising: Material sorting equipment; The image acquisition device as described in any one of claims 1 to 9 is used to obtain images inside the sorting device.

11. The sorting system according to claim 10, wherein: The sorting device: a housing, provided with one or more through holes; The flexible conduit of the image acquisition device extends from the through hole into the housing, and the target image is acquired through the camera.

12. The sorting system according to claim 11, wherein: The sorting system also includes: The display is connected to the camera through a signal enhancement module and is used to receive and display the target image.

13. An image acquisition method, wherein: Applied to the image acquisition device according to claims 1 to 9, the method comprises: adjusting the posture of the flexible catheter by the control mechanism so that the camera faces the target position; The target image at the target position is collected by the camera.

14. The method according to claim 13, wherein: The first end of the flexible conduit is provided with a fluid outlet; The image acquisition device further includes: a cleaning mechanism, disposed in the flexible conduit and in communication with the fluid outlet; The method further comprises: Fluid is sprayed out through the fluid outlet to clean the target location and / or the outer side of the camera.

15. The method according to claim 13, characterized in that The step of adjusting the posture of the flexible conduit by the control mechanism comprises: Acquire the current image through the camera; Based on the current image and the target position, the posture of the flexible catheter is adjusted by the control mechanism. 16 . A computer-readable storage medium storing the following program, wherein the program is used to execute the image acquisition device according to claim 13 .

Images