Image acquisition device and sorting equipment

Abstract

The utility model relates to an image acquisition device and sorting equipment, and relates to the field of sorting equipment. The utility model provides an image acquisition device which comprises a conveying assembly, a driving assembly and at least one acquisition structure. The driving assembly is arranged in the conveying direction of the conveying assembly and makes contact with the bearing assembly, and the transmission speed of the driving assembly is different from that of the conveying assembly so that the photographed object can rotate; the at least one collection structure is arranged at the input end and / or the output end of the conveying assembly in the conveying direction and used for collecting bottom image information of the shot object after rotation. By arranging the bearing assembly, the conveying assembly and the driving assembly, the posture of the shot object is adjusted so that the bottom of the shot object can be exposed, damage to the shot object is reduced, and meanwhile more surface information of the shot object can be obtained; by arranging at least one acquisition structure, all information of the surface of the shot object can be obtained more comprehensively, and the intelligent sorting precision in the field of fruit sorting is improved.

Description

Technical Field

[0001] The utility model relates to the field of sorting equipment, in particular to an image acquisition device and sorting equipment. Background Art

[0002] With the development of economy and the advancement of science and technology, people's quality of life has gradually improved. In the traditional crop grading process, field workers can only rely on visual inspection of the color and shape of crops to evaluate their quality. However, in order to liberate labor, mechanical sorting of fruits and vegetables was further born.

[0003] Currently, the sorting equipment on the market only has a single horizontal single or multiple cameras for image acquisition, and the camera only presents a multi-angle camera layout shooting on the x-axis, and is used to capture the surface information of the object being photographed.

[0004] The inventors have found that for some fruits and vegetables that need to be photographed from multiple angles, if the camera is only set on the X-axis for multi-angle photography, there is a blind spot in the bottom information of the fruits and vegetables. Therefore, the existing solution has defects in the ability to collect fruit surface information and cannot obtain all the information on the fruit surface, thereby reducing the accuracy of intelligent fruit sorting. Utility Model Content

[0005] The utility model aims to provide an image acquisition device and a sorting device, which can reduce the damage of the photographed object and obtain more surface information of the photographed object at the same time.

[0006] The embodiment of the utility model is achieved as follows:

[0007] In the first aspect, the utility model proposes an image acquisition device, including a conveying component, a driving component, and at least one acquisition structure; a plurality of carrying components are rotatably connected to the conveying component, the conveying component is used to convey the plurality of carrying components, and the plurality of carrying components are used to carry the object; the driving component is arranged along the conveying direction of the conveying component and contacts with the carrying component, the transmission speed of the driving component is different from the transmission speed of the conveying component, so that the object is rotated; the at least one acquisition structure is arranged at the input end and / or output end of the conveying direction of the conveying component and is used to acquire the bottom image information of the object after rotation.

[0008] Optionally, the image acquisition device further comprises an angle adjustment bracket, and the at least one image acquisition device is rotatably connected to the angle adjustment bracket.

[0009] The angle of the acquisition structure is adjustable, so that the final angle can lock the object being photographed and collect the bottom information of the object being photographed.

[0010] Optionally, the at least one acquisition structure comprises a first acquisition structure and a second acquisition structure;

[0011] The first acquisition structure is arranged at the input end and / or the output end of the conveying direction of the conveying assembly and is used to acquire the bottom image information of the object after rotation;

[0012] The second acquisition structure is arranged opposite to the driving component and is used to acquire top image information of the object being photographed.

[0013] Optionally, the at least one acquisition structure further comprises a third acquisition structure;

[0014] The third acquisition structure is arranged on both sides of the second acquisition structure, and the third acquisition structure is used to acquire side image information of the object to be photographed.

[0015] Among them, the first acquisition structure, the second acquisition structure and the third acquisition structure are set up so that it can more comprehensively obtain all the information on the surface of the photographed object, thereby improving the intelligent sorting accuracy in the field of fruit sorting.

[0016] Optionally, the conveying assembly includes a bracket, and the plurality of bearing assemblies include a fruit cup wheel;

[0017] At least one limiting member is disposed at both ends of the bracket, and the fruit cup wheel is rotatably connected to the at least one limiting member.

[0018] The fruit cup wheel is rotatably connected to the bracket of the conveying assembly through a limiting member, so that the fruit cup wheel contacts the first driving belt sleeve of the driving assembly and can rotate.

[0019] Optionally, a friction surface is provided on the fruit cup wheel, and the friction surface is used to contact the driving assembly.

[0020] The friction surface can contact and fit with the first drive belt sleeve of the drive assembly.

[0021] Optionally, the driving assembly includes a motor and a first driving belt sleeve, a first driving wheel and at least two first driven wheels symmetrically arranged on both sides of the conveying assembly;

[0022] The output end of the motor is connected to the first driving wheel through a transmission shaft, and the midpoints of the at least two first driven wheels are located in the same horizontal plane and are spaced apart;

[0023] The first driving belt is sleeved on the first driving wheel and the at least two first driven wheels;

[0024] The first driving belt sleeve is in contact with the bearing assembly, and a transmission speed of the first driving belt sleeve is different from a transmission speed of the conveying assembly.

[0025] Among them, by setting up a driving component, a 360° rotation of the object to be photographed is achieved, providing all-round observation conditions for the visual sorting process of the object to be photographed.

[0026] Optionally, the image acquisition device further comprises a light source, and the light source is arranged at least at an input end and an output end of the conveying direction of the conveying component.

[0027] Among them, the light source illuminates the object to be photographed to ensure the image acquisition accuracy of the acquisition structure.

[0028] Optionally, the image acquisition device further includes a reflective structure;

[0029] The reflective structure is arranged on the upper side of the light source and is provided with a collecting opening opposite to the at least one collecting structure.

[0030] Among them, the reflective structure is used to change the trajectory of the light emitted by the light source, preventing the light emitted by the light source from directly irradiating the surface of fruits and vegetables, thereby avoiding the formation of high-brightness light spots on the surface of fruits and vegetables.

[0031] In a second aspect, the utility model further proposes a sorting device, comprising at least one image acquisition device as described in any one of the above items.

[0032] The beneficial effects of the embodiments of the utility model are:

[0033] The image acquisition device is provided with a bearing component, a conveying component and a driving component, so that the bearing component drives the object to be photographed to rotate in a horizontal plane when rotating, and then adjusts the posture of the object to be photographed so that its bottom is exposed, thereby reducing damage to the object and obtaining more surface information of the object; by providing at least one acquisition structure, all information on the surface of the object to be photographed can be obtained more comprehensively, thereby improving the intelligent sorting accuracy in the field of fruit sorting. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is a first structural schematic diagram of the image acquisition device according to an embodiment of the utility model;

[0036] Figure 2 This is a working schematic diagram of the image acquisition device according to an embodiment of the utility model;

[0037] Figure 3 This is a schematic diagram of the working method of transporting the photographed object according to an embodiment of the utility model;

[0038] Figure 4 This is a second structural schematic diagram of the image acquisition device according to an embodiment of the utility model;

[0039] Figure 5 This is a first structural schematic diagram of the sorting device according to an embodiment of the utility model;

[0040] Figure 6 This is a second structural schematic diagram of the sorting device according to an embodiment of the utility model;

[0041] Figure 7 for Figure 6 A cross-sectional view of

[0042] Figure 8 It is a top view of the sorting device according to an embodiment of the utility model.

[0043] icon:

[0044] 010-object; 020-first direction; 030-second direction; 100-image acquisition device; 110-conveying assembly; 111-conveying bracket; 112-bracket; 120-bearing assembly; 121-friction surface; 130-driving assembly; 131-motor; 132-first driving belt sleeve; 133-first driving wheel; 134-first driven wheel; 135-adjusting block; 136-coupling; 140-first acquisition structure; 141-first acquisition area; 150-second acquisition structure; 151-second acquisition area; 160-third acquisition structure; 161-third acquisition area; 170-angle adjustment bracket; 180-light source; 190-reflective structure; 191-acquisition opening; 200-detection chamber; 300-sorting equipment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0048] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0049] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0050] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] Currently, the sorting equipment on the market only has a single horizontal single or multiple cameras for image acquisition, and the camera only presents a multi-angle camera layout shooting on the x-axis, and is used to capture the surface information of the object being photographed.

[0052] The inventors have found that for some fruits and vegetables that need to be photographed from multiple angles, such as cherries with long fruit stems, the existing rotating structure cannot rotate them 360 degrees, because the 360-degree rotation of fruits with long fruit stems will cause the fruit roots to get stuck in the fruit carrying device and damage the fruit. Therefore, the camera is only set on the X-axis for multi-angle shooting, and there is a blind spot in the bottom information of fruits and vegetables. Therefore, the existing solution has defects in the ability to collect fruit surface information and cannot obtain all the information on the fruit surface, thereby reducing the accuracy of intelligent fruit sorting.

[0053] Please refer to Figure 1 This embodiment provides an image acquisition device 100 and a sorting device 300, which are applied to sorting fruits and vegetables and can comprehensively obtain information of the photographed object 010 to increase the sorting accuracy.

[0054] Specifically, the image acquisition device 100 and the sorting device 300 provided in this embodiment are mainly used for sorting fruits with longer stalks.

[0055] In this embodiment, please refer to Figure 3 , the photographed object 010 is a fruit with a long stalk, such as cherries, pears, oranges, mangoes, longans, hawthorns, and tangerines.

[0056] In this embodiment, the conveying direction of the object 010 conveyed by the conveying component 110 is a first direction 020 , and a direction perpendicular to the first direction 020 along a horizontal plane is a second direction 030 .

[0057] Please refer to Figure 1 The present embodiment provides an image acquisition device 100, comprising a conveying component 110, a driving component 130, and at least one acquisition structure; a plurality of bearing components 120 are rotatably connected to the conveying component 110, the conveying component 110 is used to convey the plurality of bearing components 120, and the plurality of bearing components 120 are used to carry an object 010; the driving component 130 is arranged along the conveying direction of the conveying component 110 and contacts the bearing components 120, the transmission speed of the driving component 130 is different from the transmission speed of the conveying component 110, so that the object 010 is rotated; at least one acquisition structure is arranged at the input end and / or the output end of the conveying direction of the conveying component 110 and is used to acquire bottom image information of the object 010 after rotation.

[0058] It can be understood that, by providing the bearing component 120, the conveying component 110 and the driving component 130, when the conveying component 110 conveys the bearing component 120 through the driving component 130, since the transmission speed of the driving component 130 is different from that of the conveying component 110, the bearing component 120 contacts and rotates with the driving component 130, and the bearing component 120 drives the object 010 to rotate in the horizontal plane while rotating, thereby adjusting the posture of the object 010 to expose its bottom, and reducing the damage to the object 010; by providing at least one collection structure, and providing it at the input end or the output end of the conveying direction of the conveying component 110, so that it faces the object 010 to collect the bottom image information of the object 010, thereby obtaining all the surface information of the object 010, and improving the intelligent sorting accuracy in the field of fruit sorting.

[0059] In this embodiment, please refer to Figure 2 and Figure 4 , the image acquisition device 100 includes a conveying component 110 .

[0060] Optionally, the conveying assembly 110 includes a conveying bracket 111 and a chain (not shown in the figure), the conveying bracket 111 is provided with a guide rail (not shown in the figure), the upper end of the guide rail is movably connected to the chain; the fixed foot of the bracket 112 is fixed to the chain and is mounted on the guide rail through the fixed foot sleeve. It can be understood that the chain drives multiple brackets 112 to be transported along the guide rail.

[0061] The conveying bracket 111 can be used to install structures such as the conveying component 110 and the driving component 130.

[0062] Optionally, at least one limiting member (not shown) is disposed at both ends of the bracket 112, and the fruit cup wheel is rotatably connected to the at least one limiting member.

[0063] The bracket 112 includes a main body, a U-shaped fixing foot is vertically arranged at the bottom of the main body, and a hole for connecting with a chain is opened on the fixing foot; two limit members are symmetrically arranged at both ends of the main body, and buckles are opened at the ends of the limit members.

[0064] In this embodiment, please refer to Figure 3-Figure 4 , the image acquisition device 100 includes a carrying component 120 .

[0065] Optionally, the bearing assembly 120 includes a fruit cup wheel, and an arc-shaped depression is provided on the inner side of the fruit cup wheel; Figure 3 A friction surface 121 with a gear structure is provided on the inner edge surface of the fruit cup wheel, and the friction surface 121 can contact and fit with the first driving belt sleeve 132 of the driving assembly 130 .

[0066] Specifically, the fruit cup wheel is sleeved on the limiting shaft and movably connected to the limiting shaft, the limiting shaft passes through the center of the fruit cup wheel and extends to the inside of the fruit cup wheel, and the buckle is fixedly installed with the fruit cup wheel to ensure that the fruit cup wheel does not undergo axial displacement. It can be understood that when the fruit cup wheel contacts and rotates with the first driving belt sleeve 132 of the driving assembly 130, it is convenient for the photographed object 010 to rotate freely in the inner recess of the fruit cup wheel, thereby facilitating the observation of the fruit.

[0067] It is worth mentioning that please refer to Figure 3 In this embodiment, the rotation of the object 010 is the rotation along its own axis.

[0068] In this embodiment, please refer to Figure 2 and Figure 4 , the image acquisition device 100 includes a driving component 130 .

[0069] Optionally, the driving assembly 130 includes a motor 131 and a first driving belt sleeve 132 , a first driving wheel 133 and at least two first driven wheels 134 symmetrically arranged on both sides of the conveying assembly 110 .

[0070] Please refer to Figure 2 The midpoints of the two first driven wheels 134 are located in the same horizontal plane and are spaced apart, so that the first driving belt sleeve 132 sleeved on the two first driven wheels 134 is horizontally and stably in constant contact with the fruit cup wheels of the plurality of bearing assemblies 120. At the same time, the two first driven wheels 134 are both arranged on the conveying bracket 111 of the conveying assembly 110; the two first driven wheels 134 symmetrically arranged on both sides of the conveying bracket 111 are coaxially arranged.

[0071] Please refer to Figure 2 The first driving wheel 133 is arranged at the oblique lower side of the first driven wheel 134; at the same time, the first driving wheel 133 is arranged on the conveying bracket 111 of the conveying assembly 110; the first driving wheels 133 symmetrically arranged on both sides of the conveying bracket 111 are coaxially arranged through the transmission shaft.

[0072] Please refer to Figure 4 The output end of the motor 131 is connected to two symmetrically arranged first driving wheels 133 through a transmission shaft; and the motor 131 is also installed on the conveying bracket 111.

[0073] Please refer to Figure 2 The first driving belt sleeve 132 is arranged on the first driving wheel 133 and the two first driven wheels 134 on both sides of the conveying bracket 111; the first driving belt sleeve 132 contacts the fruit cup wheel of the bearing component 120, and the transmission speed of the first driving belt sleeve 132 is different from the transmission speed of the chain of the conveying component 110.

[0074] It can be understood that the chain and the transmission belt are both transmitted along the first direction 020. When the transmission speed of the first driving belt sleeve 132 is greater than the transmission speed of the chain, when the first driving belt sleeve 132 contacts the fruit cup wheel, the fruit cup wheel rotates counterclockwise under the friction of the first driving belt sleeve 132, and the object 010 rotates 180° counterclockwise around its own axis between the fruit cup wheels, exposing the bottom of the object 010. At this time, at least the first acquisition structure 140 should be provided in the output end direction along the first direction 020, so as to realize the acquisition of the bottom image information of the object 010.

[0075] Please refer to Figure 3 , the chain and the transmission belt are both transmitted along the first direction 020, when the transmission speed of the first driving belt sleeve 132 is less than the transmission speed of the chain, when the first driving belt sleeve 132 contacts the fruit cup wheel, the fruit cup wheel rotates clockwise under the friction of the first driving belt sleeve 132, and the object 010 rotates 180° clockwise around its own axis between the fruit cup wheels, exposing the bottom of the object 010. At this time, at least the first acquisition structure 140 should be provided in the input end direction along the first direction 020, so as to realize the acquisition of the bottom image information of the object 010.

[0076] This enables a 010° rotation of the object being photographed, providing all-round observation conditions for the visual sorting process of the object being photographed.

[0077] Of course, the transmission direction of the first driving belt sleeve 132 may also be opposite to the transmission direction of the chain, and the fruit cup wheel may also be rotated.

[0078] In this embodiment, please refer to Figure 2 and Figure 4 The driving assembly 130 also includes an adjustment block 135 .

[0079] The adjusting block 135 is arranged in the first driving belt sleeve 132; at the same time, the adjusting block 135 is slidably connected with the conveying bracket 111 and can slide up and down, so that the top surface of the adjusting block 135 can lift the first driving belt sleeve 132 and contact the fruit cup wheel.

[0080] Of course, in other embodiments, the first driving belt sleeve 132 and the fruit cup wheel may also be disposed at positions that are just in contact.

[0081] In this embodiment, the image acquisition device 100 includes at least one acquisition structure.

[0082] Optionally, the acquisition structure may be a device capable of acquiring images, such as a common camera or a prism camera.

[0083] In this embodiment, the at least one collection structure includes a first collection structure 140 , a second collection structure 150 , and a third collection structure 160 .

[0084] In this embodiment, please refer to Figure 1 The first acquisition structure 140 is arranged at the input end of the conveying direction of the conveying component 110, and is used to collect the bottom image information of the object 010 after rotating 180°; the corresponding transmission speed of the first driving belt sleeve 132 is lower than the transmission speed of the chain.

[0085] Please refer to Figure 1 , the image acquisition area of ​​the first acquisition structure 140 is the first acquisition area 141 .

[0086] Of course, in other embodiments, the first collection structure 140 is disposed at the output end of the conveying direction of the conveying assembly 110, or is disposed at both the input end and the output end of the conveying direction of the conveying assembly 110. The first collection structure 140 is disposed according to actual collection requirements.

[0087] Optionally, see Figure 1 The second acquisition structure 150 is arranged opposite to the driving component 130 and is used to acquire top image information of the object 010 .

[0088] Please refer to Figure 1 , the image acquisition area of ​​the second acquisition structure 150 is the second acquisition area 151.

[0089] In this embodiment, the second collecting structure 150 is disposed directly above the driving assembly 130 along the first direction 020 .

[0090] Optionally, see Figure 7 A third acquisition structure 160 is disposed on both sides of the second acquisition structure 150 , and the third acquisition structure 160 is used to acquire side image information of the object 010 .

[0091] In this embodiment, along the second direction 030, the third acquisition structure 160 is arranged on both sides of the second acquisition structure 150. The third acquisition structure 160 arranged on the left side of the second acquisition structure 150 is used to acquire the left side image information of the object 010; the third acquisition structure 160 arranged on the right side of the second acquisition structure 150 is used to acquire the right side image information of the object 010.

[0092] Please refer to Figure 7 , the image acquisition area of ​​the third acquisition structure 160 is the third acquisition area 161.

[0093] In this embodiment, please refer to Figure 1The image acquisition device 100 also includes an angle adjustment bracket 170, and at least one image acquisition device 100 is rotatably connected to the angle adjustment bracket 170.

[0094] In this embodiment, the first collecting structure 140 is rotatably connected to the angle adjustment bracket 170, so that the angle of the first collecting structure 140 is adjustable, so that the final angle can be locked at the bottom of the object 010 after rotating 180°, and the bottom information of the object 010 is collected.

[0095] In this embodiment, please refer to Figure 1 The image acquisition device 100 also includes a light source 180 , which is disposed at least at an input end and an output end of the conveying direction of the conveying component 110 .

[0096] In this embodiment, please refer to Figure 1 and Figure 8 The image acquisition device 100 further includes a reflective structure 190, which is an arc-shaped reflective plate. At the same time, the reflective structure 190 should be arranged on the upper side of the light source 180 to change the light trajectory emitted by the light source 180, so as to prevent the light emitted by the light source 180 from directly irradiating the surface of fruits and vegetables, thereby preventing the formation of high-brightness light spots on the surface of fruits and vegetables.

[0097] Optionally, the reflective structure 190 is disposed on the upper side of the light source 180 and is provided with a collecting opening 191 opposite to at least one collecting structure.

[0098] In this embodiment, please refer to Figure 5-Figure 8 The image acquisition device 100 further includes a detection chamber 200 . The reflective structure 190 , the light source 180 , the first acquisition structure 140 , the second acquisition structure 150 , the third acquisition structure 160 , and the angle adjustment bracket 170 are all installed on the inner wall of the detection chamber 200 .

[0099] In combination with the above-mentioned image acquisition device 100 , this embodiment further proposes a sorting device 300 .

[0100] Please refer to Figure 5-Figure 8 The sorting device 300 proposed in this embodiment includes multiple image acquisition devices 100.

[0101] Among them, multiple image acquisition devices 100 share a detection chamber 200; and a single image acquisition device 100 is independently provided with a corresponding reflective structure 190, a light source 180, a first acquisition structure 140, a second acquisition structure 150, a third acquisition structure 160 and an angle adjustment bracket 170.

[0102] Among them, multiple image acquisition devices 100 can share a motor 131 of a driving component 130, and the transmission shafts between the multiple image acquisition devices 100 are connected through a coupling 136, so that the motor 131 of one driving component 130 can drive the driving components 130 of multiple image acquisition devices 100 to operate at the same time.

[0103] Please refer to Figure 3 , the working principle of the image acquisition device 100 of this embodiment is:

[0104] The chain and the transmission belt are both transmitted along the first direction 020 and the transmission speed of the first driving belt sleeve 132 is lower than the transmission speed of the chain. When the first driving belt sleeve 132 contacts the fruit cup wheel, the fruit cup wheel 2 rotates clockwise under the friction force of the first driving belt sleeve 132, and the object 010 rotates 180° clockwise around its own axis between the fruit cup wheels, exposing the bottom of the object 010.

[0105] At this time, the first acquisition structure 140 acquires bottom image information of the object 010 after rotating 180°; the second acquisition structure 150 acquires top image information of the object 010; and the third acquisition structure 160 acquires side image information of the object 010.

[0106] In summary, the image acquisition device 100 and the sorting equipment 300 proposed in the utility model, by setting a bearing component 120, a conveying component 110 and a driving component 130, enable the bearing component 120 to drive the object 010 to rotate in a horizontal plane when rotating, and then adjust the posture of the object 010 to expose its bottom, thereby reducing the damage to the object 010 and obtaining more surface information of the object 010; by setting at least one acquisition structure, all information on the surface of the object 010 can be obtained more comprehensively, thereby improving the intelligent sorting accuracy in the field of fruit sorting.

[0107] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An image acquisition device, characterized in that: include: A conveying assembly, on which a plurality of bearing assemblies are rotatably connected, the conveying assembly is used to convey the plurality of bearing assemblies, and the plurality of bearing assemblies are used to bear the photographed object; A driving assembly, the driving assembly is arranged along the conveying direction of the conveying assembly and contacts the bearing assembly, and the transmission speed of the driving assembly is different from the transmission speed of the conveying assembly, so that the photographed object rotates; At least one acquisition structure is disposed at an input end and / or an output end of the conveying component in a conveying direction and is used to acquire bottom image information of the object after rotation.

2. The image acquisition device according to claim 1, characterized in that: The image acquisition device further comprises an angle adjustment bracket, and the at least one image acquisition device is rotatably connected to the angle adjustment bracket.

3. The image acquisition device according to claim 1, characterized in that: The at least one acquisition structure includes a first acquisition structure and a second acquisition structure; The first acquisition structure is arranged at the input end and / or the output end of the conveying direction of the conveying assembly and is used to acquire the bottom image information of the object after rotation; The second acquisition structure is arranged opposite to the driving component and is used to acquire top image information of the object being photographed.

4. The image acquisition device according to claim 3, characterized in that: The at least one acquisition structure further includes a third acquisition structure; The third acquisition structure is arranged on both sides of the second acquisition structure, and the third acquisition structure is used to acquire side image information of the object to be photographed.

5. The image acquisition device according to claim 1, characterized in that: The conveying assembly includes a bracket, and the plurality of bearing assemblies include a fruit cup wheel; At least one limiting member is disposed at both ends of the bracket, and the fruit cup wheel is rotatably connected to the at least one limiting member.

6. The image acquisition device according to claim 5, characterized in that: The fruit cup wheel is provided with a friction surface, and the friction surface is used for contacting with the driving assembly.

7. The image acquisition device according to claim 1, characterized in that: The driving assembly comprises a motor and a first driving belt sleeve, a first driving wheel and at least two first driven wheels symmetrically arranged on both sides of the conveying assembly; The output end of the motor is connected to the first driving wheel through a transmission shaft, and the midpoints of the at least two first driven wheels are located in the same horizontal plane and are spaced apart; The first driving belt is sleeved on the first driving wheel and the at least two first driven wheels; The first driving belt sleeve is in contact with the bearing assembly, and a transmission speed of the first driving belt sleeve is different from a transmission speed of the conveying assembly.

8. The image acquisition device according to claim 1, characterized in that: The image acquisition device also includes a light source, which is arranged at least at an input end and an output end of the conveying direction of the conveying component.

9. The image acquisition device according to claim 8, characterized in that: The image acquisition device also includes a reflective structure; The reflective structure is arranged on the upper side of the light source and is provided with a collecting opening opposite to the at least one collecting structure.

10. A sorting device, characterized in that: The invention comprises at least one image acquisition device according to any one of claims 1 to 9.

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