CN211554969U - Hyperspectral built-in push-broom imaging structure based on unmanned aerial vehicle - Google Patents

Abstract

The utility model discloses a high spectrum embeds pushes away and sweeps imaging structure based on unmanned aerial vehicle relates to optical imaging technical field, solves the technical problem that current imaging mode structural design is complicated, the space is big, the precision is low, the utility model discloses an imaging lens, detector, system control mainboard and system architecture PMKD, imaging lens one end is connected with the fixed camera lens keysets, the other end of fixed camera lens keysets is connected with the fixed camera keysets, the other end and the detector of fixed camera keysets are connected, still be equipped with the drive displacement subassembly on the fixed camera keysets, the drive displacement subassembly is located the detector upper end, the drive displacement subassembly is fixed on system architecture PMKD, the utility model discloses a displacement of detector realizes being the formation of image in kind, can effectively solve current imaging mode structural design complicacy, the imaging mode structural design is complicated, Large space and low precision.

Description

Hyperspectral built-in push-broom imaging structure based on unmanned aerial vehicle

Technical Field

The utility model relates to an optical imaging technical field, concretely relates to high spectrum embeds pushes away sweeps formation of image structure based on unmanned aerial vehicle for structural design is complicated, the space is big, the technical problem that the precision is low in the present imaging mode of solution.

Background

After the remote sensing technology has gone through the imaging stages of full color (black and white), color (RGB) and multispectral scanning, the imaging spectrum technology appeared in the early 80 s of the last century promoted optical remote sensing to enter a brand-new stage, namely the hyperspectral remote sensing stage. Hyperspectrum refers to remote sensing science and technology with high spectral resolution, and an imaging spectrometer used in the imaging spectrum technology can acquire a plurality of very narrow and spectrum-continuous image data in ultraviolet, visible light, near infrared and short wave infrared regions of an electromagnetic spectrum. The imaging spectrometer provides tens to hundreds of narrow-band spectral information for each pixel, thereby forming a complete and continuous spectral curve. The imaging spectrometer records various ground objects observed in the field of view in a complete spectral curve.

The electromagnetic wave theory is the physical basis of the remote sensing technology, and the interaction mechanism of the electromagnetic wave and the earth surface substances, the transmission model of the electromagnetic wave in different media, the receiving and the analysis of the electromagnetic wave are the core of the integration of various subjects and technologies. The hyperspectral image can be used for effectively distinguishing and identifying the ground objects according to different spectral characteristics of different ground objects, the method is a typical non-contact nondestructive testing technology, the space and spectral information of the target can be simultaneously acquired, and the work of detecting and identifying the target and the like can be realized according to the 'fingerprint' spectral characteristics of different materials. The method is widely applied to atmospheric detection, medical diagnosis, material classification and target identification, homeland resources, ecology, environmental monitoring and urban remote sensing, and due to the limitation of industrial specificity and technical application means, the remote sensing data is mostly acquired by satellite remote sensing, fixed wing aircrafts, rotor unmanned aerial vehicles and other modes, and the existing modes for acquiring the remote sensing data generally comprise the following two modes:

the first method is to use a fixed wing aircraft to carry an LCTF (liquid crystal tunable filter camera), and the whole system includes: the system comprises a target and a multispectral imager, wherein the multispectral imager consists of a lens, an LCTF and a monochromatic area array CCD camera. From functional division, the system can be divided into six subsystems such as an optical system, a spectrum modulation system, an image acquisition system, an airborne electronic control system, a ground control system and an image processing and analyzing system, and the ground control system can realize the functions of acquiring a spectrum image of a target and classifying, identifying and extracting the target subsequently, and the mode has the following advantages and disadvantages: the high-resolution low-power-consumption high-speed hyperspectral imaging remote sensing device has the advantages that the flight range is wide, the height is high, the image resolution is good, the LCTF technology can quickly realize arbitrary tuning of spectral bands in visible light to infrared light, the size is small, the weight is light, and the power consumption is low, so that the LCTF has unique advantages in key components of the hyperspectral imaging remote sensing device for earth observation; the disadvantages are as follows: the method has the advantages of few channels (30Bands), poor spectral resolution, unstable airplane flight, large image processing workload and high cost, and a system structure block diagram is shown in figure 1.

Mode two, use rotor unmanned aerial vehicle to carry on the mode that hyperspectral camera pushed away and sweep the formation of image, at the inside integrated scanning mechanism of camera system, rotor unmanned aerial vehicle hovers aloft, through the real-time adjustment of three-dimensional steady cloud platform that increases, guarantees that the hyperspectral camera gesture is under the stable state all the time, and the built-in scanning displacement platform of system can be through the scanning of control slit, and then acquires target object's image (space) information and spectral information, its advantages and disadvantages as follows, the advantage: the spectrum has more channels (more than 200Bands), high spectral resolution, low cost, no image distortion and high diffraction efficiency; the disadvantages are as follows: the acquisition range and the flying height are limited; the light splitting structure has large volume, heavy system weight and easy limitation of a carrying platform;

no matter be the fixed wing aircraft carry on LCTF or rotor unmanned aerial vehicle carries on carrying on pushing away the mode of sweeping the formation of image of high spectrum camera, all have technical problem that structural design is complicated, the space is big, the precision is low, for solving above-mentioned technical problem, the utility model provides a high spectrum embeds pushes away sweeps imaging structure based on unmanned aerial vehicle.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: for solving the technical problem that structural design is complicated among the imaging mode, the space is big, the precision is low, the utility model provides an image structure is swept to high spectrum built-in pushing away based on unmanned aerial vehicle.

The utility model discloses a realize above-mentioned purpose and specifically adopt following technical scheme:

the utility model provides an image structure is swept to high spectrum built-in pushing away based on unmanned aerial vehicle, includes imaging lens, detector, system control mainboard and system architecture PMKD, imaging lens one end is connected with the fixed camera keysets, the other end of fixed camera keysets is connected with the fixed camera keysets, the other end and the detector of fixed camera keysets are connected, still be equipped with the drive displacement subassembly on the fixed camera keysets, the drive displacement subassembly is located the detector upper end, the drive displacement subassembly is fixed on system architecture PMKD.

Further, the driving displacement assembly comprises a driving motor and a limiting structure fixedly arranged on one side of a system structure fixing base plate, a sliding guide rail limiting piece is arranged on the limiting structure, the driving displacement assembly further comprises a sliding guide rail fixedly arranged on a fixing camera adapter plate, a detector adapter block matched with the guide rail is arranged on the sliding guide rail, the detector adapter block is fixedly connected with a detector, the detector adapter block and the detector can move along the sliding guide rail under the driving of the driving motor, and the limiting structure forms an L shape.

Further, the imaging lens comprises a hollow protective shell, and the imaging lens penetrates out of the protective shell through a through hole formed in one side of the protective shell.

Furthermore, the detector is also provided with a detector chip, and films with different wave bands are plated on the detector chip.

The utility model has the advantages as follows:

1. the utility model discloses need not the beam split structure and decompose the compound optical information before getting into the detector, reduced space, weight and the cost of system's structure, no beam split module's influence, the system lead to the great promotion that has obtained of light efficiency, overcome present grating beam split, the problem that prism beam split structure luminousness is low relatively.

2. The utility model discloses can overcome the image distortion problem that present mosaic coating film camera exists, make chip coating film imaging mode with have based on prism beam split structure, slit scanning imaging mode is the same high image quality, the spectral range of the module of detector is more nimble, can select required spectral band scope in a flexible way according to actual need, can extend to full wave band scope, the mismatch and the dislocation matching of space and spectrum that has overcome like the dislocation and bring, overcome the image distortion influence that beam split part's inhomogeneity and camera lens distortion brought.

Drawings

FIG. 1 is a block diagram of a system architecture for fixed-wing aircraft onboard LCTF imaging;

FIG. 2 is a schematic view of a mode imaging structure of a wing drone carrying a hyperspectral camera for push-broom imaging;

FIG. 3 is a perspective view of the present invention after the protective case is disassembled;

FIG. 4 is a front view of the present invention with the protective case disassembled;

reference numerals: 1-imaging lens, 2-fixed lens adapter plate, 3-fixed camera adapter plate, 4-fixed driving motor adapter plate, 5-detector, 6-sliding guide rail, 7-sliding guide rail limiting sheet, 8-limiting structure, 9-driving motor, 10-system structure fixing bottom plate, 11-system control main plate and 12-detector chip, 13-detector moving direction, 14-scanning motor fixing piece, 15-scanning motor, 16-auxiliary camera, 17-imaging lens, 18-imaging lens fixing piece, 19-spectrometer slit, 20-imaging spectrometer, 21-spectrometer fixing piece, 22-imaging spectrometer and detector fixing piece, 23-second detector and 24-NUC mainboard.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "up", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are conventionally placed when used, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the term refers must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.

Example 1

As shown in fig. 1-4, a hyperspectral built-in push-broom imaging structure based on an unmanned aerial vehicle, including imaging lens 1, a detector 5, a system control mainboard 11 and a system structure fixed baseplate 10, imaging lens 1 one end is connected with fixed lens keysets 2, the other end of fixed lens keysets 2 is connected with fixed camera keysets 3, the other end and the detector 5 of fixed camera keysets 3 are connected, still be equipped with the drive displacement subassembly on the fixed camera keysets 3, the drive displacement subassembly is located the detector 5 upper end, the drive displacement subassembly is fixed on system structure fixed baseplate 10.

Further, the drive displacement assembly comprises a drive motor 9 and a limit structure 8 fixedly arranged on one side of a system structure fixing base plate 10, a sliding guide rail limiting piece 7 is arranged on the limit structure 8, the drive displacement assembly further comprises a sliding guide rail 6 fixedly arranged on the fixed camera adapter plate 3, a detector adapter block matched with the guide rail is arranged on the sliding guide rail 6, the detector adapter block is fixedly connected with the detector 5, the detector adapter block and the detector 5 can move along the sliding guide rail 6 under the drive of the drive motor 9, and the limit structure 8 is in an L shape.

Further, including the hollow protective housing, imaging lens 1 passes through the protective housing through the through-hole that sets up in protective housing one side.

Furthermore, the detector 5 is also provided with a detector chip, and films with different wave bands are plated on the detector chip.

If the pixels of the camera of the detector 5 are: 1392x1040, the size of a single pixel of the camera is 6.5um, 1392 columns can be distributed for the area array detector 5, each column can be plated with films with different wavelengths, 1392 different films can be plated on the 1392 columns theoretically, and coating treatment with the same attribute can be carried out on a plurality of adjacent columns in consideration of the current camera acquisition efficiency, the camera frame rate and the like, so that the process level and the precision of the coating camera in the production process are improved, and the channel number (the number of bands) performance index of the camera in the aspect of data acquisition is also improved. For example: the first and second rows are coated with 400nm films, the third and fourth rows are coated with 410nm films, and so on to complete the coating treatment of the whole detector 5 chip.

The driving displacement component is adopted to drive the detector 5 to move relative to the imaging lens 1 and the target to be detected. It can be understood that: the 1392 columns are independent individuals, that is, there are similar 1392 slit structures, then under the action of the driving displacement component, the 1392 columns will perform spatial imaging on the object to be measured, and at the same time, the wavelength of the chip of the detector 5 is changed synchronously, starting from 400nm, then the second column 410nm, the third column 420nm and the third column 430nm, until the last column finishes the recording of the 1000nm waveband information.

The image information of target is behind imaging lens 1, the image point that imaging lens 1 back focal plane becomes can fall on 5 chips of detector, when detector 5 has relative motion with the target under the drive of drive displacement subassembly, the image of target can be imaged on the space dimension that detector 5 corresponds, and the spectral information of the specific wave band that every pixel corresponds can be saved in succession, wavelength information is a dimension information along with scanning structure is constantly changing, the spectral information of the target of awaiting measuring is only complete shaping and confirming after scanning structure accomplishes the scanning, what this place confirmed to express is: after all the acquisition and the splicing are completed, a piece of continuous spectral curve information of a single pixel point can be presented. In the imaging process, the area array detector 5 is also used as the line array detector 5, the spectrum of the film coating imaging technology is continuously changed, and the spatial information is obtained by extracting and splicing different wave band columns in a plurality of images.

Under the drive of the drive motor 9, the film coating detector 5 can move within the limited travel of the sliding guide rail 6, and the operation of the detector 5 within the set range is ensured under the action of the limit switch. Initially, the driving motor 9 drives the detector 5 to be located at a position where a center line of the detector 5 coincides with a center line of a focal plane behind the lens, and after receiving a zeroing instruction, the driving motor 9 drives the detector 5 to move to a limit switch on the right side to complete zeroing. The position of the first column when the image of the target can be clearly presented is taken as a starting point. The first column records 410nm wavelength information, the second column 410nm, and so on until the last column is 1000nm, each column being laid out in a gradual wavelength manner.

Starting from the start position, the driving motor 9 moves a distance of a fixed step size, which is obtained by the size occupied by a single Pixel, for example, 6.5um Pixel, and then the driving motor 9 moves 100 steps to complete the linear movement distance of 6.5um distance. The detector 5 is an area array, so in the first step of the driving motor 9, each column of the whole chip is used for recording the space information of the target, except the first column, the images of the pixel points on all other columns are shielded, no effective information exists, and all the images are dark background information. Assuming that the detector 5 has N +1 bands, the detector 5 will generate N +1 band images. In the N +1 gray-scale images, only the first column in the first band image has a valid signal, and the other columns, although operating, have no valid signal coming in for recording.

When the drive motor 9 is moved a second step, all columns of the detector 5 chip collect the same information, but only the information of the first and second columns can be clearly recorded, in the process, the first column of an image generated by the detector 5 chip is 400nm wavelength and the second column is 410 nm. Then the image with only one column of valid information formed in the first step of moving and a set of images with only the first and second columns of valid information formed in the second step of moving are spectrally resampled and spatial information extracted and stitched. The first column in the single image formed during the second step is spectrally resampled from the first column in the single image generated during the first step, ensuring that the spectra of the first column of each pair (each single band image) are identical. The first column in the single gray image formed in the second step is stored in the first column in the second gray image, and the second column information in the single image generated by the first column information needs to be supplemented into the second column in the first (first waveband) gray image, so that the splicing of the second spatial dimension of the target row to be detected in the first image is completed.

When the driving motor 9 moves for the third step, all columns of the chip of the detector 5 collect the same information, but only the information of the first column, the second column and the third column can be clearly recorded. The first column in the single image formed in this process is spectrally resampled with the first column in the single image generated in the second step process and the first column in the single image generated in the first step process, ensuring that the spectra of the first column of each pair (each single band image) are identical. The first column in the single image formed in the process is stored in the first column in the third gray scale image, the second column information in the generated single image needs to be supplemented into the second column in the second gray scale image, and the third column information generated by the single image needs to be supplemented into the three columns in the first gray scale image, so that the splicing of the third spatial dimension of the target row to be detected in the first image is completed, and meanwhile, the splicing work of the second spatial dimension of the target row to be detected in the second image is also completed.

When the driving motor 9 moves for the fourth step, all columns of the chip of the detector 5 collect the same information, but only the information of the first column, the second column, the third column and the fourth column can be clearly recorded. The first column in the single image formed in the process is re-sampled with the spectrum of the first column in the single image generated in the third step, the second step and the first step, so as to ensure that the spectrum of the first column of each pair (each single-waveband image) is the same. In the process, the first column in the single image formed in the process is stored in the first column in the fourth gray scale image, the second column information in the single image generated by the single image needs to be supplemented into the second column in the third gray scale image, the third column information in the single image generated by the single image needs to be supplemented into the third column in the second gray scale image, and the fourth column information in the single image generated by the single image needs to be supplemented into the fourth column in the first gray scale image, so that the spatial information supplement of the target row to be measured on the fourth row in the first waveband gray scale image is completed, meanwhile, the spatial information supplement of the target row to be measured on the third row in the second waveband gray scale image is completed, and the spatial information supplement of the target row to be measured on the second row in the third waveband gray scale image is completed. Therefore, the splicing of the spatial information of the target to be detected in the fourth spatial dimension in the first image is completed, meanwhile, the splicing of the line of the target to be detected in the third spatial dimension in the second image is also completed, and the splicing of the line of the target to be detected in the second spatial dimension in the third image is also completed. The spatial information is continuously extracted and spliced from the subsequent images, and the wavelength information of the same column in each gray level image is consistent all the time. The first column of the first, second, third and fourth images is a band, the second column is a band and the third column is a band.

When the driving motor 9 moves for the nth step length, the first column in the single image formed in the process is stored in the first column in the nth gray scale image, the second column information in the generated single image needs to be supplemented into the second column in the N-1 st gray scale image, the third column information in the generated single image needs to be supplemented into the third column in the N-2 nd gray scale image, the fourth column information in the generated single image needs to be supplemented into the fourth column in the N-3 rd gray scale image, and the fifth column information in the generated single image needs to be supplemented into the fifth column in the N-4 th gray scale image. Therefore, the spatial information of the target line to be detected on the Nth line in the first waveband gray-scale image is supplemented, meanwhile, the spatial information of the target line to be detected on the N-1 th line in the second waveband gray-scale image is supplemented, the spatial information of the target line to be detected on the N-2 th line in the third waveband gray-scale image is supplemented, and the spatial information of the target line to be detected on the N-3 th line in the fourth waveband gray-scale image is supplemented until the spatial information of the target line to be detected on the N-1 th line in the Nth waveband gray-scale image is supplemented.

Under the drive of the electric control scanning structure, the detector 5 completes the space splicing action of all the target lines to be detected on the gray scale image of the first wave band, the gray scale image of the second wave band lacks a line of space information and cannot be spliced from the subsequent images, and so on, the gray scale image of the third wave band lacks a line of space information compared with the gray scale image of the second wave band, and relative to the gray scale image of the first wave band, the gray scale image of the third wave band is equivalent to lack of two lines of information. Therefore, the displacement component needs to be driven to continuously drive the detector 5 to move, after the full-wave spatial information splicing of the first wave band is completed, the detector 5 can continuously acquire one image every more step, the new image can continuously supplement the previous images which are not completely filled until the gray image of the last wave band completes the splicing work of all the spaces, and the spatial information of all the objects to be detected from the gray image of the first wave band to the gray image of the last wave band (N +1 wave band) can be completely recorded in each image.

When all the columns on the gray scale image of the first wave band are full of the spatial information of the target to be detected, only one column on the gray scale image of the last wave band (N +1) has effective spatial information, and two columns of effective spatial information are on the gray scale image of the penultimate wave band (N). When the detector 5 continues to move under the driving of the driving motor 9, the first column of the detector 5 is shielded by the lens again, and an effective signal cannot be acquired, in the image acquired by the detector 5, only the first column is invalid, and other N columns are all effective, and the effective columns in the image continue to sequentially supplement corresponding columns in the gray-scale images of the previous bands in space, so that all columns in the gray-scale image of the second band can be ensured to be full of the spatial information of the target to be detected. And continuously moving the detector 5, wherein the first and second columns of the detector 5 are shielded by the lens again, so that effective signals cannot be acquired, only the first and second columns are invalid and the other N-1 columns are effective in the image acquired by the detector 5, and then the effective columns in the image continuously perform spatial sequential supplement on corresponding columns in the gray-scale images of the previous wave bands, so that all columns in the gray-scale image of the third wave band can be full of the spatial information of the target to be detected.

By shifting the position of the detector 5 a limited number of times it is ensured that all columns in the last band (N +1) are filled with spatial information of the row of objects to be measured. Therefore, the gray level image of the first wave band is continuously supplemented and spliced in space by the subsequently acquired image, so that the whole complete space information of the target to be detected is imaged on the gray level image of the first wave band. Through the continuous movement of the precision scanning structure, the gray image of the last wave band can also completely record the spatial information of the target to be detected, the movement stroke of the driving displacement component is more than 2 times of the size of the chip of the detector 5, namely: a total of N +1 bands, the size of each pixel is 6.5um, and the minimum stroke of the driving displacement assembly should be: the distance of (2N +1) × 6.5um can ensure that the gray level images from the first wave band to the last wave band completely record the spatial information of the target to be detected, the first column of the gray level image of each wave band records the first wavelength information, so that N +1 gray level images exist, the spatial distribution of each image is the same, and the first column of each gray level image is the position of one wavelength center of a single pixel point in the data cube.

Claims (5)

1. The utility model provides an image structure is swept to high spectrum built-in pushing away based on unmanned aerial vehicle, a serial communication port, including imaging lens (1), detector (5), system control mainboard (11) and system architecture PMKD (10), imaging lens (1) one end is connected with fixed camera keysets (2), the other end of fixed camera keysets (2) is connected with fixed camera keysets (3), the other end and detector (5) of fixed camera keysets (3) are connected, still be equipped with the drive displacement subassembly on the fixed camera keysets (3), the drive displacement subassembly is located detector (5) upper end, the drive displacement subassembly is fixed on system architecture PMKD (10).

2. The hyperspectral built-in push-broom imaging structure based on the unmanned aerial vehicle as claimed in claim 1, wherein the drive displacement assembly comprises a drive motor (9) and a limit structure (8) fixedly arranged on one side of a system structure fixing bottom plate (10), a sliding guide rail limit sheet (7) is arranged on the limit structure (8), the drive displacement assembly further comprises a sliding guide rail (6) fixedly arranged on a fixed camera adapter plate (3), a detector adapter block matched with the guide rail is arranged on the sliding guide rail (6), the detector adapter block is fixedly connected with a detector (5), and the detector adapter block and the detector (5) can move along the sliding guide rail (6) under the drive of the drive motor (9).

3. The hyperspectral built-in push-broom imaging structure based on an unmanned aerial vehicle of claim 2, wherein the limiting structure (8) is L-shaped.

4. The hyperspectral built-in push-broom imaging structure based on an unmanned aerial vehicle according to any one of claims 1 to 2, characterized by comprising a hollow protective shell, wherein the imaging lens (1) penetrates out of the protective shell through a through hole arranged on one side of the protective shell.

5. The hyperspectral built-in push-broom imaging structure based on an unmanned aerial vehicle according to any one of claims 1-2, wherein the detector (5) is further provided with detector chips, and the detector chips are coated with films of different wave bands.

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