Data acquisition method and device, equipment, storage medium and computer program product
Through the combination of path planning algorithm and programmable light sources, the problem of poor data acquisition effect on irregularly shaped surface workpieces is solved, and more efficient data acquisition and imaging effects are achieved.
Patent Information
- Application Number
- CN202411920379.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-24
- Publication Date
- 2025-05-06
AI Technical Summary
The prior art is difficult to effectively collect data on workpieces or complex structural workpieces with irregularly shaped surfaces, resulting in poor acquisition results.
The path planning algorithm automatically distinguishes the polishing surface of the workpiece to be processed, determines the appropriate lighting position, and performs adaptive lighting through a programmable light source to generate the target lighting area for data acquisition.
The adaptability of different workpieces is improved, data acquisition of target lighting areas is effectively achieved, and the imaging effect of collected target data is improved.
Smart Images
Figure CN119942044A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of artificial intelligence technology, and in particular to a data collection method, device, equipment, storage medium and computer program product. Background Art
[0002] In terms of industrial visual quality inspection solutions, data acquisition technology is involved. Some data acquisition solutions have been proposed in related technologies. For example, a common method is to use ordinary light sources such as surface light sources to illuminate the workpiece, and use a fixed camera to collect data on the illuminated area. Alternatively, some methods place the light source and camera at the end of a robotic arm and collect data by moving the robotic arm along a fixed path.
[0003] However, for workpieces with irregular surfaces or complex structures, the data acquisition solutions in the above-mentioned related technologies cannot effectively image the shooting area, resulting in poor data acquisition results. Summary of the invention
[0004] In order to solve the technical problems existing in the related technologies, the embodiments of the present application provide a data collection method, device, equipment, storage medium and computer program product.
[0005] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:
[0006] In a first aspect, an embodiment of the present application provides a data collection method, the method comprising:
[0007] Get the target artifact to be processed;
[0008] Based on the path planning algorithm, first position information on the target workpiece to be processed is determined; the first position information represents position information of a lighting plane used to light the surface of the target workpiece to be processed;
[0009] Lighting the surface of the first position information by a target light source to generate a corresponding target lighting area; the target light source includes a programmable light source;
[0010] The target lighting area is subjected to data collection by a collection device to obtain target data.
[0011] In a second aspect, an embodiment of the present application further provides a data acquisition device, the device comprising:
[0012] An acquisition unit, used for acquiring a target workpiece to be processed;
[0013] A first determining unit is used to determine first position information on the target workpiece to be processed based on a path planning algorithm; the first position information represents position information of a lighting plane used to light the surface of the target workpiece to be processed;
[0014] A generating unit, configured to illuminate the surface of the first position information through a target light source to generate a corresponding target lighting area; the target light source comprises a programmable light source;
[0015] The acquisition unit is used to acquire data of the target lighting area through an acquisition device to obtain target data.
[0016] In a third aspect, an embodiment of the present application further provides a data acquisition device, comprising: a processor and a memory for storing a computer program that can be run on the processor;
[0017] Wherein, when the processor is used to run the computer program, it executes the steps of the data collection method described in the embodiment of the present application.
[0018] In a fourth aspect, an embodiment of the present application further provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the data acquisition method described in the embodiment of the present application are implemented.
[0019] In a fifth aspect, an embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the data acquisition method described in the embodiment of the present application.
[0020] The data acquisition method, device, equipment, storage medium and computer program product provided in the embodiment of the present application obtain the target workpiece to be processed; based on the path planning algorithm, determine the first position information on the target workpiece to be processed; the first position information represents the position information of the lighting plane used to light the surface of the target workpiece to be processed; the surface of the first position information is illuminated by a target light source to generate a corresponding target lighting area; the target light source includes a programmable light source; data is collected from the target lighting area by a collection device to obtain target data. The technical solution of the embodiment of the present application is adopted, the lighting surface of the target workpiece to be processed is automatically distinguished by the path planning algorithm, that is, the appropriate position for lighting the target workpiece to be processed, that is, the first position information, is determined by the path planning algorithm, so that the surface of the first position information is adaptively illuminated by the programmable light source, and data is collected from the generated target lighting area to obtain target data; it can be seen that the adaptive area lighting scheme realized by the path planning algorithm can improve the adaptability to different workpieces, effectively realize data collection of the target lighting area, and thus improve the imaging effect of the collected target data. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 The data collection method of the present invention is shown in FIG. Figure 1 ;
[0022] Figure 2 A schematic diagram of adaptive regional lighting according to an embodiment of the present application;
[0023] Figure 3A This is a schematic diagram showing that the outline area of the target light source of the embodiment of the present application is in the shape of a square wave stripe light;
[0024] Figure 3B This is a schematic diagram showing that the outline area of the target light source of the embodiment of the present application is a two-dimensional checkerboard light shape;
[0025] Figure 3C This is a schematic diagram showing that the outline area of the target light source of the embodiment of the present application is in the shape of concentric circular square wave stripe lights;
[0026] Figure 4 The data collection method of the present invention is shown in FIG. Figure 2 ;
[0027] Figure 5 A schematic diagram of the structure of a data acquisition device according to an embodiment of the present application;
[0028] Figure 6 This is a schematic diagram of the hardware composition structure of the data acquisition device according to an embodiment of the present application. DETAILED DESCRIPTION
[0029] The present application will be further described in detail below with reference to the accompanying drawings and embodiments.
[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.
[0031] Data acquisition technology is involved in existing industrial vision quality inspection solutions. Some data acquisition schemes have been proposed in related technologies. For example, a common method is to use an ordinary light source such as a surface light source to illuminate the target workpiece, and then use a fixed camera to collect data from the illuminated area. Alternatively, some methods place the light source and the camera at the end of a robotic arm, and collect data by moving the robotic arm along a fixed path.
[0032] However, in actual applications, in scenes with highly reflective workpieces such as mirrors, ordinary light sources are overexposed, and common paint problems such as pits and protrusions cannot be perfectly displayed. Especially when shooting irregular surfaces, the reflection of light sources from other planes often affects the imaging effect of the shooting area. For workpieces with complex structures, the above-mentioned single robotic arm solution has a blind spot in the acquisition position and cannot effectively image all areas.
[0033] It can be seen that the data acquisition solutions in the related art are still unable to effectively image the shooting area for workpieces with irregular surfaces or complex structures, and there is still a problem of poor data acquisition results.
[0034] Based on this, an embodiment of the present application proposes a data acquisition method. In various embodiments of the present application, a path planning algorithm is used to automatically distinguish the polished surface of the target workpiece to be processed, that is, the path planning algorithm is used to determine the appropriate position for lighting the target workpiece to be processed, that is, the first position information, so that the surface of the first position information is adaptively illuminated by a programmable light source, and data is collected for the generated target lighting area to obtain target data; it can be seen that the adaptive area lighting scheme implemented by the path planning algorithm can improve the adaptability to different workpieces, effectively realize data collection for the target lighting area, and thereby improve the imaging effect of the collected target data.
[0035] The present application embodiment provides a data acquisition method, which is applied to a data acquisition device. Figure 1 The data collection method of the present invention is shown in FIG. Figure 1 ;like Figure 1 As shown, the data collection method includes:
[0036] Step 101: Obtain a target workpiece to be processed.
[0037] Here, the target workpiece to be processed may be a workpiece with a mirror reflection function, or a workpiece with a paint surface reflection function. The embodiment of the present application does not limit the type of the target workpiece to be processed.
[0038] Step 102: Determine first position information on the target workpiece to be processed based on a path planning algorithm.
[0039] In an embodiment of the present application, the first position information represents the position information of the lighting plane used to light the surface of the target workpiece to be processed. Specifically, the lighting surface of the target workpiece to be processed (i.e., the surface of the first position information) can be automatically distinguished through the path planning algorithm. In other words, the path planning algorithm can determine the appropriate position for lighting the target workpiece to be processed, i.e., the first position information.
[0040] In actual application, only the surface of the determined first position information is the area to be illuminated, while the surfaces of other positions on the target workpiece to be processed except the surface of the first position information are dark and not illuminated. In this way, the problem of surfaces at other positions reflecting the target light source due to being illuminated can be avoided.
[0041] Here, the purpose of path planning is to find the reasonable position for lighting and data collection on the surface of the target workpiece to be processed through three-dimensional calculation. In actual application, the data acquisition device determines the appropriate position for lighting the target workpiece to be processed, that is, the first position information, when the acquisition equipment, the target light source, and the target workpiece to be processed meet certain conditions.
[0042] Based on this, in one embodiment, determining the first position information on the target workpiece to be processed based on a path planning algorithm includes:
[0043] When it is determined that the target workpiece to be processed, the target light source, and the acquisition device meet the set conditions, a first matrix set corresponding to the acquisition device and a second matrix set corresponding to the target light source are determined; based on the first matrix set and the second matrix set, the first position information is determined.
[0044] Here, the acquisition device is a device with an acquisition function such as a data acquisition function, such as a camera. The embodiment of the present application does not limit the type of the acquisition device.
[0045] In one embodiment, the determining of the first matrix set corresponding to the acquisition device includes:
[0046] Acquire a first rotation matrix and a first translation vector; the first rotation matrix is used to rotate the first eigenvector matrix of the acquisition device to obtain the rotated first eigenvector matrix, and the first translation vector is used to translate the rotated first eigenvector matrix to obtain a second eigenvector matrix; the second eigenvector matrix represents the spatial feature representation of the first eigenvector matrix;
[0047] The first matrix set is determined based on the first rotation matrix and the first translation vector.
[0048] Here, the first matrix set corresponding to the acquisition device is determined based on the first rotation matrix and the first translation vector. Specifically, the first matrix set may be determined as the product of the first rotation matrix and the first translation vector.
[0049] Here, the acquisition device, such as a camera, is modeled in three-dimensional space. Specifically, assuming that the camera model is C = [c0, c1, c2, c3, c4, ...], where c0, c1, c2, c3, c4, etc. are the eigenvector representations in the camera model, and multiple eigenvector representations constitute an eigenvector matrix, that is, the first eigenvector matrix of the camera, which can be represented by C. Assuming that the first rotation matrix is represented by R c The first translation vector is represented by T c In practical applications, after obtaining the first eigenvector matrix C of the camera, the data acquisition device can first use the first rotation matrix R c The first eigenvector matrix C of the camera is rotated to obtain the rotated first eigenvector matrix, and then the first translation vector T c The rotated first eigenvector matrix is translated to obtain the second eigenvector matrix, where the second eigenvector matrix is represented by C′, then C′=R c T c C, the second eigenvector matrix C′ represents the spatial feature representation of the first eigenvector matrix C. The data acquisition device obtains the first rotation matrix R c and the first translation vector T c After that, the first matrix set can be expressed as (R c T c ).
[0050] In one embodiment, determining a second matrix set corresponding to the target light source includes:
[0051] Obtain a second rotation matrix and a second translation vector; the second rotation matrix is used to rotate the third eigenvector matrix of the target light source to obtain a rotated third eigenvector matrix, and the second translation vector is used to translate the rotated third eigenvector matrix to obtain a fourth eigenvector matrix; the fourth eigenvector matrix represents the spatial feature representation of the third eigenvector matrix;
[0052] Based on the second rotation matrix and the second translation vector, the second matrix set is determined.
[0053] Here, the second matrix set corresponding to the target light source is determined based on the second rotation matrix and the second translation vector. Specifically, the second matrix set may be determined as the product of the second rotation matrix and the second translation vector.
[0054] Here, the target light source is modeled in three-dimensional space. Specifically, assuming that the light source model is L = [l0, l1, l2, l3, l4, ...], where l0, l1, l2, l3, l4, etc. are the eigenvector representations in the light source model, and multiple eigenvector representations constitute an eigenvector matrix, that is, the third eigenvector matrix of the target light source, which can be represented by L. Assuming that the second rotation matrix is R l The second translation vector is represented by T l In practical applications, after obtaining the third eigenvector matrix L of the target light source, the data acquisition device can first use the second rotation matrix R l The third eigenvector matrix L of the target light source is rotated to obtain the rotated third eigenvector matrix, and then the third eigenvector matrix is transformed by the second translation vector T l The rotated third eigenvector matrix is translated to obtain the fourth eigenvector matrix, where the fourth eigenvector matrix is represented by L′, then L′=R l T l L, the fourth eigenvector matrix L′ represents the spatial feature representation of the third eigenvector matrix L. The data acquisition device obtains the second rotation matrix R l and the second translation vector T l After that, the second matrix set can be expressed as (R l T l ).
[0055] It should be noted that the first matrix set can be understood as a path planning rotation and translation matrix set of a collection device such as a camera, and the second matrix set can be understood as a path planning rotation and translation matrix set of a target light source.
[0056] In an embodiment of the present application, the set conditions include a first condition, a second condition, a third condition and a fourth condition; wherein, the first condition represents that the acquisition device, the target light source and the target workpiece to be processed do not collide with each other; the second condition represents that the reflection state of the target light source and the acquisition device for the lighting plane is established; the third condition represents that the focus of the lighting plane and the acquisition device coincides; the fourth condition represents that the angle between the first angle and the second angle is the smallest, wherein the first angle represents the angle from the target light source to the normal of the lighting plane, and the second angle represents the angle from the acquisition device to the normal of the lighting plane.
[0057] Based on this, in one embodiment, determining that the target workpiece to be processed, the target light source, and the acquisition device meet set conditions includes:
[0058] Determine whether the first condition, the second condition, the third condition and the fourth condition are met; if it is determined that the first condition, the second condition, the third condition and the fourth condition are met, determine whether the target workpiece to be processed, the target light source and the acquisition device meet the set conditions.
[0059] It should be noted that the embodiment of the present application determines that the current target workpiece to be processed, target light source, and acquisition device meet the applicable conditions of the path planning algorithm when the first condition, the second condition, the third condition, and the fourth condition are all met. Only then can the appropriate position for lighting the target workpiece to be processed, that is, the first position information, be determined.
[0060] The following is an explanation of the process of determining the above conditions.
[0061] In actual application, when the data acquisition device determines the appropriate position for lighting the target workpiece to be processed, it is necessary to meet the condition that the target workpiece to be processed, the target light source, and the acquisition device (such as a camera) do not collide with each other, that is, the first condition.
[0062] Based on this, in one embodiment, the determining whether the first condition is satisfied includes:
[0063] Determine a spatial feature representation of a first eigenvector matrix of the acquisition device, a spatial feature representation of a third eigenvector matrix of the target light source, and a fifth eigenvector matrix of the target workpiece to be processed;
[0064] Determining a target collision volume based on the spatial feature representation of the first eigenvector matrix, the spatial feature representation of the third eigenvector matrix, and the fifth eigenvector matrix;
[0065] When the target collision volume is a set value, it is determined that the first condition is satisfied.
[0066] Here, before determining that the first condition is met, the target workpiece to be processed needs to be modeled in three-dimensional space. Assume that the model of the target workpiece to be processed is O = [s0, s1, s2, s3, s4, ...], where s0, s1, s2, s3, s4, etc. are the eigenvector representations of the target workpiece model to be processed, and multiple eigenvector representations constitute an eigenvector matrix, that is, the fifth eigenvector matrix of the target workpiece to be processed, which can be represented by O. Among them, the plane S is composed of three vertices A, B, and C. S represents the unit triangular plane of the object surface, that is, S = (A s ,B s ,C s ).
[0067] Here, in practical applications, collisions may occur between the camera and the target light source, or between the camera and the target workpiece to be processed, or between the target light source and the target workpiece to be processed. Therefore, in order to eliminate these collision situations, in the embodiments of the present application, a collision model is established to calculate the collision volume between the camera and the target light source, the collision volume between the camera and the target workpiece to be processed, and the collision volume between the target light source and the target workpiece to be processed, and the target collision volume is obtained based on the sum of these three collision volumes. When the target collision volume is a set value, it is determined that there is no collision between the target workpiece to be processed, the target light source, and the camera. Among them, the set value can be set according to actual needs. For example, the set value is set to 0; that is, when the target collision volume is 0, it means that there is no collision between the target workpiece to be processed, the target light source, and the camera.
[0068] The collision here can be understood as that for each vector end point and origin in a three-dimensional object, they are skew lines with the origin of any triangular unit plane on the surface of another object.
[0069] Suppose two points (vector end point and origin) on the surface of one object in a three-dimensional object are P1 and P2 respectively. The following formula (1) can be used to determine whether P1 and P2 are skew lines with respect to the surface of another object (such as plane S):
[0070] R t = P1 + t(P2 - P1) (1)
[0071] Among them, R t represents the intersection point of the line connecting P1 and P2 with plane S. When t = 0, R t is P1; when t = 1, R t is P2; when 0 < t < 1, R t is in the middle of P1 and P2. At this time, P1 and P2 are skew lines with respect to plane S.
[0072] Here, the representation equation of plane S can be expressed by the following formula (2):
[0073] ax + by + cx + d = 0 (2)
[0074] Among them, a, b, and c respectively represent the three vertices of plane S.
[0075] Combining formula (1) and (2), the state of P1 and P2 with respect to plane S can be obtained, which is expressed by the following formula (3):
[0076]
[0077] Among them, f(P1, P2, S) represents the state value of two points P1 and P2 relative to the plane S. When 0 < t < 1, f(P1, P2, S) is 0, indicating that the two points P1 and P2 are skew with respect to the plane S; when t is other values (values other than 0 < t < 1), f(P1, P2, S) is 1, indicating that there is no skewness between the two points P1 and P2 with respect to the plane S.
[0078] Suppose there are two volumes B1 and B2 (corresponding to the objects that may collide respectively), then the collision of the two volumes can be expressed as:
[0079] For volume B1, a point b1 on the volume belongs to B1, and a unit triangular plane (i.e., an element face) s1 belongs to B1, and o1 is the center point of the element face s1;
[0080] For volume B2, a point b2 on the volume belongs to B2, and a unit triangular plane (i.e., an element face) s2 belongs to B2, and o2 is the center point of the element face s2; then the collision volume between volume B1 and B2 can be expressed by the following formula (4):
[0081] F(B1, B2) = ∑f(b1, o1, s2) + ∑f(b2, o2, s1) (4)
[0082] Among them, F(B1, B2) represents the collision volume between volume B1 and B2, f(b1, o1, s2) represents the state value of b1 and o1 relative to the plane s2, and f(b2, o2, s1) represents the state value of b2 and o2 relative to the plane s1.
[0083] Then, combining the above formula (4), the target collision volume can be obtained through the following formula (5):
[0084] F = F(C′, L′) + F(C′, O) + F(L′, O) (5)
[0085] Among them, F represents the target collision volume. When F = 0, it indicates that there is no collision among the target workpiece to be processed, the target light source, and the camera; F(C′, L′) represents the collision volume between the camera and the target light source, C′ represents the spatial feature representation of the first eigenvector matrix of the acquisition device such as the camera (i.e., the second eigenvector matrix), and L′ represents the spatial feature representation of the third eigenvector matrix of the target light source (i.e., the fourth eigenvector matrix); F(C′, O) represents the collision volume between the camera and the target workpiece to be processed, and O represents the fifth eigenvector matrix of the target workpiece to be processed; F(L′, O) represents the collision volume between the target light source and the target workpiece to be processed.
[0086] In actual application, when the data acquisition device determines the appropriate position for lighting the target workpiece to be processed, it is also necessary to meet the condition that the reflection state of the target light source and the acquisition device (such as a camera) for the lighting plane is established, that is, the second condition.
[0087] Based on this, in one embodiment, the determining whether the second condition is satisfied includes:
[0088] Determine the first angle and the second angle; the first angle represents the angle between the target light source and the normal line of the lighting plane, and the second angle represents the angle between the acquisition device and the normal line of the lighting plane;
[0089] Determine a first difference based on the first angle, the second angle and the normal of the lighting plane; the first difference represents the difference in incident angles of the target light source and the acquisition device on the lighting plane;
[0090] When the first difference is a set value, it is determined that the second condition is satisfied.
[0091] Here, for determining the first difference based on the first angle, the second angle and the normal of the lighting plane, the first difference can be obtained by a logical operation based on the first angle, the second angle and the normal of the lighting plane. After the data acquisition device determines the first difference, when the first difference is a set value, it is determined that the reflection state of the acquisition device (such as a camera) and the target light source for the lighting plane is established. Among them, the set value can be set according to actual needs, for example, the set value is set to 0; that is, when the first difference is 0, it means that the reflection state of the acquisition device (such as a camera) and the target light source for the lighting plane is established.
[0092] Here, in actual application, since there is reflection between the acquisition device (such as a camera) and the target light source with respect to the lighting plane, there is a certain difference in the incident angles of the target light source and the acquisition device on the lighting plane, that is, the first difference, which can be expressed by V. The first difference V can be obtained by the following formula (6):
[0093] V=V1-V c -2(V c ·n s ) s (6)
[0094] Wherein, V1 represents the angle between the target light source and the normal of the lighting plane (i.e., the first angle); V c Indicates the angle (i.e., the second angle) between the acquisition device (such as a camera) and the normal of the lighting plane; n sRepresents the unit normal vector of the lighting plane, that is, the normal line of the lighting plane. When V=0, it means that the reflection state of the target light source and the acquisition device (such as a camera) for the lighting plane is established, that is, the second condition is satisfied.
[0095] In actual application, when the data acquisition device determines the appropriate position for lighting the target workpiece to be processed, it is also necessary to meet the condition that the lighting plane coincides with the focus of the acquisition device (such as a camera), that is, the third condition.
[0096] Based on this, in one embodiment, the determining whether the third condition is satisfied includes:
[0097] Determine a first distance between a physical center point of the acquisition device and a midpoint of the lighting plane;
[0098] Determine a third distance based on a difference between the second distance and the first distance; the second distance represents the working distance of the acquisition device, and the third distance represents the distance difference between the lighting plane and the focus of the acquisition device;
[0099] When the third distance is a set value, it is determined that the third condition is satisfied.
[0100] Here, after the data acquisition device determines the third distance, when the third distance is a set value, it is determined that the condition that the lighting plane coincides with the focus of the acquisition device (such as a camera) is met. The set value can be set according to actual needs, for example, the set value is set to 0; that is, when the third distance is 0, it means that the shooting target falls on the focus of the acquisition device, that is, the lighting plane coincides with the focus of the acquisition device.
[0101] Here, in actual application, assuming that the working distance of the acquisition device is l (i.e., the second distance), in order to ensure that the lighting plane coincides with the focus of the acquisition device, the distance difference L (i.e., the third distance) between the lighting plane and the focus of the acquisition device can be obtained by the following formula (7):
[0102] L=ld(C0-o(S))(7)
[0103] Wherein, C0 represents the physical center point of the acquisition device such as a camera, o(S) represents the midpoint of the lighting plane S, and d(C0-o(S)) represents the distance between the physical center point of the acquisition device and the midpoint of the lighting plane S, that is, the first distance. When L=0, it means that the shooting target falls on the focus of the acquisition device, that is, the lighting plane coincides with the focus of the acquisition device, that is, the third condition is met.
[0104] In actual application, when the data acquisition device determines the appropriate position for lighting the target workpiece to be processed, it is also necessary to meet the condition that the angle between the first angle and the second angle is the smallest, that is, the fourth condition.
[0105] Based on this, in one embodiment, the determining whether the fourth condition is satisfied includes:
[0106] Determine the first angle and the second angle; the first angle represents the angle between the target light source and the normal line of the lighting plane, and the second angle represents the angle between the acquisition device and the normal line of the lighting plane;
[0107] Determine an angle between the first angle and the second angle based on the first angle and the second angle;
[0108] When the angle between the first angle and the second angle is the minimum value, it is determined that the fourth condition is satisfied.
[0109] Here, based on the previous description, V1 is used to represent the angle between the target light source and the normal line of the lighting plane (i.e., the first angle); V c represents the angle (i.e., the second angle) between the acquisition device (e.g., camera) and the normal of the lighting plane. After the first angle and the second angle are obtained, the angle θ between the first angle and the second angle can be obtained by the following formula (8):
[0110]
[0111] Among them, when θ takes the minimum value, it means that the fourth condition is satisfied.
[0112] Here, in actual application, when the data acquisition device satisfies all the first condition, the second condition, the third condition and the fourth condition, after obtaining the path planning rotation and translation matrix set of the acquisition device and the target light source (corresponding to the aforementioned first matrix set and second matrix set), the final path planning, i.e., the first position information, can be obtained by the following formula (9):
[0113] {(R c T c ),(R l T l )F=0andV=0andL=0andmin(θ)}(9)
[0114] It should be noted that the meaning of each parameter in formula (9) can be understood by referring to the meaning of the same parameters mentioned above, and will not be repeated here.
[0115] Step 103: illuminate the surface of the first position information through a target light source to generate a corresponding target lighting area.
[0116] In the embodiment of the present application, the target light source includes a programmable light source. Here, lighting the surface of the first position information by the target light source can actually be understood as adaptive regional lighting of the target light source. The goal of adaptive lighting is to light only the surface of the determined first position information by the target light source, that is, the programmable light source, while other surfaces except the surface of the first position information are dark and not illuminated.
[0117] Figure 2 A schematic diagram of adaptive regional lighting according to an embodiment of the present application is shown in FIG. Figure 2 As shown in the figure, the lighting area is an irregular polygonal plane on the target workpiece to be processed, which can be l If S l =(p1, p2, p3, ...), where p1, p2, p3, etc. represent plane S l The emission position of each point p on the target light source can be calculated by the following formula (10):
[0118] p l =P(v c -2(v c ·n s ) s ,L p )(10)
[0119] Among them, p l represents the emission position of any point p on the target light source, P(v,s) represents the intersection of vector v and plane s. By calculating the edge point of the target light source, the target light source lit area L can be obtained. l .L p represents the target light source plane, v c Represents the shooting vector of a capture device such as a camera.
[0120] In actual application, before illuminating the surface of the first position information by a target light source to generate a corresponding target illuminated area, the method further includes: determining the target light source.
[0121] In one embodiment, determining the target light source includes:
[0122] Determining the target light source based on a monochromatic lamp bead array;
[0123] The monochrome lamp bead array includes one or more luminous lamp beads, and the one or more luminous lamp beads are controlled to light up by a binary graphic image.
[0124] Here, the monochrome lamp bead array can be a monochrome lamp bead array based on light emitting diodes (LED, Light Emitting Diode), or a monochrome lamp bead array based on organic light emitting diodes (OLED, Organic Light Emitting Diode). That is, the target light source of the embodiment of the present application is implemented using an OLED / LED monochrome lamp bead array, and the array control chip is used to control the light-emitting area. Specifically, the lighting of the light-emitting lamp beads can be directly controlled by a graphics binary image.
[0125] Here, the target light source is a light source with a settable structure in the contour area, that is, the light is emitted in the contour area to present a variety of light shapes, where the various light shapes include but are not limited to: isotropic square wave stripes, isotropic sinusoidal stripes, two-dimensional checkerboard, concentric square wave stripes, concentric sinusoidal stripes, etc. For example, Figure 3A The outline area of the target light source shown is a schematic diagram of the shape of a square wave stripe light. Figure 3B The outline area of the target light source shown is a schematic diagram of a two-dimensional checkerboard light shape. Figure 3C The outline area of the target light source shown is a schematic diagram of the shape of concentric circular square wave stripe light.
[0126] Step 104: Collect data on the target lighting area through a collection device to obtain target data.
[0127] The present application also provides another data acquisition method, which is applied to a data acquisition device. Figure 4 The data collection method of the present invention is shown in FIG. Figure 2 ;like Figure 4 As shown, the data collection method includes:
[0128] Step 401: Obtain a target workpiece to be processed.
[0129] Step 402: Determine the target light source based on the monochromatic lamp bead array.
[0130] In an embodiment of the present application, the monochrome lamp bead array includes one or more luminous lamp beads, and the one or more luminous lamp beads are controlled to light up through a graphical binary image; the target light source includes a programmable light source.
[0131] Step 403: When it is determined that the target workpiece to be processed, the target light source, and the acquisition device meet the set conditions, a first matrix set corresponding to the acquisition device and a second matrix set corresponding to the target light source are determined.
[0132] In one embodiment, the determining of the first matrix set corresponding to the acquisition device includes:
[0133] Acquire a first rotation matrix and a first translation vector; the first rotation matrix is used to rotate the first eigenvector matrix of the acquisition device to obtain the rotated first eigenvector matrix, and the first translation vector is used to translate the rotated first eigenvector matrix to obtain a second eigenvector matrix; the second eigenvector matrix represents the spatial feature representation of the first eigenvector matrix;
[0134] The first matrix set is determined based on the first rotation matrix and the first translation vector.
[0135] In one embodiment, determining a second matrix set corresponding to the target light source includes:
[0136] Obtain a second rotation matrix and a second translation vector; the second rotation matrix is used to rotate the third eigenvector matrix of the target light source to obtain a rotated third eigenvector matrix, and the second translation vector is used to translate the rotated third eigenvector matrix to obtain a fourth eigenvector matrix; the fourth eigenvector matrix represents the spatial feature representation of the third eigenvector matrix;
[0137] Based on the second rotation matrix and the second translation vector, the second matrix set is determined.
[0138] In one embodiment, the setting conditions include a first condition, a second condition, a third condition and a fourth condition; the first condition indicates that the acquisition device, the target light source and the target workpiece to be processed do not collide with each other, the second condition indicates that the reflection state of the target light source and the acquisition device for the lighting plane is established, the third condition indicates that the focus of the lighting plane and the acquisition device coincide, and the fourth condition indicates that the angle between the first angle and the second angle is the smallest;
[0139] The step of determining that the target workpiece to be processed, the target light source, and the acquisition device meet set conditions includes:
[0140] determining whether the first condition, the second condition, the third condition, and the fourth condition are satisfied;
[0141] When it is determined that the first condition, the second condition, the third condition and the fourth condition are satisfied, it is determined that the target workpiece to be processed, the target light source and the acquisition device satisfy the set conditions.
[0142] In one embodiment, the determining that the first condition is satisfied includes:
[0143] Determine a spatial feature representation of a first eigenvector matrix of the acquisition device, a spatial feature representation of a third eigenvector matrix of the target light source, and a fifth eigenvector matrix of the target workpiece to be processed;
[0144] Determining a target collision volume based on the spatial feature representation of the first eigenvector matrix, the spatial feature representation of the third eigenvector matrix, and the fifth eigenvector matrix;
[0145] When the target collision volume is a set value, it is determined that the first condition is satisfied.
[0146] In one embodiment, the determining that the second condition is satisfied includes:
[0147] Determine the first angle and the second angle; the first angle represents the angle between the target light source and the normal line of the lighting plane, and the second angle represents the angle between the acquisition device and the normal line of the lighting plane;
[0148] Determine a first difference based on the first angle, the second angle and the normal of the lighting plane; the first difference represents the difference in incident angles of the target light source and the acquisition device on the lighting plane;
[0149] When the first difference is a set value, it is determined that the second condition is satisfied.
[0150] In one embodiment, the determining that the third condition is satisfied includes:
[0151] Determine a first distance between a physical center point of the acquisition device and a midpoint of the lighting plane;
[0152] Determine a third distance based on a difference between the second distance and the first distance; the second distance represents the working distance of the acquisition device, and the third distance represents the distance difference between the lighting plane and the focus of the acquisition device;
[0153] When the third distance is a set value, it is determined that the third condition is satisfied.
[0154] In one embodiment, the determining that the fourth condition is satisfied includes:
[0155] Determine the first angle and the second angle; the first angle represents the angle between the target light source and the normal line of the lighting plane, and the second angle represents the angle between the acquisition device and the normal line of the lighting plane;
[0156] Determine an angle between the first angle and the second angle based on the first angle and the second angle;
[0157] When the angle between the first angle and the second angle is the minimum value, it is determined that the fourth condition is satisfied.
[0158] Step 404: Determine first position information on the target workpiece to be processed based on the first matrix set and the second matrix set.
[0159] In the embodiment of the present application, the first position information represents position information of a lighting plane used to light the surface of the target workpiece to be processed.
[0160] Step 405: illuminate the surface of the first position information through a target light source to generate a corresponding target lighting area.
[0161] Step 406: collect data on the target lighting area through a collection device to obtain target data.
[0162] It should be noted that the specific processing process of the data acquisition device to complete data acquisition has been described in detail above and will not be repeated here.
[0163] By adopting the technical solution of the embodiment of the present application, the polishing surface of the target workpiece to be processed is automatically distinguished through a path planning algorithm, that is, the appropriate position for lighting the target workpiece to be processed, that is, the first position information, is determined through the path planning algorithm, so that the surface of the first position information is adaptively illuminated by a programmable light source, and data is collected for the generated target lighting area to obtain target data; it can be seen that the adaptive area lighting scheme realized by the path planning algorithm can improve the adaptability to different workpieces, effectively realize data collection for the target lighting area, and thereby improve the imaging effect of the collected target data.
[0164] In order to implement the data collection method of the embodiment of the present application, the embodiment of the present application also provides a data collection device, Figure 5 Schematic diagram of the structure of the data acquisition device according to the embodiment of the present application. Figure 5 As shown, the data acquisition device comprises:
[0165] An acquisition unit 51 is used to acquire a target workpiece to be processed;
[0166] A first determining unit 52 is used to determine first position information on the target workpiece to be processed based on a path planning algorithm; the first position information represents position information of a lighting plane used to light the surface of the target workpiece to be processed;
[0167] A generating unit 53, configured to illuminate the surface of the first position information through a target light source to generate a corresponding target lighting area; the target light source includes a programmable light source;
[0168] The acquisition unit 54 is used to acquire data of the target lighting area through an acquisition device to obtain target data.
[0169] In one embodiment, the device further includes: a second determining unit; wherein,
[0170] The second determination unit is used to determine the target light source before the generation unit 53 illuminates the surface of the first position information through the target light source to generate the corresponding target lighting area.
[0171] In one embodiment, the second determining unit is specifically configured to:
[0172] Determining the target light source based on a monochromatic lamp bead array;
[0173] The monochrome lamp bead array includes one or more luminous lamp beads, and the one or more luminous lamp beads are controlled to light up by a binary graphic image.
[0174] In one embodiment, the first determining unit 52 includes a third determining unit, a fourth determining unit and a fifth determining unit; wherein,
[0175] The third determination unit is used to determine whether the target workpiece to be processed, the target light source, and the acquisition device meet set conditions;
[0176] The fourth determining unit is used to determine a first matrix set corresponding to the acquisition device and a second matrix set corresponding to the target light source when the third determining unit determines that the target workpiece to be processed, the target light source, and the acquisition device meet a set condition;
[0177] The fifth determining unit is used to determine the first position information based on the first matrix set and the second matrix set.
[0178] In one embodiment, the fourth determining unit is specifically configured to:
[0179] Acquire a first rotation matrix and a first translation vector; the first rotation matrix is used to rotate the first eigenvector matrix of the acquisition device to obtain the rotated first eigenvector matrix, and the first translation vector is used to translate the rotated first eigenvector matrix to obtain a second eigenvector matrix; the second eigenvector matrix represents the spatial feature representation of the first eigenvector matrix;
[0180] The first matrix set is determined based on the first rotation matrix and the first translation vector.
[0181] In one embodiment, the fourth determining unit is specifically configured to:
[0182] Obtain a second rotation matrix and a second translation vector; the second rotation matrix is used to rotate the third eigenvector matrix of the target light source to obtain a rotated third eigenvector matrix, and the second translation vector is used to translate the rotated third eigenvector matrix to obtain a fourth eigenvector matrix; the fourth eigenvector matrix represents the spatial feature representation of the third eigenvector matrix;
[0183] Based on the second rotation matrix and the second translation vector, the second matrix set is determined.
[0184] In one embodiment, the setting conditions include a first condition, a second condition, a third condition and a fourth condition; the first condition indicates that the acquisition device, the target light source and the target workpiece to be processed do not collide with each other, the second condition indicates that the reflection state of the target light source and the acquisition device for the lighting plane is established, the third condition indicates that the focus of the lighting plane and the acquisition device coincide, and the fourth condition indicates that the angle between the first angle and the second angle is the smallest;
[0185] The third determining unit includes a sixth determining unit and a seventh determining unit; wherein,
[0186] The sixth determining unit is used to determine whether the first condition, the second condition, the third condition and the fourth condition are met;
[0187] The seventh determining unit is used to determine that the target workpiece to be processed, the target light source, and the acquisition device meet the set conditions when the sixth determining unit determines that the first condition, the second condition, the third condition, and the fourth condition are met.
[0188] In one embodiment, the sixth determining unit is specifically configured to:
[0189] Determine a spatial feature representation of a first eigenvector matrix of the acquisition device, a spatial feature representation of a third eigenvector matrix of the target light source, and a fifth eigenvector matrix of the target workpiece to be processed;
[0190] Determining a target collision volume based on the spatial feature representation of the first eigenvector matrix, the spatial feature representation of the third eigenvector matrix, and the fifth eigenvector matrix;
[0191] When the target collision volume is a set value, it is determined that the first condition is satisfied.
[0192] In one embodiment, the sixth determining unit is specifically configured to:
[0193] Determine the first angle and the second angle; the first angle represents the angle between the target light source and the normal line of the lighting plane, and the second angle represents the angle between the acquisition device and the normal line of the lighting plane;
[0194] Determine a first difference based on the first angle, the second angle and the normal of the lighting plane; the first difference represents the difference in incident angles of the target light source and the acquisition device on the lighting plane;
[0195] When the first difference is a set value, it is determined that the second condition is satisfied.
[0196] In one embodiment, the sixth determining unit is specifically configured to:
[0197] Determine a first distance between a physical center point of the acquisition device and a midpoint of the lighting plane;
[0198] Determine a third distance based on a difference between the second distance and the first distance; the second distance represents the working distance of the acquisition device, and the third distance represents the distance difference between the lighting plane and the focus of the acquisition device;
[0199] When the third distance is a set value, it is determined that the third condition is satisfied.
[0200] In one embodiment, the sixth determining unit is specifically configured to:
[0201] Determine the first angle and the second angle; the first angle represents the angle between the target light source and the normal line of the lighting plane, and the second angle represents the angle between the acquisition device and the normal line of the lighting plane;
[0202] Determine an angle between the first angle and the second angle based on the first angle and the second angle;
[0203] When the angle between the first angle and the second angle is the minimum value, it is determined that the fourth condition is satisfied.
[0204] In actual application, the acquisition unit 51 can be implemented by a communication interface in the data acquisition device; the first determination unit 52, the generation unit 53 and the acquisition unit 54 can be implemented by a processor in the data acquisition device.
[0205] It should be noted that: the data acquisition device provided in the above embodiment only uses the division of the above program modules as an example when performing data acquisition. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the data acquisition device provided in the above embodiment and the data acquisition method embodiment belong to the same concept. The specific implementation process is detailed in the data acquisition method embodiment, which will not be repeated here.
[0206] Based on the hardware implementation of the above program modules, and in order to implement the data acquisition method of the embodiment of the present application, the embodiment of the present application also provides a data acquisition device, Figure 6 Schematic diagram of the hardware structure of the data acquisition device of the embodiment of the present application. Figure 6 As shown, the data acquisition device 60 includes:
[0207] Communication interface 61, capable of exchanging information with other devices;
[0208] The processor 62 is connected to the communication interface 61 to implement information exchange with other devices and is used to execute the data acquisition method provided above when running a computer program, and the computer program is stored in the memory 63.
[0209] Specifically, the communication interface 61 is used to obtain the target workpiece to be processed;
[0210] The processor 62 is used to determine the first position information on the target workpiece to be processed based on a path planning algorithm; the first position information represents the position information of a lighting plane used to illuminate the surface of the target workpiece to be processed; the surface of the first position information is illuminated by a target light source to generate a corresponding target lighting area; the target light source includes a programmable light source; and data is collected on the target lighting area by an acquisition device to obtain target data.
[0211] It should be noted that the specific processing process of the communication interface 61 and the processor 62 can be understood by referring to the above-mentioned data collection method.
[0212] Of course, in actual application, the various components in the data acquisition device 60 are coupled together through the bus system 64. It is understandable that the bus system 64 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 64 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, Figure 6 Various buses are labeled as bus system 64.
[0213] The memory 63 in the embodiment of the present application is used to store various types of data to support the operation of the data acquisition device 60. Examples of such data include: any computer program used to operate on the data acquisition device 60.
[0214] The data acquisition method disclosed in the above embodiment of the present application can be applied to the processor 62, or implemented by the processor 62. The processor 62 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above data acquisition method can be completed by the hardware integrated logic circuit or software instructions in the processor 62. The above-mentioned processor 62 can be a general processor, a digital signal processor (DSP, DigitalSignal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 62 can implement or execute the various data acquisition methods, steps and logic block diagrams disclosed in the embodiments of the present application. A general processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the data acquisition method disclosed in the embodiment of the present application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in the memory 63, and the processor 62 reads the information in the memory 63 and completes the steps of the aforementioned data acquisition method in combination with its hardware.
[0215] In an exemplary embodiment, the data acquisition device 60 can be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field programmable gate array (FPGA), general processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the aforementioned data acquisition method.
[0216] It can be understood that the memory 63 of the embodiment of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 63 described in the embodiments of the present application is intended to include but is not limited to these and any other suitable types of memory.
[0217] In an exemplary embodiment, the present application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, for example, a memory 63 storing a computer program, and the computer program can be executed by a processor 62 in a data acquisition device 60 to complete the steps of the data acquisition method described in the above embodiment of the present application. The computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.
[0218] In an exemplary embodiment, the present application also provides a computer program product, including a computer program, which can be executed by the processor 62 in the data acquisition device 60 to complete the steps of the data acquisition method described in the aforementioned embodiment of the present application.
[0219] It should be noted that: "first", "second", "third", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.
[0220] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.
[0221] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A data collection method, characterized in that: The method comprises: Get the target artifact to be processed; Based on the path planning algorithm, first position information on the target workpiece to be processed is determined; the first position information represents position information of a lighting plane used to light the surface of the target workpiece to be processed; Lighting the surface of the first position information by a target light source to generate a corresponding target lighting area; the target light source includes a programmable light source; The target lighting area is subjected to data collection by a collection device to obtain target data.
2. The method according to claim 1, characterized in that Before lighting the surface of the first position information by a target light source to generate a corresponding target lighting area, the method further includes: The target light source is determined.
3. The method according to claim 2, characterized in that The determining the target light source comprises: Determining the target light source based on a monochromatic lamp bead array; The monochrome lamp bead array includes one or more luminous lamp beads, and the one or more luminous lamp beads are lit up by controlling a binary graphic image.
4. The method according to claim 1, characterized in that The determining of the first position information on the target workpiece to be processed based on the path planning algorithm includes: When it is determined that the target workpiece to be processed, the target light source, and the acquisition device meet set conditions, a first matrix set corresponding to the acquisition device and a second matrix set corresponding to the target light source are determined; The first position information is determined based on the first matrix set and the second matrix set.
5. The method according to claim 4, characterized in that The determining of a first matrix set corresponding to the acquisition device includes: Acquire a first rotation matrix and a first translation vector; the first rotation matrix is used to rotate the first eigenvector matrix of the acquisition device to obtain the rotated first eigenvector matrix, and the first translation vector is used to translate the rotated first eigenvector matrix to obtain a second eigenvector matrix; the second eigenvector matrix represents the spatial feature representation of the first eigenvector matrix; The first matrix set is determined based on the first rotation matrix and the first translation vector.
6. The method according to claim 4, characterized in that The determining of a second matrix set corresponding to the target light source includes: Obtain a second rotation matrix and a second translation vector; the second rotation matrix is used to rotate the third eigenvector matrix of the target light source to obtain a rotated third eigenvector matrix, and the second translation vector is used to translate the rotated third eigenvector matrix to obtain a fourth eigenvector matrix; the fourth eigenvector matrix represents the spatial feature representation of the third eigenvector matrix; Based on the second rotation matrix and the second translation vector, the second matrix set is determined.
7. The method according to claim 4, characterized in that The setting conditions include a first condition, a second condition, a third condition and a fourth condition; the first condition indicates that the acquisition device, the target light source and the target workpiece to be processed do not collide with each other, the second condition indicates that the reflection state of the target light source and the acquisition device for the lighting plane is established, the third condition indicates that the focus of the lighting plane and the acquisition device coincide, and the fourth condition indicates that the angle between the first angle and the second angle is the smallest; The step of determining that the target workpiece to be processed, the target light source, and the acquisition device meet set conditions includes: determining whether the first condition, the second condition, the third condition, and the fourth condition are satisfied; When it is determined that the first condition, the second condition, the third condition and the fourth condition are satisfied, it is determined that the target workpiece to be processed, the target light source and the acquisition device satisfy the set conditions.
8. The method according to claim 7, characterized in that The determining that the first condition is satisfied includes: Determine a spatial feature representation of a first eigenvector matrix of the acquisition device, a spatial feature representation of a third eigenvector matrix of the target light source, and a fifth eigenvector matrix of the target workpiece to be processed; Determining a target collision volume based on the spatial feature representation of the first eigenvector matrix, the spatial feature representation of the third eigenvector matrix, and the fifth eigenvector matrix; When the target collision volume is a set value, it is determined that the first condition is satisfied.
9. The method according to claim 7, characterized in that: The determining that the second condition is satisfied includes: Determine the first angle and the second angle; the first angle represents the angle between the target light source and the normal line of the lighting plane, and the second angle represents the angle between the acquisition device and the normal line of the lighting plane; Determine a first difference based on the first angle, the second angle and the normal of the lighting plane; the first difference represents the difference in incident angles of the target light source and the acquisition device on the lighting plane; When the first difference is a set value, it is determined that the second condition is satisfied.
10. The method according to claim 7, characterized in that The determining that the third condition is satisfied includes: Determine a first distance between a physical center point of the acquisition device and a midpoint of the lighting plane; Determine a third distance based on a difference between the second distance and the first distance; the second distance represents the working distance of the acquisition device, and the third distance represents the distance difference between the lighting plane and the focus of the acquisition device; When the third distance is a set value, it is determined that the third condition is satisfied.
11. The method according to claim 7, characterized in that The determining that the fourth condition is satisfied includes: Determine the first angle and the second angle; the first angle represents the angle between the target light source and the normal line of the lighting plane, and the second angle represents the angle between the acquisition device and the normal line of the lighting plane; Determine an angle between the first angle and the second angle based on the first angle and the second angle; When the angle between the first angle and the second angle is the minimum value, it is determined that the fourth condition is satisfied.
12. A data acquisition device, characterized in that: The device comprises: An acquisition unit, used for acquiring a target workpiece to be processed; A first determining unit is used to determine first position information on the target workpiece to be processed based on a path planning algorithm; the first position information represents position information of a lighting plane used to light the surface of the target workpiece to be processed; A generating unit, configured to illuminate the surface of the first position information through a target light source to generate a corresponding target lighting area; the target light source comprises a programmable light source; The acquisition unit is used to acquire data of the target lighting area through an acquisition device to obtain target data.
13. A data acquisition device, characterized in that: include: a processor and a memory for storing a computer program capable of running on said processor; Wherein, when the processor is used to run the computer program, it executes the steps of the method described in any one of claims 1 to 11.
14. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.
15. A computer program product comprising a computer program, characterized in that The computer program implements the steps of the method according to any one of claims 1 to 11 when executed by a processor.