CN111263031A - Image acquisition device - Google Patents

Image acquisition device Download PDF

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Publication number
CN111263031A
CN111263031A CN201811460124.2A CN201811460124A CN111263031A CN 111263031 A CN111263031 A CN 111263031A CN 201811460124 A CN201811460124 A CN 201811460124A CN 111263031 A CN111263031 A CN 111263031A
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China
Prior art keywords
target
mirror
image
reflector
target surface
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CN201811460124.2A
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Chinese (zh)
Inventor
朱振宇
陶鹏
王春涛
丛强滋
孙建宇
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Shandong New Beiyang Information Technology Co Ltd
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Shandong New Beiyang Information Technology Co Ltd
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Priority to CN201811460124.2A priority Critical patent/CN111263031A/en
Publication of CN111263031A publication Critical patent/CN111263031A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
    • G06K7/10861—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices sensing of data fields affixed to objects or articles, e.g. coded labels
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Artificial Intelligence (AREA)
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Abstract

The invention discloses an image acquisition device, comprising: the device comprises a control device, a conveying assembly, a contour detection device and an image acquisition mechanism; the image acquisition mechanism comprises a camera, a reflector and a reflector driving assembly, wherein the reflector is provided with a rotating shaft, and the reflector driving assembly is arranged to drive the reflector to rotate around the rotating shaft so as to enable a reflecting surface of the reflector to rotate relative to an acquisition surface of the camera; the control device is configured to control the contour detection device to acquire a contour image of the article, determine at least one target surface of the article according to the contour image, determine a rotation instruction of the reflector according to the orientation of the target surface and the current acquisition direction of the reflector, control the reflector driving assembly to drive the reflector to rotate by a target angle according to the rotation instruction, and control the camera to acquire the image of the target surface of the article through the reflector when the article is located in the acquisition area of the image acquisition mechanism. By the aid of the image acquisition equipment, express mail processing efficiency can be improved when express mails are manually placed on the conveying table.

Description

Image acquisition device
Technical Field
The embodiment of the invention relates to the field of image acquisition, in particular to image acquisition equipment.
Background
In the express logistics industry, an express delivery distribution center needs to collect information such as the weight, the volume and the destination of express mails, and associates and matches the collected express mail information with a unique single number for identifying the express mails, so that the express mails are sorted, charged, transported and the like according to the express mail information. In general, the number of the express is attached to the surface of the express in a barcode form, for example, the number is printed on a receipt attached to the surface of the express in a barcode form, and when the express distribution center unloads the express, the barcode information on the surface of the express needs to be identified to obtain the number of the express, so that the collected express information can be matched with the number of the express.
In the related technology, when the express is conveyed, a camera is placed on one side of a conveying table, a worker places the express at the front end of the conveying table, the orientation of the surface of the express carrying the bar code is opposite to the orientation of the acquisition surface of the camera, and when the express reaches the position of the camera, the camera acquires the image of the surface of the express opposite to the camera, so that the bar code information of the express is obtained.
When the express mail is placed on the conveying bench by the staff in the correlation technique, the orientation of the surface carrying the bar code of the express mail and the orientation of the camera collecting surface need to be strictly corresponding according to the orientation of the camera collecting surface, otherwise, the problem that the code cannot be scanned can occur, the operating efficiency of the staff is reduced to a certain extent, and the express mail processing efficiency is low.
Disclosure of Invention
In view of this, an object of the present invention is to provide an image capturing device to alleviate the problem of low processing efficiency of the express mail when the express mail is manually placed on the conveying table in the related art.
The image acquisition equipment provided by the embodiment of the invention comprises:
the device comprises a control device, a conveying assembly, a contour detection device and an image acquisition mechanism;
the conveying assembly is arranged to convey the article on a conveying path; the contour detection device and the image acquisition mechanism are both positioned on the conveying path, and the contour detection device is positioned at the upstream of the image acquisition mechanism along the conveying direction of the article; the image acquisition mechanism comprises a camera, a reflector and a reflector driving assembly, wherein the camera and the reflector are arranged at intervals along the conveying direction of the object, the reflector is provided with a rotating shaft, and the reflector driving assembly is arranged to drive the reflector to rotate around the rotating shaft so as to enable the reflecting surface of the reflector to rotate relative to the acquisition surface of the camera; the control device is respectively and electrically connected with the conveying assembly, the contour detection device, the camera and the reflector driving assembly;
the control device is arranged to control the conveying assembly to convey the article on the conveying path, control the contour detection device to acquire a contour image of the article, determine at least one target surface of the article according to the contour image, determine a rotation instruction of the reflector according to the orientation of the target surface and the current acquisition direction of the reflector, wherein the rotation instruction comprises a target angle, control the reflector driving assembly to drive the reflector to rotate the target angle according to the rotation instruction, and control the camera to acquire the image of the target surface of the article through the reflector when the article is located in the acquisition area of the image acquisition mechanism.
The invention provides an image acquisition device, wherein a contour detection device scans the contour of an article conveyed on a conveying assembly to obtain a contour image, a control device determines at least one target surface of the article according to the contour image, and determines a rotation instruction of a reflector according to the orientation of the target surface and the current acquisition direction of the reflector, wherein the rotation instruction comprises a target angle, the control device controls a reflector driving assembly to drive the reflector to rotate the target angle according to the rotation instruction, and controls a camera to acquire the image of the target surface of the article through the reflector when the article is positioned in an acquisition area of an image acquisition mechanism. The image acquisition equipment provided by the embodiment of the invention can determine the target surface of an article, and controls the reflector to rotate to a proper position according to the orientation of the target surface of the article, so that the camera can acquire the target surface image of the article through the reflector, and therefore, the image acquisition equipment can adapt to the target surfaces of the articles placed at different angles, and an operator does not need to strictly correspond the orientation of the surface of the express mail carrying the barcode to the orientation of the camera acquisition surface according to the orientation of the camera acquisition surface, so that compared with the prior art in which the camera cannot adapt to the articles placed at different angles, the image acquisition equipment provided by the invention improves the efficiency of manually placing the express mail on the conveying table, and further improves the processing efficiency of the articles.
Drawings
Fig. 1 is a schematic structural diagram of an image capturing device according to an embodiment of the present invention;
fig. 2 is a block diagram of an image capturing device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a light propagation path when an image capturing mechanism of an image capturing device captures an image of an article according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a photograph of a target surface when an image capturing mechanism of the image capturing apparatus according to an embodiment of the present invention captures an image of a surface of an object;
fig. 5 is a schematic view illustrating a rotation range of a mirror of an image capturing mechanism of an image capturing apparatus according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a change in the capturing direction of the mirror when the mirror of the image capturing mechanism of the image capturing apparatus according to an embodiment of the present invention rotates between the first limit position and the second limit position;
fig. 7 is a schematic structural diagram of an image capturing device according to another embodiment of the present invention;
fig. 8 is a schematic diagram of a workflow of an image capturing apparatus for capturing an image of an article according to an embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating the positional relationship between each vertical surface of an article conveyed by an image capturing device and a mirror of a target image capturing mechanism according to an embodiment of the present invention;
fig. 10 is a schematic diagram of another workflow of the image capturing apparatus according to the embodiment of the present invention when capturing an image of an article;
fig. 11 is a schematic view of a state of a mirror of a target image capturing mechanism of an image capturing device in two different positions according to an embodiment of the present invention;
fig. 12 is a schematic diagram of still another workflow when the image capturing device captures an image of an article according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
In view of the problem of low image acquisition efficiency that the orientation of the surface of the express item carrying the barcode strictly corresponds to the orientation of the camera acquisition surface in the related art, the image acquisition device provided by the embodiment of the invention can acquire the image of the side surface of the item facing the image acquisition mechanism through the image acquisition mechanism, that is, when one surface of the item conveyed by the conveying table faces one side of the image acquisition mechanism where the camera is located, that is, the surface faces within 180 degrees of the camera acquisition direction, the image acquisition mechanism can acquire the target image of the surface. Wherein, the article conveyed by the conveying platform can be a express mail or other objects. The image capture device may be used to capture a target image of a target surface of an article being conveyed by the conveyor table. When the article that conveys the platform conveying is the express mail, when the staff put the express mail at the front end of conveying platform, need not to make the surface that carries the bar code of express mail towards a specific direction (also be with the direction that camera shooting direction strictly corresponds), consequently, can greatly improve staff's operating efficiency to improve the treatment effeciency of article (like the express mail). In addition, when the article is an express item, the express item is usually wrapped by a package box, and the package box of the express item is usually a cube or a cuboid, and this embodiment takes a square express item as an example for explanation. Certainly, the shape of the express mail is not limited in this embodiment, and the image capturing device is also applicable to other express mails with multiple side surfaces, such as cylindrical and prismatic express mails, and for curved surface packages, a longer arc surface can be segmented into multiple target surfaces in a segmentation manner. During cutting, segmentation can be performed based on the acquisition range of the camera.
Fig. 1 is a schematic structural diagram of an image capturing apparatus according to an embodiment of the present invention, fig. 2 is a block diagram of the image capturing apparatus according to the embodiment of the present invention, and the image capturing apparatus according to the embodiment of the present invention is described below with reference to fig. 1 and fig. 2.
The image capturing apparatus 010 includes a conveying device 1, a contour detecting device 2, an image acquiring device 3, a storage device 4, and a control device 5.
The conveying device 1 comprises a conveying assembly 11 and a conveying motor 12, wherein the conveying assembly 11 is connected with the conveying motor 12. The conveying assembly 11 is used for carrying and conveying articles (such as fast goods), and the conveying assembly 11 may be in a belt drive or roller drive structure. The conveying motor 12 is in transmission connection with the conveying assembly 11, and the conveying assembly 11 can move in a set direction under the driving of the conveying motor 12, so as to drive the articles carried by the conveying assembly 11 to move in the direction indicated by the arrow b. The conveyor 1 is arranged to convey articles on a conveying path, and the carrying surface of the conveyor assembly is moved from upstream to downstream of the conveying path by a drive motor 12, and the articles on the carrying surface move with the carrying surface.
The contour detection device 2 and the image acquisition device 3 are both located on the conveyance path, and the contour detection device 2 is located upstream of the image acquisition device 3 in the conveyance direction of the article indicated by the arrow b.
The contour detection device 2 is arranged to acquire a contour of an article. The contour detection device 2 may be provided at the starting end of the transfer assembly 11. Optionally, the contour detection device includes a first detection assembly 21 and a second detection assembly 22, when the article is conveyed along the direction indicated by the arrow b, the first detection assembly 21 is configured to acquire a first projection image of the article on the bearing surface of the conveying assembly 11, the second detection assembly 22 is configured to acquire a second projection image of the article on a vertical plane perpendicular to the conveying direction of the article, and the contour image of the express mail can be acquired through the first projection image and the second projection image.
Specifically, as shown in fig. 1, the first detecting assembly 21 includes a first light emitting assembly 21a and a first receiving assembly 21b, the first light emitting assembly 21a and the first receiving assembly 21b are oppositely disposed on two sides of the height direction (i.e., the direction indicated by the arrow cd) of the conveying assembly 11, the first light emitting assembly 21a includes a plurality of light generators spaced along the width direction (i.e., the direction indicated by the arrow ef) of the conveying assembly 11, the first receiving assembly 21b includes a plurality of light receivers spaced along the width direction of the conveying assembly 11, and the light generators of the first light emitting assembly 21a and the light receivers of the first receiving assembly 21b are in one-to-one correspondence in position; the second detection assembly 22 comprises a second light emitting assembly 22a and a second receiving assembly 22b, the second light emitting assembly 22a and the second receiving assembly 22b are oppositely arranged at two sides of the width direction of the conveying assembly 11, the second light emitting assembly 22a comprises a plurality of light generators arranged at intervals along the height direction of the conveying assembly 11, the second receiving assembly 22b comprises a plurality of light receivers arranged at intervals along the height direction of the conveying assembly 11, and the light generators of the second light emitting assembly 22a and the light receivers of the second receiving assembly 22b are in one-to-one correspondence in position; when there is no article blocking, each of the light receivers of the first and second receiving assemblies 21b and 22b receives light emitted from the light generator opposite thereto, and each outputs a first signal. When the object is blocked, the light receivers of the first receiving component 21b and the second receiving component 22b cannot receive the light generated by the light generator corresponding thereto, and the light receivers that cannot receive the light generated by the light generator corresponding thereto output the second signal. When the object is located in the contour detection area of the contour detection device 2, by detecting the signal output from each light receiver once every time the transport unit 11 transports the object by a minimum distance, a first projection image of the object can be acquired when the object passes through the detection position of the first detection unit 21 from the beginning to the end, and a second projection image of the object can be acquired when the object passes through the detection position of the second detection unit 22 from the beginning to the end.
The image capturing device 3 is configured to capture a target image of a target surface of an article, wherein the target surface faces the setting side of the image capturing mechanism 31, and when the article has a plurality of surfaces each facing the setting side of the image capturing mechanism 31, the image of the target surface can be captured by using each surface facing the setting side of the image capturing mechanism 31 as the target surface. As shown in fig. 1, the image acquisition device 3 may be located downstream of the contour detection device 2 in the article conveying direction, the image acquisition device 3 including at least one image acquisition mechanism 31. Each image capturing mechanism 31 includes a camera 311, a mirror 312, and a mirror drive assembly 313, the camera 311 being spaced from the mirror 312 in a conveying direction of the article with a capturing surface of the camera 311 facing the mirror 312, the mirror 312 having an axis of rotation 312a, the mirror drive assembly 313 being configured to drive the mirror 312 to rotate about the axis of rotation 312a to rotate the reflecting surface of the mirror 312 relative to the capturing surface of the camera 311.
The image capturing mechanism 31 may be disposed at one side of the conveying assembly 11, and acquires a target image of a target surface of the article when the article moves to the image capturing area. A plurality of image acquisition mechanisms 31 can be arranged at the same side at equal intervals or unequal intervals, and a plurality of articles can be photographed at the same time.
In addition to providing one or more image capturing mechanisms 31 on one side (e.g., the side indicated by the arrow e or the side indicated by the arrow f of the transport unit 11 in fig. 1), at least one image capturing mechanism 31 may be provided on each of two sides of the transport unit 11 or at least one image capturing mechanism 31 may be provided on each of three sides of the transport unit 11, for example, one image capturing mechanism 31 may be provided on each of the side indicated by the arrow e and the side indicated by the arrow f of the transport unit 11 in fig. 1, or one image capturing mechanism 31 may be provided on each of the side indicated by the arrow e, the side indicated by the arrow f and the side indicated by the arrow c of the transport unit 11 in fig. 1, so that the control device 5 may sequentially set each image capturing mechanism 31 as a target image capturing mechanism according to a preset rule and determine a target surface corresponding to the target image capturing mechanism 31, and controls the target image pickup mechanism 31 to pick up an image of the target surface. Optionally, one image capturing mechanism 31 is respectively arranged on one side of the conveying assembly 11, which is pointed by the arrow e, one side of the conveying assembly, which is pointed by the arrow f, and one side of the conveying assembly, which is pointed by the arrow c, and one image capturing mechanism 31 is respectively arranged on one side of the conveying assembly 11, and when an article is conveyed on the conveying assembly 11, each image capturing mechanism 31 can capture an image of a target surface facing the setting side of the image capturing mechanism 31, so that when the express item is manually placed, the image of the target surface of the article can be obtained as long as the barcode is not pressed at the bottom of the conveying assembly.
The camera 311 of the image capturing mechanism 31 includes a plurality of photosensitive elements arranged in a line, the arrangement direction of the plurality of photosensitive elements is parallel to the extending direction of the rotating shaft 312a of the mirror 312, and for each image capturing mechanism 31, the control device 5 determines the surface of the article parallel to the arrangement direction of the plurality of photosensitive elements of the camera 311 of the image capturing mechanism 31 and facing the image capturing mechanism 31 as a target surface. As shown in fig. 1, in the present embodiment, the camera 311 is located upstream of the mirror 312 in the article conveying direction, and the collecting surface of the camera 311 is oriented in the same direction as the article conveying direction. In other implementations, the camera 311 may also be located downstream of the mirror 312 in the article transport direction, with the acquisition surface of the camera 311 facing opposite the article transport direction. When the target surface of the article reaches the acquisition area of the image acquisition mechanism 31, the mirror receiver 312 receives light from the target surface of the article and reflects the light to the photosensitive element of the camera 311, and the photosensitive element of the camera 311 outputs an image of the target surface. For convenience of description, the light received by the reflective mirror 312 and capable of being reflected to the camera 311 is referred to as effective light, and the propagation path of the effective light is referred to as an effective optical path. The effective light rays irradiated to the reflective mirror 312 can be reflected by the reflective mirror 312 to the camera 311.
Fig. 3 is a schematic diagram of a light propagation path when an image of an article is captured by an image capturing mechanism of an image capturing device according to an embodiment of the present invention, and as shown in fig. 3, a reflective mirror 312 receives an effective light ray r1 and reflects the effective light ray r1 to a camera 311, where the effective light ray r1 received by the reflective mirror 312 and a reflected light ray r2 reflected by the reflective mirror 312 to the camera 311 are symmetrical with respect to a normal r3 of the reflective mirror 312. When the surface of the article faces the reflecting surface of the reflective mirror 312, the reflective mirror 312 can receive the effective light ray r1 from the surface and reflect the effective light ray r1 to the camera 311, and each photosensitive element of the camera 311 can receive the effective light ray from the surface, and since the plurality of photosensitive elements of the camera 311 are aligned along the extending direction of the rotating shaft 312 of the reflective mirror 312, the plurality of photosensitive elements can receive the effective light ray corresponding to a line of points on the surface, so that the camera 311 outputs a line of images of the article, wherein the line of images corresponds to a line of points on the surface along the extending direction of the rotating shaft 312. Hereinafter, the direction of the effective light irradiated to the reflective mirror 312 is referred to as a collecting direction of the reflective mirror 312, wherein the effective light irradiated to the reflective mirror 312 can be reflected by the reflective mirror 312 to the camera.
Fig. 4 is a schematic diagram of a photograph of a target surface when an image of a surface of an article is captured by an image capturing mechanism of an image capturing device according to an embodiment of the present invention, as shown in fig. 4, a rectangle 90 is a first projected image of the article on a carrying surface of the conveying assembly 11, and a first surface W901 of the article facing a light reflecting surface of the reflector 312, that is, the first surface W901 facing a setting side of the image capturing mechanism 31, may be set as the target surface. As shown in fig. 4 (a), when the starting point a1 of the first surface W901 of the article intersects the effective optical path, the image pickup mechanism 31 picks up line images of the line where the starting point a1 of the first surface W901 is located (i.e., a line of points along the extending direction of the rotation axis 312a of the mirror 312), and as the article continues to move, the lines of points of the first surface W901 sequentially intersect the effective optical path, the image acquisition mechanism 31 sequentially acquires line images of the line where each point of the first surface W901 is located until the end point a2 of the first surface W901 of the article intersects with the effective light path, the image capturing mechanism 31 captures line images of the line where the end point a2 is located, so that, during the movement of the article, the image capturing mechanism 31 captures a plurality of line images of the first surface W901, the plane image of the first surface W901 can be obtained by synthesizing the plurality of line images, and whether the first surface includes barcode information can be identified from the plane image.
The mirror driving assembly 313 is configured to drive the mirror 312 to rotate around a rotation shaft 312a, wherein, as shown in fig. 1, the mirror 312 is fixedly connected to the frame of the image capturing apparatus 010 via the rotation shaft 312a, and the extension direction of the rotation shaft 312a is perpendicular to the conveying direction of the articles. The mirror driving assembly 313 is in transmission connection with the mirror 312, and can drive the mirror 312 to rotate around the rotating shaft 312a, so that the reflecting surface of the mirror 312 rotates around the rotating shaft 312a, when the reflecting surface of the mirror 312 rotates, the angle between the reflecting surface of the mirror 312 and the collecting surface of the camera 311 changes, and the collecting direction of the mirror 312 changes accordingly, therefore, the mirror 312 can face the surface of the object by driving the mirror 312 to rotate, so that the image collecting mechanism 31 can collect the image on the surface of the object.
Fig. 5 is a schematic view of a rotation range of a mirror of an image capturing mechanism of an image capturing apparatus according to an embodiment of the present invention, as shown in fig. 5, in an article conveying direction indicated by an arrow b, a camera 311 of the image capturing mechanism 31 is located upstream of the mirror 312, a capturing surface of the camera 311 faces the mirror 312, the mirror 312 is rotatable about a rotation axis 312a (not shown in fig. 5), and when the capturing surface of the mirror 312 faces the conveying unit 11 and is parallel to the article conveying direction, the mirror 312 is located at a first limit position. As shown in fig. 5 (a), when the reflective mirror 312 is located at the first limit position, all the light received by the reflective mirror 311 cannot be reflected to the collecting surface of the camera 311 due to the orientation of the reflective surface of the reflective mirror 312 parallel to the collecting surface of the camera 311 (hereinafter, referred to as the collecting direction of the camera 311), and therefore the image collecting mechanism 31 cannot collect the image of the article conveyed on the conveying assembly 11; when the reflective mirror 312 rotates from the first limit position toward the camera 311, that is, when the reflective mirror 312 rotates in the counterclockwise direction, the collecting direction of the reflective mirror 312 also rotates in the counterclockwise direction, as shown in fig. 5 (b), when the rotating angle of the reflective mirror 312 is greater than 0 degree and less than 90 degrees, the collecting direction of the reflective mirror 312 intersects with the article conveying direction, and at this time, when one surface of the article faces the setting side of the image collecting mechanism 31 on the conveying assembly 11 and the surface is not parallel to the collecting direction of the reflective mirror 312, the reflective mirror 312 can receive the effective light from the surface and reflect the effective light to the camera 311; assuming that when the angle of rotation of the reflective mirror 312 from the first limit position toward the camera 311 reaches 90 degrees, the reflective mirror 312 is at the second limit position, as shown in fig. 5 (c), when the reflective mirror 312 is at the second limit position, the normal of the reflective mirror 312 is directed to the collecting surface of the camera 311, only the light vertically directed to the reflective mirror 312 can be reflected to the camera 311, and since the light vertically directed to the reflective mirror 312 is parallel to the article conveying direction, any light from the conveying assembly 11 cannot be reflected to the camera 311 by the reflective mirror 312, that is, the image collecting mechanism 31 cannot acquire the image of the article conveyed on the conveying assembly 11. As can be seen from the above, when the mirror 312 is located between the first limit position and the second limit position after the installation position of the image capturing mechanism 31 is determined, when one surface of the article faces the installation side of the image capturing mechanism 31 on the conveyor assembly 11, the image capturing mechanism 31 can capture an image of the surface by making the capturing direction of the mirror 312 not parallel to the surface. As can be seen from fig. 5, when the reflective mirror 312 rotates between the first limit position and the second limit position, the maximum rotation angle of the reflective mirror 312 is 90 degrees, that is, when the image capturing mechanism 31 captures the image of the surface of the article conveyed on the conveying assembly 11, the reflective mirror 312 can rotate within a range of 90 degrees.
Referring to fig. 5, when the reflective mirror 312 rotates between the first limit position and the second limit position, the collecting direction of the reflective mirror 312 also rotates around the rotation axis 312a in the counterclockwise direction, fig. 6 is a schematic diagram illustrating a change in the collecting direction of the reflective mirror when the reflective mirror of the image collecting mechanism of the image collecting apparatus according to an embodiment of the present invention rotates between the first limit position and the second limit position, as shown in the figure, the collecting direction of the reflective mirror 312 in different positions radiates outward around the rotation axis when the reflective mirror rotates between the first limit position and the second limit position, and forms a collecting area of the image collecting mechanism 31 above the conveying assembly 11, when an object is located in the collecting area of the image collecting mechanism 31, when a surface of the object faces the setting side of the image collecting mechanism 31, whether the surface faces the image collecting mechanism 31, the collecting direction of the reflective mirror 312 is not parallel to the surface by driving the reflective mirror 312 to rotate, thereby causing the image acquisition mechanism 31 to acquire an image of the surface. Wherein, the surface of the article facing the image capturing mechanism 31 is oriented in a positive direction of the normal of the surface, i.e. the direction of the ray perpendicular to the surface and pointing out of the surface, as shown in fig. 6, the direction indicated by the arrow p is the orientation of the surface W1, the surface of the article facing the image capturing mechanism 31 is the direction of the arrow f of the conveying assembly 11, and the predetermined direction corresponding to the image capturing mechanism 31 is the width direction of the conveying assembly 11, as shown by the arrow f, pointing from the second side of the conveying assembly 11 to the first side of the conveying assembly 11, so that, during the process of rotating the surface from the same orientation as the article conveying direction (as shown in fig. 6 (b)) to the clockwise direction opposite to the article conveying direction (as shown in fig. 6 (c)), the surfaces face the setting side of the image acquisition mechanism 31, and the image acquisition mechanism 31 can acquire images of the surfaces, that is, when the orientation of the surfaces of the articles is within a preset 180-degree range, the image acquisition mechanism 31 can acquire the images of the surfaces. When this image acquisition equipment is used for handling the express mail, when the staff put the express mail at the front end of conveying subassembly 11, only need make the orientation on the surface that carries the bar code of express mail at the 180 degrees within ranges of predetermineeing can to can greatly improve staff's operating efficiency, and then improve express mail treatment effeciency.
Preferably, when it is determined that the orientation of a surface of the article is within a preset 180 degrees, the mirror 312 may be driven to rotate so that the capturing direction of the mirror 312 is as identical as possible to the orientation of the surface of the article, thereby enabling the image capturing mechanism 31 to capture an image of the surface with the best quality. As is readily apparent from fig. 6, in the present embodiment, when a surface of an article faces the setting side of the image capturing mechanism 31, except for the case where the surface faces in the same direction as the article conveying direction (as shown in fig. 6 (b)) and the case where the surface faces in the opposite direction to the article conveying direction (as shown in fig. 6 (c)), the capturing direction of the mirror 312 can be made to be the same as the surface by driving the mirror 312 to rotate, that is, the capturing direction of the mirror 312 is made to be perpendicular to the surface, so that the image capturing mechanism 31 captures an image of the surface with the best quality.
Optionally, the image capturing device further includes a storage device 4, and the storage device is electrically connected to the control device 5. The storage means 4 are arranged to store control programs of the image acquisition device 010 and data and variables generated during the operation of the programs. The storage means 4 may, for example, be arranged to store a preset orientation corresponding to the image capturing mechanism 31 of the image capturing device 010, such as, for example, when the image capturing mechanism 31 is located above the conveying assembly 11, the corresponding preset direction of the image capturing mechanism 31 is a vertical direction from bottom to top (hereinafter referred to as a first preset direction) as indicated by an arrow c in fig. 1, when the image capturing mechanism 31 is located on a first side of the width direction of the conveying assembly 11, the corresponding preset direction of the image capturing mechanism 31 is the width direction of the conveying assembly 11 (hereinafter referred to as a second preset direction) from the second side to the first side as indicated by an arrow f in fig. 1, when the image capturing mechanism 31 is disposed on the second side of the width direction of the conveying assembly 11, the corresponding preset direction of the image capturing mechanism 31 is the width direction of the conveying assembly 11 (hereinafter referred to as a third preset direction) from the first side to the second side as indicated by an arrow e in fig. 1; for another example, the storage device 4 is configured to store the direction of the collecting surface of the camera 311 of the image collecting mechanism 31, for example, a direction value of 1 indicates that the direction of the collecting surface of the camera 311 is the same as the article conveying direction, and a direction value of 2 indicates that the direction of the collecting surface of the camera 311 is opposite to the article conveying direction.
The control device 5 is electrically connected with the conveying assembly 11, the contour detection device 2, the camera 311 and the mirror driving assembly 313 respectively, and the control device 5 is configured to control the operations of the conveying assembly 11, the contour detection device 2, the camera 311 and the mirror driving assembly 313. Specifically, the control device 5 is configured to control the conveying assembly 11 to convey the article on the conveying path, control the contour detection device 2 to acquire the contour of the article when the article passes through the contour detection area of the contour detection device 2, determine at least one target surface of the article according to the contour image, determine a rotation instruction of the reflective mirror 312 according to the orientation of the target surface and the current collecting direction of the reflective mirror 312, wherein the rotation instruction includes a target angle, control the reflective mirror driving assembly 313 to drive the reflective mirror 312 to rotate the target angle according to the rotation instruction, and control the camera to acquire the image of the target surface of the article through the reflective mirror when the article is located in the collecting area of the image collecting mechanism 31.
Optionally, the control device 5 determines whether the current collecting direction of the reflective mirror 312 is parallel to the target surface according to the orientation of the target surface and the current collecting direction of the reflective mirror 312. If the current collecting direction of the reflective mirror 312 is parallel to the target surface, the reflective mirror 312 cannot directly obtain the target image of the target surface. It is therefore necessary to rotate the mirror 312, and at this time, the control device 5 determines that the target angle in the rotation command is greater than zero and less than 90 degrees. After the control device 5 controls the reflective mirror 312 to rotate by the target angle according to the rotation instruction, the current collecting direction of the reflective mirror 312 is not parallel to the target surface, and the target image of the target surface can be acquired through the current collecting direction of the reflective mirror 312.
Further, when it is determined that the current collecting direction of the mirror 312 is parallel to the target surface, the control device 5 determines whether the image collecting mechanism 31 can collect the image of the target surface while the collecting direction of the mirror 312 is perpendicular to the target surface. When it is determined that the current collecting direction of the mirror 312 is parallel to the target surface, the mirror 312 needs to be rotated, and at this time, if the mirror 312 can be rotated to a position where the collecting direction thereof is perpendicular to the target surface, the image collecting mechanism 31 can obtain a high-quality image of the target surface. At this time, the control device 5 determines whether the image pickup mechanism 31 can pick up the target image of the target surface while the pickup direction of the mirror 312 is perpendicular to the target surface.
If it is determined that the image acquisition mechanism 31 can acquire the image of the target surface when the acquisition direction of the mirror 312 is perpendicular to the target surface, the control device 5 determines the position of the mirror 312 when the acquisition direction of the mirror 312 is perpendicular to the target surface as the target position under the condition that the image acquisition mechanism 31 can acquire the image of the target surface, and determines a rotation instruction according to the current position of the mirror 312 and the target position; if it is determined that the image capturing mechanism 31 cannot capture the image of the target surface when the capturing direction of the mirror 312 is perpendicular to the target surface, the control device 5 determines the position of the mirror 312 when the angle formed by the capturing direction of the mirror 312 and the target surface is the maximum under the condition that the image capturing mechanism 31 can capture the image of the target surface as the target position, and determines the rotation instruction according to the current position of the mirror 312 and the target position. The rotation instruction includes a target direction and a target angle, and the mirror 312 rotates from the current position along the target direction by the target angle to reach the target position. By making the collection direction of the mirror 312 perpendicular to the target surface or as perpendicular as possible, the quality of the target surface collected by the image collection mechanism 31 can be improved.
When it is determined that the current collecting direction of the mirror 312 is not parallel to the target surface, the control device 5 determines whether the current collecting direction of the mirror 312 is perpendicular to the target surface, and when it is determined that the current collecting direction of the mirror 312 is perpendicular to the target surface, the control device 5 determines that the target angle is zero.
When it is determined that the current collecting direction of the mirror 312 is not parallel to the target surface, the control device 5 determines that the angle formed by the current collecting direction of the mirror 312 and the target surface may be greater than zero and less than 90 degrees, and greater than 90 degrees and less than 180 degrees. When the current collecting direction of the mirror 312 makes an angle of 90 degrees with the target surface, the current collecting direction of the mirror 312 is perpendicular to the target surface. When the current collecting direction of the mirror 312 is perpendicular to the target surface, the mirror 312 is in the best position, and the image captured by the camera 311 is the clearest and has no gradient error. At this time, the mirror 312 does not need to be rotated, and thus the target angle is determined to be zero.
When the current collecting direction of the reflective mirror 312 is determined to be parallel to the target surface, the control device 5 determines that the target angle is greater than zero and smaller than 90 degrees, wherein the collecting direction of the reflective mirror 312 is the direction of the effective light irradiated to the reflective mirror 312, and the effective light can be reflected to the camera by the reflective mirror 312 after being irradiated to the reflective mirror 312. By setting the target angle to be greater than zero, it can be ensured that the acquisition direction of the reflective mirror 312 is no longer parallel to the target surface after the reflective mirror 312 is controlled to rotate the target angle according to the rotation instruction, thereby ensuring that the image acquisition mechanism 31 can acquire the image of the target surface; moreover, since the mirror 312 can only capture the image of the object on the conveying assembly 11 when the mirror is located between the first limit position and the second limit position, the rotation angle of the mirror 312 from the first limit position to the second limit position is 90 degrees, that is, in the case where the image capturing mechanism 31 can capture the image of the target surface, the maximum rotation angle of the mirror 312 is 90 degrees, and therefore, the target angle is necessarily smaller than 90 degrees.
Further, when it is determined that the current collecting direction of the reflective mirror 312 is not perpendicular to the target surface, that is, the angle formed between the current collecting direction of the reflective mirror 312 and the target surface is greater than zero and less than 90 degrees or greater than 90 degrees and less than 180 degrees, the control device 5 determines whether the image collecting mechanism 31 can collect the target image of the target surface when the collecting direction of the reflective mirror 312 is perpendicular to the target surface. If the image pickup mechanism 31 can pick up an image of the target surface while the pickup direction of the mirror 312 is perpendicular to the target surface, a preferable image of the target surface can be acquired.
Alternatively, the control device 5 may determine whether the image pickup mechanism 31 can pick up the image of the target surface when the pickup direction of the mirror 312 is perpendicular to the target surface, based on the first limit position and the second limit position of the mirror 312. Specifically, if the position of the mirror 312 is between the first limit position and the second limit position when the capturing direction of the mirror 312 is perpendicular to the target surface, the control device 5 determines that the image capturing mechanism 31 can capture the target image of the target surface when the capturing direction of the mirror 312 is perpendicular to the target surface, and if the position of the mirror 312 is not between the first limit position and the second limit position when the capturing direction of the mirror 312 is perpendicular to the target surface, the control device 5 determines that the image capturing mechanism 31 cannot capture the image of the target surface when the capturing direction of the mirror 312 is perpendicular to the target surface.
Similarly, if it is determined that the image capturing mechanism 31 can capture the image of the target surface when the capturing direction of the mirror 312 is perpendicular to the target surface, the control device 5 determines the position of the mirror 312 when the capturing direction of the mirror 312 is perpendicular to the target surface as the target position in the case where the image capturing mechanism 31 can capture the image of the target surface, and determines the rotation instruction according to the current position of the mirror 312 and the target position; if it is determined that the image capturing mechanism 31 cannot capture the image of the target surface when the capturing direction of the mirror 312 is perpendicular to the target surface, the control device 5 determines the position of the mirror 312 when the angle formed by the capturing direction of the mirror 312 and the target surface is the maximum under the condition that the image capturing mechanism 31 can capture the image of the target surface as the target position, and determines the rotation instruction according to the current position of the mirror 312 and the target position.
Optionally, the rotation instruction further includes a target direction, when the target direction in the rotation instruction is determined, the control device 5 calculates a first angle required for the mirror 312 to rotate from the current position to the target position in the clockwise direction and a second angle required for the mirror 312 to rotate from the current position to the target position in the counterclockwise direction, determines a smaller one of the first angle and the second angle as the target angle, and determines the rotation direction corresponding to the target angle as the target direction.
Further, the control device 5 determines a rotation command during the process of conveying the article by the conveying assembly 11, the control device 5 controls the conveying assembly 11 to suspend conveying the article before controlling the mirror driving assembly 313 to drive the mirror 312 to rotate by a target angle according to the rotation command, then the control device 5 controls the mirror 312 to rotate by the target angle in the target direction according to the rotation command, and controls the conveying assembly 11 to continue conveying the article after controlling the mirror driving assembly 313 to drive the mirror 312 to rotate by the target angle according to the rotation command. The matching of the mirror driving assembly 313 and the mirror 312 can realize that the collecting direction of the mirror 312 is adjusted when the conveying assembly 11 suspends the conveying of the articles, and the articles are continuously conveyed after the collecting direction of the mirror 312 is adjusted. The object is prevented from passing through the acquisition area of the image acquisition mechanism 31 in the rotation process of the reflector 312, and the image acquisition mechanism 31 is ensured to acquire the image of the target surface.
The image capturing apparatus 010 of the embodiment includes a conveying assembly 11 for conveying an article, and an image capturing mechanism 31 disposed on one side of the conveying assembly 11, where the image capturing mechanism 31 includes a camera 311, a reflective mirror 312, and a reflective mirror driving assembly 313, and by driving the reflective mirror 312 of the image capturing mechanism 31 to rotate, the camera 311 of the image capturing mechanism 31 can acquire an image of a surface of the article facing the setting side of the image capturing mechanism 31, that is, when the orientation of one surface of the article is within 180 degrees corresponding to the image capturing mechanism, the image capturing mechanism 31 can capture the image of the surface. Therefore, when the image acquisition equipment of this embodiment is used for handling the express mail, when the staff put the express mail at the front end of conveying subassembly 11, need not to make the surface that carries the bar code of express mail towards a specific direction to can greatly improve staff's operating efficiency, and then improve express mail treatment effeciency, effectively solve the express mail treatment facility of correlation technique and had the lower problem of express mail treatment effeciency.
It should be noted that in other embodiments provided by the present invention, a plurality of image capturing mechanisms 31 may be disposed on different sides of the transport assembly 11. Fig. 7 is a schematic structural diagram of an image capturing apparatus according to another embodiment of the present invention, as shown in fig. 7, in this embodiment, one image capturing mechanism is respectively disposed above the conveying assembly 11 and on both sides of the conveying assembly 11 in the width direction, an image of an upper surface of an article may be captured by the first image capturing mechanism 31a located above the conveying assembly 11, an image of a surface of the article facing the setting side of the second image capturing mechanism 31b may be captured by the second image capturing mechanism 31b located on a first side in the width direction of the conveying assembly 11, and an image of a surface of the article facing the setting side of the third image capturing mechanism 31c may be captured by the third image capturing mechanism 31c located on a second side in the width direction of the conveying assembly 11. So, through setting up three image acquisition mechanism 31, can realize gathering the image on five surfaces of article, when the image acquisition equipment of this embodiment is used for handling the express mail, when the express mail is put to the staff at the front end of conveying subassembly 11, only need make the express mail carry not down on the surface of bar code can to further improve staff's operating efficiency and express mail treatment effeciency.
Hereinafter, the working principle of the image capturing device will be described through the working flow of the image capturing device when capturing the image of the article.
Fig. 8 is a schematic diagram of a workflow of the image capturing apparatus according to an embodiment of the present invention when capturing an image of an article, and preferably, the method is executed by the control device 5 of the image capturing apparatus 010 shown in fig. 2. As shown in fig. 8, the method includes step S22, step S24, and step S26. The following describes the image capturing method according to the present embodiment, taking an article as an example.
And S22, conveying the article along the set direction, and acquiring the outline of the article when the article passes through the outline detection area.
Taking the image capturing apparatus 010 of the embodiment of the present invention as an example, the control device 5 controls the conveying assembly 21 of the conveying device 1 to convey the article in the direction indicated by the arrow b, and when the article is located in the contour detection area of the contour detection device 2, the control device 5 controls the contour detection device 2 to obtain the contour of the article. Specifically, the control device 5 acquires a signal output from each light receiver of the contour detection device 2 once every time the transport unit 11 transports an article by a minimum distance, so as to acquire a first projection image of the article when the article passes through the detection position of the first detection unit 21 from the beginning to the end, acquire a second projection image of the article when the article passes through the detection position of the second detection unit 22 from the beginning to the end, and acquire the contour of the article from the first projection image and the second projection image of the article. As described above, the first projected image is a projected image of the article on the bearing surface of the conveyor assembly 11, and the second projected image is a projected image of the article on a vertical plane parallel to the article conveying direction.
And S24, determining the target image acquisition mechanism, determining the orientation of each surface of the article, and determining the surface of the article facing the arrangement side of the target acquisition mechanism as the target surface.
Taking the image capturing apparatus 010 of the embodiment of the present invention as an example, after the contour of the article is obtained, the control device 5 first determines the image capturing mechanism 31 to obtain the surface image of the article, that is, the target image capturing mechanism, where the target image capturing mechanism may be an image capturing mechanism disposed above the conveying assembly 11, or an image capturing mechanism disposed on a first side in the width direction of the conveying assembly 11, or an image capturing mechanism disposed on a second side in the width direction of the conveying assembly 11. When the image capturing apparatus 010 includes only one image capturing mechanism 31, the control device 5 determines that the image capturing mechanism 31 is the target image capturing mechanism, and when the image capturing apparatus 010 includes a plurality of image capturing mechanisms 31, the control device 5 determines one image capturing mechanism 31 as the target image capturing mechanism according to a preset rule, for example, the preset rule is that each image capturing mechanism 31 is sequentially determined as the target image capturing mechanism according to the identification marks of the plurality of image capturing mechanisms 31.
As described above, when the article is located in the capturing region of the target image capturing mechanism, when one surface of the article faces the setting side of the target image capturing mechanism, that is, when the orientation of one surface of the article is within the range of 180 degrees corresponding to the target capturing mechanism, regardless of the specific orientation of the surface, the capturing direction of the mirror may be made non-parallel to the surface by driving the mirror of the target image capturing mechanism to rotate, so that the target image capturing mechanism can capture the image of the surface, and therefore, the control device 5 determines the orientation of each surface of the article, which faces the setting side of the target image capturing mechanism, as the surface (i.e., the target surface) on which the image can be captured by the target image capturing mechanism, according to the contour of the article, where the orientation of the surface of the article facing the setting side of the target image capturing mechanism means that the included angle formed by the orientation of the surface facing the preset direction corresponding to the target image capturing mechanism is not more than 90 degrees, the orientation of a surface of the article is the positive direction of the normal of the surface, as described above, when the target image capturing mechanism is located above the conveying assembly 11, the predetermined direction corresponding to the target image capturing mechanism is the first predetermined direction, when the target image capturing mechanism is located on the first side of the width direction of the conveying assembly 11, the predetermined direction corresponding to the target image capturing mechanism is the second predetermined direction, and when the target image capturing mechanism is located on the second side of the width direction of the conveying assembly 11, the predetermined direction corresponding to the target image capturing mechanism is the third predetermined direction.
Specifically, the control device 5 calculates the orientations of the four vertical surfaces of the article through the first projection image, calculates the orientation of the upper surface of the article through the second projection image, and the control device 5 reads the preset direction corresponding to the target image acquisition mechanism stored in the storage device 4 according to the relative position of the target image acquisition mechanism and the conveying assembly 11, and determines the target surface of the article according to the preset direction corresponding to the target image acquisition mechanism and the orientations of the surfaces of the article. For example, when the preset direction corresponding to the target image capturing mechanism is a first preset direction, the control device 5 determines the upper surface of the article as the target surface; when the preset direction corresponding to the target image acquisition mechanism is the second preset direction or the third preset direction, the control device 5 calculates an included angle formed by the orientation of each vertical surface and the preset direction corresponding to the target image acquisition mechanism, judges whether the included angle is larger than 90 degrees, and determines the surface as the target surface when the included angle is not larger than 90 degrees.
Fig. 9 is a schematic diagram of a positional relationship between each vertical surface of an article conveyed by the image capturing device and a mirror of a target image capturing mechanism, as shown in the figure, rectangles 91 and 92 are respectively first projected images of two articles on the bearing surface of the conveyor assembly 11, the target image capturing mechanism is located on a first side of the width direction of the conveyor assembly 11, W911, W912, W913 and W914 are respectively four vertical surfaces of a first article, directions shown by arrows p911, p912, p913 and p914 are respectively orientations of the four vertical surfaces of the first article, W921, W922, W923 and W924 are respectively four vertical surfaces of a second article, directions shown by arrows p921, p922, p923 and p924 are respectively orientations of the four vertical surfaces of the second article, since a corresponding preset direction of the target image capturing mechanism is a width direction of the conveyor assembly 11 directed from the second side to the first side shown by an arrow f, therefore, it is easy to see that, for the first article, the angle formed by the orientation of the surface W911 and the orientation of the surface W914 with the preset direction corresponding to the target image capturing mechanism is smaller than 90 degrees, and the angle formed by the orientation of the surface W912 and the orientation of the surface W913 with the preset direction corresponding to the target image capturing mechanism is larger than 90 degrees, so that the control device 5 determines the surface W911 and the surface W914 as the target surfaces; for the second article, the included angle formed by the orientation of the surface W921 and the preset direction corresponding to the target image capturing mechanism is smaller than 90 degrees, the included angle formed by the orientation of the surface W922 and the preset direction corresponding to the target image capturing mechanism and the orientation of the surface W924 are equal to 90 degrees, and the included angle formed by the orientation of the surface W923 and the preset direction corresponding to the target image capturing mechanism is larger than 90 degrees, so that the control device 5 determines the surface W921, the surface W922 and the surface W924 as the target surface.
And S26, when the object is located in the acquisition area of the target image acquisition mechanism, controlling the target image acquisition mechanism to acquire the image of each target surface of the object in turn.
After the target surfaces of the articles are determined, the control device 5 sequences the target surfaces in a front-to-back order, and controls the target image acquisition mechanism to sequentially acquire images of each target surface when the articles are located in the acquisition area of the target image acquisition mechanism.
By the image acquisition method of the embodiment, because the surface of the article facing the setting side of the image acquisition mechanism can be determined as the target surface, and the image of the target surface is acquired by the image acquisition mechanism, that is, when the surface of the article faces within 180 degrees corresponding to the image acquisition mechanism, the image acquisition mechanism can acquire the image of the surface, when the image acquisition device is used for processing express mail, and when a worker places express mail at the front end of the conveying assembly, the worker only needs to make the surface of the express mail carrying the barcode face the target image acquisition mechanism, and can acquire the image of the surface through the target image acquisition mechanism, that is, the worker does not need to make the surface of the express mail carrying the barcode face a specific direction, therefore, the work efficiency of the worker can be greatly improved, and the processing efficiency of the express mail can be improved, the problem that the express mail processing efficiency of the express mail processing equipment in the related art is low is effectively solved.
Further, when the image acquisition device comprises a plurality of image acquisition mechanisms, according to the image acquisition method of the embodiment, images of the surface of the object facing the image acquisition mechanisms can be acquired through each image acquisition mechanism, therefore, when the image acquisition device is used for processing express items, a worker can more flexibly place the express items at the front end of the conveying assembly, for example, when the image acquisition device comprises three image acquisition mechanisms which are respectively arranged above the conveying assembly, on the first side of the conveying assembly and on the second side of the conveying assembly, when the worker places the express items at the front end of the conveying assembly, the worker only needs to enable the surface of the express items carrying the bar codes not to face upwards, therefore, the work efficiency of the worker can be further improved, and the processing efficiency of the express items is further improved.
Fig. 10 is a schematic view of another work flow of the image capturing apparatus for capturing an image of an article according to the embodiment of the present invention, in which the image capturing method is applied to a target image capturing mechanism for capturing an image of a target surface, that is, for each target surface in step S26 in the flow shown in fig. 8, the method shown in fig. 10 may be used to control the target image capturing mechanism to capture an image of the target surface, and as shown in the drawing, the method includes steps S2611 to S2613.
Step S2611, determine whether the current collecting direction of the mirror of the target image collecting mechanism is parallel to the target surface.
As described above, when one surface of the article faces the installation side of the target image capturing mechanism and the surface is not parallel to the capturing direction of the mirror 312 of the target image capturing mechanism, the mirror 312 receives effective light from the surface and reflects the effective light to the camera 311, so that the camera 311 captures an image of the surface. Therefore, before capturing an image of a target surface, the control device 5 first determines whether the current capturing direction of the mirror 312 is parallel to the target surface, and performs step S2612 when determining that the current capturing direction of the mirror 312 is parallel to the target surface, otherwise, performs step S2613.
Specifically, the control device 5 first acquires the current position of the mirror 312, wherein the current position of the mirror 312 is indicated by an angle required for the mirror 312 to rotate in the counterclockwise direction from the first extreme position to the current position. Fig. 11 is a schematic view of a state in which the mirror of the target image capturing mechanism of the image capturing apparatus according to the embodiment of the present invention is in two different positions, and as shown in fig. 11(a), since the mirror 312 is rotated counterclockwise by an angle B1 from the first limit position to the position shown in fig. 11(a), the current position of the mirror 312 shown in fig. 11(a) is B1.
Preferably, the control device 5 controls the mirror 312 to rotate to the initial position when the image capturing device 010 is powered on and initialized, updates the position information of the mirror according to the target angle after controlling the mirror 312 to rotate by the target angle each time, and determines the current capturing direction of the mirror 312 according to the position information. Alternatively, the initial position may be the first extreme position or the second extreme position. The control device 5 controls the mirror drive assembly 313 to drive the mirror 312 to the initial position each time the image capturing apparatus 010 is powered on, and then the control device 5 updates the position of the mirror 312 according to the rotation angle of the mirror each time the mirror 312 rotates, so that the current position of the mirror 312 can be acquired in this step. The current collecting direction of the mirror 312 can be acquired based on the position information of the mirror 312 and the relative positions of the mirror 312 and the camera 311.
Then, the control device 5 determines the current collecting direction of the mirror 312 according to the current position of the mirror 312, as shown in (a) of fig. 11, r1 is the effective ray of the mirror 312, and the direction indicated by the arrow h is the same as the propagation direction of the effective ray r1, that is, the direction indicated by the arrow h is the collecting direction of the mirror 312.
Finally, the control device 5 determines whether the current collecting direction of the mirror 312 is parallel to the target surface according to the current collecting direction of the mirror 312 and the extending direction of the target surface in the corresponding projection image, as shown in (a) of fig. 11, the rectangle 93 is the first projection image of the article on the carrying surface of the conveyor assembly 11, the surface W931 is the determined target surface, and since the extending direction of the target surface W931 in the first projection image is the same as the collecting direction of the mirror 312 indicated by the arrow h, the control device 5 determines that the current collecting direction of the mirror 312 is parallel to the target surface, and performs step S2612.
And step S2612, controlling the reflector of the target image acquisition mechanism to rotate by a target angle along the target direction so that the acquisition direction of the reflector of the target image acquisition mechanism is not parallel to the target surface.
The control device 5 determines a target direction and a target angle to be rotated by the mirror 312 of the target image capturing mechanism according to a preset principle, and controls the mirror 312 to rotate the target angle in the target direction so that the capturing direction of the mirror 312 is not parallel to the target surface. The target direction is a direction which is rotated from the current collecting direction of the reflector 312 to the target surface and has a smaller rotation angle required by the orientation, the target angle is larger than zero, and the target angle satisfies that the reflector 312 is positioned between the first limit position and the second limit position after rotating along the target direction from the current position by the target angle.
As shown in fig. 11(a), the collecting direction of the mirror 312 is parallel to the target surface W931 with the direction indicated by the arrow p931 being the orientation of the target surface W931, and as is readily apparent from the drawing, the angle required to rotate the collecting direction of the mirror 312 indicated by the arrow h in the clockwise direction to the orientation of the target surface W931 indicated by the arrow p931 is 270 degrees, and the angle required to rotate the collecting direction of the mirror 312 indicated by the arrow h in the counterclockwise direction to the orientation of the target surface W931 indicated by the arrow p931 is 90 degrees, and therefore, the control device 5 determines that the target direction is the counterclockwise direction.
After determining the target direction, the control device 5 determines a target angle based on the determined target direction, wherein the target angle a1 should be greater than zero and less than 90 degrees and satisfies that the mirror 312 is located between the first limit position and the second limit position after rotating the target angle in the target direction from the current position.
Specifically, the control device 5 reads a preset angle stored in the storage device 4 in advance, and determines whether the mirror 312 is located between the first limit position and the second limit position after the mirror 312 is rotated by the preset angle in the target direction from the current position, and sets the target angle a1 equal to the preset angle if the mirror 312 is still located between the first limit position and the second limit position after the mirror 312 is rotated by the preset angle in the target direction from the current position; if the mirror 312 exceeds the first limit position after rotating the preset angle in the target direction from the current position, that is, the target direction is a direction of rotating from the second limit position to the first limit position, and the mirror 312 exceeds the first limit position after rotating the target angle, the target angle a1 is set as: a1 ═ C1-DA1, where C1 is the angle required for the mirror 312 to rotate in the target direction from the current position to the first extreme position, and DA1 is a preset offset greater than zero, by which the mirror 312 can be driven to the first preset position at the preset angle DA1 from the first extreme position; if the mirror 312 exceeds the second limit position after rotating the preset angle in the target direction from the current position, that is, the target direction is a direction from the first limit position to the second limit position, and the mirror 312 exceeds the second limit position after rotating the preset angle, the target angle a1 is set as: a1 ═ C2-DA2, where C2 is the angle required for the mirror 312 to rotate from the current position in the target direction to the second limit position, and DA2 is a preset offset greater than zero, by which the mirror 312 can be driven to the second preset position at the preset angle DA2 from the second limit position. By determining the target angle a1 in this embodiment, it is ensured that the mirror 312 is still located between the first limit position and the second limit position after rotating the target angle in the target direction, and the collecting direction of the mirror 312 is no longer parallel to the target surface, so that the target image collecting mechanism can collect the image of the target surface.
And S2613, controlling the target image acquisition mechanism to acquire the image of the target surface when the target surface reaches the acquisition position of the target image acquisition mechanism.
The control device 5 calculates a first time required from the present time to a time when the target surface reaches the capturing position of the target image capturing mechanism based on the present position of the article and the conveying speed of the article, the position where the target surface reaches the target image capturing mechanism is the position where the foremost end of the target surface reaches the intersection with the effective optical path of the mirror 312, and after the first time, that is, when the target surface reaches the capturing position of the target image capturing mechanism, the control device 5 controls the camera 311 to start outputting the line image based on the received light reflected by the mirror 312, and thus, when the target surface leaves the acquisition position of the target image acquisition mechanism, the target image acquisition mechanism can acquire the image of the target surface, the collection position where the target surface is away from the target image collection mechanism is a position where the rearmost end of the target surface reaches a position intersecting the effective optical path of the mirror 312.
By the image acquisition method, when the current acquisition direction of the reflector of the target image acquisition mechanism is parallel to the target surface, the acquisition direction of the reflector is not parallel to the target surface of the object by driving the reflector to rotate the target angle along the target direction, so that the target image acquisition mechanism can acquire the image of the target surface of the object, and the working reliability of the image acquisition equipment is improved.
Fig. 12 is a schematic diagram of still another work flow when the image capturing apparatus according to the embodiment of the present invention captures an image of an article, and the image capturing method is also applied to a target image capturing mechanism to capture an image of a target surface, that is, for each target surface in step S26 in the flow shown in fig. 8, the method shown in fig. 12 may be used to control the target image capturing mechanism to capture an image of the target surface, and as shown in the figure, the method includes steps S2621 to S2626.
Step S2621, determine whether the current collecting direction of the mirror of the target image collecting mechanism is parallel to the target surface.
The control device 5 determines whether the current collecting direction of the reflective mirror 312 is parallel to the target surface, and executes step S2622 when it is determined that the current collecting direction of the reflective mirror 312 is not parallel to the target surface, or executes step S2623 otherwise.
Step S2622, determine whether the current collecting direction of the mirror of the target image collecting mechanism is perpendicular to the target surface.
When the current collecting direction of the reflective mirror 312 is not parallel to the target surface, the control device 5 determines whether the current collecting direction of the reflective mirror 312 is perpendicular to the target surface, and when the current collecting direction of the reflective mirror 312 is not perpendicular to the target surface, step S2623 is performed, otherwise, step S2626 is performed.
Specifically, the control device 5 first obtains the current position of the reflective mirror 312, then the control device 5 determines the current collecting direction of the reflective mirror 312 according to the current position of the reflective mirror 312, and finally, the control device 5 determines whether the current collecting direction of the reflective mirror 312 is perpendicular to the target surface according to the current collecting direction of the reflective mirror 312 and the extending direction of the target surface in the corresponding projection image.
Step S2623, determine whether the target image capture mechanism can capture the image of the target surface when the capture direction of the mirror is perpendicular to the target surface.
When it is determined that the current collecting direction of the mirror 312 is parallel to the target surface or when it is determined that the current collecting direction of the mirror 312 is not parallel to the target surface nor perpendicular thereto, the control device 5 determines whether the target image collecting mechanism can collect the image of the target surface with the collecting direction of the mirror 312 perpendicular to the target surface, according to the orientation of the target surface. Specifically, the control device 5 first determines a target direction in which the mirror 312 of the target image acquisition mechanism needs to rotate according to a preset rule, wherein the target direction is a direction in which a required rotation angle of the mirror 312 from a current acquisition direction is smaller toward a target surface, then the control device 5 calculates an angle required for the mirror 312 to rotate from the current position in the target direction to a state in which an acquisition direction thereof is perpendicular to the target surface, and determines whether the mirror 312 is located between a first limit position and a second limit position after the mirror 312 rotates from the current position in the target direction by the angle, and if it is determined that the mirror 312 is still located between the first limit position and the second limit position after the mirror 312 rotates from the current position in the target direction by the angle, it is determined that the target image acquisition mechanism can acquire an image of the target surface under the condition in which the acquisition direction of the mirror 312 is perpendicular to the target surface, the control device 5 records the angle as the first target angle and performs step S2624, otherwise, the control device 5 determines that the target image capturing mechanism cannot capture the image of the target surface in the case where the capturing direction of the mirror 312 is perpendicular to the target surface, and performs step S2625.
As shown in fig. 11, the angle required for the mirror 312 to rotate in the target direction (counterclockwise direction) from the state shown in fig. 11(a) to the state shown in fig. 11(B) is B2, wherein the collecting direction of the mirror 312 is parallel to the target surface W931 when the mirror 312 is in the state shown in fig. 11(a), and the collecting direction of the mirror 312 is perpendicular to the target surface W931 when the mirror 312 is in the state shown in fig. 11(B), since the mirror 312 is located between the first limit position and the second limit position when the mirror 312 rotates in the target direction from the state shown in fig. 11(a) to the state shown in fig. 11(B), the control device 5 records the angle B2 as the first target angle.
Step S2624, controlling the reflector of the target image acquisition mechanism to rotate by a first target angle along the target direction, so that the acquisition direction of the reflector of the target image acquisition mechanism is perpendicular to the target surface.
When it is determined that the target image capturing mechanism can capture an image of the target surface with the capturing direction of the mirror 312 perpendicular to the target surface, the control device 5 controls the mirror 312 to rotate by the first target angle in the target direction so that the capturing direction of the mirror 312 is perpendicular to the target surface, based on the target direction determined in step S2623 and the recorded first target angle.
Step S2625, controlling the mirror of the target image capturing mechanism to rotate by a second target angle along the target direction, so that the mirror of the target image capturing mechanism reaches a preset position corresponding to the target surface.
When it is determined that the target image capture mechanism cannot capture an image of the target surface with the capture direction of the mirror 312 perpendicular to the target surface, the control device 5 controls the mirror drive assembly 313 to drive the mirror 312 to rotate by a second target angle according to the target direction to drive the mirror 312 to a preset position corresponding to the target surface. Specifically, when the target direction is a direction of rotation from the second limit position to the first limit position, the control device 5 sets the second target angle a2 at which the mirror 312 needs to be rotated to: a2 is D1-DA1, where D1 is an angle required for the mirror 312 to rotate from the current position to the first limit position along the target direction, and DA1 is a preset offset greater than zero, and by such arrangement, the mirror 312 can be driven to a preset position away from the first limit position by a preset angle DA1, so that an included angle formed by the collecting direction of the mirror 312 and the target surface is as large as possible; when the target direction is a direction of rotation from the first extreme position to the second extreme position, then the second target angle a2 is set to: a2 is D2-DA2, where D2 is an angle required for the mirror 312 to rotate from the current position to the second limit position along the target direction, and DA2 is a preset offset greater than zero, so that the mirror 312 can be driven to a preset position away from the second limit position by a preset angle DA2, so that an included angle formed between the collecting direction of the mirror 312 and the target surface is as large as possible.
The control device 5 controls the mirror 312 to rotate by the second target angle in the target direction according to the target direction determined in step S2623 and the calculated second target angle, so that the mirror 312 of the target image capturing mechanism reaches a preset position corresponding to the target surface.
S2626, when the target surface reaches the capturing position of the target image capturing mechanism, controlling the target image capturing mechanism to capture an image of the target surface.
The specific implementation of the step, synchronization step S2613, is not described herein again.
By the image acquisition method of the embodiment, the acquisition direction of the reflector is perpendicular to the target surface by driving the reflector to rotate the first target angle along the target direction, or the acquisition direction of the reflector is perpendicular to the target surface as much as possible by driving the reflector to rotate the second target angle along the target direction, so that the target image acquisition mechanism can acquire the image of the target surface with the best quality, and the quality of the image acquisition equipment for acquiring the image of the article is improved.
Through the image acquisition equipment of the embodiment, the image acquisition mechanism can acquire the image of the target surface under the condition that the acquisition direction of the reflector is vertical to the target surface or under the condition that the included angle formed by the acquisition direction of the reflector and the target surface is as large as possible, so that the target image acquisition mechanism can acquire the image of the target surface with the best quality, and the quality of acquiring the image of the object by the image acquisition equipment is improved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. An image acquisition apparatus, characterized by comprising: the device comprises a control device, a conveying assembly, a contour detection device and an image acquisition mechanism;
the conveyor assembly is configured to convey articles on a conveyance path; the contour detection device and the image acquisition mechanism are both positioned on the conveying path, and the contour detection device is positioned at the upstream of the image acquisition mechanism along the conveying direction of the articles; the image acquisition mechanism comprises a camera, a reflector and a reflector driving assembly, wherein the camera and the reflector are arranged at intervals along the conveying direction of the object, the reflector is provided with a rotating shaft, and the reflector driving assembly is arranged to drive the reflector to rotate around the rotating shaft so that the reflecting surface of the reflector rotates relative to the acquisition surface of the camera; the control device is electrically connected with the conveying assembly, the contour detection device, the camera and the reflector driving assembly respectively;
the control device is configured to control the conveying assembly to convey an article on the conveying path, control the contour detection device to acquire a contour image of the article, determine at least one target surface of the article according to the contour image, determine a rotation instruction of the reflector according to the orientation of the target surface and the current collecting direction of the reflector, wherein the rotation instruction comprises a target angle, control the reflector driving assembly to drive the reflector to rotate the target angle according to the rotation instruction, and control the camera to acquire the image of the target surface of the article through the reflector when the article is located in the collecting area of the image collecting mechanism.
2. The apparatus according to claim 1, wherein the control device determines whether the current collecting direction of the mirror is parallel to the target surface according to the orientation of the target surface and the current collecting direction of the mirror, and determines that the target angle is greater than zero and less than 90 degrees when the current collecting direction of the mirror is determined to be parallel to the target surface, wherein the collecting direction of the mirror is a direction of the effective light rays irradiated to the mirror, and the effective light rays irradiated to the mirror can be reflected by the mirror to the camera.
3. The apparatus according to claim 2, wherein when it is determined that the current capturing direction of the mirror is parallel to the target surface, the control means determines whether the image capturing mechanism can capture the image of the target surface while the capturing direction of the mirror is perpendicular to the target surface;
if the control device determines that the image acquisition mechanism can acquire the image of the target surface when the acquisition direction of the reflector is vertical to the target surface, the control device determines the position of the reflector when the acquisition direction of the reflector is vertical to the target surface under the condition that the image acquisition mechanism can acquire the image of the target surface as a target position, and determines the rotation instruction according to the current position of the reflector and the target position;
if the image acquisition mechanism cannot acquire the image of the target surface when the acquisition direction of the reflector is vertical to the target surface, the control device determines the position of the reflector as a target position when the angle formed by the acquisition direction of the reflector and the target surface is maximum under the condition that the image acquisition mechanism can acquire the image of the target surface, and determines the rotation instruction according to the current position of the reflector and the target position;
the rotating instruction comprises a target direction and a target angle, and the reflector rotates from the current position along the target direction by the target angle and then reaches the target position.
4. The apparatus according to claim 2, wherein the control means determines whether the current collecting direction of the mirror is perpendicular to the target surface when it is determined that the current collecting direction of the mirror is not parallel to the target surface, and determines that the target angle is zero when it is determined that the current collecting direction of the mirror is perpendicular to the target surface.
5. The apparatus according to claim 4, wherein when it is determined that the current capturing direction of the mirror is not perpendicular to the target surface, the control means determines whether the image capturing mechanism can capture the image of the target surface while the capturing direction of the mirror is perpendicular to the target surface;
if the control device determines that the image acquisition mechanism can acquire the image of the target surface when the acquisition direction of the reflector is vertical to the target surface, the control device determines the position of the reflector when the acquisition direction of the reflector is vertical to the target surface under the condition that the image acquisition mechanism can acquire the image of the target surface as a target position, and determines the rotation instruction according to the current position of the reflector and the target position;
if the image acquisition mechanism cannot acquire the image of the target surface when the acquisition direction of the reflector is vertical to the target surface, the control device determines the position of the reflector as a target position when the angle formed by the acquisition direction of the reflector and the target surface is maximum under the condition that the image acquisition mechanism can acquire the image of the target surface, and determines the rotation instruction according to the current position of the reflector and the target position;
the rotating instruction comprises a target direction and a target angle, and the reflector rotates from the current position along the target direction by the target angle and then reaches the target position.
6. The image capturing device according to claim 3 or 5, characterized in that the capturing face of the camera is oriented in the same or opposite direction as the conveying direction of the article;
the control device determines that the image pickup mechanism can pick up an image of a target surface when a pickup direction of the mirror is perpendicular to the target surface, if the position of the mirror is between a first limit position and a second limit position when the pickup direction of the mirror is perpendicular to the target surface, and determines that the image pickup mechanism cannot pick up an image of a target surface when the pickup direction of the mirror is perpendicular to the target surface, if the position of the mirror is not between the first limit position and the second limit position when the pickup direction of the mirror is perpendicular to the target surface;
when the reflector is located at the first limit position, the reflecting surface of the reflector is perpendicular to the collecting surface of the camera and faces to one side provided with the conveying assembly, and when the reflector is located at the second limit position, the reflecting surface of the reflector is opposite to the collecting surface of the camera.
7. The apparatus according to claim 3 or 5, wherein the control means calculates a first angle required for the mirror to rotate from the current position to the target position in a clockwise direction and a second angle required for the mirror to rotate from the current position to the target position in a counterclockwise direction, determines a smaller one of the first angle and the second angle as a target angle, and determines a rotation direction corresponding to the target angle as the target direction.
8. The apparatus according to any one of claims 1 to 5, wherein the camera includes a plurality of photosensitive elements arranged in a line, an arrangement direction of the plurality of photosensitive elements being parallel to an extending direction of the rotation shaft of the mirror; the control device determines a surface of the article parallel to the arrangement direction of the plurality of photosensitive elements and facing a setting side of the image pickup mechanism as the target surface.
9. The image capturing device of any one of claims 1 to 5, wherein the control means is configured to control the conveying assembly to suspend conveying the article before controlling the mirror drive assembly to drive the mirror to rotate by the target angle in accordance with the rotation instruction, and to control the conveying assembly to continue conveying the article after controlling the mirror drive assembly to drive the mirror to rotate by the target angle in accordance with the rotation instruction.
10. The image acquisition device of any one of claims 1 to 5, wherein the control device controls the reflective mirror to rotate to an initial position when the image acquisition device is powered on and initialized, updates position information of the reflective mirror according to a target angle after controlling the reflective mirror to rotate by the target angle each time, and determines a current acquisition direction of the reflective mirror according to the position information.
CN201811460124.2A 2018-11-30 2018-11-30 Image acquisition device Withdrawn CN111263031A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112150736A (en) * 2020-08-17 2020-12-29 浙江大华技术股份有限公司 Code scanning device, code scanning cash registering system and commodity code scanning cash registering method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112150736A (en) * 2020-08-17 2020-12-29 浙江大华技术股份有限公司 Code scanning device, code scanning cash registering system and commodity code scanning cash registering method

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