CN114979442B - Multipath image acquisition device and control method thereof - Google Patents
Multipath image acquisition device and control method thereof Download PDFInfo
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- CN114979442B CN114979442B CN202210572960.XA CN202210572960A CN114979442B CN 114979442 B CN114979442 B CN 114979442B CN 202210572960 A CN202210572960 A CN 202210572960A CN 114979442 B CN114979442 B CN 114979442B
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- 238000000034 method Methods 0.000 title abstract description 10
- 230000001681 protective effect Effects 0.000 claims abstract description 19
- 230000000694 effects Effects 0.000 claims abstract description 3
- 230000005855 radiation Effects 0.000 claims description 18
- 238000003745 diagnosis Methods 0.000 claims description 13
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000000149 penetrating effect Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 238000004092 self-diagnosis Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- ZOXJGFHDIHLPTG-UHFFFAOYSA-N Boron Chemical compound [B] ZOXJGFHDIHLPTG-UHFFFAOYSA-N 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- 230000003471 anti-radiation Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052796 boron Inorganic materials 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- -1 polyethylene Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 238000012552 review Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a multipath image acquisition device and a control method thereof. The device comprises a protective shell, a reflecting hole, a reflecting mirror and a rotatable camera. According to the control method, the multipath image acquisition device is adopted, external light enters the reflecting hole from the hole inlet, the light propagates along the hole path of the reflecting hole through the reflecting effect of the reflecting mirror, finally, the light is emitted from the hole outlet, the rotatable camera is rotated to face the hole outlet in the observation direction, and the multipath image acquisition by the single camera is realized through the set control method. The invention has the beneficial effects that: the light can pass through the mirror reflection, and the gamma rays with stronger penetrating power can not pass through the principle of the mirror reflection, so that the monitoring of the external environment is realized, meanwhile, the reflection holes are flexibly formed, the rotatable camera is controlled, and a plurality of angles can be freely observed without additional weight increment.
Description
Technical Field
The invention belongs to the field of nuclear robots, and particularly relates to a multipath image acquisition device and a control method thereof.
Background
The nuclear power has the characteristics of high efficiency, cleanness, safety and the like, and is one of the important ways for realizing carbon cleanness and carbon peak. The nuclear radiation has strong penetrability, has great influence on personnel and electronic equipment, and common image acquisition equipment can not normally work in a radioactive environment and needs to be subjected to anti-radiation reinforcement. The nuclear robot is a robot which replaces personnel to operate a radiation scene in a radiation environment, the running condition of the nuclear robot is bad, the nuclear robot is extremely easy to fail and extremely harmful, and in order to ensure safe and reliable continuous running of the nuclear robot, the nuclear robot needs to have a fault self-diagnosis function.
Image sensing is used as the most abundant information source, is particularly important for fault detection and health state assessment of a robot, and various information such as images, sounds, rotating speeds, energy consumption and the like are needed to be used for realizing fault self-diagnosis of a nuclear robot, so that multidirectional images of the robot are acquired, and the health state of the robot is judged by comprehensively utilizing the multi-view images. Since the teleoperation robot has severely limited resources such as calculation and storage, and is difficult to provide strong calculation power to support fault self-diagnosis, a nuclear robot with cloud-edge cooperative fault diagnosis function is required to acquire image information of multiple directions.
The irradiation-resistant reinforcement is carried out on each path of image acquisition equipment independently, the additionally increased volume and weight of the irradiation-resistant reinforcement are not bearable by robots, and the price of the irradiation-resistant cameras on the market at present are very expensive and the visual range of the irradiation-resistant cameras is very limited, so that a device structure and a control method for carrying out multi-azimuth visual image recording on a nuclear radiation site on the robots are needed. The device can be used for robot cloud edge collaborative fault detection and radioactive scene perception.
Disclosure of Invention
The invention aims at: the invention provides a multipath image acquisition device and a control method thereof, which solve the problem that the existing image acquisition device cannot realize multi-azimuth visual image acquisition of a single camera.
The aim of the invention is achieved by the following technical scheme:
a multipath image acquisition device comprises a protective shell, wherein at least two paths of reflecting holes are formed in the protective shell, the inlets of the reflecting holes face to the outer side, reflecting mirrors for enabling light rays to propagate along hole paths are arranged in the reflecting holes, and the outlets of the reflecting holes are opposite to the camera paths of a rotatable camera.
Furthermore, the protective shell is a radiation-proof shell, and the rotatable camera is a common camera.
Further, the protective shell is internally provided with four paths of reflection holes of front, back, left and right.
Further, the reflective holes are symmetrically arranged.
Further, the hole inlet is horn-shaped.
Further, the reflecting hole is Z-shaped, an upper reflecting mirror is arranged at the upper corner of the reflecting hole, and a lower reflecting mirror is arranged at the lower corner of the reflecting hole.
Furthermore, the upper reflector and the lower reflector are convex mirrors.
Further, the reflecting hole comprises an upper horizontal section, a vertical section and a lower horizontal section which are sequentially communicated, the mirror surface of the upper reflecting mirror is downward and obliquely arranged at 45 degrees, and the mirror surface of the lower reflecting mirror is upward and obliquely arranged at 45 degrees.
Further, the protective shell on be equipped with the top fixed plate, go up the reflector and establish on the top fixed plate, be equipped with the side fixed plate on the protective shell, be connected with back fixed plate and bottom fixed plate between the opposite side fixed plate, lower reflector is fixed on back fixed plate and bottom fixed plate.
According to the control method, the multipath image acquisition device is adopted, external light enters the reflecting hole from the hole inlet, the light propagates along the hole path of the reflecting hole through the reflecting effect of the reflecting mirror, finally, the light is emitted from the hole outlet, and the motor is driven by the controller to enable the camera to rotate towards the hole outlet in the observing direction, so that the acquisition of multipath images by a single camera is realized.
The controller is provided with a manual control mode and an automatic control mode, so that the driving motor drives the camera to rotate.
When the cloud side cooperative fault diagnosis system is in an automatic mode, the motor can drive the camera to regularly rotate according to the setting of the upper computer, the steering, the rotating speed, the residence time at the outlet of each hole, the hole selected to stay and the timing working time of the rotatable camera are set according to actual conditions, and after the timing is finished, data are uploaded to the cloud side cooperative fault diagnosis function is achieved.
The automatic mode comprises forward rotation, reverse rotation, scheme 1, scheme 2 and a user-defined five schemes; when a forward rotation scheme is selected, the rotation speed of the camera is set to be 10r/min, the rotation direction is set to be clockwise, the observation time of each hole is set to be 20s, the timing working time is set to be 30min, the camera stays for 20s at the outlet of each hole in sequence, and rotates forward at the speed of 10r/min and stops after 30 min; the reverse rotation scheme is opposite to the forward rotation scheme in direction, and the design parameters are the same; scheme 1 and scheme 2 are that the internal camera only rotates to two opposite holes respectively. The user-defined scheme sets the turning direction and the rotating speed of the camera, the residence time at the outlet of each hole, the hole selected to stay and the timing working time according to the actual situation.
When the cloud side collaborative fault diagnosis system is in a manual mode, the controller can remotely communicate with the edge side through the network interface, and drives the motor to drive the camera to rotate in a remote operation mode of the edge side, so that the radiation environment is detected, a user can operate and control the camera according to actual conditions, after receiving an end command, the camera stops rotating, and data is uploaded to the cloud side server, so that the cloud side collaborative fault diagnosis function is realized. The network interface comprises a CAN bus and a LAN network interface, and the edge end comprises a mobile end, a PC end and a remote controller.
The invention overcomes the technical defects that: in surveying nuclear radiation scenes, damage may be caused to the camera part of the robot due to the large amount of nuclear radiation present and the complexity of the radiation scene. The robot needs to diagnose faults, so that the field omnibearing visual image transmission is needed, and a camera capable of flexibly detecting multiple directions without adding excessive weight is needed to be developed, so that the surrounding radiation environment is detected, and meanwhile, the fault detection is convenient. The radiation-proof camera in the current market is very expensive and can not realize multidirectional detection. If a plurality of radiation-proof cameras are installed to detect multiple directions, the dead weight of the robot is seriously increased, and the flexibility of the robot can be imaged for complex radiation environment detection.
The invention realizes the following functions: the gamma rays and other various radiation rays have higher penetrability, and the visible light conveys light to the camera under the protection of the lead plate after being reflected according to the mirror surface, so that the situation around the robot can be checked in real time according to the rotation of the camera. The camera solves the technical defects, can control and adjust the visual angle according to actual needs, and is suitable for the needs of different radiation environments.
The invention has the beneficial effects that: the device consists of a small camera rotated by a motor, a controller for driving the motor and a radiation-proof shell, wherein the radiation shell is of a structure with a high middle and a low periphery. The middle of the radiation-proof shell is provided with a reflecting hole, and two convex reflectors with an angle of 45 degrees are arranged in each hole. The number of holes can be reduced according to practical needs, and is usually four holes, namely, four directions of front, back, left and right in the horizontal direction. The camera is located at the center of the hole inside the radiation-proof shell. The camera can be driven to rotate by the controller according to different modes (automatic/manual) of driving motor, and the camera observes external radiation environment through the light reflected by the convex reflector.
The light can pass through the mirror reflection, and the gamma rays with stronger penetrating power can not pass through the principle of the mirror reflection, so that the monitoring of the external environment is realized, meanwhile, the reflection holes are flexibly formed, the rotatable camera is controlled, and a plurality of angles can be freely observed without additional weight increment.
The foregoing inventive subject matter and various further alternatives thereof may be freely combined to form a plurality of alternatives, all of which are employable and claimed herein; and the invention can be freely combined between the (non-conflicting choices) choices and between the choices and other choices. Various combinations will be apparent to those skilled in the art from a review of the present disclosure, and are not intended to be exhaustive or all of the present disclosure.
Drawings
Fig. 1 is a front view of the structure of the present invention.
Fig. 2 is a top view of the structure of the present invention.
Fig. 3 is a bottom view of the structure of the present invention.
Fig. 4 is a perspective cross-sectional view of the present invention.
Fig. 5 is a front cross-sectional view of the present invention.
Fig. 6 is a control flow diagram of the present invention.
Fig. 7 is a schematic diagram of manual mode cloud edge collaboration according to the present invention.
Fig. 8 is an automatic mode cloud-edge collaboration diagram of the present invention.
In the figure: the device comprises a 1-protective shell, a 2-reflecting hole, a 3-hole inlet, a 4-hole outlet, a 5-upper reflector, a 6-lower reflector, a 7-rotatable camera, an 8-top fixing plate, a 9-side fixing plate, a 10-back fixing plate, an 11-bottom fixing plate and 12-screws.
Detailed Description
The following non-limiting examples illustrate the invention.
Example 1:
referring to fig. 1 to 5, a multi-path image acquisition device includes a protective housing 1, a reflective hole 2, a hole inlet 3, a hole outlet 4, an upper mirror 5, a lower mirror 6, a rotatable camera 7, a top fixing plate 8, a side fixing plate 9, a back fixing plate 10, a bottom fixing plate 11, and screws 12.
The protective shell 1 is a radiation-proof shell made of lead material, in particular a table-shaped structure with high middle and bottom around, and the thickness and the material of the protective shell can be modified according to actual protection requirements. The inside of the protective shell 1 is provided with four paths of reflection holes 2 which are symmetrically arranged in front, back, left and right, and the reflection holes 2 for adjusting the light to enter can be designed according to actual needs, and the positions of the reflection holes 2 are geometrically symmetrical so as to facilitate the rotation observation of the camera.
The hole entrance 3 of the reflective hole 2 faces to the outside and is horn-shaped, so that a better visual field is provided, and the hole exit 4 of the reflective hole 2 is opposite to the camera path of the rotatable camera 7, so that external light can be reflected to the camera.
The reflection hole 2 is "Z" font, and specifically, the reflection hole 2 is equipped with reflector 5 including the last horizontal segment, vertical section and the lower horizontal segment that communicate in proper order, the last corner of reflection hole 2, and the mirror surface of reflector 5 is down and 45 arrangement of slope, and the lower corner of reflection hole 2 is equipped with reflector 6 down, and the mirror surface of reflector is up and 45 arrangement of slope down.
The upper reflector 5 and the lower reflector 6 are convex mirrors and are matched with the horn-shaped structure of the hole entrance 3, so that the camera can acquire wider visual field images. The upper reflector 5 and the lower reflector 6 enable light to propagate along the hole path, so that the light enters from one end, is emitted from the other end after being reflected, and the damage of radiation to the camera is avoided by utilizing the principle that gamma rays cannot pass through specular reflection.
The protective shell 1 is fixedly provided with a top fixing plate 8, the upper reflecting mirror 5 is arranged on the top fixing plate 8 through a screw 12, the protective shell 1 is provided with a side fixing plate 9, a back fixing plate 10 and a bottom fixing plate 11 are connected between the opposite side fixing plates 9, a lower horizontal section and an inward hole outlet 4 are formed between the side fixing plate 9, the back fixing plate 10 and the bottom fixing plate 11, and the lower reflecting mirror 6 is fixed on the back fixing plate 10 and the bottom fixing plate 11 through the screw 12.
The lower part center department of protective housing 1 is equipped with rotatable camera 7, and rotatable camera 7 is ordinary camera, does not have fixed model, can place in the geometric center of a plurality of holes can, and the shell is the shell of plumbous, also can change other materials according to actual need, for example: boron-containing polyethylene sheets. The outside lens of rotatable camera 7 forms an annular camera route, drives the camera rotatory through controller driving motor, and the camera observes external radiation environment through the light that reflects through convex mirror. The device can be used for cloud edge cooperation by utilizing communication equipment, and fault self-diagnosis is realized on the robot.
Example 2:
referring to fig. 1 to 5, in the control method of the multi-path image acquisition device, external light enters the reflective hole 2 from the hole inlet 3, horizontal light is reflected into vertical light by the upper reflector 5, vertical light is reflected into horizontal light by the lower reflector 6, so that the light propagates along the hole path of the reflective hole 2, and finally the light is emitted from the hole outlet 4, and the rotatable camera 7 is rotated towards the hole outlet 4 to the observation direction, thereby realizing acquisition of multi-path images by a single camera.
The controller is provided with a manual control mode and an automatic control mode, so that the driving motor drives the camera to rotate.
When the cloud side cooperative fault diagnosis system is in an automatic mode, the motor can drive the camera to regularly rotate according to the setting of the upper computer, the steering, the rotating speed, the residence time at the outlet of each hole, the hole selected to stay and the timing working time of the rotatable camera are set according to actual conditions, and after the timing is finished, data are uploaded to the cloud side cooperative fault diagnosis function is achieved.
The automatic mode comprises forward rotation, reverse rotation, scheme 1, scheme 2 and a user-defined five schemes; when a forward rotation scheme is selected, the rotation speed of the camera is set to be 10r/min, the rotation direction is set to be clockwise, the observation time of each hole is set to be 20s, the timing working time is set to be 30min, the camera stays for 20s at the outlet of each hole in sequence, and rotates forward at the speed of 10r/min and stops after 30 min; the reverse rotation scheme is opposite to the forward rotation scheme in direction, and the design parameters are the same; scheme 1 and scheme 2 are that the internal camera only rotates to two opposite holes respectively. The user-defined scheme sets the turning direction and the rotating speed of the camera, the residence time at the outlet of each hole, the hole selected to stay and the timing working time according to the actual situation.
When the cloud side collaborative fault diagnosis system is in a manual mode, the controller can remotely communicate with the edge side through the network interface, and drives the motor to drive the camera to rotate in a remote operation mode of the edge side, so that the radiation environment is detected, a user can operate and control the camera according to actual conditions, after receiving an end command, the camera stops rotating, and data is uploaded to the cloud side server, so that the cloud side collaborative fault diagnosis function is realized. The network interface comprises a CAN bus and a LAN network interface, and the edge end comprises a mobile end, a PC end and a remote controller.
Referring to fig. 6, control starts with an initialization operation to perform mode selection.
After the automatic mode is selected, the scheme is selected, the rotating speed, the observing time and the timing working time are automatically set by the first four schemes which are set in advance, and the rotating speed, the observing time and the timing working time are input by the fifth self-defined scheme. And resetting the camera, starting the camera to work, judging a normal reading mode, if the camera is in a normal steering state, continuously judging the rotating speed of the camera to be normal, if the camera is in a normal rotating speed, continuously judging the observing time to be normal, and if the camera is in a normal rotating speed, alarming and returning to the step of resetting the camera. If the observation time is normal, judging that the positioning is finished, if the observation time is normal, stopping the rotation of the camera, and if the observation time is not normal, returning to the step of judging that the rotation of the camera is normal.
After the manual mode is selected, terminal selection of the edge terminal is performed, the edge terminal is a remote controller, a mobile terminal or a PC terminal, the terminal is connected after the edge terminal is selected, then connection success is judged, and otherwise, the terminal is returned to the terminal selection step. If yes, resetting the camera, starting the camera to work, and reading the remote control signal. And then judging that the rotation speed of the camera is normal, if yes, continuing to judge that the rotation speed of the camera is normal, and if not, alarming and returning to the step of resetting the camera. If the rotation speed of the camera is normal, continuing to judge that the stop command is received, if the rotation speed of the camera is not normal, returning to the step of reading the remote control signal, and if the rotation speed of the camera is judged to be normal, stopping the rotation of the camera.
After the cameras in the two modes stop running, uploading the data to the cloud end, judging that the uploading is successful, otherwise, alarming and returning to the step of uploading the data to the cloud end, if so, continuing to judge that a reset command is received, if so, returning to the step of initializing, and if not, ending.
Referring to fig. 7, during manual mode control, the camera uploads data to the cloud server, the camera and the edge end are in bilateral communication connection, the edge end performs remote control on the camera, and the camera feeds an alarm back to the edge end. Referring to fig. 8, in the automatic mode, the camera uploads data to the cloud server, the upper computer transmits control scheme settings to the camera, and the camera feeds back an alarm to the upper computer.
The foregoing basic embodiments of the invention, as well as other embodiments of the invention, can be freely combined to form numerous embodiments, all of which are contemplated and claimed. In the scheme of the invention, each selection example can be arbitrarily combined with any other basic example and selection example.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The utility model provides a multichannel image acquisition device, includes protective housing (1), its characterized in that: at least two paths of reflecting holes (2) are formed in the protective shell (1), a hole inlet (3) of each reflecting hole (2) faces to the outer side, a reflector for enabling light rays to propagate along a hole path is arranged in each reflecting hole (2), and a hole outlet (4) of each reflecting hole (2) is opposite to a camera path of the rotatable camera (7);
external light enters the reflecting hole (2) from the hole inlet (3), and the light propagates along the hole path of the reflecting hole (2) through the reflecting effect of the reflector, and finally is emitted from the hole outlet (4), and the rotatable camera (7) rotates towards the hole outlet (4) to the observation direction according to the set control mode, so that the acquisition of multiple paths of images by a single camera is realized;
the controller is provided with a manual control mode and an automatic control mode, so that the driving motor drives the camera to rotate;
when the cloud side cooperative fault diagnosis system is in an automatic mode, the motor drives the camera to regularly rotate according to the setting of the upper computer, and the steering, the rotating speed, the stay time at the outlet of each hole, the hole selected to stay and the timing working time of the rotatable camera (7) are set according to actual conditions, and after the timing is finished, data are uploaded to the cloud side server, so that the cloud side cooperative fault diagnosis function is realized;
when the cloud side collaborative fault diagnosis system is in a manual mode, the controller can remotely communicate with the edge side through the network interface, and drives the motor to drive the camera to rotate in a remote operation mode of the edge side, so that the radiation environment is detected, a user can operate and control the camera according to actual conditions, after receiving an end command, the camera stops rotating, and data is uploaded to the cloud side server, so that the cloud side collaborative fault diagnosis function is realized.
2. The multi-path image acquisition apparatus of claim 1, wherein: the protection shell (1) is a radiation-proof shell, and the rotatable camera (7) is a common camera.
3. The multi-path image acquisition apparatus of claim 1, wherein: the protective shell (1) is internally provided with four paths of reflection holes (2) of front, back, left and right.
4. A multi-path image acquisition apparatus according to claim 1 or 3, wherein: the reflecting holes (2) are symmetrically arranged.
5. The multi-path image acquisition apparatus of claim 1, wherein: the hole inlet (3) is horn-shaped.
6. The multi-path image capture device of claim 1 or 5, wherein: the reflecting hole (2) is Z-shaped, an upper reflecting mirror (5) is arranged at the upper corner of the reflecting hole (2), and a lower reflecting mirror (6) is arranged at the lower corner of the reflecting hole (2).
7. The multi-path image capture device of claim 6, wherein: the upper reflecting mirror (5) and the lower reflecting mirror (6) are convex mirrors.
8. The multi-path image capture device of claim 6, wherein: the reflecting hole (2) comprises an upper horizontal section, a vertical section and a lower horizontal section which are sequentially communicated, the mirror surface of the upper reflecting mirror (5) is arranged downwards and inclined by 45 degrees, and the mirror surface of the lower reflecting mirror is arranged upwards and inclined by 45 degrees.
9. The multi-path image capture device of claim 6, wherein: the protective shell (1) on be equipped with top fixed plate (8), go up reflector (5) and establish on top fixed plate (8), be equipped with side fixed plate (9) on protective shell (1), be connected with back fixed plate (10) and bottom fixed plate (11) between opposite side fixed plate (9), lower reflector (6) are fixed on back fixed plate (10) and bottom fixed plate (11).
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