Object full-surface data acquisition system and object full-surface data acquisition method

Abstract

The invention relates to the technical field of computer vision, in particular to an object full-surface data acquisition system and an object full-surface data acquisition method. According to the system, the data acquisition equipment, the multi-joint mechanical arm, the controllable light source system, the rotary table system and the grabbing device are integrated, and integrated control and automatic operation are achieved in cooperation with the intelligent terminal; therefore, full-coverage acquisition of the surface of the object, efficient optimization of data acquisition and intelligent automatic planning of acquisition operation are realized, the acquisition process is automatically carried out, the acquisition efficiency is high, and the accuracy of data acquisition is improved.

Description

Technical Field

[0001] The present application relates to the field of computer vision technology, and in particular to a system and method for collecting data on the entire surface of an object. Background Art

[0002] With the rapid development of science and technology, object full-surface data acquisition technology has shown great application potential and value in many fields, such as industrial manufacturing, medical diagnosis, cultural heritage protection and 3D printing.

[0003] However, in traditional data collection methods, in order to ensure the comprehensiveness and accuracy of the data, it is usually necessary to manually adjust the position and angle of the data collection equipment and perform multi-perspective and multi-level scans of the object. In addition, in existing data collection systems, lighting conditions are often difficult to accurately control, resulting in large differences in the data collected under different lighting conditions, which increases the difficulty and cost of subsequent data processing. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a system and method for collecting data on the entire surface of an object, which can achieve full coverage collection of the surface of an object and improve the automation level and accuracy of data collection.

[0005] A first aspect of the present application provides a system for collecting data on the entire surface of an object, the system comprising: A robotic arm acquisition system, a controllable light source system and an intelligent terminal, wherein the robotic arm acquisition system and the controllable light source system are both communicatively connected to the intelligent terminal, the robotic arm acquisition system comprises a data acquisition device and a multi-joint robotic arm, and the controllable light source system is connected to the multi-joint robotic arm according to a target installation position; The data acquisition device is used to collect full surface data of the target object and feed back the full surface data to the smart terminal when receiving the acquisition instruction sent by the smart terminal; The multi-joint robotic arm comprises a plurality of joint structures, is connected to the data acquisition device, and is used to control a target joint structure to move according to the first motion instruction when receiving a first motion instruction from the intelligent terminal, so that the data acquisition device and the multi-joint robotic arm move synchronously, wherein the target joint structure is any at least one joint structure among the plurality of joint structures; The controllable light source system comprises a plurality of light sources, and is used for controlling a target light source to illuminate the target object according to the lighting instruction when receiving the lighting instruction from the smart terminal, so that the data acquisition device acquires the full surface data of the target object after being illuminated by the target light source, wherein the target light source is any at least one of the plurality of light sources; The intelligent terminal is used to generate the acquisition instruction, the first motion instruction and the lighting instruction according to the acquisition requirements, and send the acquisition instruction to the data acquisition device, wherein the acquisition instruction instructs the data acquisition device to collect the full-surface data; and send the first motion instruction to the multi-joint robotic arm, wherein the first motion instruction instructs the target joint structure to move; and send the lighting instruction to the controllable light source system, wherein the lighting instruction instructs the target light source to illuminate.

[0006] In an optional implementation, the data acquisition device includes a camera, and the smart terminal is further used for: Determining a first extrinsic parameter of the camera, a second extrinsic parameter of a calibration plate, and a third extrinsic parameter of hand-eye calibration, wherein the calibration plate is placed within the camera field of view of the camera; According to the first external parameter, the second external parameter and the third external parameter, a first position and a first direction of each of the plurality of light sources in the calibration plate coordinate system of the calibration plate are converted into a base coordinate system of the multi-joint robotic arm to obtain a second position and a second direction of each of the light sources; The specific installation position of each light source on the multi-joint robotic arm is determined based on the DH parameter model of the multi-joint robotic arm, the second position and the second direction, and the specific installation position is determined as the target installation position.

[0007] In an optional embodiment, the system further includes: A turntable system is arranged below the robotic arm acquisition system and is communicatively connected with the intelligent terminal, and is used to place the target object, and when receiving a second motion instruction sent by the intelligent terminal, moves according to the rotation angle and lifting height corresponding to the second motion instruction, so that the multi-joint robotic arm drives the data acquisition device to collect the full surface data within the working range; The intelligent terminal is further used to generate the second motion instruction according to the acquisition requirement, and send the second motion instruction to the turntable system, wherein the second motion instruction instructs the turntable system to move according to the rotation angle and the lifting height.

[0008] In an optional embodiment, the system further includes: A grasping device, disposed at the end of the multi-joint mechanical arm and in communication connection with the intelligent terminal, for grasping and positioning the target object according to the third motion instruction when receiving the third motion instruction sent by the intelligent terminal; The intelligent terminal is further used to generate the third motion instruction according to the acquisition requirement, and send the third motion instruction to the grasping device, wherein the third motion instruction instructs the grasping device to grasp and locate the target object.

[0009] In an optional embodiment, the system further includes: A display device, used for receiving the collection requirement input by the user, and feeding back the collection requirement to the smart terminal; The display device is also used to display the full surface data.

[0010] A second aspect of the present application provides a method for collecting full-surface data of an object, the method comprising: Determine the acquisition requirements of the target object; Generate a collection instruction according to the collection requirement, and send the collection instruction to a data collection device, so that the data collection device collects full surface data of the target object according to the collection instruction, and feeds back the full surface data to the smart terminal; Generate a first motion instruction according to the acquisition requirement, and send the first motion instruction to the multi-joint robotic arm, so that the multi-joint robotic arm determines the target joint structure corresponding to the first motion instruction and the target motion trajectory corresponding to the target joint structure, and controls the target joint structure to move according to the target motion trajectory while driving the data acquisition device to move synchronously; Generate a lighting instruction according to the acquisition demand, and send the lighting instruction to the controllable light source system, so that the controllable light source system determines the target light source corresponding to the lighting instruction, and controls the target light source to illuminate the target object; Generate a second motion instruction according to the acquisition requirement, and send the second motion instruction to the turntable system, so that the turntable system determines the rotation angle and lifting height corresponding to the second motion instruction, and controls the turntable system to move according to the rotation angle and the lifting angle while driving the target object to move synchronously; A third motion instruction is generated according to the acquisition requirement, and the third motion instruction is sent to a grasping device, so that the grasping device grasps and positions the target object according to the third motion instruction.

[0011] In an optional embodiment, the method further comprises: Determining a first external parameter of a camera in the data acquisition device, a second external parameter of a calibration plate, and a third external parameter of hand-eye calibration, wherein the calibration plate is placed within the camera field of view of the camera; According to the first external parameter, the second external parameter and the third external parameter, a first position and a first direction of each of the multiple light sources of the controllable light source system in the calibration plate coordinate system of the calibration plate are converted into a robot arm base coordinate system of the multi-joint robot arm to obtain a second position and a second direction of each light source; The specific installation position of each light source on the multi-joint robotic arm is determined based on the DH parameter model of the multi-joint robotic arm, the second position and the second direction.

[0012] In an optional embodiment, the first position and the first direction of each of the multiple light sources of the controllable light source system in the calibration plate coordinate system of the calibration plate are converted to the robot arm base coordinate system of the multi-joint robot arm according to the first external parameter, the second external parameter and the third external parameter to obtain the second position and the second direction of each light source, including: Determine a spherical image of a sphere arranged on the calibration plate captured by the camera; Segmenting the sphere according to the sphere image, and determining the center position of the segmented circle; Determine the distance between the light spot and the center position, and the angle between the light spot and the coordinate X-axis of the camera coordinate system; Determine a spherical coordinate system based on a second external parameter and the spherical position of the sphere on the calibration plate, and determine a light source direction of any light source in the spherical coordinate system according to the center position, the distance and the angle, wherein the any light source is any at least one of the multiple light sources; The first position of any one of the light sources is converted to the second position, and the first direction of any one of the light sources is converted to the second position and the second direction by using coordinate transformation based on the first extrinsic parameter, the second extrinsic parameter and the third extrinsic parameter.

[0013] In an optional embodiment, the method further comprises: Acquiring a first operating state of the data acquisition device, and adjusting a first operating parameter of the data acquisition device according to the first operating state; Acquire a second operating state of the multi-joint robotic arm, and adjust a second operating parameter of the multi-joint robotic arm according to the second operating state; Acquiring a third operating state of the controllable light source system, and adjusting a third operating parameter of the controllable light source system according to the third operating state; Acquiring a fourth operating state of the turntable system, and adjusting a fourth operating parameter of the turntable system according to the third operating state; A fifth operating state of the gripping device is acquired, and a fifth operating parameter of the gripping device is adjusted according to the fifth operating state.

[0014] In an optional embodiment, the method further comprises: Writing acquisition parameters of the target object; After the acquisition parameters are written successfully, determining whether the data acquisition device, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device are all successfully connected to the intelligent terminal; When the data acquisition device, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device are all successfully connected to the intelligent terminal, the acquisition parameters are sent to the data acquisition device, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device through the intelligent terminal.

[0015] In summary, the object full-surface data acquisition system and object full-surface data acquisition method provided by the present application, wherein the object full-surface data acquisition system integrates data acquisition equipment, multi-joint robotic arms, controllable light source systems, turntable systems, gripping devices and intelligent terminals, and centrally manages data acquisition equipment, multi-joint robotic arms and controllable light source systems through intelligent terminals, thereby realizing automatic control of the entire data acquisition process, reducing manual intervention, and improving the efficiency and accuracy of data acquisition. Secondly, the multi-joint robotic arm has multiple joint structures, which can be precisely adjusted in position and angle according to the instructions of the intelligent terminal, ensuring that the data acquisition equipment can cover all surfaces of the target object. The controllable light source system can control the lighting parameters of the target light source according to the lighting instructions, provide ideal lighting conditions for data acquisition, reduce data errors caused by uneven or insufficient lighting, and significantly improve the accuracy and efficiency of data acquisition. In addition, the controllable light source system includes multiple light sources, each of which can be controlled independently. The intelligent terminal can generate corresponding lighting instructions according to the collection requirements and the characteristics of the target object, and send them to the controllable light source system, so that the controllable light source system can immediately adjust the lighting parameters of the target light source after receiving the instructions, ensuring that the data acquisition equipment performs data collection under the best lighting conditions, which helps to reduce data differences caused by changes in lighting conditions and improve data reliability and consistency. In general, this application achieves efficient and accurate collection of full-surface data of objects by improving the degree of automation of data collection, improving the accuracy and efficiency of data collection, enhancing the controllability of lighting conditions, and improving the integration and stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a structural schematic diagram of an object full-surface data acquisition system shown in an embodiment of the present application; Figure 2 is a flow chart of a method for collecting full surface data of an object shown in the present application; Figure 3is a schematic diagram of a light source calibration plate in a calibration process shown in an embodiment of the present application; Figure 4 is a schematic diagram of a light spot in a calibration process shown in an embodiment of the present application; Figure 5 is a schematic diagram of the light source direction during the calibration process shown in an embodiment of the present application; Figure 6 is a schematic diagram of the intersection of all light sources with strict / non-strict calibrated light directions shown in an embodiment of the present application; Figure 7 It is a schematic diagram of a light source calibrated in a robot arm base coordinate system shown in an embodiment of the present application.

[0017] Description of Reference Numerals 1. Object full surface data acquisition system; 10. Robotic arm acquisition system; 101. Data acquisition equipment; 102. Multi-joint robotic arm; 20. Controllable light source system; 30. Intelligent terminal; 40. Rotation system; 50. Grasping device; Display device 60. DETAILED DESCRIPTION

[0018] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the invention can be combined interchangeably without conflicting with each other.

[0020] Reference Figure 1 , is a structural diagram of an object full-surface data acquisition system shown in an embodiment of the present application.

[0021] The object full-surface data acquisition system 1 is used to acquire full-surface data of a target object, wherein the target object refers to an acquisition object for which full-surface data is to be acquired, and the target object may include cultural and artistic objects (e.g., cultural relics, sculptures, etc.), industrial manufacturing objects (e.g., automobile engine parts, electronic components (e.g., resistors, capacitors, chips), mechanical gears, etc.), and scientific research objects (e.g., biological samples, address samples, etc.), etc.

[0022] In some embodiments, the object full surface data acquisition system 1 may include, but is not limited to: a robotic arm acquisition system 10, a controllable light source system 20, an intelligent terminal 30, a rotation system 40 and a gripping device 50. The robotic arm acquisition system 10, the controllable light source system 20, the rotation system 40 and the gripping device 50 are all connected to the intelligent terminal 30 for communication. The robotic arm acquisition system 10 may include a data acquisition device 101 and a multi-joint robotic arm 102, and the data acquisition device 101 is connected to one end of the multi-joint robotic arm 102 to ensure that the multi-joint robotic arm 102 drives the data acquisition device 101 to move synchronously while moving, thereby ensuring the integrity of the full surface data of the target object. In addition, the other end of the multi-joint robotic arm 102 is connected to the turntable system 40 to ensure that the turntable system 40 drives the multi-joint robotic arm 102 to move synchronously while moving, thereby further driving the data acquisition device 101 to move synchronously, thereby ensuring the full surface data of the target object to be collected in all directions. In addition, a gripping device 50 is provided at the end of the multi-joint robotic arm 102, that is, the end connected to the data acquisition device 101, for gripping, placing and positioning the target object, so as to improve the operational flexibility and application scope of the object full-surface data acquisition system 1.

[0023] In some embodiments, the controllable light source system 20 can be connected to the multi-joint robot arm 102 according to the target installation position, wherein the target installation position is determined by the intelligent terminal 30. Figure 3 First, it is necessary to prepare a calibration tool, such as using an ArUco or ChArUco calibration plate, and arrange multiple spheres on it as calibration references, and fix the camera in a stable position, and ensure that the calibration environment light is stable, avoid external light sources interfering with the calibration process, and be able to clearly capture the calibration plate and the spheres on it. Next, use the camera to capture an image containing the calibration plate and the sphere, and then transmit the image to the smart terminal 30 for processing. For example, the smart terminal 30 can use image processing technology (such as threshold segmentation, edge detection, etc.) to identify feature points on the calibration plate (such as ArUco marks) and highlight areas of the sphere, and then calculate the external parameters between the camera and the calibration plate (for example, rotation matrix and translation vector) based on feature point detection and matching. The external parameters of the camera are called first external parameters, and the external parameters of the calibration plate are called second external parameters. Furthermore, the highlight area of ​​each sphere is detected in the image, and the center of the highlight area (i.e., the center of the light spot) is calculated. The distance d between the center of the light spot and the center of the sphere (i.e., the center of the circle) and the angle ω between the light spot and the coordinate X-axis of the camera coordinate system are measured. Figure 4 .

[0024] Refer to Figure 5Based on the second external parameter and the position of the sphere on the calibration plate, the spherical coordinate system can be divided into the center of the circle as the origin, the plane through the origin parallel to the X-axis and Y-axis of the camera coordinate system is the X, Y plane of the spherical coordinate system, the opposite direction of the optical axis is the Z direction of the spherical coordinate system, and the direction of the light source in the spherical coordinate system can be obtained by Definition, where

[0025] Based on the spot center and the spherical coordinate system, the direction vector of the light source in the spherical coordinate system is calculated. Specifically, the origin position of the sphere center and The direction of the light calibrated by the sphere can be defined as a point-wise form:

[0026] in, is the coordinate of the origin of the spherical coordinate system, Indicates the direction of the light source.

[0027] Refer to Figure 6 , assuming the light source point is q , that is, the intersection of all light source lines, the sum of the distances to all sphere calibration light source lines is the smallest, which can minimize the following error function:

[0028] By solving the linear equations, we get q , which is the approximate intersection of straight lines that do not strictly intersect in three-dimensional space. Further, the intelligent terminal 30 can use an iterative optimization method (such as the least squares method) to improve the accuracy, thereby obtaining the position (first position) and direction (first direction) of the light source in the calibration plate coordinate system. Then, refer to Figure 7 , use the first extrinsic parameter, the second extrinsic parameter and the hand-eye calibration extrinsic parameter (the third extrinsic parameter. For example, the parameter describing the relationship between the camera and the multi-joint robot) to obtain the position of the light source in the robot base coordinate system, and combine it with the robot DH parameter model to calculate the installation position of the light source on the robot, and obtain the parameter model of the light source system. By calibrating the position of the light source to the robot base coordinate system of the multi-joint robot and combining it with the DH model, the position of any viewpoint at the end can be obtained, and the position and direction of each light source in the controllable light source system can be controlled, and then the closing and opening of each light source in the controllable light source system can be controlled according to the three-dimensional information of the current reconstructed model and the quality of the captured image.

[0029] After the specific installation position of each light source in the controllable light source system 20 is determined, it can be installed on the multi-joint robot arm 102 according to the specific installation position, so as to illuminate the collection environment during the subsequent full-surface data collection process of the target object.

[0030] The data acquisition device 101 is used to acquire full surface data of the target object and feed back the full surface data to the smart terminal 30 when receiving an acquisition instruction sent by the smart terminal 30 .

[0031] The full surface data may include, but are not limited to: three-dimensional shape data, texture information, physical property data, material composition data, etc. In some embodiments, the data acquisition device 101 may include, but are not limited to: a camera and a sensor, wherein the camera may be a high-resolution camera for acquiring visual information of the target object, such as color and texture, and the sensor may be a three-dimensional sensor for acquiring spatial form and size information of the target object. By combining the visual information, spatial form and size information of the target object, the full surface data of the target object can be recorded.

[0032] In some embodiments, according to different collection objects and collection requirements, the data collection device 101 can replace the camera and sensor modules, such as adding infrared, ultraviolet or polarized light cameras to obtain data in more dimensions. In addition, multiple types of sensors, such as depth sensors, lidars, etc., can be used to increase the system's perception of the collection environment and collection objects, so that the smart terminal 30 can improve the accuracy of recognition and collection of target objects by fusing multiple sensor data.

[0033] When the user needs to collect the full surface data of the target object, the target object can be placed on the turntable system 40 through the gripping device 50, or the target object can be directly placed on the turntable system 40. Then the intelligent terminal 30 can generate a corresponding acquisition instruction according to the acquisition requirements input by the user, and send the acquisition instruction to the data acquisition device 101 through a wireless network or a wired connection, so that the data acquisition device 101 collects the full surface data of the target object according to the instructions of the acquisition instruction. When the data acquisition device 101 is started, the turntable system 40 starts to rotate and / or lift the target object, and the data acquisition device 101 scans the target object from different angles. When the data acquisition device 101 completes the acquisition, the full surface data is transmitted to the intelligent terminal 30 for subsequent processing and analysis. Among them, the acquisition requirements may include, but are not limited to: acquisition accuracy, acquisition range, acquisition speed and acquisition method (such as static acquisition, dynamic tracking acquisition), etc. For example, it is assumed that the user needs to collect the full surface 3D data of a complex sculpture for digital preservation and 3D printing and reproduction. The user inputs the acquisition requirements through the human-computer interaction interface provided by the smart terminal 30, including the acquisition accuracy of 0.1mm, the acquisition range of the entire sculpture, the acquisition scanning speed is moderate to ensure data integrity and not excessive time-consuming, the lighting conditions are automatically adjusted to the best scanning effect, the file format is OBJ, and the post-processing requirements are to remove noise and smooth the surface. The smart terminal 30 generates an acquisition instruction containing specific parameters according to the acquisition requirements and sends it to the data acquisition device 101. The data acquisition device 101 starts working, and the turntable system slowly rotates the sculpture. The data acquisition device 101 scans from different angles. After the scanning is completed, the full surface data is saved in OBJ format and transmitted to the smart terminal 30. The user can further view or process the full surface data.

[0034] The multi-joint robotic arm 102 includes multiple joint structures, which are used to control the target joint structure to move according to the first motion instruction when receiving the first motion instruction from the intelligent terminal 30, so that the data acquisition device 101 and the multi-joint robotic arm 102 move synchronously, wherein the target joint structure is any at least one joint structure among the multiple joint structures.

[0035] In some embodiments, the multi-joint mechanical arm 102 may include multiple high-precision, multi-degree-of-freedom joint structures, wherein the multiple joint structures may move individually or in coordination. When the multi-joint mechanical arm 103 receives the motion instruction (first motion instruction) sent by the intelligent terminal 30, the target joint structure corresponding to the first motion instruction and the running track corresponding to the target joint structure are determined, so that the target joint structure moves according to the running track. Similarly, the intelligent terminal 30 may generate the corresponding first motion instruction according to the acquisition requirements input by the user, and send the first motion instruction to the multi-joint mechanical arm 102 through a wireless network or a wired connection, so that the multi-joint mechanical arm 102 parses the first motion instruction when receiving the first motion instruction, and determines the target joint structure and its corresponding running track. The multi-joint mechanical arm 102 performs the motion and cooperates with the data acquisition device 101 to collect data at the same time. Among them, the acquisition requirements may include, but are not limited to: acquisition accuracy, position and posture of the target object, data acquisition area and data acquisition method, etc. For example, it is assumed that the user needs to collect three-dimensional model data of complex parts for subsequent CAD design and simulation analysis. The user inputs the collection requirements through the human-computer interaction interface provided by the intelligent terminal 30, including that the data collection area is the surface of the entire part and the collection accuracy is 0.1mm. The intelligent terminal 30 identifies the position of the part through the data collection device 101 and calculates the starting position of the multi-joint robotic arm 102, thereby determining the path of the multi-joint robotic arm 102 from the starting position to the top of the part and around the part, and generating a motion instruction containing the motion parameters (such as angle, speed, acceleration) of the target joint (such as rotating joint, telescopic joint). The multi-joint robotic arm 102 starts to move according to the motion instruction, and cooperates with the data collection device 101 to scan the part. In addition, during the data collection process, the multi-joint robotic arm can adjust its posture and position according to the shape and size of the part to ensure the comprehensiveness and accuracy of data collection.

[0036] It should be noted that each joint structure has a corresponding joint identifier, and the first motion instruction carries the joint identifier of the target joint structure. When the multi-joint robotic arm 102 receives the first motion instruction and parses it, it can determine which target joints need to be moved based on the joint identifier.

[0037] In some embodiments, before the multi-joint robotic arm 102 is used to synchronously drive the data acquisition device 101 , the multi-joint robotic arm may be calibrated to ensure the initial position and initial state of each joint structure.

[0038] In some embodiments, the multi-joint robotic arm 102 may include a drive system, such as a servo motor, for driving independent or coordinated movement between multiple joint structures. In addition, the multi-joint robotic arm 102 may also include a closed-loop control system, such as real-time feedback of the joint position, speed and other information of each joint through a sensor, and compare it with a preset target, and automatically adjust the drive system to eliminate errors and ensure operational accuracy. In other embodiments, the multi-joint robotic arm 103 also integrates multiple sensors (e.g., visual sensors, force sensors, etc.) so that the multi-joint robotic arm 102 can perceive its surrounding environment in real time, identify and avoid obstacles, and achieve precise positioning in a complex three-dimensional space.

[0039] Since the configuration of a turntable plus a fixed sensor is limited by the fixed sensor position and the motion range of the turntable, it is impossible to achieve complete coverage of all angles and areas of the target object, resulting in visual blind spots during the data collection process, and some areas cannot be effectively collected, which in turn affects the integrity and accuracy of the data and reduces system performance and reliability. Therefore, the data acquisition device 101 is set at one end of the multi-joint robotic arm 102, and the other end of the multi-joint robotic arm 102 is connected to the turntable system 40. When the platform system 40 rotates and / or lifts, it can drive the multi-joint robotic arm 102 to rotate and / or lift, and further drive the data acquisition device 101 to rotate and / or lift.

[0040] The controllable light source system 20 includes a plurality of light sources, which are used to control the target light source to illuminate the target object according to the lighting instruction when receiving the lighting instruction of the intelligent terminal 30, so that the data acquisition device collects the full surface data of the target object after the target light source is illuminated, wherein the target light source is any at least one of the plurality of light sources. The plurality of light sources may include a surface light source, a point light source and a parallel light source, and each light source may be independently controlled to ensure uniform and stable illumination during the collection of all-round data of the target object. In addition, the controllable light source system 20 may also include a calibration tool for calibrating the spatial relationship between the light source and the multi-joint mechanical arm 102, that is, the installation position of each light source on the multi-joint mechanical arm 102, so that when the multi-joint mechanical arm supports the visual device at any viewpoint position, the relationship between the position of each light source and the viewpoint position can be obtained, and then combined with the position of the object in the camera coordinate system and the quality of the picture illumination, the quality of the captured picture is improved by selecting the position and quantity of the light source in the light source system.

[0041] In some embodiments, the intelligent terminal 30 can generate a corresponding lighting instruction according to the collection requirements input by the user, and send the lighting instruction to the controllable light source system 20 through a wireless network or a wired connection, so that the controllable light source system 20 can parse the lighting instruction when receiving the lighting instruction, and determine the target light source and its corresponding lighting parameters. The lighting parameters may include, but are not limited to: light intensity, light direction, light duration, light color temperature, etc.

[0042] It should be noted that each light source has a corresponding light source identifier, and the lighting instruction carries the light source identifier of the target light source. When the controllable light source system 20 receives the lighting instruction and parses it, it can determine which target light sources need to be illuminated based on the light source identifier.

[0043] The turntable system 40 is arranged below the robotic arm acquisition system 10 and is communicatively connected with the smart terminal 30, and is used to place the target object. When receiving a second motion instruction sent by the smart terminal 30, it moves according to the rotation angle and lifting height corresponding to the second motion instruction, so that the multi-joint robotic arm 102 drives the data acquisition device 101 to collect the full surface data within the working range.

[0044] In some embodiments, the turntable system 40 may include an electric turntable as a platform for placing and supporting the target object, which is controlled by a motor to rotate and lift, allowing the target object to be accurately adjusted in angle and height within a preset working range. Specifically, the intelligent terminal 30 can generate a corresponding motion instruction (a second motion instruction) according to the acquisition requirements input by the user, and send the second motion instruction to the turntable system 40 through a wireless network or a wired connection, so that when the turntable system 40 receives the second motion instruction, it parses the second motion instruction and determines the motion parameters of the state system, which may include rotation parameters and lifting parameters. Among them, the rotation parameters may include the rotation angle and the rotation acceleration, and the lifting parameters may include the lifting height and the lifting acceleration. When the turntable system 40 receives the second motion instruction, the angle and height of the electric turntable can be adjusted according to the second motion instruction to adjust the position and posture of the target object so that the target object is in a better acquisition position.

[0045] In addition to stably supporting the target object, the turntable system 40 can also rotate and / or lift the data acquisition device 101 connected to one end of the multi-joint robotic arm 102 to collect full-surface data of the target object from multiple directions, thereby ensuring the comprehensiveness and uniformity of data acquisition. In addition, since the other end of the multi-joint robotic arm 102 is connected to the turntable system 40, the turntable system 40 provides stable support for the target object while ensuring stable support for the multi-joint robotic arm 102 during movement.

[0046] In some embodiments, the turntable system 40 may be a movable platform, and the robotic arm acquisition system 10 is integrated into the movable platform, such as a robotic vehicle or a mobile robot, to achieve object acquisition tasks in a larger range.

[0047] The grasping device 50 is disposed at the end of the multi-joint robotic arm 102 and is communicatively connected to the smart terminal 30 , and is used for grasping and positioning the target object according to the third motion instruction when receiving the third motion instruction sent by the smart terminal 30 .

[0048] In some embodiments, in order to adapt to different acquisition tasks and acquisition environments, the grasping device 50 adopts a multifunctional design, which includes not only traditional mechanical fingers, but also includes, but is not limited to: dexterous hands, suction cups, etc., to improve the grasping and positioning capabilities of target objects of different shapes and materials, so that the object full-surface data acquisition system 1 can handle a wider range of acquisition objects. Similarly, the intelligent terminal 30 can generate a corresponding motion instruction (third motion instruction) according to the acquisition requirements input by the user, and send the third motion instruction to the grasping device 50 through a wireless network or a wired connection, so that when the grasping device 50 receives the third motion instruction, it parses the third motion instruction and determines the corresponding grasping parameters, such as moving the target object to the target position, adjusting the grasping posture, performing the grasping operation, etc. When the grasping device 50 grasps the target object according to the parsed grasping parameters, it controls its internal actuator (such as mechanical fingers, suction cups, etc.). During the grasping process, the grasping device 50 can work in coordination with the multi-joint robot arm 102 to adjust its position and posture to ensure accurate grasping.

[0049] In addition, during the grasping and positioning process, the grasping device 50 can monitor its cloud top status (such as grasping force, position, etc.) in real time through sensors, and feedback the operating status to the smart terminal 30, so that the smart terminal 30 can adjust or display it to the user according to the operating status to ensure the smooth progress of the acquisition task.

[0050] In some embodiments, the object full surface data acquisition system 1 may further include a display device 60. The display device 60 may be integrated in the intelligent terminal 30 or may be an independent device, and establishes a communication connection with the robotic arm acquisition system 10, the controllable light source system 20, the intelligent terminal 30, the turntable system 40 and the grasping device 50 in a wired or wireless manner.

[0051] The display device 60 is used to receive the collection requirement input by the user and feed back the collection requirement to the smart terminal 30 .

[0052] The display device 60 can be used as an interactive interface between the user and the object full-surface data acquisition system 1. The user can operate on the display device 60 through input devices such as a touch screen, keyboard or mouse, such as setting acquisition requirements, starting / stopping acquisition tasks, viewing historical data, etc. In addition, the display device 60 can also be used to display the full-surface data of the target object collected by the data acquisition device 101, for example, the display device 60 can be used to display the data in the form of charts, curves, images, etc., so that the user can intuitively understand the acquisition results.

[0053] In some embodiments, after the intelligent terminal 30 processes the full surface data, the display device 60 can also display the data processing results, such as anomaly detection, trend prediction, data comparison, etc., to help users better understand the data. In addition, the display device 60 can also display the working status of the object full surface data acquisition system 1 in real time, including data acquisition progress, device connection status, power supply status, etc., to help users understand the overall operation of the system.

[0054] In some embodiments, the smart terminal 30 is also integrated with an object full-surface data acquisition device for implementing an object full-surface data acquisition method.

[0055] Through the above-mentioned optional implementation methods, the full-surface data acquisition system of objects provided in the present application includes a hardware system and an intelligent terminal, and the hardware system includes data acquisition equipment, a multi-joint robotic arm, a controllable light source system, a turntable system and a grasping device, which cooperates with the intelligent terminal to realize integrated control and automated operation. The data acquisition equipment is responsible for capturing the visual and structural information of the target object and supporting the acquisition of high-quality images and data. The multi-joint robotic arm adopts a highly flexible multi-joint structure, which can accurately control its posture and position to adapt to various complex acquisition tasks. The controllable light source system ensures uniform and stable lighting conditions in the acquisition environment by independently controlling each light source, thereby improving data quality. The turntable system provides stable support for the multi-joint robotic arm, enabling it to move freely within a fixed working range, ensuring the stability of the acquisition process. The grasping device enhances the operational flexibility of the system, allowing users to accurately grasp and place target objects. The intelligent terminal, as the control module of the object full-surface data acquisition system, integrates the control functions of the data acquisition equipment, multi-joint robotic arm, controllable light source system, turntable system and grasping device, and provides a simple and intuitive user interface, allowing users to monitor the system status and adjust operating parameters in real time, and optimize the acquisition path and strategy through intelligent algorithms, thereby realizing the automation and intelligent management of the data acquisition process.

[0056] Reference Figure 2 As shown, it is a flow chart of a method for collecting full-surface data of an object shown in the present application. The method for collecting full-surface data of an object may include the following steps.

[0057] S21, determining the collection requirements of the target object.

[0058] In some embodiments, the user can input the acquisition requirements of the target object through the display device provided by the system, where the acquisition requirements may include, but are not limited to: acquisition accuracy, acquisition range, acquisition speed and acquisition method (such as static acquisition, dynamic tracking acquisition), the position and posture of the target object and the data acquisition area, etc.

[0059] When the display device receives the collection requirement input by the user, the display device can transmit the collection requirement to the smart terminal, so that the smart terminal can generate a corresponding control instruction according to the collection requirement and send the control instruction to the corresponding controlled device.

[0060] S22, generating a collection instruction according to the collection requirement, and sending the collection instruction to the data collection device, so that the data collection device collects the full surface data of the target object according to the collection instruction, and feeds back the full surface data to the smart terminal.

[0061] In some embodiments, the intelligent terminal can generate a corresponding acquisition instruction for the data acquisition device according to the received acquisition requirements, and the acquisition instruction may include acquisition speed, acquisition mode (such as line scanning, surface scanning) and data format, etc. The acquisition instruction can be sent to the data acquisition device via wired or wireless means (USB, Wi-Fi, Bluetooth, etc.). When the data acquisition device receives the acquisition instruction, it collects the full surface data of the target object according to the acquisition instruction requirements, and feeds back the collected full surface data to the intelligent terminal in real time or periodically for display, storage or processing.

[0062] S23, generating a first motion instruction according to the acquisition requirement, and sending the first motion instruction to the multi-joint robotic arm, so that the multi-joint robotic arm determines the target joint structure corresponding to the first motion instruction, and the target motion trajectory corresponding to the target joint structure, and controls the target joint structure to move according to the target motion trajectory while driving the data acquisition device to move synchronously.

[0063] In some embodiments, while the intelligent terminal generates acquisition instructions according to the acquisition requirements, it also determines the position and posture that the multi-joint robotic arm needs to reach according to the acquisition requirements, and generates corresponding motion instructions (first motion instructions). Among them, the first motion instruction may include the joint code of the target joint structure, the motion trajectory (including motion parameters such as position, speed and acceleration), the motion time, etc. The first motion instruction can be sent to the multi-joint robotic arm through a control interface (such as a serial port, CAN bus, etc.). When the multi-joint robotic arm receives the first motion instruction, it parses the first motion instruction and controls the corresponding target joint structure to move according to the specified motion trajectory, while driving the data acquisition equipment to move synchronously to ensure the comprehensiveness and accuracy of data acquisition.

[0064] Specifically, the intelligent terminal can determine the acquisition area that the multi-joint manipulator needs to cover according to the characteristics of the target object and the acquisition requirements, and use the Denavit-Hartenberg (DH) parameter table to establish a kinematic model of the multi-joint manipulator, which describes the geometric relationship and motion relationship between the joints of the multi-joint manipulator. Based on the acquisition area and the position of the target object, the target position that the end effector of the manipulator (such as a data acquisition device) needs to reach is calculated. Then, the intelligent terminal can use the homogeneous transformation matrix to describe the posture (i.e., the rotation direction and angle) of the end effector of the multi-joint manipulator. In addition, the intelligent terminal can also optimize the posture of the end effector according to the acquisition requirements to ensure the accuracy and efficiency of data acquisition. Further, the intelligent terminal can use path planning algorithms such as fast random search tree (RRT), A* algorithm, Dijkstra algorithm, etc., to plan the motion trajectory of each joint of the multi-joint manipulator according to the starting position, target position and obstacle information, and use interpolation algorithm, genetic algorithm, particle swarm optimization algorithm, etc. to optimize the initially planned motion trajectory to reduce motion time, reduce energy consumption and improve motion stability. Next, the planned motion trajectory is simulated and verified through dynamic simulation software (such as ADAMS, SimMechanics, etc.) to ensure that the multi-joint robot can meet the stability and safety requirements during the actual movement process. Finally, the intelligent terminal can generate the corresponding first motion instruction based on the planned motion trajectory and posture information.

[0065] Through the above-mentioned optional implementation method, the intelligent terminal automatically generates and sends precise motion instructions to the multi-joint robotic arm according to the collection requirements, thereby realizing intelligent control of the robotic arm movement. It also combines kinematic modeling, posture planning, path planning and dynamic simulation technologies to ensure the accuracy, stability and safety of the multi-joint robotic arm movement, improve the comprehensiveness and accuracy of data collection, reduce energy consumption, and improve overall work efficiency.

[0066] S24, generating a lighting instruction according to the acquisition requirements, and sending the lighting instruction to a controllable light source system, so that the controllable light source system determines a target light source corresponding to the lighting instruction, and controls the target light source to illuminate the target object.

[0067] In some embodiments, while generating the first motion instruction according to the acquisition requirements, the intelligent terminal also determines the lighting parameters of the controllable light source system according to the acquisition requirements and generates corresponding lighting instructions. The lighting instruction may include the light source code of the target light source and the corresponding lighting parameters, such as light intensity, light direction, light duration, and light color temperature. Similarly, the lighting instruction may be sent to the controllable light source system through the control interface. When the controllable light source system receives the lighting instruction, it adjusts the lighting parameters of the target light source to illuminate the target object to optimize the data acquisition effect.

[0068] Specifically, the intelligent terminal can determine the lighting target of the controllable light source system based on the acquisition requirements and the material, color, and reflectivity of the target object, such as improving image clarity, reducing reflections, and highlighting colors. Therefore, the intelligent terminal can determine which light source to turn on and how to adjust the lighting parameters of the light source according to the lighting target. Among them, the intelligent terminal can calculate the required lighting brightness of the target light source based on the reflectivity of the target object and the required illumination level, and control the lighting brightness by adjusting the power or current of the light source. In addition, the intelligent terminal can also determine the optimal illumination angle based on the shape, size and position of the target object, as well as the required lighting effect, and change the illumination angle by adjusting the illumination direction of the light source or using auxiliary equipment such as reflectors.

[0069] Wherein, the controllable light source system is installed in the multi-joint robotic arm according to the target installation position, and the intelligent terminal can determine the target installation position of the controllable light source system according to the same embodiment as above.

[0070] S25, generating a second motion instruction according to the acquisition requirement, and sending the second motion instruction to the turntable system, so that the turntable system determines the rotation angle and lifting height corresponding to the second motion instruction, and controls the turntable system to move according to the rotation angle and the lifting angle while driving the target object to move synchronously.

[0071] In some embodiments, while generating lighting instructions according to the acquisition requirements, the intelligent terminal also determines the rotation angle and lifting height that the turntable system needs to achieve according to the acquisition requirements, and generates corresponding motion instructions (second motion instructions). Among them, the second motion instruction may include motion parameters such as rotation angle, rotation speed, lifting height, and lifting speed. Similarly, the second motion instruction can be sent to the turntable system through the control interface. When the turntable system receives the second motion instruction, it controls its rotation and lifting mechanism to move according to the specified motion parameters, and at the same time drives the target object to move synchronously, so that the data acquisition device can collect data from multiple angles and heights.

[0072] Specifically, the intelligent terminal can determine the target area that needs to be accurately collected according to the collection requirements, and determine the specific position of the target area in the turntable coordinate system. According to the position of the target area in the turntable coordinate system, the angle at which the turntable needs to rotate can be calculated to ensure that the target area is completely within the field of view or working range of the turntable. At the same time, the intelligent terminal can also calculate the lifting height that the turntable needs to reach according to the height of the target object, the focal length adjustment range of the turntable system, and the height of possible obstacles. In addition, the intelligent terminal can also determine the appropriate rotation speed and lifting speed according to the urgency of the collection task, the acceleration and deceleration performance of the turntable, and the motion state of the target object. After determining the rotation angle, rotation speed, lifting angle and lifting speed, the intelligent terminal can generate a corresponding second motion instruction, including a rotation instruction and a lifting instruction, wherein the rotation instruction is used to specify the starting angle, target angle, rotation speed, acceleration and deceleration parameters of the turntable during the rotation process, and the lifting instruction is used to specify the starting height, target height, lifting speed, acceleration and deceleration parameters of the turntable during the lifting process.

[0073] Through the above optional implementation, the intelligent terminal directly generates motion instructions containing rotation and lifting parameters according to the collection requirements, which significantly improves the flexibility and accuracy of data collection, ensures that the turntable system can be accurately adjusted to the optimal angle and height, and drives the target object to move synchronously to adapt to the complex and changing collection environment. At the same time, by adjusting the rotation and lifting speed in real time, the efficiency and stability of data collection are optimized, the error and time cost caused by manual adjustment are reduced, and the automation and intelligence level of the overall system is improved.

[0074] S26, generating a third motion instruction according to the acquisition requirement, and sending the third motion instruction to the grasping device, so that the grasping device grasps and positions the target object according to the third motion instruction.

[0075] In some embodiments, the intelligent terminal generates a third motion instruction according to the acquisition requirements while generating the second motion instruction according to the acquisition requirements. The third motion instruction may include parameters such as the grasping position, grasping force, and positioning accuracy. Similarly, the intelligent terminal may send the third motion instruction to the grasping device through the control interface. When the grasping device receives the third motion instruction, it controls its mechanical structure to perform grasping and positioning operations according to the requirements of the third motion instruction to ensure that the target object maintains a stable posture and position during the data acquisition process.

[0076] Through the above optional implementation, by combining data acquisition equipment, multi-joint robotic arms, controllable light source systems, turntable systems and gripping devices, high-precision data acquisition of the entire surface of the target object is achieved without blind spots, which not only improves the integrity of the data, but also ensures the accuracy of the data, providing a solid foundation for subsequent analysis and application. In addition, the system can automatically generate and send instructions according to the acquisition requirements, control the coordinated work of each subsystem, and greatly reduce manual intervention through automated and intelligent operation modes, improve work efficiency, and reduce the risk of human error.

[0077] In an optional embodiment, the method further comprises: Acquiring a first operating state of the data acquisition device, and adjusting a first operating parameter of the data acquisition device according to the first operating state; Acquire a second operating state of the multi-joint robotic arm, and adjust a second operating parameter of the multi-joint robotic arm according to the second operating state; Acquiring a third operating state of the controllable light source system, and adjusting a third operating parameter of the controllable light source system according to the third operating state; Acquiring a fourth operating state of the turntable system, and adjusting a fourth operating parameter of the turntable system according to the third operating state; A fifth operating state of the gripping device is acquired, and a fifth operating parameter of the gripping device is adjusted according to the fifth operating state.

[0078] In some embodiments, when it is necessary to collect full-surface data of the target object, the full-surface data collection system of the entire object is first started, including the data collection equipment, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device. Each subsystem performs a self-check to ensure that the equipment is in normal working condition. Secondly, according to the characteristics of the target object and the collection requirements, the initial operating parameters of each subsystem are set on the intelligent terminal, such as the resolution and frame rate of the data collection equipment; the initial posture and movement speed of the multi-joint robotic arm; the brightness and color temperature of the controllable light source system; the rotation speed and lifting speed of the turntable system; and the grasping force of the grasping device, etc.

[0079] Since the data acquisition equipment, multi-joint robotic arm, controllable light source system, turntable system and grasping device are all communicatively connected to the intelligent terminal, the intelligent terminal can obtain the motion states of the data acquisition equipment, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device in real time, where the motion state of the data acquisition equipment is referred to as the first motion state, the operating state of the multi-joint robotic arm is referred to as the second operating state, the operating state of the controllable light source system is referred to as the third operating state, the operating state of the turntable system is referred to as the fourth operating state, and the operating state of the grasping device is referred to as the fifth operating state.

[0080] When the first operating state of the data acquisition device (such as temperature, power, data transmission rate, etc.) is obtained, the first operating parameter is adjusted according to the first operating state (such as lowering the device temperature, replacing the battery, adjusting the data transmission rate, etc.) to ensure the continuity and stability of data acquisition. At the same time, the second operating state of the multi-joint robotic arm (such as joint angle, motion trajectory, load condition, etc.) is monitored, and the second operating parameter is adjusted according to the second operating state (such as optimizing the motion path, adjusting the joint strength, etc.) to improve the flexibility and accuracy of the multi-joint robotic arm. At the same time, the third operating state of the controllable light source system (such as brightness, color temperature stability, light source life, etc.) is obtained, and the third operating parameter is adjusted according to the third operating state (such as adjusting brightness, replacing light bulbs, etc.) to ensure that the controllable light source system can provide stable and suitable lighting conditions for data acquisition. At the same time, the fourth operating state of the turntable system (such as rotation speed, lifting stability, position accuracy, etc.) is monitored, and the fourth operating parameter is adjusted according to the fourth operating state (such as adjusting the rotation speed, calibrating the lifting height, etc.) to ensure that the turntable system can drive the target object to move according to the predetermined trajectory. At the same time, the fifth operating state of the grasping device (such as grasping force, positioning accuracy, stability, etc.) is obtained, and the fifth operating parameters (such as adjusting the grasping force, optimizing the positioning algorithm, etc.) are adjusted according to the fifth operating state to ensure that the grasping device can grasp and position the target object stably and accurately.

[0081] Through the above optional implementation, by real-time monitoring and adjustment of the operating status and parameters of the data acquisition equipment, multi-joint mechanical arm, controllable light source system, turntable system and gripping device, efficient and stable collection of full surface data of the target object is achieved, the automation and accuracy of data collection are improved, and the continuity and stability of the data collection process are ensured. At the same time, through the centralized control of the intelligent terminal, the coordinated optimization of each subsystem is achieved, further improving the efficiency and flexibility of data collection.

[0082] In an optional embodiment, the method further comprises: Writing acquisition parameters of the target object; After the acquisition parameters are written successfully, determining whether the data acquisition device, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device are all successfully connected to the intelligent terminal; When the data acquisition device, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device are all successfully connected to the intelligent terminal, the acquisition parameters are sent to the data acquisition device, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device through the intelligent terminal.

[0083] In some embodiments, when it is necessary to collect full surface data of the target object, it is first necessary to ensure that the data acquisition equipment, multi-joint robotic arm, controllable light source system, turntable system and grasping device have been installed and connected to the intelligent terminal, and configure the control parameters of each subsystem in the intelligent terminal to ensure that the intelligent terminal can normally identify and control each subsystem. Through the display device provided on the intelligent terminal or the display device connected by communication, the user can manually input or select the acquisition parameters of the target object. Among them, the acquisition parameters may include, but are not limited to: resolution, frame rate, exposure time, etc. of the data acquisition device; initial posture, motion path, speed, etc. of the multi-joint robotic arm; brightness, color temperature, etc. of the controllable light source system; rotation speed, lifting height, etc. of the turntable system; and grasping force, positioning accuracy, etc. of the grasping device. After entering the acquisition parameters, the intelligent terminal will verify the acquisition parameters to ensure that the acquisition parameter values ​​are within a reasonable range and meet the equipment requirements. After verification, the acquisition parameters are written to the storage medium of the intelligent terminal and are ready to be sent to each subsystem.

[0084] Furthermore, after the acquisition parameters are written successfully, the intelligent terminal will automatically check whether the data acquisition device, multi-joint robotic arm, controllable light source system, turntable system and grasping device are successfully connected to the intelligent terminal, for example, by sending a test signal or query command to confirm the communication status of each subsystem. After receiving the connection detection request, each subsystem will return its own connection status information to the intelligent terminal, and the intelligent terminal can judge whether each subsystem is successfully connected based on the feedback information of each subsystem. When it is confirmed that the data acquisition device, multi-joint robotic arm, controllable light source system, turntable system and grasping device are all successfully connected to the intelligent terminal, the intelligent terminal can send the previously written acquisition parameters to each subsystem through a communication protocol (such as TCP / IP, serial communication, etc.). After receiving the acquisition parameters, each subsystem will parse the acquisition parameter content and adjust its own operating parameters and working status according to the acquisition parameters. For example, the data acquisition device can adjust its acquisition quality according to the resolution and frame rate settings, the multi-joint robot arm can plan its motion trajectory according to the initial posture and motion path, the controllable light source system can adjust the brightness and color temperature to provide suitable lighting conditions, the turntable system can set the rotation speed and lifting height to drive the target object to move, and the grasping device can adjust the grasping force and positioning accuracy to stably grasp the target object. After the acquisition parameters are set, the subsystems begin to work together, and the data acquisition device begins to collect data on the entire surface of the target object. At the same time, each subsystem will feed back the operating status and data to the control software of the intelligent terminal in real time. When the full surface data of the target object is collected, the intelligent terminal will send a stop command to each subsystem to stop working and restore it to the initial state. In addition, the intelligent terminal can also use the acquired full surface data to perform fine three-dimensional reconstruction of the target object, etc., for application in industrial quality inspection, cultural relics protection, artwork reproduction and other fields.

[0085] Through the above optional implementation, the whole surface data collection process of the object is centrally managed through the intelligent terminal, achieving efficient collaboration and precise control. Secondly, the accuracy and stability of data collection are ensured through preset collection parameters, automatic connection check and parameter distribution. The overall process is highly automated, reducing human intervention and improving the efficiency and reliability of data collection.

[0086] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as a series of action combinations, but those skilled in the art should be aware that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0087] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0088] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A system for collecting data on the entire surface of an object, characterized in that: The system comprises: A robotic arm acquisition system, a controllable light source system and an intelligent terminal, wherein the robotic arm acquisition system and the controllable light source system are both communicatively connected to the intelligent terminal, the robotic arm acquisition system comprises a data acquisition device and a multi-joint robotic arm, and the controllable light source system is connected to the multi-joint robotic arm according to a target installation position; The data acquisition device is used to collect full surface data of the target object and feed back the full surface data to the smart terminal when receiving the acquisition instruction sent by the smart terminal; The multi-joint robotic arm comprises a plurality of joint structures, is connected to the data acquisition device, and is used to control a target joint structure to move according to the first motion instruction when receiving a first motion instruction from the intelligent terminal, so that the data acquisition device and the multi-joint robotic arm move synchronously, wherein the target joint structure is any at least one joint structure among the plurality of joint structures; The controllable light source system comprises a plurality of light sources, and is used for controlling a target light source to illuminate the target object according to the lighting instruction when receiving the lighting instruction from the smart terminal, so that the data acquisition device acquires the full surface data of the target object after being illuminated by the target light source, wherein the target light source is any at least one of the plurality of light sources; The intelligent terminal is used to generate the acquisition instruction, the first motion instruction and the lighting instruction according to the acquisition requirements, and send the acquisition instruction to the data acquisition device, wherein the acquisition instruction instructs the data acquisition device to collect the full-surface data; and send the first motion instruction to the multi-joint robotic arm, wherein the first motion instruction instructs the target joint structure to move; and send the lighting instruction to the controllable light source system, wherein the lighting instruction instructs the target light source to illuminate.

2. The object full surface data acquisition system according to claim 1, characterized in that: The data acquisition device includes a camera, and the intelligent terminal is also used for: Determining a first extrinsic parameter of the camera, a second extrinsic parameter of a calibration plate, and a third extrinsic parameter of hand-eye calibration, wherein the calibration plate is placed within the camera field of view of the camera; According to the first external parameter, the second external parameter and the third external parameter, a first position and a first direction of each of the plurality of light sources in the calibration plate coordinate system of the calibration plate are converted into a base coordinate system of the multi-joint robotic arm to obtain a second position and a second direction of each of the light sources; The specific installation position of each light source on the multi-joint robotic arm is determined based on the DH parameter model of the multi-joint robotic arm, the second position and the second direction, and the specific installation position is determined as the target installation position.

3. The object full surface data acquisition system according to claim 1, characterized in that: The system further comprises: A turntable system is arranged below the robotic arm acquisition system and is communicatively connected with the intelligent terminal, and is used to place the target object, and when receiving a second motion instruction sent by the intelligent terminal, moves according to the rotation angle and lifting height corresponding to the second motion instruction, so that the multi-joint robotic arm drives the data acquisition device to collect the full surface data within the working range; The intelligent terminal is further used to generate the second motion instruction according to the acquisition requirement, and send the second motion instruction to the turntable system, wherein the second motion instruction instructs the turntable system to move according to the rotation angle and the lifting height.

4. The object full surface data acquisition system according to claim 1, characterized in that: The system further comprises: A grasping device, disposed at the end of the multi-joint mechanical arm and in communication connection with the intelligent terminal, for grasping and positioning the target object according to the third motion instruction when receiving the third motion instruction sent by the intelligent terminal; The intelligent terminal is further used to generate the third motion instruction according to the acquisition requirement, and send the third motion instruction to the grasping device, wherein the third motion instruction instructs the grasping device to grasp and locate the target object.

5. The object full surface data acquisition system according to any one of claims 1 to 4, characterized in that: The system further comprises: A display device, used for receiving the collection requirement input by the user, and feeding back the collection requirement to the smart terminal; The display device is also used to display the full surface data.

6. A method for collecting full surface data of an object, characterized in that: Applied to the object full surface data acquisition system according to any one of claims 1 to 5, the method comprising: Determine the acquisition requirements of the target object; Generate a collection instruction according to the collection requirement, and send the collection instruction to a data collection device, so that the data collection device collects full surface data of the target object according to the collection instruction, and feeds back the full surface data to the smart terminal; Generate a first motion instruction according to the acquisition requirement, and send the first motion instruction to the multi-joint robotic arm, so that the multi-joint robotic arm determines the target joint structure corresponding to the first motion instruction and the target motion trajectory corresponding to the target joint structure, and controls the target joint structure to move according to the target motion trajectory while driving the data acquisition device to move synchronously; Generate a lighting instruction according to the acquisition demand, and send the lighting instruction to the controllable light source system, so that the controllable light source system determines the target light source corresponding to the lighting instruction, and controls the target light source to illuminate the target object; Generate a second motion instruction according to the acquisition requirement, and send the second motion instruction to the turntable system, so that the turntable system determines the rotation angle and lifting height corresponding to the second motion instruction, and controls the turntable system to move according to the rotation angle and the lifting angle while driving the target object to move synchronously; A third motion instruction is generated according to the acquisition requirement, and the third motion instruction is sent to a grasping device, so that the grasping device grasps and positions the target object according to the third motion instruction.

7. The method for collecting full surface data of an object according to claim 6, characterized in that: The method further comprises: Determining a first external parameter of a camera in the data acquisition device, a second external parameter of a calibration plate, and a third external parameter of hand-eye calibration, wherein the calibration plate is placed within the camera field of view of the camera; According to the first external parameter, the second external parameter and the third external parameter, a first position and a first direction of each of the multiple light sources of the controllable light source system in the calibration plate coordinate system of the calibration plate are converted into a robot arm base coordinate system of the multi-joint robot arm to obtain a second position and a second direction of each light source; The specific installation position of each light source on the multi-joint robotic arm is determined based on the DH parameter model of the multi-joint robotic arm, the second position and the second direction.

8. The method for collecting full surface data of an object according to claim 7, characterized in that: The method of converting the first position and the first direction of each of the multiple light sources of the controllable light source system in the calibration plate coordinate system of the calibration plate into the robot arm base coordinate system of the multi-joint robot arm according to the first external parameter, the second external parameter and the third external parameter to obtain the second position and the second direction of each light source comprises: Determine a spherical image of a sphere arranged on the calibration plate captured by the camera; Segmenting the sphere according to the sphere image, and determining the center position of the segmented circle; Determine the distance between the light spot and the center position, and the angle between the light spot and the coordinate X axis of the camera coordinate system; Determine a spherical coordinate system based on a second external parameter and the spherical position of the sphere on the calibration plate, and determine a light source direction of any light source in the spherical coordinate system according to the center position, the distance and the angle, wherein the any light source is any at least one of the multiple light sources; The first position of any one of the light sources is converted to the second position, and the first direction of any one of the light sources is converted to the second position and the second direction by using coordinate transformation based on the first extrinsic parameter, the second extrinsic parameter and the third extrinsic parameter.

9. The method for collecting full surface data of an object according to any one of claims 6 to 8, characterized in that: The method further comprises: Acquiring a first operating state of the data acquisition device, and adjusting a first operating parameter of the data acquisition device according to the first operating state; Acquire a second operating state of the multi-joint robotic arm, and adjust a second operating parameter of the multi-joint robotic arm according to the second operating state; Acquiring a third operating state of the controllable light source system, and adjusting a third operating parameter of the controllable light source system according to the third operating state; Acquiring a fourth operating state of the turntable system, and adjusting a fourth operating parameter of the turntable system according to the third operating state; A fifth operating state of the gripping device is acquired, and a fifth operating parameter of the gripping device is adjusted according to the fifth operating state.

10. The method for collecting full surface data of an object according to any one of claims 6 to 8, characterized in that: The method further comprises: Writing acquisition parameters of the target object; After the acquisition parameters are written successfully, determining whether the data acquisition device, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device are all successfully connected to the intelligent terminal; When the data acquisition device, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device are all successfully connected to the intelligent terminal, the acquisition parameters are sent to the data acquisition device, the multi-joint robotic arm, the controllable light source system, the turntable system and the grasping device through the intelligent terminal.

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