Light spot positioning method, identification device, sorting equipment and readable storage medium

Abstract

The present disclosure relates to the field of laser ranging, and specifically to a method for positioning a light spot, an identification device, a sorting device, and a readable storage medium. The method for positioning a light spot includes: obtaining a light intensity value sequence corresponding to a pixel point sequence; determining the minimum peak in the light intensity value sequence based on the light intensity value sequence; determining the boundary of the light spot based on the light intensity value of the minimum peak; and determining the center of the light spot based on the boundary of the light spot. The present disclosure can determine the partial pixel point sequence and its light intensity value sequence corresponding to the light spot based on the light intensity value sequence corresponding to the pixel point sequence, and can accurately locate the range where the light spot is located. According to the peaks in the light intensity value sequence, the minimum peak is determined, and the boundary and the center of the light spot are determined based on the light intensity value of the minimum peak. By analyzing and determining multiple peaks of the light spot, it is possible to effectively avoid light spot positioning errors when the light intensity value of the light spot is interfered by noise, and improve the positioning accuracy of the light spot and the anti-interference of the light spot positioning.

Description

Technical Field

[0001] The present invention relates to the field of laser ranging, and in particular to a method for locating a light spot, an identification device, a sorting device and a readable storage medium. Background Art

[0002] Laser distance measurement is to transmit a measuring laser beam to the material to be measured, and then receive the laser beam reflected by the surface of the material to be measured through the sensor. A light spot of the reflected laser beam is formed on the sensor, and the position information of the material to be measured and the distance information from the sensor are determined by the center position of the light spot on the sensor. Since the laser distance measurement method is greatly affected by the environment, the laser beam reflected by the surface of the material to be measured is prone to noise when projected onto the sensor. In the process of locating the center of the light spot on the sensor, the current light spot center positioning method has poor anti-interference ability and is easily interfered by noise, resulting in errors in the center positioning of the light spot and low accuracy of the light spot positioning. Summary of the invention

[0003] In order to overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides a method for locating a light spot, including: obtaining a light intensity value sequence corresponding to a pixel point sequence; based on the light intensity value sequence, determining the minimum peak in the light intensity value sequence; based on the light intensity value of the minimum peak, determining the boundary of the light spot; based on the boundary of the light spot, determining the center of the light spot.

[0004] In some embodiments, determining the boundary of the light spot based on the light intensity value of the minimum peak includes: determining a boundary threshold based on the light intensity value of the minimum peak; and determining the boundary of the light spot based on the boundary threshold.

[0005] In some embodiments, the boundary threshold is determined in the following manner: based on the light intensity value sequence, a plurality of background light intensity values ​​are determined, wherein the plurality of background light intensity values ​​are the first n light intensity values ​​and / or the last m light intensity values ​​of the light intensity value sequence, 1≤n≤50, 1≤m≤50; based on the average value of the plurality of background light intensity values, a first light intensity threshold is determined; the light intensity value of the minimum peak is subtracted from the first light intensity threshold to obtain a net value of the light intensity value of the minimum peak; and the boundary threshold is determined based on the net value of the first light intensity threshold and the light intensity value of the minimum peak.

[0006] In some embodiments, determining the boundary of the light spot based on the boundary threshold includes: based on the boundary threshold, determining two pixel points closest to the boundary threshold on the left and right sides of the light intensity value sequence respectively; performing linear interpolation on the two pixel points on the left and right sides respectively, and determining the boundary of the light spot according to the boundary threshold.

[0007] In some embodiments, the method for locating the light spot further includes: determining the number of peaks based on the light intensity value sequence; if the number of peaks is greater than 1, determining the minimum peak; if the number of peaks is equal to 1, determining the center of the light spot based on the peaks.

[0008] In some embodiments, the method for locating the light spot further includes: based on the light intensity value sequence, excluding light intensity values ​​irrelevant to the light spot to obtain an updated light intensity value sequence.

[0009] In some embodiments, excluding light intensity values ​​irrelevant to the light spot based on the light intensity value sequence to obtain an updated light intensity value sequence includes: based on the light intensity value sequence, deleting light intensity values ​​in the light intensity value sequence that are less than or equal to a first light intensity threshold to form an updated light intensity value sequence.

[0010] In some embodiments, based on the light intensity value sequence, the first light intensity threshold is determined in the following manner: based on the light intensity value sequence, a plurality of background light intensity values ​​are determined, wherein the plurality of background light intensity values ​​are the first n light intensity values ​​and / or the last m light intensity values ​​of the light intensity value sequence, 1≤n≤50, 1≤m≤50; and the first light intensity threshold is determined according to the average value of the plurality of background light intensity values.

[0011] In some embodiments, the light intensity value sequence is based on the light intensity value sequence, and the light intensity values ​​irrelevant to the light spot are excluded to obtain an updated light intensity value sequence, including: determining a maximum light intensity value based on the light intensity value sequence; confirming the light intensity values ​​from the maximum light intensity value to the left and right sides respectively, and determining the initial boundary of the light spot in the light intensity value sequence according to a second light intensity threshold; and forming an updated light intensity value sequence according to the initial boundary of the light spot.

[0012] In some embodiments, the second light intensity threshold is determined by: determining a plurality of background light intensity values ​​based on the light intensity value sequence, wherein the plurality of background light intensity values ​​are the first n light intensity values ​​and / or the last m light intensity values ​​of the light intensity value sequence, 1≤n≤50, 1≤m≤50; determining the range of the plurality of background light intensity values; and determining the second light intensity threshold based on an average value of the plurality of background light intensity values ​​and the range.

[0013] In some embodiments, excluding light intensity values ​​irrelevant to the light spot based on the light intensity value sequence to obtain an updated light intensity value sequence includes: performing median filtering on the light intensity value sequence to form an updated light intensity value sequence.

[0014] In a second aspect, the present disclosure further provides an identification device, including: an image acquisition module, used to acquire image information of a material to be tested; and an identification module, used to execute the method for positioning a light spot described in any of the aforementioned embodiments.

[0015] In a third aspect, the present disclosure further provides a sorting device for identifying and sorting materials, comprising: a conveying device for conveying materials to be tested; an identification device as described in any of the preceding embodiments, for identifying the materials to be tested conveyed by the conveying device; and a sorting device for classifying and sorting the materials to be tested according to the identification results of the identification device.

[0016] In a fourth aspect, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the method for positioning the light spot described in any of the aforementioned embodiments.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0018] Through the light spot positioning method disclosed in the present invention, it is possible to determine the partial pixel point sequence and its light intensity value sequence corresponding to the light spot based on the light intensity value sequence corresponding to the pixel point sequence, and accurately locate the range where the light spot is located. According to the peaks in the light intensity value sequence, the minimum peak is determined, and the boundary and the center of the light spot are determined based on the light intensity value of the minimum peak. By analyzing and determining multiple peaks of the light spot, it is possible to effectively avoid light spot positioning errors when the light intensity value of the light spot is interfered by noise, and improve the positioning accuracy of the light spot and the anti-interference performance of the light spot positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0020] Figure 1 is a flow chart of a method for positioning a light spot according to an exemplary embodiment of the disclosure;

[0021] Figure 2 is an image showing a sequence of light intensity values ​​according to an exemplary embodiment of the disclosure;

[0022] Figure 3 is an image showing a sequence of light intensity values ​​according to another exemplary embodiment of the present disclosure;

[0023] Figure 4 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0024] Figure 5 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0025] Figure 6 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0026] Figure 7 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0027] Figure 8 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0028] Fig. 9 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0029] Fig.10 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0030] Fig.11 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0031] Fig.12 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0032] Fig.13 is a flow chart of a method for positioning a light spot according to another exemplary embodiment of the present disclosure;

[0033] Fig.14 is a schematic diagram of the structure of an identification device according to an exemplary embodiment of the disclosure;

[0034] Fig.15 It is a schematic diagram of the structure of a sorting device according to an exemplary embodiment of the disclosure;

[0035] Fig.16 The present invention is a schematic diagram showing the structure of an electronic device according to an exemplary embodiment of the disclosure. DETAILED DESCRIPTION

[0036] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0037] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0038] Laser ranging is done by emitting a laser beam to the material to be measured, and receiving the laser beam reflected by the surface of the material to be measured through the sensor, locating the light spot formed on the sensor, thereby determining the position information and distance information of the material to be measured. The sensor can obtain a sequence of light intensity values, and locate the light spot formed on the sensor by the reflected light from the surface of the material to be measured based on the sequence of light intensity values. Figure 2As shown, the light intensity value corresponding to each pixel is represented in the form of discrete points, and each point is connected. Among them, the horizontal axis in the image represents each pixel, and the vertical axis is the light intensity value. Under ideal conditions, a peak appears in the light intensity value sequence, and the location of the peak is the center of the light spot. Since the laser beam reflected by the surface of the material to be measured is projected onto the sensor, noise is likely to occur, resulting in multiple peaks in the light intensity value sequence, which is difficult to locate. In some current technologies, the center of the light spot is determined by the dichotomy method, the grayscale centroid method, and the edge interpolation method. For a multi-peak light intensity value sequence, it is easy to determine the center of a single peak as the center of the entire light spot, resulting in an error in the location of the light spot. In addition, in the current technology, the maximum peak of the light intensity value sequence is generally used as the starting point to search for the edge of the light spot on both sides. For a light intensity value sequence containing multiple peaks, it is easy to locate the wrong edge in the process of searching for the edge of the light spot, so that the determined center of the light spot is wrong, and the determined light spot size is smaller than the actual light spot size, so that the accuracy of the light spot positioning is low.

[0039] To solve the above problems, the present disclosure provides a method for locating a light spot, such as Figure 1 As shown, it may include: step S110 to step S140.

[0040] Step S110, obtaining a light intensity value sequence corresponding to a pixel sequence; the light intensity value of each pixel can be determined based on the pixel sequence, and the light intensity value of each pixel is arranged in the order of the pixel sequence to obtain a light intensity value sequence, wherein the light intensity value sequence includes the light intensity values ​​of all pixels in the pixel sequence, and the order of arrangement of the light intensity values ​​corresponds to the pixels. The pixel sequence and its corresponding light intensity value sequence can be obtained through an image, or directly through a laser ranging sensor. The laser ranging sensor can be a linear array CMOS image sensor, and the laser beam is reflected by the surface of the material to be measured, and can be imaged on the linear array CMOS image sensor through a focusing lens to form a one-dimensional image, including pixel sequence information and light intensity value information of each pixel. Among them, the one-dimensional image obtained by the linear array CMOS image sensor can include pixels of the material to be measured and background pixels.

[0041] Step S120, based on the light intensity value sequence, determine the minimum peak in the light intensity value sequence. According to the light intensity value sequence, the peak in the light intensity value sequence can be determined according to the size of the light intensity value and the order of arrangement, and the light intensity value sequence can have one or more peaks. Among them, the confirmation of the peak can be a peak whose light intensity value exceeds a certain intensity, so as to avoid the interference of the calculation by the small peak formed by the background interference noise. Because the surface of the object to be measured may be uneven, etc., the light intensity value sequence formed in the detection forms multiple peaks. If the position of the light spot is determined only according to the maximum peak, it may cause a large deviation. In the embodiment of the present disclosure, the boundary can be determined according to the minimum peak, so that the light spot can be considered more comprehensively and holistically, ensuring that the position does not deviate. The minimum peak can be determined according to the light intensity value sequence. The light intensity value of the minimum peak can be obtained, and the pixel position information corresponding to the minimum peak can be determined according to the light intensity value sequence.

[0042] Step S130, based on the light intensity value of the minimum peak, determine the boundary of the light spot. The boundary of the light spot can be determined based on the light intensity value of the minimum peak and with the minimum peak as a reference. The boundary of the light spot can be searched from both ends of the light intensity value sequence to the middle of the light intensity value sequence. In the light intensity value sequence, it can be represented as two light intensity values, and the boundary of the light spot can include one or more peaks between the two light intensity values ​​corresponding to the two light intensity values. Figure 3 As shown, the light intensity value corresponding to each pixel is represented in the form of discrete points, and the points are connected to obtain an image of the light intensity value sequence, where the image includes peaks P1, P2, and P3, where the minimum peak is P2. The left boundary I of the light spot can be determined based on the light intensity value of P2. l , and the right boundary I r .

[0043] Step S140, based on the boundary of the light spot, determine the center of the light spot. According to the boundary of the light spot, the pixel position information corresponding to the boundary of the light spot can be determined, and the center position and light intensity value information of the light spot can be determined. Figure 3 As shown, the left edge of the light spot I l , and the right boundary I r , determine the center between the two spot boundaries, which is the center of the spot I o .

[0044] The method for locating the light spot provided by the present embodiment can determine the boundary of the light spot by obtaining the light intensity value sequence corresponding to the pixel point sequence and determining the light intensity value information of the minimum peak, and finally locate the center of the light spot. The present embodiment can analyze the peaks in the light intensity value sequence, and effectively avoid missing peaks when the light intensity value of the light spot is interfered by noise and multiple peaks appear, thereby avoiding missing the light spot area. The light intensity value sequence can be analyzed more comprehensively, thereby avoiding errors in light spot positioning, effectively improving the accuracy of light spot positioning, effectively eliminating the influence of noise on light spot positioning, and improving the anti-interference performance of the light spot positioning method.

[0045] In some embodiments, Figure 4 As shown, step S130, determining the boundary of the light spot based on the light intensity value of the minimum peak, may include: step S131 and step S132.

[0046] Step S131, based on the light intensity value of the minimum wave peak, determine the boundary threshold. The boundary threshold may be the light intensity value of the light spot boundary. It can be considered that in the light intensity value sequence, the pixel points corresponding to the light intensity values ​​greater than the boundary threshold are the part where the light spot is located, and the pixel points corresponding to the light intensity values ​​less than the boundary threshold are the part of the background. The boundary threshold can be determined based on the light intensity value of the minimum wave peak. Since the light intensity value determined by the sensor may have certain noise interference, the light intensity value of the minimum wave peak in the wave peak can be selected to determine the boundary threshold, so that the boundary threshold determined by the image has higher stability and accuracy.

[0047] Step S132, based on the boundary threshold, determine the boundary of the light spot. Each data in the light intensity value sequence can be compared with the boundary threshold to determine the boundary of the light spot. The boundary of the light spot can be the pixel point where the edge of the light spot is located, and two pixel points located on both sides of the peak can be selected as the boundary of the light spot. One or more peaks can be included between the two pixel points as the boundary of the light spot. Any pixel point between the two pixel points as the boundary of the light spot is regarded as the pixel point where the light spot is located, and any pixel point outside the two pixel points as the boundary of the light spot is less than the boundary threshold. According to the boundary threshold, the pixel points corresponding to the light intensity values ​​closest to the boundary threshold on both sides of the peak can be selected as the boundary of the light spot; the pixel points corresponding to the light intensity values ​​closest to the boundary threshold and greater than the boundary threshold on both sides of the peak can also be selected as the boundary of the light spot; the pixel points corresponding to the light intensity values ​​closest to the boundary threshold and less than the boundary threshold on both sides of the peak can also be selected as the boundary of the light spot.

[0048] Through this embodiment, the boundary threshold can be determined based on the minimum peak and the boundary of the light spot can be further determined. Since the minimum peak in the light intensity value sequence has better data stability and belongs to the light spot area, it should be considered when determining the light spot position. And there is a certain difference with the light intensity value corresponding to the background, so the boundary threshold can be determined by the minimum peak, the boundary between the light spot and the background can be determined more accurately, and the accuracy of the determination of the light spot boundary can be improved. On the one hand, the deviation of the light spot position caused by the neglect of the minimum peak area is avoided. On the other hand, considering the threshold according to the light intensity value of the minimum peak can avoid the deviation caused by the threshold being too high, resulting in too narrow a boundary and too small a light spot area; it can also avoid the deviation caused by setting the threshold only according to the light intensity value of the background, resulting in too small a threshold and too large a light spot area. At the same time, it can also avoid the poor applicability of confirming the boundary only according to the default preset threshold, which is easy to cause deviations of varying degrees. The embodiment of the present disclosure adopts the minimum peak to confirm the boundary threshold, which has strong applicability and high accuracy.

[0049] In some embodiments, Figure 5 As shown, the boundary threshold can be determined in the following manner: based on the light intensity value sequence, a plurality of background light intensity values ​​are determined, wherein the plurality of background light intensity values ​​are the first n light intensity values ​​and / or the last m light intensity values ​​of the light intensity value sequence, 1≤n≤50, 1≤m≤50. The background light intensity value can be determined according to the light intensity value sequence, because the light intensity value sequence includes the light intensity values ​​of the pixels corresponding to the background, and because in the process of acquiring the target material image, the pixels at the edge of the image can be the pixels corresponding to the background, and their light intensity values ​​have a high stability, therefore, the first n light intensity values ​​and the last m light intensity values ​​of the light intensity value sequence can be acquired, and these light intensity values ​​can be determined as the background light intensity values. Wherein, n and m can satisfy: 1≤n≤50, 1≤m≤50, respectively. The first n light intensity values ​​of the light intensity value sequence can be determined as background light intensity values, or the last m light intensity values ​​can be determined as background light intensity values. The first n light intensity values ​​and the last m light intensity values ​​of the light intensity value sequence can be jointly determined as background light intensity values, where m and n can be equal, so that more background light intensity values ​​can be obtained, making the background light intensity values ​​more reliable.

[0050] The first light intensity threshold is determined according to the average value of multiple background light intensity values. The average value of the background light intensity values ​​can be determined according to multiple background light intensity values, and the average value of the background light intensity values ​​can be determined as the first light intensity threshold. The pixel points corresponding to the light intensity values ​​lower than the first light intensity threshold in the light intensity value sequence can be determined as background pixel points, and the pixel points corresponding to the light intensity values ​​greater than or equal to the first light intensity threshold can be regarded as the pixel points where the light spot is located. The light intensity value sequence can be recorded as DN i , the first light intensity threshold can be determined based on the background light intensity value extracted from the light intensity value sequence, denoted as DN bck .

[0051] The light intensity value of the minimum peak is subtracted from the first light intensity threshold to obtain the net value of the light intensity value of the minimum peak. The net value of the light intensity value of the minimum peak can be the difference between the light intensity values ​​of the minimum peak and the background, which can represent the light intensity of the minimum peak relative to the background, and can represent the difference between the light intensity of the pixel corresponding to the minimum peak and the background pixel. The light intensity value of the minimum peak can be subtracted from the first light intensity threshold to determine the net value of the light intensity value of the minimum peak. Figure 3 As shown, the light intensity value corresponding to each pixel point is represented in the form of discrete points, and the points are connected to obtain an image of the light intensity value sequence, where the image includes peaks P1, P2, and P3, where the smallest peak is P2, and the light intensity value of P2 can be recorded as DN P2 , determine the net value of the light intensity of the minimum peak P2 as DN P2 -DN bck .

[0052] The boundary threshold is determined according to the net value of the first light intensity threshold and the light intensity value of the minimum wave peak. The boundary threshold of the light spot can be calculated according to the net value of the first light intensity threshold and the light intensity value of the minimum wave peak. The pixel points corresponding to the light intensity values ​​greater than or equal to the boundary threshold can be determined as the pixel points where the background is located, and the pixel points corresponding to the light intensity values ​​less than the boundary threshold can be determined as the pixel points where the light spot is located. The boundary threshold can be determined by the following formula: DN bck +(DN P2 -DN bck ) / 2. Among them, DN P2 -DN bck The net value of the minimum peak P2 light intensity value can be the sum of half of the net value of the minimum peak light intensity value and the first light intensity threshold as the boundary threshold, so that the net value of the boundary threshold is half of the net value of the minimum peak light intensity value, that is, the boundary threshold is half of the light intensity value of the minimum peak relative to the background.

[0053] Through the method provided in this embodiment, the first light intensity threshold can be determined, and the background and light spot areas can be divided by the first light intensity threshold. In combination with the net value of the minimum peak light intensity value, a more accurate boundary threshold can be further determined to determine the specific location of the light spot. This can effectively reduce the influence of the light intensity value corresponding to the background pixel points in the light intensity value sequence, determine a more accurate boundary threshold, thereby determining the light spot boundary and improving the accuracy of light spot positioning.

[0054] In some embodiments, Figure 6 As shown, step S132, determining the boundary of the light spot based on the boundary threshold, may include: step S1321 and step S1322.

[0055] Step S1321, based on the boundary threshold, two pixel points closest to the boundary threshold are determined on the left and right sides of the light intensity value sequence respectively. Based on the boundary threshold, two pixel points can be determined on the left and right sides of the light intensity value sequence respectively, for a total of four pixel points. Among them, each determined pixel point is close to the boundary threshold. The light intensity values ​​in the light intensity value sequence can be traversed from the left and right ends of the light intensity value sequence to the middle, and according to the boundary threshold determined in step S131, the pixel points close to the boundary threshold can be searched from the left and right ends of the light intensity value sequence to the middle. By searching from the left end of the light intensity value sequence to the middle, the two pixel points on the left side of the light intensity value sequence closest to the boundary threshold can be determined as the left boundary pixel points of the light spot, and by searching from the right end of the light intensity value sequence to the middle, the two pixel points on the right side of the light intensity value sequence closest to the boundary threshold can be determined as the right boundary pixel points of the light spot.

[0056] Step S1322, linear interpolation is performed on the two pixel points on the left and right sides respectively, and the boundary of the light spot is determined according to the boundary threshold. According to the two left boundary pixel points and the two right boundary pixel points determined in step S1321, linear interpolation can be performed respectively, as shown in FIG. Figure 3 As shown in the figure, the two left-end boundary pixel points and the two right-end boundary pixel points are connected respectively, and the horizontal and vertical coordinates corresponding to the two left-end boundary pixel points can be determined in the image of the light intensity value sequence. Through the linear interpolation formula, according to the slope of the connection line and the distance between the two left-end boundary pixel points in the light intensity value sequence, a point is determined on the line connecting the two left-end boundary pixel points as a boundary of the light spot. l The horizontal and vertical coordinates corresponding to the two right-end boundary pixels can be determined in the image of the light intensity value sequence. Through the linear interpolation formula, according to the slope of the connecting line and the distance between the two right-end boundary pixels in the light intensity value sequence, a point is determined on the line connecting the two right-end boundary pixels as the other boundary I of the light spot. r , thereby determining the boundaries of the light spot at the left and right ends.

[0057] The method for locating the light spot provided in this embodiment determines multiple boundary pixel points based on the boundary threshold, and then performs linear interpolation on the multiple boundary pixel points, so that a more accurate and actual light spot boundary can be obtained, and the process of determining the boundary pixel points according to the boundary threshold is simple and rapid, with good real-time performance. Determining the light spot boundary by the linear interpolation method is simple in calculation, high in accuracy, and has better detection real-time performance and positioning accuracy.

[0058] In some embodiments, Figure 7 As shown, the method for positioning the light spot may further include: step S150.

[0059] Step S150, based on the light intensity value sequence, determine the number of peaks. According to the light intensity value sequence determined in step S110, all the light intensity values ​​in the light intensity value sequence can be traversed to determine the number of peaks in the light intensity value sequence. Figure 2 , Figure 3 As shown, the light intensity value corresponding to each pixel point is represented in the form of discrete points to obtain an image of the light intensity value sequence, and the image of the light intensity value sequence may include one or more peaks. If the number of peaks is greater than 1, it means that the current light intensity value sequence is affected by noise to a certain extent. Step S120 can be performed to determine the minimum peak in the light intensity value sequence, so as to reduce the influence of noise in the subsequent process of determining the position of the light spot, so as to improve the accuracy of the light spot positioning. If the number of peaks is equal to 1, the center of the light spot can be determined based on the peaks. When the number of peaks is 1, it can be considered that the current light intensity value sequence is less affected by noise, and the position of the light spot can be more accurately determined only by the current peak. Therefore, the center of the light spot and the edge of the light spot can be determined directly based on the current peak, thereby determining the position of the light spot.

[0060] Through the method for locating the light spot of the present embodiment, different operations can be performed according to the number of peaks of the light intensity value sequence. For a light intensity value sequence including only one peak, it can be regarded as being free of noise or being affected by less noise, and the light spot position can be directly determined, which is simpler and more efficient, while ensuring the accuracy of positioning. For a light intensity value sequence including multiple peaks, it can be regarded as being affected by more serious noise, and step S210 and subsequent operations are performed to avoid the influence of noise on the light spot positioning. According to the number of peaks of the light intensity value sequence, different operations are performed, which can reduce unnecessary operations, simplify the method for locating the light spot, improve the efficiency of light spot positioning, and have better real-time performance. Different operations are performed according to different situations, which has better adaptability and can adapt to multiple situations.

[0061] In some embodiments, Figure 8 As shown, the method for positioning the light spot may further include: step S160.

[0062] Step S160, based on the light intensity value sequence, exclude the light intensity values ​​irrelevant to the light spot to obtain an updated light intensity value sequence. Since the light intensity value sequence corresponding to the pixel point sequence includes the light intensity values ​​of the pixel points at the position where the light spot corresponding to the material to be tested is located and the light intensity values ​​of the background pixel points, and the background occupies more pixels than the light spot corresponding to the material to be tested, the light intensity values ​​corresponding to the pixel points corresponding to the part of the background far from the light spot can be excluded to obtain an updated light intensity value sequence. The updated light intensity value sequence can include the light intensity values ​​of the pixel points corresponding to the light spot, and can also include the pixel points corresponding to the part of the background close to the light spot, so as to ensure that the updated light intensity value sequence includes the complete light spot light intensity value data, and ensure data integrity. By excluding the light intensity values ​​irrelevant to the light spot, the updated light intensity value sequence is obtained, the amount of data is reduced, the efficiency of light spot positioning can be effectively improved, and the positioning of the light spot has higher real-time performance. Through step S160, the light spot can be roughly positioned, the area where the light spot is located can be determined, and the subsequent accurate positioning of the light spot is convenient, which can improve the accuracy of light spot positioning.

[0063] In some embodiments, Fig. 9 As shown, step S160, based on the light intensity value sequence, excludes the light intensity values ​​irrelevant to the light spot to obtain an updated light intensity value sequence, which may include: step S161.

[0064] Step S161, based on the light intensity value sequence, delete the light intensity values ​​in the light intensity value sequence that are less than or equal to the first light intensity threshold value to form an updated light intensity value sequence. Based on the light intensity value sequence, the first light intensity threshold value can be set, and the light intensity values ​​in the light intensity value sequence that are less than or equal to the first light intensity threshold value can be deleted, so as to determine the updated light intensity value sequence. The light intensity value of the area where the light spot is located and the light intensity value corresponding to the background can be distinguished by the first light intensity threshold value. For the light intensity value in the light intensity value sequence that is less than or equal to the first light intensity threshold value, the light intensity value is small, and it can be determined as the area outside the light spot, and it can be considered that the corresponding pixel points are all background. For each light intensity value in the light intensity value sequence that is greater than the first light intensity threshold value, the light intensity value is high, and it can be considered that the corresponding pixel point is the light spot of the material to be tested and the pixel point corresponding to the background near the light spot is the area where the light spot is located. In some cases, after deleting the light intensity values ​​that are less than or equal to the first light intensity threshold, discrete points may appear in the remaining light intensity values, and the pixel points corresponding to them are far away from the pixel points corresponding to other light intensity values ​​on the left and right sides. The discrete points can be considered as the pixel points corresponding to the background. Due to the interference of noise, the light intensity value fluctuates, making the light intensity value greater than the first light intensity threshold. Such discrete points can be deleted to avoid affecting the positioning of the light spot. Through the method of this embodiment, the light spot can be roughly positioned, the light intensity value information of the pixel points corresponding to the background outside the area where the light spot is located is deleted, and only the light intensity value of the area where the light spot is located is retained to obtain an updated light intensity value sequence, which can reduce the amount of light intensity value information, facilitate the light spot positioning processing, and improve the efficiency of light spot positioning.

[0065] In some embodiments, Fig.10 As shown, based on the light intensity value sequence, the first light intensity threshold can be determined in the following manner:

[0066] Based on the light intensity value sequence, multiple background light intensity values ​​are determined, wherein the multiple background light intensity values ​​are the first n light intensity values ​​and / or the last m light intensity values ​​of the light intensity value sequence, 1≤n≤50, 1≤m≤50; the background light intensity value can be determined according to the light intensity value sequence, because the light intensity value sequence includes the light intensity values ​​of the pixels corresponding to the background, and because in the process of obtaining the target material image, the pixels at the edge of the image can be the pixels corresponding to the background, and their light intensity values ​​have high stability, therefore, the first n light intensity values ​​and the last m light intensity values ​​of the light intensity value sequence can be obtained, and these light intensity values ​​are determined as background light intensity values. Wherein, n and m can respectively satisfy: 1≤n≤50, 1≤m≤50. The first n light intensity values ​​of the light intensity value sequence can be determined as background light intensity values, and the last m light intensity values ​​can also be determined as background light intensity values. The first n light intensity values ​​and the last m light intensity values ​​of the light intensity value sequence can be jointly determined as background light intensity values, wherein m and n can be equal. More background light intensity values ​​can be obtained, making the background light intensity values ​​more reliable. The first 20 light intensity values ​​and the last 20 light intensity values ​​can be selected as the background light intensity values.

[0067] The first light intensity threshold is determined based on the average value of multiple background light intensity values. The light intensity value sequence can be recorded as DN i , the first light intensity threshold can be determined based on the background light intensity value extracted from the light intensity value sequence, denoted as DN bck . The average value of the background light intensity values ​​can be determined based on multiple background light intensity values, and the average value of the background light intensity values ​​can be determined as the first light intensity threshold. The pixel points corresponding to the light intensity values ​​less than or equal to the first light intensity threshold in the light intensity value sequence can be determined as background pixel points, and the pixel points corresponding to the light intensity values ​​greater than the first light intensity threshold can be regarded as the pixel points where the light spot and the background near the light spot are located. The first 20 light intensity values ​​and the last 20 light intensity values ​​can be selected as the background light intensity values, and the average value of the 40 background light intensity values ​​can be taken, and the average value of the 40 background light intensity values ​​can be taken as the first light intensity threshold.

[0068] Through the method of this embodiment, the first light intensity threshold can be determined, and the area where the light spot is located can be roughly located based on the first light intensity threshold. By determining multiple background light intensity values, more light intensity values ​​corresponding to background pixels are obtained as samples, so as to determine the light intensity values ​​of background pixels and accurately distinguish the area where the light spot is located from the background area. By determining the average value of multiple background light intensity values, the influence of samples in which the light intensity value is too large or too small due to noise in the background light intensity value can be avoided, thereby improving the accuracy of the first light intensity threshold and improving the accuracy of the rough positioning of the light spot.

[0069] In some embodiments, Fig.11 As shown, step S161, based on the light intensity value sequence, excludes the light intensity values ​​irrelevant to the light spot to obtain an updated light intensity value sequence, which may include:

[0070] Step S1611, based on the light intensity value sequence, determine the maximum light intensity value; according to the light intensity value sequence, determine one or more peaks in the light intensity value sequence, determine the maximum value in the one or more peaks, and determine it as the maximum light intensity value. In the light intensity value sequence, the peak where the maximum light intensity value is located is likely to be the center of the light spot or close to the center of the light spot, so the maximum light intensity value can be determined first to locate the location of the light spot.

[0071] Step S1612, confirm the light intensity values ​​from the maximum light intensity value to the left and right sides respectively, and determine the initial boundary of the light spot in the light intensity value sequence according to the second light intensity threshold. The maximum light intensity value can be used as the starting point to traverse all the light intensity values ​​in the light intensity value sequence to the left and right sides respectively. Starting from the maximum light intensity value, the light intensity value sequence is detected in sequence to the left, and each light intensity value located on the left side of the maximum light intensity value is compared with the second light intensity threshold. The second light intensity threshold can be used as a reference. When the light intensity value detected is less than the second light intensity threshold, the detection can be stopped, and the pixel point corresponding to the first light intensity value less than the second light intensity threshold is determined as the initial boundary point on the left side of the light spot. Starting from the maximum light intensity value, the light intensity value sequence is detected in sequence to the right, and each light intensity value located on the right side of the maximum light intensity value is compared with the second light intensity threshold. The second light intensity threshold can be used as a reference. When the light intensity value detected is less than the second light intensity threshold, the detection can be stopped, and the pixel point corresponding to the first light intensity value less than the second light intensity threshold is determined as the initial boundary point on the right side of the light spot, thereby determining the initial boundary of the light spot.

[0072] Step S1613, forming an updated light intensity value sequence according to the initial boundary of the light spot. According to the initial boundary of the light spot, all the light intensity values ​​on the left side of the initial boundary point on the left side of the light spot can be deleted from the light intensity value sequence, and all the light intensity values ​​on the right side of the initial boundary point on the right side of the light spot can be deleted from the light intensity value sequence, so as to retain the light intensity values ​​corresponding to the pixel points between the initial boundary point on the left side and the initial boundary point on the right side, and form an updated light intensity value sequence.

[0073] Through the method of this embodiment, the maximum light intensity value can be used as a reference to determine the light intensity value sequence on both sides to determine the initial boundary of the light spot and determine the updated light intensity value sequence. Based on the maximum light intensity value, the area where the light spot is located can be quickly and accurately located, which improves the efficiency of light spot positioning and has better real-time performance. By traversing the light intensity value sequence, the area where the light spot is located in the light intensity value sequence can be accurately separated from the area where the background is located using the second light intensity threshold as a boundary, which can ensure the integrity of the light spot area and ensure that the complete light spot area is retained, making the positioning of the light spot more accurate. Moreover, confirming the boundary from the center to both sides can ensure the accuracy of the boundary and reduce interference; compared with determining the initial boundary from both sides inward, it can avoid the adverse effects of small wave peaks of noise on the initial boundary.

[0074] In some embodiments, Fig.12 As shown, the second light intensity threshold can be determined by:

[0075] Based on the light intensity value sequence, multiple background light intensity values ​​are determined, wherein the multiple background light intensity values ​​are the first n light intensity values ​​and / or the last m light intensity values ​​of the light intensity value sequence, 1≤n≤50, 1≤m≤50; the background light intensity value can be determined according to the light intensity value sequence, because the light intensity value sequence includes the light intensity values ​​of the pixels corresponding to the background, and because in the process of obtaining the target material image, the pixels at the edge of the image can be the pixels corresponding to the background, and their light intensity values ​​have high stability, therefore, the first n light intensity values ​​and the last m light intensity values ​​of the light intensity value sequence can be obtained, and these light intensity values ​​are determined as background light intensity values. Wherein, n and m can respectively satisfy: 1≤n≤50, 1≤m≤50. The first n light intensity values ​​of the light intensity value sequence can be determined as background light intensity values, and the last m light intensity values ​​can also be determined as background light intensity values. The first n light intensity values ​​and the last m light intensity values ​​of the light intensity value sequence can be jointly determined as background light intensity values, wherein m and n can be equal. More background light intensity values ​​can be obtained, making the background light intensity values ​​more reliable.

[0076] Determine the range of multiple background light intensity values; the range can be the difference between the maximum and minimum values ​​of the multiple background light intensity values. The maximum background light intensity value and the minimum background light intensity value can be determined based on the multiple background light intensity values, and the range S can be determined by calculating the maximum background light intensity value minus the minimum background light intensity value.

[0077] The second light intensity threshold is determined based on the average and range of multiple background light intensity values. The light intensity value sequence can be recorded as DN i The average value of the background light intensity can be determined based on the background light intensity values ​​extracted from the light intensity value sequence, which is recorded as DN bck The second light intensity threshold can be determined based on the average and range of multiple background light intensity values. The second light intensity threshold can be determined by the following formula: DN bck +kS; where DN bck is the average value of multiple background light intensity values, S is the range of background light intensity values, k is the coefficient of the range, and k can be in the following range: 1≤k≤10. Among them, the average value of multiple background light intensity values ​​DN bck It can be the first light intensity threshold. The light intensity value in the light intensity value sequence that is less than or equal to the first light intensity threshold can be determined as the area outside the light spot. It can be considered that the corresponding pixels are all background. However, since some pixels corresponding to the background in the light intensity value sequence may have a certain noise influence, resulting in their light intensity value being greater than the average of multiple background light intensity values, DN can be used to identify the area outside the light spot. bck+kS determines the second light intensity threshold, introduces the range based on the average value of the background light intensity value, so that the second light intensity threshold is used as the boundary, and the light intensity values ​​affected by noise that are greater than the average value of the background light intensity value are all less than the second light intensity value, so as to facilitate the elimination of the background influence. The second light intensity threshold is determined by the method of this embodiment, so that the second light intensity threshold can clearly divide the area where the light spot is located from the background area, and can exclude the pixels in the background area that are affected by noise and produce large fluctuations from the light spot area, which can effectively avoid the influence of noise on the light spot positioning and improve the anti-interference ability of the light spot positioning. Determining the second light intensity threshold according to the range of the background light intensity value can improve the applicability. The range of the background light intensity value represents the background noise situation (that is, the maximum fluctuation of the background noise), so that the second light intensity threshold can be applied to different background noise situations, ensuring the accuracy of the initial boundary obtained under different situations.

[0078] In some embodiments, Fig.13 As shown, step S161, based on the light intensity value sequence, excludes the light intensity values ​​irrelevant to the light spot to obtain an updated light intensity value sequence, which may include:

[0079] Step S1614, median filtering is performed on the light intensity value sequence to form an updated light intensity value sequence. The light intensity value sequence can be filtered to eliminate abnormal peaks and troughs, thereby forming an updated light intensity value sequence. Since the light intensity value sequence is easily affected by noise, abnormal peaks and troughs appear in the light intensity value sequence, such as sharp high light intensity values ​​or low light intensity values. Due to these noises, some light intensity values ​​in the light intensity value sequence are greatly different from the light intensity values ​​around them. Therefore, median filtering can be used to eliminate abnormal peaks and troughs in the light intensity value sequence to reduce noise interference and improve the accuracy of light spot positioning.

[0080] Based on the same inventive concept, Fig.14 As shown, the present disclosure further provides a recognition device 200 , including: an image acquisition module 210 and a recognition module 220 .

[0081] The image acquisition module 210 is used to acquire image information of the material to be tested. The image acquisition module 210 can acquire an image of the material to be tested to acquire information of the material to be tested. The image acquisition module can include a linear array CMOS image sensor, and a laser transmitter can be used to emit a ranging laser to the material to be tested. The linear array CMOS image sensor of the image acquisition module 210 acquires the ranging laser reflected by the surface of the material to be tested, so that a light spot is formed on the linear array CMOS image sensor, and a complete image including the light spot and the background is acquired. The image can be a one-dimensional image.

[0082] The recognition module 220 is used to execute the method for locating the light spot described in any of the above embodiments. The recognition module can locate the material image information acquired by the image acquisition module 210 through the method for locating the light spot described in any of the above embodiments. The recognition module 220 can determine the specific position of the light spot in the material image information acquired by the image acquisition module 210, and can accurately locate the position of the light spot to accurately locate the position of the material to be measured.

[0083] Based on the same inventive concept, Fig.15 As shown, the present disclosure further provides a sorting device 300 for identifying and sorting materials, which may include: a conveying device 310, an identification device 200 of any of the aforementioned embodiments, and a sorting device 320.

[0084] The conveying device 310 can be used to convey the material to be tested; it can be used to feed the material to be tested into the identification device 200 for identification. The conveying device 310 can be a structure such as a conveyor belt or a chute, which is used to convey the material to be tested fed from the outside. The identification device 200 can be used to identify the material to be tested conveyed by the conveying device 310. The identification device 200 can be used to detect the material to be tested conveyed on the conveying device 310. The location of the material to be tested and the center position of the material to be tested can be determined through the identification device. The height information of the material to be tested can also be determined by laser ranging through the identification device to facilitate subsequent sorting. The identification device can also detect whether the material to be tested is a material to be rejected; the material to be rejected refers to the material to be separated by the sorting device 300. The material to be rejected can be a required material or an unrequired material, as long as the material can be sorted. The sorting device 320 can be used to classify and sort the material to be tested according to the recognition result of the identification device 200. The sorting device 320 can perform sorting operations according to the position information of the material to be tested determined by the identification device 200, and accurately remove the material to be removed from the material to be tested according to the position of the material to be tested. The sorting device 320 can also be used to remove the material to be removed from the material to be tested. The sorting device 300 can be used for the sorting of ores, and can also be used for tasks such as food sorting or waste sorting. Through the sorting equipment of this embodiment, the material to be tested can be transported by the conveying device 310, and the position and other information of the material to be tested can be identified by the identification device 200. Finally, the material to be tested can be classified by the sorting device 320, and the material to be tested can be accurately identified and sorted, with high sorting accuracy.

[0085] Based on the same inventive concept, the present disclosure also provides a computer-readable storage medium, which stores the following program, and the program is used to execute the method for locating the light spot described in any of the above embodiments. Fig.16As shown, an embodiment of the present disclosure provides an electronic device 400. The electronic device 400 includes a memory 410, a processor 420, and an input / output (I / O) interface 430. The memory 410 is used to store instructions. The processor 420 is used to call the instructions stored in the memory 410 to execute the method for positioning the light spot of the embodiment of the present disclosure. The processor 420 is connected to the memory 410 and the I / O interface 430 respectively, for example, through a bus system and / or other forms of connection mechanisms (not shown). The memory 410 can be used to store programs and data, including the program of the method for positioning the light spot involved in the embodiment of the present disclosure. The processor 420 executes various functional applications and data processing of the electronic device 400 by running the program stored in the memory 410.

[0086] In the embodiment of the present disclosure, the processor 420 can be implemented in at least one hardware form of a digital signal processor (Digital Signal Processing, DSP), a field programmable gate array (Field-Programmable Gate Array, FPGA), and a programmable logic array (Programmable Logic Array, PLA). The processor 420 can be a central processing unit (Central Processing Unit, CPU) or one or a combination of other forms of processing units with data processing capabilities and / or instruction execution capabilities.

[0087] The memory 410 in the embodiment of the present disclosure may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.

[0088] In the embodiment of the present disclosure, the I / O interface 430 may be used to receive input instructions (such as digital or character information, and key signal input related to user settings and function control of the electronic device 400), and may also output various information (such as images or sounds) to the outside. In the embodiment of the present disclosure, the I / O interface 430 may include one or more of a physical keyboard, a function key (such as a volume control key, a switch key, etc.), a mouse, a joystick, a trackball, a microphone, a speaker, and a touch panel.

[0089] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0090] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0091] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0092] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. A method for locating a light spot, comprising: Obtain the light intensity value sequence corresponding to the pixel point sequence; Based on the light intensity value sequence, determining a minimum peak in the light intensity value sequence; Determining the boundary of the light spot based on the light intensity value of the minimum peak; Determining the center of the light spot based on the boundary of the light spot; Wherein, determining the boundary of the light spot based on the light intensity value of the minimum wave peak includes: Determining a boundary threshold based on the light intensity value of the minimum peak; Based on the boundary threshold, determining the boundary of the light spot; The boundary threshold is determined by: Based on the light intensity value sequence, determining a plurality of background light intensity values, wherein the plurality of background light intensity values ​​are the first n light intensity values ​​and / or the last m light intensity values ​​of the light intensity value sequence, 1≤n≤50, 1≤m≤50; Determining a first light intensity threshold according to an average value of the plurality of background light intensity values; Subtract the first light intensity threshold from the light intensity value of the minimum wave peak to obtain a net value of the light intensity value of the minimum wave peak; The boundary threshold is determined according to a net value of the first light intensity threshold and the light intensity value of the minimum peak.

2. The method for locating a light spot according to claim 1, wherein: The step of determining the boundary of the light spot based on the boundary threshold comprises: Based on the boundary threshold, two pixel points closest to the boundary threshold are determined on the left and right sides of the light intensity value sequence respectively; Linear interpolation is performed on the two pixel points on the left and right sides respectively, and the boundary of the light spot is determined according to the boundary threshold.

3. The method for locating a light spot according to claim 1, wherein: The method for locating the light spot also includes: Based on the sequence of light intensity values, determining the number of peaks; If the number of the peaks is greater than 1, determining the minimum peak; If the number of the peaks is equal to 1, the center of the light spot is determined based on the peaks.

4. The method for locating a light spot according to claim 1, wherein: The method for locating the light spot also includes: Based on the light intensity value sequence, light intensity values ​​irrelevant to the light spot are excluded to obtain an updated light intensity value sequence.

5. The method for locating a light spot according to claim 4, wherein: The step of excluding light intensity values ​​irrelevant to the light spot based on the light intensity value sequence to obtain an updated light intensity value sequence includes: Based on the light intensity value sequence, light intensity values ​​in the light intensity value sequence that are less than or equal to the first light intensity threshold are deleted to form an updated light intensity value sequence.

6. The method for locating a light spot according to claim 5, wherein: Based on the light intensity value sequence, the first light intensity threshold is determined in the following manner: Based on the light intensity value sequence, determining a plurality of background light intensity values, wherein the plurality of background light intensity values ​​are the first n light intensity values ​​and / or the last m light intensity values ​​of the light intensity value sequence, 1≤n≤50, 1≤m≤50; The first light intensity threshold is determined according to an average value of the multiple background light intensity values.

7. The method for locating a light spot according to claim 4, wherein: The step of excluding light intensity values ​​irrelevant to the light spot based on the light intensity value sequence to obtain an updated light intensity value sequence includes: Based on the light intensity value sequence, determining a maximum light intensity value; Confirming light intensity values ​​from the maximum light intensity value to the left and right sides respectively, and determining the initial boundary of the light spot in the light intensity value sequence according to a second light intensity threshold; An updated sequence of light intensity values ​​is formed according to the initial boundaries of the light spot.

8. The method for locating a light spot according to claim 7, wherein: The second light intensity threshold is determined by: Based on the light intensity value sequence, determining a plurality of background light intensity values, wherein the plurality of background light intensity values ​​are the first n light intensity values ​​and / or the last m light intensity values ​​of the light intensity value sequence, 1≤n≤50, 1≤m≤50; Determining the range of the plurality of background light intensity values; The second light intensity threshold is determined according to an average value of the multiple background light intensity values ​​and the range.

9. The method for locating a light spot according to claim 4, wherein: The step of excluding light intensity values ​​irrelevant to the light spot based on the light intensity value sequence to obtain an updated light intensity value sequence includes: The light intensity value sequence is subjected to median filtering to form an updated light intensity value sequence.

10. An identification device, comprising: An image acquisition module is used to acquire image information of the material to be tested; An identification module, used to execute the light spot positioning method as described in any one of claims 1-9.

11. Sorting equipment, used for identification and sorting of materials, including: A conveying device, used for conveying the material to be tested; The identification device according to claim 10, used for identifying the material to be tested conveyed by the conveying device; The sorting device is used to classify and sort the material to be tested according to the recognition result of the recognition device.

12. A computer-readable storage medium storing the following program, wherein the program is used to execute the method for positioning a light spot according to any one of claims 1 to 9.

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