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

Abstract

This disclosure relates to the field of image acquisition technology, specifically to an image acquisition device, a sorting system, an image acquisition method, and a computer-readable storage medium. The image acquisition device, used to acquire images of the interior of a target device, includes: a flexible conduit for extending into the interior of the target device; a camera disposed within the flexible conduit and located at its first end, for acquiring target images of a target location inside the target device; and a control mechanism connected to the flexible conduit for adjusting the orientation of the flexible conduit so that the camera can face the target location and acquire target images of that location. This allows the camera to extend into the target device through the flexible conduit and acquire target images of the interior of the target device, making the acquisition of target images more flexible and convenient, thereby improving the ease of observing the interior of the target device.

Description

Technical Field

[0001] This invention relates to the field of image acquisition technology, specifically to an image acquisition device, a sorting system, an image acquisition method, and a computer-readable storage medium. Background Technology

[0002] In industrial production, industrial equipment may experience wear and tear on its parts or malfunctions due to the processing of target objects, thus affecting its performance and production quality. However, when industrial equipment is large, has a large number of internal parts, and a complex layout, the limited internal space makes it difficult to quickly understand the specific internal situation. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, an exemplary embodiment of this disclosure provides an image acquisition device for acquiring images inside a target device, comprising: a flexible conduit for extending into the target device; a camera disposed inside the flexible conduit and located at the first end of the flexible conduit for acquiring a target image of a target location inside the target device; and a control mechanism connected to the flexible conduit for adjusting the posture of the flexible conduit so that the camera can face the target location and acquire a target image of the target location.

[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 inside the flexible conduit and communicating with the fluid outlet, for spraying fluid through the fluid outlet to clean the target location 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 a flexible conduit, with one end connected to the air outlet and the other end used to connect to an air supply device, for allowing gas to be ejected from the air outlet through the air outlet pipe.

[0006] In some embodiments, the vent pipe 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 a flexible conduit, with one end connected to the liquid outlet and the other end used to connect to a liquid supply device, for spraying liquid out from the liquid outlet through the liquid outlet pipe.

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

[0009] In some embodiments, the flexible conduit includes at least a deflection section for bending the flexible conduit to adjust its orientation so that the camera can face the 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 each knob, one end of each steel wire being connected to the corresponding knob and the other end being connected to the snake-bone mechanism, so as to control the bending of the snake-bone mechanism by rotating the knobs; or, the steering section includes a universal tube, and the control mechanism includes: a motor, the motor being disposed inside the universal tube and connected to the universal tube, for driving the universal tube to bend.

[0011] In some embodiments, the image acquisition device further includes a rigid sleeve disposed outside at least a portion of the flexible conduit, for supporting and guiding the flexible conduit into the target device.

[0012] Secondly, this disclosure also provides a sorting system, including: a sorting device; and an image acquisition device as described in any of the above embodiments, for acquiring images inside the sorting device.

[0013] In some embodiments, the sorting device includes a housing with one or more through holes; a flexible conduit of an image acquisition device extends into the housing through the through holes to acquire target images via a camera.

[0014] In some embodiments, the sorting system further includes a display, which is communicatively connected to a camera via a signal enhancement module, for receiving and displaying target images.

[0015] Thirdly, this disclosure also provides an image acquisition method, wherein the image acquisition device applied to any of the above embodiments includes: adjusting the posture of the flexible conduit through a control mechanism so that the camera faces the 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 within the flexible conduit and communicating with the fluid outlet; the method further includes spraying fluid through the fluid outlet to clean the target location and / or the outer side of the camera.

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

[0018] Fourthly, this disclosure also provides a computer-readable storage medium storing a program for performing the image acquisition method as described in any of the above embodiments.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0020] The technical solutions provided by the embodiments of this disclosure can include the following beneficial effects: The image acquisition device provided by this disclosure, through the coordinated work of a flexible conduit, a camera, and a control mechanism, can achieve flexible and convenient image acquisition of target locations inside a target device. By extending the flexible conduit into the target device, the camera can be brought closer to the target location to be observed, thereby acquiring more specific, clearer, and targeted target images. The control structure allows for convenient adjustment of the position and orientation of the flexible conduit, enabling the acquisition of target images from different positions and angles. This facilitates the acquisition of multiple positional image information from different components, meeting various image acquisition needs and improving the convenience and efficiency of observing the internal conditions of the target device. Attached Figure Description

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

[0022] Figure 1 This is a schematic diagram of a sorting device structure shown according to an exemplary embodiment disclosed in a publication;

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

[0024] Figure 3 This is a schematic diagram of another image acquisition device structure according to an exemplary embodiment disclosed in a book;

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

[0026] Figure 5 This is a schematic diagram of another image acquisition device structure according to an exemplary embodiment disclosed in a publication;

[0027] Figure 6 This is a schematic diagram of the structure of an image acquisition device according to another exemplary embodiment disclosed;

[0028] Figure 7 This is a schematic diagram of another image acquisition device structure shown according to another exemplary embodiment disclosed in another publication;

[0029] Figure 8 This is a schematic diagram of a flexible catheter structure according to an exemplary embodiment disclosed in a publication;

[0030] Figure 9 This is a schematic diagram of the structure of an image acquisition device according to another exemplary embodiment disclosed;

[0031] Figure 10 This is a schematic diagram of another flexible catheter structure according to an exemplary embodiment disclosed in a publication;

[0032] Figure 11 This is a schematic diagram of another image acquisition device structure shown according to another exemplary embodiment disclosed in another publication;

[0033] Figure 12 This is a schematic diagram of another image acquisition device structure shown according to another exemplary embodiment disclosed in another publication;

[0034] Figure 13 This is a schematic diagram of a sorting system architecture according to an exemplary embodiment disclosed in a book;

[0035] Figure 14 This is a schematic diagram of a material sorting device structure according to an exemplary embodiment disclosed in a book;

[0036] Figure 15 This is a schematic diagram of another sorting system architecture shown according to an exemplary embodiment of a published document;

[0037] Figure 16 This is a schematic diagram of yet another sorting system architecture illustrated in a published exemplary embodiment;

[0038] Figure 17 This is a flowchart illustrating an image acquisition method according to an exemplary embodiment disclosed in a publication;

[0039] Figure 18 This is a flowchart illustrating another image acquisition method according to an exemplary embodiment of a published document. Detailed Implementation

[0040] The following describes specific embodiments of the present invention. It should be noted that, in order to provide a concise description, this specification cannot exhaustively describe all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, just as in any engineering or design project, various specific decisions are often made to achieve the developer's specific goals and to meet system-related or business-related constraints, and this can change from one embodiment to another. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this invention, some design, manufacturing, or production modifications based on the technical content disclosed herein are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0041] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the patent application description and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the element or object preceding "comprising" or "including" encompasses the element or object listed following "comprising" or "including" and its equivalents, and do not exclude other elements or objects. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0042] In industrial production, industrial equipment suffers wear and tear on its parts as it processes target objects, affecting its performance and production quality. Because industrial equipment has a relatively large number of components, a complex layout, and limited internal space, close inspection of its internal structure often requires disassembly. However, when industrial equipment is large, disassembly is not only time-consuming but can also lead to lost parts or secondary damage to the equipment.

[0043] For example, taking industrial equipment as a material sorting device. The structure of the material sorting device 100 can be as follows: Figure 1 As shown, the material sorting equipment 100 includes a feeding mechanism 110, a conveying mechanism 120, a detection mechanism 130, and a sorting device 140. The feeding mechanism 110 feeds the material to be sorted into the conveying mechanism 120. The conveying mechanism 120 can be a conveyor belt or a chute, etc., used to transport the material to be sorted fed by the feeding mechanism 110. The detection mechanism 130 is used to detect the material conveyed on the conveying mechanism 120 to determine whether the material is to be rejected; the material to be rejected refers to the material that will be separated by the sorting equipment. The material to be rejected can be desired material or undesirable 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, food sorting, or waste sorting. Because the material sorting equipment 100 is relatively large and involves a large number of processing mechanisms, its internal structure is relatively complex and involves a large number of parts, making it very inconvenient to observe its internal structure.

[0044] In some related technologies, the internal situation of the target device is observed by setting an observation window on the outside of the device. However, the observation window has a limited range, and the glass window is easily shattered when the device is running. In other related technologies, the internal situation of the target device is observed by setting a camera inside the target device. However, the internal space of the target device is limited, making installation inconvenient and restricting the installation location of the camera. Furthermore, with a fixed installation location, the camera can only capture images corresponding to its installation location, thus limiting the observation range.

[0045] To address the aforementioned issues, an exemplary embodiment of this disclosure provides an image acquisition device that enables a camera to be inserted into a target device via a flexible conduit and acquire target images of the internal conditions of the target device. This makes the acquisition of target images more flexible and convenient, thereby improving the ease of observing the internal conditions of the target device.

[0046] like Figure 2 As shown, this disclosure provides an image acquisition device 200 for acquiring images inside a target device 300, which may include: a flexible conduit 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 that can change its posture as needed, allowing it to be inserted into the target device 300 and better adapt to the complex shapes and narrow spaces within the target device 300. In some optional examples, the material of the flexible conduit 210 can be, but is not limited to, metal, rubber, and plastic. If the flexible conduit 210 is made of metal, the metal type can be a soft metal or a shape-memory metal that can deform at room temperature; alternatively, the metal can be stainless steel, copper, aluminum, or other metals with good ductility and flexibility, capable of undergoing a certain degree of deformation at room temperature, while also possessing good strength and corrosion resistance, meeting the usage requirements of the flexible conduit 210.

[0048] Camera 220 can be disposed within the flexible conduit 210 and located at the first end of the flexible conduit 210, for acquiring target images of the target location inside the target device 300. Camera 220 can be fixedly disposed within the flexible conduit 210 and close to the first end. The end face of the first end of the flexible conduit 210 can be provided with a through hole, and the lens of camera 220 can be embedded in the through hole and sealed and fixedly connected to it. The end face of the first end of the flexible conduit 210 can also be provided with a sealed and transparent area, and the lens of camera 220 can be disposed in the transparent area to acquire images. In some examples, the outer surface of camera 220 can be flush with the outer surface of the first end, thereby facilitating control so that camera 220 can quickly and accurately reach the image acquisition position. In other examples, the height difference between the outer surface of camera 220 and the outer surface of the first end is less than or equal to a first height, thereby preventing the outer wall of the flexible conduit 210 from affecting the acquisition range of the image of the target location by camera 220 during image acquisition. The first height can be set according to actual needs, such as 1mm, 2mm, etc., and is not limited here. By placing the camera 220 at the first end of the flexible conduit 210, the camera 220 can move closer to the target location to be observed as the flexible conduit 210 moves within the target device 300. This allows the camera 220 to better capture the details and features of the target location when acquiring images, thereby obtaining a target image that is helpful for targeted observation of the target location.

[0049] In some examples, 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. Using a CMOS-based camera as the camera 220 of the image acquisition device 200 helps reduce the construction cost and power consumption of the image acquisition device 200. Using a CCD-based camera helps improve the quality of the acquired target image.

[0050] In other examples, the inner diameter of the flexible conduit 210 can be 10mm-20mm, allowing the flexible conduit 210 to move flexibly within the limited internal space of the target device 300 and better adapt to the narrow space inside the target device 300. In this case, the size of the camera 220 can be less than or equal to 10mm, which not only makes it easy to install inside the flexible conduit 210, but also allows the camera 220 to flexibly acquire target images relative to the target position, thereby making the obtained target images more targeted and accurate.

[0051] The control mechanism 230, which can be connected to the flexible conduit 210, is used to adjust the posture of the flexible conduit 210 so that the camera 220 can face the target location and acquire a target image of the target location. To ensure that the flexible conduit 210 can accurately insert the camera 220 into a suitable position inside the target device 300, the control mechanism 230 can specifically adjust the posture of the flexible conduit 210, allowing the camera 220 to reach a suitable acquisition position and adjusting the image acquisition angle and direction, thereby enabling the camera 220 to acquire targeted images of the target location. The posture adjustment includes, but is not limited to, bending, stretching, and rotating operations that can change the posture of the flexible conduit 210.

[0052] In some cases, it is necessary to observe images of different locations within a mechanism of the target device 300. The position and angle of the flexible guide tube 210 can be adjusted by the control mechanism 230 to approach different locations of the mechanism and acquire clear images from close range. For example, the target device 300 is a material sorting device, and its transmission mechanism can be a conveyor belt. During the operation of the material sorting device, it is necessary to acquire images of the conveyor belt surface, the conveyor belt transmission mechanism, and the power mechanism to determine if there are any abnormalities in the conveyor belt's operating status. The image of the conveyor belt surface needs to be acquired from above the conveyor belt, while the transmission mechanism and power mechanism need to be acquired from the side of the conveyor belt. The control mechanism 230 of the image acquisition device 200 of this embodiment can adjust the position and shooting angle of the flexible guide tube 210 to acquire target images from above and to the side of the conveyor belt, resulting in clearer images and improved accuracy of subsequent judgments.

[0053] The control mechanism 230 can adjust the posture of the flexible conduit 210 manually or automatically, and the specific control type can be determined according to the requirements. For example, if the control mechanism 230 is manually controlled, it can include control components such as knobs, joysticks, or handles that can be manually operated. Personnel can then manually adjust the bending degree and direction of the flexible conduit 210 by operating these control components to ensure that the camera 220 can be stably aligned with 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, the control mechanism 230 can automatically adjust the bending degree and direction of the flexible conduit 210 without human interference, ensuring that the camera 220 can stably align with the target position, thereby helping to improve the intelligence of the image acquisition device 200.

[0055] The image acquisition device 200 provided in this disclosure, through the coordinated operation of the flexible conduit 210, camera 220, and control mechanism 230, enables flexible and convenient image acquisition of target locations inside the target device 300. By extending the flexible conduit 210 into the target device 300, the camera 220 can be brought closer to the target location to be observed, thereby acquiring more specific, clearer, and targeted target images. The control structure 230 allows for convenient adjustment of the position and orientation of the flexible conduit 210, enabling the acquisition of target images from different positions and angles. This facilitates the acquisition of multiple positional image information from different components, meeting various image acquisition needs and improving the convenience and efficiency of observing the internal conditions of the target device 300.

[0056] In some operating conditions, such as when the target equipment 300 is a mineral sorting machine, there is a large amount of dust inside the equipment. Long-distance photography is severely affected by the dust, making it difficult to observe specific internal details from the outside or to obtain clear image information from a distance. The image acquisition device 200 provided in this disclosure can capture images of the target location at close range, thereby reducing or avoiding the impact of internal dust on the image capture. This results in clearer images, facilitating subsequent use and identification, and improving the accuracy and reliability of subsequent judgment or control.

[0057] In some embodiments, such as Figure 3As shown, the first end of the flexible conduit 210 may have a fluid outlet 211; the image acquisition device may further include a cleaning mechanism 240, disposed within the flexible conduit 210 and connected to the fluid outlet 211, for spraying fluid through the fluid outlet 211 to clean the target location and / or the outer surface of the camera 220. The cleaning mechanism 240 can refer to a mechanism for cleaning an object. The object to be cleaned may be a target location inside the target device 300, such as some components inside the target device 300 that need to be observed; it may also be the outer surface 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 guiding device, such as a conduit, a nozzle, etc. The fluid used for cleaning may be gas or liquid, or cleaning may be performed using both gas and liquid. The liquid may be water or a cleaning solution, which can be determined according to requirements and is not limited here. By placing the cleaning mechanism 240 within the flexible conduit 210, the overall space of the image acquisition device 200 can be saved. Furthermore, the cleaning mechanism 240 can move along with the flexible conduit 210 and the camera 220 within the target device 300, allowing for rapid location determination of the object to be cleaned when cleaning is required. Moreover, by connecting the cleaning mechanism 240 to the fluid outlet 211, targeted cleaning of the object to be cleaned can be performed as needed while moving along with the flexible conduit 210, ensuring timely and accurate cleaning and further guaranteeing the quality of the captured target images.

[0058] In some examples, the number of cleaning mechanisms 240 may be at least one. When there is only one cleaning mechanism 240 and only one type of fluid needs to be sprayed, the cleaning mechanism 240 can spray fluid through its connected fluid outlet 211. When there is only one cleaning mechanism 240 and multiple types of fluid need to be sprayed, fluid can be sprayed from the cleaning mechanism 240 through its connected fluid outlet 211 in an alternating or combined spraying manner. When there are multiple cleaning mechanisms 240 corresponding to different types of fluid to be sprayed, the cleaning mechanism 240 can spray the corresponding fluid type through its connected fluid outlet 211.

[0059] In some operating conditions, taking the cleaning mechanism 240 as an example, when there is only one conduit and only one fluid type, the conduit can eject fluid through its connected fluid outlet 211. In other operating conditions, when there is only one conduit and multiple fluid types, the conduit can eject multiple fluid types through its connected fluid outlet 211 in an alternating or combined manner. In still other operating conditions, when there are multiple conduits corresponding to multiple fluid types, taking multiple fluids as gas and liquid as examples, the conduits can be divided into gas outlet pipes and liquid outlet pipes according to the corresponding ejected fluid type. Thus, the gas outlet pipe can eject gas through its connected fluid outlet 211, and the liquid outlet pipe can eject liquid through its connected fluid outlet 211.

[0060] In some alternative examples, the data transmission cable connected to the camera 220 can be housed within a flexible conduit 210 and fixed inside. This allows for better organization and wiring, making the lines neater and more orderly, improving the aesthetics of the image acquisition device. It also helps reduce potential malfunctions and maintenance problems caused by messy wiring, effectively preventing damage to the data transmission cable from the external environment, extending its lifespan, and thus improving the reliability of the camera 220. The data transmission cable is used at least to transmit image acquisition data from the camera 220. For example, this data transmission cable can be a MIPI (Mobile Industry Processor Interface, a high-speed serial data line standard for mobile devices) cable or an HDMI (High-Definition Multimedia Interface) cable, depending on the interface requirements of the camera 220.

[0061] In some operating conditions, to ensure the performance and quality of the camera 220, the camera 220 and the data transmission line connected to it can be enclosed in a flexible conduit 210, and the camera 220 can be isolated from the cleaning mechanism 240 by an insulation layer. This prevents the cleaning mechanism 240 from damaging or interfering with the circuitry and performance of the camera 220 during the process of spraying fluid, thereby ensuring the clarity and accuracy of the camera 220's images.

[0062] In some embodiments, such as Figure 4As shown, the fluid outlet 211 may include an air outlet 2111; the cleaning mechanism 240 may include an air outlet pipe 241, fixed to the inner wall of the flexible conduit 210, with one end connected to the air outlet 2111 and the other end connected to the air supply device 400, for allowing gas to be 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, thereby effectively preventing the air outlet pipe 241 from detaching from the flexible conduit 210 during its movement along with the flexible conduit 210. The air supply device 400 may be a device for providing gas, such as an air pump, fan, air compressor, etc. By connecting the air outlet 2111 to the air supply device 400 through the air outlet pipe 241, the gas supplied by the air supply device 400 can be transported to the air outlet 2111 via the air outlet pipe 241 and ejected from there. This allows for cleaning by gas jetting, maintaining the cleanliness of the target device 300. For example, when the object to be cleaned contains dust, debris, or other contaminants, gas jetting can blow away the dust, debris, or other contaminants from the surface of the object, keeping it clean and thus ensuring the quality of the captured image.

[0063] In some alternative examples, the cleaning target is a target location inside the target device 300. To enable the camera 220 to capture a target image of the target location, 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 location. Since both the air outlet 2111 and the camera 220 are located at the first end of the flexible conduit 210, when cleaning of the target location is required, the gas provided by the air supply device 400 can flow into the air outlet 2111 through the air outlet pipe 241 and be sprayed onto the target location from the air outlet 2111 to blow away dust, debris, or other contaminants on the target location, ensuring the cleanliness of the target location.

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

[0065] In some other embodiments, such as 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, with one end connected to the liquid outlet 2112 and the other end connected to the liquid supply device 500, for allowing liquid to be 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, thereby effectively preventing the liquid outlet pipe 242 from detaching from the flexible conduit 210 during its movement along with the flexible conduit 210. The liquid supply device 500 may be a device for supplying liquid, such as a water pump, water tank, or liquid supply container. The outlet 2112 is connected to the liquid supply device 500 via the outlet pipe 242, allowing the liquid supplied by the liquid supply device 500 to be transported to the outlet 2112 via the outlet pipe 242 and sprayed out from there. This liquid cleaning method can achieve the cleaning purpose and keep the target device 300 clean. In some examples, the hydraulic operating mode of the liquid supply device 500 can be adjusted to control the hydraulic pressure and flow rate of the liquid from the outlet pipe 242 to the outlet 2112 and from the outlet 2112 to meet the required cleaning effect. For example, when cleaning a target location is required, the hydraulic pressure and flow rate of the liquid can be increased to control the liquid spraying out of the outlet 2112, thereby washing away contaminants at the target location. When cleaning the outer surface of the camera 220 is required, the hydraulic pressure and flow rate of the liquid can be reduced to control the liquid flowing out of the outlet 2112, thereby washing away contaminants on the outer surface 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 from the outlet 2112 can be precisely sprayed onto the object to be cleaned, thereby achieving the desired cleaning effect.

[0067] In some other embodiments, such as 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. Thus, the image acquisition device 200 can clean the target location or the outer surface of the camera 220 by using gas, or by using liquid, or by using a combination of gas and liquid to clean the target location or the outer surface of the camera 220, thereby achieving the required cleaning effect. This makes 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, such as Figure 7 As shown, the first end of the flexible conduit 210 may have 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 correspondingly arranged with respect 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 in correspondence with the light outlet 212, it is possible to effectively prevent the light-emitting device 250 from shifting or falling off during the movement of the flexible conduit 210 inside the target device 300. This allows the light to be emitted more concentratedly from the light outlet 212, improving the illumination effect inside the target device 300. As a result, the camera 220 can acquire target images in an environment with a light source, which helps to improve the effectiveness and reliability of the target images. This also improves the processing efficiency when the target images are subsequently identified and analyzed.

[0069] In some operating conditions, inside the flexible conduit 210, the light-emitting device 250 can be adjacent to the camera 220 so that the light emitted by the light-emitting device 250 can directly illuminate the field of view of the camera 220, providing sufficient illumination for the camera 220. Furthermore, by setting them up adjacent to each other, the scattering and reflection of light can be reduced, avoiding shadows or reflection interference, thereby enabling the camera 220 to capture clearer and brighter target images, which helps to enhance the performance and practicality of the image acquisition device 200.

[0070] In other operating 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 the insulating layer. This can effectively prevent dust, liquid and other contaminants from damaging the light-emitting device 250 and the camera 220, and can also effectively prevent current leakage and electrical interference, ensuring the normal operation of the light-emitting device 250 and the camera 220.

[0071] In some embodiments, such as Figure 8As shown, the flexible conduit 210 may include at least a deflection section 213 for bending the flexible conduit 210 to adjust its orientation so that the camera 220 can face the target location. The deflection section 213 refers to the portion or all of the flexible conduit 210 whose first end orientation can be changed. During image acquisition, the orientation of the deflection section 213 can be adjusted by the control mechanism 230 to change the orientation of the first end of the flexible conduit 210 so that the camera 220 located at the first end can face the target location, thus meeting the image acquisition requirements.

[0072] When the flexible catheter 210 includes a single-turning section 213, the posture of the flexible catheter 210 can be adjusted by adjusting the posture of the turning section 213 through the control mechanism 230. Adjusting the posture of the flexible catheter 210 can reduce the difficulty of adjustment and make the adjustment process more convenient and faster.

[0073] When the flexible conduit 210 includes multiple turning sections 213, the segmented arrangement of the turning sections 213 allows the flexible conduit 210 to adapt more flexibly to different layouts and space requirements, thereby helping to bypass the influence of "obstacles" inside the target device 300 on image acquisition. Furthermore, configuring the turning sections 213 within the flexible conduit 210 facilitates individual installation and disassembly, reducing the complexity of overall installation and improving maintenance efficiency.

[0074] In some embodiments, the steering section 213 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 each knob, one end of each steel wire 232 being connected to a corresponding knob 231 and the other end being connected to the snake-bone mechanism 213, so as to control the bending of the snake-bone mechanism 213 by rotating the knobs 231. Figure 9 As shown, the knob 231 and the snake-bone mechanism 213 are connected by corresponding steel wires 232. The snake-bone mechanism is a mechanical structure composed of a series of interconnected segments, similar to the skeleton of a snake, allowing for complex movements within confined spaces. By controlling the rotation direction of the knob 231, the tension at its corresponding connection point to the snake-bone mechanism 213 can be changed. Combined with the tension at other connection points of the snake-bone mechanism 213, the posture of the snake-bone mechanism 213 can be adjusted, changing the orientation and angle of the flexible guide tube 210. That is, during the rotation of the knob 231, the force on the steel wire 232 connected to the snake-bone mechanism 213 changes, thus altering the tension at the connection point between the snake-bone mechanism and the steel wire 232, causing the snake-bone mechanism 213 to deform and change its posture. It should be noted that... Figure 9This is only used to illustrate the connection between a single knob 231 and the snake-bone 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 joint, and the control mechanism 230 may include a motor 233, which is disposed within and connected to the universal joint 213 for driving the universal joint 213 to bend. Figure 10 As shown, a universal joint is a tubular structure with multiple degrees of freedom, capable of flexible bending and rotation in different directions. By placing a motor 233 inside the universal joint 213 and connecting it to the universal joint 213, the rotational motion of the motor 233 can cause deformation of the joints or connecting parts of the universal joint 213 during the movement of the flexible conduit 210, thereby achieving the purpose of adjusting the posture of the flexible conduit 210. For example, the motor 233 can convert the rotational motion into linear motion or angular change through mechanical transmission devices (such as gears, racks, lead screws, etc.), causing the universal joint 213 to bend. This makes the posture adjustment process of the flexible conduit 210 more convenient and intelligent, helps to improve the efficiency of target image acquisition, and enhances the performance of the image acquisition device 200.

[0076] In some embodiments, such as Figure 11 As shown, the image acquisition device 200 may further include a rigid sleeve 260 disposed outside at least a portion of the flexible conduit 210, for supporting and guiding the flexible conduit 210 into the target device 300. The rigid sleeve 260 is a high-strength sleeve that is not easily altered in posture. The inner diameter of the rigid sleeve is greater than or equal to the outer diameter of the flexible sleeve 210, so that when the rigid sleeve 260 is needed to support and guide the flexible conduit 210 into the target device 300, the flexible conduit 210 can pass through from one end of the rigid sleeve 260 to the other. Due to the inherent flexibility of the flexible conduit 210, it may bend or deform without external support, causing the target position corresponding to the camera 220 to shift, affecting the target image quality. Therefore, by placing the rigid sleeve 260 on the outside of at least a portion of the flexible conduit 210, additional support can be provided to that portion of the conduit, allowing the flexible conduit 210 to maintain a certain shape and rigidity. This makes it easier to insert into the target device 300, reduces friction and collision between the flexible conduit 210 and the outside, and helps extend the service life of the flexible conduit 210. Furthermore, by placing the rigid sleeve 260 on the outside of at least a portion of the flexible conduit 210, the bending and swing range of that portion 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 rigid sleeve 260 can be a telescopic sleeve, thereby controlling the telescopic length of the rigid sleeve 260 as needed to meet different usage requirements.

[0078] In some optional implementation scenarios, such as Figure 12 As shown, the image acquisition device 200 may include a flexible conduit 210, a camera 220, a control mechanism 230, a cleaning mechanism 240, a light-emitting device 250, and a rigid sleeve 260. The camera 220 is disposed within the flexible conduit 210 and located at its first end. The turning section 213 of the flexible conduit 210 may include a serpentine mechanism. The control mechanism 230 may include multiple knobs 231 and multiple steel wires 232 corresponding to each knob. One end of each steel wire 232 is connected to a corresponding knob 231, and the other end is connected to the serpentine mechanism 213, so that the serpentine mechanism 213 can be bent by rotating the knobs 231. The first end of the flexible conduit 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 shown in the figure; only 230 is used to represent the control mechanism; the specific connection relationship is shown in the figure). Figure 9 The first end of the flexible conduit 210 may also have a light outlet 212. The light-emitting device 250 can be fixed to the inner wall of the flexible conduit 210 and is arranged corresponding to the light outlet 212.

[0079] The image acquisition device 200 acquires images of the interior of the target device 300. A flexible conduit 210 extends into the target device 300, allowing the camera 220 to get closer to the target location inside the device 300 for targeted image acquisition. Adjusting the tension at one end of the connected steel wire 232 via the knob 232 changes the tension at the connection point between the other end of the steel wire 232 and the snake-bone mechanism 213. This, combined with the tension at the connection points between the snake-bone mechanism 213 and other steel wires 232, improves the position and orientation of the flexible conduit 210, enabling the acquisition of target images from different positions and angles. This facilitates the acquisition of multiple positional image information from different components, meeting various image acquisition needs. Furthermore, the rigid conduit 260 supports and guides the flexible conduit 210, improving the accuracy and reliability of its insertion. This ensures more accurate target positioning for the camera 220 during image acquisition, contributing to the quality and reliability of the target images. Furthermore, the light-emitting device 250 ensures sufficient light source for image acquisition when the camera 220 moves inside the target device 300, thereby improving the clarity and quality of the acquired target image. The air outlet 241 and liquid outlet 242 allow for cleaning of the target location and the outer surface of the camera 210 using gas or liquid during the insertion of the flexible conduit 210 into the target device 300. This not only ensures the clarity of the acquired target image but also enhances the practicality of the image acquisition device 200.

[0080] The image acquisition device 200 provided in this disclosure makes the image acquisition process inside the target device 300 more flexible and adaptable, ensures the quality of image acquisition, and has cleaning and lighting functions. It is low in cost and occupies little space, and can better complete the inspection and maintenance work inside the target device 300.

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

[0082] Material sorting equipment 610 is equipment used for sorting materials. For example, material sorting equipment 610 can be equipment used to perform 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 can be any of the image acquisition devices provided in any of the foregoing embodiments of this disclosure; its specific structure will not be described in detail here.

[0084] The sorting system 600 provided in this disclosure extends the flexible conduit 210 of the image acquisition device 200 into the material sorting equipment 610, and uses the camera 220 on the flexible conduit 210 to observe the target position. This allows for flexible and rapid acquisition of target images at the target positions inside the material sorting equipment 610, making the process of observing the internal conditions of the equipment more convenient. It also facilitates targeted maintenance of the material sorting equipment 610 based on the obtained target images, thus helping to extend the service life of the material sorting equipment 610.

[0085] In some embodiments, such as Figure 14 As shown, the material sorting device 610 may include: a housing 611 with one or more through holes 6111; the flexible conduit 210 of the image acquisition device 200 can extend into the housing 611 through the through holes 6111 to acquire target images via the camera 220. The through holes 6111 on the housing 611 of the material sorting device 610 clearly define the entry point for the flexible conduit 210 to be inserted into the material sorting device 610 for observation. Therefore, when the image acquisition device 200 needs to observe the interior of the material sorting device 610, the flexible conduit 210 can be inserted into the material sorting device 610 through one or more through holes 6111 on the housing 611 and brought close to the target location for observation, thereby obtaining the desired target image and ensuring the quality of the target image.

[0086] The number and location of the through holes 6111 on the outer shell 611 can be determined based on actual observation needs to ensure the effectiveness of image acquisition and ease of operation. In some examples, the through holes 6111 correspond to target locations, allowing the flexible conduit 210 to extend into different target locations inside the material sorting device 610 through different through holes 6111, thereby meeting various image acquisition requirements.

[0087] In some embodiments, such as Figure 15As shown, the sorting system 600 may further include a display 620, which can be communicatively connected to the camera 220 via a signal enhancement module for receiving and displaying target images. The display 620 allows for a more intuitive display of the target images captured by the camera 220, enabling relevant personnel to quickly understand the actual image content. This allows for timely adjustments to the flexible conduit 210's orientation when the camera 220's shooting position and / or angle need to be adjusted, ensuring the accuracy and effectiveness of target image acquisition. Since the material sorting device 610 and the image acquisition device 200 are two independent devices, the flexible conduit 210 must meet certain length requirements to ensure the image acquisition needs of the camera 220 within the material sorting device 610. Therefore, connecting the camera 220 to the display 620 via a signal enhancement module enhances the data transmission signal strength between them, effectively reducing signal loss during transmission and ensuring the quality and reliability of the target image.

[0088] In other embodiments, the length of the flexible conduit 210 can be between [3.5m, 5m], thereby increasing the operating range and enabling better adjustment of the position and angle of the image acquisition device to obtain more accurate and comprehensive target images, meeting the needs of different scenarios.

[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. Thus, by displaying the target image through the display 620, details can be better captured and restored, making the target image clearer and displaying the content of the image more accurately. This makes it easier for relevant personnel to perform targeted processing on the target location based on the obtained target image.

[0090] In some implementation scenarios, such as Figure 16 As shown, the sorting system architecture that uses an image acquisition system for image acquisition may further include: a material sorting device 600, an image acquisition device 200, an image processing board 700, and a host computer 800. The display 620 is deployed within the host computer 800.

[0091] The flexible conduit 210 is inserted into the material sorting device 600. 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, thus obtaining a target image. To facilitate a direct and quick understanding of the target image's content, the image data acquired by the camera 220 is transmitted to the image processing board 700 via the MIPI data cable connected to the camera 220 for processing. The processing result is then uploaded to the host computer 800 for display on the monitor 620. The host computer 800 can control the camera 220 to perform any of the following functions via the image processing board 700: setting image contrast and brightness, taking a picture, and storing the image.

[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, this invention provides an image acquisition method applicable to any of the image acquisition devices 200 described in the above embodiments, such as... Figure 17 As shown, the image acquisition method includes the following steps:

[0094] Step S1701: Adjust the posture of the flexible conduit through the control mechanism so that the camera faces the target position.

[0095] The target location can be understood as the location where image acquisition is to be performed. This target location can be any location within the target device where internal structural observation is to be conducted, or any other location requiring observation. To improve the image acquisition quality of the camera, the posture of the flexible conduit is adjusted by a control mechanism, changing the degree of bending and / or rotation direction of the flexible conduit, so that the first end of the flexible conduit is oriented towards the target location. This causes the orientation of the camera located at the first end to correspond to the target location, thereby ensuring that the required image information can be acquired.

[0096] In some examples, the orientation of the flexible conduit can be determined manually or automatically by a control mechanism. For instance, personnel can manually adjust the bending degree and / or rotation direction of the flexible conduit through the control mechanism to orient the camera toward the target location, thus meeting image acquisition requirements. As another example, the control mechanism can determine the vector distance between itself and the target location based on the current position of the flexible conduit, and then adjust the orientation of the flexible conduit accordingly, thereby orienting the camera toward the target location. Furthermore, remote control of the flexible conduit can prevent operators from directly contacting hazardous areas or performing difficult operations, thereby improving work safety and efficiency. The current position of the flexible conduit can be determined by the control mechanism based on real-time cached image acquisition data from the camera or other feedback mechanisms.

[0097] Step S1702: Acquire target image of target location using camera.

[0098] The image acquisition method provided by this invention adjusts the posture of the flexible conduit through a control mechanism so that the camera faces the target position. This makes the image acquisition method more flexible, and the target image of the target position acquired by the camera can ensure the accuracy of the target image acquisition and enhance the adaptability of the image acquisition device. As a result, when the target position is analyzed and processed based on the obtained target image, the reliability of the results can be guaranteed.

[0099] In some embodiments, step S1701 includes:

[0100] Step a1: Obtain the current image using the camera;

[0101] Step a2: Based on the current image and target position, adjust the posture of the flexible duct through the control mechanism.

[0102] Specifically, to determine whether the current image captured by the camera is the target location, the current image is acquired. By identifying and analyzing the current image, the difference between the current location and the target location is determined. This clarifies the adjustment direction of the flexible guide tube's posture via the control mechanism, enabling targeted control to align the camera's orientation with the target location, thus 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. Then, based on the current image and the target position, the attitude of the flexible conduit can be adjusted by a control mechanism. The current image features are extracted and matched against a pre-set image feature library to obtain a matching result. The image feature library includes multiple candidate image features, and each candidate feature corresponds one-to-one with the position to be observed. If the matching result indicates that a target image feature among the multiple candidate image features matches the current image feature, then 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 attitude of the flexible conduit can be maintained by the control mechanism so that 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 of the flexible conduit are adjusted based on the vector distance between the position to be observed and the target position to make the camera face the target position.

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

[0105] In other examples, path planning can be performed in advance based on the target location and the initial position of the flexible conduit to determine the moving route and preset pose during the movement. By analyzing the recognition results of the current image, the current pose of the flexible conduit and the predicted pose for the next position can be determined. Then, during the movement of the flexible conduit, the current pose is adjusted by a control mechanism according to the next pose until the flexible conduit reaches the target location. At this point, the target pose of the flexible conduit at the target location is the pose that allows the camera to face the target location.

[0106] It should be noted that the above pose adjustment process is for illustrative purposes only, 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 includes a cleaning mechanism disposed within the flexible conduit and communicating with the fluid outlet. Figure 18 As shown, the image acquisition method includes the following steps:

[0108] Step S1801: Adjust the posture of the flexible conduit through the control mechanism so that the camera faces the target position.

[0109] Step S1802: Acquire target image of target location using camera.

[0110] Step S1803: Fluid is ejected through the fluid outlet to clean the target location and / or the outer side of the camera.

[0111] A cleaning mechanism can also be installed inside the flexible conduit, which is connected to the fluid outlet at the first end of the flexible conduit. During the image acquisition process, the flow of fluid in the cleaning mechanism can be controlled to perform targeted cleaning on the target location and / or the outer surface of the camera, so as to ensure that the target location and / or the outer surface of the camera are in a clean state when the camera acquires the target image, thereby helping to ensure the clarity and reliability of the target image.

[0112] In some examples, when the camera is oriented relative to the target location, fluid is controlled to spray from the fluid outlet while cleaning the target location and the outer surface of the camera to remove as much dust, debris, or other contaminants as possible from the target location and the exterior of the camera, thereby improving the quality of the target image acquisition.

[0113] In other examples, based on the displayed results of the target image, fluid can be ejected from the fluid outlet through a connection between the cleaning mechanism and the fluid outlet. This not only ensures the quality of the target image capture but also avoids unnecessary fluid consumption, saving resources. For instance, if the displayed results of the target image indicate that the current image capture quality is acceptable, but the detailed features of the target location are obscured by other contaminants, fluid can be ejected from the fluid outlet to clean the target location, eliminating interference. This allows for a clearer image of the target location when the camera captures it again, improving image quality and accuracy, and facilitating precise observation and analysis of the target location. As another example, if the displayed results of the target image indicate that the current image capture quality is poor, fluid can be ejected from the fluid outlet to clean the outer surface of the camera, eliminating interference on the camera. This improves the image quality when the camera captures the target location again. If a clear image of the target location is still not obtained after removing the interference from the outer side of the camera and taking another shot, it indicates that there is also interference at the target location. In this case, fluid is sprayed out through the fluid outlet to clean the target location and eliminate the interference, thereby minimizing interference in the current shooting environment and improving the acquisition quality and clarity of the target image.

[0114] According to the image acquisition method provided in this disclosure, the object to be cleaned is sprayed with fluid through the fluid outlet, which can ensure that the interference of 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 quality of target image acquisition.

[0115] This application uses specific terms to describe embodiments of the application. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0116] In the context of this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0117] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0118] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the embodiments of this application.

Claims

1. A sorting system, comprising: a material sorting device for ore sorting, comprising: a housing, provided with one or more through holes; an image acquisition device for acquiring images inside the material sorting device; wherein the image acquisition device comprises: a flexible conduit extending into the housing from the through hole for extending into the material sorting device, a fluid outlet being provided at a first end of the flexible conduit; a camera provided in the flexible conduit and located at the first end of the flexible conduit for acquiring target images of a target position inside the material sorting device; a control mechanism connected with the flexible conduit for adjusting a posture of the flexible conduit so that the camera can face the target position and acquire target images of the target position; a cleaning mechanism provided in the flexible conduit and in communication with the fluid outlet for spraying fluid through the fluid outlet to clean the target position, comprising: a combination of gas and liquid for cleaning the target position, wherein the fluid outlet comprises: a gas outlet and a liquid outlet; the cleaning mechanism comprises: a gas outlet pipe and a liquid outlet pipe, the gas outlet pipe is fixed to the inner wall of the flexible conduit, one end of the gas outlet pipe is in communication with the gas outlet, the other end of the gas outlet pipe is used for connecting a gas supply device for spraying gas from the gas outlet through the gas outlet pipe to blow away dust, debris or other contaminants on the surface of the target position, wherein the gas outlet pipe is adjacent to the lens of the camera, the liquid outlet pipe is fixed to the inner wall of the flexible conduit, one end of the liquid outlet pipe is in communication with the liquid outlet, the other end of the liquid outlet pipe is used for connecting a liquid supply device for spraying liquid from the liquid outlet through the liquid outlet pipe, wherein the liquid supply device controls the hydraulic pressure and flow rate of the liquid transmitted from the liquid outlet pipe to the liquid outlet and sprayed from the liquid outlet based on the adjusted hydraulic working mode to meet the required cleaning effect; and a rigid sleeve provided outside at least part of the conduit of the flexible conduit for supporting and guiding the flexible conduit to extend into the material sorting device, wherein the rigid sleeve is an extendable sleeve. 2.A sorting system according to claim 1, wherein: the first end of the flexible conduit is provided with a light outlet; the image acquisition device further comprises: a light emitting device fixed to the inner wall of the flexible conduit and provided corresponding to the light outlet for emitting light from the light outlet.

3. The sorting system of claim 1, wherein, the flexible conduit comprises at least one turning section for bending the flexible conduit to adjust the posture of the flexible conduit so that the camera can face the target position.

4. The sorting system of claim 3, wherein, the turning section comprises a snake mechanism, and the control mechanism comprises: a plurality of knobs and a plurality of steel wires corresponding to the knobs, one end of each of the steel wires is connected with a corresponding knob, and the other end of each of the steel wires is connected with the snake mechanism to control the bending of the snake mechanism by rotating the knobs; or the turning section comprises a universal pipe, and the control mechanism comprises: a motor provided in the universal pipe and connected with the universal pipe for driving the universal pipe to bend.

5. The sorting system of claim 1, wherein, the sorting system further comprises: A display is in signal-enhancing module communication connection with the camera, for receiving and displaying the target image.

6. An image acquisition method, wherein, The method is applied to the sorting system as claimed in any one of claims 1-5, and the method comprises: Adjusting the posture of the flexible conduit by the control mechanism, so that the camera is directed towards the target position; Collecting a target image of the target position by the camera.

7. The method of claim 6, wherein, The first end of the flexible conduit is provided with a fluid outlet; The image collection device further comprises a cleaning mechanism arranged in the flexible conduit and in communication with the fluid outlet. The method further comprises: Spraying fluid through the fluid outlet to clean the target position and / or the outer surface of the camera.

8. The method of claim 7, wherein, The adjusting of the posture of the flexible conduit by the control mechanism comprises: Obtaining a current image by the camera; Adjusting the posture of the flexible conduit by the control mechanism based on the current image and the target position. 9.A computer readable storage medium storing a program for executing the image collection method as claimed in any one of claims 6-8.

Images