Variable bionic curved compound eye structure and multispectral image acquisition device

Abstract

The present invention discloses a variable bionic curved compound eye structure and a multispectral image acquisition device. The device comprises an acquisition control assembly and nine image acquisition components, each of which is equipped with an image acquisition board and an image acquisition sensor. The image acquisition sensor is fixedly connected to the center of the bottom surface of the image acquisition board. Each image acquisition board is fixedly connected to the acquisition control assembly. The nine image acquisition boards are located on the same plane and arranged in a 3×3 rectangular array. The image acquisition boards in the rectangular array are numbered 1 to 9 from top to bottom and from left to right. The acquisition control assembly can control the image acquisition boards numbered 1 to 3, 4, 6, and 7 to 9 to simultaneously rotate toward the image acquisition board numbered 5. The device captures high-quality multispectral images and utilizes the field of view of the acquisition lens efficiently.

Description

Technical Field

[0001] The present invention relates to the field of image acquisition technology, and in particular to a variable bionic curved surface compound eye structure and a multispectral image acquisition device. Background Art

[0002] With the advancement of science and technology, specialized photographic equipment has rapidly developed toward imaging with a wider field of view, higher resolution, and more spatial information in order to more comprehensively capture image information, providing an effective path for the implementation of informatization. Among the numerous image acquisition devices, multispectral image acquisition devices utilize multiple image acquisition components with image acquisition lenses, such as cameras and image sensors, to simultaneously capture multiple spectral bands of the same object. This allows for both image and spectral information of the target, and boasts enhanced spectral resolution and higher spectral discrimination capabilities, making it a popular research topic in current scientific research.

[0003] However, existing multispectral image acquisition devices on the market have fewer image acquisition components, resulting in a smaller number of spectral segments, which in turn fail to provide complete spectral information about the object being acquired, resulting in lower quality images. Furthermore, the image acquisition components of existing multispectral image acquisition devices are fixed, and the orientation of the acquisition lenses is fixed. Because each acquisition lens is located in the same plane and spaced a certain distance apart, observing the same object from the same plane results in a smaller overlap between the multiple acquisition lenses, leading to a smaller multispectral image and lower utilization of the lens' field of view. Summary of the Invention

[0004] Based on this, it is necessary to provide a variable bionic curved compound eye structure and a multispectral image acquisition device to address the above technical problems, so that the acquired multispectral images are of high quality and the field of view utilization rate of the acquisition lens is high.

[0005] The present invention provides a variable bionic curved compound eye structure and a multispectral image acquisition device, comprising an acquisition control component and nine image acquisition components, each of which is provided with an image acquisition board and an image acquisition sensor, and the image acquisition sensor is fixedly connected to the center of the bottom surface of the image acquisition board;

[0006] Each image acquisition board is fixedly connected to the acquisition control component;

[0007] The nine image acquisition boards are located on the same plane and arranged in a 3×3 rectangular array. The image acquisition boards in the rectangular array are numbered 1 to 9 from top to bottom and from left to right.

[0008] The acquisition control component can control the image acquisition boards numbered 1 to 3, 4, 6 and 7 to 9 to rotate toward the image acquisition board numbered 5 at the same time.

[0009] In one embodiment, the acquisition control assembly includes a housing, a fixed cover, a bottom plate, and a drive assembly, wherein the fixed cover is fixedly connected to the top of the housing, and the bottom plate is fixedly connected to the bottom of the housing;

[0010] The driving assembly is located inside the shell, the top of the driving assembly is fixedly connected to the bottom of the fixed cover, and the bottom of the driving assembly passes through the bottom plate and is fixedly connected to the image acquisition boards numbered 1 to 3, 4, 6 and 7 to 9.

[0011] In one embodiment, the drive assembly is provided with a first gear seat, four second gear seats, a drive gear, a main gear, four secondary gears, eight connecting rods, eight fixing pins and eight rotating rods;

[0012] The drive gear and each of the secondary gears mesh with the main gear;

[0013] Four driving slots are provided in the middle of the first gear seat, and four driving pins are provided at the bottom of the main gear. The main gear is assembled on the top of the first gear seat, and each driving pin of the main gear is inserted into a driving slot of the first gear seat;

[0014] A limiting cavity is provided on the top of each second gear seat, a sub-gear is assembled in each limiting cavity, a driving groove is provided on each second gear seat, a driving pin is provided on the bottom of each sub-gear, and the driving pin of the sub-gear is inserted into the driving groove of the second gear seat;

[0015] The bottom of the first gear seat is provided with four sliding cavities, and the bottom of each second gear seat is provided with a sliding cavity, the driving groove is located inside the sliding cavity, and each connecting rod is assembled in a sliding cavity;

[0016] Each connecting rod is provided with a narrow slot and a sliding slot, and a driving pin is inserted into the narrow slot;

[0017] Each fixing pin is inserted into a sliding groove, and the fixing pin is vertically fixedly connected to the bottom of the sliding cavity;

[0018] Each rotating rod is vertically fixedly connected to the bottom of a connecting rod, and one end of each rotating rod away from the connecting rod passes through the bottom plate and is vertically fixedly connected to an image acquisition board.

[0019] In one embodiment, the first gear seat and the second gear seat are both fixedly connected to the bottom of the fixed cover;

[0020] A rotating shaft is provided in the middle of each rotating rod, and eight shaft seats are provided on the top of the bottom plate, which are aligned vertically with the image acquisition boards numbered 1 to 3, 4, 6 and 7 to 9;

[0021] Each shaft seat is assembled with a rotating shaft;

[0022] The image acquisition board numbered 5 is fixedly connected to the bottom of the base plate.

[0023] In one embodiment, eight through holes are provided on the bottom plate, each through hole is located in the middle of an axle seat, and each connecting rod is vertically inserted into a through hole.

[0024] In one embodiment, the included angle between the axis of the rotating shaft of the rotating rod connected to the image acquisition boards numbered 1, 3, 7, and 9 and the axis of the rotating shaft of the rotating rod connected to the image acquisition board numbered 2 is 30° to 40°;

[0025] The axis of the rotating shaft of the rotating rod connected to the image acquisition boards numbered 4 and 6 is perpendicular to the axis of the rotating shaft of the rotating rod connected to the image acquisition board numbered 2;

[0026] The axis of the rotating shaft of the rotating rod connected to the image acquisition board numbered 8 is parallel to the axis of the rotating shaft of the rotating rod connected to the image acquisition board numbered 2.

[0027] In one embodiment, the fixed cover is provided with a driving hole, and a portion of the driving gear is provided outside the driving hole.

[0028] The beneficial effects of the present invention are as follows: the nine image acquisition sensors of the variable bionic curved compound eye structure and multispectral image acquisition device can observe the same target object from the same plane, capturing spectrum segments of the nine target objects, providing more comprehensive spectral information about the target object and improving the final image quality. Furthermore, the image acquisition boards numbered 1 to 3, 4, 6, and 7 to 9 can simultaneously rotate toward the image acquisition board numbered 5, increasing the overlapped acquisition area of ​​all image acquisition sensors and improving the field of view utilization of the image acquisition sensors' acquisition lenses. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the overall structure of a variable bionic curved compound eye structure and a multispectral image acquisition device provided by an embodiment of the present invention;

[0030] Figure 2 for Figure 1 A structural diagram from another angle;

[0031] Figure 3 A schematic structural diagram of a variable bionic curved compound eye structure and an image acquisition board of a multispectral image acquisition device provided by an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of the connection relationship between the drive assembly and the image acquisition board provided in an embodiment of the present invention;

[0033] Figure 5A schematic structural diagram of a connecting rod, a first gear seat, and a second gear seat provided in an embodiment of the present invention;

[0034] Figure 6 A schematic structural diagram of a first gear seat provided in an embodiment of the present invention;

[0035] Figure 7 A schematic structural diagram of a main gear provided in an embodiment of the present invention;

[0036] Figure 8 A schematic diagram of the connection relationship between the first gear seat and the main gear provided in an embodiment of the present invention;

[0037] Figure 9 A schematic structural diagram of a second gear seat provided in an embodiment of the present invention;

[0038] Figure 10 A schematic diagram of the connection relationship between the second gear seat and the pinion provided in an embodiment of the present invention;

[0039] Figure 11 One of the structural schematic diagrams of the connecting rod provided in an embodiment of the present invention;

[0040] Figure 12 A schematic diagram of the assembly relationship between the drive assembly and the base provided in an embodiment of the present invention;

[0041] Figure 13 A schematic structural diagram of a rotating rod provided in an embodiment of the present invention;

[0042] Figure 14 This is a schematic diagram of a top view of the structure after all the rotating rods provided by an embodiment of the present invention are connected to the image acquisition board.

[0043] Explanation of the accompanying drawings: 100, image acquisition board; 200, acquisition control component; 210, shell; 220, fixed cover; 230, bottom plate; 240, drive assembly; 241, first gear seat; 242, second gear seat; 243, drive gear; 244, main gear; 245, sub-gear; 246, connecting rod; 247, fixing pin; 248, rotating rod; 250, drive slot; 260, drive pin; 270, limiting cavity; 280, sliding cavity; 290, narrow slot; 300, sliding slot; 310, rotating shaft; 320, shaft seat; 330, through hole; 330, drive hole. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0045] It should be noted that in the description of the present invention, “upper”, “lower”, “top”, “bottom”, orientation or position relationship is based on the attached Figure 1 Regarding the orientation or positional relationship shown, it should be understood that these orientation terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0046] In one embodiment, Figure 1 、 Figure 2 and Figure 3 As shown, the variable bionic curved compound eye structure and multispectral image acquisition device of this embodiment include an acquisition control component 200 and nine image acquisition components. Each image acquisition component is provided with an image acquisition board 100 and an image acquisition sensor. The image acquisition sensor is fixedly connected to the center of the bottom surface of the image acquisition board 100; each image acquisition board 100 is fixedly connected to the acquisition control component 200.

[0047] Specifically, the image acquisition sensor in this embodiment is a CMOS image sensor.

[0048] In this embodiment, nine image acquisition boards 100 are located on the same plane and arranged in a 3×3 rectangular array. The image acquisition boards 100 in the rectangular array are numbered 1 to 9 from top to bottom and from left to right.

[0049] The acquisition control component 200 can control the image acquisition boards 100 numbered 1 to 3, 4, 6, and 7 to 9 to rotate toward the image acquisition board 100 numbered 5 at the same time.

[0050] It should be noted that when the image acquisition boards 100 numbered 1 to 3, 4, 6 and 7 to 9 rotate toward the image acquisition board 100 numbered 5 at the same time, the acquisition directions of the acquisition lenses of the image acquisition sensors on the image acquisition boards 100 numbered 1 to 3, 4, 6 and 7 to 9 approach the acquisition direction of the acquisition lens of the image acquisition sensor on the image acquisition board 100 numbered 5.

[0051] The variable bionic curved compound eye structure and multispectral image acquisition device of this embodiment can simultaneously acquire spectrum segments of nine target objects, providing more comprehensive spectral information about the target objects and improving the final image quality. Furthermore, the acquisition control component 200 can control the image acquisition boards 100 numbered 1 to 3, 4, 6, and 7 to 9 to simultaneously rotate toward the image acquisition board 100 numbered 5, thereby causing the acquisition directions of the acquisition lenses of all image acquisition sensors to converge toward a single area. This can increase the overlapped acquisition area of ​​all image acquisition sensors and improve the field of view utilization of the image acquisition sensors' acquisition lenses.

[0052] In one embodiment, the acquisition control assembly 200 includes a housing 210, a fixed cover 220, a bottom plate 230, and a drive assembly 240. The fixed cover 220 is fixedly connected to the top of the housing 210, and the bottom plate 230 is fixedly connected to the bottom of the housing 210. The drive assembly 240 is located inside the housing 210, with the top of the drive assembly 240 fixedly connected to the bottom of the fixed cover 220, and the bottom of the drive assembly 240 passing through the bottom plate 230 and fixedly connected to the image acquisition boards 100 numbered 1 to 3, 4, 6, and 7 to 9.

[0053] The function of the driving assembly 240 is to drive the image acquisition boards 100 numbered 1 to 3, 4, 6 and 7 to 9 to rotate toward the image acquisition board 100 numbered 5 at the same time.

[0054] In one embodiment, Figure 4 and Figure 5 As shown, the driving assembly 240 is provided with a first gear seat 241, four second gear seats 242, a driving gear 243, a main gear 244, four sub-gears 245, eight connecting rods 246, eight fixing pins 247 and eight rotating rods 248;

[0055] The drive gear 243 and each sub-gear 245 are meshed with the main gear 244. The axes of the drive gear 243, each sub-gear 245, and the main gear 244 are parallel. When the drive gear 243 is rotated manually or by other means, the main gear 244 can be driven to rotate, and the rotation of the main gear 244 can drive the four sub-gears 245 to rotate.

[0056] like Figure 6 、 Figure 7 and Figure 8 As shown, four driving slots 250 are provided in the middle of the first gear seat 241, and four driving pins 260 are provided at the bottom of the main gear 244. The main gear 244 is assembled on the top of the first gear seat 241, and each driving pin 260 of the main gear 244 is inserted into a driving slot 250 of the first gear seat 241.

[0057] like Figure 9 and Figure 10 As shown, a limiting cavity 270 is provided on the top of each second gear seat 242, and a sub-gear 245 is assembled in each limiting cavity 270. Each second gear seat 242 is provided with a driving groove 250, and a driving pin 260 is provided at the bottom of each sub-gear 245. The driving pin 260 of the sub-gear 245 is inserted into the driving groove 250 of the second gear seat 242.

[0058] When the gear rotates, the driving pin 260 can be driven to slide in the driving slot 250 .

[0059] The bottom of the first gear seat 241 is provided with four sliding cavities 280, and the bottom of each second gear seat 242 is provided with a sliding cavity 280. The driving groove 250 is located inside the sliding cavity 280, and each connecting rod 246 is assembled in a sliding cavity 280. The sliding cavity 280 can limit the moving direction of the connecting rod 246.

[0060] like Figure 11 As shown, each connecting rod 246 is provided with a narrow slot 290 and a sliding slot 300. The driving pin 260 is inserted into the narrow slot 290. Each fixing pin 247 is inserted into a sliding slot 300. The fixing pin 247 is vertically fixedly connected to the bottom of the sliding cavity 280. When the driving pin 260 slides in the narrow slot 290, it drives the connecting rod 246 to slide horizontally within the sliding cavity 280 toward the outside of the sliding cavity 280.

[0061] It should be noted that the fixing pin 247 in this embodiment is a limit screw, the diameter of the screw head is larger than the diameter of the sliding slot 300, and can limit the vertical position of the connecting rod 246. The movable distance of the connecting rod 246 is equal to the length of the sliding slot 300.

[0062] like Figure 12 As shown, each rotating rod 248 is vertically fixedly connected to the bottom of a connecting rod 246. The end of each rotating rod 248 away from the connecting rod 246 passes through the bottom plate 230 and is vertically fixedly connected to an image acquisition board 100. Specifically, the bottom plate 230 is provided with eight through holes 330, each of which is located in the middle of an axle seat 320, and each connecting rod 246 is vertically inserted into a through hole 330.

[0063] It should be noted that since the second gear seat 242 is on the upper part of the first gear seat 241, a mounting platform is provided at the lower end of the connecting rod 246 assembled with the second gear seat 242 to ensure that the height of the image acquisition board 100 under the second gear seat 242 is in the same plane as the image acquisition board 100 under the first gear seat 241.

[0064] In one embodiment, the first gear seat 241 and the second gear seat 242 are both fixedly connected to the bottom of the fixed cover 220. It should be noted that the positional relationship between the first gear seat 241 and the second gear on the fixed cover 220, as well as the positional relationship between the sliding cavity 280 below the first gear seat 241 and the second gear seat 242, must ultimately ensure that each rotating rod 248 is vertically located above an image acquisition board 100.

[0065] like Figure 13As shown, a rotating shaft 310 is provided in the middle of each rotating rod 248, and 8 shaft seats 320 are provided on the top of the base plate 230, which are aligned with the image acquisition boards 100 numbered 1 to 3, 4, 6 and 7 to 9 in the vertical direction; each shaft seat 320 is assembled with a rotating shaft 310.

[0066] Each transmission rod is rotatably assembled with the base plate 230 via the rotating shaft 310. When the connecting rod 246 slides horizontally in the sliding cavity 280 toward the outside of the sliding cavity 280, it drives the rotating rod 248 to rotate outward along the rotating shaft 310, thereby realizing the rotation of the image acquisition board 100 toward the center, that is, the image acquisition board 100 numbered 5.

[0067] In this embodiment, the image acquisition board 100 numbered 5 is fixedly connected to the bottom of the base plate 230, so the direction of the acquisition lens of the image acquisition sensor on the image acquisition board 100 remains unchanged. When using the device of the present invention, the direction of the acquisition lens on the image acquisition board 100 numbered 5 needs to be aligned with the target object.

[0068] like Figure 14 As shown, the included angle between the axis of the rotating shaft 310 of the rotating rod 248 connected to the image acquisition boards 100 numbered 1, 3, 7 and 9 and the axis of the rotating shaft 310 of the rotating rod 248 connected to the image acquisition board 100 numbered 2 is 30° to 40°; the axis of the rotating shaft 310 of the rotating rod 248 connected to the image acquisition boards 100 numbered 4 and 6 is perpendicular to the axis of the rotating shaft 310 of the rotating rod 248 connected to the image acquisition board 100 numbered 2; the axis of the rotating shaft 310 of the rotating rod 248 connected to the image acquisition board 100 numbered 8 is parallel to the axis of the rotating shaft 310 of the rotating rod 248 connected to the image acquisition board 100 numbered 2.

[0069] When the variable bionic curved compound eye structure and multispectral image acquisition device of this embodiment is in operation, all image acquisition boards 100 are initially parallel. The drive gear 243 is rotated, driving the main gear 244, which in turn drives the sub-gear 245. The drive pin 260 at the bottom of the main gear 244 and sub-gear 245 drives the connecting rod 246 to move outward within the sliding cavity 280. The connecting rod 246 drives the rotating rod 248 to rotate relative to the rotating shaft 310, which in turn drives the image acquisition board 100 to rotate inward, toward image acquisition board 100 numbered 5. This ultimately increases the overlapping acquisition area of ​​the image acquisition sensors on each image acquisition board 100.

[0070] Inward rotation refers to the image acquisition boards 100 with peripheral numbers 1 to 3, 4, 6 and 7 to 9 rotating toward the image acquisition board 100 with central number ; outward rotation refers to the image acquisition boards 100 with peripheral numbers 1 to 3, 4, 6 and 7 to 9 rotating from the maximum inward rotation angle state toward the opposite direction of inward rotation.

[0071] It should be noted that the speed and angle of the main gear 244 and the sub-gear 245 can be controlled by controlling the speed and angle of the driving gear 243, thereby controlling the speed and direction of the eight image acquisition boards 100 numbered 1, 3, 7 and 9.

[0072] In one specific embodiment, the included angle between the axis of the rotation axis 310 of the rotational rod 248 connected to the image acquisition boards 100 numbered 1, 3, 7, and 9 and the axis of the rotation axis 310 of the rotational rod 248 connected to the image acquisition board 100 numbered 2 is 33.505°. The distance between the center points of the image acquisition boards 100 numbered 2 and 8 and the center point of the image acquisition board 100 numbered 5 is 43.5 mm, the distance between the center points of the image acquisition boards 100 numbered 4 and 6 and the center point of the image acquisition board 100 numbered 5 is 60.007 mm, and the distance between the center points of the image acquisition boards 100 numbered 1, 3, 7, and 9 and the center point of the image acquisition board 100 numbered 5 is 78.802 mm.

[0073] In this embodiment, the rotation angle limits of each image acquisition board 100, the main gear 244, and the sub-gear 245 are shown in Table 1. Under these limits, when the image acquisition boards 100 numbered 1 to 3, 4, 6, and 7 to 9 rotate simultaneously toward the image acquisition board 100 numbered 5, the centers of each image acquisition board 100 are located on the same curved surface, which can better increase the size of the acquisition overlap area, that is, the size of the ultimately obtained multispectral image, thereby further improving the field of view utilization of the acquisition lens of the image acquisition sensor.

[0074] Table 1 Limitations on the rotation angles of each image acquisition board and the main and secondary gears

[0075] Image acquisition board and gears Maximum inward rotation angle upright angle Maximum external rotation angle No. 2 and No. 8 1° 0° 8° No. 4 and No. 6 1.5° 0° 8° No. 1, 3, 7, 9 1.811° 0° 8° driving wheel 0° 15.4° 47.15° Auxiliary driving wheel 0° 27.72° 84.824°

[0076] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A variable bionic curved compound eye structure and a multispectral image acquisition device, characterized in that: It comprises an acquisition control component (200) and nine image acquisition components, each of which is provided with an image acquisition board (100) and an image acquisition sensor, wherein the image acquisition sensor is fixedly connected to the center of the bottom surface of the image acquisition board (100); Each of the image acquisition boards (100) is fixedly connected to the acquisition control component (200); The nine image acquisition boards (100) are located on the same plane and arranged in a 3×3 rectangular array, and the image acquisition boards (100) in the rectangular array are numbered 1 to 9 from top to bottom and from left to right; The acquisition control component (200) can control the image acquisition boards (100) numbered 1 to 3, 4, 6 and 7 to 9 to rotate toward the image acquisition board (100) numbered 5 at the same time.

2. The variable bionic curved compound eye structure and multispectral image acquisition device according to claim 1, characterized in that: The acquisition control component (200) comprises a housing (210), a fixed cover (220), a bottom plate (230), and a drive component (240), wherein the fixed cover (220) is fixedly connected to the top of the housing (210), and the bottom plate (230) is fixedly connected to the bottom of the housing (210); The driving assembly (240) is located inside the housing (210), the top of the driving assembly (240) is fixedly connected to the bottom of the fixing cover (220), and the bottom of the driving assembly (240) passes through the bottom plate (230) and is fixedly connected to the image acquisition boards (100) numbered 1 to 3, 4, 6, and 7 to 9.

3. The variable bionic curved compound eye structure and multispectral image acquisition device according to claim 2, characterized in that: The driving assembly (240) is provided with a first gear seat (241), four second gear seats (242), a driving gear (243), a main gear (244), four sub-gears (245), eight connecting rods (246), eight fixing pins (247) and eight rotating rods (248); The driving gear (243) and each of the secondary gears (245) are meshed with the main gear (244); Four driving slots (250) are provided in the middle of the first gear seat (241), four driving pins (260) are provided at the bottom of the main gear (244), the main gear (244) is assembled on the top of the first gear seat (241), and each driving pin (260) of the main gear (244) is inserted into a driving slot (250) of the first gear seat (241); A limiting cavity (270) is provided on the top of each second gear seat (242), a sub-gear (245) is assembled in each limiting cavity (270), a driving groove (250) is provided on each second gear seat (242), a driving pin (260) is provided on the bottom of each sub-gear (245), and the driving pin (260) of the sub-gear (245) is inserted into the driving groove (250) of the second gear seat (242); The bottom of the first gear seat (241) is provided with four sliding cavities (280), and the bottom of each second gear seat (242) is provided with a sliding cavity (280), the driving groove (250) is located inside the sliding cavity (280), and each connecting rod (246) is assembled in a sliding cavity (280); Each connecting rod (246) is provided with a narrow slot (290) and a sliding slot (300), and the driving pin (260) is inserted into the narrow slot (290); Each fixing pin (247) is inserted into one of the sliding slots (300), and the fixing pin (247) is vertically fixedly connected to the bottom of the sliding cavity (280); Each of the rotating rods (248) is vertically fixedly connected to the bottom of a connecting rod (246), and one end of each rotating rod (248) away from the connecting rod (246) passes through the bottom plate (230) and is vertically fixedly connected to one of the image acquisition boards (100).

4. The variable bionic curved compound eye structure and multispectral image acquisition device according to claim 3, characterized in that: The first gear seat (241) and the second gear seat (242) are both fixedly connected to the bottom of the fixing cover (220); A rotating shaft (310) is provided in the middle of each rotating rod (248), and eight shaft seats (320) are provided on the top of the bottom plate (230) and are aligned in the vertical direction with the image acquisition boards (100) numbered 1 to 3, 4, 6 and 7 to 9; Each of the shaft seats (320) is assembled with a rotating shaft (310); The image acquisition board (100) numbered 5 is fixedly connected to the bottom of the base plate (230).

5. The variable bionic curved compound eye structure and multispectral image acquisition device according to claim 4, characterized in that: Eight through holes (330) are provided on the bottom plate (230), each of the through holes (330) is located in the middle of an axle seat (320), and each of the connecting rods (246) is vertically inserted into a through hole (330).

6. The variable bionic curved compound eye structure and multispectral image acquisition device according to claim 5, characterized in that: The included angle between the axis of the rotating shaft (310) of the rotating rod (248) connected to the image acquisition boards (100) numbered 1, 3, 7 and 9 and the axis of the rotating shaft (310) of the rotating rod (248) connected to the image acquisition board (100) numbered 2 is 30° to 40°; The axis of the rotating shaft (310) of the rotating rod (248) connected to the image acquisition boards (100) numbered 4 and 6 is perpendicular to the axis of the rotating shaft (310) of the rotating rod (248) connected to the image acquisition board (100) numbered 2; The axis of the rotating shaft (310) of the rotating rod (248) connected to the image acquisition board (100) numbered 8 is parallel to the axis of the rotating shaft (310) of the rotating rod (248) connected to the image acquisition board (100) numbered 2.

7. The variable bionic curved compound eye structure and multispectral image acquisition device according to claim 6, characterized in that: The fixing cover (220) is provided with a driving hole (330), and a portion of the driving gear (243) is provided outside the driving hole (330).

Images