CN113674344A - Industrial camera-based illumination light positioning method and device and related equipment - Google Patents
Industrial camera-based illumination light positioning method and device and related equipment Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
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Abstract
The invention relates to the technical field of space positioning, and provides an illumination light positioning method based on an industrial camera, which comprises the following steps: acquiring an image in a preset area through the industrial camera; identifying corner points of a light source area of an illumination lamp in the image, rotating the light source area, and determining pixel coordinate information of the rotated corner points in the image; decoding a light source area in the image based on a decoding rule preset by the OOK modulated light information to acquire ID information of the illuminating lamp; acquiring world coordinate information of the illuminating lamp in world coordinates according to the ID information; and calculating the world coordinate information of the industrial camera based on the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera. The invention has high positioning precision and is easy to maintain.
Description
Technical Field
The invention relates to the technical field of optical positioning, in particular to an illumination light positioning method and device based on an industrial camera and related equipment.
Background
The visible light positioning is used as an indoor positioning means, and compared with technologies such as Bluetooth, infrared and WiFi, the visible light positioning has the advantages of high precision, easiness in deployment, wide coverage, energy conservation, environmental friendliness and the like.
In the existing scheme of receiving position information by using a camera, a special pattern such as a two-dimensional code is mostly adopted to provide a mark of a specific position. The limitation of the scheme is that the pattern is easy to be stained and difficult to maintain, for example, in a restaurant provided with a service robot, the positioning two-dimensional code for cleaning the ceiling is very difficult; the provided information is little, the coverage is small, for example, in large-scale storage environment or multi-floor market, it is necessary to configure a large number of positioning points, each positioning point is difficult to design a unique pattern, and the pattern is not easy to change.
Disclosure of Invention
The embodiment of the invention provides an illumination light positioning method based on an industrial camera, which aims to solve the technical problem.
In a first aspect, an embodiment of the present invention provides an illumination light positioning method based on an industrial camera, where the method includes:
acquiring an image in a preset area through the industrial camera, wherein the preset area is preset with a plurality of illuminating lamps capable of emitting OOK modulated light information, the OOK modulated light information carries ID information of the illuminating lamps, the image comprises the shape of a light source area of the illuminating lamps, and the light source area at least comprises four corner points;
identifying corner points of a light source area of an illumination lamp in the image, rotating the light source area, and determining pixel coordinate information of the rotated corner points in the image;
decoding a light source area in the image based on a decoding rule preset by the OOK modulated light information to acquire ID information of the illuminating lamp;
according to the ID information, looking up a table to obtain world coordinate information of four corner points of the illuminating lamp in a world coordinate system;
and calculating the world coordinate information of the industrial camera based on the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera.
Preferably, the lighting lamp light source area is a rectangular area with four corner points.
Preferably, the identifying the corner point of the light source region of the illumination lamp in the image, performing rotation processing on the light source region, and the determining the pixel coordinate information of the rotated corner point in the image includes:
preprocessing the image;
detecting corner points of a light source region in the preprocessed image based on a preset corner detection algorithm;
judging the rotation angle of the light source area in the image based on the position of the corner point;
performing reverse rotation processing on a light source region in the image based on the rotation angle;
and determining the pixel coordinate information of the rotated corner point.
Preferably, the process of preprocessing the image includes:
and performing expansion and connected domain processing on the image to extract the light source area.
Preferably, the process of acquiring ID information of the illumination lamp further includes:
and carrying out binarization processing on the pixel values of the light source area by adopting a method of taking the average value of adjacent peak values as a judgment threshold value.
Preferably, the process of calculating the world coordinate information of the industrial camera based on the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera includes:
and inputting the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera into a preset PNP algorithm model, and outputting the world coordinate information of the industrial camera through the preset PNP algorithm model.
In a second aspect, the present invention provides a method for positioning a robot, the robot being provided with an industrial camera, the method for positioning a robot being implemented by any of the above-mentioned industrial camera-based illumination light positioning methods.
In a third aspect, the present invention provides an industrial camera based illumination light positioning device, comprising:
the image acquisition module is used for acquiring an image in a preset area through the industrial camera, the preset area is preset with a plurality of illuminating lamps capable of emitting OOK modulated light information, the OOK modulated light information carries ID information of the illuminating lamps, the image comprises the shape of a light source area of the illuminating lamps, and the light source area at least comprises four corner points;
the pixel coordinate acquisition module is used for identifying corner points of a light source area of the illuminating lamp in the image, rotating the light source area and determining pixel coordinate information of the rotated corner points in the image;
an ID information acquisition module, configured to decode a light source region in the image based on a decoding rule preset by the OOK modulated light information, and acquire ID information of the illumination lamp;
the illuminating lamp coordinate acquisition module is used for looking up a table to acquire world coordinate information of four corner points of the illuminating lamp in a world coordinate system according to the ID information;
and the camera coordinate acquisition module is used for calculating the world coordinate information of the industrial camera based on the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera.
In a fourth aspect, the present invention provides an electronic device comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the industrial camera based illumination light localization method as described in any one of the above when executing the computer program.
In a fifth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps in the industrial camera-based illumination light localization method as recited in any one of the above.
In the embodiment of the invention, the positioning in the preset area range is realized through the illuminating lamp, and compared with the traditional two-dimensional code scheme, the positioning device is not easy to stain and is easy to maintain. In addition, the invention adopts the visible light communication technology, can support the positioning of a large number of illuminating lamps, and has higher positioning precision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart of an illumination light positioning method provided by an embodiment of the present invention;
FIG. 2a is an image taken by an industrial camera (light source area rotation) in an embodiment of the present invention;
FIG. 2b is a schematic diagram of four corner points of a light source region in an embodiment of the present invention;
FIG. 3 is an example of encoded information of a light source region in an embodiment of the present invention;
FIG. 4 is a schematic view of the light source area direction rotation in the embodiment of the present invention;
FIG. 5 is a diagram illustrating a method for determining a decision threshold as an average of adjacent peaks in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Every other embodiment of the pedestrian, which is obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention, falls within the protection scope of the present invention.
The terms "comprising" and "having," and any variations thereof, in the description and claims of this application and the description of the figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. 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 application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
As shown in fig. 1, fig. 1 is a method for positioning illumination light based on an industrial camera according to an embodiment of the present invention, where the method includes the steps of:
s1, acquiring an image in a preset area through the industrial camera, wherein the preset area is preset with a plurality of illuminating lamps capable of emitting OOK modulated light information, the OOK modulated light information carries ID information of the illuminating lamps, the image comprises the shape of a light source area of the illuminating lamps, and the light source area at least comprises four corner points.
Specifically, the industrial camera of the present embodiment may be disposed in a robot, or may be disposed in a mobile intelligent mechanical device, so as to perform real-time positioning on the robot or the intelligent mechanical device. In this embodiment, the preset area may be an indoor area having a certain space, or may be an outdoor area. A plurality of illuminating lamps are arranged in the preset area, common illuminating LEDs can be used, the LEDs are driven to be switched on and off through a single chip microcomputer, and the modulation rate can be 5 kbps. The illumination lamps can emit OOK modulated light information, and the OOK modulated light information emitted by different illumination lamps carries ID information of the illumination lamps. In this embodiment, OOK modulated light information carries ID information of an illumination lamp by a coding method, specifically, manchester coding may be adopted according to GB/T36628.4-2019, and ID information with a length of 16bits may be supported at the highest, so that it is ensured that the brightness of the lamp is uniform and human eyes do not feel flickering. Of course, OOK modulated optical information may be encoded by other types of encoding schemes.
In this embodiment, the camera is an industrial camera, which has higher stability compared to a conventional camera, but the industrial camera is usually taken at a fixed position and does not have a self-adaptive rotation function, so that when a carrier of the industrial camera, such as a robot, is turned, the camera is also turned, as shown in fig. 2a, when the camera is turned, a taken picture is also turned with the camera, and a light source area of an illuminating lamp is inclined in an image.
For a common camera, because the scanning rate is low, the common camera can only receive OOK modulated optical signals of 1-2 kbps generally, so that the common camera cannot be applied to scenes in which a large number of positioning points are arranged and the code length is long, and cannot be applied to high-speed moving scenes. In the embodiment of the invention, for a robot or other intelligent mechanical equipment, the robot or other intelligent mechanical equipment needs to be accurately positioned in real time in a fast moving process, so that a common camera is not suitable for or cannot meet the requirements of accurate and fast positioning.
The industrial camera can keep stable operation for a long time, and can receive optical signals with higher communication speed due to high progressive scanning frequency. In one embodiment, an industrial camera is used that can receive 5kbps optical signals and can achieve a positioning accuracy of 1-50cm even in a 35km/h mobile scene. The illuminating lamp modulates Manchester coded light signals, each lamp sends the unique id of the lamp, and the longest id is 16bits, namely 65536 overlarge maps (namely preset areas) for positioning the lamps can be established at most.
Since the industrial camera is mostly used for a fixed scene, and adaptive processing is not performed on a captured image, an image captured by the industrial camera may rotate along with the industrial camera unlike a general camera. This is disadvantageous for positioning because when the positioning algorithm is entered, a one-to-one correspondence between world coordinates and pixel coordinates is necessary to be able to successfully calculate the position. Therefore, before inputting the positioning algorithm, the rotated positioning point must be compensated by reverse rotation so as to adjust to the pixel coordinates before rotation.
In this embodiment, as shown in fig. 2b, the light source area of the illumination lamp is a light source area having corner points, specifically, the light source area at least includes four corner points, so that the light source area displayed in the image can distinguish the rotation angle thereof through the corner points.
And S2, identifying corner points of the light source areas of the illuminating lamps in the image, rotating the light source areas, and determining the pixel coordinate information of the rotated corner points in the image.
Specifically, the light source region has an obvious characteristic, namely, a corner point, and the rotation angle of the light source region in the image can be judged by identifying the corner point in the image, and the light source region is subjected to reverse rotation processing according to the calculated rotation angle, so that the pixel coordinate information of each corner point can be obtained.
And S3, decoding the light source area in the image based on a decoding rule preset by the OOK modulated light information, and acquiring the ID information of the illuminating lamp.
As described above, in the present embodiment, the lights emitted from different illumination lamps are encoded by the preset encoding rule, and are reflected in the image information in the form of OOK-modulated light information. Therefore, in the moving process of a carrier (such as a robot) of the industrial camera, the industrial camera continuously collects images, identifies the light source area images of each illuminating lamp in the collected images, and decodes the images according to a preset decoding rule to obtain the ID information of the illuminating lamp.
And S4, acquiring world coordinate information of the illuminating lamp in world coordinates according to the ID information.
Specifically, the pre-stored lighting lamp ID information and the corresponding corner world coordinate information may be used to quickly match the world coordinate information corresponding to the lighting lamp identified in the current image, for example, the world coordinate information corresponding to the corner may be quickly matched in a table look-up manner. The pre-stored lighting lamp ID information and the corresponding time coordinate information can be stored in a storage module of the robot or stored in an upper computer.
And S5, calculating the world coordinate information of the industrial camera based on the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera.
After the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera of the illuminating lamp are obtained, the current world coordinate information of the industrial camera can be calculated according to a positioning algorithm. The calibration parameters of the industrial camera comprise a focal length, distortion parameters and the like.
As a preferred embodiment, as shown in fig. 2b and 3, the lighting source area is a rectangular area having four corner points. The four corner points of the rectangle have obvious characteristics and are easy to identify, and as shown in fig. 4, the rotation angle can be calculated according to the inclination angle of the rectangle, so that the rotation angle of the light source area can be calculated.
In this embodiment, the step S2 specifically includes:
and S21, preprocessing the image.
Specifically, the process of preprocessing the image includes:
and performing expansion and connected domain processing on the image to extract the light source area.
Further, as shown in fig. 5, in the process of extracting the ID information of the light source region, a method of taking an average value of adjacent peaks as a decision threshold is used to perform homogenization processing on the light source region.
And S22, detecting corner points of the light source area in the preprocessed image based on a preset corner detection algorithm.
Specifically, the corner detection process is as follows: and calculating the gradient value of each pixel point in the light source area through a Harris corner point detection algorithm to obtain four points with the maximum gradient, namely four corner points of one lamp.
And S23, judging the rotation angle of the light source area in the image based on the position of the corner point.
Specifically, by determining the positions of the corner points, the inclination angles of the rectangles formed by connecting lines of the corner points with respect to the pixel regions can be determined based on the pixel regions (generally rectangles or squares) of the image, and the rotation angles can be calculated.
And S24, performing reverse rotation processing on the light source area in the image based on the rotation angle.
And S25, determining the pixel coordinate information of the rotated corner point.
Further, in the embodiment, a PNP algorithm is used as a positioning algorithm to realize a world coordinate calculation process for the industrial camera. Specifically, the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera are input into a preset PNP algorithm model, and the world coordinate information of the industrial camera is output through the preset PNP algorithm model.
Specifically, the PNP location algorithm solves for the 3D-2D point pair motion method, and how to estimate the pose of the camera (i.e. the pose, including position and direction, of the camera in the coordinate system a) under the condition of known n three-dimensional space point coordinates (relative to a certain specified coordinate system a) and two-dimensional projection positions thereof. For example, in an image captured by a camera, the pose of at least four image points in the camera coordinate system is determined.
When n > 3, for example, 4 points are known, we can calculate the current world coordinates of the camera by the known world coordinates of the 4 points, the pixel coordinates of the 4 points on the image, and the calibration parameters of the camera itself. According to the following formula:
the four points are world coordinates and are substituted into a formula, four projections (one projection corresponds to one solution) of the four points in the image are obtained, and the solution with the minimum projection error is taken out, namely the positive solution required by us.
In the above formula, x and y are called pixel coordinates, which are coordinates of the positioning point in the photo,
、
is the focal length of the lens, and is,
、
is the optical center offset;
called world coordinates, are three-dimensional coordinates of the positioning point in the real world. Firstly, determining world coordinates according to the actual position of a positioning point
And obtaining the parameters (focal length f and the like) of the camera by calibrating the camera. Determining pixel coordinates by pictures shot by a camera
Calculating the rotation vector according to the corresponding relationship between the pixel coordinate and the world coordinate
And a displacement vector
From 3 parameters of the T vector
The world coordinates of the camera can be calculated.
Based on the above, the embodiment of the present invention further provides a positioning method for a robot, where the robot is provided with an industrial camera, and the positioning method for the robot is implemented by the illumination light positioning method based on the industrial camera in the above embodiment.
Based on the above, the embodiment of the present invention further provides an illumination light positioning device based on an industrial camera, the device includes: the system comprises an image acquisition module, a pixel coordinate acquisition module, an ID information acquisition module, an illuminating lamp coordinate acquisition module and a camera coordinate acquisition module.
The image acquisition module is used for acquiring an image in a preset area through the industrial camera, the preset area is preset with a plurality of illuminating lamps capable of emitting OOK modulated light information, the OOK modulated light information carries ID information of the illuminating lamps, the image comprises the shape of a light source area of the illuminating lamps, and the light source area at least comprises four corner points;
the pixel coordinate acquisition module is used for identifying corner points of a light source area of the illuminating lamp in the image, rotating the light source area and determining pixel coordinate information of the rotated corner points in the image;
an ID information acquisition module, configured to decode a light source region in the image based on a decoding rule preset by the OOK modulated light information, and acquire ID information of the illumination lamp;
the illuminating lamp coordinate acquisition module is used for looking up a table to acquire world coordinate information of four corner points of the illuminating lamp in a world coordinate system according to the ID information;
and the camera coordinate acquisition module is used for calculating the world coordinate information of the industrial camera based on the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera.
Based on the above, the present invention also provides an electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the industrial camera based illumination light localization method as described in any one of the above when executing the computer program.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 6, an electronic device 700 includes: a memory 702, a processor 701 and a computer program stored on the memory 702 and operable on the processor 701, wherein the processor 701 is configured to call the computer program stored in the memory 702 to execute each step of the above-mentioned industrial camera-based illumination light positioning method.
It should be noted that the electronic device may be a device that can be applied to a mobile phone, a monitor, a computer, a server, and the like, which can perform optimal video-based target capture.
The electronic device provided by the embodiment of the invention can realize each process realized by the video-based optimal target capturing method in the method embodiment, can achieve the same beneficial effects, and is not repeated here to avoid repetition.
The memory 702 includes at least one type of readable storage medium including flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the storage 702 may be an internal storage unit of the electronic device 700, such as a hard disk or a memory of the electronic device 700. In other embodiments, the memory 702 may also be an external storage device of the electronic device 700, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the electronic device 700. Of course, the memory 702 may also include both internal and external memory units of the electronic device 700. In this embodiment, the memory 702 is generally used for storing an operating system and various types of application software installed in the electronic device 700, such as a program code of an industrial camera-based illumination light positioning method. In addition, the memory 702 may also be used to temporarily store various types of data that have been output or are to be output.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the illumination light positioning method based on the industrial camera provided in the embodiment of the present invention, and can achieve the same technical effect, and is not described herein again to avoid repetition.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (10)
1. An industrial camera based illumination light positioning method, characterized in that the method comprises the steps of:
acquiring an image in a preset area through the industrial camera, wherein the preset area is preset with a plurality of illuminating lamps capable of emitting OOK modulated light information, the OOK modulated light information carries ID information of the illuminating lamps, the image comprises the shape of a light source area of the illuminating lamps, and the light source area at least comprises four corner points;
identifying corner points of a light source area of an illumination lamp in the image, rotating the light source area, and determining pixel coordinate information of the rotated corner points in the image;
decoding a light source area in the image based on a decoding rule preset by the OOK modulated light information to acquire ID information of the illuminating lamp;
acquiring world coordinate information of the illuminating lamp in world coordinates according to the ID information;
and calculating the world coordinate information of the industrial camera based on the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera.
2. The industrial camera-based illumination light positioning method according to claim 1, wherein the illumination light source region is a rectangular region having four corner points.
3. The industrial camera-based illumination light positioning method according to claim 1, wherein the identifying corner points of the illumination light source region in the image, performing rotation processing on the light source region, and determining the pixel coordinate information of the rotated corner points in the image comprises:
preprocessing the image;
detecting corner points of a light source region in the preprocessed image based on a preset corner detection algorithm;
judging the rotation angle of the light source area in the image based on the position of the corner point;
performing reverse rotation processing on a light source region in the image based on the rotation angle;
and determining the pixel coordinate information of the rotated corner point.
4. The industrial camera-based illumination light localization method according to claim 3, wherein the process of preprocessing the image comprises:
and performing expansion and connected domain processing on the image to extract the light source area.
5. The industrial camera-based illumination light positioning method according to claim 3, wherein the process of acquiring ID information of the illumination lamp further comprises:
and carrying out binarization processing on the pixel values of the light source area by adopting a method of taking the average value of adjacent peak values as a judgment threshold value.
6. The industrial camera-based illumination light positioning method according to claim 1, wherein the process of calculating the world coordinate information of the industrial camera based on the pixel coordinate information, the world coordinate information, and the calibration parameters of the industrial camera comprises:
and inputting the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera into a preset PNP algorithm model, and outputting the world coordinate information of the industrial camera through the preset PNP algorithm model.
7. A method for positioning a robot provided with an industrial camera, characterized in that it is implemented by means of an industrial camera-based illumination light positioning method according to any of claims 1-6.
8. An industrial camera based illumination light positioning apparatus, the apparatus comprising:
the image acquisition module is used for acquiring an image in a preset area through the industrial camera, the preset area is preset with a plurality of illuminating lamps capable of emitting OOK modulated light information, the OOK modulated light information carries ID information of the illuminating lamps, the image comprises the shape of a light source area of the illuminating lamps, and the light source area at least comprises four corner points;
the pixel coordinate acquisition module is used for identifying corner points of a light source area of the illuminating lamp in the image, rotating the light source area and determining pixel coordinate information of the rotated corner points in the image;
an ID information acquisition module, configured to decode a light source region in the image based on a decoding rule preset by the OOK modulated light information, and acquire ID information of the illumination lamp;
the illuminating lamp coordinate acquisition module is used for looking up a table to acquire world coordinate information of four corner points of the illuminating lamp in a world coordinate system according to the ID information;
and the camera coordinate acquisition module is used for calculating the world coordinate information of the industrial camera based on the pixel coordinate information, the world coordinate information and the calibration parameters of the industrial camera.
9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the industrial camera based illumination light localization method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps in the industrial camera-based illumination light localization method according to any one of claims 1 to 6.
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