Omnibearing multi-angle polarization spectral imaging system and method based on multiband LED rotating array

Abstract

The invention belongs to the field of polarization remote sensing spectral imaging, and particularly relates to an omni-directional multi-angle polarization spectral imaging system and method based on a multiband LED rotating array, and the system mainly comprises an illumination light rotating module, an image acquisition module, a circular rail sliding module and a dual-body control module. Wherein the illumination light rotation module serves as a system light source core, quasi-monochromatic parallel light beams with specific wavelengths can be generated through single irradiation, and switching output of different wavelengths is supported; meanwhile, the rotary adjusting capacity is achieved, the light beam emitting direction can be accurately calibrated, and the consistency of the illumination light source direction is guaranteed; the image acquisition module adopts a polarization camera as a core detector to acquire polarization spectrum images of a target object under different conditions; the circular rail sliding module takes a stepping motor as a power source, the polarization camera slides along a circular rail on the support frame, and the image acquisition module synchronously completes acquisition of polarization images; the double-body control module takes a servo motor as a power source and respectively drives the hollow rotating platform and the gear to rotate, the gear simultaneously drives the turntable bearing to rotate so as to drive the support frame to realize 360-degree rotating motion, and the image acquisition module synchronously completes acquisition of polarization images. According to the invention, through the design of the rotating structure of the LED light source, multi-wavelength and multi-angle acquisition of a target polarization spectrum can be accurately realized, the consistency of spectral data is remarkably improved, and efficient and reliable technical support is provided for polarization remote sensing spectral imaging application.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of polarization remote sensing spectral imaging, and particularly relates to a full-range multi-angle polarization spectral imaging system and method based on a multi-band LED rotating array. BACKGROUND

[0002] In the current remote sensing monitoring field, polarization multi-angle remote sensing technology has been developed and applied. This technology supplements the angle dimension data through multi-direction observation, thereby maximizing the extraction of ground object structure information, providing more sufficient support for the inversion of ground object structure parameters, and becoming a commonly used technical means to improve the inversion accuracy. In the scene of unmanned aerial vehicle polarization remote sensing monitoring, the core role of the polarization measurement technology is to separate the specular reflection component and the diffuse reflection component in the spectral image data. The specular reflection component cannot represent the internal material composition of the leaf, and is only the direct reflection of light on the plant leaf surface, which will seriously interfere with the accuracy of the inversion modeling. Based on the above requirements, there are currently many multi-angle polarization reflection analysis instruments developed, which integrate the dual technical advantages of multi-angle observation and polarization measurement to meet the requirements of data accuracy and refinement in modern remote sensing applications.

[0003] However, the existing multi-angle polarization observation system still has significant shortcomings and cannot fully exert its technical potential: first, the angle positioning accuracy is insufficient. In the case of the same zenith angle and azimuth angle, the actual illumination angles of multiple different light sources in the system are deviated, so that the illumination beams of the light sources cannot be accurately focused on the same spatial position of the target object, thereby causing the collected spectral data to correspond to different regions of the target object, and failing to truly reflect the physical and chemical properties of the same position of the target object, and further destroying the consistency and comparability of the data collected in different batches and at different angles; second, the light source configuration is single. Even though some systems support automatic collection, they mostly use white visible complex light sources combined with filter combinations. The white light itself can weaken the multi-spectral polarization detection capability, and the large attenuation of the filter to the light energy leads to a decrease in the signal-to-noise ratio of the collected signal and poor data quality, affecting the final inversion accuracy; third, the data collection dimension is single. Almost all existing systems rely on spectrometers to obtain spectral data, ignoring the important data source of images, which cannot directly present the morphological properties and spatial distribution characteristics of the target object, and it is also difficult to further mine the detailed information of the target object through subsequent image processing, limiting the breadth and depth of the technical application. These problems make it difficult for the existing system to meet the core needs of modern remote sensing for high automation, high data quality, and high information dimension, and there is an urgent need for a polarization spectral imaging technology scheme with the above characteristics to solve the problem. SUMMARY

[0004] In order to solve the above technical problems existing in the prior art, the application designs a full-range multi-angle polarization spectrum imaging system and method based on a multi-band LED rotating array.

[0005] In order to achieve the above purpose, the application adopts the following technical solutions:

[0006] The application discloses a full-range multi-angle polarization spectrum imaging system based on a multi-band LED rotating array, which comprises an illumination light rotating module, an image acquisition module, a circular rail sliding module and a double-body control module.

[0007] Further, the illumination light rotating module comprises a plurality of quasi-monochromatic LED light sources, a convex lens, an LED rotating circular array mounting seat, a bearing and a single-chip microcomputer, the bearing is used for being adaptively mounted with the LED rotating circular array mounting seat, and the bearing provides rotating support for the LED light sources; and the single-chip microcomputer controls the lighting time sequence of each LED light source.

[0008] Further, the image acquisition module comprises a circular platform, a polarization sensor (which can be a black-and-white polarization sensor, a color polarization sensor or a polarization spectrometer) and a computer. The computer is connected with the polarization sensor, adjusts the acquisition parameters of the polarization sensor, and realizes the acquisition of the polarization spectrum image of a target object on the circular platform.

[0009] Further, the circular rail sliding module comprises a gear, an arc-shaped gear rack and a stepping motor, the stepping motor outputs power, drives the gear to mesh with the arc-shaped gear rack for transmission, and drives the load of the circular rail sliding module to move smoothly along an arc-shaped track.

[0010] Further, the double-body control module comprises a hollow rotating platform, a servo motor, a support frame and a turntable bearing, the servo motor outputs power, drives the hollow rotating platform and the turntable bearing, and drives the support frame to realize 360° rotary motion by the hollow rotating platform and the turntable bearing.

[0011] In order to solve the above technical problems existing in the prior art, the application further discloses the following:

[0012] A full-range multi-angle polarization spectrum imaging method based on a multi-band LED rotating array, comprising the following steps:

[0013] S1, the illumination light rotating module is used to generate an initial parallel light beam composed of a plurality of quasi-monochromatic light beams with different wavelengths for the multi-angle polarization spectrum imaging system, and the LED light source is driven to rotate synchronously by a rotating bearing, so that the exit angles of the quasi-monochromatic light beams always remain consistent, and the uniformity of the illumination direction is ensured;

[0014] S2, acquiring the polarized spectral image of the target object by using the image acquisition module, and analyzing and processing the acquired polarized spectral data by the computer;

[0015] S3, driving the gear to perform translational adjustment in the zenith angle direction along the arc-shaped rack by using the step motor of the circular rail sliding module, so as to realize polarized image acquisition at different zenith angles;

[0016] S4, driving the hollow rotating platform and the turntable bearing to rotate by using the servo motor of the double-body control module, so as to adjust the azimuth angle of the load on the support frame, i.e., the illumination light rotating module and the image acquisition module, respectively, and realize polarized image acquisition at different azimuth angles.

[0017] Further, in the step S1, the quasi-monochromatic light beams of different wavelengths are provided by a plurality of LED light sources covering at least white light, blue light, green light, yellow light, red light, red edge and short-wave near-infrared light bands; the LED light sources are rotated around the support frame by the bearing to realize continuous change of the irradiation angle, and the lighting time sequence of the light sources corresponding to each wave band is matched with the angle switching rhythm, so as to ensure the continuity and reliability of the spectral data of different angles and different wave bands.

[0018] Further, in the step S2, the full-azimuth multi-angle polarized spectral imaging method based on the multi-waveband LED rotating array has the characteristics that, in the step S2, the polarized sensor in the image acquisition module acquires light intensity by using polarizing plates of different polarization directions, and the image signal received by a single channel is:

[0019]

[0020] wherein, is the central wavelength of the illumination light, is the zenith angle, is the azimuth angle, is the polarization direction of the camera polarizing plate, which is usually 0°, 45°, 90° or 135°, is the spectral response coefficient of the camera, is the incident light intensity of the illumination light rotating module, is the polarized reflection coefficient of the target object (9), wherein, is the inherent polarization angle of the target object, is the polarization transmission function of the polarizing plate, and in an ideal case, , is the camera exposure time, is the system noise. If secondary factors are ignored, it can be simplified as:

[0021]

[0022] The computer further calculates the degree of polarization and the polarization angle of the target object through the acquired four-channel signals, which is the core output of the polarized spectral imaging:

[0023]

[0024] Further, in the step S3, the all-around multi-angle polarized spectral imaging method based on the multi-band LED rotating array has the characteristics that in the step S3, the step motor of the circular rail sliding module drives the gear and the rack to mesh transmission, and then drives the polarization sensor to move and adjust in the zenith angle direction along the circular rail, the zenith angle adjustment range is 0°-90°, the vertical downward detection is taken as the 0° reference value, the light forward direction is positive, and the light backward direction is negative, the step length is set to 10°, that is, the polarization sensor stops at the zenith angle positions of 0°, 10°, 20°, …, 90°, and the like in turn, and the exposure timing of the image acquisition module is coordinated during the adjustment process, when the polarization sensor moves to the target zenith angle position and stabilizes, the image acquisition module is triggered to perform synchronous exposure operation, the whole process is automatically completed, and the accuracy and consistency of the multi-angle polarized spectral data are ensured.

[0025] Further, in the step S4, the all-around multi-angle polarized spectral imaging method based on the multi-band LED rotating array has the characteristics that in the step S4, the servo motor of the double-body control module is operated, and then the hollow rotating platform and the turntable bearing are driven to rotate, the support frame is driven to rotate and adjust in the azimuth angle direction through the hollow rotating platform and the turntable bearing, the azimuth angle adjustment range is 0°-360°, the azimuth angle of the light source is taken as the 0° reference value, the clockwise rotation is performed, and the step length is set to 10°, that is, the support frame drives the load to stop at the azimuth angle positions of 0°, 10°, 20°, …, 350°, and the like in turn, and the adjustment of the step S4 is coordinated with the zenith angle adjustment timing of the step S3, after the step S3 completes one adjustment cycle of the full zenith angle range from 0° to 90°, the step S4 performs one azimuth angle rotation operation of the preset step length, and after the azimuth angle adjustment is in place and stable, the step S3 is returned to repeat the zenith angle adjustment cycle, and the cycle is repeated until the acquisition task of all preset angles in the full space is completed, and then the system is automatically stopped.

[0026] The all-around multi-angle polarized spectral imaging system and method based on the multi-band LED rotating array have the following gain effects:

[0027] 1.The present invention has the advantage of high precision controllable illumination light source angle. The system adopts multiple groups of LED rotating circular array design, so that each LED light source can be independently and accurately rotated at different zenith angles. At the same time, through the output of the single-chip microcomputer time sequence signal, the LED light source is driven to light up at different time points according to the array rotation sequence, and synchronously linked with the image acquisition module to complete the polarization spectrum image acquisition of the target object. This design can meet the needs of polarization spectrum imaging acquisition at precise angles, effectively improve the angle precision and data reliability of imaging acquisition, and significantly reduce the acquisition error caused by angle deviation.

[0028] 2.The present invention has the advantage of high-quality spectral imaging. The system abandons the traditional white light source combined with filter technology, and uses LED light source matched with corresponding characteristic wavelength as excitation light source. The spectral line width of the emitted light is narrower, and the monochromaticity is better. Moreover, the filter greatly reduces the light energy, and the light intensity utilization rate is significantly improved. Based on the above characteristics, the spectral signal of the target object collected by the system has higher spectral purity and signal-to-noise ratio, effectively suppresses the interference of stray light, further ensures the imaging stability, and realizes high-quality spectral imaging.

[0029] 3.The present invention has the advantage of diversified data acquisition dimension. The system uses polarization sensors for imaging acquisition, and the coverage design of the hemispherical space can realize high-precision angle adjustment and positioning, synchronously acquire the polarization spectrum information and spatial image information of the target object, and enrich the data acquisition dimension. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 : The overall mechanical structure diagram of the present invention;

[0031] Wherein: 1-illumination light rotating module; 2-image acquisition module; 3-circular rail sliding module; 4-dual-body control module; 5-support frame; 6-gear; 7-stepping motor; 8-circular platform; 9-base; 10-polarization sensor;

[0032] Figure 2 : The light source array diagram of the present invention;

[0033] Wherein: 1-1-LED light source; 1-2-bearing; 1-3-LED rotating circular array mounting seat;

[0034] Figure 3 : The dual-body control module diagram of the present invention;

[0035] Wherein, 4-1-support bracket; 4-2-gear; 4-3-hollow rotating platform; 4-4-rotary table bearing; 4-5-bottom disc; 4-6-servo motor. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "horizontal", "vertical", "top", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0038] The present application will be further described below with reference to the drawings:

[0039] Figure 1 is a schematic diagram of the overall mechanical structure of a full-range multi-angle polarized spectral imaging system based on a multi-band LED rotating array of the present application, comprising an illumination light rotating module-1, an image acquisition module-2, a circular rail sliding module-3, and a double-body control module-4.

[0040] Figure 2 is a schematic diagram of the light source array of the present application, LED light source-1-1 is assembled on rotatable LED rotating circular array mounting seat-1-3 through bearing-1-2, which realizes precise control of the rotating state of the LED light source and synchronizes the lighting timing and rotating action of the LED light source.

[0041] Figure 3 is a schematic diagram of the double-body control module of the present application, two servo motors-4-6 are respectively fixedly assembled with gear-4-2 and hollow rotating platform-4-3 through chassis-4-5 in a flange connection manner, when the servo motor outputs power, it will drive the gear to rotate, and then the gear rotates through the meshing transmission relationship with the rotating shaft bearing-4-4, at the same time, it drives the azimuth angle change of its support bracket-4-1. When the other servo motor outputs power and drives the hollow rotating platform to rotate, it drives the support bracket fixed on the hollow rotating platform to rotate, and also realizes the azimuth angle change.

[0042] Preferably, the illumination light rotating module-1 includes an LED light source-1-1, a bearing-1-2 and an LED rotating circular array mounting seat-1-3, generating quasi-monochromatic parallel light beams in the visible-infrared light waveband range.

[0043] Preferably, the image acquisition module-2 includes a circular platform-8 and a polarization sensor-10 (a black-and-white polarization camera is used in this embodiment), for acquiring the polarization spectrum image of the target object.

[0044] Preferably, the circular rail sliding module-3 includes a support frame-5, a gear-6 and a stepper motor-7, which cooperates with the gear to drive the polarization sensor to change the zenith angle along the support frame.

[0045] Preferably, the double-body control module-4 includes a support bracket-4-1, a gear-4-2, a hollow rotating platform-4-3, a turntable bearing-4-4, a chassis-4-5 and a servo motor-4-6, which cooperates with the gear and the turntable bearing to drive the two support brackets to change the azimuth angle along the central axis.

[0046] The overall mechanical structure of a full-azimuth multi-angle polarization spectrum imaging system based on a multi-waveband LED rotating array in this embodiment is shown in the schematic diagram, and the imaging method is as follows:

[0047] S1, the illumination light rotating module-1 is used to generate an initial parallel light beam composed of multiple quasi-monochromatic light beams of different wavelengths for the LED array polarization spectrum imaging system, and the LED light source is driven to rotate synchronously through the rotating bearing, so that the exit angle of each quasi-monochromatic light beam remains consistent, ensuring the uniformity of the illumination direction;

[0048] S2, the image acquisition module-2 is used to acquire the polarization spectrum image reflected by the target object on the circular platform-8 under the illumination of the parallel light beam, and the computer is used to analyze and process the acquired polarization spectrum data;

[0049] S3, the circular rail sliding module-3 is used to drive the gear-6 to translate along the arc-shaped rack in the zenith angle direction through the stepper motor-7, so as to realize the polarization image acquisition under different zenith angles.

[0050] S4, the servo motor-4-6 of the double-body control module-4 is used to drive the hollow rotating platform-4-3 and the turntable bearing-4-4 to rotate, so as to adjust the azimuth angle of the load on the support bracket, i.e. the illumination light rotating module-1 and the image acquisition module-2, to realize the polarization image acquisition under different azimuth angles.

[0051] Specifically, in the step S1, the different wavelength quasi-monochromatic light beams are provided by a plurality of LED light sources covering at least white light, blue light, green light, yellow light, red light, red edge and short wave near infrared light bands, the LED light sources rotate around the support frame through the bearing to realize continuous change of the irradiation angle, and the lighting time sequence of the light sources corresponding to each wave band is matched with the angle switching rhythm to ensure the continuity and reliability of the spectral data of different angles and different wave bands.

[0052] Specifically, in the step S1, only the LED light source aiming at the target object is in the light-emitting state, and the remaining LED light sources remain in the extinguishing state when the illumination light rotating module works; after each rotation action is stabilized, the next LED light source aiming at the target object emits light, and the light source switching is completed in this cycle.

[0053] Specifically, in the step S2, the polarized sensor in the image acquisition module collects light intensity through polarizers with different polarization directions, and the image signal received by the single channel is:

[0054]

[0055] wherein, is the central wavelength of the illumination light, is the zenith angle, is the azimuth angle, is the polarization direction of the camera polarizer, which is usually 0°, 45°, 90°, 135°, is the spectral response coefficient of the camera, is the incident light intensity of the illumination light rotating module (1), is the polarization reflection coefficient of the target object (9), wherein, is the inherent polarization angle of the target object (9), is the polarization transmission function of the polarizer, and in the ideal case, , is the camera exposure time, is the system noise.

[0056] Specifically, in the step S2, the image signal received by the single channel can be simplified as:

[0057]

[0058] Specifically, in the step S2, the computer can further calculate the polarization degree and polarization angle of the target object through the four-channel signals collected, which is the core output of the polarized spectral imaging:

[0059]

[0060] Specifically, in the above step S3, the step motor of the circular rail sliding module drives the gear and rack to mesh and drive the polarization sensor to translate in the zenith angle direction along the circular rail, without manual intervention.

[0061] Specifically, in the above step S3, the polarization sensor collects the zenith angle adjustment range of 0°-90°, with the normal direction of the target surface as the 90° reference value, and the step size is set to 10°, that is, the polarization sensor stays at the zenith angle positions of 0°, 10°, 20°, …, 90°, and so on.

[0062] Specifically, in the above step S3, the adjustment process of the zenith angle is coordinated with the exposure timing of the image acquisition module. When the polarization sensor moves to the target zenith angle position and stabilizes, the image acquisition module is triggered to perform synchronous exposure operation, which is automatically completed.

[0063] Specifically, in the above step S4, the hollow rotating platform and the turntable bearing are driven to rotate by the servo motor of the double-body control module, and the hollow rotating platform drives the support frame to rotate in the azimuth angle direction.

[0064] Specifically, in the above step S4, the azimuth angle adjustment range of the support frame is 0°-360°, with the preset reference direction as the 0° reference value, and the step size is set to 10°, that is, the support frame drives the related components to stay at the azimuth angle positions of 0°, 10°, 20°, …, 350°, and so on.

[0065] Specifically, in the above step S4, the adjustment of the azimuth angle is coordinated with the zenith angle adjustment timing of the step S3. Through the linkage program preset by the controller, after completing one full zenith angle adjustment period from 0° to 90° in step S3, step S4 performs one azimuth angle rotation operation with a preset step size. After the azimuth angle is adjusted and stabilized, the system automatically returns to repeat the zenith angle adjustment period of step S3, and this cycle continues until all preset angles are collected and the system automatically stops.

[0066] Specifically, in the above step S4, through the coordinated linkage of the circular rail sliding module and the double-body control module, and the unique design of the illumination light rotating module, the illumination and angle modulation schemes are realized, and the polarization spectrum imaging collection of the target object at the precise angle is completed.

[0067] The above content only illustrates the technical idea of the present application, and cannot limit the protection scope of the present application. Any modification made according to the technical idea of the present application on the basis of the technical scheme falls within the protection scope of the claims of the present application.

Claims

1. A multi-band LED rotating array-based omnidirectional multi-angle polarization spectral imaging system, characterized in that, include: The lighting rotation module (1), the image acquisition module (2), the circular track sliding module (3), and the dual-body control module (4) are included.

2. The omnidirectional multi-angle polarization spectral imaging system based on a multi-band LED rotating array according to claim 1, characterized in that, The lighting rotation module (1) includes multiple quasi-monochrome LED light sources (5), a convex lens (6), an LED rotating circular array mounting base (7), a bearing (8), and a microcontroller (9). The bearing (8) is used to be adapted to the LED rotating circular array mounting base (7) to provide rotational support for the LED light sources. The microcontroller (9) controls the lighting sequence of each LED light source.

3. The omnidirectional multi-angle polarization spectral imaging system based on a multi-band LED rotating array according to claim 1, characterized in that, The image acquisition module (2) includes a circular platform (10), a polarization sensor (11) (which may be a black and white polarization sensor, a color polarization sensor, a polarization spectrometer, etc.) and a computer (12). The computer (12) is connected to the polarization sensor (11) and adjusts the acquisition parameters of the polarization sensor (11) to acquire the polarization spectrum image of the target object on the circular platform (10).

4. The omnidirectional multi-angle polarization spectral imaging system based on a multi-band LED rotating array according to claim 1, characterized in that, The circular rail sliding module (3) includes a gear (13), an arc rack (14), and a stepper motor (15). The stepper motor (15) outputs power to drive the gear (13) and the arc rack (14) to mesh and transmit power, thereby driving the load of the circular rail sliding module to move smoothly along the arc trajectory.

5. The omnidirectional multi-angle polarization spectral imaging system based on a multi-band LED rotating array according to claim 1, characterized in that, The dual-body control module (4) includes a hollow rotating platform (18), a servo motor (19), a support frame (20), and a turntable bearing (21). The servo motor (19) outputs power to drive the hollow rotating platform (18) and the turntable bearing (21), and the hollow rotating platform (18) and the turntable bearing (21) drive the support frame (20) to achieve 360° rotation.

6. A method for omnidirectional, multi-angle polarization spectral imaging based on a multi-band rotating LED array, characterized in that, Includes the following steps: S1, the illumination light rotation module (1) generates an initial parallel beam composed of multiple quasi-monochromatic beams of different wavelengths for the multi-angle polarization spectral imaging system, and drives the LED light source (5) to rotate synchronously through the rotating bearing (8), so that the emission angle of each quasi-monochromatic beam is always consistent, ensuring the uniformity of the illumination direction; S2, the polarization spectrum image of the target object (10) is acquired by the image acquisition module (2), and the acquired polarization spectrum data is analyzed and processed by the computer (12); S3, using the stepper motor (15) of the circular rail sliding module (3) to drive the gear (13) to perform translational adjustment along the arc rack (14) in the zenith angle direction, so as to realize polarization image acquisition under different zenith angles; S4, the servo motor (19) of the dual-body control module (4) drives the hollow rotating platform (18) and the turntable bearing (21) to rotate the support frame, and adjusts the azimuth angle of the load on the support frame, namely the illumination light rotation module (1) and the image acquisition module (2), so as to realize the acquisition of polarization images under different azimuth angles.

7. The omnidirectional multi-angle polarization spectral imaging method based on a multi-band LED rotating array according to claim 6, characterized in that, In step S1, the multiple quasi-monochromatic light beams of different wavelengths are provided by multiple LED light sources (5) covering at least white light, blue light, green light, yellow light, red light, red edge and short-wave near-infrared light bands; the LED light sources (5) rotate around the support frame through the bearing (8) to achieve continuous change of illumination angle, and the lighting sequence of the light sources corresponding to each band is matched with the angle switching rhythm to ensure the continuity and reliability of spectral data of different angles and different bands.

8. The omnidirectional multi-angle polarization spectral imaging method based on a multi-band LED rotating array according to claim 6, characterized in that, In step S2, the polarization sensor (11) in the image acquisition module (2) acquires light intensity through polarizers with different polarization directions. The image signal received by a single channel is: in, The center wavelength of the illumination light, Zenith angle, It is the azimuth angle. This refers to the polarization direction of the camera's polarizer, typically 0°, 45°, 90°, or 135°. The spectral response coefficient of the camera, The incident light intensity of the illumination rotating module (1) Let be the polarization reflection coefficient of the target object (10), where The inherent polarization angle of the target object (10) Let be the polarization transfer function of the polarizer. Ideally, , For camera exposure time, This represents system noise. If secondary factors are ignored, it can be simplified to: The computer (12) further calculates the degree of polarization and polarization angle of the target object (12) using the acquired four-channel signals, which is the core output of polarization spectral imaging:

9. The omnidirectional multi-angle polarization spectral imaging method based on a multi-band LED rotating array according to claim 6, characterized in that, In step S3, the stepper motor (15) of the circular rail sliding module (3) drives the gear (13) and rack (14) to mesh and transmit power, thereby driving the polarization sensor (11) to move and adjust along the circular rail in the zenith angle direction. The zenith angle adjustment range is 0° to 90°, with the normal direction of the target surface as the 90° reference value and the step size set to 10°. That is, it stops at zenith angle positions of 0°, 10°, 20°, ..., 90° in sequence. During the adjustment process, it coordinates with the exposure timing of the image acquisition module (2). When the polarization sensor (11) moves to the target zenith angle position and stabilizes, the image acquisition module (2) is triggered to perform synchronous exposure operation. The whole process is completed automatically, ensuring the accuracy and consistency of multi-angle polarization spectral data.

10. The omnidirectional multi-angle polarization spectral imaging method based on a multi-band LED rotating array according to claim 6, characterized in that, In step S4, the servo motor (19) of the dual-body control module (4) operates, thereby driving the hollow rotating platform (18) and the turntable bearing (21) to rotate respectively. The hollow rotating platform (18) and the turntable bearing (21) drive the support frame (20) to rotate in the azimuth direction. The azimuth adjustment range is 0° to 360°. With the azimuth angle of the light source as the reference value of 0°, the rotation is clockwise, and the step size is set to 10°. That is, the support frame (20) drives the load sequentially. The system pauses at azimuth angles of 0°, 10°, 20°, ..., 350°, and the adjustment in step S4 is synchronized with the zenith angle adjustment in step S3. After step S3 completes one adjustment cycle of the entire zenith angle range from 0° to 90°, step S4 performs an azimuth angle rotation operation with a preset step size. Once the azimuth angle is adjusted to the correct position and stabilized, the system returns to repeat the zenith angle adjustment cycle of step S3. This cycle continues until the acquisition of all preset angles in the entire space is completed, at which point the process automatically stops.

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