Full celestial sphere space image acquisition device based on dynamic scanning

Abstract

The invention relates to the technical field of image acquisition, in particular to an all-celestial-sphere space image acquisition device based on dynamic scanning, and solves the problems that when a space target is subjected to dynamic image acquisition in the prior art, multi-angle dynamic adjustment of an image acquisition structure is inconvenient, scanning dead angles easily exist in the angle adjustment process, and the image acquisition efficiency is high. The device comprises a spherical array type acquisition mechanism, a track adjusting mechanism and an image acquisition mechanism, the bottom end of the spherical array type acquisition mechanism is provided with a double-layer driving mechanism, the inner side of the spherical array type acquisition mechanism is provided with the track adjusting mechanism, and the upper end of the track adjusting mechanism is provided with the image acquisition mechanism. The spherical array type collecting mechanism comprises a first spherical shell, and a second spherical shell is installed at the upper end of the first spherical shell. According to the invention, by performing multi-angle adjustment on the image acquisition structure, dead-angle-free scanning and image acquisition on a dynamic space target can be satisfied, and the image acquisition angle can be conveniently displayed.

Description

Technical Field

[0001] The present invention relates to the field of image acquisition technology, and in particular to a full-celestial sphere space image acquisition device based on dynamic scanning. Background Art

[0002] Dynamic scanning is a technology that improves scanning accuracy through rapid and continuous data collection when the target's shape or position changes. Dynamic scanning usually involves the use of advanced scanning devices and methods, such as structured light 3D scanning devices, to quickly capture the target's 3D information. When the target is dynamic in space, dynamic space targets are scanned and imaged. Image acquisition of space targets is an important part of space detection and monitoring, which involves a variety of technologies and methods.

[0003] When performing dynamic image acquisition of space targets, it is not convenient to dynamically adjust the image acquisition structure at multiple angles, and there is a tendency for scanning blind spots to occur during the angle adjustment process, resulting in image loss. Therefore, it does not meet existing needs. In this regard, we propose a full-celestial sphere space image acquisition device based on dynamic scanning. Summary of the invention

[0004] The purpose of the present invention is to provide a full-celestial spherical space image acquisition device based on dynamic scanning, so as to solve the problem proposed in the above background technology that when performing dynamic image acquisition of space targets, it is not convenient to dynamically adjust the image acquisition structure at multiple angles, and there is a tendency for scanning blind spots to occur during the angle adjustment process, resulting in image loss.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a full-celestial sphere space image acquisition device based on dynamic scanning, comprising a spherical array acquisition mechanism, a track adjustment mechanism and an image acquisition mechanism, wherein a double-layer driving mechanism is installed at the bottom end of the spherical array acquisition mechanism, a track adjustment mechanism is installed on the inner side of the spherical array acquisition mechanism, and an image acquisition mechanism is installed on the upper end of the track adjustment mechanism, wherein the spherical array acquisition mechanism comprises a first spherical shell, a second spherical shell is installed on the upper end of the first spherical shell, a plurality of transparent sealing sheets are fixedly installed on the outer surfaces of the first spherical shell and the second spherical shell, and a directional acquisition unit is installed on one side of the plurality of transparent sealing sheets on the inner sides of the first spherical shell and the second spherical shell; The image acquisition mechanism includes a second transmission seat, a limit cover is installed on the side of the upper end surface of the second transmission seat, a mounting protection ring is slidably connected to the inner side of the upper end of the limit cover, a supporting spring is provided between the mounting protection ring and the second transmission seat, a mounting plate is installed on the inner side of the mounting protection ring, a spherical lens is installed on the side of the upper end surface of the mounting plate, a circuit board is fixedly installed on the lower end surface of the mounting plate, a camera is installed in the middle of the mounting plate, a wireless transmission module is installed on one side of the camera, and a sensor is installed on the other side of the camera.

[0006] Preferably, the double-layer driving mechanism includes a supporting base, a supporting hollow column is fixedly installed on the upper end surface of the supporting base, a mounting frame is fixedly installed on the inner side of the upper end of the supporting hollow column, a first transmission motor is fixedly installed in the middle part of the bottom end of the mounting frame, a second transmission motor is fixedly installed on the upper end of the mounting frame, and a driving wheel is fixedly installed on the output end of the second transmission motor.

[0007] Preferably, the spherical array collection mechanism also includes a conical guide seat fixedly connected to the inner side of the bottom end of the first spherical shell, the upper end of the conical guide seat is rotatably connected to a connecting slip ring, and a plurality of guide wheels are provided between the conical guide seat and the connecting slip ring.

[0008] Preferably, the directional collection unit includes a conical collection tube, an elastic sealing ring is provided on the outer side of the guide wheel away from the transparent sealing film, a light-transmitting film is installed on the end of the conical collection tube close to the transparent sealing film, a filter is fixedly installed on the outer side of the light-transmitting film, and an annular light strip is installed on the side of the filter.

[0009] Preferably, the track adjustment mechanism includes a spherical transmission shell, the bottom end of the spherical transmission shell is fixedly connected to the connecting slip ring, a second rotating power socket is installed on the inner side of the bottom end of the spherical transmission shell, a first rotating power socket is installed on the lower end surface of the second rotating power socket, an arc-shaped gear ring is fixedly installed in the middle part of the spherical transmission shell, guide arc rings are fixedly installed on both sides of the arc-shaped gear ring, a first transmission seat is slidably connected between the two guide arc rings, a third transmission motor is fixedly installed on one side of the first transmission seat, and a transmission gear is rotatably connected to the inner side of the first transmission seat.

[0010] Preferably, the bottom end of the first spherical shell is rotatably connected to the supporting hollow column, the first spherical shell is fixedly connected to the second spherical shell, the output end of the second transmission motor is connected to the conical guide seat via a driving wheel transmission, the conical guide seat is rotatably connected to the connecting slip ring via a plurality of guide wheels, and the plurality of guide wheels are arranged circumferentially relative to the axis of the connecting slip ring.

[0011] Preferably, the output end of the first transmission motor passes through the mounting frame and is fixedly connected to the bottom end of the first rotating power socket, the first rotating power socket is electrically connected to the second rotating power socket, the first rotating power socket is fixedly connected to the spherical transmission shell through the second rotating power socket, the two guide arc rings are symmetrically installed relative to the arc gear ring, a slide groove is provided on the side close to the two guide arc rings, the bottom end of the first transmission seat is inserted into the inner side of the slide groove, the output end of the third transmission motor passes through the first transmission seat and is fixedly connected to the transmission gear, and the transmission gear is connected to the arc gear ring by tooth meshing.

[0012] Preferably, the plurality of transparent sealing sheets and directional collection units are installed in one-to-one correspondence, and are arranged in a spherical array relative to the center of the first spherical shell and the second spherical shell. The transparent sealing sheet is in contact with the filter, and the filter is fixedly connected to the conical collection tube through a transparent sheet. The first spherical shell and the second spherical shell are fixedly connected to the plurality of conical collection tubes, and the conical collection tube is connected to the mounting protection ring through an elastic sealing ring, and the spherical lens is coaxial with one of the conical collection tubes.

[0013] Preferably, the second transmission seat is fixedly connected to the first transmission seat, the limit cover is sleeved on the outside of the mounting protection ring and is threadedly connected to the second transmission seat, the mounting protection ring is connected to the second transmission seat through a supporting spring, the mounting protection ring is fixedly connected to the spherical lens through a mounting plate, and a sealing ring is provided between the limit cover and the mounting protection ring.

[0014] Preferably, the circuit board, the wireless transmission module, the sensor and the camera are electrically connected, and wireless signals are transmitted between the sensor and the plurality of transparent sealing sheets via the wireless transmission module.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention drives the spherical transmission shell to rotate through the first rotating power socket and the second rotating power socket, and then the spherical transmission shell drives the image acquisition mechanism to rotate vertically through the arc gear ring and two guide arc rings, so as to adjust the installation angle of the arc gear ring. The third transmission motor drives the transmission gear to rotate relative to the arc gear ring. The transmission gear rolls on the outer side of the arc gear ring and drives the image acquisition mechanism to swing relative to the center of the spherical transmission shell through the first transmission seat, so as to facilitate the arbitrary adjustment of the axis angle of the camera. When the image acquisition mechanism adjusts the angle, the conical acquisition tube can squeeze the installation protection ring through the elastic sealing ring, so that the installation protection ring slides axially on the inner side of the limit cover, so as to facilitate the installation disk to drive the spherical lens to be inserted into the inner side of the corresponding directional acquisition unit through the installation protection ring under the elastic support of the support spring, so as to meet the arbitrary adjustment of the angle of the image acquisition mechanism. 2. The present invention uses a sensor to transmit signals to the annular light strip at the end of the conical collection tube through a wireless transmission module, and then the light changes through the annular light strip can display one of the directional collection units installed corresponding to the image collection mechanism, which is convenient for observing and determining the spatial range of image collection by the image collection mechanism. The camera can collect images within the spatial range corresponding to the conical collection tube through a spherical lens, and process light through a filter and a transparent sheet to avoid the camera being affected by messy light and causing unclear images. The camera performs multi-point scanning and image collection on the space through multiple directional collection units. The second transmission motor drives the conical guide seat to rotate through the driving wheel, and then the first spherical shell and the second spherical shell can drive the multiple directional collection units to adjust the angles to avoid blind spots in the camera's image collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the explosion structure of the double-layer driving mechanism of the present invention; Figure 3 It is a schematic diagram of a partial cross-sectional structure of the present invention as a whole; Figure 4 It is a schematic diagram of the installation structure of the track adjustment mechanism of the present invention; Figure 5 It is a schematic diagram of a partial cross-sectional structure of the spherical array type collection mechanism of the present invention; Figure 6 It is a schematic diagram of the installation structure of the image acquisition mechanism of the present invention; Figure 7 For the present invention Figure 3 Schematic diagram of the enlarged structure of the A area in the middle; Figure 8 For the present invention Figure 5 Schematic diagram of the enlarged structure of area B in the middle.

[0017] In the figure: 1. Double-layer driving mechanism; 101. Support base; 102. Support hollow column; 103. Mounting frame; 104. First transmission motor; 105. Second transmission motor; 106. Driving wheel; 2. Spherical array collection mechanism; 201. First spherical shell; 202. Second spherical shell; 203. Transparent sealing sheet; 204. Directional collection unit; 205. Conical guide seat; 206. Connecting slip ring; 207. Guide wheel; 208. Conical collection tube; 209. Filter; 210. Ring light belt; 211. Transparent sheet; 212. Elastic seal Ring; 3. Track adjustment mechanism; 301. First rotating power socket; 302. Second rotating power socket; 303. Spherical transmission shell; 304. Arc gear ring; 305. Guide arc ring; 306. First transmission seat; 307. Third transmission motor; 308. Transmission gear; 4. Image acquisition mechanism; 401. Limit cover; 402. Second transmission seat; 403. Spherical lens; 404. Mounting protection ring; 405. Support spring; 406. Mounting plate; 407. Circuit board; 408. Wireless transmission module; 409. Sensor; 410. Camera. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] The first transmission motor 104 (model GV50-3.7KW-60-S), the second transmission motor 105 (model GV50-3.7KW-60-S) and the third transmission motor 307 (model KOM7080) mentioned in the present invention can all be purchased from the market or obtained through private customization.

[0020] See also Figure 1 An embodiment of the present invention is as follows: a full-celestial sphere space image acquisition device based on dynamic scanning, comprising a spherical array acquisition mechanism 2, a track adjustment mechanism 3 and an image acquisition mechanism 4, a double-layer driving mechanism 1 is installed at the bottom end of the spherical array acquisition mechanism 2, and the double-layer driving mechanism 1 comprises a supporting base 101, a supporting hollow column 102 is fixedly installed on the upper end surface of the supporting base 101, a mounting frame 103 is fixedly installed on the inner side of the upper end of the supporting hollow column 102, a first transmission motor 104 is fixedly installed in the middle of the bottom end of the mounting frame 103, a second transmission motor 105 is fixedly installed on the upper end of the mounting frame 103, and a driving wheel 106 is fixedly installed on the output end of the second transmission motor 105, so that the second transmission motor 105 drives the spherical array acquisition mechanism 2 to adjust the angle through the driving wheel 106 to avoid blind spots in the image acquisition of the camera 410.

[0021] See also Figures 1 to 5The spherical array type acquisition mechanism 2 includes a first spherical shell 201, a second spherical shell 202 is installed on the upper end of the first spherical shell 201, the bottom end of the first spherical shell 201 is rotatably connected to the supporting hollow column 102, the first spherical shell 201 and the second spherical shell 202 are fixedly connected, a plurality of transparent sealing sheets 203 are fixedly installed on the outer surfaces of the first spherical shell 201 and the second spherical shell 202, and a directional acquisition unit 204 is installed on one side of the plurality of transparent sealing sheets 203 on the inner side of the first spherical shell 201 and the second spherical shell 202, the plurality of transparent sealing sheets 203 and the directional acquisition units 204 are installed one by one, and the plurality of transparent sealing sheets 203 and the directional acquisition units 204 are arranged in a spherical array relative to the center of the first spherical shell 201 and the second spherical shell 202, and the image acquisition mechanism 4 can perform multi-point image acquisition operations through the plurality of directional acquisition units 204; A conical guide seat 205 is fixedly installed on the inner side of the bottom end of the first spherical shell 201, and a connecting slip ring 206 is rotatably connected to the upper end of the conical guide seat 205. A plurality of guide wheels 207 are arranged between the conical guide seat 205 and the connecting slip ring 206. The output end of the second transmission motor 105 is connected to the conical guide seat 205 through the driving wheel 106. The conical guide seat 205 is rotatably connected to the connecting slip ring 206 through a plurality of guide wheels 207. The plurality of guide wheels 207 are arranged in a circle relative to the axis of the connecting slip ring 206. The rotation stability of the first spherical shell 201 and the second spherical shell 202 is maintained under the support of the guide wheels 207. The directional collection unit 204 includes a conical collection tube 208, and an elastic sealing ring 212 is provided on the outer side of the guide wheel 207 away from the transparent sealing film 203. A light-transmitting sheet 211 is installed on the end of the conical collection tube 208 close to the transparent sealing film 203. A filter 209 is fixedly installed on the outer side of the light-transmitting sheet 211, and a ring light strip 210 is installed on the side of the filter 209. The transparent sealing film 203 is in contact with the filter 209, and the filter 209 is fixedly connected to the conical collection tube 208 through the light-transmitting sheet 211. The first spherical shell 201 and the second spherical shell 202 are fixedly connected to multiple conical collection tubes 208. The camera 410 can collect images within the space corresponding to the conical collection tube 208 through the spherical lens 403, and process the light through the filter 209 and the light-transmitting sheet 211 to prevent the camera 410 from being affected by messy light and causing unclear images.

[0022] See also Figures 3 to 8A track adjustment mechanism 3 is installed on the inner side of the spherical array type acquisition mechanism 2, and the track adjustment mechanism 3 includes a spherical transmission shell 303, and the bottom end of the spherical transmission shell 303 is fixedly connected to the connecting slip ring 206, and a second rotating power socket 302 is installed on the inner side of the bottom end of the spherical transmission shell 303, and a first rotating power socket 301 is installed on the lower end surface of the second rotating power socket 302, and the output end of the first transmission motor 104 passes through the mounting frame 103 and is fixedly connected to the bottom end of the first rotating power socket 301, and the first rotating power socket 301 is electrically connected to the second rotating power socket 302, and the first rotating power socket 301 is fixedly connected to the spherical transmission shell 303 through the second rotating power socket 302, and the image acquisition mechanism 4 can be stably powered during rotation through the first rotating power socket 301 and the second rotating power socket 302; An arc gear ring 304 is fixedly installed in the middle of the spherical transmission housing 303, and guide arc rings 305 are fixedly installed on both sides of the arc gear ring 304. A first transmission seat 306 is slidably connected between the two guide arc rings 305. A third transmission motor 307 is fixedly installed on one side of the first transmission seat 306. A transmission gear 308 is rotatably connected to the inner side of the first transmission seat 306. The two guide arc rings 305 are symmetrically installed relative to the arc gear ring 304. A sliding groove is provided on the side close to the two guide arc rings 305. The first transmission seat The bottom end of 306 is plugged into the inner side of the slide slot, the output end of the third transmission motor 307 passes through the first transmission seat 306 and is fixedly connected to the transmission gear 308, the transmission gear 308 is connected to the arc-shaped gear ring 304 through tooth meshing, so that the third transmission motor 307 drives the transmission gear 308 to rotate relative to the arc-shaped gear ring 304, and then the transmission gear 308 rolls on the outside of the arc-shaped gear ring 304 and drives the image acquisition mechanism 4 to swing relative to the center of the spherical transmission shell 303 through the first transmission seat 306.

[0023] See also Figures 4 to 7 , an image acquisition mechanism 4 is installed at the upper end of the track adjustment mechanism 3, and the image acquisition mechanism 4 includes a second transmission seat 402, the second transmission seat 402 is fixedly connected to the first transmission seat 306, and a limit cover 401 is installed on the side of the upper end surface of the second transmission seat 402, the limit cover 401 is sleeved on the outer side of the installation protection ring 404 and is connected to the second transmission seat 402 by a thread, and the inner side of the upper end of the limit cover 401 is slidably connected with the installation protection ring 404, and a sealing ring is provided between the limit cover 401 and the installation protection ring 404, and a support spring 405 is provided between the installation protection ring 404 and the second transmission seat 402, and the installation protection ring 404 is connected to the second transmission seat 402 by the support spring 405, so that the installation plate 406 drives the spherical lens 403 to be inserted into the inner side of the corresponding directional acquisition unit 204 through the installation protection ring 404 under the elastic support of the support spring 405, thereby improving the accuracy of the image acquisition angle; A mounting plate 406 is mounted on the inner side of the mounting protection ring 404, and a spherical lens 403 is mounted on the side of the upper end surface of the mounting plate 406. The mounting protection ring 404 and the spherical lens 403 are fixedly connected via the mounting plate 406. The conical collection tube 208 and the mounting protection ring 404 are connected via an elastic sealing ring 212. The spherical lens 403 is coaxial with one of the conical collection tubes 208. The elastic sealing ring 212 can be used to elastically seal the conical collection tube 208 and the mounting protection ring 404. The conical collection tube 208 can be damaged when it collides with the spherical lens 403 through the elastic sealing ring 212. A circuit board 407 is fixedly mounted on the lower end surface of the mounting disk 406, a camera 410 is mounted in the middle of the mounting disk 406, a wireless transmission module 408 is mounted on one side of the camera 410, and a sensor 409 is mounted on the other side of the camera 410. The circuit board 407, the wireless transmission module 408, the sensor 409 and the camera 410 are electrically connected, and wireless signals are transmitted between the sensor 409 and the plurality of transparent sealing sheets 203 via the wireless transmission module 408. The sensor 409 transmits signals to the annular light strip 210 at the end of the conical collection tube 208 via the wireless transmission module 408, and then one of the directional collection units 204 installed corresponding to the image collection mechanism 4 can be displayed by changing the light through the annular light strip 210, so as to facilitate observation and determination of the spatial range of image collection by the image collection mechanism 4.

[0024] When in use, a plurality of directional acquisition units 204 in a spherical array are fixedly installed inside the first spherical shell 201 and the second spherical shell 202, so that the directional acquisition units 204 correspond to the second spherical shell 202 one by one, and the power is turned on, the camera 410 is connected to the mounting disk 406 through a thread, and then the spherical lens 403 is fixedly connected to the mounting protection ring 404 through the mounting disk 406, and the first spherical shell 201 and the second spherical shell 202 are fixedly connected to achieve multi-layer sealing protection for the camera 410. When the image acquisition mechanism 4 is used to scan the space target, the first transmission motor 104 is started, so that the first transmission motor 104 drives the spherical transmission shell 303 to rotate through the first rotating power socket 301 and the second rotating power socket 302 under the support of the mounting frame 103, and then the spherical transmission shell 303 drives the image acquisition mechanism 4 to rotate vertically through the arc gear ring 304 and the two guide arc rings 305, so as to adjust the installation angle of the arc gear ring 304; At the same time, the third transmission motor 307 is started, so that the third transmission motor 307 drives the transmission gear 308 to rotate relative to the arc-shaped gear ring 304 under the support of the first transmission seat 306, and the arc-shaped gear ring 304 is connected to the transmission gear 308 through tooth meshing, so that the transmission gear 308 rolls on the outer side of the arc-shaped gear ring 304 and drives the image acquisition mechanism 4 to swing relative to the center of the spherical transmission shell 303 through the first transmission seat 306, so as to facilitate the arbitrary adjustment of the axis angle of the camera 410; An elastic sealing ring 212 is provided at one end of the conical collection tube 208, and the installation protection ring 404 is connected to the second transmission seat 402 through the support spring 405, so that when the image acquisition mechanism 4 is adjusting the angle, the conical collection tube 208 can squeeze the installation protection ring 404 through the elastic sealing ring 212, so that the installation protection ring 404 slides axially on the inner side of the limit cover 401 and compresses the support spring 405, thereby facilitating the installation plate 406 to move on the support spring 405 through the installation protection ring 404. The spherical lens 403 is inserted into the inner side of the corresponding directional collection unit 204 under the elastic support of the spring 405, and the conical collection tube 208 and the installation protection ring 404 can be elastically sealed by the elastic sealing ring 212. The conical collection tube 208 can be damaged when it collides with the spherical lens 403 through the elastic sealing ring 212, and the spherical lens 403 can be centered by the conical collection tube 208 and the elastic sealing ring 212, so that the conical collection tube 208 and the camera 410 are coaxial; At this time, the sensor 409 transmits a signal to the annular light strip 210 at the end of the conical collection tube 208 through the wireless transmission module 408, and then the light change of the annular light strip 210 can display one of the directional collection units 204 installed corresponding to the image collection mechanism 4, so as to facilitate the observation and determination of the spatial range of the image collection by the image collection mechanism 4. The camera 410 can collect images within the spatial range corresponding to the conical collection tube 208 through the spherical lens 403, and process the light through the filter 209 and the light-transmitting sheet 211 to prevent the camera 410 from being affected by the messy light and causing unclear images. The camera 410 performs multi-point scanning and image acquisition of the space through multiple directional acquisition units 204, and starts the second transmission motor 105, so that the second transmission motor 105 drives the conical guide seat 205 to rotate through the driving wheel 106 under the support of the mounting frame 103, and then the conical guide seat 205 drives the first spherical shell 201 and the second spherical shell 202 to rotate relative to the supporting hollow column 102, and then the first spherical shell 201 and the second spherical shell 202 can drive the multiple directional acquisition units 204 to adjust the angle, avoiding blind spots in the image acquisition of the camera 410.

[0025] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A full-celestial sphere space image acquisition device based on dynamic scanning, comprising a spherical array acquisition mechanism (2), an orbit adjustment mechanism (3) and an image acquisition mechanism (4), characterized in that: A double-layer driving mechanism (1) is installed at the bottom end of the spherical array type acquisition mechanism (2), a track adjustment mechanism (3) is installed on the inner side of the spherical array type acquisition mechanism (2), and an image acquisition mechanism (4) is installed on the upper end of the track adjustment mechanism (3). The spherical array type acquisition mechanism (2) comprises a first spherical shell (201), a second spherical shell (202) is installed on the upper end of the first spherical shell (201), a plurality of transparent sealing sheets (203) are fixedly installed on the outer surfaces of the first spherical shell (201) and the second spherical shell (202), and a directional acquisition unit (204) is installed on the inner side of the first spherical shell (201) and the second spherical shell (202) on one side of the plurality of transparent sealing sheets (203); The image acquisition mechanism (4) comprises a second transmission seat (402), a limit cover (401) is installed on the side of the upper end surface of the second transmission seat (402), a mounting protection ring (404) is slidably connected to the inner side of the upper end of the limit cover (401), a support spring (405) is provided between the mounting protection ring (404) and the second transmission seat (402), a mounting plate (406) is installed on the inner side of the mounting protection ring (404), a spherical lens (403) is installed on the side of the upper end surface of the mounting plate (406), a circuit board (407) is fixedly installed on the lower end surface of the mounting plate (406), a camera (410) is installed in the middle of the mounting plate (406), a wireless transmission module (408) is installed on one side of the camera (410), and a sensor (409) is installed on the other side of the camera (410).

2. The device for acquiring full celestial sphere images based on dynamic scanning according to claim 1, characterized in that: The double-layer drive mechanism (1) comprises a support base (101), a support hollow column (102) being fixedly mounted on the upper end surface of the support base (101), a mounting frame (103) being fixedly mounted on the inner side of the upper end of the support hollow column (102), a first transmission motor (104) being fixedly mounted in the middle of the bottom end of the mounting frame (103), a second transmission motor (105) being fixedly mounted on the upper end of the mounting frame (103), and a driving wheel (106) being fixedly mounted on the output end of the second transmission motor (105).

3. The device for acquiring full celestial sphere images based on dynamic scanning according to claim 2, characterized in that: The spherical array collection mechanism (2) further comprises a conical guide seat (205) fixedly connected to the inner side of the bottom end of the first spherical shell (201), the upper end of the conical guide seat (205) being rotatably connected to a connecting slip ring (206), and a plurality of guide wheels (207) being provided between the conical guide seat (205) and the connecting slip ring (206).

4. The device for acquiring full celestial sphere images based on dynamic scanning according to claim 3, characterized in that: The directional collection unit (204) comprises a conical collection tube (208); an elastic sealing ring (212) is provided on the outer side of one end of the guide wheel (207) away from the transparent sealing sheet (203); a light-transmitting sheet (211) is installed on the end of the conical collection tube (208) close to the transparent sealing sheet (203); a filter (209) is fixedly installed on the outer side of the light-transmitting sheet (211); and a ring-shaped light strip (210) is installed on the side of the filter (209).

5. The device for acquiring full celestial sphere images based on dynamic scanning according to claim 4, characterized in that: The track adjustment mechanism (3) comprises a spherical transmission shell (303), the bottom end of the spherical transmission shell (303) is fixedly connected to the connecting slip ring (206), a second rotating power receiving seat (302) is installed on the inner side of the bottom end of the spherical transmission shell (303), a first rotating power receiving seat (301) is installed on the lower end surface of the second rotating power receiving seat (302), an arc gear ring (304) is fixedly installed in the middle of the spherical transmission shell (303), guide arc rings (305) are fixedly installed on both sides of the arc gear ring (304), a first transmission seat (306) is slidably connected between the two guide arc rings (305), a third transmission motor (307) is fixedly installed on one side of the first transmission seat (306), and a transmission gear (308) is rotatably connected to the inner side of the first transmission seat (306).

6. The device for acquiring full celestial sphere images based on dynamic scanning according to claim 5, characterized in that: The bottom end of the first spherical shell (201) is rotatably connected to the supporting hollow column (102), the first spherical shell (201) is fixedly connected to the second spherical shell (202), the output end of the second transmission motor (105) is transmission-connected to the conical guide seat (205) via a driving wheel (106), the conical guide seat (205) is rotatably connected to the connecting slip ring (206) via a plurality of guide wheels (207), and the plurality of guide wheels (207) are arranged in a circle relative to the axis of the connecting slip ring (206).

7. The device for acquiring full celestial sphere images based on dynamic scanning according to claim 6, characterized in that: The output end of the first transmission motor (104) passes through the mounting frame (103) and is fixedly connected to the bottom end of the first rotating power receiving seat (301); the first rotating power receiving seat (301) is electrically connected to the second rotating power receiving seat (302); the first rotating power receiving seat (301) is fixedly connected to the spherical transmission shell (303) via the second rotating power receiving seat (302); the two guide arc rings (305) are symmetrically installed relative to the arc gear ring (304); a slide groove is provided on the adjacent side of the two guide arc rings (305); the bottom end of the first transmission seat (306) is plugged into the inner side of the slide groove; the output end of the third transmission motor (307) passes through the first transmission seat (306) and is fixedly connected to the transmission gear (308); the transmission gear (308) is connected to the arc gear ring (304) via inter-tooth meshing.

8. The device for acquiring full celestial sphere space images based on dynamic scanning according to claim 7, characterized in that: The plurality of transparent sealing sheets (203) and directional collection units (204) are installed in a one-to-one correspondence, and are arranged in a spherical array relative to the center of the first spherical shell (201) and the second spherical shell (202). The transparent sealing sheet (203) is in close contact with the filter (209), and the filter (209) is fixedly connected to the conical collection tube (208) via a light-transmitting sheet (211). The first spherical shell (201) and the second spherical shell (202) are fixedly connected to the plurality of conical collection tubes (208). The conical collection tube (208) is connected to the mounting protection ring (404) via an elastic sealing ring (212), and the spherical lens (403) is coaxial with one of the conical collection tubes (208).

9. The device for acquiring full celestial sphere space images based on dynamic scanning according to claim 8, characterized in that: The second transmission seat (402) is fixedly connected to the first transmission seat (306); the limiting cover (401) is sleeved on the outside of the mounting protection ring (404) and is connected to the second transmission seat (402) via a thread; the mounting protection ring (404) is connected to the second transmission seat (402) via a supporting spring (405); the mounting protection ring (404) is fixedly connected to the spherical lens (403) via a mounting plate (406); and a sealing ring is provided between the limiting cover (401) and the mounting protection ring (404).

10. The device for acquiring full celestial sphere images based on dynamic scanning according to claim 9, characterized in that: The circuit board (407), the wireless transmission module (408), the sensor (409) and the camera (410) are electrically connected, and wireless signal transmission is performed between the sensor (409) and the plurality of transparent sealing sheets (203) via the wireless transmission module (408).

Images