CN114942014B - Direct laser tracker, target tracking recovery method, device and storage medium - Google Patents
Direct laser tracker, target tracking recovery method, device and storage medium Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C15/002—Active optical surveying means
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- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The present disclosure provides a direct laser tracker, applied to the technical field of automatic control, comprising: the main part, azimuth rotating mechanism with the main part rotates to be connected for control optics measuring mechanism azimuth rotation, every single move rotating mechanism with azimuth rotating mechanism connects for control optics measuring mechanism every single move rotates, and optics measuring mechanism sets up on every single move rotating mechanism, and optics measuring mechanism includes vision imaging module and laser rangefinder module, and vision imaging module is used for shooing the current image that contains the target ball, and laser rangefinder module is used for transmitting the laser beam to the target ball to measure the current distance value with between the target ball, the electric cabinet is used for utilizing current distance value and current image to calculate the offset angle value between laser beam and the target ball, and based on offset angle value control azimuth rotating mechanism and every single move rotating mechanism rotate. The disclosure also provides a target tracking recovery method, electronic equipment and a storage medium.
Description
Technical Field
The disclosure relates to the technical field of automatic control, in particular to a direct laser tracker, a target tracking recovery method, electronic equipment and a storage medium.
Background
The laser tracker is widely applied to the field of on-site large-size space precision measurement, and occurs when a cooperative target is lost and tracking measurement is interrupted due to on-site burst factors such as improper operation, shielding and the like in the use process, and an operator is required to manually conduct complex guiding operation, so that the on-site measurement working efficiency of the laser tracker is seriously affected.
The vision-based cooperative target ball detection and positioning is an effective solution for realizing autonomous control of a laser tracker and aiming a laser beam at a target ball. The prior art provides a deep learning technology to solve the problems of identification and positioning of the cooperative target ball under a complex background, but does not solve the relation between the positioning value of the target in the image and the alignment of the laser beam with the cooperative target ball, and simultaneously has the disadvantages of large calculated amount and long calculated time of the convolutional neural network, and is not beneficial to system integration and engineering application. The prior art also provides a method for realizing visual target identification and positioning of a cooperative target based on active infrared illumination, a method for processing an infrared image, and a method for compensating a non-coaxial deviation angle of a system, but the method does not mention a method for determining a reference center point and a method for specifically calculating the deviation angle in the identification process, and meanwhile SLED heat dissipation capacity is large, so that integration cannot be realized, and the method can only be applied to principle experiments, and a product model cannot be formed.
Disclosure of Invention
The main purpose of the present disclosure is to provide a direct laser tracker, a target tracking recovery method, an electronic device and a storage medium, which have strong environmental adaptability and good system integration, and implement autonomous tracking measurement recovery of the laser tracker.
To achieve the above object, a first aspect of embodiments of the present disclosure provides a direct laser tracker, including:
a main body;
the azimuth rotating mechanism is rotationally connected with the main body and is used for controlling the azimuth rotation of the optical measuring mechanism;
the pitching rotation mechanism is connected with the azimuth rotation mechanism and is used for controlling the pitching rotation of the optical measurement mechanism;
the optical measuring mechanism is arranged on the pitching rotating mechanism, when the pitching rotating mechanism and the azimuth rotating mechanism move, the optical measuring mechanism rotates by the same angle at the same movement speed, the optical measuring mechanism comprises a visual imaging module and a laser ranging module, the visual imaging module is used for shooting a current image containing the target ball, and the laser ranging module is used for emitting laser beams to the target ball and measuring the current distance value 1 between the laser beams and the target ball;
and the electric control box is used for calculating an offset angle value beta between the laser beam and the target ball by using the current distance value 1 and the current image under the condition that the direct laser tracker loses tracking the target ball, and controlling the azimuth rotating mechanism and the pitching rotating mechanism to rotate based on the offset angle value beta so as to enable the laser beam to be aligned to the target ball.
In an embodiment of the disclosure, the optical measurement mechanism further includes:
an illumination module for illuminating the entire imaging field of view;
the laser ranging module is further used for measuring the distance between the laser ranging module and the target ball under the condition that the direct laser tracker does not lose tracking of the target ball;
the visual imaging module is also used for shooting a plurality of images containing the target ball, and the distance between the target ball and the laser ranging module in each image is different;
the electric cabinet is also used for determining pixel coordinate values of the reference center point under different distances based on the plurality of pictures to obtain a corresponding relation table of the distance and the pixel coordinate values of the reference center point.
In an embodiment of the disclosure, the illumination module, the visual imaging module and the laser ranging module are disposed in parallel and fixed relative to each other, so that a coverage range of a visual field of the visual imaging module is consistent with the laser beam emitting direction.
In one embodiment of the present disclosure, the electric cabinet is specifically configured to, in the event that the direct laser tracker loses tracking of the target ball event,
receiving the current distance value 1 sent by the laser ranging module and the current image sent by the visual imaging module;
determining the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 )；
Searching a distance point j and a distance point k corresponding to the current distance value 1 in the corresponding relation table, and a pixel coordinate value (x) corresponding to the distance point j j ，y j ) The pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k;
according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) And a pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating a pixel coordinate value A of a reference center point under the current distance value 1 1 (x 1 ，y 1 )；
Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) Calculating the offset angle value beta between the laser beam and the target ball.
In an embodiment of the disclosure, the pixel coordinate value (x) corresponding to the distance point j j ，y j ) And a pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating a pixel coordinate value A of a reference center point under the current distance value 1 1 (x 1 ，y 1 ) Comprising the following steps:
in one embodiment of the present disclosure, the reference center pixel coordinate value A is used 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) Calculating the offset angle value β between the laser beam and the target sphere includes:
wherein f represents the focal length of the visual imaging module, and P represents the current coordinate value P 1 (x 1 ，y 1 ) A distance value from the center point of the visual imaging module under the visual imaging module coordinate system, wherein a represents the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And a distance value from a center point of the visual imaging module under the visual imaging module coordinate system.
A second aspect of the embodiments of the present disclosure provides a target tracking recovery method, which is applied to the direct laser tracker of the first aspect, and includes:
receiving a current distance value 1 sent by a laser ranging module and a current image sent by a visual imaging module;
calculating an offset angle value beta between the laser beam and the target ball by using the current distance value 1 and the current image under the condition that the direct laser tracker loses tracking the target ball event;
and controlling the azimuth rotating mechanism and the pitching rotating mechanism to rotate based on the offset angle value beta so as to align the laser beam with the target ball.
In an embodiment of the present disclosure, the calculating the offset angle value β between the laser beam and the target ball using the current distance value 1 and the current image includes:
determining the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 )；
Searching a distance point j and a distance point k corresponding to the current distance value 1 in a corresponding relation table, and a pixel coordinate value (x) corresponding to the distance point j j ，y j ) The pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k;
according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) And a pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating a pixel coordinate value A of a reference center point under the current distance value 1 1 (x 1 ，y 1 )；
Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) Calculating the offset angle value beta between the laser beam and the target ball.
A third aspect of an embodiment of the present disclosure provides an electronic device, including:
the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and is characterized in that the processor executes the program to realize the target tracking recovery method provided in the first aspect of the embodiment of the disclosure.
A fourth aspect of the disclosed embodiments provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the target tracking restoration method provided by the first aspect of the disclosed embodiments.
According to the embodiment of the disclosure, the direct laser tracker, the target tracking recovery method, the electronic equipment and the storage medium can avoid complex coordinate system conversion and calibration while ensuring the precision, and can realize the effect of one-time calibration and repeated use. The method can avoid complex optical axis-visual axis calibration, avoid the strict requirements on the internal optical path and mechanical installation precision of the laser tracker, and improve the fault tolerance and robustness of the system.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present disclosure, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a direct laser tracker according to an embodiment of the disclosure;
FIG. 2 is a schematic diagram of an optical measurement mechanism according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram of a direct laser tracker according to an embodiment of the present disclosure during normal operation;
FIG. 4 is a schematic diagram of calibrating reference center pixel coordinate values at different distances according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a direct laser tracker according to an embodiment of the present disclosure during abnormal operation;
FIG. 6 is a schematic diagram of calculating an offset angle value β according to an embodiment of the disclosure;
FIG. 7 is a flowchart of a target tracking recovery method according to an embodiment of the disclosure;
fig. 8 is a schematic structural diagram of an optical measurement mechanism according to an embodiment of the disclosure.
Detailed Description
In order to make the disclosure objects, features and advantages of the disclosure more comprehensible, the technical solutions in the embodiments of the disclosure will be clearly and completely described with reference to the accompanying drawings in the embodiments of the disclosure, and it is apparent that the described embodiments are only some embodiments of the disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person skilled in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a direct laser tracker according to an embodiment of the disclosure, where the structure mainly includes:
a main body 1;
the azimuth rotating mechanism 2 is rotationally connected with the main body 1 and is used for controlling the azimuth rotation of the optical measuring mechanism;
the pitching rotation mechanism 3 is connected with the azimuth rotation mechanism 2 and is used for controlling the pitching rotation of the optical measurement mechanism;
the optical measurement mechanism 4 is arranged on the pitching rotation mechanism 3, when the pitching rotation mechanism 3 and the azimuth rotation mechanism 2 move, the optical measurement mechanism 4 rotates by the same angle at the same movement speed, the optical measurement mechanism 4 comprises a visual imaging module 6 and a laser ranging module 7, the visual imaging module 6 is used for shooting a current image containing a target ball, and the laser ranging module 7 is used for emitting a laser beam to the target ball and measuring a current distance value 1 between the laser beam and the target ball;
and the electric control box 5 is used for calculating an offset angle value beta between the laser beam and the target ball by utilizing the current distance value 1 and the current image under the condition that the direct laser tracker loses tracking the target ball, and controlling the azimuth rotating mechanism 2 and the pitching rotating mechanism 3 to rotate based on the offset angle value beta so as to enable the laser beam to be aligned to the target ball.
In the present disclosure, the visual imaging module 6 includes a camera and a lens, where the sensitization range of the camera may include 850nm wavelength, and the lens includes a narrow-band filter with 850nm wavelength, so that the optical imaging module has better transmittance for light in a wavelength band near the 850nm wavelength and better filtering function for light in other wavelength bands.
In an embodiment of the present disclosure, as shown in fig. 2, the optical measurement mechanism 4 further includes: an illumination module 8 for illuminating the entire imaging field of view; the laser ranging module 7 is further used for measuring the distance between the laser ranging module and the target ball under the condition that the direct laser tracker does not lose tracking the target ball; the visual imaging module 6 is further used for shooting a plurality of images containing the target ball, and the distance between the target ball and the laser ranging module 7 in each image is different; and the electric cabinet 5 is also used for determining pixel coordinate values of the reference center point under different distances based on the plurality of pictures to obtain a corresponding relation table of the distance and the pixel coordinate values of the reference center point.
In the present disclosure, the illumination module 8 may include, for example, 4 infrared LEDs of 850nm, the LEDs on the illumination module 8 being uniformly distributed around the lens of the vision imaging module 6, the 4 LEDs emitting illumination light with a divergence angle greater than the lens field angle of the vision imaging module 6, i.e., the illumination source is capable of covering the entire imaging field of view
In the present disclosure, the electric cabinet 5 may implement on-off control of the lighting module 8.
In the present disclosure, when the direct laser tracker is operating normally, i.e. no loss tracking event occurs, as shown in fig. 3, the laser beam will be directed to the target sphere, and the coordinate value of the pixel of the target sphere in the image captured by the vision imaging module 6 is a i (x 0 ，y 0 ) The pixel coordinate point is the pixel coordinate value of the reference center point at the distance value.
In an example, a correspondence table of distance and reference center point pixel coordinate values may be obtained in the following manner. Step S1: the direct laser tracker is in a normal tracking state, the target ball is firstly placed at the position which is i=1 meter away from the direct laser tracker and keeps the position fixed, at the moment, an image is shot by the visual imaging module 6, and the image data is recorded as C1; step S2: as shown in fig. 4, keeping a tracking measurement state, moving a target ball by a distance of 1 meter, namely placing the target ball at a fixed position at a distance of i=2 meters from a direct laser tracker, and obtaining image data and recording the image data as C2; step S3: repeating the step S2, and continuously acquiring image data Ci; step S4: according to the acquired image data Ci, a manual calibration mode is used for acquiring a reference center point A of a corresponding distance i Pixel coordinate value A of (2) i (x i ，y i ) The method comprises the steps of carrying out a first treatment on the surface of the Step S5: the reference center point A corresponding to the different distance values i is stored by using a lookup table i Pixel coordinate value a i (x i ，y i ) Recording was performed and denoted AL. I.e. complete reference centre point A i Pixel coordinate value A of (2) i (x i ，y i ) And (5) calibrating. Reference center points a of different distances i Pixel coordinate value a i (x i ，y i ) The summary table AL of (c) may be stored in the storage means of the electric cabinet 5 awaiting the application calculation.
In one embodiment of the present disclosure, the illumination module 8, the vision imaging module 6 and the laser ranging module 7 are disposed in parallel and fixed relative to each other so that the coverage of the field of view of the vision imaging module 6 coincides with the laser beam emission direction.
In an embodiment of the present disclosure, the electric cabinet 5 is specifically configured to receive the current distance value 1 sent by the laser ranging module 7 and the current image sent by the visual imaging module 6 when the direct laser tracker loses tracking the target ball, and determine the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 ) Searching a distance point j and a distance point k corresponding to the current distance value 1 in a corresponding relation table, and a pixel coordinate value (x) corresponding to the distance point j j ，y j ) The pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k, and according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) Pixel coordinate value (x) corresponding to distance point k k ，y k ) Calculating a reference center point pixel coordinate value A under the current distance value 1 1 (x 1 ，y 1 ) Using reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) An offset angle value beta between the laser beam and the target ball is calculated.
In the present disclosure, when the tracking target ball event occurs, as shown in fig. 5, the laser beam is no longer aligned to the target ball, and at this time, the coordinate value of the pixel of the target ball in the image captured by the visual imaging module 6 is set asP i (x, y). In order to achieve tracking measurement recovery by aligning the laser beam to the target ball again, the direct laser tracker is required to rotate the azimuth rotating mechanism 2 and the pitching rotating mechanism 3 to drive the direct laser ranging to move by a certain angle value, and the angle value is an offset angle value beta required by tracking measurement recovery.
In the present disclosure, 2 calibrated distance points j, k corresponding to the current distance value 1 and the corresponding pixel coordinate values (x) j ，y j )，(x k ，y k ) Calculating a pixel coordinate value A of a reference center point under the current distance value 1 by using the calibrated coordinate value 1 (x 1 ，y 1 ) Using reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P of the target 1 (x 1 ，y 1 ) And calculating an offset angle value beta by a camera internal parameter calibrated in advance, and sending the calculated offset angle value beta to a direct laser tracker servo controller to enable the azimuth rotating mechanism 2 and the pitching rotating mechanism 3 to rotate, so that the laser beam is aligned to the target ball, and the active recovery of tracking measurement is completed.
In one embodiment of the present disclosure, the pixel coordinate value (x) corresponding to the distance point j j ，y j ) Pixel coordinate value (x) corresponding to distance point k k ，y k ) Calculating a reference center point pixel coordinate value A under the current distance value 1 1 (x 1 ，y 1 ) Comprising the following steps:
in one embodiment of the present disclosure, as shown in FIG. 6, reference center pixel coordinate value A is utilized 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) Calculating the offset angle value β between the laser beam and the target sphere includes:
where f represents the focal length of the visual imaging module 6 and P represents the current coordinate value P 1 (x 1 ，y 1 ) Distance value from the center point of the vision imaging module 6 in the vision imaging module 6 coordinate system, a represents the reference center pixel coordinate value a 1 (x 1 ，y 1 ) Distance values from the center point of the vision imaging module 6 under the vision imaging module 6 coordinate system. In the present disclosure, P may be defined by the current coordinate value P 1 (x 1 ，y 1 ) Calculated from the internal parameters of the vision imaging module 6, a can be defined by a 1 (x 1 ，y 1 ) And the internal parameters of the visual imaging module 6.
Referring to fig. 7, fig. 7 is a flow chart of a target tracking recovery method according to an embodiment of the disclosure, which is applied to the direct laser tracker shown in fig. 1, and the method mainly includes:
s701, receiving a current distance value 1 sent by a laser ranging module and a current image sent by a visual imaging module;
s702, under the condition that the direct laser tracker loses tracking of a target ball, calculating an offset angle value beta between the laser beam and the target ball by using the current distance value 1 and the current image;
and S703, controlling the azimuth rotating mechanism and the pitching rotating mechanism to rotate based on the offset angle value beta so as to align the laser beam with the target ball.
In one embodiment of the present disclosure, the calculating an offset angle value β between the laser beam and the target ball using the current distance value 1 and the current image includes: determining the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 ) Searching a distance point j and a distance point k corresponding to the current distance value 1 in a corresponding relation table, and a pixel coordinate value (x j ，y j ) The pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k, and according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) A pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating a reference center point pixel coordinate value A at the current distance value 1 1 (x 1 ，y 1 ) Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) The offset angle value beta between the laser beam and the target ball is calculated.
Referring to fig. 8, fig. 8 shows a hardware configuration diagram of an electronic device.
The electronic device described in the present embodiment includes:
the memory 41, the processor 42 and the computer program stored in the memory 41 and executable on the processor, the processor executing the program implements the synchronous control method of the multi-axis motion system described in the embodiment shown in fig. 1.
Further, the electronic device further includes:
at least one input device 43; at least one output device 44.
The memory 41, the processor 42, the input device 43 and the output device 44 are connected by a bus 45.
The input device 43 may be a camera, a touch panel, a physical button, a mouse, or the like. The output device 44 may be in particular a display screen.
The memory 41 may be a high-speed random access memory (RAM, random Access Memory) memory or a non-volatile memory (non-volatile memory), such as a disk memory. Memory 41 is used to store a set of executable program code and processor 42 is coupled to memory 41.
Further, the embodiment of the present disclosure further provides a computer readable storage medium, which may be provided in the electronic device in the above embodiments, and the computer readable storage medium may be the electronic device in the embodiment shown in fig. 8. The computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the target tracking recovery method described in the embodiment shown in fig. 8 described above. Further, the computer-readable medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, etc. which may store the program code.
It should be noted that, each functional module in each embodiment of the present disclosure may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such an understanding, the technical solution of the invention may be embodied essentially or partly in the form of a software product or in part in addition to the prior art.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present invention.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing describes a target tracking recovery method, apparatus, electronic device and readable storage medium provided by the present invention, and those skilled in the art may change the specific implementation and application scope according to the ideas of the embodiments of the present invention, so the disclosure should not be construed as limiting the present invention.
Claims (7)
1. A direct laser tracker, comprising:
a main body;
the azimuth rotating mechanism is rotationally connected with the main body and is used for controlling the azimuth rotation of the optical measuring mechanism;
the pitching rotation mechanism is connected with the azimuth rotation mechanism and is used for controlling the pitching rotation of the optical measurement mechanism;
the optical measuring mechanism is arranged on the pitching rotating mechanism, when the pitching rotating mechanism and the azimuth rotating mechanism move, the optical measuring mechanism rotates by the same angle at the same movement speed, the optical measuring mechanism comprises a visual imaging module and a laser ranging module, the visual imaging module is used for shooting a current image containing a target ball, and the laser ranging module is used for transmitting a laser beam to the target ball and measuring a current distance value 1 between the laser beam and the target ball;
the electric control box is used for calculating an offset angle value beta between the laser beam and the target ball by utilizing the current distance value 1 and the current image under the condition that the direct laser tracker loses tracking the target ball, and controlling the azimuth rotating mechanism and the pitching rotating mechanism to rotate based on the offset angle value beta so as to enable the laser beam to be aligned to the target ball;
the optical measurement mechanism further includes:
an illumination module for illuminating the entire imaging field of view;
the laser ranging module is further used for measuring the distance between the laser ranging module and the target ball under the condition that the direct laser tracker does not lose tracking of the target ball;
the visual imaging module is also used for shooting a plurality of images containing the target ball, and the distance between the target ball and the laser ranging module in each image is different;
the electric cabinet is further used for determining pixel coordinate values of the reference center point under different distances based on the plurality of images to obtain a corresponding relation table of the distance and the pixel coordinate values of the reference center point;
the electric cabinet is particularly used for, under the condition that the direct laser tracker loses tracking of the target ball event,
receiving the current distance value 1 sent by the laser ranging module and the current image sent by the visual imaging module;
determining the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 )；
Searching a distance point j and a distance point k corresponding to the current distance value 1 in the corresponding relation table, and a pixel coordinate value (x) corresponding to the distance point j j ，y j ) The pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k;
according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) And a pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating a pixel coordinate value A of a reference center point under the current distance value 1 1 (x 1 ，y 1 )；
Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) Calculating the offset angle value beta between the laser beam and the target ball.
2. The direct laser tracker of claim 1, wherein the illumination module, the vision imaging module, and the laser ranging module are placed in parallel and fixed relative to each other such that the vision imaging module field coverage is consistent with the laser beam emission direction.
3. The direct laser tracker according to claim 1, wherein the pixel coordinate value (x j ，y j ) And a pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating a pixel coordinate value A of a reference center point under the current distance value 1 1 (x 1 ，y 1 ) Comprising the following steps:
4. the direct laser tracker of claim 1, wherein the reference center pixel coordinate value a is utilized 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) Calculating the offset angle value β between the laser beam and the target sphere includes:
wherein f represents the focal length of the visual imaging module, and P represents the current coordinate value P 1 (x 1 ，y 1 ) A distance value from the center point of the visual imaging module under the visual imaging module coordinate system, wherein a represents the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And a distance value from a center point of the visual imaging module under the visual imaging module coordinate system.
5. A target tracking recovery method, applied to the direct laser tracker of any one of claims 1 to 4, comprising:
receiving a current distance value 1 sent by a laser ranging module and a current image sent by a visual imaging module;
calculating an offset angle value beta between the laser beam and the target ball by using the current distance value 1 and the current image under the condition that the direct laser tracker loses tracking the target ball event;
controlling a azimuth rotating mechanism and a pitching rotating mechanism to rotate based on the offset angle value beta so as to align the laser beam with the target ball;
the calculating an offset angle value β between the laser beam and the target ball using the current distance value 1 and the current image includes:
determining the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 )；
Searching a distance point j and a distance point k corresponding to the current distance value 1 in a corresponding relation table, and a pixel coordinate value (x) corresponding to the distance point j j ，y j ) The pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k;
according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) And a pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating a pixel coordinate value A of a reference center point under the current distance value 1 1 (x 1 ，y 1 )；
Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) Calculating the offset angle value beta between the laser beam and the target ball.
6. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the object tracking recovery method of claim 5 when executing the computer program.
7. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the target tracking recovery method of claim 5.
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