A photometric stereo based identification system and method

Abstract

The application discloses a kind of identification system and method based on photometric stereo, comprising: image acquisition module and data processing device, the image acquisition module is according to predetermined illumination mode and object rotation angle and is photographed image, forms a group of image data including multiple different illumination and angle conditions, and image data is uploaded to data processing device inside, the image acquisition device includes: top shell, controller, bottom shell, workpiece moving mechanism and image acquisition mechanism.The identification system and method based on photometric stereo, introduce more advanced fusion strategy, combine the physical illumination model of photometric stereo with the self-attention mechanism of physical perception, strengthen the physical interpretability of features, and then solve the problem that traditional fusion algorithm ignores the physical law of illumination, and realize the multi-angle image acquisition of different height levels of workpiece, obtain the image information of each side and front and back of workpiece, provide rich data for subsequent comprehensive analysis and three-dimensional reconstruction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer vision, in particular to a recognition system and method based on photometric stereo. BACKGROUND

[0002] Photometric stereo technology is based on the principle that light has different effects on the surface of an object at different angles. By using multiple light sources to illuminate the object at different angles and capturing the corresponding images, the normal direction of each pixel point (the direction perpendicular to the surface of the object) can be calculated by observing the brightness change of each pixel point under different lighting conditions. Finally, the three-dimensional shape of the object surface can be reconstructed using the normal information on the entire image. Compared with the three-dimensional reconstruction technology based on structured light, photometric stereo technology does not require additional structured light projection equipment, but only needs to use light sources in different directions to obtain the three-dimensional information of the object. Therefore, it has advantages in some scenes where the requirements for equipment are relatively simple. In industrial production, photometric stereo technology can be used to detect defects and shape deviations on the surface of an object. For example, in automobile manufacturing, it can be used to detect the flatness of the body surface and the quality of paint spraying, and in electronic device manufacturing, it can be used to detect defects on the surface of chip packaging.

[0003] In the prior art, the accurate estimation of the normal vector of the object surface in the recognition system based on photometric stereo depends on the understanding of the physical law of light. In actual scenarios, different object surfaces have different reflection characteristics, such as specular reflection and diffuse reflection. Ignoring the physical law of light makes it difficult for the algorithm to accurately distinguish between these reflection types, which may misjudge the highlight area as a feature part of the object, or over-enhance certain reflection areas during fusion, thereby distorting the true information of the image, leading to problems such as image quality degradation, inaccurate feature extraction, and recognition and classification errors, reducing the reliability and practicality of the system. In addition, the existing recognition system based on photometric stereo can only collect single-sided image information of the workpiece, missing the features of other sides of the workpiece, and cannot construct a complete three-dimensional model, affecting the understanding of the overall shape and spatial structure of the workpiece. Moreover, the image collection device in the current recognition system based on photometric stereo is fixed in position and collects images from above the workpiece. The structure of the workpiece itself is prone to produce shadows that cover its details, resulting in the loss of information in some areas of the image and the inability to clearly present its unique geometric shape and surface texture, limiting the capture of the overall features of the workpiece. SUMMARY

[0004] The present application aims to provide a recognition system and method based on photometric stereo to at least solve the problems mentioned in the prior art.

[0005] To achieve the above object, the application provides the following technical scheme: a recognition system and method based on photometric stereo, comprising an image acquisition module and a data processing device, the image acquisition module shoots images according to a predetermined light mode and object rotation angle, forms a group of image data containing multiple different light and angle conditions, and uploads the image data to the data processing device.

[0006] Preferably, the data processing device comprises a preprocessing module, a feature extraction module, an identification classification module and a result output module; the preprocessing module pre-processes the collected image data; the feature extraction module estimates a normal vector based on the photometric stereo principle, constructs physical perception by combining a physical light model and a self-attention mechanism, adds physical parameters for inductive bias, encodes the space-time features of a dynamic light sequence, and then converts the normal vector to a three-dimensional shape and extracts geometric features by a three-dimensional reconstruction algorithm; the identification classification module matches and compares the extracted features with a pre-established template library or feature database, adopts a classification algorithm based on deep learning to learn and classify the features, and judges the category or identity of the object; and the result output module displays the identification result to the user in an intuitive manner.

[0007] Preferably, the image acquisition device comprises a top shell, a controller, a bottom shell, a workpiece moving mechanism and an image acquisition mechanism; the controller is installed on the front side of the outer surface of the top shell; the bottom shell is arranged at the bottom of the top shell in the front-rear direction; the workpiece moving mechanism is arranged on the front side of the upper surface of the bottom shell, and the workpiece moving mechanism can realize automatic transfer and turning of the workpiece; and the image acquisition mechanism is installed on the inner top rear side of the controller, and the image acquisition mechanism can realize automatic collection of image data of the workpiece in multiple angular directions.

[0008] Preferably, the workpiece moving mechanism comprises: a mounting frame, a mounting frame plate, a first limiting component, a moving frame, a first linear driver, a slot seat, a lifting frame, a first electric telescopic rod, a first mounting seat, a rotating seat, a connecting seat, an electric suction cup and a second electric telescopic rod; the mounting frame is fixedly installed on the upper surface of the front side of the bottom shell; the mounting frame plate is installed on the top of the mounting frame in the front-rear direction; the number of the first limiting components is two, and the two first limiting components are installed on the top of the mounting frame plate in the front-rear direction and on the left and right sides; the number of the moving frames is two, and the two moving frames are respectively installed on the front and rear limiting end tops of the left and right first limiting components in the left-right direction; the number of the first linear drivers is two, and the two first linear drivers are respectively installed on the top of the mounting frame plate in the front-rear direction and on the outer sides of the left and right first limiting components, the moving ends of the left and right first linear drivers are respectively connected with the top outer sides of the front and rear moving frames, and the first linear driver is electrically connected with the controller; the number of the slot seats is two groups, the number of each group of slot seats is two, and the two groups of slot seats are respectively embedded on the top left and right sides of the front and rear moving frames; the number of the lifting frames is two, and the two lifting frames are respectively inserted into the bottom ends of the two groups of slot seats; the number of the first electric telescopic rods is two, and the two first electric telescopic rods are respectively installed on the top of the two moving frames in the up-down direction, the telescopic ends of the two first electric telescopic rods extend out of the lower surface of the moving frame and are respectively connected with the top ends of the two lifting frames, and the first electric telescopic rod is electrically connected with the controller; the number of the first mounting seats is two, and the two first mounting seats are respectively installed on the bottom ends of the front and rear lifting frames in the up-down direction; the number of the rotating seats is two, and the two rotating seats are respectively connected with the inner ends of the inner sides of the two first mounting seats through rotating shafts, and the left and right sides of the shafts of the rotating seats extend out of the outer sides of the first mounting seats; the number of the connecting seats is two groups, the number of each group of connecting seats is two, one end of each of the two connecting seats is fixedly connected with the left and right sides of the shafts of the rotating seats; the number of the electric suction cups is two, and the two electric suction cups are respectively installed on the inner sides of the front and rear rotating seats in the up-down direction, and the electric suction cup is electrically connected with the controller; the number of the second electric telescopic rods is two groups, the number of each group of second electric telescopic rods is two, and the two groups of second electric telescopic rods are respectively installed on the outer side top ends of the front and rear first mounting seats in the up-down direction through rotating shaft seats, the telescopic ends of the two second electric telescopic rods are respectively connected with the other ends of the left and right connecting seats through rotating shafts, and the second electric telescopic rod is electrically connected with the controller; and the bottom of the mounting frame is provided with a workpiece moving component.

[0009] Preferably, the image acquisition mechanism comprises: linear motors, a ring-shaped frame, ring-shaped internal racks and multi-angle image collection components; the number of the linear motors is four, the four linear motors are installed at the top end of the inner cavity of the top shell in the up-down direction at intervals of ninety degrees, and the linear motors are electrically connected with the controller; the ring-shaped frame is installed at the bottom of the four linear motors in the circumferential direction; the number of the ring-shaped internal racks is two, the two ring-shaped internal racks are installed on the upper and lower sides of the ring-shaped frame in the circumferential direction; and the multi-angle image collection components are arranged on the inner side of the ring-shaped frame.

[0010] Preferably, the multi-angle image collecting component comprises a moving part, a shell, a first sliding groove frame, a second motor, a bevel gear set, a lead screw, a lead screw nut, a sliding block, a rotating frame, a limiting frame, a second mounting seat, a third electric telescopic rod, a brake plate, a second sliding groove frame, a second mounting frame, a third mounting seat, a first mounting plate, a fourth electric telescopic rod, a third motor, a second mounting plate, an image collector and a brightness regulator; the moving part is arranged on the outer side of the annular frame; the shell is mounted on the middle of the front side of the moving part; the number of the first sliding groove frames is two, and the two first sliding groove frames are arranged on the upper and lower ends of the shell in the up-down direction respectively; the number of the second motors is two, and the two second motors are arranged on the upper and lower sides of the inner cavity of the second motor respectively, and the second motor is electrically connected with the controller; the number of the bevel gear sets is two, and the one side bevel gears of the two bevel gear sets are arranged on the rotating ends of the upper and lower second motors respectively; the number of the lead screws is two, and the two lead screws are rotatably connected to the outer surface of the shell on the upper and lower sides and are located on the inner side of the two first sliding groove frames, and the inner ends of the shafts of the two lead screws extend into the inner cavity of the shell and are connected with the other side bevel gears of the two bevel gear sets; the number of the lead screw nuts is two, and the two lead screw nuts are screwed on the outer parts of the two lead screws respectively; the number of the sliding blocks is two groups, and the number of the sliding blocks in each group is two, and the two groups of sliding blocks are arranged on the left and right sides of the upper and lower lead screw nuts respectively and are inserted into the inner cavities of the upper and lower first sliding groove frames; the number of the rotating frames is two, and one end of the two rotating frames is rotatably connected to the outer side of the upper and lower groups of sliding blocks through a bearing; the number of the limiting frames is two, and one end of the two limiting frames is rotatably connected to the outer side of the outer end of the upper and lower first sliding groove frames through a rotating shaft; the number of the second mounting seats is two, and the two second mounting seats are rotatably connected to the other end inner sides of the upper and lower rotating frames through rotating shafts; the number of the third electric telescopic rods is two, and the two third electric telescopic rods are arranged on the rear ends of the upper and lower second mounting seats respectively, the telescopic ends of the third electric telescopic rods extend to the front side of the second mounting seat, and the third electric telescopic rods are electrically connected with the controller; the number of the brake plates is two, and the two brake plates are arranged on the telescopic end front sides of the upper and lower second mounting seats respectively; the second sliding groove frame is arranged in front of the shell in the up-down direction, and the outer front sides of the upper and lower second mounting seats are inserted into the inner cavity upper and lower sides of the second sliding groove frame respectively; the second mounting frame is arranged on the front side of the second mounting frame in the up-down direction; the third mounting seat is mounted on the bottom end of the second mounting frame; the first mounting plate is rotatably connected to the outer side front end of the third mounting seat in the up-down direction through a rotating shaft;The fourth electric telescopic rod consists of two rods. One end of each rod is rotatably mounted on the top left and right sides of the second mounting bracket via a pivot seat. The other ends of each rod are connected to the left and right rear ends of the first mounting plate via the pivot seat. The fourth electric telescopic rods are electrically connected to the controller. A third motor is mounted on the rear side of the first mounting plate, with its rotating end extending from the central opening of the first mounting plate to its front end. The third motor is electrically connected to the controller. A second mounting plate is mounted in front of the rotating end of the third motor. An image acquisition unit is mounted on the top front side of the second mounting plate, and is electrically connected to the controller. A brightness adjuster is mounted on the front side of the second mounting plate, below the image acquisition unit, and is electrically connected to the controller.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. The upper and lower second motors, driven by the bevel gear set, drive the upper and lower lead screws to rotate synchronously. The upper and lower lead screw nuts move synchronously outward or inward, causing the upper and lower lead screw nuts to drive one end of the rotating frame at the corresponding position to move inward or outward. Under the limiting action of the limiting frame, the rotating frame drives the second mounting seat to move inward or outward along the inner cavity of the second slide frame. After the second mounting seat moves to the designated position, the third electric telescopic rod outside the upper and lower second mounting seats extends, driving the brake plate to move forward, so that the brake plate fits against the inner wall of the second slide frame for fixation. Then, with the cooperation of the second slide frame, the second mounting frame drives the front image acquisition device to move to the position directly above the workpiece. At the workpiece bracket, the brightness adjuster illuminates the workpiece surface with a light source, and the image acquisition device collects the workpiece image data and uploads it to the external data processing device via the controller. When it is necessary to collect data on the side of the workpiece, the fourth electric telescopic rod extends and drives the first mounting plate to flip downwards in front of the third mounting base until it is perpendicular to the second mounting bracket. The third motor drives the second mounting plate to rotate, causing the image acquisition device and the brightness adjuster to rotate forward to align with the side of the workpiece. The moving part drives the image acquisition device and the brightness adjuster to move circumferentially along the side of the workpiece, and adjusts the distance between the image acquisition device and the brightness adjuster and the workpiece in cooperation with the third electric telescopic rod and the second motor, thereby realizing the collection of image data on the side of the workpiece.

[0013] 2, the workpiece is moved to the position below the mounting frame by the workpiece moving component, the left side first linear driver drives the front side moving frame to move above the workpiece under the limiting action of the first limiting assembly, the first electric telescopic rod above the front side moving frame is elongated to drive the lifting frame to move downward, and the electric suction cup below the lifting frame is in contact with the surface of the workpiece, the electric suction cup is adsorbed and grabbed to the workpiece, the second electric telescopic rod is elongated to drive the one end of the connecting seat to move downward, so that the left and right connecting seats drive the rotating seat to drive the electric suction cup to rotate ninety degrees to the rear side, the rear side first electric telescopic rod is elongated or shortened to drive the lifting frame to move downward or upward to the specified height position, the rear side second electric telescopic rod is elongated to drive the connecting seat to drive the electric suction cup to be turned upward, the right side first linear driver drives the rear side moving frame to move to the corresponding position at the rear side of the workpiece under the limiting action of the first limiting assembly, so that the rear side electric suction cup is in contact with the surface of the rear side of the workpiece and is adsorbed, the front side electric suction cup is released from the adsorption of the workpiece, and the rear side second electric telescopic rod is shortened to drive the rear side connecting seat to drive the rotating seat to be turned downward, so that the rear side electric suction cup cooperates to turn over the workpiece.

[0014] In summary, the application introduces a more advanced fusion strategy, combines the physical illumination model of photometric stereo with the self-attention mechanism of physical perception, strengthens the physical interpretability of features, solves the problem that the traditional fusion algorithm ignores the physical law of illumination, and realizes multi-angle image acquisition of different height levels of the workpiece, so as to obtain image information of each side and front and back of the workpiece, and provide rich data for subsequent comprehensive analysis and three-dimensional reconstruction. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic view of the application;

[0016] Figure 2 is Figure 1 a structural schematic view of the image acquisition module;

[0017] Figure 3 is Figure 2 a schematic view of the internal structure;

[0018] Figure 4 is Figure 3 an exploded view of the workpiece moving mechanism of the application;

[0019] Figure 5 is Figure 4 an enlarged view of A of the application;

[0020] Figure 6 is Figure 4 an enlarged view of B of the application;

[0021] Figure 7 is Figure 3 an exploded view of the image acquisition mechanism of the application

[0022] Figure 8 is a multi-angle image collection component explosion diagram; Figure 7

[0023] Figure 9 is a C zoomed-in view; Figure 8

[0024] Figure 10 is a D zoomed-in view. Figure 8

[0025] In the figure: 1, top shell, 2, controller, 3, bottom shell, 4, workpiece moving mechanism, 41, mounting frame, 42, mounting frame plate, 43, first limiting assembly, 44, moving frame, 45, first linear driver, 46, slot seat, 47, lifting frame, 48, first electric telescopic rod, 49, first mounting seat, 410, rotating seat, 411, connecting seat, 412, electric suction cup, 413, second electric telescopic rod, 414, base table, 415, second limiting assembly, 416, electric rotating table, 417, second linear driver, 418, mounting bottom plate, 419, third limiting assembly, 420, workpiece cradle, 421, third linear driver, 5, image acquisition mechanism, 51, linear motor, 52, annular frame, 53, annular inner rack, 6, multi-angle image collection component, 61, frame structure, 62, groove wheel, 63, groove gear, 64, connecting rotating shaft, 65, first motor, 66, transmission gear set, 67, first mounting bracket, 68, shell, 69, first sliding groove bracket, 610, second motor, 611, bevel gear set, 612, lead screw, 613, lead screw nut, 614, sliding block, 615, rotating bracket, 616, limiting bracket, 617, second mounting seat, 618, third electric telescopic rod, 619, brake plate, 620, second sliding groove bracket, 621, second mounting bracket, 622, third mounting seat, 623, first mounting plate, 624, fourth electric telescopic rod, 625, third motor, 626, second mounting plate, 627, image collector, 628, brightness adjuster. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0027] Please refer to Figures 1-10 ​​​The application provides a technical solution: a photometric stereo-based recognition system and method, comprising an image acquisition module and a data processing device, the image acquisition module shoots images according to a predetermined light mode and object rotation angle, forms a group of image data containing multiple images under different light and angle conditions, and uploads the image data to the data processing device;

[0028] The data processing device comprises:

[0029] A preprocessing module, which pre-processes the collected image data, first converts the image data to grayscale, then removes salt and pepper noise in the image using a median filter algorithm, and performs contrast enhancement on the image through histogram equalization to improve the quality of the image and the accuracy of subsequent processing.

[0030] A feature extraction module, which uses an AI algorithm based on the photometric stereo principle to calculate the brightness change of each pixel point under different light conditions, and then estimates the normal vector of the object surface, combines the physical light model of photometric stereo with the self-attention mechanism of physical perception, constructs physical perception, adds physical parameters such as light incidence angle, wavelength, and initial estimated value of surface normal vector to each pixel feature in the input layer of physical perception as inductive bias, forces the model to learn the physical correlation between reflectivity and geometry under different light conditions, uses the position encoding of physical perception to encode spatial coordinates and timestamps simultaneously for dynamic light sequences, realizes global correlation modeling of spatiotemporal features, and then converts the normal vector information into three-dimensional shape information of the object through a three-dimensional reconstruction algorithm, extracts feature points, feature lines, and other geometric features from the three-dimensional shape.

[0031] A recognition and classification module, which matches and compares the extracted features with a pre-established template library or feature database, uses a deep learning-based classification algorithm to learn and classify the features, and judges the category or identity of the object.

[0032] A result output module, which displays the recognition result to the user in an intuitive way, displays the category, name, or other related information of the object on the terminal screen used by the user, and saves the recognition result to the database for subsequent query and analysis.

[0033] As a preferred scheme, further, as Figure 2 and Figure 3As shown, the image acquisition device comprises a top shell 1, a controller 2, a bottom shell 3, a workpiece moving mechanism 4 and an image acquisition mechanism 5; the controller 2 is installed on the front side of the outer surface of the top shell 1, and the inside of the controller 2 is provided with a preset program capable of automatically controlling the internal electrical devices of the device; the bottom shell 3 is arranged on the bottom of the top shell 1 in the front-rear direction; the workpiece moving mechanism 4 is arranged on the front side of the upper surface of the bottom shell 3, and the workpiece moving mechanism 4 can realize the automatic transfer and turning of the workpiece; the image acquisition mechanism 5 is installed on the inside top rear side of the controller 2, and the image acquisition mechanism 5 can realize the automatic collection of image data in multiple angle directions of the workpiece.

[0034] As a preferred solution, further, as Figure 4 、 Figure 5 and Figure 6As shown, the workpiece moving mechanism 4 comprises: a mounting frame 41, a mounting frame plate 42, a first limiting assembly 43, a moving frame 44, a first linear driver 45, a slot seat 46, a lifting frame 47, a first electric telescopic rod 48, a first mounting seat 49, a rotating seat 410, a connecting seat 411, an electric suction cup 412, and a second electric telescopic rod 413; the mounting frame 41 is fixedly installed on the upper surface of the front side of the bottom shell 3; the mounting frame plate 42 is installed on the top of the mounting frame 41 in the front-rear direction; the number of the first limiting assembly 43 is two, and the two first limiting assemblies 43 are installed on the top of the mounting frame plate 42 in the front-rear direction and on the left and right sides; the number of the moving frame 44 is two, and the two moving frames 44 are respectively installed on the top of the front and rear limiting ends of the left and right first limiting assemblies 43 in the left-right direction; the number of the first linear driver 45 is two, and the two first linear drivers 45 are respectively installed on the top of the mounting frame plate 42 in the front-rear direction and on the outer sides of the left and right first limiting assemblies 43, the moving ends of the left and right first linear drivers 45 are respectively connected to the top outer sides of the front and rear moving frames 44, the first linear driver 45 is electrically connected with the controller 2, the first linear driver 45 is controlled by the controller 2, and the first linear driver 45 can drive the moving frame 44 to move in the front-rear direction; the number of the slot seat 46 is two groups, and the number of each group of slot seats 46 is two, and the two groups of slot seats 46 are respectively embedded on the top of the left and right sides of the front and rear moving frames 44; the number of the lifting frame 47 is two, and the two lifting frames 47 are respectively inserted into the bottom ends of the two groups of slot seats 46, and the lifting frame 47 can move up and down inside the slot seat 46; the number of the first electric telescopic rod 48 is two, and the two first electric telescopic rods 48 are respectively installed on the top of the two moving frames 44 in the up-down direction, the telescopic ends of the two first electric telescopic rods 48 extend out of the lower surfaces of the moving frames 44 and are respectively connected to the top ends of the two lifting frames 47, the first electric telescopic rod 48 is electrically connected with the controller 2, the first electric telescopic rod 48 is controlled by the controller 2, and the first electric telescopic rod 48 can drive the lifting frame 47 to move up and down by elongating or shortening itself; the number of the first mounting seat 49 is two, and the two first mounting seats 49 are respectively installed on the bottom ends of the front and rear lifting frames 47 in the up-down direction; the number of the rotating seat 410 is two, and the two rotating seats 410 are respectively rotationally connected to the inner ends of the inner sides of the two first mounting seats 49 through rotating shafts, the left and right sides of the shaft centers of the rotating seat 410 extend out of the outer sides of the first mounting seat 49, and the rotating seat 410 can rotate inside the first mounting seat 49; the number of the connecting seat 411 is two groups, and the number of each group of connecting seats 411 is two, one end of each of the two connecting seats 411 is fixedly connected to the left and right sides of the shaft centers of the rotating seat 410;The number of the electric suction cups 412 is two, and the two electric suction cups 412 are respectively installed on the inner sides of the front and rear rotating seats 410 along the up-down direction. The electric suction cups 412 are electrically connected with the controller 2, and the electric suction cups 412 are controlled by the controller 2. The electric suction cups 412 can adsorb and grab the workpiece. The number of the second electric telescopic rods 413 is two groups, and the number of the second electric telescopic rods 413 in each group is two. The two groups of second electric telescopic rods 413 are respectively installed on the outer top ends of the front and rear first mounting seats 49 along the up-down direction through the rotating shaft seats. The telescopic ends of the two second electric telescopic rods 413 are respectively connected with the other ends of the left and right two connecting seats 411 through rotating shafts. The second electric telescopic rods 413 are electrically connected with the controller 2, and the second electric telescopic rods 413 are controlled by the controller 2. The second electric telescopic rods 413 can drive the connecting seat 411 to move and rotate by elongating and shortening. The second electric telescopic rods 413 can synchronously rotate under the cooperation of the pin shaft seats in the installation positions during the elongation and shortening. Wherein, the workpiece transferring component is arranged below the mounting frame 41, and the workpiece transferring component comprises a base table 414, a second limiting assembly 415, an electric rotating table 416, a second linear driver 417, a mounting bottom plate 418, a third limiting assembly 419, a workpiece bracket 420 and a third linear driver 421. The base table 414 is installed on the top of the bottom shell 3 along the left-right direction and below the mounting frame 41. The number of the second limiting assemblies 415 is two, and the two second limiting assemblies 415 are respectively installed on the top of the base table 414 along the left-right direction. The limiting guide rails in the second limiting assemblies 415 are installed on the top of the base table 414 along the left-right direction, and the limiting guide rails are externally sleeved with limiting sliders as limiting ends. The electric rotating table 416 is installed on the top of the limiting ends of the front and rear second limiting assemblies 415. The electric rotating table 416 is electrically connected with the controller 2, and the electric rotating table 416 is controlled by the controller 2. The electric rotating table 416 can drive the mounting bottom plate 418 to rotate clockwise or counterclockwise. The second linear driver 417 is installed on the top of the base table 414 along the left-right direction and inside the front and rear second limiting assemblies 415. The moving end of the second linear driver 417 is connected with the bottom of the electric rotating table 416. The second linear driver 417 is electrically connected with the controller 2, and the second linear driver 417 is controlled by the controller 2. The second linear driver 417 can drive the electric rotating table 416 to move along the left-right direction. The mounting bottom plate 418 is installed on the rotating end of the electric rotating table 416 along the front-rear direction. The number of the third limiting assemblies 419 is two, and the two third limiting assemblies 419 are respectively installed on the top of the mounting bottom plate 418 along the front-rear direction. The limiting guide rails in the third limiting assemblies 419 are installed on the top of the mounting bottom plate 418 along the front-rear direction, and the limiting guide rails are externally sleeved with limiting sliders as limiting ends.The workpiece bracket 420 is installed at the top of the limiting ends of the two third limiting assemblies 419; the third linear motor 421 is installed at the top of the mounting base plate 418 in the front-rear direction and is located at the inner side of the two third limiting assemblies 419, the moving end of the third linear motor 421 is connected to the bottom of the workpiece bracket 420, the third linear motor 421 is electrically connected with the controller 2, the third linear motor 421 is controlled by the controller 2, and the third linear motor 421 can drive the workpiece bracket 420 to move in the front-rear direction.

[0035] As a preferred scheme, further as shown in Figure 7 The image acquisition mechanism 5 comprises: four linear motors 51, a ring-shaped frame 52, two ring-shaped internal racks 53, and a multi-angle image collection component 6. The four linear motors 51 are installed at the top of the inner cavity of the top shell 1 in the up-down direction at intervals of 90 degrees, the linear motors 51 are electrically connected with the controller 2, the linear motors 51 are controlled by the controller 2, and the linear motors 51 can drive the ring-shaped frame 52 to ascend and descend to a specified height position. The ring-shaped frame 52 is installed at the bottom of the four linear motors 51 in the circumferential direction. The two ring-shaped internal racks 53 are installed at the up-down two sides of the ring-shaped frame 52 in the circumferential direction. The multi-angle image collection component 6 is arranged at the inner side of the ring-shaped frame 52.

[0036] As a preferred scheme, further as shown in Figure 8 , Figure 9 and Figure 10As shown, the multi-angle image collecting component 6 comprises a moving part, a shell 68, a first sliding groove frame 69, a second motor 610, a bevel gear set 611, a lead screw 612, a lead screw nut 613, a sliding block 614, a rotating frame 615, a limiting frame 616, a second mounting seat 617, a third electric telescopic rod 618, a brake plate 619, a second sliding groove frame 620, a second mounting frame 621, a third mounting seat 622, a first mounting plate 623, a fourth electric telescopic rod 624, a third motor 625, a second mounting plate 626, an image collector 627, and a brightness adjuster 628. The moving part is arranged outside the annular frame 52. The moving part comprises a frame structure 61, a groove wheel 62, a groove gear 63, a connecting rotating shaft 64, a first motor 65, a transmission gear set 66, and a first mounting frame 67. The frame structure 61 is sleeved outside the annular frame 52. The groove wheel 62 comprises two groups, each group comprising two groove wheels. The two groups of groove wheels are rotatably connected to the left and right sides of the inner side rear end and the upper and lower ends of the frame structure 61. The inner sides of the grooves of the two groups of groove wheels are respectively connected to the outer sides of the upper and lower annular inner racks 53. The outer sides of the groove wheels 62 are provided with grooves along the circumferential direction, and the groove wheels can move along the outer side of the annular inner rack 53. The groove gear 63 comprises two groups, each group comprising two groove gears. The two groups of groove gears are rotatably connected to the left and right sides of the inner side front end of the frame structure 61. The inner sides of the grooves of the two groups of groove gears are respectively connected to the outer sides of the upper and lower annular inner racks 53. The tooth groove parts of the groove gears 63 are respectively engaged with the inner side rack parts of the upper and lower annular inner racks 53. The groove gears 63 can move along the inner side gear engagement of the annular inner rack 53. The connecting rotating shaft 64 comprises two connecting rotating shafts, which are respectively installed in the inner ends of the shafts of the upper and lower groove gears 63 on the left and right sides. The first motor 65 comprises two first motors, which are installed on the left and right ends of the inner side of the frame structure 61. The first motor 65 is electrically connected with the controller 2 and is controlled by the controller 2. The first motor 65 can drive the one side gears of the transmission gear set 66 to rotate clockwise or counterclockwise. The transmission gear set 66 comprises two transmission gear sets, the one side gears of which are respectively keyed to the outer sides of the left and right connecting rotating shafts 64, and the other side gears of which are respectively installed on the rotating ends of the left and right first motors 65. The transmission gear set 66 adopts the gear engagement of the two sides to achieve the transmission between the first motor 65 and the connecting rotating shaft 64. The first mounting frame 67 is installed on the outer side front end of the frame structure 61, and the front end of the first mounting frame 67 is connected with the shell 68. The shell 68 is installed on the front side middle part of the moving part. The first sliding groove frame 69 comprises two first sliding groove frames, which are respectively installed on the upper and lower ends of the shell 68 in the up and down direction.The number of the second motors 610 is two, two second motors 610 are installed on the upper and lower sides of the inner cavity of the second motor 610 respectively, the second motor 610 is electrically connected with the controller 2, the second motor 610 is controlled by the controller 2, the second motor 610 can drive the bevel gear set 611 to rotate in the clockwise or counterclockwise direction; the number of the bevel gear set 611 is two, the bevel gears on one side of the two bevel gear sets 611 are installed on the rotating ends of the upper and lower second motors 610 respectively, the bevel gear set 611 is arranged by the meshing of the bevel gears on both sides, which can play a transmission role between the second motor 610 and the lead screw 612; the number of the lead screw 612 is two, the two lead screws 612 are rotatably connected on the outer surface of the housing 68 on the upper and lower sides and inside the two first sliding groove frames 69, the inner ends of the shafts of the two lead screws 612 extend into the inner cavity of the housing 68 and are connected with the bevel gears on the other side of the two bevel gear sets 611; the number of the lead screw nut 613 is two, the two lead screw nuts 613 are screwed on the outer sides of the two lead screws 612 respectively; the number of the sliding block 614 is two groups, the number of each group of sliding blocks 614 is two, the two groups of sliding blocks 614 are arranged on the left and right sides of the upper and lower lead screw nuts 613 respectively and are inserted into the inner cavities of the upper and lower first sliding groove frames 69, the sliding block 614 can move up and down in the inner cavity of the first sliding groove frame 69; the number of the rotating frame 615 is two, one end of the inner side of the two rotating frames 615 is rotatably connected with the outer sides of the upper and lower groups of sliding blocks 614 respectively; the number of the limiting frame 616 is two, one end of the inner side of the two limiting frames 616 is rotatably connected with the outer sides of the outer ends of the upper and lower first sliding groove frames 69 respectively, the limiting frame 616 can rotate upward or downward on the outer side of the first sliding groove frame 69; the number of the second mounting seat 617 is two, the two second mounting seats 617 are rotatably connected with the inner sides of the other ends of the upper and lower rotating frames 615 respectively; the number of the third electric telescopic rod 618 is two, the two third electric telescopic rods 618 are installed at the rear ends of the upper and lower second mounting seats 617 respectively, the telescopic ends of the third electric telescopic rods 618 extend to the front sides of the second mounting seats 617, the third electric telescopic rods 618 are electrically connected with the controller 2, the third electric telescopic rods 618 are controlled by the controller 2, the third electric telescopic rods 618 can drive the brake plate 619 to contact the inner wall of the second sliding groove frame 620 to realize fixation by elongation or shortening; the number of the brake plate 619 is two, the two brake plates 619 are installed at the telescopic ends of the front sides of the upper and lower second mounting seats 617 respectively; the second sliding groove frame 620 is arranged in the front of the housing 68 in the up-down direction, the outer front sides of the upper and lower second mounting seats 617 are inserted into the inner cavities of the upper and lower sides of the second sliding groove frame 620 respectively, the second mounting seat 617 can move up and down in the inner cavity of the second sliding groove frame 620; the second mounting frame 621 is arranged in the front side of the second mounting frame 621 in the up-down direction; the third mounting seat 622 is installed at the bottom end of the second mounting frame 621;The first mounting plate 623 is rotatably connected to the outer side of the front end of the third mounting seat 622 through a rotating shaft in the up-down direction; the fourth electric telescopic rod 624 is two in number, one end of the two fourth electric telescopic rods 624 is rotatably installed on the left and right two top ends of the second mounting frame 621 through a rotating shaft seat, the other end of the two fourth electric telescopic rods 624 is connected to the left and right ends of the rear side of the first mounting plate 623 through a rotating shaft seat, the fourth electric telescopic rod 624 is electrically connected with the controller 2; the third motor 625 is installed on the rear side of the first mounting plate 623, the rotating end of the third motor 625 extends to the front end of the first mounting plate 623 from the middle opening of the first mounting plate 623, the third motor 625 is electrically connected with the controller 2, the third motor 625 is controlled by the controller 2, the third motor 625 can drive the second mounting plate 626 to rotate clockwise or counterclockwise; the second mounting plate 626 is installed on the front side of the rotating end of the third motor 625; the image collector 627 is installed on the top of the front side of the second mounting plate 626, the image collector 627 is electrically connected with the controller 2, the image collector 627 is controlled by the controller 2, the image collector 627 collects image data of the workpiece and sends the collected data to the inside of the controller 2; the brightness adjuster 628 is installed on the front side of the second mounting plate 626 and below the image collector 627, the brightness adjuster 628 is electrically connected with the controller 2, the brightness adjuster 628 is controlled by the controller 2 and can adjust the brightness.

[0037] The detailed connection means is a technology known in the art, and the working principle and process are mainly introduced below. The specific work is as follows:

[0038] Step one: the worker places the workpiece on the surface of the workpiece moving part, the workpiece moving part moves the workpiece into the cavity of the top shell 1 and moves to below the image collecting mechanism 5;

[0039] Step 2: The four linear motors 51 drive the annular frame 52 to move downwards, so that the multi-angle image collection component 6 on the outer side of the annular frame 52 descends to the specified height. The upper and lower second motors 610 drive the bevel gears in the bevel gear set 611 at the corresponding positions to rotate, so that the upper and lower lead screws 612 are driven to rotate synchronously under the transmission of the bevel gear set 611. Under the action of the rotational force of the lead screws 612, the upper and lower lead screw nuts 613 drive one end of the rotating frame 615 at the corresponding position to move inwards or outwards. Under the limiting action of the limiting frame 616, the rotating frame 615 drives the second mounting base 617 to move along the inner cavity of the second slide frame 620. The device moves inward or outward, and after the second mounting base 617 moves to the designated position, the third electric telescopic rod 618 on the outside of the second mounting base 617 on both the upper and lower sides extends to drive the brake plate 619 to move forward, so that the brake plate 619 fits against the inner wall of the second slide frame 620 for fixation. Then, with the cooperation of the second slide frame 620, the second mounting frame 621 is driven to move the front image acquisition device 627 to the position directly above the workpiece. The brightness adjuster 628 illuminates the workpiece on the surface of the workpiece bracket 420 with a light source. The image acquisition device 627 collects the workpiece image data and uploads it to the internal external data processing device through the controller 2.

[0040] Step 3: When it is necessary to collect data on the side of the workpiece, the third electric telescopic rod 618 and the second motor 610 drive the above structure to return to the starting position. The fourth electric telescopic rod 624 extends and drives the first mounting plate 623 to flip downward in front of the third mounting base 622 to a state perpendicular to the second mounting bracket 621. The third motor 625 drives the second mounting plate 626 to rotate, so that the image acquisition device 627 and the image acquisition device 627 rotate forward to be aligned with the side of the workpiece. The moving part drives the image acquisition device 627 and the brightness adjuster 628 to move circumferentially along the side of the workpiece. With the cooperation of the third electric telescopic rod 618 and the second motor 610, the distance between the image acquisition device 627 and the brightness adjuster 628 and the workpiece is adjusted, thereby realizing the collection of image data on the side of the workpiece.

[0041] Step four: when image data collection is needed on the other side of the workpiece, the third linear driver 421 and the second linear driver 417 drive the workpiece bracket 420 to move to a position below the mounting frame 41, the left first linear driver 45 drives the front moving frame 44 to move above the workpiece under the limiting action of the first limiting assembly 43, the first electric telescopic rod 48 above the front moving frame 44 is elongated to drive the lifting frame 47 to move downward, and the electric suction cup 412 below the lifting frame 47 is in contact with the surface of the workpiece, the electric suction cup 412 adsorbs and grabs the workpiece, the second electric telescopic rod 413 is elongated to drive one end of the connecting seat 411 to move downward, so that the left and right connecting seats 411 drive the rotating seat 410 to rotate the electric suction cup 412 to the rear side by ninety degrees, the rear first electric telescopic rod 48 is elongated or shortened to drive the lifting frame 47 to move downward or upward to a specified height position, the rear second electric telescopic rod 413 is elongated to drive the connecting seat 411 to make the electric suction cup 412 flip upward, the right first linear driver 45 drives the rear moving frame 44 to move to the corresponding position of the rear side of the workpiece under the limiting action of the first limiting assembly 43, so that the rear electric suction cup 412 is in contact with the surface of the rear side of the workpiece and is adsorbed, the front electric suction cup 412 releases the adsorption of the workpiece, the rear second electric telescopic rod 413 is shortened to drive the rear connecting seat 411 to make the rotating seat 410 flip downward, so that the rear electric suction cup 412 places the workpiece on the surface of the workpiece bracket 420 after flipping the workpiece, and then the image data of the other side of the workpiece is collected:

[0042] Step five: the preprocessing module receives the image data uploaded by the image acquisition module, processes the received image data to grayscale, converts the color image into a grayscale image, uses a median filter algorithm to process the grayscaled image, removes the salt and pepper noise in the image, makes the image clearer, and performs a histogram equalization operation on the image after noise removal, enhances the contrast of the image, and further improves the image quality to ensure the accuracy of subsequent processing;

[0043] Step six: the feature extraction module uses AI algorithms to process the pre-processed image data based on the photometric stereo principle, calculates the brightness change of each pixel point under different lighting conditions, estimates the normal vector corresponding to each pixel point on the surface of the object through the calculation of the above brightness change, and combines the physical lighting model of photometric stereo with the self-attention mechanism of physical perception to construct a physical perception model. In the input layer of the physical perception model, physical parameters such as illumination incident angle, wavelength, and initial estimated value of surface normal vector are added to each pixel feature as inductive bias to force the model to learn the physical correlation between reflectivity and geometry under different lighting conditions. For dynamic lighting sequences, the position encoding function of the physical perception model is used to encode spatial coordinates and timestamps simultaneously to realize global correlation modeling of spatiotemporal features. The estimated normal vector information is converted into three-dimensional shape information of the object using a three-dimensional reconstruction algorithm, and feature points, feature lines, and other geometric features are extracted from the obtained three-dimensional shape information for subsequent recognition and classification. The recognition and classification module matches and compares the features extracted by the feature extraction module with the pre-established template library or feature database, uses a deep learning-based classification algorithm to learn and classify the extracted features, and determines the category or identity of the object through the above operations.

[0044] Step seven: the result output module displays the recognition result obtained by the recognition and classification module to the user in an intuitive way, for example, clearly displays the category, name, or other related information (such as the material of the object) of the object on the terminal screen used by the user, and saves the recognition result to the database for subsequent user query and analysis, providing data support for further decision-making.

[0045] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A photometric stereo recognition method, characterized in that, Includes the following steps: Step 1. Workpiece transfer and positioning: The worker places the workpiece on the workpiece transfer component, which then moves the workpiece to the area below the image acquisition mechanism (5) inside the top outer shell (1) to prepare for image acquisition. Step 2. Multi-view image acquisition: Frontal image acquisition: The linear motor (51) drives the ring frame (52) to descend, which in turn drives the multi-angle image collection component (6) to the specified height. The second motor (610) drives the lead screw (612) through the bevel gear set (611), which causes the lead screw nut (613) to drive the rotating frame (615), which causes the second mounting base (617) to move. After it is in place, the third electric telescopic rod (618) pushes the brake plate (619) to fix it, so that the image acquisition device (627) is located directly above the workpiece. The brightness adjuster (628) illuminates the image, and the frontal image is acquired and uploaded. Side acquisition: When acquiring side data, the relevant components reset the structure, the fourth electric telescopic rod (624) flips the first mounting plate (623), the third motor (625) rotates the second mounting plate (626), so that the image acquisition device (627) is aligned with the side, the moving part drives it and the brightness adjuster (628) to move along the side circumferentially and adjust the distance to complete the side image acquisition; Flipping and acquisition: The second linear actuator (421, 417) moves the workpiece bracket (420), the left first linear actuator (45) drives the front moving frame (44), the first electric telescopic rod (48) causes the electric suction cup (412) to adsorb the workpiece, the second electric telescopic rod (413) drives the electric suction cup (412) to rotate and flip, the right first linear actuator (45) drives the rear moving frame (44), the rear electric suction cup (412) adsorbs, the front side releases the adsorption, the rear second electric telescopic rod (413) shortens to flip the workpiece and acquire the image of the other side; Step 3. Image preprocessing: The preprocessing module receives the image, first converts it to grayscale, then uses median filtering to remove salt-and-pepper noise, and finally performs histogram equalization to enhance contrast and improve image quality. Step 4. Feature Extraction and Classification: The feature extraction module is based on the photometric stereo principle and AI algorithm to calculate the estimated normal vector of pixel brightness change. It combines the physical lighting model and self-attention mechanism to build a model, adds physical parameters to encode spatiotemporal features, and extracts geometric features through 3D reconstruction. The classification module compares the features with the database and uses deep learning algorithms to determine the object category or identity. Step 5. Result Output and Storage: The result output module displays the recognition results to the user.

2. A photometric stereo recognition system, applied in the photometric stereo recognition method as described in claim 1, characterized in that, include: An image acquisition module and a data processing device are provided. The image acquisition module captures images according to a predetermined lighting mode and object rotation angle, forming a set of image data containing multiple different lighting and angle conditions, and uploads the image data to the data processing device. The image acquisition device includes: Top shell (1); The controller (2) is installed on the front side of the outer surface of the top housing (1); The bottom outer casing (3) is disposed at the bottom of the top outer casing (1) in the front-back direction; The workpiece moving mechanism (4) is located on the front side of the upper surface of the bottom shell (3). The workpiece moving mechanism (4) can realize the automatic transfer and flipping of the workpiece. The image acquisition mechanism (5) is installed on the rear side of the top of the controller (2). The image acquisition mechanism (5) can realize the automatic collection of image data of the workpiece in multiple directions. The workpiece moving mechanism (4) includes: The mounting frame (41) is fixedly installed on the front side of the upper surface of the bottom shell (3); Mounting frame plate (42) is installed on top of the mounting frame (41) in the front-back direction; The first limiting component (43) has two components, and the two first limiting components (43) are installed on the top left and right sides of the mounting frame plate (42) in the front-back direction; The number of movable frames (44) is two, and the two movable frames (44) are respectively installed on the top of the front and rear limiting ends of the two first limiting components (43) in the left and right directions; The first linear actuator (45) has two units. The two first linear actuators (45) are respectively installed on the top of the mounting frame plate (42) in the front-back direction and located on the outside of the two left and right first limiting components (43). The moving ends of the two left and right first linear actuators (45) are respectively connected to the top outside of the two front and rear moving frames (44). The first linear actuator (45) and the controller (2) are electrically connected. The number of slot seats (46) is two sets, and the number of slot seats (46) in each set is two. The two sets of slot seats (46) are respectively embedded in the top left and right sides of the front and rear movable frames (44); The number of lifting frames (47) is two, and the two lifting frames (47) are respectively inserted into the bottom end of two sets of slot seats (46); The first electric telescopic rod (48) has two components. The two first electric telescopic rods (48) are installed on the top of the two moving frames (44) in the vertical direction. The telescopic ends of the two first electric telescopic rods (48) extend out of the lower surface of the moving frame (44) and are connected to the top of the two lifting frames (47) respectively. The first electric telescopic rod (48) and the controller (2) are electrically connected. The first mounting base (49) has two units, and the two first mounting bases (49) are respectively installed at the bottom ends of the front and rear lifting frames (47) in the vertical direction; Rotary seat (410), there are two rotating seats (410), and the two rotating seats (410) are rotatably connected to the inner ends of the two first mounting seats (49) by rotating shafts respectively. The left and right sides of the axis of the rotating seat (410) extend out of the outside of the first mounting seat (49). Connecting seat (411), the number of connecting seats (411) is two sets, the number of connecting seats (411) in each set is two, and one end of the two connecting seats (411) is fixedly connected to the left and right sides of the axis of the rotating seat (410); Two electric suction cups (412) are provided. The two electric suction cups (412) are installed on the inner side of the front and rear rotating seats (410) respectively in the vertical direction. The electric suction cups (412) are electrically connected to the controller (2). The second electric telescopic rod (413) has two sets, with two sets of the second electric telescopic rod (413). The two sets of the second electric telescopic rod (413) are installed on the outer top of the front and rear first mounting seats (49) through the rotating shaft seat in the vertical direction. The telescopic ends of the two second electric telescopic rods (413) are connected to the other ends of the left and right connecting seats (411) through the rotating shaft. The second electric telescopic rod (413) is electrically connected to the controller (2). The mounting frame (41) is provided with a workpiece transfer component below it.

3. The photometric stereo recognition system according to claim 2, characterized in that, The data processing device includes: The preprocessing module performs preprocessing on the acquired image data; The feature extraction module estimates the normal vector based on the photometric stereo principle, constructs physical perception by combining the physical lighting model and self-attention mechanism, adds physical parameters as inductive bias, encodes spatiotemporal features for dynamic lighting sequences, and then uses a 3D reconstruction algorithm to convert the normal vector into a 3D shape and extract geometric features. The identification and classification module matches and compares the extracted features with a pre-established template library or feature database. It uses a deep learning-based classification algorithm to learn and classify the features and determine the category or identity of the object. The results output module displays the recognition results to the user.

4. The photometric stereo recognition system according to claim 3, characterized in that, The image acquisition mechanism (5) includes: The linear motor (51) has four linear motors (51) installed at ninety degrees intervals in the vertical direction on the rear side of the top cavity of the top housing (1). The linear motors (51) are electrically connected to the controller (2). A ring frame (52) is mounted circumferentially at the bottom of the four linear motors (51); Annular internal rack (53), the number of which is two, and the two annular internal racks (53) are installed circumferentially on the upper and lower sides of the annular frame (52); A multi-angle image collection component (6) is disposed on the inner side of the annular frame (52).

5. A photometric stereo recognition system according to claim 4, characterized in that, The multi-angle image collection component (6) includes: The movable part is disposed on the outside of the annular frame (52); The housing (68) is installed in the middle of the front side of the movable part; The first slide rail (69) has two components, and the two first slide rails (69) are respectively installed at the upper and lower ends of the housing (68) in the vertical direction; The second motor (610) has two motors (610). The two motors (610) are installed on the upper and lower sides of the inner cavity of the second motor (610) respectively. The second motor (610) and the controller (2) are electrically connected. The conical gear set (611) has two components, and the conical gears on one side of the two conical gear sets (611) are respectively installed on the rotating ends of the upper and lower second motors (610); Two lead screws (612) are provided. The two lead screws (612) are rotatably connected to the upper and lower sides of the outer surface of the housing (68) by bearings and located inside the two first slide rails (69). The inner ends of the shafts of the two lead screws (612) extend into the inner cavity of the housing (68) and are connected to the other side of the bevel gear shaft of the two bevel gear sets (611). Two lead screw nuts (613) are provided, and the two lead screw nuts (613) are respectively screwed onto the outside of two lead screws (612); The slider (614) is in two sets, with two sliders in each set. The two sets of sliders (614) are respectively set on the left and right sides of the upper and lower lead screw nuts (613) and are inserted into the inner cavity of the upper and lower first slide rail brackets (69). The rotating frame (615) consists of two rotating frames (615), with one end of each rotating frame (615) rotatably connected to the outer side of the upper and lower sets of sliders (614) via bearings. The limiting frame (616) has two components, and the inner side of one end of each of the two limiting frames (616) is rotatably connected to the outer side of the upper and lower first slide rail frames (69) through a rotating shaft. The second mounting base (617) has two components, and the two second mounting bases (617) are rotatably connected to the inner side of the other end of the upper and lower rotating frames (615) by rotating shafts respectively; The third electric telescopic rod (618) has two components. The two third electric telescopic rods (618) are respectively installed at the rear ends of the upper and lower second mounting seats (617). The telescopic end of the third electric telescopic rod (618) extends to the front side of the second mounting seat (617). The third electric telescopic rod (618) is electrically connected to the controller (2). Brake plate (619), there are two brake plates (619), and the two brake plates (619) are respectively installed on the front side of the telescopic end of the upper and lower second mounting seats (617); The second slide rail (620) is arranged in front of the housing (68) in the vertical direction, and the outer front sides of the two second mounting seats (617) are respectively inserted into the upper and lower sides of the inner cavity of the second slide rail (620). The second mounting bracket (621) is disposed on the front side of the second mounting bracket (621) in the vertical direction; The third mounting base (622) is installed at the bottom end of the second mounting bracket (621); The first mounting plate (623) is rotatably connected to the outer front end of the third mounting base (622) via a pivot in the vertical direction; The fourth electric telescopic rod (624) consists of two rods. One end of each of the two electric telescopic rods (624) is rotatably mounted on the top left and right sides of the second mounting bracket (621) via a pivot seat. The other end of each of the two electric telescopic rods (624) is connected to the left and right rear sides of the first mounting plate (623) via a pivot seat. The fourth electric telescopic rod (624) is electrically connected to the controller (2).

6. The photometric stereo recognition system according to claim 5, characterized in that, The multi-angle image collection component (6) also includes: The third motor (625) is installed on the rear side of the first mounting plate (623). The rotating end of the third motor (625) extends from the middle opening of the first mounting plate (623) to the front end of the first mounting plate (623). The third motor (625) is electrically connected to the controller (2). The second mounting plate (626) is mounted on the front side of the rotating end of the third motor (625); An image acquisition unit (627) is mounted on the top front side of the second mounting plate (626), and the image acquisition unit (627) is electrically connected to the controller (2); A brightness adjuster (628) is mounted on the front side of the second mounting plate (626) and located below the image acquisition unit (627). The brightness adjuster (628) is electrically connected to the controller (2).

Images