Image acquisition mechanism and fruit and vegetable sorting device
By designing top and bottom image acquisition components, limiting components, and gripping components in the fruit and vegetable sorting device, the problem of the image acquisition mechanism being unable to acquire complete information of the fruit and vegetable surface is solved, and the complete acquisition of fruit and vegetable surface image information and sorting accuracy are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- REEMOON TECH CO LTD
- Filing Date
- 2025-04-30
- Publication Date
- 2026-04-24
AI Technical Summary
In existing technologies, the image acquisition mechanism of fruit and vegetable sorting devices has difficulty acquiring complete information about the surface of fruits and vegetables, especially the image information of the bottom of fruits and vegetables.
An image acquisition mechanism was designed, including top and bottom image acquisition components, limiting components and gripping components, which acquires top and bottom image information of fruits and vegetables through multiple steps to ensure complete acquisition of fruit and vegetable surface information.
It enables the complete acquisition of image information on the surface of fruits and vegetables, improving the accuracy and efficiency of fruit and vegetable sorting.
Smart Images
Figure CN224157338U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of fruit and vegetable sorting technology, and in particular to an image acquisition mechanism and a fruit and vegetable sorting device. Background Technology
[0002] Currently, fruits and vegetables are a type of food that people often consume. Fruits and vegetables include cherries, apples, pears, and tomatoes, among others. After ripening, fruits and vegetables need to be harvested and then transported to factories for sorting and processing to facilitate subsequent packaging and sales.
[0003] In related technologies, fruit and vegetable sorting devices may include an image acquisition mechanism, which is used to acquire image information of the surface of fruits and vegetables. The image acquisition mechanism transmits the acquired image information of the surface of fruits and vegetables to a computer, and the computer matches the fruits and vegetables with the corresponding output channels based on the image information of the surface of fruits and vegetables.
[0004] However, when fruits and vegetables are transported to the image acquisition mechanism, it is difficult for the image acquisition mechanism to capture image information of the bottom of the fruits and vegetables, making it difficult for the image acquisition mechanism to capture complete surface information of the fruits and vegetables. Utility Model Content
[0005] The present invention aims to provide an image acquisition mechanism and a fruit and vegetable sorting device to solve the technical problem that the image acquisition mechanism in the prior art is unable to acquire complete surface information of fruits and vegetables.
[0006] The technical problem solved by this utility model embodiment is addressed by the following technical solution:
[0007] An image acquisition mechanism is provided, comprising:
[0008] frame;
[0009] A first conveying channel is installed on the frame and is used to move fruits and vegetables.
[0010] A top image acquisition component is mounted on the rack and is located above the first conveying channel;
[0011] A bottom image acquisition component is mounted on the frame and located on one side of the first conveying channel;
[0012] A first limiting component is installed on the first conveying channel. The first limiting component is used to limit or release the fruit and vegetables located at the bottom image acquisition component on the first conveying channel.
[0013] A gripping component is mounted on the frame and located above the first conveying channel; the gripping component is used to grip fruits and vegetables that are limited by the first limiting component, or to put down the gripped fruits and vegetables.
[0014] With the above structure, fruits and vegetables can be carried in fruit cups. The first conveying channel transports the fruit cups containing fruits and vegetables to the top image acquisition component, where an image of the top of the fruits and vegetables can be captured by taking a picture. Subsequently, the first conveying channel transports the fruit cups containing fruits and vegetables to the bottom image acquisition component. The first limiting component limits the movement of the fruit cup, and the grasping component picks up the fruits and vegetables from the cup. The bottom image acquisition component can then capture an image of the bottom of the fruits and vegetables by taking a picture.
[0015] Finally, the gripping component releases the gripped fruit and vegetables, the first limiting component releases the fruit cup from its position, and the first conveying channel continues to move the fruit cup. This allows the image acquisition mechanism to capture image information of the entire surface of the fruit and vegetables.
[0016] In some embodiments, the number of bottom image acquisition components is multiple; in the horizontal direction, all the bottom image acquisition components are evenly distributed around the periphery of the grasping component.
[0017] With the above structure, there are multiple bottom image acquisition components; in the horizontal direction, all bottom image acquisition components are evenly distributed around the gripping component; each bottom image acquisition component can acquire image information of the bottom of the fruit and vegetable from one direction, so that all bottom image acquisition components can acquire the bottom information of the entire fruit and vegetable from all directions, and the image acquisition mechanism can acquire more complete image information of the surface of the fruit and vegetable.
[0018] In some embodiments, the first conveying channel includes a first sidewall and a second sidewall disposed opposite to each other, and the first sidewall is provided with a first mounting groove;
[0019] The first limiting component is located in the first mounting slot. The first limiting component includes a first pushing component and a clamping component. The first pushing component is mounted on the frame, and the clamping component is connected to the first pushing component.
[0020] The first pushing component is used to drive the clamping component to move toward the second side wall so that the clamping component clamps the fruit and vegetables with the second side wall; or the first pushing component is used to drive the clamping component to move away from the second side wall so that the clamping component releases the fruit and vegetables from the second side wall.
[0021] With the above structure, the first sidewall is provided with a first mounting groove, and the first limiting component is located in the first mounting groove so that the clamping component can extend into the first conveying channel; the first pushing component is used to drive the clamping component to move toward the second sidewall, or the first pushing component is used to drive the clamping component to move away from the second sidewall so that the clamping component can clamp or release the fruit cup carrying fruits and vegetables together with the second sidewall.
[0022] In some embodiments, the crawling component includes:
[0023] Mounting bracket, the mounting bracket being mounted on the rack;
[0024] A support frame, which is movably mounted on the mounting frame;
[0025] A driving component for driving the support frame to move vertically relative to the mounting frame;
[0026] An adsorption component is installed on the support frame and is used to adsorb fruits and vegetables that are limited by the first limiting component, or to release the adsorbed fruits and vegetables.
[0027] With the above structure, when the fruit cup carrying the fruits and vegetables is limited by the first limiting component, the adsorption component can adsorb the upper surface of the fruits and vegetables, so that the fruits and vegetables are fixed relative to the adsorption component; the support frame is vertically movably installed on the mounting frame, and the driving component is used to drive the support frame to move vertically relative to the mounting frame, so that after the adsorption component adsorbs the surface of the fruits and vegetables, it can drive the fruits and vegetables to move vertically relative to the first conveying channel, so that the fruits and vegetables can be picked up and the bottom image information can be collected by the bottom image acquisition component.
[0028] In some embodiments, the image acquisition mechanism further includes:
[0029] An input channel is mounted on the frame, and the output end of the input channel is connected to the input end of the first conveying channel. The conveying direction of the input channel is perpendicular to the conveying direction of the first conveying channel.
[0030] An output channel is mounted on the frame, with its input end connected to the output end of the first conveying channel. The conveying direction of the output channel is perpendicular to the conveying direction of the first conveying channel and opposite to the conveying direction of the input channel.
[0031] With the above structure, the input channel can transport fruits and vegetables into the first conveying channel. After image information is acquired, the fruits and vegetables in the first conveying channel can be transported to the output channel. The conveying direction of the input channel is perpendicular to the conveying direction of the first conveying channel, and the conveying direction of the output channel is perpendicular to the conveying direction of the first conveying channel, while the conveying direction of the output channel is opposite to the conveying direction of the input channel. This makes the structure of the image acquisition mechanism more compact in the horizontal direction and reduces the installation space required for the image acquisition mechanism.
[0032] In some embodiments, the input channel includes a second pushing member, a third sidewall, and a fourth sidewall, the third sidewall and the fourth sidewall being disposed opposite to each other, the third sidewall having a second mounting groove, the second pushing member being installed in the second mounting groove, the input end of the first conveying channel passing through the fourth sidewall and connected to the output end of the input channel; the second pushing member is directly opposite the input end of the first conveying channel, and the second pushing member is used to push fruits and vegetables into the input end of the first conveying channel.
[0033] With the above structure, a second mounting groove is provided on the third side wall, and the second pushing component is installed in the second mounting groove; so that the second pushing component can extend into the input channel and contact the fruit cup in the input channel. The second pushing component is directly opposite the input end of the first conveying channel, so that the second pushing component can push the fruit cup into the first conveying channel more accurately.
[0034] In some embodiments, the first conveying channel includes a first conveying section and a second conveying section, the input channel, the first conveying section, the second conveying section and the output channel are arranged in sequence, the output end of the first conveying section is connected to the input end of the second conveying section; in the direction from the input channel to the output channel, the width of the first conveying section gradually decreases, and the top image acquisition component and the bottom image acquisition component are arranged in sequence on the second conveying section.
[0035] With the above structure, the width of the first conveying section gradually decreases in the direction from the input channel to the output channel, making the width of the first conveying section facing the input channel larger. This makes it easier for the second pushing component to push the fruit cup into the first conveying section. The width of the first conveying section facing the second conveying section is smaller, and the top image acquisition component and the bottom image acquisition component are arranged sequentially on the second conveying section. In the horizontal direction, the movement space of the fruit cup in the width direction of the second conveying section is smaller, making it easier for the top image acquisition component and the bottom image acquisition component to align with the fruit and vegetables.
[0036] In some embodiments, the image acquisition mechanism further includes a second limiting component, which is installed on the output channel. There are multiple first conveying channels, and a second limiting component is disposed between two adjacent first conveying channels. The second limiting component is used to limit or release the fruit and vegetables on the output channel.
[0037] With the above structure, there are multiple first conveying channels, enabling the image acquisition mechanism to simultaneously acquire images of multiple fruits and vegetables, thereby improving the working efficiency of the image acquisition mechanism. Fruit cups from two adjacent first conveying channels will sequentially enter the output channel. When they collide within the output channel, a second limiting component located between the two first conveying channels can limit the fruit cup conveyed by one of the first conveying channels into the output channel, preventing the two fruit cups from contacting each other within the output channel.
[0038] In some embodiments, the image acquisition mechanism further includes a second transport channel, the input end of which is connected to the output end of the input channel, and the output end of which is connected to the input end of the output channel; the first transport channel and the second transport channel are arranged sequentially in the transport direction of the input channel.
[0039] With the above structure, some empty fruit cups in the fruit and vegetable sorting device may not contain any fruit or vegetables. The empty fruit cups will not be pushed into the first conveying channel to avoid the top image acquisition component and the bottom image acquisition component failing to acquire image information of the fruit and vegetables. The empty fruit cups will pass through the entire first conveying channel and enter the second conveying channel, and then be input to the output channel from the second conveying channel.
[0040] Another embodiment of this utility model provides a fruit and vegetable sorting device, including the image acquisition mechanism in any of the above embodiments.
[0041] Compared to existing technologies, fruits and vegetables can be carried in fruit cups. The first conveying channel transports the fruit cups containing fruits and vegetables to the top image acquisition component, where an image of the top of the fruits and vegetables can be captured by taking a picture. Subsequently, the first conveying channel transports the fruit cups to the bottom image acquisition component. A first limiting component limits the movement of the fruit cup, stopping its movement. The grasping component then picks up the fruits and vegetables from the cup, and the bottom image acquisition component can capture an image of the bottom of the fruits and vegetables by taking a picture.
[0042] Finally, the gripping component releases the gripped fruit and vegetables, the first limiting component releases the fruit cup from its position, and the first conveying channel continues to move the fruit cup. This allows the image acquisition mechanism to capture image information of the entire surface of the fruit and vegetables. Attached Figure Description
[0043] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a limitation on scale.
[0044] Figure 1 This is a perspective view of the image acquisition mechanism in one embodiment of the present invention;
[0045] Figure 2 yes Figure 1 The image acquisition mechanism in the middle omits the stereoscopic image after the grabbing component;
[0046] Figure 3 yes Figure 1 A partial view of the first limiting component of the image acquisition mechanism in the image acquisition mechanism;
[0047] Figure 4 yes Figure 1 A partial view of the grasping component of the image acquisition mechanism in the image;
[0048] Figure 5 yes Figure 1 A schematic diagram of the image acquisition mechanism in the image acquisition mechanism.
[0049] Figure label:
[0050] 100. Image acquisition mechanism; 10. Frame; 20. First conveying channel; 22. First side wall; 2202. First mounting slot; 24. Second side wall; 26. First conveying section; 28. Second conveying section; 30. Top image acquisition component; 40. Bottom image acquisition component; 50. First limiting component; 52. First pushing component; 54. Clamping component; 60. Gripping component; 62. Mounting frame; 64. Support frame; 66. Driving component; 68. Adsorption component; 70. Input channel; 72. Second pushing component; 74. Third side wall; 7402. Second mounting slot; 76. Fourth side wall; 80. Output channel; 82. Second limiting component; 90. Second conveying channel; 92. Fruit cup. Detailed Implementation
[0051] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connected" to another element, it can be directly on the other element, or one or more intermediate elements can exist between them. The terms "upper," "lower," "left," "right," "upper end," "lower end," "top," and "bottom," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0052] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention.
[0053] The following detailed description, in conjunction with all the accompanying drawings, describes in detail an image acquisition mechanism 100 and a fruit and vegetable sorting device provided in this application through specific embodiments.
[0054] Please refer to Figure 1 and Figure 2 One embodiment of this utility model discloses an image acquisition mechanism 100, including a frame 10, a first conveying channel 20, a top image acquisition component 30, a bottom image acquisition component 40, a first limiting component 50, and a gripping component 60; the first conveying channel 20 is installed on the frame 10 and is used to move fruits and vegetables; the top image acquisition component 30 is installed on the frame 10 and is located above the first conveying channel 20; the bottom image acquisition component 40 is installed on the frame 10 and is located on one side of the first conveying channel 20.
[0055] The first limiting component 50 is installed on the first conveying channel 20. The first limiting component 50 is used to limit or release the fruit and vegetables located at the bottom image acquisition component 40 on the first conveying channel 20. The gripping component 60 is installed on the frame 10 and is located above the first conveying channel 20. The gripping component 60 is used to pick up the fruit and vegetables limited by the first limiting component 50 or to put down the picked-up fruit and vegetables.
[0056] With the above structure, fruits and vegetables can be carried by the fruit cup 92. The first conveying channel 20 conveys the fruit cup 92 containing fruits and vegetables to the top image acquisition component 30, where the top image acquisition component 30 can capture image information of the top of the fruits and vegetables by taking a picture. Subsequently, the first conveying channel 20 conveys the fruit cup 92 containing fruits and vegetables to the bottom image acquisition component 40. The first limiting component 50 limits the fruit cup 92, stopping its movement. The grasping component 60 grasps the fruits and vegetables in the fruit cup 92, and the bottom image acquisition component 40 can capture image information of the bottom of the fruits and vegetables by taking a picture.
[0057] Finally, the gripping component 60 releases the gripped fruits and vegetables, the first limiting component 50 releases the limiting effect on the fruit cup 92, and the first conveying channel 20 continues to move the fruit cup 92. This allows the image acquisition mechanism 100 to acquire image information of the complete surface of the fruits and vegetables.
[0058] Specifically, in this embodiment, the frame 10 may include a stand and a support structure. The frame 10 can be erected on the ground and is used to support the first conveyor channel 20, the top image acquisition component 30, the bottom image acquisition component 40, and the gripping component 60. The first conveyor channel 20 may include a motor-driven conveyor belt structure. The top image acquisition component 30 may include a camera with its camera facing upwards. The same first conveyor channel 20 may correspond to three bottom image acquisition components 40, and the bottom image acquisition component 40 may include a camera with its camera tilted upwards.
[0059] The first limiting component 50 can be a block structure driven by a cylinder. The block structure can clamp the fruit cup 92 together with the side wall of the first conveying channel 20 to limit the fruit cup 92 carrying fruits and vegetables. The gripping component 60 can include a vertically moving suction cup structure. The suction cup structure can adsorb the upper surface of fruits and vegetables and drive the fruits and vegetables to move vertically.
[0060] In other embodiments, the frame 10 may also have other structures, such as a hollow box structure, and the first conveying channel 20, the top image acquisition component 30, the bottom image acquisition component 40, the first limiting component 50, and the gripping component 60 may all be installed inside the frame 10; the first conveying channel 20 may also have other structures, such as a motor-driven conveyor chain; each first conveying channel 20 may also correspond to other numbers of bottom image acquisition components 40, such as one or two; the first limiting component 50 may also have other structures, such as a motor-driven barrier bar; the gripping component 60 may also have other structures, such as a robotic arm structure.
[0061] In some embodiments, there are multiple bottom image acquisition components 40; in the horizontal direction, all bottom image acquisition components 40 are evenly distributed around the gripping component 60.
[0062] With the above structure, there are multiple bottom image acquisition components 40; in the horizontal direction, all bottom image acquisition components 40 are evenly distributed around the gripping component 60; each bottom image acquisition component 40 can acquire image information of the bottom of the fruit and vegetable from one direction, so that all bottom image acquisition components 40 can acquire the bottom information of the entire fruit and vegetable from all directions, and the image acquisition mechanism 100 can acquire more complete image information of the surface of the fruit and vegetable.
[0063] Specifically, in this embodiment, there can be three bottom image acquisition components 40. In other embodiments, the number of bottom image acquisition components 40 can also be other, such as four or five.
[0064] Please refer to Figure 3 In some embodiments, the first conveying channel 20 includes a first sidewall 22 and a second sidewall 24 disposed opposite to each other. The first sidewall 22 has a first mounting groove 2202. The first limiting component 50 is located in the first mounting groove 2202. The first limiting component 50 includes a first pushing component 52 and a clamping component 54. The first pushing component 52 is mounted on the frame 10, and the clamping component 54 is connected to the first pushing component 52.
[0065] The first pushing component 52 is used to drive the clamping component 54 to move toward the second side wall 24 so that the clamping component 54 clamps the fruits and vegetables with the second side wall 24; or the first pushing component 52 is used to drive the clamping component 54 to move away from the second side wall 24 so that the clamping component 54 releases the fruits and vegetables from the second side wall 24.
[0066] With the above structure, the first sidewall 22 is provided with a first mounting groove 2202, and the first limiting component 50 is located in the first mounting groove 2202 so that the clamping component 54 can extend into the first conveying channel 20; the first pushing component 52 is used to drive the clamping component 54 to move toward the second sidewall 24, or the first pushing component 52 is used to drive the clamping component 54 to move away from the second sidewall 24 so that the clamping component 54 can clamp or release the fruit cup 92 carrying fruits and vegetables together with the second sidewall 24.
[0067] Specifically, in this embodiment, both the first sidewall 22 and the second sidewall 24 can be protruding steel strip structures; the first pushing component 52 can be a cylinder, and the clamping component 54 can be a block structure connected to the piston rod of the cylinder. In the horizontal direction, the fruit cup 92 can be circular, and the side of the clamping component 54 facing the second sidewall 24 has an arc-shaped structure adapted to the fruit cup 92; so that when the clamping component 54 and the second sidewall 24 jointly clamp the fruit cup 92, the contact surface between the clamping component 54 and the fruit cup 92 is larger, and the clamping component 54 and the second sidewall 24 can clamp the fruit cup 92 more stably.
[0068] In other embodiments, the first pushing member 52 may also be other structures, such as an electric motor; the clamping member 54 may also be other structures, such as a cuboid block structure.
[0069] Please refer to Figure 4 In some embodiments, the gripping component 60 includes a mounting frame 62, a support frame 64, a driving component 66, and an adsorption component 68; the mounting frame 62 is mounted on the frame 10; the support frame 64 is movably mounted on the mounting frame 62; the driving component 66 is used to drive the support frame 64 to move vertically relative to the mounting frame 62; the adsorption component 68 is mounted on the support frame 64, and the adsorption component 68 is used to adsorb fruits and vegetables limited by the first limiting component 50, or to release the adsorbed fruits and vegetables.
[0070] With the above structure, when the fruit cup 92 carrying fruits and vegetables is limited by the first limiting component 50, the adsorption component 68 can adsorb the upper surface of the fruits and vegetables, so that the fruits and vegetables are fixed relative to the adsorption component 68; the support frame 64 is vertically movably installed on the mounting frame 62, and the driving component 66 is used to drive the support frame 64 to move vertically relative to the mounting frame 62, so that after the adsorption component 68 adsorbs the surface of the fruits and vegetables, it can drive the fruits and vegetables to move vertically relative to the first conveying channel 20, so that the fruits and vegetables can be picked up and the bottom image information can be collected by the bottom image acquisition component 40.
[0071] Specifically, the mounting frame 62 may include multiple strip-shaped steel structures, and the mounting frame 62 is erected above the first conveying channel 20; the support frame 64 may include a plate-shaped structure, and the support frame 64 may be connected to the drive component 66 by a belt. The drive component 66 may be an electric motor, and the drive component 66 may drive the belt to move, thereby driving the support frame 64 to move vertically.
[0072] The adsorption component 68 can be a suction cup. The adsorption component 68 can extend out of the lower surface of the mounting frame 62. The adsorption component 68 can be connected to the air pump through an air tube. The air tube can be arranged around one side of the mounting frame 62. The air pump can generate negative pressure so that the adsorption component 68 can contact and adsorb the upper surface of the fruits and vegetables.
[0073] Please refer to Figure 1 and Figure 5 In some embodiments, the image acquisition mechanism 100 further includes an input channel 70 and an output channel 80; the input channel 70 is mounted on the frame 10, the output end of the input channel 70 is connected to the input end of the first conveying channel 20, and the conveying direction of the input channel 70 is perpendicular to the conveying direction of the first conveying channel 20.
[0074] The output channel 80 is mounted on the frame 10. The input end of the output channel 80 is connected to the output end of the first conveying channel 20. The conveying direction of the output channel 80 is perpendicular to the conveying direction of the first conveying channel 20, and the conveying direction of the output channel 80 is opposite to the conveying direction of the input channel 70.
[0075] With the above structure, the input channel 70 can transport fruits and vegetables into the first conveying channel 20. After the fruits and vegetables in the first conveying channel 20 have their image information acquired, they can be transported to the output channel 80. The conveying direction of the input channel 70 is perpendicular to the conveying direction of the first conveying channel 20, and the conveying direction of the output channel 80 is perpendicular to the conveying direction of the first conveying channel 20, while the conveying direction of the output channel 80 is opposite to the conveying direction of the input channel 70. This makes the structure of the image acquisition mechanism 100 more compact in the horizontal direction and reduces the installation space required for the image acquisition mechanism 100.
[0076] Specifically, in this embodiment, both the input channel 70 and the output channel 80 may include a conveyor belt driven by a motor. In other embodiments, the input channel 70 and the output channel 80 may also be other structures, such as a conveyor chain plate driven by a motor.
[0077] In some embodiments, the input channel 70 includes a second pushing member 72, a third sidewall 74, and a fourth sidewall 76. The third sidewall 74 and the fourth sidewall 76 are disposed opposite to each other. The third sidewall 74 has a second mounting groove 7402. The second pushing member 72 is installed in the second mounting groove 7402. The input end of the first conveying channel 20 passes through the fourth sidewall 76 and is connected to the output end of the input channel 70. The second pushing member 72 is directly opposite the input end of the first conveying channel 20 and is used to push fruits and vegetables into the input end of the first conveying channel 20.
[0078] With the above structure, the third sidewall 74 has a second mounting groove 7402, and the second pushing member 72 is installed in the second mounting groove 7402; so that the second pushing member 72 can extend into the input channel 70 and contact the fruit cup 92 in the input channel 70. The second pushing member 72 is directly opposite the input end of the first conveying channel 20, so that the second pushing member 72 can push the fruit cup 92 into the first conveying channel 20 more accurately.
[0079] Specifically, in this embodiment, both the third sidewall 74 and the fourth sidewall 76 can be strip-shaped steel structures, with the third sidewall 74 parallel to the fourth sidewall 76; the second pushing component 72 can be a rod-shaped structure driven by an electric motor, which can extend into or out of the input channel 70.
[0080] In other embodiments, the third sidewall 74 and the fourth sidewall 76 may also be other structures, such as plate structures; the second pushing member 72 may also be other structures, such as a cylinder-driven block structure.
[0081] In some embodiments, the first conveying channel 20 includes a first conveying section 26 and a second conveying section 28. The input channel 70, the first conveying section 26, the second conveying section 28 and the output channel 80 are arranged in sequence. The output end of the first conveying section 26 is connected to the input end of the second conveying section 28. In the direction from the input channel 70 to the output channel 80, the width of the first conveying section 26 gradually decreases. The top image acquisition component 30 and the bottom image acquisition component 40 are arranged in sequence on the second conveying section 28.
[0082] With the above structure, the width of the first conveying section 26 gradually decreases in the direction from the input channel 70 to the output channel 80, so that the width of the end of the first conveying section 26 facing the input channel 70 is larger, making it easier for the second pushing component 72 to push the fruit cup 92 into the first conveying section 26. The width of the end of the first conveying section 26 facing the second conveying section 28 is smaller, and the top image acquisition component 30 and the bottom image acquisition component 40 are arranged sequentially on the second conveying section 28. In the horizontal direction, the movement space of the fruit cup 92 in the width direction on the second conveying section 28 is smaller, making it easier for the top image acquisition component 30 and the bottom image acquisition component 40 to align with the fruits and vegetables.
[0083] Specifically, in the horizontal direction, the first conveying section 26 can have a structure similar to an isosceles trapezoid, and the width of the second conveying section 28 can be adapted to the width of the fruit cup 92.
[0084] In some embodiments, the image acquisition mechanism 100 further includes a second limiting component 82, which is installed on the output channel 80. There are multiple first conveying channels 20, and a second limiting component 82 is provided between two adjacent first conveying channels 20. The second limiting component 82 is used to limit or release the fruit and vegetables on the output channel 80.
[0085] With the above structure, there are multiple first conveying channels 20, enabling the image acquisition mechanism 100 to simultaneously acquire images of multiple fruits and vegetables, thereby improving the working efficiency of the image acquisition mechanism 100. Fruit cups 92 in two adjacent first conveying channels 20 will sequentially enter the output channel 80, and when they collide within the output channel 80, the second limiting component 82 located between the two first conveying channels 20 can limit the fruit cup 92 conveyed by one of the first conveying channels 20 into the output channel 80, thus preventing the two fruit cups 92 from contacting each other within the output channel 80.
[0086] Specifically, in this embodiment, there are three first conveying channels 20. All the first conveying channels 20 are arranged sequentially in the conveying direction of the input channel 70, with equal spacing between adjacent first conveying channels 20, and the conveying directions of all the first conveying channels 20 are parallel to each other. The second limiting component 82 may include a cylinder and a limiting block. The cylinder is used to drive the limiting block to extend into or out of the output channel 80. When the limiting block extends into the output channel 80, it can clamp the fruit cup 92 together with the side wall of the output channel 80.
[0087] In other embodiments, the number of first conveying channels 20 may be other, such as two or four; the second limiting component 82 may also be other structures, such as a motor-driven rotating rod mechanism.
[0088] In some embodiments, the image acquisition mechanism 100 further includes a second transport channel 90, the input end of which is connected to the output end of the input channel 70, and the output end of the second transport channel 90 is connected to the input end of the output channel 80; the first transport channel 20 and the second transport channel 90 are arranged sequentially in the transport direction of the input channel 70.
[0089] With the above structure, some empty fruit cups 92 in the fruit and vegetable sorting device may not contain any fruits or vegetables. The empty fruit cups 92 will not be pushed into the first conveying channel 20, so as to avoid the top image acquisition component 30 and the bottom image acquisition component 40 failing to acquire image information of fruits and vegetables. The empty fruit cups 92 will pass through the entire first conveying channel 20 and enter the second conveying channel 90, and then be input to the output channel 80 from the second conveying channel 90.
[0090] Specifically, the second conveying channel 90 can be a motor-driven conveyor belt structure, and the second conveying channel 90 can be parallel to the first conveying channel 20. When the empty fruit cup 92 passes the input end of the first conveying channel 20, the second pushing component 72 will not push the empty fruit cup 92 into the corresponding first conveying channel 20, so that the empty fruit cup 92 will pass through all the first conveying channels 20 and enter the second conveying channel 90.
[0091] In another embodiment of this utility model, a fruit and vegetable sorting device is disclosed, including the image acquisition mechanism 100 in any of the above embodiments; the fruit and vegetable sorting device may further include a feeding mechanism, a cleaning mechanism, and an output mechanism, wherein the feeding mechanism, the image acquisition mechanism 100, and the output mechanism are arranged in sequence, the feeding mechanism is used to transport the fruits and vegetables to the cleaning mechanism, and then the fruits and vegetables are sent into the image acquisition mechanism 100, the image acquisition mechanism 100 transmits the image information of the fruits and vegetables to the computer, and the output mechanism may include multiple output ports, and the computer matches the fruits and vegetables with the corresponding output ports.
[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; under the concept of this utility model, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this utility model as described above. For the sake of brevity, they are not provided in detail; although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.
Claims
1. An image acquisition mechanism, characterized in that, include: frame; A first conveying channel is installed on the frame and is used to move fruits and vegetables. A top image acquisition component is mounted on the rack and is located above the first conveying channel; A bottom image acquisition component is mounted on the frame and located on one side of the first conveying channel; A first limiting component is installed on the first conveying channel. The first limiting component is used to limit or release the fruit and vegetables located at the bottom image acquisition component on the first conveying channel. A gripping component is mounted on the frame and located above the first conveying channel; the gripping component is used to grip fruits and vegetables that are limited by the first limiting component, or to put down the gripped fruits and vegetables.
2. The image acquisition mechanism according to claim 1, characterized in that, The number of bottom image acquisition components is multiple; in the horizontal direction, all the bottom image acquisition components are evenly distributed around the periphery of the grasping component.
3. The image acquisition mechanism according to claim 1, characterized in that, The first conveying channel includes a first sidewall and a second sidewall disposed opposite to each other, and the first sidewall is provided with a first mounting groove; The first limiting component is located in the first mounting slot. The first limiting component includes a first pushing component and a clamping component. The first pushing component is mounted on the frame, and the clamping component is connected to the first pushing component. The first pushing component is used to drive the clamping component to move toward the second side wall so that the clamping component clamps the fruit and vegetables with the second side wall; or the first pushing component is used to drive the clamping component to move away from the second side wall so that the clamping component releases the fruit and vegetables from the second side wall.
4. The image acquisition mechanism according to claim 1, characterized in that, The crawling component includes: Mounting bracket, the mounting bracket being mounted on the rack; A support frame, which is movably mounted on the mounting frame; A driving component for driving the support frame to move vertically relative to the mounting frame; An adsorption component is installed on the support frame and is used to adsorb fruits and vegetables that are limited by the first limiting component, or to release the adsorbed fruits and vegetables.
5. The image acquisition mechanism according to claim 1, characterized in that, Also includes: An input channel is mounted on the frame, and the output end of the input channel is connected to the input end of the first conveying channel. The conveying direction of the input channel is perpendicular to the conveying direction of the first conveying channel. An output channel is mounted on the frame, with its input end connected to the output end of the first conveying channel. The conveying direction of the output channel is perpendicular to the conveying direction of the first conveying channel and opposite to the conveying direction of the input channel.
6. The image acquisition mechanism according to claim 5, characterized in that, The input channel includes a second pushing component, a third sidewall, and a fourth sidewall. The third sidewall and the fourth sidewall are arranged opposite to each other. The third sidewall has a second mounting groove. The second pushing component is installed in the second mounting groove. The input end of the first conveying channel passes through the fourth sidewall and is connected to the output end of the input channel. The second pushing component is directly opposite the input end of the first conveying channel and is used to push fruits and vegetables into the input end of the first conveying channel.
7. The image acquisition mechanism according to claim 6, characterized in that, The first conveying channel includes a first conveying section and a second conveying section. The input channel, the first conveying section, the second conveying section and the output channel are arranged in sequence. The output end of the first conveying section is connected to the input end of the second conveying section. In the direction from the input channel to the output channel, the width of the first conveying section gradually decreases. The top image acquisition component and the bottom image acquisition component are arranged in sequence on the second conveying section.
8. The image acquisition mechanism according to claim 5, characterized in that, It also includes a second limiting component, which is installed on the output channel. There are multiple first conveying channels, and a second limiting component is provided between two adjacent first conveying channels. The second limiting component is used to limit or release the fruit and vegetables on the output channel.
9. The image acquisition mechanism according to claim 5, characterized in that, It also includes a second conveying channel, the input end of which is connected to the output end of the input channel, and the output end of the second conveying channel is connected to the input end of the output channel; the first conveying channel and the second conveying channel are arranged sequentially in the conveying direction of the input channel.
10. A fruit and vegetable sorting device, characterized in that, Includes the image acquisition mechanism described in any one of claims 1-9.