Imaging control circuit, image acquisition device and robot

Abstract

The invention belongs to the technical field of robots, and provides an imaging control circuit, an image acquisition device and a robot, the imaging control circuit comprises a light supplementing module, a brightness detection module and a main control module, the light supplementing module is used for supplementing light for an identification code when image acquisition is carried out on the identification code, and the brightness detection module is used for detecting the brightness of the identification code; the brightness detection module is used for detecting the ambient brightness of the identification code and generating an ambient brightness detection signal according to the ambient brightness, and the main control module sends a light supplementing control signal to the light supplementing module according to the ambient brightness detection signal so as to control the light supplementing parameters of the light supplementing module; therefore, the light supplementing parameters of the light supplementing module can be adjusted step by step according to the ambient brightness of the identification code, the identification requirement of a camera is met, the power consumption required by identification code identification is reduced, and the problem that the product cost is greatly increased due to a related light supplementing strategy is solved.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to an imaging control circuit, an image acquisition device, and a robot. Background Art

[0002] Currently, many robots with top-view camera functions have problems of unclear recognition and inaccurate positioning when scanning two-dimensional codes for auxiliary positioning due to the influence of ambient light. Only manual adjustment of the brightness of the fill light or the use of a more high-end camera with automatic fill light effect can be used.

[0003] However, in related fill light strategies, long-term lighting of the lights will increase energy consumption and shorten the service life of the lamp beads. Therefore, the fill light strategy greatly increases the cost of the product. Summary of the Invention

[0004] The purpose of this application is to provide an imaging control circuit, an image acquisition device, and a robot, aiming to solve the problem that the related fill light strategy greatly increases the cost of the product.

[0005] In the first aspect of the embodiments of this application, an imaging control circuit is provided. The imaging control circuit includes:

[0006] A fill light module for filling light when collecting an image of the identification code;

[0007] A brightness detection module for detecting the ambient brightness of the identification code and generating an ambient brightness detection signal according to the ambient brightness;

[0008] A main control module, connected to the fill light module and the fill light module, for receiving the ambient brightness detection signal and sending a fill light control signal to the fill light module according to the ambient brightness detection signal to control the fill light parameters of the fill light module.

[0009] In some embodiments, the main control module is further configured to control the fill light module to light up to fill light the environment of the identification code when the ambient brightness detection signal is less than a first light threshold.

[0010] In some embodiments, the main control module is further configured to control the fill light module to gradually reduce the fill light brightness until the ambient brightness of the identification code reaches a preset image acquisition brightness when the ambient brightness detection signal is greater than a second light threshold.

[0011] In some embodiments, the imaging control circuit further includes:

[0012] A camera control module for acquiring the image information of the identification code;

[0013] The main control module is further configured to receive the image information and send a fill light control signal to the fill light module according to the image information to control the fill light parameters of the fill light module.

[0014] In some embodiments, the main control module is further configured to identify the information of the identification code according to the image information, and in the case where the information of the identification code cannot be identified, send the corresponding fill light control signal to control the fill light module to light up and perform fill light on the identification code.

[0015] In some embodiments, the camera control module acquires an image of the identification code at a preset time interval and generates corresponding image information according to the image to send the image information of the identification code to the main control module.

[0016] In some embodiments, the main control module is further configured to, in the case where the information of the identification code is recognized, send the corresponding fill light control signal to control the fill light module to gradually reduce the brightness.

[0017] In some embodiments, the fill light module includes:

[0018] A light driving unit, connected to the main control module, for receiving the fill light control signal and generating a fill light driving signal according to the fill light control signal;

[0019] A light emitting unit, connected to the light driving unit, for receiving the fill light driving signal and lighting up according to the fill light driving signal.

[0020] In a second aspect of the embodiments of the present application, an image acquisition device is further provided, including a camera module; and an imaging control circuit as described in any one of the above embodiments, where the imaging control circuit is connected to the camera module.

[0021] In a third aspect of the embodiments of the present application, a robot is further provided, including: a robot body; a camera module is provided at the top of the robot body; and an imaging control circuit as described in any one of the above embodiments, where the imaging control circuit is connected to the camera module.

[0022] The embodiments of the present application provide an imaging control circuit, an image acquisition device, and a robot. The imaging control circuit includes a supplementary light module, a brightness detection module, and a main control module. The supplementary light module is used to supplement light to the identification code when collecting an image of the identification code. The brightness detection module is used to detect the ambient brightness of the identification code and generate an ambient brightness detection signal according to the ambient brightness. The main control module sends a supplementary light control signal to the supplementary light module according to the ambient brightness detection signal to control the supplementary light parameters of the supplementary light module, so that the supplementary light parameters of the supplementary light module can be adjusted step by step according to the ambient brightness of the identification code, meeting the recognition requirements of the camera, reducing the power consumption required for identifying the identification code, and solving the problem that the related supplementary light strategy greatly increases the cost of the product. Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of the imaging control circuit provided by the embodiment of the present application;

[0024] Figure 2 It is another schematic structural diagram of the imaging control circuit provided by the embodiment of the present application;

[0025] Figure 3 It is another schematic structural diagram of the imaging control circuit provided by the embodiment of the present application;

[0026] Figure 4 It is a schematic structural diagram of the supplementary light module provided by the embodiment of the present application;

[0027] Figure 5 It is another structural schematic diagram of the supplementary light module provided by the embodiment of the present application. Detailed Embodiments

[0028] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0030] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. At the same time, in the description of the present application, terms such as "first" and "second" are only used for differential description and cannot be understood as indicating or implying relative importance.

[0031] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0032] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0033] It should be further understood that the term "and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0034] At present, many robots with top-view camera functions have problems of unclear recognition and inaccurate positioning due to the influence of ambient light when scanning two-dimensional codes for auxiliary positioning. They can only manually adjust the brightness of the fill light or use a more high-end camera with an automatic fill light effect. The former is not intelligent enough and requires human intervention. Long-term opening will increase energy consumption and shorten the service life of the lamp beads, while the latter greatly increases the product cost.

[0035] In order to solve the above technical problems, an imaging control circuit is provided in an embodiment of the present application. Refer to Figure 1 As shown, the imaging control circuit includes: a fill light module 300, a brightness detection module 100, and a main control module 300. The fill light module 300 is used to provide fill light when collecting images of the identification code; the brightness detection module 100 is used to detect the ambient brightness of the identification code and generate an ambient brightness detection signal according to the ambient brightness; the main control module 300 is connected to the fill light module 300 and the fill light module 300. The main control module 300 is used to receive the ambient brightness detection signal and send a fill light control signal to the fill light module 300 according to the ambient brightness detection signal to control the fill light parameters of the fill light module 300.

[0036] In this embodiment, the fill light module 300 is used to fill light for the identification code during image acquisition of the identification code. The brightness detection module 100 is used to detect the ambient brightness of the identification code and generate an ambient brightness detection signal according to the ambient brightness. The main control module 300 sends a fill light control signal to the fill light module 300 according to the ambient brightness detection signal to control the fill light parameters of the fill light module 300. Thus, the fill light parameters of the fill light module 300 can be adjusted step by step according to the ambient brightness of the identification code to meet the recognition requirements of the camera, reduce the power consumption required for identification code recognition, and solve the problem that the related fill light strategy greatly increases the cost of the product.

[0037] In some embodiments, when the main control module 300 needs to sample the identification code, it sends a corresponding fill light control signal to the fill light module 300, and the fill light module 300 is activated to illuminate the identification code. The brightness detection module 100 is used to detect the ambient brightness of the identification code and generate an ambient brightness detection signal according to the ambient brightness. The main control module 300 sends a fill light control signal to the fill light module 300 according to the ambient brightness detection signal to control the brightness when the fill light module 300 is lit.

[0038] In some embodiments, the fill light parameters of the fill light module 300 include the lit brightness and the lit duration.

[0039] In some embodiments, the brightness detection module 100 can be a light sensor, which is used to detect the ambient brightness of the identification code and generate an ambient brightness detection signal according to the ambient brightness of the identification code.

[0040] In some embodiments, the imaging control circuit in this embodiment is applied to a robot. Intelligent warehousing robots generally adopt the navigation method of using an overhead camera to identify ceiling two-dimensional codes. Therefore, it is necessary for the robot to continuously identify the corresponding identification codes (such as two-dimensional codes) to obtain the driving path. In the environment of the robot, the light may be weak, resulting in the image of the identification code collected by the overhead camera module not being correctly recognized. Therefore, through the imaging control circuit in this embodiment, during the operation of the robot, by detecting the imaging state of the identification code scanned by the camera, the light intensity of the surrounding environment can be judged, and the fill light module 300 can be automatically turned on and off, or the fill light parameters of the fill light module 300 can be adjusted by adjusting the output current of the infrared tube.

[0041] In some embodiments, the main control module 300 is further used to control the fill light module 300 to be lit when the ambient brightness detection signal is less than the first light threshold to fill light for the environment of the identification code.

[0042] In some embodiments, the first light threshold may be 50 lux. When the detected ambient brightness < 50 lux, the main control module controls the supplementary light module to start according to the ambient brightness detection signal, and enables the supplementary light module 300 to reach the basic brightness for supplementing light to the identification code. At this time, the basic brightness can satisfy the image information of the identification code correctly recognized by the camera control module 400.

[0043] In some embodiments, when the supplementary light module 300 reaches the basic brightness for supplementing light to the identification code, the duty cycle of the supplementary light control signal is 30%, corresponding to a driving current of 800 mA.

[0044] In some embodiments, the main control module 300 is further configured to control the supplementary light module 300 to gradually reduce the supplementary light brightness until the ambient brightness of the identification code reaches the preset image acquisition brightness when the ambient brightness detection signal is greater than the second light threshold.

[0045] In some embodiments, the second light threshold is at least four times that of the first light threshold.

[0046] In some embodiments, when the ambient brightness is greater than the second light threshold, the gradient light reduction mode is triggered. When the main control module 300 operates in the gradient light reduction mode, the duty cycle of the supplementary light control signal is reduced by 10% every preset gradient time until the maintenance brightness is reached.

[0047] In some embodiments, the second light threshold may be 200 lux. When the ambient brightness > 200 lux, the gradient light reduction mode is triggered. When the main control module 300 operates in the gradient light reduction mode, the duty cycle of the supplementary light control signal is reduced by 10% every 200 ms until the maintenance brightness (the duty cycle of the supplementary light control signal is 5%) is reached.

[0048] In some embodiments, the first light threshold may be 50 lux.

[0049] In some embodiments, the second light threshold may be 200 lux.

[0050] In some embodiments, the range of the preset image acquisition brightness may be 100 - 150 lux.

[0051] In some embodiments, referring to Figure 2 As shown, the imaging control circuit further includes: a camera control module 400, and the camera control module 400 is configured to acquire the image information of the identification code; the main control module 300 is further configured to receive the image information and send a supplementary light control signal to the supplementary light module 300 according to the image information to control the supplementary light parameters of the supplementary light module 300.

[0052] In this embodiment, the main control module 300 can achieve precise dynamic adjustment of the supplementary light parameters through the double closed-loop control of ambient light detection and image quality.

[0053] In some embodiments, the camera control module 400 obtains the image information of one frame of image at preset time intervals, and the main control module 300 performs identification based on the image information and controls the light supplement module 300 to start when the identification fails.

[0054] In some embodiments, the camera control module 400 captures one frame of image every 33 ms, and the main control module 300 performs image recognition and analysis operations, which include step S100 to step S300.

[0055] In step S100, calculate the average gray value of the image.

[0056] In this embodiment, if the average gray value of the collected identification code is within the target range, it is considered to meet the conditions.

[0057] In some embodiments, the target range of the average gray value can be 80 - 120.

[0058] In step S200, detect the sharpness value at the edge of the identification code (Sobel operator gradient > 0.25).

[0059] In this embodiment, the sharpness of the edge of the identification code (such as a two-dimensional code) can be evaluated by the gradient of the Sobel operator. If the Sobel operator gradient > 0.25, it is considered that the image quality of the identification code is qualified and meets the conditions.

[0060] In step S300, count the proportion of the low-contrast area of the identification code (for example, the proportion of the low-contrast area < 10% is qualified).

[0061] If the proportion of the low-contrast area < 10%, it is considered to meet the conditions.

[0062] When at least one of steps S100 to S300 in the image recognition and analysis operations does not meet the conditions, it is determined that the identification of the identification code fails. The main control module 300 executes an emergency light supplement strategy, which can increase the drive current of the light supplement module 300. For example, the drive current of the light supplement module 300 is increased to 1.5 A within 50 ms, and all LED groups in the light supplement module 300 are activated.

[0063] In some embodiments, the lamp groups of the light supplement module 300 can be divided into two independent control areas, and the main control module 300 can control the light supplement module 300 by adopting a sub-area light supplement strategy.

[0064] In some embodiments, refer to Figure 3As shown, the imaging control circuit further includes: a moving speed detection module 500, which is used to detect the state of the robot. When the robot is stationary, it switches to the energy-saving mode. At this time, the fill light module 300 goes into sleep mode, or it can also control the camera control module 400 to switch to the energy-saving mode when the robot is stationary, so that the camera control module 400 goes into sleep mode.

[0065] In some embodiments, when the moving speed is relatively high, the fill light intensity is increased, or the fill light module 300 is kept working in a stable state. For example, when the moving speed > 1m / s, the gradient dimming mode can be disabled to prevent dynamic blurring of the images captured by the camera module.

[0066] In some embodiments, among the multi-frame image information collected by the camera control module 400, if the image quality of 5 consecutive frames meets the standard, the automatic power reduction program is started. In the automatic power reduction program, the duty cycle is reduced by 5% every 1 second until the brightness is maintained.

[0067] In some embodiments, an ambient light prediction algorithm can also be integrated in the main control module 300 to predict the ambient brightness of the robot and the ambient brightness of the identification code based on the historical path data of the robot, so as to control the fill light module 300 to pre-adjust the brightness and achieve the purpose of quickly obtaining the information of the valid identification code.

[0068] In some embodiments, the camera control module 400 can be connected to the main control module 300 through the MIPI interface.

[0069] In some embodiments, the main control module 300 can output a fill light control signal in pulse width modulation format to the fill light module 300 through the GPIO port.

[0070] In some embodiments, the brightness detection module 100 is connected to the main control module 300 through the I2C bus.

[0071] In some embodiments, the main control module 300 is also used to identify the information of the identification code according to the image information, and in the case of being unable to identify the information of the identification code, send the corresponding fill light control signal to control the fill light module 300 to light up and fill light the identification code.

[0072] In some embodiments, the camera control module 400 captures images of the identification code at a preset time interval and generates corresponding image information according to the images to send the image information of the identification code to the main control module 300.

[0073] In some embodiments, the main control module 300 is also used to send the corresponding fill light control signal in the case of identifying the information of the identification code, and control the fill light module 300 to gradually reduce the brightness.

[0074] In some embodiments, refer to Figure 4As shown in the figure, the fill light module 300 in this embodiment includes: a light driving unit 310 and a light emitting unit 320. The light driving unit 310 is connected to the main control module 300. The light driving unit 310 is configured to receive a fill light control signal and generate a fill light driving signal according to the fill light control signal. The light emitting unit 320 is connected to the light driving unit 310. The light emitting unit 320 is configured to receive the fill light driving signal and turn on according to the fill light driving signal.

[0075] In some embodiments, the camera module is used to collect an image of the identification code. The camera control module 400 is configured to obtain the image collected by the camera module, and after a series of processes including image enhancement, denoising, and contrast adjustment on the image data, obtain the image information of the identification code and send it to the main control module 300.

[0076] In some embodiments, the camera module can be an OV9281 global shutter sensor.

[0077] In some embodiments, the main control module 300 can be an image processor.

[0078] In some embodiments, the fill light module 300 includes multiple infrared light emitting diode chips.

[0079] In some embodiments, the light driving unit 310 can include a driving chip of the TPS series.

[0080] In some embodiments, refer to Figure 5As shown, the lighting driving unit 310 includes: a driving chip U1, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, and a first inductor L1. The first end of the first capacitor C1, the first end of the second capacitor C2, the first end of the second capacitor C2, and the power supply pin IN of the driving chip U1 are commonly connected to the first power supply terminal VCC_IR1. The second end of the first capacitor C1, the second end of the second capacitor C2, the second end of the third capacitor C3, and the ground pin GND of the driving chip U1 are commonly connected to the ground. The dimming pin DIM of the driving chip U1, the first end of the first resistor R1, the first end of the second resistor R2, and the first end of the fourth capacitor C4 are commonly connected. The second end of the second resistor R2 and the second end of the fourth capacitor C4 are commonly connected to the ground. The second end of the first resistor R1 is connected to the dimming control terminal IRLED_PWM of the main control module 300. The driving pin LX of the driving chip U1 and the first end of the fourth capacitor C4 are commonly connected to the first end of the first inductor L1. The pin BST of the driving chip U1 is connected to the second end of the fourth capacitor C4. The second end of the first inductor L1, the first end of the fifth capacitor C5, and the first end of the sixth capacitor C6 are commonly connected to the positive extreme VCC_IR2 of the light emitting unit. The second end of the fifth capacitor C5 and the second end of the sixth capacitor C6 are grounded. The feedback pin FB of the driving chip U1 is connected to the first end of the third resistor R3. The second end of the third resistor R3 and the first end of the fourth resistor R4 are commonly connected to the negative extreme of the light emitting unit 320. The second end of the fourth resistor R4 is grounded.

[0081] In some embodiments, as shown in Figure 5 the light emitting unit 320 includes a first light emitting diode D1, a second light emitting diode D2, a third light emitting diode D3, and a fourth light emitting diode D4. The first light emitting diode D1, the second light emitting diode D2, the third light emitting diode D3, and the fourth light emitting diode D4 are connected in series.

[0082] The embodiment of the present application further provides an image acquisition device, and the image acquisition device includes the imaging control circuit described in any one of the above embodiments.

[0083] The embodiment of the present application further provides a robot, and the robot includes: a robot body; a camera module is provided on the top of the robot body; and the imaging control circuit described in any one of the above embodiments, and the imaging control circuit is connected to the camera module.

[0084] In this embodiment, by providing the imaging control circuit described in any of the above embodiments on the robot, the top-view camera module of the robot can perform automatic light compensation even in a dark space when scanning a QR code, reducing the number of manual interventions. This not only effectively reduces energy consumption and costs, but also makes the robot more intelligent.

[0085] The embodiment of the present application provides an imaging control circuit, an image acquisition device, and a robot. The imaging control circuit includes: a light compensation module, a brightness detection module, and a main control module. The light compensation module is used to compensate the light of the identification code when collecting an image of the identification code. The brightness detection module is used to detect the ambient brightness of the identification code and generate an ambient brightness detection signal according to the ambient brightness. The main control module sends a light compensation control signal to the light compensation module according to the ambient brightness detection signal to control the light compensation parameters of the light compensation module, so as to gradually adjust the light compensation parameters of the light compensation module according to the ambient brightness of the identification code, meet the recognition requirements of the camera, reduce the power consumption required for identifying the identification code, and solve the problem that the relevant light compensation strategy greatly increases the cost of the product.

[0086] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the above device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be described in detail here.

[0087] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0088] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0089] In the embodiments provided in the present application, it should be understood that the disclosed device / terminal and method can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For example, the above-mentioned division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling, direct coupling, or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical, or other forms.

[0090] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0091] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0092] If the above-mentioned integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-mentioned embodiment methods of the present application, it can also be completed by instructing relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The above-mentioned computer-readable medium can include: any entity or device that can carry the above-mentioned computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the above-mentioned computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0093] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An imaging control circuit, characterized in that: The imaging control circuit comprises: A fill light module is used to provide fill light when capturing an image of the identification code; A brightness detection module, used to detect the ambient brightness of the identification code and generate an ambient brightness detection signal according to the ambient brightness; The main control module is connected to the fill light module and the fill light module, and is used to receive the ambient brightness detection signal, and send a fill light control signal to the fill light module according to the ambient brightness detection signal to control the fill light parameters of the fill light module.

2. The imaging control circuit according to claim 1, characterized in that: The main control module is further used to control the fill light module to light up when the environment brightness detection signal is less than a first light threshold, so as to fill light for the environment of the identification code.

3. The imaging control circuit according to claim 1, characterized in that: The main control module is also used to control the fill light module to gradually reduce the fill light brightness when the ambient brightness detection signal is greater than a second light threshold, until the ambient brightness of the identification code reaches a preset image acquisition brightness.

4. The imaging control circuit according to claim 1, characterized in that: The imaging control circuit further includes: A camera control module, used for acquiring image information of the identification code; The main control module is further used to receive the image information, and send a fill light control signal to the fill light module according to the image information, so as to control the fill light parameters of the fill light module.

5. The imaging control circuit according to claim 4, characterized in that: The main control module is further used to identify the information of the identification code according to the image information, and when the information of the identification code cannot be identified, send the corresponding fill light control signal to control the fill light module to light up and fill light the identification code.

6. The imaging control circuit according to claim 4, characterized in that: The camera control module collects the image of the identification code at a preset time interval, and generates corresponding image information according to the image, so as to send the image information of the identification code to the main control module.

7. The imaging control circuit according to claim 6, characterized in that: The main control module is further configured to send the corresponding fill light control signal when identifying the information of the identification code, so as to control the fill light module to gradually reduce the brightness.

8. The imaging control circuit according to any one of claims 1 to 7, characterized in that: The fill light module comprises: A light driving unit, connected to the main control module, for receiving the fill light control signal and generating a fill light driving signal according to the fill light control signal; The light emitting unit is connected to the light driving unit and is used to receive the fill light driving signal and light up according to the fill light driving signal.

9. An image acquisition device, characterized in that: It comprises a camera module; and an imaging control circuit as described in any one of claims 1 to 8, wherein the imaging control circuit is connected to the camera module.

10. A robot, characterized in that: include: A robot body; a camera module is provided on the top of the robot body; And the imaging control circuit as described in any one of claims 1 to 8, wherein the imaging control circuit is connected to the camera module.

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