Data acquisition method, system and equipment based on ground-based hyperspectral laser radar

Abstract

The embodiment of the invention provides a data acquisition method, system and equipment based on a foundation hyperspectral laser radar, the data acquisition method is applied to the data acquisition equipment, the data acquisition equipment comprises a transceiver, a processing device, a mobile platform and a telescope, and the telescope is fixed on the mobile platform. The transceiving device is connected with the telescope and the processing device. The data acquisition method comprises the following steps: transmitting a first optical signal to a target object through a telescope based on a transceiving device, and receiving a second optical signal of the target object reflecting the first optical signal based on the transceiving device; collecting the second optical signal based on a processing device to obtain first target data; and in response to the received first target data, adjusting the mobile platform to a target attitude based on the target control instruction. Based on the scheme, the data acquisition precision is improved.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of data processing technology, and in particular to a data acquisition method, system, and device based on ground-based hyperspectral lidar. Background Art

[0002] In many fields, such as aerospace, industrial inspection, and intelligent security, the relevant technical solutions for collecting data from target objects are only applicable to collecting data from target objects in specific scenarios. When the target objects are in different complex environments, there is still the problem of insufficient accuracy in collecting data from target objects. Summary of the Invention

[0003] In view of this, the embodiments of the present application at least provide a data acquisition method, system and device based on ground-based hyperspectral lidar.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a data acquisition method based on a ground-based hyperspectral lidar, which is applied to a data acquisition device. The data acquisition method includes: the data acquisition device includes a transceiver, a processing device, a mobile platform and a telescope, the telescope is fixed to the mobile platform, and the transceiver is connected to the telescope and the processing device, respectively; the data acquisition method includes: based on the transceiver, a first light signal is transmitted to the target object through the telescope, and based on the transceiver, a second light signal reflected by the target object is received; based on the processing device, the second light signal is collected to obtain first target data; in response to receiving the first target data, the mobile platform is adjusted to the target posture based on the target control instruction.

[0006] In a second aspect, an embodiment of the present application provides a data acquisition system based on a ground-based hyperspectral lidar, which is applied to a data acquisition device. The data acquisition system includes: a transceiver module, which is used to transmit a first light signal to a target object through a telescope based on a transceiver device, and receive a second light signal reflected by the target object based on the transceiver device; an acquisition module, which is used to collect the second light signal based on a processing device to obtain first target data; and a control module, which is used to adjust the mobile platform to a target posture based on a target control instruction in response to receiving the first target data.

[0007] In a third aspect, an embodiment of the present application provides a data acquisition device based on a ground-based hyperspectral lidar, comprising a transceiver, a processing device, a mobile platform and a telescope, wherein the telescope is fixed to the mobile platform, and the transceiver is connected to the telescope and the processing device, respectively, wherein the transceiver is used to transmit a first light signal to a target object through the telescope, and receive a second light signal based on the first light signal reflected by the target object by the transceiver; the processing device is used to collect the second light signal to obtain first target data; and the mobile platform is used to adjust itself to the target posture based on the target control instruction.

[0008] The embodiments of the present application provide a data acquisition method, device, and equipment based on a ground-based hyperspectral lidar. Compared with traditional methods, the accuracy of target object information acquisition is improved by transmitting and receiving light signals through a telescope; the obtained second light signal is processed based on a processing device to obtain high-precision first target data, thereby improving the accuracy of extracting target object information; in addition, after receiving the first target data, the mobile platform can be controlled to the target posture based on the target control instruction, thereby improving the completeness of obtaining the first target data.

[0009] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to illustrate the technical solutions of the present application.

[0011] Figure 1 A schematic diagram of the hardware entity of a data acquisition device provided in an embodiment of the present application;

[0012] Figure 2 A schematic diagram of an implementation flow of a data acquisition method provided in an embodiment of the present application;

[0013] Figure 3 A schematic diagram of the hardware entity of a data acquisition device provided in an embodiment of the present application;

[0014] Figure 4A A schematic diagram of the hardware entity of a data acquisition device provided in an embodiment of the present application;

[0015] Figure 4B A schematic diagram of an implementation flow of a data acquisition method provided in an embodiment of the present application;

[0016] Figure 5 A schematic diagram of the hardware entity of a data acquisition device provided in an embodiment of the present application;

[0017] Figure 6 A schematic diagram of an implementation flow of a data acquisition method provided in an embodiment of the present application;

[0018] Figure 7 A schematic diagram of the hardware entity of a data acquisition device provided in an embodiment of the present application;

[0019] Figure 8 A schematic diagram of an implementation flow of a data acquisition method provided in an embodiment of the present application;

[0020] Figure 9 A schematic diagram of an implementation flow of a data acquisition method provided in an embodiment of the present application;

[0021] Figure 10 A schematic diagram of an implementation flow of a data acquisition method provided in an embodiment of the present application;

[0022] Figure 11 A schematic diagram of an implementation flow of a data acquisition method provided in an embodiment of the present application;

[0023] Figure 12 A schematic diagram of the hardware connections of a portable ground-based hyperspectral lidar system provided in an embodiment of the present application;

[0024] Figure 13 A schematic diagram of the hardware connection of a telescope provided in an embodiment of the present application;

[0025] Figure 14 A schematic diagram of a data collection process according to an embodiment of the present invention;

[0026] Figure 15 A schematic diagram of the structure of a data acquisition system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions of this application are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0028] In the following description, references to "some embodiments" describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or sequence of "first / second / third" may be interchanged where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing this application only and are not intended to limit this application.

[0030] In related technologies, due to the complexity of the optical system and measurement and control system hardware, the application scenarios of traditional target object acquisition solutions are limited, resulting in reduced accuracy of the collected target object data when collecting data from target objects in complex scenarios.

[0031] An embodiment of the present application provides a data acquisition method based on a ground-based hyperspectral lidar, which is applied to a data acquisition device. The data acquisition method includes: the data acquisition device includes a transceiver, a processing device, a mobile platform and a telescope, the telescope is fixed to the mobile platform, and the transceiver is connected to the telescope and the processing device respectively. The data acquisition method includes: based on the transceiver, a first light signal is transmitted to the target object through the telescope, and based on the transceiver, a second light signal is received by the target object that reflects the first light signal; based on the processing device, the second light signal is collected to obtain first target data; in response to receiving the first target data, the mobile platform is adjusted to the target posture based on the target control instruction; compared with the traditional method, the transmission and reception of light signals through the telescope improves the accuracy of collecting target object information; based on the processing device, the obtained second light signal is processed to obtain high-precision first target data; thereby improving the accuracy of extracting information of the target object; in addition, after receiving the first target data, the mobile platform can be controlled to the target posture based on the target control instruction, thereby improving the completeness of obtaining the first target data.

[0032] Figure 1 A hardware entity diagram of a data acquisition device provided in an embodiment of the present application is shown as follows: Figure 1As shown, the data acquisition device 100 includes a transceiver 101, a processing device 102, a mobile platform 103 and a telescope 104, wherein the transceiver 101 is connected to the telescope 104 and the processing device 102 respectively, and the telescope 104 is fixed to the mobile platform 103; wherein the transceiver 101 is used to transmit a first light signal to the target object through the telescope 104, and receive a second light signal reflected by the target object based on the transceiver 101; the processing device 102 is used to collect the second light signal to obtain first target data; and the mobile platform 103 is used to adjust itself to the target posture based on the target control instruction.

[0033] In some embodiments, the data acquisition device 100 is also connected to a host computer (not shown in the figure). After obtaining the first target data, the processing device 102 sends the information of the first target data to the host computer. The host computer generates a target control instruction based on the information of the first target data and sends it to the mobile platform 103.

[0034] Figure 2 A data acquisition method according to an embodiment of the present invention is provided as a flowchart. The method includes the following steps S201 to S203. Figure 2 The following steps are explained.

[0035] Step S201: transmitting a first optical signal to a target object through the telescope based on the transceiver, and receiving a second optical signal reflected by the target object based on the transceiver.

[0036] In some embodiments, the target object may be an object such as a tree or a building, whose information needs to be collected.

[0037] In some embodiments, the transceiver is used for signal transmission and reception and can generate a first optical signal having a specific frequency, intensity, and modulation mode. The first optical signal can be configured according to specific application requirements.

[0038] For example, in a lidar system, a laser pulse with a specific pulse width and repetition frequency can be used as the first optical signal; in an optical communication system, the optical signal can be encoded and modulated with the data to be transmitted so that it carries the required information as the first optical signal.

[0039] In some embodiments, the transceiver is a device that has the function of exciting a light source to generate light, and the light source used includes but is not limited to a laser diode, a light emitting diode, etc. After the first light signal is generated, the first light signal needs to be pre-processed, including shaping and control, to ensure that the quality and characteristics of the first light signal meet the requirements for subsequent transmission through a telescope. After the first light signal is generated from the transceiver, it is transmitted to the target object through a telescope, wherein the telescope focuses and collimates the more divergent first light signal through its internal optical structure, such as a lens, a reflector, etc., to improve the propagation efficiency and propagation distance of the light signal, so that the first light signal can be accurately directed to the target object. For example, in astronomical observation or long-range target detection, based on the processing of the light signal by the telescope, the light signal can maintain a higher energy density during the propagation process, reduce the diffusion of energy in space, and thus be able to reach the target object at a distance more effectively.

[0040] In some embodiments, since the second light signal is obtained by reflecting the first light signal from the target object, the second light signal will propagate in all directions, and only a portion of the light signal returns along the original path. In this case, the second light signal needs to pass through a telescope to focus the second light signal for transmission to the transceiver.

[0041] Step S202: Collect the second optical signal based on the processing device to obtain first target data.

[0042] In some embodiments, before collecting the second optical signal, the second optical signal needs to be photoelectrically converted to convert the second optical signal into an electrical signal. For example, the second optical signal is photoelectrically converted through a photodiode to obtain an electrical signal corresponding to the second optical signal.

[0043] In some embodiments, the processing device may be a high-frequency acquisition card based on the Peripheral Component Interconnect Express Extensions for Instrumentation (PXIe) standard in the instrumentation field. It is understood that the high-frequency acquisition card performs high-frequency acquisition on the electrical signal converted from the second optical signal to obtain the first target data.

[0044] In some embodiments, the first target data may represent the amplitude, frequency, phase, etc. of the signal. The higher the acquisition frequency of the high-frequency acquisition card, the higher the accuracy of the amplitude, frequency, and phase of the obtained first target data.

[0045] In some embodiments, the analog electrical signal obtained by converting the second optical signal is converted into a digital signal to obtain the first target data.

[0046] Step S203 : In response to receiving the first target data, adjusting the mobile platform to a target posture based on a target control instruction.

[0047] In some embodiments, the first target data can be obtained by collecting the first position of the target object. After receiving the first target data, indicating that the collection of the first position of the target object is completed, the mobile platform is adjusted to the target posture based on the target control instruction to collect the second position of the target object.

[0048] In some embodiments, the target control instruction may be obtained based on a preset movement trajectory, or may be input by a user in real time, and is used to adjust the mobile platform to a target posture.

[0049] In some embodiments, the target control instruction is generated by a host computer connected to the data acquisition device 100. After obtaining the first target data, the processing device sends the information of the first target data to the host computer. The host computer generates a target control instruction based on the information of the first target data and sends it to the mobile platform.

[0050] In some embodiments, the target posture may be a target position, a target orientation angle, etc. of the mobile platform.

[0051] In an embodiment of the present application, during the process of generating a first optical signal through a transceiver and transmitting it to a target object through a telescope, and during the process of receiving a second optical signal after the target object reflects the first optical signal and passes through the telescope, the relatively divergent first optical signal is focused and collimated based on the internal optical structure of the telescope to improve the propagation efficiency and propagation distance of the optical signal, so that the first optical signal can be accurately directed to the target object; the electrical signal converted from the second optical signal is collected at high frequency based on the processing device to improve the accuracy of the amplitude, frequency, and phase of the first target data. In addition, after receiving the first target data corresponding to the first position of the target object, the mobile platform can be controlled to the target posture based on the target control instruction to obtain the second target data of the second position of the target object, thereby improving the integrity of the data collected from the target object. At the same time, the posture of the mobile platform is adjusted through the target control instruction to collect data of the target object in various complex environments, thereby improving the applicable scenarios of data collection.

[0052] Figure 3 A hardware entity diagram of a data acquisition device provided in an embodiment of the present application, wherein the transceiver 101 includes a laser emitting device 301; the telescope includes a lens 302 and a reflector 303; the laser emitting device 301 includes a transmitting source 304, wherein the transmitting source 304 transmits the first light signal to the reflector 303 through the lens 302, and the first light signal is reflected by the reflector 303 to the target object.

[0053] In some embodiments, the emission source 304 may be a laser diode, a light emitting diode, or the like.

[0054] In some embodiments, the first optical signal may be laser light, visible light, infrared light, etc.

[0055] In some embodiments, the first light signal generated by the emission source 304 is propagated in a divergent form. When the first light signal reaches the lens 302, the first light signal is converged. When the converged first light signal reaches the reflector 304, the reflector 304 focuses and collimates the incident first light signal, and reflects the first light signal in a specific direction to the target object.

[0056] In some embodiments, when the first optical signal reaches the target object, the target object will produce a corresponding effect on the optical signal, so as to reflect the second optical signal obtained by reflecting the first optical signal along the original path.

[0057] In an embodiment of the present application, a first light signal is generated based on a transmitting source. When the first light signal reaches a lens, the lens refracts the light according to its optical properties, converges the divergent light, and enables the light signal to propagate more concentratedly and accurately toward the direction of the reflector, thereby improving the transmission efficiency and accuracy of the light signal. When the first light signal converged by the lens reaches the reflector, due to the high reflectivity of the surface of the reflector, the incident first light signal can be reflected according to the law of reflection, thereby improving the accuracy of light signal transmission.

[0058] Figure 4A A hardware entity diagram of a data acquisition device provided in an embodiment of the present application, based on Figure 3 The laser emitting device 301 also includes a first photoelectric conversion device 401 for converting the received optical signal into an electrical signal.

[0059] Figure 4B This is a schematic diagram of a data collection method according to an embodiment of the present application. The method may further include steps S401 to S403. Figure 4B The steps shown are explained.

[0060] Step S401: Send the first optical signal to the first photoelectric conversion device through the lens based on the emission source.

[0061] In some embodiments, the first photoelectric conversion device may include a photodiode, a photomultiplier tube, etc.

[0062] In some embodiments, the first optical signal generated by the emission source is propagated in a divergent form, and when the first optical signal reaches the lens, the first optical signal is converged to send the converged first optical signal to the first photoelectric conversion device.

[0063] Step S402: Convert the first optical signal into a first electrical signal based on a first photoelectric conversion device.

[0064] In some embodiments, after the first photoelectric conversion device receives the first optical signal, electrons inside the first photoelectric conversion device absorb the photon energy of the first optical signal to form an electric current on the surface or inside the first photoelectric conversion device, thereby converting the first optical signal into the first electrical signal.

[0065] For example, taking a photodiode as an example, when the first light signal enters the intrinsic layer, the photon energy is absorbed, generating electron-hole pairs. The electrons and holes are separated based on the electric field and drift in opposite directions to form a current. After amplification and processing, the current becomes the first electrical signal carrying the original first light signal information.

[0066] Step S403: Based on the first electrical signal, the processing device collects the second optical signal to obtain the first target data.

[0067] In some embodiments, the first electrical signal is sent to a host computer connected to a signal acquisition device. After the host computer receives the first electrical signal, indicating the start of data acquisition, a collection instruction for the second optical signal is sent to the processing device via the host computer. It is understood that the first photoelectric conversion device converts the first optical signal into a first electrical signal and then sends it to the host computer. When the host computer receives certain characteristics of the first electrical signal that meet specific conditions, the collection instruction is sent to the processing device.

[0068] Exemplarily, the first photoelectric conversion device converts the first optical signal into a first electrical signal and sends it to the host computer. When the amplitude of the first electrical signal received by the host computer reaches a preset threshold, an acquisition instruction for the second electrical signal is sent to the processing device; wherein the first electrical signal carries information related to the first optical signal, such as the first electrical signal characteristics corresponding to changes in the intensity, frequency, phase, etc. of the optical signal. When the intensity, frequency, phase, etc. of the first optical signal increase, the amplitude of the first electrical signal will also increase.

[0069] In some embodiments, before collecting the second optical signal, the second optical signal needs to be photoelectrically converted to convert the second optical signal into an electrical signal. For example, the second optical signal is photoelectrically converted through a photodiode to obtain an electrical signal corresponding to the second optical signal.

[0070] In some embodiments, the processing device may be a high-frequency acquisition card. It is understandable that the high-frequency acquisition card performs high-frequency acquisition on the electrical signal converted from the second optical signal to obtain the first target data.

[0071] In an embodiment of the present application, a first optical signal is generated based on a transmitting source. When the first optical signal reaches a lens, the lens refracts the light according to its optical properties, converges the divergent light, and enables the optical signal to propagate more concentratedly and accurately in the direction of the reflector, thereby improving the transmission efficiency and accuracy of the optical signal; the first optical signal converged by the lens reaches a first photoelectric conversion device to convert the converged first optical signal into a first electrical signal. After receiving the first electrical signal, an acquisition signal is sent to a processing device, and high-frequency acquisition is performed on the electrical signal converted from the second optical signal based on the processing device to improve the accuracy of the first target data.

[0072] Figure 5 A hardware entity diagram of a data acquisition device provided in an embodiment of the present application, based on Figure 5 The data acquisition device 100 also includes an echo spectrometer 501; the telescope 104 includes a lens barrel 502 and a reflector 503; the transceiver 101 includes an echo receiving device 504; wherein the reflector 503 is used to reflect the second optical signal to the echo receiving device 504; the echo receiving device 404 is used to send the second optical signal to the echo spectrometer 501 through the lens barrel 502; the echo spectrometer 401 is used to convert the second optical signal into a second electrical signal.

[0073] Figure 6 A schematic diagram of a data collection method according to an embodiment of the present invention is provided. Figure 5 The method includes steps S601 and S602, combining Figure 6 The steps shown are explained.

[0074] Step S601: The echo receiving device receives the second optical signal reflected by the reflector through the lens barrel, and sends the second optical signal to the echo spectrometer.

[0075] In some embodiments, after the second light signal is reflected from the target object, it first enters the lens barrel, and the second light signal is focused by the lens barrel. When the focused second light signal reaches the reflector, the reflector reflects the focused second light signal in a specific direction to the echo receiving device.

[0076] In some embodiments, after the optical fiber interface of the echo receiving device receives the second optical signal reflected by the reflector, the second optical signal in the optical fiber interface is sent to the echo splitting device based on the second optical signal of the echo splitting device.

[0077] Step S602: Convert the second optical signal into a second electrical signal based on the echo splitting device.

[0078] In some embodiments, the second optical signal is first split by an echo splitting device to obtain optical signals of multiple wavelength bands, and then the optical signals of multiple wavelength bands are converted into second electrical signals of multiple wavelength bands.

[0079] In some embodiments, the second electrical signals of the multiple bands need to be amplified by a signal processing circuit to obtain amplified second electrical signals.

[0080] In an embodiment of the present application, an echo receiving device receives a second optical signal reflected by a reflector through a lens barrel, focuses the second optical signal through the lens barrel, and transmits the second optical signal based on a specific path based on the reflector, thereby improving the accuracy of optical signal transmission; and an echo splitting device splits and converts the second optical signal to obtain a second electrical signal after splitting, thereby improving the accuracy of data transmission.

[0081] Figure 7 A hardware entity diagram of a data acquisition device provided in an embodiment of the present application, based on Figure 7 The echo spectrometer 504 includes a reflector group 701, a second photoelectric conversion device 702, and a multi-channel signal amplifier 703, wherein the reflector group 701 is used to convert the second optical signal into a plurality of wavelength bands of spectroscopic signals; the second photoelectric conversion device 702 is used to convert the plurality of wavelength bands of spectroscopic signals into a third electrical signal of the plurality of wavelength bands; and the multi-channel signal amplifier 703 is used to amplify the third electrical signal to obtain the second electrical signal.

[0082] Figure 8 A schematic diagram of a data collection method according to an embodiment of the present invention is provided. Figure 6 , Figure 6 Step 603 in the above example can be updated to step S801 to step S803, which will be combined with Figure 8 The steps shown are explained.

[0083] Step S801: Convert the second optical signal into split optical signals of multiple wavelength bands based on the reflector group.

[0084] In some embodiments, the reflector assembly typically comprises multiple different types of reflectors, which may have different shapes (e.g., plane, spherical, parabolic, etc.), sizes, and optical properties. For example, the reflector assembly may include a plane reflector for redirecting light, a spherical reflector for focusing light, and some specially designed reflectors, such as a blazed grating reflector, for achieving beam splitting.

[0085] In some embodiments, the second light signal first strikes an initial reflector in the reflector assembly. This initial reflector, based on its preset angle and position, reflects the second light signal in a specific direction. The second light signal then continues to propagate through the reflector assembly, interacting with multiple different reflectors. These reflectors, based on their respective optical properties and positional settings, selectively reflect and focus light signal components of different wavelength ranges.

[0086] For example, some reflectors may have higher reflection efficiency for shorter wavelength light signals and less reflection efficiency for longer wavelength light signals; other reflectors may use their special curved shapes to focus light signals within a specific wavelength range to a specific location. Through the coordinated action of multiple reflectors, the light signal is further separated and organized into multiple wavelength bands of split signals, each of which contains light information within a specific wavelength range.

[0087] Step S802: Convert the split light signals of the plurality of wavelength bands into third electrical signals of the plurality of wavelength bands based on the second photoelectric conversion device.

[0088] In some embodiments, the second photoelectric conversion device utilizes multiple types of photoelectric conversion elements for split signals in multiple wavelength bands. For example, a photodiode utilizes the internal photoelectric effect. When light strikes a PN junction, electron-hole pairs are generated. This generates a current under the action of an external electric field, achieving optical-to-electrical signal conversion. For the near-infrared band, silicon-based photodiodes are used; for the mid-infrared and far-infrared bands, photodiodes made of materials such as indium gallium arsenide are required.

[0089] Step S803: Amplify the third electrical signal based on the multi-channel signal amplifier to obtain the second electrical signal.

[0090] In some embodiments, a multi-channel signal amplifier is a device capable of amplifying multiple input signals simultaneously. The amplifier uses transistors (such as bipolar junction transistors or field-effect transistors) or operational amplifiers to amplify small input signals into signals with higher amplitudes.

[0091] In some embodiments, since the third electrical signal is obtained by converting second optical signals of multiple bands, the second optical signals of multiple bands have different characteristics such as amplitude, frequency and phase, so that the third electrical signal has different characteristics such as amplitude, frequency and phase. The multi-channel signal amplifier has multiple input ports, each port receives a third electrical signal to amplify the third electrical signals of different amplitudes, frequencies and phases to a preset multiple to obtain the second electrical signal.

[0092] In an embodiment of the present application, the second optical signal is converted into a plurality of wavelength bands of split light signals based on the reflector group, the plurality of wavelength bands of split light signals are converted into a third wavelength bands of third electrical signals based on the second photoelectric conversion device for subsequent data signal processing, and the third electrical signal is amplified based on the multi-channel signal amplifier to obtain the second electrical signal, thereby improving the accuracy of signal transmission.

[0093] Figure 9 A schematic diagram of a data collection method according to an embodiment of the present invention is provided. Figure 2 , the target control instruction includes a posture control instruction, Figure 2 Step 203 in the above example can also be updated to step S901 or step S902, which will be combined with Figure 9 The steps shown are explained.

[0094] Step S901: Acquire the pre-saved posture control instruction, and control the mobile platform to the target posture based on the pre-saved posture control instruction.

[0095] In some embodiments, the pre-saved gesture control instructions may be stored in a local storage space of the host computer or in the cloud.

[0096] In some embodiments, the pose of the mobile platform includes a position and an angle.

[0097] In some embodiments, the mobile platform can move in three degrees of freedom, including planar movement and vertical movement.

[0098] In some embodiments, the pre-stored posture control instruction may be a pre-stored movement path and orientation angle. After receiving the first target data, the mobile platform is controlled to adjust to the target posture based on the pre-stored movement path and orientation angle.

[0099] Step S902: Receive the posture control instruction input by the user, and control the mobile platform to the target posture based on the posture control instruction input by the user.

[0100] In some embodiments, the user can input gesture control instructions for the mobile platform in real time through voice, touch, mouse, keyboard, etc.

[0101] In some embodiments, the gesture control instructions input by the user on the host computer through voice, touch, mouse, keyboard, etc. can be the target position and target angle for the mobile platform input by the user based on the real-time position and real-time angle of the mobile platform. The target position and target angle are sent to the mobile platform through the host computer to adjust the mobile platform to the target position and target angle.

[0102] In an embodiment of the present application, since the mobile platform can move in multiple degrees of freedom, the mobile platform can be controlled in complex scenarios through pre-saved posture control instructions or the posture control instructions input by the user to realize data collection in complex scenarios, thereby improving the application scenarios of data collection.

[0103] Figure 10 A data acquisition method according to an embodiment of the present invention is provided as a flowchart. The method includes steps S1001 and S1002. Figure 10 The steps shown are explained.

[0104] Step S1001: Preprocess the first target data to obtain second target data.

[0105] In some embodiments, the first target data is subjected to denoising, filtering, and correction to obtain second target data with high precision.

[0106] In some embodiments, the peak data of the first target data may also be analyzed to obtain the second target data requiring attention.

[0107] Step S1002: Display the second target data.

[0108] In some embodiments, the host computer is further provided with a display, and the second target data is displayed on the display of the host computer so that the user can intuitively obtain the spectral characteristics of the target object, thereby improving the user experience.

[0109] In an embodiment of the present application, the second target data is obtained by preprocessing the first target data, thereby improving the accuracy of the second target data, and the second target data is displayed to improve the user experience.

[0110] Figure 11 A data acquisition method according to an embodiment of the present invention is provided as a flowchart. The method includes steps S1101 and S1102. Figure 11 The steps shown are explained.

[0111] Step S1101: Acquire the real-time connection status between the transceiver, the processing device, the mobile platform, and the telescope, and the real-time posture of the mobile platform.

[0112] In some embodiments, the telescope is fixed to a mobile platform, and the transceiver is connected to the telescope and the processing device respectively. The connection status between the transceiver and the telescope and the processing device can be obtained based on the status indicator light provided on the transceiver, or the connection status between the transceiver and the processing device can be obtained based on the communication message between the transceiver and the processing device; wherein, the mobile platform and the processing device are also respectively connected to a host computer, and the connection status of the mobile platform and the host computer and the connection status of the processing device and the host computer are obtained based on the communication messages between the mobile platform and the processing device and the host computer respectively; and the real-time posture of the mobile platform is obtained based on the image acquisition device provided on the mobile platform, and the above-mentioned real-time connection status and real-time posture of the mobile platform are sent to the host computer.

[0113] In some embodiments, the real-time connection status between the transceiver, the processing device, the mobile platform and the telescope is monitored in real time. If the connection status is abnormal, an alarm message is generated to prompt the user.

[0114] In some embodiments, the real-time posture of the mobile platform is monitored, and it is determined whether the actual posture of the mobile platform is the same as the target posture in the target control instruction. If they are different, an alarm message is generated to prompt the user.

[0115] Step S1102: Display the real-time connection status and the real-time posture.

[0116] In some embodiments, after the host computer obtains the above-mentioned real-time connection status and the real-time posture of the mobile platform, the real-time connection status between the transceiver, the processing device, the mobile platform and the telescope and the real-time posture of the mobile platform are displayed on the display screen of the host computer; wherein, the user can intuitively obtain the connection status between each device and judge whether it is normal, as well as the real-time posture of the mobile platform, and judge whether the mobile platform moves as expected.

[0117] In an embodiment of the present application, by obtaining the real-time connection status between the transceiver, the processing device, the mobile platform and the telescope, as well as the real-time posture of the mobile platform, it is determined whether the connection status between the devices is normal. If abnormal, an alarm message is generated to prompt the user. It is determined whether the actual posture of the mobile platform is the same as the target posture in the target control instruction. If different, an alarm message is generated to prompt the user. The user can intuitively obtain the connection status between the devices and the actual posture of the mobile platform, thereby improving the user experience.

[0118] The following describes an exemplary application of a data collection method provided in an embodiment of the present application in a practical scenario.

[0119] Traditional LiDAR and passive optical remote sensing have their own advantages and disadvantages. LiDAR has strong spatial information acquisition capabilities, while passive optical remote sensing is capable of detecting rich spectral information about targets. Using either data source alone is insufficient to meet the requirements for integrated, high-precision detection of vegetation structural parameters and biochemical components. Therefore, obtaining three-dimensional point cloud data with rich spectral information has become a hot topic of research. Traditional methods for generating point cloud data with spectral information include fusing LiDAR point clouds with passive spectral imagery, equipping observation platforms with multiple laser detectors, and multi-view geometry methods based on spectral imagery. However, these methods suffer from issues such as laborious data acquisition and difficulties with data fusion and registration.

[0120] Hyperspectral LiDAR combines the hyperspectral observation capabilities of passive optics with the vertical detection characteristics of LiDAR. It has the ability to detect the fine structure and spectrum of targets. Data acquisition is unaffected by factors such as lighting conditions, ground background, and canopy structure, and can detect hyperspectral data at different spatial locations of the target. Compared to other spectral point cloud acquisition methods, it avoids issues such as data collection, data fusion, and data registration, enabling more efficient and accurate spectral three-dimensional point cloud acquisition. Compared to traditional LiDAR detection imaging and passive spectral imaging technologies, the additional spectral information provided by hyperspectral LiDAR extends the measurement range of single-wavelength LiDAR to spectral three dimensions, thus offering greater potential and adaptability for quantitative remote sensing applications.

[0121] Due to the complexity of the optical system and measurement and control hardware, existing ground-based hyperspectral lidar systems are bulky and heavy, with poor portability and flexibility, limiting their use in various application scenarios. Therefore, there is an urgent need to optimize the optical path and measurement and control systems to develop a portable, compact, and flexible ground-based hyperspectral lidar that can meet the needs of detecting different types of targets in complex scenarios.

[0122] In response to the above problems and facing the demand for portable ground-based hyperspectral lidar, the embodiments of the present application address the shortcomings of existing hyperspectral lidars, such as large size and weight, difficulty in carrying, small aperture, non-adjustable focal length and low degree of intelligent integration. An intelligent portable ground-based hyperspectral lidar system based on PXIe and switch matrix is proposed. This system not only greatly reduces the size and weight, making it easy to carry, but also can realize zoom measurement, and can achieve rapid and accurate detection of the structure of complex outdoor vegetation. The quality of hyperspectral data is improved through zoom adjustment, and it is suitable for accurate detection of vegetation structure and component information over large areas outdoors.

[0123] Figure 12 A hardware connection diagram of a portable ground-based hyperspectral lidar system provided in an embodiment of the present application is shown in FIG. Figure 12As shown, it includes an optical module 1201, a data acquisition and control module 1202, and a host computer 1203. The optical module 1201 includes a laser emitting device 1204, an echo receiving device 1205, an echo spectrometer 1206, a mobile platform 1207, and a telescope 1208.

[0124] Figure 13 A schematic diagram of the hardware connection of a telescope provided in an embodiment of the present application is shown in FIG. Figure 13 As shown, it includes a lens barrel 1301, an eyepiece 1302, a reflector 1303, a lens 1304, a reflector fine-tuning device 1305, and a lens fine-tuning device 1306.

[0125] Among them, the mobile platform 1207 is mainly used for the position movement of the laser emitting device 1204 and the echo receiving device 1205; the mobile platform 1207 receives the position control instructions of the host computer 1203, and moves in two degrees of freedom. The horizontal angle can achieve plane movement of ±180°, and the pitch can achieve movement of +30° to -90°. The movement accuracy can reach 0.013°, which fully meets the movement requirements of the portable ground-based hyperspectral lidar system.

[0126] The laser emitting device 1204 includes an emission source and a photoelectric converter, which are used to adjust and emit the laser light, as well as convert the optical signal into an electrical signal. The emission source can adjust the intensity and frequency of the emitted laser light, tailoring the emitted light to the application environment. The emitted light passes through lens 1304. A portion of the light enters the photoelectric converter, where it is converted into an electrical signal and transmitted to the data acquisition and control module 1202. The remaining portion is reflected by reflector 1303 and re-emitted to the vegetation being measured, where it reflects and generates an echo. Lens 1304 includes a two-degree-of-freedom lens fine-tuning device 1306 for fine-tuning the optical path of the emitted light. The emitted wave and the echo have the same frequency, but there is a certain time difference within each spectral band.

[0127] The lens barrel 1301 adjusts the focal length to achieve clearer imaging of the vegetation being measured and greater echo data intensity. The eyepiece 1302 is primarily used for adjustment and observation. After the echo signal enters the lens barrel 1301, it is transmitted through the reflector 1303 to the optical fiber interface, which then transmits the optical signal to the echo spectrometer 1206. The optical fiber interface has a small diameter, so to receive the echo signal, the reflector fine-tuning device 1305 must be adjusted to allow the echo signal to enter the optical fiber interface.

[0128] The echo splitting unit 1206 primarily splits the echo signal transmitted by the optical fiber interface into multiple wavelength bands, converts it into electrical signals, and transmits it to the data acquisition and control module 1202. The echo splitting unit 1206 comprises a reflector assembly, a photodiode, and a multi-channel signal amplifier. After passing through the multiple reflectors in the transmitting mirror assembly, the echo signal is split into multiple wavelength bands of spectral signals. Each wavelength band of spectral signals is illuminated by a photodiode at a different position. When the photodiode is turned on, it generates an electrical signal. However, this electrical signal is very weak and difficult to detect. It must be converted into a standard voltage and current signal by a multi-channel amplifier circuit before being transmitted to the data acquisition and control module 1202.

[0129] Among them, the data acquisition and control module 1202 is used to collect the electrical signals transmitted by the laser emitting device and the echo spectrometer 1206, realize the intelligent switching of multi-channel echo spectrum signals, and is controlled by the host computer 1203 and the emitted laser signal; the sampling frequency is as high as 5GHz, which can quickly and accurately collect the peak values of the emission and echo spectrum data, and its acquisition start is controlled by the trigger level of the host computer 1203.

[0130] Among them, the host computer 1203 is a real-time status monitoring and data processing system of a hyperspectral lidar developed based on the Laboratory Virtual Instrument Engineering Workbench (Labview), which realizes the following three functions: 1. Real-time monitoring of remote sensing vegetation multi-channel hyperspectral data display, real-time display of mobile platform setting parameters and relative position, and display of connection status of various hardware systems of the hyperspectral lidar; 2. Multi-channel spectral data preprocessing, calculation of noise of complex vegetation spectral data, spectral data playback and data peak analysis; 3. Hardware system working parameter adjustment, mainly including the selection of acquisition channels, end point position preset, mobile platform 1207 movement trajectory design, etc. In addition, it also includes functions such as high-frequency acquisition card bias fine-tuning.

[0131] In some embodiments, the data acquisition and control system has a simple composition, few hardware connections, and is light in weight, which greatly improves the portability of the system. In addition, installing the optical module 1201 and the data acquisition and control module 1202 in a mobile shielding box can realize portable measurement indoors and outdoors, greatly improving the practicality of the hyperspectral lidar system.

[0132] Figure 14 A schematic diagram of a data collection method provided in an embodiment of the present application, including steps S1401 to S1408, will be combined with Figure 14 The steps shown are explained.

[0133] Step S1401: Fix the telescope on the mobile platform.

[0134] In some embodiments, the mobile platform is fixed with a tripod, and the height of the tripod is kept consistent with the height of the measured vegetation.

[0135] Step S1402: Install the emission source on one side of the lens barrel, and connect the photoelectric conversion device to the data acquisition and control system.

[0136] In some embodiments, the photoelectric conversion device of the laser emitting device is connected to the A channel of the high-frequency acquisition card of the data acquisition and control system, and the laser emission circuit connection is completed.

[0137] Step S1403: Connect the mobile platform to the data acquisition and control system controller.

[0138] In some embodiments, the adjustment control module of the mobile platform is connected to the 232 serial port of the data acquisition and control system controller, and the host computer sends instructions to the mobile platform through the serial port.

[0139] Step S1404: Connect the echo spectrometer to the data acquisition and control module.

[0140] In some embodiments, the output signals of the echo spectrometer are connected one-to-one to the matrix switch of the data acquisition and control module, and the output end of the matrix switch is connected to the B channel of the high-frequency acquisition card of the data acquisition and control module.

[0141] Step S1405: After the hardware is connected, align the laser emitting device and the echo receiving device.

[0142] In some embodiments, the frequency of the laser emitted by the laser source is set. The laser frequency should generally not be too low and is generally set between 1 kHz and 20 kHz. Turn on the power of the laser source and adjust the focal length on the lens barrel to make the image in the eyepiece clearer, so as to ensure a higher echo intensity. After the lens barrel focal length is adjusted, adjust the fine-tuning knob of the reflector so that the echo signal enters the optical fiber interface. At this time, try not to adjust the fine-tuning knob of the lens, otherwise the lens barrel focal length needs to be readjusted.

[0143] Step S1406: Set up and verify the host computer.

[0144] In some embodiments, the host computer sets the relative starting position, movement step size, and ending position of the mobile platform. Generally, the mobile platform moves in a grid pattern from left to right. The trigger voltage for the transmitted wave and the zero offset of the high-frequency acquisition card are set. The trigger voltage primarily controls the starting point for echo data acquisition, and the zero offset is set primarily to ensure the accuracy of the acquired data. The host computer inputs a handshake command for the mobile platform, observes whether the mobile platform position adjustment module returns a successful handshake command, then re-enters the mobile platform's motion coordinates, clicks the Start button, and observes whether the mobile platform's relative position movement is correct.

[0145] Step S1407: Start collecting and recording data.

[0146] In some embodiments, the host computer software program is started, the data save address is set, and start is clicked to start real-time collection and recording of spectral and position data until the mobile platform moves to the end point, completing data collection for the entire area.

[0147] Step S1408: Display the collected data.

[0148] In some embodiments, the position of the mobile platform can be displayed in real time on the host computer software. After the acquisition is completed, the data can be viewed through the host computer data playback function.

[0149] In this embodiment, the optical sensing and processing unit serves as the core sensor for hyperspectral data acquisition, and is paired with a data acquisition and control system and a host computer to form a portable ground-based hyperspectral lidar system. The data acquisition and control system, laser transmitter, and echo spectrometer are housed in a mobile shielded enclosure, enabling portable measurements both indoors and outdoors, significantly enhancing the system's practicality. The telescope's barrel facilitates focusing, significantly improving echo data quality when measuring outdoors in natural light.

[0150] In some embodiments, combined Figure 12 The real-time mode of the portable ground-based hyperspectral lidar system provided in the embodiment of the present application includes: connecting the host computer, the data acquisition and control system and the optical module; after the hardware connection is completed, focusing the lens barrel and adjusting the echo to enter the optical fiber interface; starting the host computer control software, observing whether the connection of each module is normal, and observing whether the data on the interface is normal; setting various parameters on the host computer, and then clicking the start and save buttons to collect and store various types of data; after the data collection is completed, the measurement data is read out from the data acquisition and control module, and imported into the relevant professional software for processing.

[0151] In the embodiments of this application, a portable ground-based hyperspectral lidar system is proposed, which not only significantly reduces its size and weight, making it easy to carry, but also enables rapid and accurate detection of complex outdoor vegetation structures, making it suitable for precise detection of vegetation structure and composition information over large areas. The optical module utilizes a focusable lens barrel and a highly sensitive mobile platform, achieving adjustable focal length, a wide range of pitch angles, and high mobile sensitivity, enabling zoom measurement and rapid acquisition of full-waveform echo signals from hyperspectral lidar at different focal lengths in complex scenes.

[0152] Based on the foregoing embodiments, the embodiments of the present application provide a data acquisition system based on a ground-based hyperspectral lidar, which includes the various units included and the various modules included in each unit, and can be implemented by a processor in a data acquisition device; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0153] Figure 15 A schematic diagram of the structure of a data acquisition system provided in an embodiment of the present application is shown in FIG. Figure 15 As shown, the data acquisition system 1500 includes: a transceiver module 1501, an acquisition module 1502, and a control module 1503, wherein: the transceiver module 1501 is used to transmit a first light signal to the target object through the telescope based on the transceiver device, and receive a second light signal reflected by the target object based on the transceiver device; the acquisition module 1502 is used to acquire the second light signal based on the processing device to obtain first target data; and the control module 1503 is used to adjust the mobile platform to the target posture based on the target control instruction in response to receiving the first target data.

[0154] In some embodiments, the transceiver includes a laser emitting device; the telescope includes a lens and a reflector; the laser emitting device includes a transmitting source, and the transceiver module 1501 is further used to send the first light signal to the reflector through the lens based on the transmitting source, and the first light signal is reflected by the reflector to the target object.

[0155] In some embodiments, the laser emitting device also includes a first photoelectric conversion device, and the transceiver module 1501 is further used to send the first optical signal to the first photoelectric conversion device through the lens based on the emission source; the first photoelectric conversion device is used to convert the first optical signal into a first electrical signal; based on the first electrical signal, the second optical signal is collected by the processing device to obtain the first target data.

[0156] In some embodiments, the data acquisition device also includes an echo spectrometer; the telescope includes a lens barrel and a reflector; the transceiver includes an echo receiving device; the transceiver module 1501 is further used to receive the second optical signal reflected by the reflector through the lens barrel based on the echo receiving device, and send the second optical signal to the echo spectrometer; and convert the second optical signal into a second electrical signal based on the echo spectrometer.

[0157] In some embodiments, the echo spectrometer includes a reflector group, a second photoelectric conversion device, and a multi-channel signal amplifier; the transceiver module 1501 is also used for the reflector group to convert the second optical signal into a spectroscopic signal of multiple bands; based on the second photoelectric conversion device, the spectroscopic signal of the multiple bands is converted into a third electrical signal of the multiple bands; based on the multi-channel signal amplifier, the third electrical signal is amplified to obtain the second electrical signal.

[0158] In some embodiments, the target control instruction includes a posture control instruction, and the control module 1503 is further used to obtain the pre-saved posture control instruction, and control the mobile platform to the target posture based on the pre-saved posture control instruction; receive the posture control instruction input by the user, and control the mobile platform to the target posture based on the posture control instruction input by the user.

[0159] In some embodiments, the data acquisition system 1500 further includes a display module (not shown in the figure), which is configured to pre-process the first target data to obtain second target data and display the second target data.

[0160] In some embodiments, the display module is further used to obtain the real-time connection status between the transceiver, the processing device, the mobile platform and the telescope, and the real-time posture of the mobile platform; and display the real-time connection status and the real-time posture.

[0161] The description of the above device embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. In some embodiments, the functions or modules included in the device provided in the embodiments of the present application can be used to perform the methods described in the above method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0162] It should be noted that, in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for making a data acquisition system (which can be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific hardware, software or firmware, or any combination of hardware, software and firmware.

[0163] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0164] The embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above method. The computer-readable storage medium may be transient or non-transient.

[0165] An embodiment of the present application provides a computer program, including computer-readable code. When the computer-readable code runs in an electronic device, a processor in the electronic device executes some or all of the steps for implementing the above method.

[0166] An embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, implements some or all of the steps in the above method. The computer program product can be implemented specifically by hardware, software, or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium. In other embodiments, the computer program product is embodied as a software product, such as a software development kit (SDK), etc.

[0167] It should be noted that the descriptions of the various embodiments above tend to emphasize the differences between the various embodiments, and their similarities or similarities can be referenced to each other. The descriptions of the above device, storage medium, computer program, and computer program product embodiments are similar to the descriptions of the above method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the device, storage medium, computer program, and computer program product of this application, please refer to the description of the method embodiments of this application for understanding.

[0168] Please refer to Figure 1 , Figure 1 A hardware entity diagram of a data acquisition device provided in an embodiment of the present application is shown as follows: Figure 1 As shown, the data acquisition device 100 includes a transceiver 101, a processing device 102, a mobile platform 103 and a telescope 104, wherein the transceiver 101 is connected to the telescope 104 and the processing device 102 respectively, and the telescope 104 is fixed to the mobile platform 103; wherein the transceiver 101 is used to transmit a first light signal to the target object through the telescope 104, and receive a second light signal reflected by the target object based on the transceiver 101; the processing device 102 is used to collect the second light signal to obtain first target data; and the mobile platform 103 is used to adjust itself to the target posture based on the target control instruction.

[0169] In some embodiments, the transceiver 101 includes a laser emitting device (not shown in the figure), and the telescope 104 includes a lens (not shown in the figure) and a reflector (not shown in the figure); the laser emitting device includes a transmitting source (not shown in the figure), and the transmitting source is used to send the first light signal to the reflector through the lens, and the first light signal is reflected by the reflector to the target object.

[0170] In some embodiments, the laser emitting device further includes a first photoelectric conversion device (not shown in the figure); the data acquisition device 100 further includes a host computer (not shown in the figure); the emission source is further used to send the first optical signal to the first photoelectric conversion device through the lens; the first photoelectric conversion device is used to convert the first optical signal into a first electrical signal; the host computer is used to send an acquisition instruction to the processing device in response to the first electrical signal; the processing device 102 is further used to acquire the second optical signal based on the acquisition instruction to obtain the first target data.

[0171] In some embodiments, the data acquisition device 100 further includes an echo spectrometer (not shown in the figure); the telescope 104 includes a lens (not shown in the figure) and a reflector (not shown in the figure); the transceiver 101 includes an echo receiving device (not shown in the figure), the echo receiving device is used to receive the second optical signal reflected by the reflector through the lens barrel, and send the second optical signal to the echo spectrometer; the echo spectrometer is used to convert the second optical signal into a second electrical signal.

[0172] In some embodiments, the echo spectrometer includes a reflector group (not shown in the figure), a second photoelectric conversion device (not shown in the figure), and a multi-channel signal amplifier (not shown in the figure); the reflector group is used to convert the second optical signal into a spectroscopic signal of multiple bands; the second photoelectric conversion device is used to convert the spectroscopic signal of the multiple bands into a third electrical signal of the multiple bands; the multi-channel signal amplifier is used to amplify the third electrical signal to obtain the second electrical signal.

[0173] In some embodiments, the target control instruction includes a posture control instruction; the data acquisition device 100 also includes a host computer (not shown in the figure), which is used to obtain the pre-saved posture control instruction, and control the mobile platform 103 to the target posture based on the pre-saved posture control instruction; receive the posture control instruction input by the user, and control the mobile platform 103 to the target posture based on the posture control instruction input by the user.

[0174] In some embodiments, the host computer is further used to preprocess the first target data to obtain second target data; and display the second target data.

[0175] In some embodiments, the host computer is further used to obtain the real-time connection status between the transceiver, the processing device, the mobile platform and the telescope, and the real-time posture of the mobile platform; and display the real-time connection status and the real-time posture.

[0176] An embodiment of the present application provides a computer storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of the method of any of the above embodiments.

[0177] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0178] The processor may be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor. It is understood that the electronic device that implements the functions of the processor may also be other electronic devices, which are not specifically limited in the embodiments of the present application.

[0179] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0180] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned steps / processes does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0181] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0182] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0183] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0184] In addition, the functional units in the embodiments of the present application can all be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units. It can be understood by those skilled in the art that all or part of the steps of the above-mentioned method embodiments can be completed by hardware related to program instructions, and the above-mentioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the above-mentioned storage medium includes various media that can store program codes, such as mobile storage devices, read-only memories (ROMs), magnetic disks or optical disks.

[0185] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling an electronic device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0186] The above is only an implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A data acquisition method based on ground-based hyperspectral laser radar, characterized in that: Applied to a data acquisition device, the data acquisition device includes a transceiver, a processing device, a mobile platform, and a telescope, the telescope is fixed to the mobile platform, the transceiver is connected to the telescope and the processing device respectively, and the method includes: transmitting a first optical signal to a target object through the telescope based on the transceiver, and receiving a second optical signal reflected by the target object based on the transceiver; collecting the second optical signal based on the processing device to obtain first target data; In response to receiving the first target data, the mobile platform is adjusted to a target posture based on a target control instruction.

2. The method according to claim 1, characterized in that The transceiver includes a laser emitting device; the telescope includes a lens and a reflector; the laser emitting device includes a transmitting source, and the first optical signal is emitted toward the target object through the telescope based on the transceiver, including: The emission source sends the first light signal to the reflector through the lens, and the first light signal is reflected by the reflector to the target object.

3. The method according to claim 2, characterized in that The laser emitting device further includes a first photoelectric conversion device, and the method further includes: Sending the first optical signal to the first photoelectric conversion device through the lens based on the emission source; converting the first optical signal into a first electrical signal based on a first photoelectric conversion device; Based on the first electrical signal, the second optical signal is collected by the processing device to obtain the first target data.

4. The method according to claim 1, wherein The data acquisition device further includes an echo spectrometer; the telescope includes a lens barrel and a reflector; the transceiver includes an echo receiving device, and the second optical signal based on the first optical signal reflected by the target object received by the transceiver includes: receiving the second optical signal reflected by the reflector through the lens barrel based on the echo receiving device, and sending the second optical signal to the echo splitting device; The second optical signal is converted into a second electrical signal based on the echo splitting device.

5. The method according to claim 4, characterized in that The echo spectrometer includes a reflector group, a second photoelectric conversion device, and a multi-channel signal amplifier; and converting the second optical signal into a second electrical signal based on the echo spectrometer includes: Converting the second optical signal into split optical signals of multiple wavelength bands based on the reflector group; Converting the split optical signals of the plurality of wavelength bands into third electrical signals of the plurality of wavelength bands based on the second photoelectric conversion device; The third electrical signal is amplified based on the multi-channel signal amplifier to obtain the second electrical signal.

6. The method according to any one of claims 1 to 5, characterized in that The target control instruction includes a posture control instruction; and in response to receiving the first target data, adjusting the mobile platform to a target posture based on the target control instruction includes at least one of the following: Acquire the pre-saved posture control instruction, and control the mobile platform to the target posture based on the pre-saved posture control instruction; The posture control instruction input by the user is received, and the mobile platform is controlled to the target posture based on the posture control instruction input by the user.

7. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Preprocessing the first target data to obtain second target data; The second target data is displayed.

8. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Acquiring the real-time connection status between the transceiver, the processing device, the mobile platform, and the telescope, as well as the real-time posture of the mobile platform; The real-time connection status and the real-time posture are displayed.

9. A data acquisition system based on ground-based hyperspectral laser radar, characterized in that: The system is applied to a data acquisition device, which includes a transceiver, a processing device, a mobile platform, and a telescope. The telescope is fixed to the mobile platform, and the transceiver is connected to the telescope and the processing device respectively. The system includes: a transceiver module, configured to transmit a first optical signal to a target object through the telescope based on the transceiver device, and receive a second optical signal reflected by the target object based on the transceiver device; an acquisition module, configured to acquire the second optical signal based on the processing device to obtain first target data; The control module is configured to adjust the mobile platform to a target posture based on a target control instruction in response to receiving the first target data.

10. A data acquisition device based on ground-based hyperspectral laser radar, characterized in that: The device includes a transceiver, a processing device, a mobile platform and a telescope, wherein the telescope is fixed to the mobile platform, and the transceiver is connected to the telescope and the processing device respectively, wherein: The transceiver is configured to transmit a first optical signal to a target object through the telescope, and receive a second optical signal based on the reflection of the first optical signal from the target object received by the transceiver; The processing device is used to collect the second optical signal to obtain first target data; The mobile platform is used to adjust itself to a target posture based on the target control instruction.

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