Machine vision light source control method and system

Abstract

The invention provides a machine vision light source control method and system, and the method comprises the steps: carrying out the spatial analysis of ambient light state data of a machine vision scene, obtaining the spatial distribution information of ambient light, and determining an ambient light illumination abnormal region on the surface of a target object through combining the spatial attitude information of the target object in the machine vision scene; based on the distribution state information of the abnormal ambient light irradiation area on the surface of the target object, adjusting the supplementary lighting irradiation state of the light source, analyzing the global image of the surface of the target object, determining the bright spot distribution information of the surface of the target object, and comprehensively positioning the area range with excessively concentrated brightness generated by supplementary lighting irradiation; based on the hot spot distribution information, the irradiation light intensity distribution of the light source is dynamically adjusted, and the corresponding optimal adjustment parameters are determined, so that the light emitting state adjustment or light ray state modulation is performed on the light source, a flexible and locally adjustable supplementary lighting mode is provided for machine vision recognition, and the applicability of the machine vision light source to different scenes is improved.

Description

Technical Field

[0001] The present invention relates to the field of machine vision recognition, and particularly to a machine vision light source control method and system. Background Art

[0002] Machine vision combines camera technology with artificial intelligence technology to achieve the bionic vision function of machines, thereby performing visual recognition on the surrounding environment and target objects. It is widely used in industrial production and daily life. Machine imaging is the basis of machine vision recognition, and the image clarity of machine imaging directly affects the accuracy of machine vision recognition. Usually, machine vision takes pictures under natural light conditions. When natural light is insufficient, the self-configured light source is used for supplementary lighting to ensure that the captured image has sufficient clarity and brightness, and improve the reliability of machine vision recognition. The existing supplementary lighting of machine vision changes the supplementary lighting state by simply increasing or decreasing the lighting brightness and other methods. This method cannot effectively solve the problem that the bright spots on the surface of the irradiated object affect the accuracy of visual recognition, cannot provide uniform and locally adjustable supplementary lighting during the machine vision recognition process, and reduces the applicability of the machine vision recognition supplementary lighting to different scenarios. Summary of the Invention

[0003] The purpose of the present invention is to provide a machine vision light source control method and system, which perform spatial domain analysis on the ambient light state data of the machine vision scene to obtain the ambient light spatial distribution information, and combine the spatial pose information of the target object in the machine vision scene to determine the ambient light irradiation abnormal area on the surface of the target object, and accurately locate the lighting insufficient area on the surface of the target object under natural light conditions; based on the distribution state information of the ambient light irradiation abnormal area on the surface of the target object, adjust the supplementary lighting state of the light source, and analyze the global image on the surface of the target object to determine the bright spot distribution information on the surface of the target object, and comprehensively locate the area range where the brightness is too concentrated due to supplementary lighting; based on the bright spot distribution information, dynamically adjust the irradiation light intensity distribution of the light source to determine the corresponding optimal adjustment parameters, so as to adjust the light emitting state or modulate the light state of the light source, provide a flexible and locally adjustable supplementary lighting method for machine vision recognition, and improve the applicability of the machine vision light source to different scenarios.

[0004] The present invention is realized through the following technical solutions:

[0005] A machine vision light source control method includes:

[0006] Obtain the ambient light status data of the machine vision scene, perform spatial domain analysis on the ambient light status data, and determine the ambient light spatial distribution information of the machine vision scene; based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information, determine the ambient light irradiation abnormal area on the surface of the target object;

[0007] Based on the distribution status information of the ambient light irradiation abnormal area on the surface of the target object, adjust the supplementary light irradiation status of the light source on the surface of the target object; collect the global image of the surface of the target object in the supplementary light irradiation status, and analyze the global image to determine the bright spot distribution information on the surface of the target object;

[0008] Based on the bright spot distribution information, dynamically adjust the irradiation light intensity distribution of the light source, and synchronously update the collection and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution; based on the optimal adjustment parameters, adjust the light emission status of the light source or modulate the light state.

[0009] Optionally, obtaining the ambient light status data of the machine vision scene, performing spatial domain analysis on the ambient light status data, and determining the ambient light spatial distribution information of the machine vision scene; based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information, determining the ambient light irradiation abnormal area on the surface of the target object, including:

[0010] Based on the spatial range occupied by the target object in the machine vision scene, collect the ambient light intensity data at several position points and their adjacent areas on the boundary of the spatial range occupied by the target object, and use this as the ambient light status data;

[0011] Based on the angular distribution information of the shooting field of view range of the machine vision scene, perform spatial distribution change analysis on the ambient light intensity data to determine the ambient light intensity spatial distribution information within the shooting field of view range of the machine vision scene;

[0012] Perform infrared laser scanning detection on the target object to obtain the spatial pose angle information of the target object in the machine vision scene; based on the spatial pose angle information and the ambient light intensity spatial distribution information within the shooting field of view range, determine the light intensity distribution information of the ambient light on the surface of the target object within the shooting field of view range; based on the light intensity distribution information, determine the area with insufficient light intensity on the surface of the target object, and use this as the ambient light irradiation abnormal area on the surface of the target object.

[0013] Optionally, based on the distribution state information of the ambient light irradiation abnormal area on the surface of the target object, adjust the supplementary light irradiation state of the light source on the surface of the target object; collect the global image of the surface of the target object in the supplementary light irradiation state, and analyze the global image to determine the bright spot distribution information on the surface of the target object, including:

[0014] Based on the distribution position and distribution range information of the ambient light irradiation abnormal area on the surface of the target object, determine the supplementary light irradiation direction and supplementary light irradiation range of the light source on the surface of the target object;

[0015] Collect the global image of the surface of the target object in the irradiation state where the light source is in the supplementary light irradiation direction and the supplementary light irradiation range, perform pixel brightness analysis on the global image to obtain the pixel brightness contrast distribution information of the global image; based on the pixel brightness contrast distribution information, determine the bright spot distribution range and brightness value distribution information on the surface of the target object.

[0016] Optionally, based on the bright spot distribution information, dynamically adjust the irradiation light intensity distribution of the light source, and synchronously update the collection and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution; based on the optimal adjustment parameters, adjust the light emission state or light ray state modulation of the light source, including:

[0017] Based on the bright spot distribution range and brightness value distribution information on the surface of the target object, perform local dynamic adjustment of the irradiation light intensity distribution of the light source, so as to continuously and dynamically change the local light intensity value of the irradiation light-emitting surface of the light source; and synchronously collect and analyze the global image of the surface of the target object to determine the global light intensity value distribution parameters of the irradiation light-emitting surface of the light source when the bright spot area on the surface of the target object is in the minimum state, and use this as the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution;

[0018] Based on the global light intensity value distribution parameters, adjust the light emission intensity state of the corresponding sub-light sources under the light source or adjust the light intensity modulation state of the light intensity modulation device located on the light emission path of the light source for the light rays emitted by the light source.

[0019] Optionally, continuously and dynamically change the local light intensity value of the irradiation light-emitting surface of the light source, including:

[0020] Extract the distribution area corresponding to the bright spot distribution range;

[0021] Extract the brightness values included in the brightness value distribution information;

[0022] Obtain the maximum adjustment gradient of the local light intensity value for dynamic adjustment by using the area of the distribution region corresponding to the bright spot distribution range and the brightness value corresponding to the brightness value distribution information;

[0023] Among them, the maximum adjustment gradient of the local light intensity value for dynamic adjustment is obtained through the following formula:

[0024]

[0025] Among them, L t represents the light intensity value corresponding to the maximum adjustment gradient of the local light intensity value for dynamic adjustment; L0 represents the light intensity value corresponding to the preset initial adjustment gradient of the light intensity; n represents the number of brightness data included in the brightness value distribution information; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area; L i represents the brightness value corresponding to the i-th brightness data; L max represents the maximum value of the brightness values corresponding to the i-th brightness data; L z represents the median of the brightness values corresponding to n brightness data; λ represents the adjustment coefficient, and the adjustment coefficient is obtained through the following formula:

[0026]

[0027] Among them, λ represents the adjustment coefficient; L0 represents the light intensity value corresponding to the preset initial adjustment gradient of the light intensity; L b represents the standard deviation of the brightness values corresponding to n brightness data; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area;

[0028] Continuously and dynamically change the local light intensity value of the light-emitting surface of the light source according to the maximum adjustment gradient of the local light intensity value for dynamic adjustment as a constraint condition.

[0029] A machine vision light source control system includes:

[0030] An ambient light spatial distribution determination module, configured to obtain ambient light state data of a machine vision scene, perform spatial domain analysis on the ambient light state data, and determine the ambient light spatial distribution information of the machine vision scene;

[0031] An abnormal illumination area determination module, configured to determine an abnormal illumination area of the ambient light on the surface of the target object based on the spatial attitude information of the target object in the machine vision scene and the ambient light spatial distribution information;

[0032] The fill light irradiation state adjustment module is used to adjust the fill light irradiation state of the light source on the surface of the target object based on the distribution state information of the ambient light irradiation abnormal area on the surface of the target object;

[0033] The bright spot distribution determination module is used to collect the global image of the surface of the target object in the fill light irradiation state, analyze the global image, and determine the bright spot distribution information of the surface of the target object;

[0034] The light source optimal adjustment parameter determination module is used to dynamically adjust the irradiation light intensity distribution of the light source based on the bright spot distribution information, and synchronously update the acquisition and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution;

[0035] The light source control operation module is used to adjust the light emitting state or modulate the light state of the light source based on the optimal adjustment parameters.

[0036] Optionally, the ambient light spatial distribution determination module is used to obtain the ambient light state data of the machine vision scene, perform spatial domain analysis on the ambient light state data, and determine the ambient light spatial distribution information of the machine vision scene, including:

[0037] Based on the spatial range occupied by the target object in the machine vision scene, collect the ambient light intensity data of several position points and their adjacent areas on the boundary of the spatial range occupied by the target object, and use this as the ambient light state data;

[0038] Based on the angular distribution information of the shooting field of view range of the machine vision scene, perform spatial distribution change analysis on the ambient light intensity data, and determine the ambient light intensity spatial distribution information within the shooting field of view range of the machine vision scene;

[0039] The irradiation abnormal area determination module is used to determine the ambient light irradiation abnormal area on the surface of the target object based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information, including:

[0040] Perform infrared laser scanning detection on the target object to obtain the spatial pose angle information of the target object in the machine vision scene; based on the spatial pose angle information and the ambient light intensity spatial distribution information within the shooting field of view range, determine the illumination intensity distribution information of the ambient light on the surface of the target object within the shooting field of view range; based on the illumination intensity distribution information, determine the area with insufficient illumination intensity on the surface of the target object, and use this as the ambient light irradiation abnormal area on the surface of the target object.

[0041] Optionally, the fill light irradiation state adjustment module is configured to adjust the fill light irradiation state of the light source on the surface of the target object based on the distribution state information of the ambient light irradiation abnormal area on the surface of the target object, including:

[0042] Based on the distribution position and distribution range information of the ambient light irradiation abnormal area on the surface of the target object, determine the fill light irradiation direction and fill light irradiation range of the light source on the surface of the target object;

[0043] The bright spot distribution determination module is configured to collect the global image of the surface of the target object in the fill light irradiation state, analyze the global image, and determine the bright spot distribution information of the surface of the target object, including:

[0044] Collect the global image of the surface of the target object in the irradiation state where the light source is in the fill light irradiation direction and the fill light irradiation range, perform pixel brightness analysis on the global image, and obtain the pixel brightness contrast distribution information of the global image; based on the pixel brightness contrast distribution information, determine the bright spot distribution range and brightness value distribution information of the surface of the target object.

[0045] Optionally, the optimal adjustment parameter determination module of the light source is configured to perform dynamic adjustment of the irradiation light intensity distribution of the light source based on the bright spot distribution information, and synchronously update the collection and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution, including:

[0046] Based on the bright spot distribution range and brightness value distribution information of the surface of the target object, perform local dynamic adjustment of the irradiation light intensity distribution of the light source, so as to continuously and dynamically change the local light intensity value of the light emitting surface of the light source; and synchronously collect and analyze the global image of the surface of the target object, and determine the global light intensity value distribution parameter of the light emitting surface of the light source when the bright spot area on the surface of the target object is in the minimum state, and use this as the optimal adjustment parameter for the dynamic adjustment of the irradiation light intensity distribution;

[0047] The light source control operation module is configured to adjust the light emitting state or light ray state modulation of the light source based on the optimal adjustment parameter, including:

[0048] Based on the global light intensity value distribution parameter, adjust the light emitting intensity state of the corresponding sub-light source under the light source or adjust the light intensity modulation state of the light intensity modulation device located on the light output path of the light source for the light rays emitted by the light source.

[0049] Optionally, continuously and dynamically changing the local light intensity value of the light emitting surface of the light source includes:

[0050] Extract the area of the distribution region corresponding to the bright spot distribution range;

[0051] Extract the luminance values included in the luminance value distribution information;

[0052] Obtain the maximum light intensity adjustment gradient for dynamically adjusting the local light intensity value by using the area of the distribution region corresponding to the bright spot distribution range and the luminance values corresponding to the luminance value distribution information;

[0053] Among them, the maximum light intensity adjustment gradient for dynamically adjusting the local light intensity value is obtained through the following formula:

[0054]

[0055] Among them, L t represents the light intensity value corresponding to the maximum light intensity adjustment gradient for dynamically adjusting the local light intensity value; L0 represents the light intensity value corresponding to the preset initial light intensity adjustment gradient; n represents the number of luminance data included in the luminance value distribution information; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area; L i represents the luminance value corresponding to the i-th luminance data; L max represents the maximum value of the luminance values corresponding to the i-th luminance data; L z represents the median of the luminance values corresponding to n luminance data; λ represents the adjustment coefficient, and the adjustment coefficient is obtained through the following formula:

[0056]

[0057] Among them, λ represents the adjustment coefficient; L0 represents the light intensity value corresponding to the preset initial light intensity adjustment gradient; L b represents the standard deviation of the luminance values corresponding to n luminance data; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area;

[0058] Continuously and dynamically change the local light intensity value of the light-emitting surface of the light source by using the maximum light intensity adjustment gradient for dynamically adjusting the local light intensity value as a constraint condition.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] A machine vision light source control method and system provided by this application perform spatial domain analysis on the ambient light state data of a machine vision scene to obtain ambient light spatial distribution information, and combine the spatial attitude information of the target object in the machine vision scene to determine the abnormally illuminated area of the ambient light on the surface of the target object, accurately locating the under-illuminated area on the surface of the target object under natural light conditions; based on the distribution state information of the abnormally illuminated area of the ambient light on the surface of the target object, adjust the supplementary light irradiation state of the light source, and analyze the global image on the surface of the target object to determine the bright spot distribution information on the surface of the target object, comprehensively locating the area range where the brightness is too concentrated due to supplementary light irradiation; based on the bright spot distribution information, dynamically adjust the irradiation light intensity distribution of the light source, determine the corresponding optimal adjustment parameters, and thus adjust the light emission state or light ray state modulation of the light source, providing a flexible and locally adjustable supplementary lighting method for machine vision recognition, and improving the applicability of the machine vision light source to different scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. Among them:

[0062] Figure 1 It is a schematic flowchart of a machine vision light source control method provided by the present invention.

[0063] Figure 2 It is a schematic structural diagram of a machine vision light source control system provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] To make the above objects, features, and advantages of this application more obvious and understandable, the following will provide a detailed description of the specific embodiments of this application in conjunction with the drawings. It can be understood that the specific embodiments described here are only used to explain this application, rather than limiting this application. Additionally, it should be noted that for the sake of convenience of description, only parts related to this application rather than all structures are shown in the drawings. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0065] The term "comprising" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include unlisted steps or units, or may optionally further include other steps or units inherent to these processes, methods, products or devices.

[0066] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0067] Please refer to Figure 1 As shown, a machine vision light source control method provided by an embodiment of the present application. The machine vision light source control method includes:

[0068] Obtain the ambient light state data of the machine vision scene, perform spatial domain analysis on the ambient light state data to determine the ambient light spatial distribution information of the machine vision scene; based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information, determine the ambient light irradiation abnormal area on the surface of the target object;

[0069] Based on the distribution state information of the ambient light irradiation abnormal area on the surface of the target object, adjust the supplementary light irradiation state of the light source on the surface of the target object; collect the global image of the surface of the target object in the supplementary light irradiation state, analyze the global image to determine the bright spot distribution information on the surface of the target object;

[0070] Based on the bright spot distribution information, dynamically adjust the irradiation light intensity distribution of the light source, and synchronously update the collection and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution; based on the optimal adjustment parameters, adjust the light emitting state of the light source or modulate the light state.

[0071] The beneficial effects of the above embodiments are as follows. The machine vision light source control method performs spatial domain analysis on the ambient light state data of the machine vision scene to obtain the ambient light spatial distribution information, and combines the spatial pose information of the target object in the machine vision scene to determine the abnormal ambient light illumination area on the surface of the target object, accurately locating the insufficient illumination area on the surface of the target object under natural light conditions; based on the distribution state information of the abnormal ambient light illumination area on the surface of the target object, adjust the supplementary light illumination state of the light source, and analyze the global image on the surface of the target object to determine the bright spot distribution information on the surface of the target object, comprehensively locating the area range where the brightness caused by the supplementary light illumination is too concentrated; based on the bright spot distribution information, dynamically adjust the illumination intensity distribution of the light source, determine the corresponding optimal adjustment parameters, and thereby adjust the light emission state or light modulation of the light source, providing a flexible and locally adjustable supplementary light illumination method for machine vision recognition, and improving the applicability of the machine vision light source to different scenes.

[0072] In another embodiment, obtain the ambient light state data of the machine vision scene, perform spatial domain analysis on the ambient light state data, and determine the ambient light spatial distribution information of the machine vision scene; based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information, determine the abnormal ambient light illumination area on the surface of the target object, including:

[0073] Based on the spatial range occupied by the target object in the machine vision scene, collect the ambient light intensity data of several position points on the boundary of the spatial range occupied by the target object and their adjacent areas, and use this as the ambient light state data;

[0074] Based on the angular distribution information of the shooting field of view range of the machine vision scene, perform spatial distribution change analysis on the ambient light intensity data to determine the ambient light intensity spatial distribution information within the shooting field of view of the machine vision scene;

[0075] Perform infrared laser scanning detection on the target object to obtain the spatial pose angle information of the target object in the machine vision scene; based on the spatial pose angle information and the ambient light intensity spatial distribution information within the shooting field of view, determine the light intensity distribution information of the ambient light on the surface of the target object within the shooting field of view; based on the light intensity distribution information, determine the area with insufficient light intensity on the surface of the target object, and use this as the abnormal ambient light illumination area on the surface of the target object.

[0076] The beneficial effects of the above embodiments are as follows. Machine vision recognition involves taking images and performing image recognition on corresponding target objects in a corresponding environmental space (i.e., a machine vision scene). Under normal circumstances, natural ambient light within the environmental space is used to illuminate the target object to directly capture the global image of the target object, thereby achieving machine vision recognition of the target object. However, due to factors such as the limited surface shape and contour of the target object itself and the limited illumination angle of natural ambient light, the surface of the target object cannot be globally and evenly illuminated by natural ambient light, resulting in illuminated dark areas on the surface of the target object. If visual recognition of the target object is directly performed under the current natural ambient light illumination conditions, the surface area of the target object corresponding to the illuminated dark area cannot be accurately recognized. Therefore, it is necessary to accurately identify and locate the areas with insufficient ambient light illumination intensity on the surface of the target object to facilitate subsequent targeted treatment of the areas with insufficient ambient light illumination intensity on the surface of the target object. To this end, based on the spatial range occupied by the target object in the machine vision scene, ambient light intensity data at several position points on the boundary of the space occupied by the target object and their adjacent areas are collected, thereby obtaining the illumination intensity distribution data of natural ambient light on the surface of the target object. Machine vision recognition involves taking images and performing recognition on the target object. The size of the field of view angle of image capture directly affects the amount of natural ambient light entering the field of view. Therefore, based on the angular distribution information of the field of view of image capture in the machine vision scene, spatial distribution variation analysis is performed on this ambient light intensity data to determine the spatial distribution information of the ambient light intensity within the field of view of image capture in this machine vision scene, so as to quantitatively determine the natural ambient light intensity entering the field of view. In addition, infrared laser scanning detection is performed on the target object to obtain the spatial attitude angle information of the target object in the machine vision scene, and combined with the ambient light intensity distribution information within this field of view of image capture, the illumination intensity distribution information corresponding to the direct projection of the ambient light within the field of view of image capture on the surface of the target object is determined. Then, based on this illumination intensity distribution information, a threshold comparison is made on the illumination intensity of the surface of the target object. If the average illumination intensity of a certain area of the target object is less than the preset illumination intensity threshold, the corresponding area is determined as the area with insufficient illumination intensity, which is used as the area with abnormal ambient light illumination on the surface of the target object, accurately locating the area with insufficient illumination on the surface of the target object under natural light conditions, and providing accurate area guidance for subsequent supplementary light illumination of the target object.

[0077] In another embodiment, based on the distribution state information of the area with abnormal ambient light illumination on the surface of the target object, the supplementary light illumination state of the light source on the surface of the target object is adjusted; the global image of the surface of the target object in this supplementary light illumination state is collected, and the global image is analyzed to determine the bright spot distribution information on the surface of the target object, including:

[0078] Based on the distribution position and distribution range information of the ambient light irradiation abnormal area on the surface of the target object, determine the supplementary light irradiation direction and supplementary light irradiation range of the light source on the surface of the target object;

[0079] Collect the global image of the surface of the target object under the irradiation state of the light source in the supplementary light irradiation direction and the supplementary light irradiation range, perform pixel brightness analysis on the global image, and obtain the pixel brightness contrast distribution information of the global image; Based on the pixel brightness contrast distribution information, determine the distribution range of bright spots and the brightness value distribution information on the surface of the target object.

[0080] The beneficial effects of the above embodiments are based on the distribution position and distribution range information of the ambient light irradiation abnormal area on the surface of the target object, determine the supplementary light irradiation direction and the supplementary light irradiation area range of light sources such as LED arrays for machine vision supplementary lighting on the surface of the target object, and provide precise direction and area range guidance and limitation for the supplementary light irradiation of the light source on the surface of the target object. Also, when the light source irradiates the surface of the target object in the supplementary light irradiation direction and the supplementary light irradiation area range, collect the global image of the surface of the target object to realize the global pixel brightness quantization characterization of the surface of the target object. Then perform pixel brightness analysis on the global image to obtain the pixel brightness contrast distribution information of the global image, and perform pixel brightness contrast threshold comparison and recognition on the global image to determine the distribution range of bright spots and the brightness value distribution information on the surface of the target object, so as to accurately determine the area range size and brightness value of the bright spots corresponding to the area where the brightness is too concentrated on the surface of the target object under the supplementary lighting state of the current light source.

[0081] In another embodiment, based on the bright spot distribution information, dynamically adjust the irradiation light intensity distribution of the light source, and synchronously update the collection and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution; Based on the optimal adjustment parameters, adjust the light emission state or light state modulation of the light source, including:

[0082] Based on the distribution range of bright spots and the brightness value distribution information on the surface of the target object, perform local dynamic adjustment of the irradiation light intensity distribution of the light source, so as to continuously and dynamically change the local light intensity value of the light emitting surface of the light source; And synchronously collect and analyze the global image of the surface of the target object, determine the global light intensity value distribution parameters of the light emitting surface of the light source when the bright spot area on the surface of the target object is in the minimum state, and use this as the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution;

[0083] Based on the global light intensity value distribution parameters, adjust the light emission intensity state of the corresponding sub-light sources under the light source or adjust the light intensity modulation state of the light intensity modulation device located on the light output path of the light source for the light emitted by the light source.

[0084] The beneficial effects of the above embodiments are as follows. The bright spots on the surface of the target object are areas where the light is overly concentrated during the process of the light source illuminating the surface of the target object for supplementary lighting. To reduce the area and brightness of the bright spots on the surface of the target object, based on the distribution range of the bright spots and the distribution information of the brightness values on the surface of the target object, the local dynamic adjustment of the illumination light intensity distribution of the light source is performed, thereby continuously and dynamically changing the local light intensity value of the light-emitting surface of the light source. That is, the local light intensity of some area ranges in the light-emitting surface area of the light source that forms the bright spots on the surface of the target object is dynamically changed, ensuring that the change in the local light intensity value of the light-emitting surface of the light source can directly change the existence situation of the bright spots on the surface of the target object. At the same time, the global image of the surface of the target object is synchronously collected and analyzed to determine the global light intensity value distribution parameters of the light-emitting surface of the light source when the area of the bright spots on the surface of the target object is in the minimum state, and this is used as the best adjustment parameter for the dynamic adjustment of the illumination light intensity distribution. Based on this, the light-emitting intensity state of the corresponding sub-light sources (such as LED units) under the light source is adjusted, or the light intensity modulation state of the light intensity modulation device (such as a liquid crystal light intensity modulation device that can weaken the local light intensity and is arranged on the light-emitting path of the light source) on the light-emitting path of the light source for the light emitted by the light source is adjusted, so as to realize the flexible adjustment of the local light intensity of the supplementary lighting on the surface of the target object, effectively reduce the area of the bright spots on the surface of the target object, improve the uniformity of the supplementary lighting on the surface of the target object, and improve the applicability of the machine vision light source to different scenarios.

[0085] In another embodiment, continuously and dynamically changing the local light intensity value of the light-emitting surface of the light source includes:

[0086] Extracting the distribution area corresponding to the distribution range of the bright spots;

[0087] Extracting the brightness values included in the distribution information of the brightness values;

[0088] Using the distribution area corresponding to the distribution range of the bright spots and the brightness values corresponding to the distribution information of the brightness values to obtain the maximum adjustment gradient of the light intensity for the dynamic adjustment of the local light intensity value;

[0089] Among them, the maximum adjustment gradient of the light intensity for the dynamic adjustment of the local light intensity value is obtained through the following formula:

[0090]

[0091] Among them, L t represents the light intensity value corresponding to the maximum adjustment gradient of the light intensity for the dynamic adjustment of the local light intensity value; L0 represents the light intensity value corresponding to the preset initial adjustment gradient of the light intensity; n represents the number of brightness data included in the distribution information of the brightness values; S represents the distribution area corresponding to the distribution range of the bright spots; S c represents the preset reference value of the distribution area; Li represents the luminance value corresponding to the i-th luminance data; L max represents the maximum value of the luminance values corresponding to the i-th luminance data; L z represents the median value of the luminance values corresponding to n luminance data; λ represents an adjustment coefficient, and the adjustment coefficient is obtained through the following formula:

[0092]

[0093] where λ represents the adjustment coefficient; L0 represents the light intensity value corresponding to the preset initial adjustment gradient of light intensity; L b represents the standard deviation of the luminance values corresponding to n luminance data; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area;

[0094] Taking the maximum adjustment gradient of the light intensity dynamically adjusted according to the local light intensity value as a constraint condition, continuously and dynamically change the local light intensity value of the light-emitting surface of the light source.

[0095] The beneficial effects of the above embodiments are as follows. By continuously and dynamically changing the local light intensity value of the light-emitting surface of the light source, the system can respond to environmental changes or specific requirements in real time, providing highly flexible lighting control. Using the bright spot distribution range and luminance value distribution information, the system can accurately identify and adjust the lighting area, achieving precise light intensity adjustment. By calculating the maximum adjustment gradient (Lt) of the light intensity dynamically adjusted by the local light intensity value, the system can avoid sharp changes in the light intensity value while ensuring the lighting effect, thus maintaining a smooth transition of the lighting. The calculation of the maximum adjustment gradient of the light intensity takes into account multiple factors (such as the number of luminance data, the area of the distribution region, the luminance value, etc.), making the adjustment of the light intensity more delicate and uniform. The system can automatically adjust the light intensity adjustment strategy according to the real-time changes of the bright spot distribution range and luminance value distribution information, having good adaptability. By introducing the adjustment coefficient λ, the system can comprehensively consider factors such as the standard deviation of the luminance data and the area of the distribution region, further enhancing the robustness of the system, enabling it to cope with various complex lighting environments. By precisely controlling the local light intensity value of the light source, the system can avoid unnecessary energy consumption and achieve energy efficiency optimization. Especially in scenarios where local high brightness or darkening is required, the system can only adjust the necessary areas instead of the output of the entire light source, thus saving energy. For scenarios that require high-quality lighting effects (such as stage lighting, photography studios, etc.), the system can provide a more delicate and controllable lighting effect, enhancing the user experience. By dynamically adjusting the light intensity value, the system can also adapt to the preferences and needs of different users, providing a more personalized lighting experience.

[0096] In summary, the technical solution achieves technical effects in multiple aspects such as dynamic response, smooth adjustment, adaptability and robustness, energy efficiency optimization, and improvement of user experience in terms of performance indicators. These effects jointly enhance the overall performance and user experience of the system, making it have broad application prospects in various lighting control scenarios.

[0097] Please refer to Figure 2 As shown, a machine vision light source control system provided by an embodiment of the present application. The machine vision light source control system includes:

[0098] An ambient light spatial distribution determination module, configured to obtain ambient light state data of a machine vision scene, perform spatial domain analysis on the ambient light state data, and determine the ambient light spatial distribution information of the machine vision scene;

[0099] An abnormal illumination area determination module, configured to determine an abnormal ambient light illumination area on the surface of the target object based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information;

[0100] A supplementary light illumination state adjustment module, configured to adjust the supplementary light illumination state of the light source on the surface of the target object based on the distribution state information of the abnormal ambient light illumination area on the surface of the target object;

[0101] A bright spot distribution determination module, configured to collect a global image of the surface of the target object in the supplementary light illumination state, analyze the global image, and determine the bright spot distribution information of the surface of the target object;

[0102] A light source optimal adjustment parameter determination module, configured to perform dynamic adjustment of the illumination light intensity distribution of the light source based on the bright spot distribution information, and synchronously update the collection and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the illumination light intensity distribution;

[0103] A light source control operation module, configured to adjust the light emitting state or modulate the light state of the light source based on the optimal adjustment parameters.

[0104] The beneficial effects of the above embodiments are as follows. The machine vision light source control system performs spatial domain analysis on the ambient light state data of the machine vision scene to obtain the ambient light spatial distribution information, and combines the spatial pose information of the target object in the machine vision scene to determine the abnormal ambient light irradiation area on the surface of the target object, accurately locating the insufficient illumination area on the surface of the target object under natural light conditions; based on the distribution state information of the abnormal ambient light irradiation area on the surface of the target object, adjust the supplementary light irradiation state of the light source, and analyze the global image on the surface of the target object to determine the bright spot distribution information on the surface of the target object, comprehensively locating the area range where the brightness is too concentrated due to supplementary light irradiation; based on the bright spot distribution information, dynamically adjust the irradiation light intensity distribution of the light source, determine the corresponding optimal adjustment parameters, and thus adjust the light emission state or light state modulation of the light source, providing a flexible and locally adjustable supplementary lighting method for machine vision recognition, and improving the applicability of the machine vision light source to different scenes.

[0105] In another embodiment, the ambient light spatial distribution determination module is used to obtain the ambient light state data of the machine vision scene, perform spatial domain analysis on the ambient light state data, and determine the ambient light spatial distribution information of the machine vision scene, including:

[0106] Based on the spatial range occupied by the target object in the machine vision scene, collect the ambient light intensity data at several position points and their adjacent areas on the spatial boundary occupied by the target object, and use this as the ambient light state data;

[0107] Based on the angular distribution information of the shooting field of view range of the machine vision scene, perform spatial distribution change analysis on the ambient light intensity data to determine the ambient light intensity spatial distribution information within the shooting field of view of the machine vision scene;

[0108] The abnormal irradiation area determination module is used to determine the abnormal ambient light irradiation area on the surface of the target object based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information, including:

[0109] Perform infrared laser scanning detection on the target object to obtain the spatial pose angle information of the target object in the machine vision scene; based on the spatial pose angle information and the ambient light intensity spatial distribution information within the shooting field of view, determine the light intensity distribution information of the ambient light on the surface of the target object within the shooting field of view; based on the light intensity distribution information, determine the area with insufficient light intensity on the surface of the target object, and use this as the abnormal ambient light irradiation area on the surface of the target object.

[0110] The beneficial effects of the above embodiments are as follows. Machine vision recognition involves taking images and performing image recognition on corresponding target objects in a corresponding environmental space (i.e., a machine vision scene). Under normal circumstances, natural ambient light within the environmental space is used to illuminate the target object to directly capture a global image of the target object, thereby achieving machine vision recognition of the target object. However, due to factors such as the limited surface shape and contour of the target object itself and the limited illumination angle of natural ambient light, the surface of the target object cannot be globally and evenly illuminated by natural ambient light, resulting in illuminated dark areas on the surface of the target object. If visual recognition of the target object is directly performed under the current natural ambient light illumination conditions, the surface area of the target object corresponding to the illuminated dark areas cannot be accurately recognized. Therefore, it is necessary to accurately identify and locate the areas with insufficient ambient light illumination intensity on the surface of the target object to facilitate subsequent targeted treatment of the areas with insufficient ambient light illumination intensity on the surface of the target object. To this end, based on the spatial range occupied by the target object in the machine vision scene, ambient light intensity data at several position points on the boundary of the space occupied by the target object and their adjacent areas are collected, thereby obtaining the illumination intensity distribution data of natural ambient light on the surface of the target object. Machine vision recognition involves taking images and performing recognition on the target object. The size of the field of view angle of image capture directly affects the amount of natural ambient light entering the field of view. Therefore, based on the angular distribution information of the field of view of image capture in the machine vision scene, spatial distribution variation analysis is performed on this ambient light intensity data to determine the spatial distribution information of the ambient light intensity within the field of view of image capture in this machine vision scene, so as to be able to quantitatively determine the natural ambient light intensity entering the field of view. In addition, infrared laser scanning detection is performed on the target object to obtain the spatial attitude angle information of the target object in the machine vision scene, and combined with the ambient light intensity distribution information within this field of view, the illumination intensity distribution information corresponding to the direct projection of the ambient light within the field of view on the surface of the target object is determined. Then, based on this illumination intensity distribution information, a threshold comparison is made on the illumination intensity of the surface of the target object. If the average illumination intensity of a certain area of the target object is less than the preset illumination intensity threshold, the corresponding area is determined as the area with insufficient illumination intensity, which is used as the area with abnormal ambient light illumination on the surface of the target object, accurately locating the area with insufficient illumination on the surface of the target object under natural light conditions, and providing accurate area guidance for subsequent supplementary light illumination of the target object.

[0111] In another embodiment, the supplementary light illumination state adjustment module is used to adjust the supplementary light illumination state of the light source on the surface of the target object based on the distribution state information of the area with abnormal ambient light illumination on the surface of the target object, including:

[0112] Based on the distribution position and distribution range information of the area with abnormal ambient light illumination on the surface of the target object, determining the supplementary light illumination direction and supplementary light illumination range of the light source on the surface of the target object;

[0113] The bright spot distribution determining module is used to collect the global image of the surface of the target object in the supplementary light irradiation state, analyze the global image, and determine the bright spot distribution information on the surface of the target object, including:

[0114] Collect the global image of the surface of the target object in the irradiation state where the light source is in the supplementary light irradiation direction and within the supplementary light irradiation range, perform pixel brightness analysis on the global image, and obtain the pixel brightness contrast distribution information of the global image; based on the pixel brightness contrast distribution information, determine the bright spot distribution range and brightness value distribution information on the surface of the target object.

[0115] The beneficial effects of the above embodiments are as follows: based on the distribution position and distribution range information of the abnormal ambient light irradiation area on the surface of the target object, determine the supplementary light irradiation direction and the supplementary light irradiation area range of light sources such as LED arrays for machine vision supplementary lighting on the surface of the target object, providing precise direction and area range guidance and limitation for the supplementary light irradiation of the light source on the surface of the target object. Also, when the light source irradiates the surface of the target object in the supplementary light irradiation direction and within the supplementary light irradiation area range, collect the global image of the surface of the target object to realize the global pixel brightness quantization characterization of the surface of the target object. Then perform pixel brightness analysis on the global image to obtain the pixel brightness contrast distribution information of the global image, and perform pixel brightness contrast threshold comparison and recognition on the global image to determine the bright spot distribution range and brightness value distribution information on the surface of the target object, so as to accurately determine the area range and brightness value of the bright spots corresponding to the area where the brightness is too concentrated on the surface of the target object in the current supplementary lighting state of the light source.

[0116] In another embodiment, the optimal adjustment parameter determining module of the light source is used to dynamically adjust the irradiation light intensity distribution of the light source based on the bright spot distribution information, and synchronously update the collection and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution, including:

[0117] Based on the bright spot distribution range and brightness value distribution information on the surface of the target object, perform local dynamic adjustment of the irradiation light intensity distribution of the light source, so as to continuously and dynamically change the local light intensity value of the light emitting surface of the light source; and synchronously collect and analyze the global image of the surface of the target object, and determine the global light intensity value distribution parameters of the light emitting surface of the light source when the bright spot area on the surface of the target object is in the minimum state, and use this as the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution;

[0118] The light source control operation module is used to adjust the light emitting state or modulate the light state of the light source based on the optimal adjustment parameters, including:

[0119] Based on the global light intensity value distribution parameters, adjust the light emission intensity state of the corresponding sub-light sources subordinate to the light source or adjust the light intensity modulation state of the light intensity modulation device located on the light output path of the light source for the light rays emitted by the light source.

[0120] The beneficial effects of the above embodiments are as follows. The bright spot on the surface of the target object is an area where the brightness is overly concentrated due to the excessive concentration of light rays during the process of the light source supplementing light illumination to the surface of the target object. In order to reduce the area and brightness of the bright spot on the surface of the target object, based on the bright spot distribution range and brightness value distribution information on the surface of the target object, perform local dynamic adjustment on the irradiation light intensity distribution of the light source, thereby continuously and dynamically changing the local light intensity value of the irradiation light output surface of the light source, that is, perform local light intensity dynamic change on a partial area range in the irradiation light output surface area of the light source that forms the bright spot on the surface of the target object, ensuring that the change in the local light intensity value of the irradiation light output surface of the light source can directly change the existence situation of the bright spot on the surface of the target object. At the same time, synchronously collect and analyze the global image of the surface of the target object, determine the global light intensity value distribution parameters of the irradiation light output surface of the light source when the area of the bright spot on the surface of the target object is in the minimum state, use this as the optimal adjustment parameter for the dynamic adjustment of the irradiation light intensity distribution, and adjust the light emission intensity state of the corresponding sub-light sources (such as LED units) subordinate to the light source or adjust the light intensity modulation state of the light intensity modulation device (such as a liquid crystal light intensity modulation device that can weaken the local light intensity and is arranged on the light output path of the light source) for the light rays emitted by the light source, so as to achieve flexible adjustment of the local light intensity of the supplementary light irradiation on the surface of the target object, effectively reduce the area of the bright spot on the surface of the target object, improve the uniformity of the supplementary light irradiation on the surface of the target object, and improve the applicability of the machine vision light source to different scenarios.

[0121] In another embodiment, continuously and dynamically changing the local light intensity value of the irradiation light output surface of the light source includes:

[0122] Extract the distribution area corresponding to the bright spot distribution range;

[0123] Extract the brightness values included in the brightness value distribution information;

[0124] Use the distribution area corresponding to the bright spot distribution range and the brightness values corresponding to the brightness value distribution information to obtain the maximum light intensity adjustment gradient for the dynamic adjustment of the local light intensity value;

[0125] Among them, the maximum light intensity adjustment gradient for the dynamic adjustment of the local light intensity value is obtained through the following formula:

[0126]

[0127] Among them, L trepresents the light intensity value corresponding to the maximum light intensity adjustment gradient for the dynamic adjustment of the local light intensity value; L0 represents the light intensity value corresponding to the preset initial light intensity adjustment gradient; n represents the number of brightness data included in the brightness value distribution information; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area; L i represents the brightness value corresponding to the i-th brightness data; L max represents the maximum value of the brightness values corresponding to the i-th brightness data; L z represents the median of the brightness values corresponding to n brightness data; λ represents the adjustment coefficient, and the adjustment coefficient is obtained through the following formula:

[0128]

[0129] where λ represents the adjustment coefficient; L0 represents the light intensity value corresponding to the preset initial light intensity adjustment gradient; L b represents the standard deviation of the brightness values corresponding to n brightness data; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area;

[0130] Taking the maximum light intensity adjustment gradient for the dynamic adjustment of the local light intensity value as a constraint condition, continuously and dynamically change the local light intensity value of the light-emitting surface of the light source.

[0131] The beneficial effects of the above embodiments are as follows. By continuously and dynamically changing the local light intensity value of the light-emitting surface of the light source, the system can respond to environmental changes or specific requirements in real time, providing highly flexible lighting control. Using the bright spot distribution range and brightness value distribution information, the system can accurately identify and adjust the lighting area, achieving precise light intensity adjustment. By calculating the maximum light intensity adjustment gradient (Lt) of the dynamic adjustment of the local light intensity value, the system can avoid sharp changes in the light intensity value while ensuring the lighting effect, thus maintaining a smooth transition of the lighting. The calculation of the maximum light intensity adjustment gradient takes into account multiple factors (such as the number of brightness data, the area of the distribution region, the brightness value, etc.), making the adjustment of the light intensity more delicate and uniform. The system can automatically adjust the light intensity adjustment strategy according to the real-time changes of the bright spot distribution range and brightness value distribution information, having good adaptability. By introducing the adjustment coefficient λ, the system can comprehensively consider factors such as the standard deviation of the brightness data and the area of the distribution region, further enhancing the robustness of the system, enabling it to cope with various complex lighting environments. By precisely controlling the local light intensity value of the light source, the system can avoid unnecessary energy consumption and achieve energy efficiency optimization. Especially in scenarios where local high brightness or darkening is required, the system can only adjust the necessary areas instead of the output of the entire light source, thus saving energy. For scenarios that require high-quality lighting effects (such as stage lighting, photo studios, etc.), the system can provide a more delicate and controllable lighting effect, enhancing the user experience. By dynamically adjusting the light intensity value, the system can also adapt to the preferences and needs of different users, providing a more personalized lighting experience.

[0132] In summary, this technical solution achieves various technical effects such as dynamic response, smooth adjustment, adaptability and robustness, energy efficiency optimization, and user experience improvement in terms of performance indicators. These effects together enhance the overall performance and user experience of the system, making it have a wide range of application prospects in various lighting control scenarios.

[0133] Generally speaking, this machine vision light source control method and system perform spatial domain analysis on the ambient light state data of the machine vision scene to obtain the ambient light spatial distribution information, and combine the spatial pose information of the target object in the machine vision scene to determine the ambient light irradiation abnormal area on the surface of the target object, accurately locating the lighting insufficient area on the surface of the target object under natural light conditions; based on the distribution state information of the ambient light irradiation abnormal area on the surface of the target object, adjust the supplementary light irradiation state of the light source, and analyze the global image on the surface of the target object to determine the bright spot distribution information on the surface of the target object, comprehensively locating the area range where the brightness generated by the supplementary light irradiation is too concentrated; based on the bright spot distribution information, dynamically adjust the irradiation light intensity distribution of the light source, determine the corresponding optimal adjustment parameters, and thus adjust the light-emitting state or light ray state modulation of the light source, providing a flexible locally adjustable supplementary lighting method for machine vision recognition, and improving the applicability of the machine vision light source to different scenarios.

[0134] The above is only a specific embodiment of the present invention, and any improvements made on the premise of the concept of the present invention are regarded as the protection scope of the present invention.

Claims

1. A machine vision light source control method, characterized in that Including: Obtain the ambient light state data of the machine vision scene, perform spatial domain analysis on the ambient light state data, and determine the ambient light spatial distribution information of the machine vision scene; Based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information, determine the ambient light irradiation abnormal area on the surface of the target object; Based on the distribution state information of the ambient light irradiation abnormal area on the surface of the target object, adjust the supplementary light irradiation state of the light source on the surface of the target object; collect the global image of the surface of the target object in the supplementary light irradiation state, analyze the global image, and determine the bright spot distribution information on the surface of the target object; Based on the bright spot distribution information, dynamically adjust the irradiation light intensity distribution of the light source, and synchronously update the collection and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution; based on the optimal adjustment parameters, adjust the light emitting state of the light source or modulate the light state.

2. The machine vision light source control method according to claim 1, wherein: Obtain the ambient light state data of the machine vision scene, perform spatial domain analysis on the ambient light state data, and determine the ambient light spatial distribution information of the machine vision scene; Based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information, determine the ambient light irradiation abnormal area on the surface of the target object, including: Based on the spatial range occupied by the target object in the machine vision scene, collect the ambient light intensity data of several position points and their adjacent areas on the boundary of the spatial range occupied by the target object, and use this as the ambient light state data; Based on the angular distribution information of the shooting field of view range of the machine vision scene, perform spatial distribution change analysis on the ambient light intensity data, and determine the ambient light intensity spatial distribution information within the shooting field of view range of the machine vision scene; Perform infrared laser scanning detection on the target object to obtain the spatial pose angle information of the target object in the machine vision scene; based on the spatial pose angle information and the ambient light intensity spatial distribution information within the shooting field of view range, determine the light intensity distribution information of the ambient light on the surface of the target object within the shooting field of view range; based on the light intensity distribution information, determine the area with insufficient light intensity on the surface of the target object, and use this as the ambient light irradiation abnormal area on the surface of the target object.

3. The machine vision light source control method according to claim 1, wherein: Based on the distribution state information of the ambient light irradiation abnormal area on the surface of the target object, adjust the supplementary light irradiation state of the light source on the surface of the target object; collect the global image of the surface of the target object in the supplementary light irradiation state, analyze the global image, and determine the bright spot distribution information on the surface of the target object, including: Based on the distribution position and distribution range information of the ambient light irradiation abnormal area on the surface of the target object, determine the supplementary light irradiation direction and supplementary light irradiation range of the light source on the surface of the target object; Collect the global image of the surface of the target object when the light source is in the illumination state of the fill light illumination direction and the fill light illumination range, perform pixel brightness analysis on the global image to obtain the pixel brightness contrast distribution information of the global image; based on the pixel brightness contrast distribution information, determine the bright spot distribution range and brightness value distribution information of the surface of the target object.

4. The machine vision light source control method according to claim 1, wherein: Based on the bright spot distribution information, dynamically adjust the illumination light intensity distribution of the light source, and synchronously update the acquisition and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the illumination light intensity distribution; based on the optimal adjustment parameters, adjust the light emitting state of the light source or modulate the light state of the light, including: Based on the bright spot distribution range and brightness value distribution information of the surface of the target object, perform local dynamic adjustment of the illumination light intensity distribution of the light source, so as to continuously and dynamically change the local light intensity value of the illumination light emitting surface of the light source; and synchronously acquire and analyze the global image of the surface of the target object to determine the global light intensity value distribution parameters of the illumination light emitting surface of the light source when the bright spot area on the surface of the target object is in the minimum state, and use this as the optimal adjustment parameters for the dynamic adjustment of the illumination light intensity distribution; Based on the global light intensity value distribution parameters, adjust the light emitting intensity state of the corresponding sub-light sources under the light source or adjust the light intensity modulation state of the light intensity modulation device located on the light output path of the light source for the light emitted by the light source.

5. The machine vision light source control method according to claim 4, wherein: Continuously and dynamically changing the local light intensity value of the illumination light emitting surface of the light source includes: Extracting the distribution area corresponding to the bright spot distribution range; Extracting the brightness values included in the brightness value distribution information; Using the distribution area corresponding to the bright spot distribution range and the brightness values corresponding to the brightness value distribution information to obtain the maximum adjustment gradient of the light intensity for the dynamic adjustment of the local light intensity value; Wherein, the maximum adjustment gradient of the light intensity for the dynamic adjustment of the local light intensity value is obtained by the following formula: Among them, L t represents the light intensity value corresponding to the maximum adjustment gradient of the local light intensity value dynamic adjustment; L0 represents the light intensity value corresponding to the preset initial adjustment gradient of the light intensity; n represents the number of luminance data included in the luminance value distribution information; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area; L i represents the luminance value corresponding to the i-th luminance data; L max represents the maximum value of the luminance value corresponding to the i-th luminance data; L z represents the median of the luminance values corresponding to n luminance data; λ represents the adjustment coefficient, and the adjustment coefficient is obtained through the following formula: Among them, λ represents the adjustment coefficient; L0 represents the light intensity value corresponding to the preset initial adjustment gradient of light intensity; L b represents the standard deviation of the brightness values corresponding to n brightness data; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area; Continuously and dynamically change the local light intensity value of the illumination light emitting surface of the light source according to the maximum adjustment gradient of the light intensity for the dynamic adjustment of the local light intensity value as a constraint condition.

6. A machine vision light source control system, characterized in that, Including: An ambient light spatial distribution determination module, configured to obtain ambient light state data of a machine vision scene, perform spatial domain analysis on the ambient light state data, and determine the ambient light spatial distribution information of the machine vision scene; An illumination abnormal area determination module, configured to determine an ambient light illumination abnormal area on the surface of the target object based on the spatial pose information of the target object in the machine vision scene and the ambient light spatial distribution information; A fill light illumination state adjustment module, configured to adjust the fill light illumination state of the light source on the surface of the target object based on the distribution state information of the ambient light illumination abnormal area on the surface of the target object; A bright spot distribution determination module, configured to collect the global image of the surface of the target object in the fill light illumination state, analyze the global image, and determine the bright spot distribution information of the surface of the target object. The light source optimal adjustment parameter determination module is used to dynamically adjust the irradiation light intensity distribution of the light source based on the bright spot distribution information, and synchronously update the acquisition and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution; The light source control operation module is used to adjust the light emitting state or modulate the light state of the light source based on the optimal adjustment parameters.

7. The machine vision light source control system according to claim 6, wherein: The ambient light spatial distribution determination module is used to obtain the ambient light state data of the machine vision scene, perform spatial domain analysis on the ambient light state data, and determine the ambient light spatial distribution information of the machine vision scene, including: Based on the spatial range occupied by the target object in the machine vision scene, collect the ambient light intensity data of several position points and their adjacent areas on the spatial boundary occupied by the target object, and use this as the ambient light state data; Based on the angular distribution information of the shooting field of view range of the machine vision scene, perform spatial domain distribution change analysis on the ambient light intensity data to determine the ambient light intensity spatial distribution information within the shooting field of view of the machine vision scene; The abnormal irradiation area determination module is used to determine the abnormal ambient light irradiation area on the surface of the target object based on the spatial attitude information of the target object in the machine vision scene and the ambient light spatial distribution information, including: Perform infrared laser scanning detection on the target object to obtain the spatial attitude angle information of the target object in the machine vision scene; based on the spatial attitude angle information and the ambient light intensity spatial distribution information within the shooting field of view, determine the light intensity distribution information of the ambient light on the surface of the target object within the shooting field of view; based on the light intensity distribution information, determine the area with insufficient light intensity on the surface of the target object, and use this as the abnormal ambient light irradiation area on the surface of the target object.

8. The machine vision light source control system according to claim 6, wherein: The supplementary light irradiation state adjustment module is used to adjust the supplementary light irradiation state of the light source on the surface of the target object based on the distribution state information of the abnormal ambient light irradiation area on the surface of the target object, including: Based on the distribution position and distribution range information of the abnormal ambient light irradiation area on the surface of the target object, determine the supplementary light irradiation direction and supplementary light irradiation range of the light source on the surface of the target object; The bright spot distribution determination module is used to collect the global image of the surface of the target object in the supplementary light irradiation state, and analyze the global image to determine the bright spot distribution information of the surface of the target object, including: Collect the global image of the surface of the target object when the light source is in the irradiation state of the supplementary light irradiation direction and the supplementary light irradiation range, perform pixel brightness analysis on the global image to obtain the pixel brightness contrast distribution information of the global image; based on the pixel brightness contrast distribution information, determine the bright spot distribution range and brightness value distribution information of the surface of the target object.

9. The machine vision light source control system according to claim 6, wherein: The optimal adjustment parameter determination module for the light source is used to dynamically adjust the irradiation light intensity distribution of the light source based on the bright spot distribution information, and synchronously update the acquisition and analysis of the global image to determine the optimal adjustment parameters for the dynamic adjustment of the irradiation light intensity distribution, including: Based on the bright spot distribution range and brightness value distribution information on the surface of the target object, locally and dynamically adjust the irradiation light intensity distribution of the light source, so as to continuously and dynamically change the local light intensity value of the light-emitting surface of the light source; and synchronously acquire and analyze the global image of the surface of the target object, and determine the global light intensity value distribution parameter of the light-emitting surface of the light source when the bright spot area on the surface of the target object is in the minimum state, and use this as the optimal adjustment parameter for the dynamic adjustment of the irradiation light intensity distribution; The light source control operation module is used to adjust the light-emitting state or light state modulation of the light source based on the optimal adjustment parameters, including: Based on the global light intensity value distribution parameter, adjust the light-emitting intensity state of the corresponding sub-light source under the light source or adjust the light intensity modulation state of the light intensity modulation device located on the light-emitting path of the light source for the light emitted by the light source.

10. The machine vision light source control system according to claim 9, wherein: Continuously and dynamically changing the local light intensity value of the light-emitting surface of the light source includes: Extracting the area of the distribution region corresponding to the bright spot distribution range; Extracting the brightness values included in the brightness value distribution information; Using the area of the distribution region corresponding to the bright spot distribution range and the brightness values corresponding to the brightness value distribution information to obtain the maximum adjustment gradient of the light intensity for dynamically adjusting the local light intensity value; Wherein, the maximum adjustment gradient of the light intensity for dynamically adjusting the local light intensity value is obtained through the following formula: Among them, L t represents the light intensity value corresponding to the maximum adjustment gradient of the local light intensity value for dynamic adjustment; L0 represents the light intensity value corresponding to a preset initial light intensity adjustment gradient; n represents the number of brightness data included in the brightness value distribution information; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents a preset reference value for the distribution region area; L i represents the brightness value corresponding to the i-th brightness data; L max represents the maximum value of the brightness value corresponding to the i-th brightness data; L z represents the median of the brightness values corresponding to n brightness data; λ represents an adjustment coefficient, and the adjustment coefficient is obtained through the following formula: Among them, λ represents the adjustment coefficient; L0 represents the light intensity value corresponding to the preset initial adjustment gradient of light intensity; L b represents the standard deviation of the brightness values corresponding to n brightness data; S represents the area of the distribution region corresponding to the bright spot distribution range; S c represents the reference value of the preset distribution region area; Continuously and dynamically change the local light intensity value of the light-emitting surface of the light source according to the maximum adjustment gradient of the light intensity for dynamically adjusting the local light intensity value as a constraint condition.

Images