Full-azimuthal morphology scanning device and method suitable for large-size rock samples

Abstract

This invention discloses an omnidirectional morphological scanning device suitable for large-size rock specimens, comprising a support platform, a hydraulic lifting system, a scanning system, and a computer system. The hydraulic lifting system includes a first set of lifting devices and a second set of lifting devices. The scanning system includes scanning devices mounted on the support platform and arranged around the rock specimen, and scanning devices arranged to the sides of the rock specimen. Each scanning device includes a hyperspectral camera, a high-definition camera, and a vertical angle adjustment device. The computer system controls the first and second sets of lifting devices to simultaneously or alternately lift the rock specimen. The computer system receives data captured by the hyperspectral camera, matches it with a built-in mineral spectral library to determine mineral types, and analyzes the mineral composition of the rock specimen surface. Data captured by the high-definition camera is preprocessed and aligned with multiple perspectives to complete model reconstruction and analyze the morphology of the rock specimen surface. This invention optimizes the structure of the morphological scanning device and improves the accuracy of morphological model stitching.

Description

Technical Field

[0001] This invention relates to the field of rock morphology scanning technology, and in particular to an all-around morphology scanning device and method suitable for large-size rock samples. Background Technology

[0002] With the development of technology, morphological scanning devices have been widely used in geotechnical engineering to scan the geometric information of rock surfaces to construct digital models and analyze detailed information such as rock defects, cracks, and volume changes before and after rock mechanics tests. This is of great significance to the field of rock mechanics testing research. However, as rock mechanics tests gradually develop towards large-scale in-situ methods, the size of the rock samples used is gradually increasing, and their weight can reach several tons, making it difficult to scan the morphology of the rock bottom. The traditional method of lifting and scanning rocks using gantry cranes and rock clamps often damages the rock samples and is prone to shaking, even safety accidents. The method of acquiring comprehensive morphological information is complex and unsafe. In addition, when scanning rock samples, a single scanning device is often used to scan the rock multiple times from multiple directions and different spatial coordinate systems, resulting in large errors in the subsequent data stitching and easy occurrence of misalignment and displacement. Furthermore, when using existing morphological scanning devices, the characteristic areas on the rock are limited to geometric information, resulting in a single type of test data.

[0003] In summary, the current morphological scanning device has the following problems: (1) It is difficult to scan the bottom surface of large-size rock samples. The traditional method of obtaining all-round morphological information has safety hazards and is complicated; (2) Scanning large-size rock samples requires constantly changing the spatial coordinate system. The number of coordinate changes is too many, the error is large, and misalignment and displacement are easy to occur when splicing data, which affects the accuracy of the data; (3) The scanning test results are limited to geometric data, and the test data type is single. Summary of the Invention

[0004] The main objective of this invention is to provide an omnidirectional morphological scanning device and method suitable for large-size rock samples. It aims to solve problems such as the difficulty of scanning the bottom surface of large-size rock samples, inaccurate model splicing results, and scanning results being limited to geometric data, thereby optimizing the structure of the morphological scanning device and improving the accuracy of morphological model splicing.

[0005] The technical solution adopted in this invention is:

[0006] A full-range morphological scanning device suitable for large-size rock samples includes a support platform, a hydraulic lifting system, a scanning system, and a computer system.

[0007] The hydraulic lifting system includes a first set of lifting devices and a second set of lifting devices installed inside the load-bearing platform, and the rock sample is placed on the top of the first set of lifting devices and / or the second set of lifting devices.

[0008] The scanning system includes multiple scanning devices mounted on the upper surface of the support platform and arranged around the rock sample for scanning the bottom and sides of the rock sample; the scanning system also includes a scanning device mounted on the support frame and arranged to the side of the rock sample for scanning the top surface of the rock sample.

[0009] Each of the scanning devices includes a hyperspectral camera, a high-definition camera, and a vertical angle adjustment device. The hyperspectral camera is used to acquire the spectrum of the rock sample surface, the high-definition camera is used to capture the morphology of the rock sample surface, and the vertical angle adjustment device is used to adjust the vertical angle of the hyperspectral camera and the high-definition camera.

[0010] The computer system independently controls the first and second sets of lifting devices to simultaneously or alternately lift the rock sample; the computer system receives data captured by each hyperspectral camera, matches it with the built-in mineral spectral library to determine the mineral type, and analyzes the mineral composition of the rock sample surface; the computer system receives data captured by each high-definition camera, performs data preprocessing and multi-view alignment to complete model reconstruction, and analyzes the morphology of the rock sample surface.

[0011] In the above scheme, the support platform has a cavity for installing the hydraulic lifting system; a limiting groove is provided in the middle of the upper surface of the support platform, the size of the limiting groove is adapted to the size of the rock sample, and the hydraulic lifting system can extend from the bottom surface of the limiting groove to lift the rock sample.

[0012] In the above scheme, a lighting lamp is installed at the center of the bottom surface of the limiting groove.

[0013] In the above scheme, a scanning device is installed at the midpoint of each of the four sides of the upper surface of the support platform.

[0014] In the above scheme, a scanning device is arranged on the side of the rock sample.

[0015] In the above scheme, the support frame includes a horizontal angle adjustment device, a telescopic column and a base arranged sequentially from top to bottom. The scanning device is installed on the horizontal angle adjustment device. The horizontal angle adjustment device is used to adjust the horizontal angle of the scanning device, and the telescopic column is used to adjust the height of the scanning device.

[0016] In the above scheme, both the first and second sets of lifting devices include multiple lifting platforms; each lifting platform includes a piston, a hydraulic cylinder, a solenoid directional valve, a throttle valve, an oil pipe, a filter, a relief valve, a hydraulic pump, a motor, a controller, and an oil tank; the piston is installed inside the hydraulic cylinder, the hydraulic cylinder is connected to the oil tank through an oil pipe, and the solenoid directional valve, throttle valve, filter, and hydraulic pump are sequentially installed on the oil pipe; the motor is connected to the hydraulic pump, and the controller is connected to the motor; a branch line is also provided on the oil pipe to connect to the oil tank, and the relief valve is installed on this branch line.

[0017] In the above scheme, the multiple lifting platforms of the first lifting device and the multiple lifting platforms of the second lifting device are arranged alternately, and all the lifting platforms are distributed in a square array below the rock sample.

[0018] Accordingly, the present invention also proposes an omnidirectional morphological scanning method, comprising the following steps:

[0019] S1. Install the above-mentioned all-round morphological scanning device suitable for large-size rock samples, place the rock sample in the limiting groove on the support platform, and adjust each scanning device to a suitable elevation angle.

[0020] S2. Affix multiple marker points to the surface of the rock sample;

[0021] S3. The computer system controls the first set of lifting devices to lift the rock sample, waits for each scanning device to scan the rock sample simultaneously, and after the scanning is completed, lowers the first set of lifting devices and raises the second set of lifting devices, and waits for each scanning device to scan the rock sample simultaneously again; repeat the above operation 2 to 3 times to ensure that all six sides of the rock sample are completely scanned.

[0022] S4. The computer system records the coordinates (x) of the marker points from the high-definition camera. i y j , z k ), denoted as P Using the coordinate system of one of the high-definition cameras as the base coordinate system, the coordinates of the marker points recorded by the other four high-definition cameras are translated and rotated to unify them onto a single coordinate system before stitching them together; the resulting coordinates... , recorded as The calculation formula is as follows:

[0023] (1)

[0024] In the formula: P The coordinates of each marker point; The coordinates of each marker point after unifying the coordinate system; C It is a translation vector; R It is a rotation matrix;

[0025] S5. After the computer system performs noise reduction processing on the spectral data recorded by the hyperspectral camera, it calculates the mineral matching similarity ρ according to formula (4), matches it with the mineral spectral library to determine the mineral composition, and identifies minerals with ρ≥0.9 as the same mineral type:

[0026] (4)

[0027] In the formula: ρ represents the mineral matching similarity; For the spectrum to be measured in the first... i The reflectivity value of the segment; For the mineral spectral library in the 1st i The reflectance value of the band; n is the total number of spectral bands;

[0028] S6. Wait for the computer system to stitch the model together. After the model stitching is complete, remove the rock sample, restore each test device to its initial state, select the model file type, and export it.

[0029] In the above method, step S1, installing an all-around morphological scanning device suitable for large-size rock samples, specifically includes the following steps:

[0030] S11. Install the lighting fixtures on the load-bearing platform;

[0031] S12. Place the rock sample in the limiting groove on the load-bearing platform;

[0032] S13. Install a scanning device at the midpoint of each of the four sides of the upper surface of the load-bearing platform. Ensure that the scanning device on the left side can completely capture the left side and part of the bottom surface of the rock sample, the scanning device on the right side can completely capture the right side and part of the bottom surface of the rock sample, the scanning device on the front side can completely capture the front side and part of the bottom surface of the rock sample, and the scanning device on the rear side can completely capture the rear side and part of the bottom surface of the rock sample, so as to ensure that the bottom and sides of the rock sample can be completely scanned.

[0033] S14. Next, install the fifth scanning device on the support frame and adjust it to a suitable height to ensure that the top surface of the rock can be completely scanned.

[0034] S15. Connect the hydraulic lifting system and scanning system to the computer system, then turn on each scanning device, lighting, and control software in the computer system to observe whether each scanning device can operate normally and whether the elevation angle is appropriate.

[0035] The beneficial effects of this invention are:

[0036] This invention uses two sets of lifting devices to alternately lift rock samples, combined with five scanning devices to perform omnidirectional morphological scanning of large-sized rock samples, reducing the scanning blind zone rate and effectively eliminating the risk of sample damage from traditional hoisting scanning, thus increasing scanning stability. The five scanning devices use a fixed coordinate system combined with a stitching algorithm to reduce the number of data point coordinate transformations, reduce cumulative stitching errors, increase stitching speed, and reduce stitching errors. The scanning devices integrate high-definition cameras and hyperspectral cameras, which can perform geometric calculations and spectral analysis on the characteristic areas of the rock sample, breaking through the limitations of traditional single geometric data. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the omnidirectional morphological scanning device applicable to large-size rock samples according to the present invention.

[0039] Figure 2 yes Figure 1 The top view of the support platform of the omnidirectional morphological scanning device suitable for large-size rock specimens is shown.

[0040] Figure 3 yes Figure 1 The diagram shows a schematic of the hydraulic lifting system of an all-around morphological scanning device suitable for large-size rock samples.

[0041] In the diagram: 1. Hydraulic lifting system; 11. First lifting platform; 12. Second lifting platform; 13. Third lifting platform; 14. Fourth lifting platform; 15. Fifth lifting platform; 16. Sixth lifting platform; 17. Seventh lifting platform; 18. Eighth lifting platform; 111. Anti-slip sleeve; 112. Piston; 113. Hydraulic cylinder; 114. Solenoid directional valve; 115. Throttle valve; 116. Oil pipe; 117. Filter; 118. Relief valve; 119. Hydraulic pump; 120. Electric motor; 121. Controller; 122. Oil tank;

[0042] 21. Scanning device; 211. Hyperspectral camera; 212. High-definition camera; 213. Vertical angle adjustment device; 22. Support frame; 221. Horizontal angle adjustment device; 222. Upper column; 223. Upper and lower handles; 224. Lower column; 225. Base;

[0043] 3. Load-bearing platform; 31. Left side scanning device mounting point; 32. Front scanning device mounting point; 33. Right side scanning device mounting point; 34. Rear scanning device mounting point; 35. Lighting lamp mounting point; 36. Limiting groove;

[0044] 4. Rock samples;

[0045] 5. Computer system. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0047] It should be noted that the illustrations provided in the embodiments of the present invention are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0048] In this invention, it should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used only for descriptive and distinguishing purposes and should not be construed as indicating or implying relative importance.

[0049] like Figure 1 As shown, this invention proposes an all-around morphological scanning device suitable for large-size rock samples, used for scanning the morphology and mineral composition of rock samples before and after testing. It includes a support platform 3, a hydraulic lifting system 1, a scanning system, and a computer system 5.

[0050] The hydraulic lifting system 1 includes a first set of lifting devices and a second set of lifting devices installed inside the support platform 3. The rock sample 4 is placed on top of the first set of lifting devices and / or the second set of lifting devices.

[0051] The scanning system includes multiple scanning devices 21 mounted on the upper surface of the support platform 3 and arranged around the rock sample 4 for scanning the bottom and sides of the rock sample 4; the scanning system also includes scanning devices 21 mounted on the support frame 22 and arranged to the side of the rock sample 4 for scanning the top surface of the rock sample 4. Each scanning device 21 includes a hyperspectral camera 211, a high-definition camera 212, and a vertical angle adjustment device 213. The hyperspectral camera 211 is used to acquire the spectrum of the surface of the rock sample 4, the high-definition camera 212 is used to photograph the morphology of the surface of the rock sample 4, and the vertical angle adjustment device 213 is used to adjust the vertical angle of the hyperspectral camera 211 and the high-definition camera 212.

[0052] Computer system 5 independently controls the first and second sets of lifting devices, enabling them to simultaneously or alternately lift the rock sample 4. Computer system 5 can also control multiple scanning devices 21 to perform omnidirectional morphological scanning and mineral composition analysis on the rock sample 4. Computer system 5 receives data captured by various hyperspectral cameras 211, matches it with a built-in mineral spectral library to determine mineral types, and analyzes the mineral composition of the rock sample 4 surface. Computer system 5 also receives data captured by various high-definition cameras 212, performs data preprocessing and multi-view alignment to complete model reconstruction, and analyzes the morphology of the rock sample 4 surface.

[0053] In one embodiment of the present invention, the support platform 3 has a cavity for installing the hydraulic lifting system 1. A limiting groove 36 is provided in the middle of the upper surface of the support platform 3. The size of the limiting groove 36 is adapted to the size of the rock sample 4. The hydraulic lifting system 1 can extend from the bottom surface of the limiting groove 36 to lift the rock sample 4.

[0054] In one embodiment of the present invention, a groove is provided at the center of the bottom surface of the limiting groove 36 as a lighting lamp mounting point 35 for mounting a lighting lamp to ensure the shooting effect.

[0055] In one embodiment of the present invention, a scanning device 21 is installed at the midpoint of each of the four sides of the upper surface of the support platform 3, namely, a left scanning device installation point 31, a front scanning device installation point 32, a right scanning device installation point 33, and a rear scanning device installation point 34, with one scanning device 21 installed at each installation point. The left scanning device 21 is used to photograph the left side and part of the bottom surface of the rock sample 4; the right scanning device 21 is used to photograph the right side and part of the bottom surface of the rock sample 4; the front scanning device 21 is used to photograph the front side and part of the bottom surface of the rock sample 4; and the rear scanning device 21 is used to photograph the rear side and part of the bottom surface of the rock sample 4. The four scanning devices 21 ensure that the bottom and sides of the rock sample 4 can be fully scanned.

[0056] In one embodiment of the present invention, a scanning device 21 is arranged on the side of the rock sample 4 for scanning the top surface of the rock.

[0057] In one embodiment of the present invention, the bottom surface of the limiting groove 36 is square and concentric with the square upper surface of the support platform 3. The side length of the limiting groove 36 is 1 mm longer than the side length of the rock sample 4, and the depth is 1 mm.

[0058] In one embodiment of the present invention, the support frame 22 includes a horizontal angle adjustment device 221, a telescopic column, and a base 225 arranged sequentially from top to bottom. The scanning device 21 is mounted entirely on the horizontal angle adjustment device 221. The horizontal angle adjustment device 221 is used to adjust the horizontal angle of the scanning device 21. The telescopic column is used to adjust the height of the scanning device 21. The base 225 is used for fixed load-bearing. Specifically, the telescopic column includes an upper column 222, upper and lower handles 223, and a lower column 224. The upper and lower handles 223 are used to adjust the height of the upper column 222 relative to the lower column 224.

[0059] In one embodiment of the present invention, such as Figure 2 As shown, the hydraulic lifting system 1 includes a first lifting platform 11, a second lifting platform 12, a third lifting platform 13, a fourth lifting platform 14, a fifth lifting platform 15, a sixth lifting platform 16, a seventh lifting platform 17, an eighth lifting platform 18, and a support platform 3. The eight lifting platforms 11, 12, 13, 14, 15, 16, 17, and 18 are sequentially installed inside the support platform 3, arranged in a square pattern when viewed from above. The first lifting platform 11, 13, 15, and 17 form a first lifting device, while the second lifting platform 12, 14, 16, and 18 form a second lifting device. The computer system 5 can control the two lifting devices to alternately raise or lower, used to lift or lower the rock sample 4. By alternately lifting the rock sample 4 with the two lifting devices, the entire bottom surface of the rock sample 4 can be scanned.

[0060] In one embodiment of the present invention, such as Figure 3As shown, the lifting platform includes a piston 112, a hydraulic cylinder 113, a solenoid directional valve 114, a throttle valve 115, an oil pipe 116, a filter 117, a relief valve 118, a hydraulic pump 119, an electric motor 120, a controller 121, and an oil tank 122. The piston 112 is installed inside the hydraulic cylinder 113, which is connected to the oil tank 122 via the oil pipe 116. The solenoid directional valve 114, throttle valve 115, filter 117, and hydraulic pump 119 are sequentially installed on the oil pipe 116. The solenoid directional valve 114 is used to switch the piston 112 up or down. The throttle valve 115 controls the hydraulic oil flow rate, achieving precise adjustment of the piston 112's movement speed. The filter 117 removes solid contaminants from the hydraulic oil, protecting precision components from wear or blockage. The hydraulic pump 119 converts mechanical energy into hydraulic energy to power the piston 112. The electric motor 120 is connected to the hydraulic pump 119 and drives its operation. The controller 121 is connected to the motor 120 and is used to control the speed and direction of the motor 120. A branch line is also provided on the oil pipe 116, connecting to the oil tank 122. An overflow valve 118 is installed on this branch line. The function of this branch line is to automatically open the overflow valve 118 when the system pressure exceeds the set value, allowing excess oil to flow back to the oil tank 122 and preventing system overpressure damage. An anti-slip sleeve 111 is fitted to the top of the piston 112 to increase the friction between it and the rock sample 4.

[0061] Accordingly, the present invention also proposes an omnidirectional morphological scanning method, comprising the following steps:

[0062] S1. Install the above-mentioned omnidirectional morphological scanning device 21 suitable for large-size rock samples, specifically including the following steps:

[0063] S11. Install the lighting fixture on the load-bearing platform 3 through the lighting fixture installation point 35;

[0064] S12. Place the rock sample 4 in the limiting groove 36 on the load-bearing platform 3;

[0065] S13. Install a scanning device 21 at the installation points of the first, second, third, and fourth scanning devices 21 respectively, to ensure that the left scanning device 21 can completely photograph the left side and part of the bottom surface of the rock sample 4, the right scanning device 21 can completely photograph the right side and part of the bottom surface of the rock sample 4, the front scanning device 21 can completely photograph the front side and part of the bottom surface of the rock sample 4, and the rear scanning device 21 can completely photograph the rear side and part of the bottom surface of the rock sample 4, so as to ensure that the bottom and sides of the rock sample 4 can be completely scanned.

[0066] S14. Next, install the fifth scanning device 21 on the support frame 22, and adjust the telescopic column to a suitable height to ensure that the top surface of the rock can be completely scanned.

[0067] S15. Connect the hydraulic lifting system 1 and the scanning system to the computer system 5, then turn on each scanning device 21, the lighting lamp and the control software in the computer system 5, and observe whether each scanning device 21 can operate normally and whether the elevation angle is appropriate.

[0068] S2. Attach markers to the surface of rock sample 4, with a spacing of 3-7 cm between markers. Each rock surface should have at least 16 markers. The markers should avoid obscuring characteristic areas such as pores, cracks, and joints on the measured object, and should not be aligned in a straight line. The distances between markers should be varied. When attaching markers to the bottom surface of rock sample 4, the rock sample 4 can be lifted using the hydraulic lifting system 1 before attachment.

[0069] S3. The computer system 5 controls the first set of lifting devices to lift the rock sample 4, waits for each scanning device 21 to scan the rock sample 4 simultaneously, and after the scanning is completed, lowers the first set of lifting devices and raises the second set of lifting devices, waits again for each scanning device 21 to scan the rock sample 4 simultaneously; repeat the above operation 2 to 3 times to ensure that all six sides of the rock sample 4 are completely scanned.

[0070] S4, Computer system 5 records the coordinates (x) of the marker point recorded by HD camera 212. i y j , z k ), denoted as P Using the coordinate system of one of the high-definition cameras 212 as the base coordinate system, the coordinates of the marker points recorded by the other four high-definition cameras 212 are translated and rotated to unify them onto a single coordinate system and then stitched together; the translated and rotated coordinates , recorded as The calculation formula is as follows:

[0071] (1)

[0072] In the formula: P The coordinates of each marker point; The coordinates of each marker point after unifying the coordinate system; C It is a translation vector; R It is a rotation matrix;

[0073] The translation vector is:

[0074] (2)

[0075] In the formula: x For along x Translation along the axial direction; y For along y Translation along the axial direction; z For along z Translation along the axial direction; x The axis is horizontal, with the positive direction to the left; y The axis is the front-to-back direction, with the positive direction forward; z The axis is vertical, with the positive direction upwards;

[0076] The rotation matrix is:

[0077] (3)

[0078] In the formula: α For along x Rotation angle in the axial direction, β For along y Rotation angle along the axis; φ For along z Rotation angle along the axis;

[0079] S5 and computer system 5 perform noise reduction on the spectral data recorded by the hyperspectral camera, and calculate the mineral matching similarity ρ according to formula (4). The mineral composition is determined by matching with the mineral spectral library, and those with ρ≥0.9 are considered to be the same mineral type.

[0080] (4)

[0081] In the formula: ρ represents the mineral matching similarity; For the spectrum to be measured in the first... i The reflectivity value of the segment; For the mineral spectral library in the 1st i The reflectance value of the band; n is the total number of spectral bands.

[0082] S6. Wait for computer system 5 to stitch the model together. After the model stitching is completed, remove rock sample 4, restore each test device to its initial state, select the model file type and export it.

[0083] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0084] The order of the steps in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0085] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for omnidirectional morphological scanning of large-size rock samples, characterized in that, The method includes the following steps: S1. Install an all-around morphological scanning device, which includes a support platform, a hydraulic lifting system, a scanning system, and a computer system. The support platform has a cavity for installing the hydraulic lifting system. A limiting groove is provided in the middle of the upper surface of the support platform. The size of the limiting groove is adapted to the size of the rock sample. The hydraulic lifting system can extend from the bottom surface of the limiting groove to lift the rock sample. The hydraulic lifting system includes a first set of lifting devices and a second set of lifting devices installed inside the support platform. The rock sample is placed on the top of the first set of lifting devices and / or the second set of lifting devices. The scanning system includes multiple scanning devices installed on the upper surface of the support platform and arranged around the rock sample for scanning the bottom and sides of the rock sample. The scanning system also includes devices installed on a support frame and arranged around the rock sample. A scanning device on the side of the rock sample is used to scan the top surface of the rock sample. Each scanning device includes a hyperspectral camera, a high-definition camera, and a vertical angle adjustment device. The hyperspectral camera is used to acquire the spectrum of the rock sample surface, the high-definition camera is used to capture the morphology of the rock sample surface, and the vertical angle adjustment device is used to adjust the vertical angle of the hyperspectral camera and the high-definition camera. The computer system independently controls the first and second sets of lifting devices to simultaneously or alternately lift the rock sample. The computer system receives data captured by each hyperspectral camera, matches it with the built-in mineral spectral library to determine the mineral types, and analyzes the mineral composition of the rock sample surface. The computer system receives data captured by each high-definition camera, performs data preprocessing and multi-view alignment to complete model reconstruction, and analyzes the morphology of the rock sample surface. Place the rock sample in the limiting groove on the load-bearing platform and adjust each scanning device to the appropriate elevation angle; S2. Affix multiple marker points to the surface of the rock sample; S3. The computer system controls the first set of lifting devices to lift the rock sample, waits for each scanning device to scan the rock sample simultaneously, and after the scanning is completed, lowers the first set of lifting devices and raises the second set of lifting devices, and waits for each scanning device to scan the rock sample simultaneously again; repeat the above operation 2 to 3 times to ensure that all six sides of the rock sample are completely scanned. S4. The computer system records the coordinates (x) of the marker points from the high-definition camera. i y j , z k ), denoted as P Using the coordinate system of one of the high-definition cameras as the base coordinate system, the coordinates of the marker points recorded by the other four high-definition cameras are translated and rotated to unify them onto a single coordinate system before stitching them together; the resulting coordinates... , recorded as The calculation formula is as follows: (1) In the formula: P The coordinates of each marker point; The coordinates of each marker point after unifying the coordinate system; C It is a translation vector; R It is a rotation matrix; S5. After the computer system performs noise reduction processing on the spectral data recorded by the hyperspectral camera, it calculates the mineral matching similarity ρ according to formula (4), matches it with the mineral spectral library to determine the mineral composition, and identifies minerals with ρ≥0.9 as the same mineral type: （4） In the formula: ρ represents the mineral matching similarity; For the spectrum to be measured in the first... i The reflectivity value of the segment; For the mineral spectral library in the 1st i The reflectance value of the band; n is the total number of spectral bands; S6. Wait for the computer system to stitch the model together. After the model stitching is complete, remove the rock sample, restore each test device to its initial state, select the model file type, and export it.

2. The omnidirectional morphological scanning method for large-size rock samples according to claim 1, characterized in that, A light is installed at the center of the bottom surface of the limiting groove.

3. The omnidirectional morphological scanning method for large-size rock samples according to claim 1, characterized in that, The scanning device is installed at the midpoint of each of the four sides of the upper surface of the support platform.

4. The omnidirectional morphological scanning method for large-size rock samples according to claim 1, characterized in that, The scanning device is arranged to the side of the rock sample.

5. The omnidirectional morphological scanning method for large-size rock samples according to claim 1, characterized in that, The support frame includes a horizontal angle adjustment device, a telescopic column, and a base arranged sequentially from top to bottom. The scanning device is mounted on the horizontal angle adjustment device. The horizontal angle adjustment device is used to adjust the horizontal angle of the scanning device, and the telescopic column is used to adjust the height of the scanning device.

6. The omnidirectional morphological scanning method for large-size rock samples according to claim 1, characterized in that, Both the first and second lifting devices include multiple lifting platforms; each lifting platform includes a piston, a hydraulic cylinder, a solenoid directional valve, a throttle valve, an oil pipe, a filter, a relief valve, a hydraulic pump, a motor, a controller, and an oil tank; the piston is installed inside the hydraulic cylinder, which is connected to the oil tank via an oil pipe, on which the solenoid directional valve, throttle valve, filter, and hydraulic pump are sequentially installed; the motor is connected to the hydraulic pump, and the controller is connected to the motor; a branch line is also provided on the oil pipe connected to the oil tank, and the relief valve is installed on this branch line.

7. The omnidirectional morphological scanning method for large-size rock samples according to claim 6, characterized in that, The multiple lifting platforms of the first lifting device are arranged alternately with the multiple lifting platforms of the second lifting device, and all the lifting platforms are distributed in a square array below the rock sample.

8. The omnidirectional morphological scanning method for large-size rock samples according to claim 1, characterized in that, In step S1, an all-around morphological scanning device suitable for large-size rock samples is installed, specifically including the following steps: S11. Install the lighting fixtures on the load-bearing platform; S12. Place the rock sample in the limiting groove on the load-bearing platform; S13. Install a scanning device at the midpoint of each of the four sides of the upper surface of the load-bearing platform. Ensure that the scanning device on the left side can completely capture the left side and part of the bottom surface of the rock sample, the scanning device on the right side can completely capture the right side and part of the bottom surface of the rock sample, the scanning device on the front side can completely capture the front side and part of the bottom surface of the rock sample, and the scanning device on the rear side can completely capture the rear side and part of the bottom surface of the rock sample, so as to ensure that the bottom and sides of the rock sample can be completely scanned. S14. Next, install the fifth scanning device on the support frame and adjust it to a suitable height to ensure that the top surface of the rock can be completely scanned. S15. Connect the hydraulic lifting system and scanning system to the computer system, then turn on each scanning device, lighting, and control software in the computer system to observe whether each scanning device can operate normally and whether the elevation angle is appropriate.

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