A three-dimensional spectral information acquisition device

Abstract

This application relates to the field of three-dimensional spectral imaging technology, and more particularly to a three-dimensional spectral information acquisition device, including a support component, a horizontal rotation component, a pitch rotation component, a line-scan hyperspectral camera, a line-scan laser rangefinder, and a central controller. For the line-scan hyperspectral camera and the line-scan laser rangefinder, the horizontal rotation component drives their horizontal rotation while the pitch rotation component drives their pitch motion, thus making their scanning paths spherical spirals. Combined with the cross-track direction field of view of the line-scan hyperspectral camera and the line-scan laser rangefinder, spectral information and distance data acquisition for a 360° panoramic space can be achieved. Finally, the central controller combines hyperspectral color features and point cloud features to obtain the three-dimensional spectral information of the 360° panoramic space. This enables automatic scanning of the 360° panoramic space without the need for repeated manual adjustments to the position of the three-dimensional spectral information acquisition device, improving scanning efficiency and accuracy.

Description

Technical Field

[0001] This application relates to the field of three-dimensional spectral imaging technology, and in particular to a three-dimensional spectral information acquisition device. Background Technology

[0002] Three-dimensional spectral information acquisition equipment uses a hyperspectral camera to acquire hyperspectral features and a lidar to acquire distance data to form a spatial point cloud. The spectral features are then mapped to point cloud coordinates to generate a colored point cloud that combines material properties and geometric accuracy. This can improve the accuracy of land cover classification, dynamic monitoring and quantitative inversion, and is widely used in precision agriculture, forestry carbon sequestration and mineral exploration.

[0003] In existing technologies, the scanning method of three-dimensional spectral information acquisition equipment is relatively simple, mainly used to scan and image the appearance of objects. In some scenarios that require 360° panoramic three-dimensional hyperspectral imaging, the position and angle of the three-dimensional spectral information acquisition equipment need to be repeatedly adjusted manually, which makes the scanning process long and complicated, and the accuracy of the three-dimensional hyperspectral imaging results obtained by the scanning is also poor. Utility Model Content

[0004] In view of this, this application provides a three-dimensional spectral information acquisition device that can solve the problem that existing three-dimensional spectral information acquisition devices rely heavily on manual adjustment of position and angle when performing 360° panoramic three-dimensional spectral imaging, resulting in low scanning efficiency and poor accuracy of three-dimensional hyperspectral imaging.

[0005] Some embodiments of this application provide a three-dimensional spectral information acquisition device, including a support assembly, a horizontal rotation assembly, a pitch rotation assembly, a line-scan hyperspectral camera, a line-scan laser rangefinder, and a central controller.

[0006] Specifically, the horizontal rotation assembly includes a first base and a first rotating member. The first base is fixedly connected to the support assembly, and the first rotating member rotates horizontally relative to the first base.

[0007] Specifically, the pitch rotation assembly includes a second base and a second rotating member. The second base is fixedly connected to the first rotating member, and the second rotating member pitches and rotates relative to the second base.

[0008] Specifically, the line-scan hyperspectral camera is fixed relative to the second rotating component, and the line-scan hyperspectral camera includes a slit.

[0009] Specifically, the line-scan laser rangefinder is fixed relative to the line-scan hyperspectral camera. The line-scan laser rangefinder includes a laser emitting head, which is set on the extension line corresponding to the extension direction of the slit.

[0010] Specifically, the central controller is communicatively connected to the horizontal rotation component, the pitch rotation component, the line-scan hyperspectral camera, and the line-scan laser rangefinder.

[0011] In one embodiment of this application, the horizontal rotation assembly further includes a rotation shaft and a first drive assembly.

[0012] Specifically, the rotating shaft is rotatably mounted on the first base, and the rotating shaft is fixedly connected to the first rotating component.

[0013] Specifically, the first drive assembly is mounted on the first base and is fixedly connected to the rotating shaft to drive the rotating shaft to rotate.

[0014] In one embodiment of this application, the first base has a mounting cavity inside, and a rotating shaft is rotatably connected to the inner wall of the mounting cavity. The mounting cavity is used to mount a first drive assembly, which includes a first motor, a first worm, and a complete worm wheel.

[0015] Specifically, the first motor is fixedly mounted on the first base.

[0016] Specifically, the first worm gear is fixedly connected to the output end of the first motor, and the first worm gear is rotatably connected to the inner wall of the mounting cavity.

[0017] Specifically, the complete worm gear is fixedly mounted on the rotating shaft, and the complete worm gear is meshed with the first worm.

[0018] In one embodiment of this application, the pitch rotation assembly further includes a second drive assembly disposed on the second base, and the second drive assembly is used to drive the second rotating member to pitch relative to the second base.

[0019] In one embodiment of this application, the pitch rotation assembly further includes an arcuate concave surface, an arcuate convex surface, and a limiting structure.

[0020] Specifically, an arc-shaped concave surface is provided on the second base, and an arc-shaped groove is provided on the arc-shaped concave surface, with the arc-shaped groove and the arc-shaped concave surface being concentrically arranged.

[0021] Specifically, an arc-shaped convex surface is provided on the second rotating component, and the arc-shaped convex surface and the arc-shaped concave surface are concentrically arranged. A sliding component is fixedly installed on the arc-shaped convex surface, and the sliding component is slidably connected to the arc-shaped groove.

[0022] Specifically, the limiting structure is set on the arc-shaped groove to limit the range of sliding of the sliding member relative to the arc-shaped groove.

[0023] In one embodiment of this application, an opening slot is provided on the arc-shaped concave surface of the second base, and the second drive assembly includes a second motor, a second worm gear, and a sector worm wheel.

[0024] Specifically, the second motor is fixedly mounted on the second base.

[0025] Specifically, the second worm is fixedly connected to the output end of the second motor, and the second worm is rotatably connected to the inner wall of the opening slot.

[0026] Specifically, the sector-shaped worm gear is fixedly installed on the arc-shaped convex surface and is positioned directly opposite the opening slot, and the sector-shaped worm gear is meshed with the second worm.

[0027] In one embodiment of this application, the line scan hyperspectral camera includes a body and an electrically focused lens.

[0028] Specifically, the fuselage is fixed relative to the second rotating component, the slit is located inside the fuselage, and the fuselage is communicatively connected to the central controller.

[0029] Specifically, the motorized focusing lens is fixedly mounted on the camera body, the slit is positioned directly opposite the motorized focusing lens, and the motorized focusing lens is connected to the central controller.

[0030] In one embodiment of this application, the support component is a tripod, and the first base is fixedly mounted on the tripod.

[0031] In one embodiment of this application, the support assembly includes a first housing and positioning wheels. A first base is fixedly mounted on the first housing, and the positioning wheels are disposed on the first housing, with a self-locking structure on the positioning wheels.

[0032] In one embodiment of this application, the support assembly includes a second housing, a telescopic drive assembly, and rollers.

[0033] Specifically, the second box has a storage cavity inside, and a through hole is opened on the surface of the second box, which communicates with the storage cavity. The first base is fixedly installed on the second box.

[0034] Specifically, the telescopic drive assembly is mounted on the second housing, and the telescopic drive assembly includes a lifting component, which is located inside the storage cavity.

[0035] Specifically, the rollers are mounted on the lifting component, with the rollers positioned directly opposite the through hole, and the rollers extend and retract relative to the outer surface of the second housing.

[0036] The above-mentioned technical solution of this application has the following beneficial effects:

[0037] By using a horizontal rotation component to drive the line-scan hyperspectral camera and line-scan laser rangefinder to rotate horizontally, and a pitch rotation component to drive their pitch motion, the scanning path of the line-scan hyperspectral camera and line-scan laser rangefinder becomes a spherical spiral. Combined with the cross-track direction field of view of the line-scan hyperspectral camera and line-scan laser rangefinder, spectral information and distance data acquisition of a 360° panoramic space can be achieved. Finally, by combining hyperspectral color features and point cloud features through a central controller, the three-dimensional spectral information of the 360° panoramic space is obtained. This enables automatic scanning of the 360° panoramic space without the need for repeated manual adjustments to the position of the three-dimensional spectral information acquisition equipment, thus improving scanning efficiency and accuracy. Attached Figure Description

[0038] Figure 1 This is a three-dimensional structural diagram of the three-dimensional spectral information acquisition device according to an embodiment of this application;

[0039] Figure 2 This is a three-dimensional structural diagram of the horizontal rotation component and the pitch rotation component according to an embodiment of this application;

[0040] Figure 3 This is a cross-sectional view of the structure of the horizontal rotation assembly according to an embodiment of this application;

[0041] Figure 4 This is an exploded cross-sectional view of the pitch rotation assembly according to an embodiment of this application;

[0042] Figure 5 This is a three-dimensional structural diagram of the second driving component according to an embodiment of this application;

[0043] Figure 6 This is a three-dimensional structural diagram of a support component according to an embodiment of this application;

[0044] Figure 7 This is a schematic diagram of another three-dimensional structure of the support component according to an embodiment of this application;

[0045] Figure 8 for Figure 7 The diagram shows a partial structural cross-sectional view of the support component according to an embodiment of this application.

[0046] Figure label:

[0047] 1. Support components;

[0048] 2. Horizontal rotation assembly; 201. First base; 202. First rotating component; 203. First scale line; 204. First indicator line; 205. Rotation shaft; 2051. First end of rotation shaft; 2052. Second end of rotation shaft; 206. First drive assembly; 2061. First motor; 2062. First worm gear; 2063. Complete worm wheel; 207. Mounting cavity;

[0049] 3. Pitch rotation assembly; 301. Second base; 302. Second rotating component; 303. Second scale line; 304. Second indicator line; 305. Second drive assembly; 3051. Second motor; 3052. Second worm gear; 3053. Sector worm wheel; 306. Arc-shaped concave surface; 307. Arc-shaped convex surface; 308. Arc-shaped groove; 309. Sliding component; 310. Limiting groove; 311. Locking block; 312. Opening groove;

[0050] 4. Line scan hyperspectral camera; 401. Body; 402. Motorized focusing lens;

[0051] 5. Line scan laser rangefinder; 6. Central controller; 7. Support plate;

[0052] 8. First housing; 9. Positioning wheel; 10. Self-locking structure;

[0053] 11. Second housing; 12. Roller; 13. Telescopic drive assembly; 1301. Lifting component; 1302. Third worm gear; 1303. Transmission worm wheel; 1304. Threaded rod; 1305. Knob; 14. Storage cavity; 15. Through hole; 16. Part cavity; 17. First end of threaded rod; 18. Second end of threaded rod. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] The following is a brief explanation of the terms used in this application.

[0056] Line-scan hyperspectral camera: This is a pushbroom imaging spectrometer. Its working principle is as follows: The camera instantaneously acquires the spectral information of a line through a slit in a direction perpendicular to the direction of motion; the dispersive element behind the slit spreads the light according to wavelength, and finally forms a spectral dimension on another dimension of the array detector.

[0057] Slit: The slit is one of the core optical components of a line-scan hyperspectral camera. It is used to limit the light incident on the dispersive element through the lens to a thin line, so that the light incident on the dispersive element corresponds to a row of pixels.

[0058] Cross-track directional field of view: For line-scan hyperspectral cameras, the cross-track directional field of view is determined by the lens focal length and the number of pixels in the detector (corresponding to the slit length). It directly determines the width of the scanning strip of the line-scan hyperspectral camera and is a core parameter for balancing spatial resolution and coverage. For line-scan laser rangefinders, the cross-track directional field of view refers to the maximum angular span of the target area that the laser line can cover perpendicular to the scanning direction after being deflected by the high-speed scanning module from the emitting end. Its size is determined by the deflection capability of the high-speed scanning module (such as a high-speed galvanometer or rotating polygon mirror) and is one of the key performance parameters of line-scan laser rangefinders. The direction of the cross-track directional field of view is perpendicular to the motion trajectory of both the line-scan hyperspectral camera and the line-scan laser rangefinder.

[0059] Line-scan laser rangefinders: A laser emitter emits a laser line, which is deflected by a high-speed scanning module and covers the target surface line by line. A receiver simultaneously acquires the echo signal, calculating the distance to each point using time or phase difference, ultimately generating continuous 3D point cloud data. Its features include high measurement speed and wide coverage, making it suitable for industrial workpiece contour detection, 3D modeling, robot navigation, and other scenarios, efficiently acquiring spatial information of large areas or complex surfaces.

[0060] Spherical helix: It is a spiral trajectory on the surface of a sphere formed by the combination of circular motion and rotation around an axis. It always adheres to the spherical surface and has both the uniformity of circular closure and the continuity of spiral extension. It combines symmetry and controllable motion. Application scenarios include precision mechanical connections (such as spherical threads), aerospace orbit design and 3D printing of complex structures.

[0061] The technical problem to be solved by this utility model is described below.

[0062] Existing 3D spectral information acquisition equipment uses a relatively simple scanning method, mainly involving moving a hyperspectral camera and lidar horizontally or around the object being scanned to achieve a 3D spectral scanning image of the object's appearance. However, in scenarios requiring 360° panoramic 3D hyperspectral imaging, such as acquiring the morphological and structural features of a building's interior, existing 3D spectral information acquisition equipment cannot automatically achieve 360° panoramic scanning. Manual adjustments to the position and angle of the equipment are necessary, making the scanning process lengthy and complex, and ultimately resulting in poor accuracy of the obtained 3D hyperspectral image.

[0063] Therefore, to solve the above problems, this application provides a three-dimensional spectral information acquisition device. While a horizontal rotation component drives a line-scan hyperspectral camera and a line-scan laser rangefinder to rotate horizontally, a pitch rotation component drives the line-scan hyperspectral camera and the line-scan laser rangefinder to perform pitch motion. This makes the scanning path of the line-scan hyperspectral camera and the line-scan laser rangefinder a spherical spiral. Combined with the cross-track direction field of view of the line-scan hyperspectral camera and the line-scan laser rangefinder, spectral information and distance data acquisition of a 360° panoramic space can be achieved. Finally, the three-dimensional spectral information of the 360° panoramic space is obtained by combining hyperspectral color features and point cloud features through a central controller. This enables automatic scanning of the 360° panoramic space without the need for repeated manual adjustments to the position of the three-dimensional spectral information acquisition device, improving scanning efficiency and accuracy.

[0064] The structure and principle of the three-dimensional spectral information acquisition device of this application will be described below with reference to several embodiments.

[0065] refer to Figure 1 and Figure 2 The working principle of the embodiments of this application will be described in general. Figure 1 This application illustrates a three-dimensional structure of a three-dimensional spectral information acquisition device according to an embodiment of the present application. Figure 2 The three-dimensional structure of the horizontal rotation component and the pitch rotation component according to an embodiment of this application is shown.

[0066] like Figure 1 As shown, the three-dimensional spectral information acquisition device of this application embodiment includes a support component 1, a horizontal rotation component 2, a pitch rotation component 3, a line-scan hyperspectral camera 4, a line-scan laser rangefinder 5, and a central controller 6.

[0067] In this embodiment, the support component 1 can be a tripod, and the horizontal rotation component 2 is fixedly mounted on the tripod. The tripod provides stable support for the horizontal rotation component 2, the pitch rotation component 3, the line-scan hyperspectral camera 4, and the line-scan laser rangefinder 5, ensuring that the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 remain stable during scanning. The tripod also has the advantages of being height-adjustable, simple in structure, lightweight, and easy to store and carry.

[0068] like Figure 2As shown, the horizontal rotation assembly 2 may include a first base 201 and a first rotating member 202. The first rotating member 202 rotates horizontally relative to the first base 201, and the maximum angle of horizontal rotation of the first rotating member 202 relative to the first base 201 is 360°. The pitch rotation assembly 3 may include a second base 301 and a second rotating member 302. The second base 301 is fixedly connected to the first rotating member 202. The second rotating member 302 pitches relative to the second base 301. The maximum pitch angle and the maximum elevation angle of the second rotating member 302 are the same, and the sum of the maximum pitch angle and the maximum elevation angle is the pitch angle travel of the second rotating member 302.

[0069] When the first rotating member 202 rotates horizontally relative to the first base 201, it drives the second base 301, which is fixedly connected to the first rotating member 202, to rotate horizontally synchronously. If the second rotating member 302 rotates pitch relative to the second base 301, the trajectory of the second rotating member 302 will be a spherical spiral.

[0070] like Figure 1 As shown, the first base 201 is fixedly connected to the support assembly 1. The line-scan hyperspectral camera 4 is fixed relative to the second rotating component 302, and the line-scan laser rangefinder 5 is fixed relative to the line-scan hyperspectral camera 4. The line-scan laser rangefinder 5 includes a laser emitting head. When the first rotating component 202 and the second rotating component 302 rotate simultaneously, the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 will move synchronously with the second rotating component 302. That is, the movement trajectory of the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 also presents a spherical spiral, thereby enabling the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 to scan along the spherical spiral trajectory, ultimately achieving a 360° panoramic coverage scan of space.

[0071] The line-scan hyperspectral camera 4 includes a slit. Light reflected from the surface of the target is incident through the slit onto the dispersive element inside the line-scan hyperspectral camera 4. The dispersive element spreads the reflected light according to wavelength to form a spectrum and acquire the corresponding hyperspectral color features. With the movement of the scanning path of the line-scan hyperspectral camera 4, the hyperspectral color features of the target are scanned.

[0072] The line-scanning laser rangefinder 5 uses its internal high-speed scanning module (e.g., a high-speed galvanometer and a rotating polygon mirror) to deflect the point laser beam emitted by the laser emitter into a linear laser scanning trajectory. Furthermore, the laser emitter is positioned on the extension line corresponding to the extension direction of the slit, so the linear laser scanning trajectory obtained after deflecting the laser beam overlaps with the slit, thus enabling synchronized line scanning between the line-scanning hyperspectral camera 4 and the line-scanning laser rangefinder 5. By ensuring the synchronization rate between the line-scanning hyperspectral camera 4 and the line-scanning laser rangefinder 5, the difficulty of subsequent composite processing of hyperspectral color features and point cloud features is reduced, thereby improving the accuracy of the composite results and the final accuracy of the acquired three-dimensional spectral information.

[0073] In this embodiment, the sum of the pitch angle travel of the second rotating member 302 and the cross-track direction field of view of the line-scan hyperspectral camera 4 is at least 180°. This ensures that when the line-scan hyperspectral camera 4 is pitched and rotated by the second rotating member 302, it can cover a scanning range of at least 180°. Furthermore, the sum of the pitch angle travel of the second rotating member 302 and the cross-track direction field of view of the line-scan laser rangefinder 5 is also at least 180°. This ensures that when the line-scan laser rangefinder 5 is pitched and rotated by the second rotating member 302, it can cover a scanning range of at least 180°. In other words, the pitch angle travel of the second rotating member 302 needs to simultaneously meet the scanning requirements of both the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 to cover a 180° pitch scanning range. For example, if the cross-track direction field of view of the line-scan hyperspectral camera 4 is 50° and the cross-track direction field of view of the line-scan laser rangefinder 5 is 30°, then the pitch angle travel of the second rotating member 302 is at least 150°.

[0074] Based on the elevation scanning of the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 driven by the second rotating component 302, and in conjunction with the first rotating component 202 driving the second base 301 to rotate 360° horizontally, the second rotating component 302, the line-scan hyperspectral camera 4, and the line-scan laser rangefinder 5 can synchronously rotate 360° horizontally. Ultimately, the scanning range of the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 can cover a complete shell-shaped space. For example, it can be used to realize panoramic scanning of the interior of a building, obtain complete and clear three-dimensional structural information of the interior of the building, and facilitate the later repair and maintenance of the building.

[0075] The central controller 6 is communicatively connected to the horizontal rotation component 2, the pitch rotation component 3, the line-scan hyperspectral camera 4, and the line-scan laser rangefinder 5. The central controller 6 sends drive signals to the horizontal rotation component 2 and the pitch rotation component 3 to control the horizontal rotation of the first rotating component 202 relative to the first base 201 and the pitch rotation of the second rotating component 302 relative to the second base 301. The central controller 6 also sends drive signals to the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5, driving the line-scan hyperspectral camera 4 to perform hyperspectral scanning and the line-scan laser rangefinder 5 to perform laser ranging. Furthermore, the hyperspectral information acquired by the line-scan hyperspectral camera 4 is transmitted to the central controller 6 via the communication connection for storage and analysis, forming hyperspectral color features. The distance data acquired by the line-scan laser rangefinder 5 is also transmitted to the central controller 6 via the same communication connection for storage and analysis, forming point cloud data. The central controller 6 combines the hyperspectral color features and the point cloud data to ultimately obtain the corresponding three-dimensional spectral information.

[0076] The three-dimensional spectral information acquisition device provided in this application embodiment drives the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 to rotate horizontally via the horizontal rotation component 2, while simultaneously driving the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 to perform pitch motion via the pitch rotation component 3. This results in the scanning path of the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 being a spherical spiral. Combined with the cross-track direction field of view of the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5, it can achieve spectral information acquisition and distance data acquisition of a 360° panoramic space. Finally, the central controller 6 combines the hyperspectral color features and point cloud features to obtain the three-dimensional spectral information of the 360° panoramic space. This enables automatic scanning of the 360° panoramic space without the need for repeated manual adjustments to the position of the three-dimensional spectral information acquisition device, thus improving scanning efficiency and accuracy.

[0077] This application does not specifically limit the communication connection method. The communication connection method here can be a wired connection or a wireless connection, such as fiber optic cable, twisted pair cable, Bluetooth, cellular network, etc.

[0078] In this embodiment, a support plate 7 is fixedly mounted on the second rotating member 302, and the line-scan hyperspectral camera 4 and the central controller 6 are both fixedly mounted on the support plate. The support plate 7 provides mounting space for the line-scan hyperspectral camera 4, the line-scan laser rangefinder 5, and the central controller 6.

[0079] like Figure 1 As shown in this embodiment, the line-scan hyperspectral camera 4 may include a body 401 and a motorized focusing lens 402. The body 401 is fixedly mounted on the support plate 7, thereby fixing it relative to the second rotating member 302. A slit is disposed inside the body 401, and the body 401 is communicatively connected to the central controller 6.

[0080] The motorized focusing lens 402 is fixedly mounted on the body 401, with the slit positioned directly opposite it. The motorized focusing lens 402 is communicatively connected to the central controller 6. Since the line-scan laser rangefinder 5 transmits the measured distance data to the central controller 6 via communication, the central controller 6 analyzes and processes the distance data to obtain distance data suitable for the scanning object. Based on this distance data, it calculates the focal length suitable for the line-scan hyperspectral camera 4 and sends corresponding control signals to the motorized focusing lens 402 via communication, causing the lens to adjust its focal length to the appropriate value. Therefore, real-time focusing can be performed based on the distance measurement results from the line-scan laser rangefinder 5.

[0081] Compared to fixed-focus hyperspectral cameras, the line-scan hyperspectral camera 4 in this embodiment, through the cooperation of the central controller 6, the line-scan laser rangefinder 5, and the electrically adjustable focusing lens 402, has the advantage of real-time focal length adjustment. Therefore, during the scanning and acquisition of hyperspectral information, the line-scan hyperspectral camera 4 in this embodiment can adjust its focal length in real time for scanning objects at different distances, resulting in clearer acquired hyperspectral information. After combining hyperspectral color features and point cloud data, the final obtained three-dimensional spectral information has higher clarity and accuracy.

[0082] like Figure 2 As shown in the embodiment of this application, the first rotating member 202 is a turntable, which is circular. The surface of the turntable is engraved with a first scale line 203, and a first indicator line 204 is engraved on the first base 201. The first indicator line 204 is used to indicate the first scale line 203. By reading the first scale line 203 indicated by the first indicator line 204, the rotation angle of the first rotating member 202 relative to the first base 201 can be obtained in real time. On the one hand, it can assist in calibrating the line scan hyperspectral camera (see reference) before the scanning begins. Figure 1 The line-scan hyperspectral camera 4) and the line-scan laser rangefinder (reference) Figure 1 The starting position of the line-scanning laser rangefinder 5) can be determined, and during the scanning process, the staff can determine the current scanning progress by reading the data.

[0083] The surface of the second base 301 is engraved with a second scale line 303, and the surface of the second rotating member 302 is engraved with a second indicator line 304. By reading the second scale line 303 indicated by the second indicator line 304, the pitch rotation angle of the second rotating member 302 relative to the second base 301 can be obtained in real time. This facilitates the calibration of the pitch angle position at the start of the scan before the scan begins, and the adjustment of the pitch angle travel of the second rotating member 302 to meet the panoramic scanning requirements of the line scan hyperspectral camera 4 and the line scan laser rangefinder 5.

[0084] refer to Figure 3, Figure 3 The cross-sectional structure of the horizontal rotation component 2 in the embodiment of this application is shown.

[0085] like Figure 3 As shown in the embodiment of this application, the horizontal rotation assembly 2 further includes a rotation shaft 205 and a first drive assembly 206. The rotation shaft 205 is rotatably mounted on the first base 201 and is fixedly connected to the first rotating member 202. The first drive assembly 206 is disposed on the first base 201 and is fixedly connected to the rotation shaft 205, and is used to drive the rotation shaft 205 to rotate, thereby driving the first rotating member fixedly connected to the rotation shaft 205 to rotate.

[0086] In this embodiment of the application, the first base 201 is provided with a mounting cavity 207, and the rotating shaft 205 is rotatably connected to the inner wall of the mounting cavity 207. The mounting cavity 207 is used to install the first drive assembly 206. The first drive assembly 206 may include a first motor 2061, a first worm 2062 and a complete worm wheel 2063.

[0087] Specifically, the rotating shaft 205 includes a first end 2051 and a second end 2052. The first end 2051 is rotatably connected to the inner wall of the mounting cavity 207, and the second end 2052 is rotatably disposed through the surface of the first base 201. The first rotating component 202 is fixedly connected to the second end 2052. The first motor 2061 is fixedly mounted on the first base 201. The first worm gear 2062 is fixedly connected to the output end of the first motor 2061 and rotatably connected to the inner wall of the mounting cavity 207. The complete worm wheel 2063 is fixedly mounted on the rotating shaft 205 and meshes with the first worm gear 2062.

[0088] In the central control unit (reference) Figure 1 Driven by the central controller 6), the output of the first motor 2061 drives the first worm 2062 to rotate, causing the complete worm wheel 2063 meshing with the first worm 2062 to rotate. The rotating shaft 205, which is fixedly connected to the complete worm wheel 2063, also rotates accordingly, ultimately driving the first rotating component 202, which is fixedly connected to the rotating shaft 205, to rotate. Because the threads on the surface of the first worm 2062 continuously mesh with multiple teeth of the complete worm wheel 2063 simultaneously, this is a line contact with a large contact area. Therefore, the force transmission during the transmission process is smooth and gradual, with less impact and vibration. This results in better stability and higher motion accuracy of the rotation of the rotating shaft 205, thereby effectively improving the scanning accuracy of the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5.

[0089] refer to Figure 4 , Figure 4The exploded cross-sectional view of the pitch rotation assembly 3 in an embodiment of this application is shown.

[0090] like Figure 4 As shown in the embodiment of this application, the pitch rotation component 3 further includes a second drive component 305, which is disposed on the second base. The second drive component 305 is used to drive the second rotating member 302 to perform pitch motion relative to the second base 301.

[0091] The second base 301 has an arc-shaped concave surface 306, and the second rotating component has an arc-shaped convex surface 307. The arc-shaped concave surface 306 has an arc-shaped groove 308, and a sliding component 309 is fixedly mounted on the arc-shaped convex surface 307. The sliding component 309 is slidably connected to the arc-shaped groove 308, and the arc-shaped concave surface 306, arc-shaped groove 308, and arc-shaped convex surface 307 are concentrically arranged. When the second drive assembly 305 drives the second rotating component 302 to pitch along the arc of the arc-shaped concave surface 306, it will cause the sliding component 309, which is fixedly connected to the arc-shaped convex surface 307, to slide relative to the arc-shaped groove 308. Through the cooperation of the sliding component 309 and the arc-shaped groove 308, the second rotating component 302 can maintain stability and reliability when pitching relative to the second base 301, thereby ensuring the scanning accuracy of the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5.

[0092] The arc-shaped groove 308 is provided with a limiting structure, which limits the sliding range of the sliding member 309 relative to the arc-shaped groove 308, and prevents the sliding member 309 from slipping out of the arc-shaped groove 308, thereby preventing the second rotating member 302 from detaching from the second base 301 when it performs pitching motion relative to the second base 301.

[0093] This embodiment does not limit the specific structure of the limiting structure. The limiting structure can have various structural forms. For example, the limiting structure can be... Figure 4The limiting groove 310 shown is formed on the inner wall of the arc-shaped groove 308 and is concentrically arranged with the arc-shaped groove 308. The limiting groove 310 is intermittently arranged on the arc-shaped groove 308. Correspondingly, a locking block 311 is fixedly installed on the sliding member 309. The locking block 311 is slidably connected to the limiting groove 310. By limiting the sliding range of the locking block 311 through the intermittently arranged limiting groove 310 on the arc-shaped groove 308, the sliding range of the sliding member 309 relative to the arc-shaped groove 308 is limited, thereby preventing the sliding member 309 from slipping out of the arc-shaped groove 308 and ensuring that the second rotating member 302 will not detach from the surface of the second base 301 when it pitches relative to the second base 301. In some other embodiments of this application, the limiting structure on the arc groove 308 can also be a sealing structure (not shown in the figure) provided at both ends of the arc groove 308, that is, the two ends of the arc groove 308 are closed to prevent the sliding member 309 from sliding out from both ends of the arc groove 308, thereby limiting the sliding range of the sliding member 309 and preventing the second rotating member 302 from detaching from the second base 301.

[0094] refer to Figure 5 , Figure 5 The structure of the second drive component 305 in an embodiment of this application is shown.

[0095] like Figure 5 As shown in this embodiment, an opening slot 312 is provided on the arc-shaped concave surface 306 of the second base 301, and the opening slot 312 is used to install the second drive assembly 305. The second drive assembly 305 includes a second motor 3051, a second worm gear 3052, and a sector worm wheel 3053. The second motor 3051 is fixedly mounted on the second base 301, and its output end is fixedly connected to the second worm gear 3052. The second worm gear 3052 is rotatably connected to the inner wall of the opening slot 312, and the second motor 3051 drives the second worm gear 3052 to rotate. The sector worm wheel 3053 is fixedly mounted on the arc-shaped convex surface of the second rotating member 302 (see reference). Figure 4 The arc-shaped convex surface 307 is set on the opening slot 312 and is directly opposite to it. The sector worm gear 3053 and the second worm 3052 are meshed with each other. The opening slot 312 provides sufficient space for the meshing of the second worm 3052 and the sector worm gear 3053. When the second worm 3052 rotates, it will drive the sector worm gear 3053 meshing with it to rotate.

[0096] In the central control unit (reference) Figure 1 Driven by the central controller 6), the output end of the second motor 3051 drives the second worm 3052 to rotate, causing the sector worm wheel 3053 meshing with the second worm 3052 to rotate, ultimately driving the second rotating component 302, which is fixedly connected to the sector worm wheel 3053, to perform pitch motion, thereby realizing the pitch drive of the second rotating component 302.

[0097] refer to Figure 6 , Figure 6 The diagram illustrates one structure of the support component 1 in an embodiment of this application.

[0098] like Figure 6 As shown in this embodiment, the support component 1 includes a first housing 8, on which positioning wheels 9 are provided, and on which a self-locking structure 10 is provided. The positioning wheels 9 assist the first housing 8 in rapid movement, eliminating the need for manual handling and reducing the burden on the user when moving the three-dimensional spectral information acquisition device.

[0099] In this embodiment, the central controller 6 is fixedly installed on the first housing 8, making full use of the space of the first housing 8, which makes the structure of the three-dimensional spectral information acquisition device of this embodiment more compact.

[0100] Combination Figure 1 and Figure 6 As shown, the first base 201 is fixedly installed on the first housing 8, providing stable support for the horizontal rotation assembly 2, the pitch rotation assembly 3, the line-scan hyperspectral camera 4, and the line-scan laser rangefinder 5. When the three-dimensional spectral information acquisition device in this embodiment is moved to the designated position, the self-locking structure 10 on the positioning wheel 9 locks the positioning wheel 9, preventing it from rotating on its own. At this time, the first housing 8 can no longer be easily moved. When the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 perform scanning operations, it can ensure that the three-dimensional spectral information acquisition device in this embodiment remains stable and reliable, thereby ensuring the accuracy of the scanning results.

[0101] refer to Figure 7 and Figure 8 , Figure 7 This illustrates another structure of the support component 1 in an embodiment of this application. Figure 8 It shows Figure 7 A partial cross-sectional view of the support component 1 shown.

[0102] like Figure 7 As shown, in some other embodiments of this application, the support component 1 may include a second housing 11, rollers 12, and a telescopic drive component 13. The central controller 6 is fixedly mounted on the second housing 11, making full use of the space of the second housing 11, thus making the structure of the three-dimensional spectral information acquisition device of this application embodiment more compact.

[0103] like Figure 8 As shown, the first abutment (reference) Figure 1The first base 201 is fixedly installed on the second housing 11. The second housing 11 has a storage cavity 14 inside, which is used to accommodate the retracted roller 12. A through hole 15 is opened on the surface of the second housing 11, which communicates with the storage cavity 14. The roller 12 is positioned directly opposite the through hole 15. Therefore, under the action of the telescopic drive assembly 13, the roller 12 can pass through the through hole 15, thereby realizing the telescopic movement relative to the outer surface of the second housing 11. The telescopic drive assembly 13 is disposed on the second housing 11. The telescopic drive assembly 13 includes a lifting member 1301, which is disposed in the storage cavity 14. The roller 12 is disposed on the lifting member 1301. That is, by the action of the lifting member 1301 of the telescopic drive assembly 13, the roller 12 is driven to telescopically move relative to the outer surface of the second housing 11.

[0104] After the roller 12 is driven by the telescopic drive assembly 13 to extend from the storage cavity 14 to the outside of the second housing 11, the second housing 11 can be moved quickly with the help of the extended roller 12. In other words, the entire three-dimensional spectral information acquisition device in this application embodiment can be moved quickly without manual handling, which reduces the human burden on users when moving the three-dimensional spectral information acquisition device in this application embodiment.

[0105] When the three-dimensional spectral information acquisition device moves to the designated position, the retractable drive assembly 13 drives the roller 12 to retract into the second housing 11, so that the second housing 11 contacts the support surface at the designated position, such as the ground or a tabletop. Because the contact area between the second housing 11 and the support surface is large, it has a large static friction force. (Reference: Online scanning hyperspectral camera) Figure 1 The line-scan hyperspectral camera 4) and the line-scan laser rangefinder (reference) Figure 1 When the line-scan laser rangefinder 5) performs the scanning action, the second housing 11 has stronger stability and is not easy to move, thus ensuring that the scanning is carried out smoothly and that the final scanning result has high accuracy and clarity.

[0106] In this embodiment, the second housing 11 has a part cavity 16 for mounting the telescopic drive assembly 13. The telescopic drive assembly 13 further includes a third worm gear 1302, a transmission worm wheel 1303, and a threaded rod 1304. The third worm gear 1302 is rotatably connected to the inner wall of the part cavity 16. One end of the third worm gear 1302 penetrates the surface of the second housing 11 and rotates relative to the second housing 11. A knob 1305 is fixedly mounted on the surface of the end of the third worm gear 1302 penetrating the second housing 11. Manually rotating the knob 1305 can drive the third worm gear 1302 to rotate, thereby driving the transmission worm wheel 1303, which meshes with the third worm gear 1302, to rotate. The transmission worm wheel 1303 is fixedly mounted on the threaded rod 1304 and disposed within the part cavity 16; therefore, rotation of the transmission worm wheel 1303 will drive rotation of the threaded rod 1304.

[0107] The threaded rod 1304 includes a first threaded rod end 17 and a second threaded rod end 18. The first threaded rod end 17 is rotatably connected to the inner wall of the part cavity 16, and the second threaded rod end 18 is rotatably connected to the inner wall of the receiving cavity 14. That is, the threaded rod 1304 passes through the part cavity 16 and the receiving cavity 14.

[0108] The threaded rod 1304 is threadedly connected to the lifting component 1301, which is slidably connected to the inner wall of the receiving cavity 14. The roller 12 is mounted on the lifting component 1301. When the knob 1305 is manually turned, the third worm gear 1302 rotates, and the transmission worm wheel 1303 meshing with the third worm gear 1302 also rotates, thereby driving the threaded rod 1304, which is fixedly connected to the transmission worm wheel 1303, to rotate. Since the lifting component 1301 is slidably connected to the inner wall of the receiving cavity 14 and threadedly connected to the threaded rod 1304, when the threaded rod 1304 rotates, the lifting component 1301 moves up and down along the inner wall of the receiving cavity 14, thereby driving the roller 12 mounted on the lifting component 1301 to move up and down, achieving extension and retraction control of the roller 12. The lifting component 1301 is moved by manually turning the knob 1305, using a purely mechanical structure for transmission, without the need for electrical equipment, and has the advantages of being less prone to damage and having stable operation.

[0109] In some other embodiments of this application, the component in the telescopic drive assembly 13 used to move the lifting member 1301 is a telescopic motor (not shown in the figure). The output end of the telescopic motor is fixedly connected to the lifting member 1301. The output end of the telescopic motor drives the lifting member 1301 to move, thereby causing the roller 12 mounted on the lifting member 1301 to extend and retract relative to the outer surface of the second housing 11. Choosing a telescopic motor to drive the lifting member 1301 has the advantages of speed and ease of operation.

[0110] In summary, this application utilizes the horizontal rotation component 2 to drive the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 to rotate horizontally, while simultaneously using the pitch rotation component 3 to drive their pitch motion. This results in the scanning path of the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5 being a spherical spiral. Combined with the cross-track direction field of view of the line-scan hyperspectral camera 4 and the line-scan laser rangefinder 5, spectral information and distance data acquisition for a 360° panoramic space can be achieved. Finally, the central controller 6 combines the hyperspectral color features and point cloud features to obtain the three-dimensional spectral information of the 360° panoramic space. This enables automatic scanning of the 360° panoramic space without the need for repeated manual adjustments to the position of the three-dimensional spectral information acquisition equipment, thus improving scanning efficiency and accuracy.

[0111] The specific embodiments described above illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Although the description of this application is presented in conjunction with some embodiments, this does not mean that the features of this application are limited to this embodiment. On the contrary, the purpose of describing the application in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of this application. This application may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this application, some specific details have been omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0112] In the embodiments of this application, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature.

[0113] In the embodiments of this application, "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0114] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0115] In the description of this application, it should be noted that the terms "upper", "lower", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are 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.

[0116] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "fit" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0117] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A three-dimensional spectral information acquisition apparatus characterized by comprising: The utility model relates to a kind of line scanning type hyperspectral camera and line scanning type laser range finder, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component. The utility model relates to a kind of line scanning type hyperspectral camera and line scanning type laser range finder, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component. The utility model relates to a kind of line scanning type hyperspectral camera and line scanning type laser range finder, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component. The utility model relates to a kind of line scanning type hyperspectral camera and line scanning type laser range finder, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component. The utility model relates to a kind of line scanning type hyperspectral camera and line scanning type laser range finder, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component. The utility model relates to a kind of line scanning type hyperspectral camera and line scanning type laser range finder, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component. The utility model relates to a kind of line scanning type hyperspectral camera and line scanning type laser range finder, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component.

2. The three-dimensional spectral information acquisition apparatus according to claim 1, characterized by, The utility model relates to a kind of line scanning type hyperspectral camera and line scanning type laser range finder, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component. The utility model relates to a kind of line scanning type hyperspectral camera and line scanning type laser range finder, and the line scanning type hyperspectral camera and the line scanning type laser range finder are fixedly connected with the horizontal rotation component and the pitching rotation component. ​ 3. The three-dimensional spectral information acquisition apparatus according to claim 2, characterized by, ​ ​ ​ ​ 4. The three-dimensional spectral information acquisition apparatus according to claim 1, characterized by, ​ 5. The three-dimensional spectral information acquisition apparatus according to claim 4, characterized by, ​ ​ ​ ​ 6. The three-dimensional spectral information acquisition apparatus according to claim 5, wherein ​ ​ ​ ​ 7. The three-dimensional spectral information acquisition apparatus according to claim 1, characterized by, ​ ​ An electric focusing lens is fixedly installed on the machine body, the slit is arranged opposite to the electric focusing lens, and the electric focusing lens is in communication connection with the central controller.

8. The three-dimensional spectral information acquisition apparatus according to claim 1, characterized by, The support assembly is a tripod, and the first base is fixedly installed on the tripod.

9. The three-dimensional spectral information acquisition apparatus according to claim 1, characterized by, The support assembly includes: A first box body, and the first base is fixedly installed on the first box body; A positioning wheel is arranged on the first box body, and the positioning wheel is provided with a self-locking structure.

10. The three-dimensional spectral information acquisition apparatus according to claim 1, characterized by, The support assembly includes: A second box body, and the first base is fixedly installed on the second box body, the second box body is internally provided with a receiving cavity, a through hole is formed on the surface of the second box body, and the through hole is in communication with the receiving cavity; A telescopic driving assembly is arranged on the second box body, and the telescopic driving assembly includes a lifting piece arranged in the receiving cavity; A roller is arranged on the lifting piece, the roller is arranged opposite to the through hole, and the roller is telescopically arranged relative to the outer surface of the second box body.

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