CN115655658A - Method for adjusting consistency of optical axis of photoelectric tracker by external field - Google Patents
Method for adjusting consistency of optical axis of photoelectric tracker by external field Download PDFInfo
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Abstract
The invention discloses a method for adjusting the consistency of an optical axis of a photoelectric tracker by an external field, which comprises the following steps: determining a horizontal center of laser ranging of the photoelectric tracker based on the horizontal direction target; keeping the pitching angle of the photoelectric tracker unchanged, and respectively adjusting a visible light device and an infrared device of the photoelectric tracker along the horizontal direction; determining an object which is horizontal in direction and static in the neighborhood range of the horizontal direction target as a vertical direction target; determining the vertical center of the laser ranging of the photoelectric tracker; and respectively adjusting the visible light device and the infrared device of the photoelectric tracker along the vertical direction. In the external field environment, the invention can realize the consistency of the optical axes of laser, visible light and infrared without an external debugging device or a professional optical axis scheduling device.
Description
Technical Field
The invention relates to the field of photoelectric servo control, in particular to a method for adjusting the consistency of an optical axis of a photoelectric tracker by an external field.
Background
At present, photoelectric trackers are generally provided with a visible light device, an infrared device and a laser ranging device, and optical axes corresponding to the visible light device, the infrared device and the laser ranging device are adjusted to be consistent, namely, the consistency of adjusting multiple optical axes becomes an important work for guaranteeing the performance of the photoelectric trackers. Before the photoelectric tracker leaves a factory, the consistency of multiple optical axes can be ensured through various debugging devices. However, in the field work of the equipment, the consistency of multiple optical axes can be changed due to transportation and bumping, internal looseness of the photoelectric tracker in long-time operation, detection and maintenance, component replacement and the like.
In the actual work of the external field, due to the nature of the external field work, the external field does not have a professional scheduling device for multi-optical axis consistency, so that the consistency of the multi-optical axis of the photoelectric tracker needs to be adjusted in the external field, and there is a technical pain in how to adjust the multi-optical axis consistency of the photoelectric tracker by means of the application scene of the external field.
Disclosure of Invention
In view of this, the present invention provides a method for adjusting optical axis consistency of a photoelectric tracker by an external field, which can solve the technical problem that the photoelectric tracker does not adjust the optical axis consistency by means of a debugging device when the external field works.
In order to solve the above-mentioned technical problems, the present invention has been accomplished as described above.
A method for adjusting optical axis consistency of a photoelectric tracker by an external field, comprising:
step S1: setting a neighborhood range according to the range measurement range of the assembled laser range finder, and selecting an object which is vertical and static in a determined direction as a target in a horizontal direction;
step S2: determining the horizontal center of the laser ranging of the photoelectric tracker based on the horizontal direction target and by utilizing laser ranging for multiple measurements;
and step S3: setting a horizontal center of laser ranging of the photoelectric tracker, keeping the pitching angle of the photoelectric tracker unchanged, and respectively adjusting a visible light device and an infrared device of the photoelectric tracker along the horizontal direction;
and step S4: determining an object which is horizontal in direction and static in the neighborhood range of the horizontal direction target as a vertical direction target;
step S5: determining the vertical center of the laser ranging of the photoelectric tracker based on the vertical direction target and by utilizing laser ranging for multiple measurements;
step S6: and setting the horizontal center and the vertical center of the photoelectric tracker based on the horizontal center angle and the vertical center angle of laser ranging, and respectively adjusting the visible light device and the infrared device of the photoelectric tracker along the vertical direction.
Preferably, the step S2: determining a horizontal center of laser ranging of the photoelectric tracker by using laser ranging multiple measurements based on the horizontal direction target, comprising:
step S21: fixing the laser ranging position of the photoelectric tracker, and starting continuous ranging of the laser ranging; adjusting the photoelectric tracker to aim the laser ranging at the horizontal direction target, and indicating that the laser emitted by the laser ranging hits the horizontal direction target when the fed back distance value of the laser ranging is a numerical value;
step S22: controlling the photoelectric tracker to move a minimum step distance along a clockwise direction in a horizontal direction, acquiring a fed back distance value of laser ranging, and if the fed back distance value of the laser ranging is a numerical value, entering a step S22; if the fed back distance value of the laser ranging is empty, recording a current first boundary azimuth angle A of the photoelectric tracker, wherein the current first boundary azimuth angle A is a horizontal boundary at one side of the horizontal direction target;
step S23: controlling the photoelectric tracker to move a minimum step distance along the counterclockwise direction in the horizontal direction, acquiring a fed back distance value of the laser ranging, and if the fed back distance value of the laser ranging is a numerical value, entering step S23; if the fed back distance value of the laser ranging is empty, recording a current second boundary azimuth angle B of the photoelectric tracker, wherein the current second boundary azimuth angle B is the horizontal boundary of the other side of the horizontal direction target;
step S24: and determining the horizontal central angle of the laser ranging target, namely the azimuth angle is (A + B)/2.
Preferably, the step S3 includes:
step S31: fixing the horizontal center of the laser ranging of the photoelectric tracker, controlling the photoelectric tracker to position to the horizontal center angle of the laser ranging, and keeping the pitching angle of the photoelectric tracker unchanged;
step S32: observing a visible light image and an infrared image, respectively drawing a first group of vertical lines corresponding to the visible light device and a second group of vertical lines corresponding to the infrared device on the two sides of the central line of the cross hair of the visible light image and the central line of the cross hair of the infrared image by using upper computers corresponding to the visible light device and the infrared device, respectively, and respectively controlling the distance between the first group of vertical lines and the corresponding central line of the cross hair and the distance between the second group of vertical lines and the corresponding central line of the cross hair; the two vertical lines of the first group of vertical lines are equal in distance from the corresponding central line of the cross wire, and the two vertical lines of the second group of vertical lines are equal in distance from the corresponding central line of the cross wire;
step S33: adjusting the optical axis of the visible light device and the optical axis of the infrared device along the horizontal direction respectively, so that two vertical lines of the first group of vertical lines and two vertical lines of the second group of vertical lines are located on the boundary line of the target in the horizontal direction respectively; the boundary line of the horizontal direction target is determined based on the first boundary azimuth angle a and the second boundary azimuth angle B.
Preferably, the step S5: determining a vertical center of laser range of the photoelectric tracker based on the vertical direction target and using laser range finding multiple measurements, comprising:
step S51: adjusting the azimuth angle of the photoelectric tracker to enable the laser ranging to aim at the target in the vertical direction, and starting continuous ranging of the laser ranging; when the distance value fed back by the laser ranging is a numerical value, indicating that the laser emitted by the laser ranging hits the target in the vertical direction;
step S52: controlling the photoelectric tracker to move downwards in the vertical direction by a minimum step distance to obtain a distance value fed back by the laser range finder, and if the fed back distance value is a numerical value, entering step S52; if the fed back distance value is empty, recording a current first boundary pitch angle C of the photoelectric tracker, wherein the current first boundary pitch angle C is a pitch boundary at one side of a target;
step S53: controlling the photoelectric tracker to move upwards by a minimum step distance in the vertical direction to obtain a feedback distance value of the laser range finder, and if the feedback distance value is a numerical value, entering step S53; if the fed back distance value is empty, recording a second current boundary pitch angle D of the photoelectric tracker, wherein the current second boundary pitch angle D is the other side pitch boundary of the target;
step S54: and determining the vertical center angle of the laser ranging, namely the pitch angle is (C + D)/2.
Preferably, the step S6 includes:
step S61: keeping the azimuth angle of the photoelectric tracker to be (A + B)/2, fixing the vertical center of the laser ranging of the photoelectric tracker, and controlling the azimuth of the photoelectric tracker to be positioned to the vertical center angle of the laser ranging;
step S62: observing a visible light image and an infrared image, respectively drawing a first group of horizontal lines corresponding to the visible light device and a second group of horizontal lines corresponding to the infrared device on two sides of a cross-hair central line of the visible light image and a cross-hair central line of the infrared image corresponding to the visible light device and the infrared device, and respectively controlling the distance between the first group of horizontal lines and the distance between the second group of horizontal lines and the corresponding cross-hair central line; the two horizontal lines of the first group of horizontal lines are equal in distance from the corresponding central line of the cross wire, and the two horizontal lines of the second group of horizontal lines are equal in distance from the corresponding central line of the cross wire;
step S63: adjusting the optical axis of the visible light device and the optical axis of the infrared device along the vertical direction respectively, so that two vertical lines of the first group of horizontal lines and two horizontal lines of the second group of horizontal lines are located on the boundary line of the target in the vertical direction respectively; the boundary line of the vertical-direction target is determined based on the first boundary pitch angle C and the second boundary pitch angle D.
Preferably, the neighborhood range is between two-thirds range and the maximum range of the range measurement range of the laser range finder.
Has the beneficial effects that:
the invention firstly determines the distance of the target and the focal length of the lens, then selects the target and determines the boundary of the target through the feedback of laser ranging. And according to the information of the azimuth and the pitch angle of the photoelectric tracker at the boundary, calculating the horizontal and vertical central angles of the target. And then respectively adjusting the visible light device and the infrared device by utilizing visible light and infrared upper computers to enable the horizontal and vertical centers of the visible light and infrared image cross cursors to be aligned with a target, so that the optical axes of laser, visible light and infrared are consistent.
The method has the following technical effects:
(1) The invention can quickly reach the working state in the field test or practical use.
(2) In an external field environment, the optical axis consistency of laser, visible light and infrared can be realized without an external debugging device or a professional optical axis scheduling device.
(3) The debugging method is simple and convenient and is easy to realize.
(4) The invention improves the adaptability and the practicability of the photoelectric tracker.
Drawings
FIG. 1 is a schematic flow chart of a method for adjusting the consistency of the optical axis of a photoelectric tracker by an external field according to the present invention;
fig. 2 (a) -2 (C) are schematic diagrams illustrating the adjustment of the horizontal center of the television and the infrared target according to the present invention;
fig. 3 is a schematic view of adjusting the vertical center of a television and an infrared target according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1, the present invention provides a control method for adjusting the consistency of the optical axis of a photoelectric tracker by an external field, which comprises the following steps:
step S1: setting a neighborhood range according to the range measurement range of the assembled laser range finder, and selecting an object which is vertical in a determined direction and is static as a target in a horizontal direction;
step S2: determining the horizontal center of the laser ranging of the photoelectric tracker based on the horizontal direction target and by utilizing laser ranging for multiple measurements;
and step S3: setting a horizontal center of laser ranging of the photoelectric tracker, keeping the pitching angle of the photoelectric tracker unchanged, and respectively adjusting a visible light device and an infrared device of the photoelectric tracker along the horizontal direction;
and step S4: determining an object which is horizontal in direction and static in the neighborhood range of the horizontal direction target as a vertical direction target;
step S5: determining the vertical center of the laser ranging of the photoelectric tracker based on the vertical direction target and by utilizing laser ranging for multiple measurements;
step S6: and setting the horizontal center and the vertical center of the photoelectric tracker based on the horizontal center angle and the vertical center angle of laser ranging, and respectively adjusting the visible light device and the infrared device of the photoelectric tracker along the vertical direction.
Further, the visible light device and the infrared device of the photoelectric tracker are respectively adjusted along the horizontal direction, and the infrared device comprises: observing an image to enable the horizontal target to appear in the center of the image of the visible light device, and locking and fixing the visible light device; and locking and fixing the infrared device after the horizontal direction target appears in the image center of the infrared device, namely the horizontal center adjustment of the visible light device, the infrared device and the laser ranging is consistent, and the horizontal adjustment of the visible light device, the infrared device and the laser ranging is completed.
Further, the visible light device and the infrared device of the photoelectric tracker are respectively adjusted along the vertical direction, and the infrared device comprises: observing an image to enable the vertical direction target to appear in the center of the image of the visible light device, and locking and fixing the visible light device; and locking and fixing the infrared device after the vertical direction target appears in the image center of the infrared device. Namely, the visible light device, the infrared device and the laser ranging vertical center are adjusted to be consistent, and the vertical adjustment of the visible light device, the infrared device and the laser ranging vertical center is completed.
In the step S1, the target distance is selected, and the lens focal length of the infrared and television lenses is adjusted. The target distance is determined based on performance parameters of the photoelectric tracker, for example, an intermediate distance value is selected as the target distance according to the actual working farthest distance of the laser ranging or the most common ranging range. And adjusting the visible light and the infrared lens to corresponding focal lengths to match the target distance.
Further, the neighborhood range is between two-thirds range and the maximum range of the range measurement range of the laser range finder.
And setting a neighborhood range according to the range measurement range of the assembled laser range finder, and selecting an object which is vertical and static in a determined direction as a horizontal direction target between two thirds of the range measurement range of the laser range finder and the maximum range based on the target distance and the neighborhood range.
And setting a neighborhood range according to the range measurement range of the assembled laser range finder, and establishing a region which takes the photoelectric tracker as a circle center and the maximum range of the range measurement as a radius as a target selection range based on the target distance and the domain range.
The vertical and static object is used as a horizontal reference object, i.e. a horizontal target, such as a signal tower, a tower crane, a tree, or an artificially erected target. And the left and right of the target in the horizontal direction have no shielding of the air larger than a first preset threshold value, so that the boundary of the target can be measured by using a distance measuring device.
The step S2: determining a horizontal center of laser ranging of the photoelectric tracker by using laser ranging multiple measurements based on the horizontal direction target, comprising:
step S21: fixing the laser ranging position of the photoelectric tracker, and starting continuous ranging of the laser ranging; adjusting the photoelectric tracker to aim the laser ranging at the horizontal direction target, and indicating that the laser emitted by the laser ranging hits the horizontal direction target when the fed back distance value of the laser ranging is a numerical value;
step S22: controlling the photoelectric tracker to move a minimum step distance along a clockwise direction in a horizontal direction, acquiring a fed back distance value of laser ranging, and if the fed back distance value of the laser ranging is a numerical value, entering a step S22; if the fed back distance value of the laser ranging is empty, recording a current first boundary azimuth angle A of the photoelectric tracker, wherein the current first boundary azimuth angle A is a horizontal boundary at one side of the horizontal direction target;
step S23: controlling the photoelectric tracker to move by a minimum step distance along the counterclockwise direction in the horizontal direction, acquiring a fed back distance value of laser ranging, and if the fed back distance value of the laser ranging is a numerical value, entering step S23; if the fed back distance value of the laser ranging is empty, recording a current second boundary azimuth angle B of the photoelectric tracker, wherein the current second boundary azimuth angle B is the horizontal boundary of the other side of the horizontal direction target;
step S24: and determining the horizontal central angle of the laser ranging target, namely the azimuth angle is (A + B)/2.
In this embodiment, the visible light image formed by laser ranging is controlled in azimuth so that the laser ranging moves in the horizontal direction near the horizontal direction target. Because the left and right of the target in the horizontal direction are not shielded, when the laser is not emitted to the target, the laser ranging has no specific numerical value, and the distance feedback is empty. When laser is emitted to a target, the laser ranging has a specific numerical value, and the distance feedback is the specific numerical value. And controlling the photoelectric tracker to horizontally move to one direction at the minimum step distance until no distance feedback exists, recording the azimuth angle A of the current boundary of the photoelectric tracker, aiming at determining the horizontal boundary of one side of the target, controlling the photoelectric tracker to move to the opposite direction in the same way until no distance feedback exists, recording the azimuth angle B of the current boundary of the photoelectric tracker, aiming at determining the horizontal boundary of the other side of the target, and then, the laser ranging/target horizontal center angle is (A + B)/2.
As shown in fig. 2, the step S3: setting a horizontal center of laser ranging of the photoelectric tracker, keeping a pitching angle of the photoelectric tracker unchanged, respectively adjusting a visible light device and an infrared device of the photoelectric tracker along a horizontal direction, namely fixing the horizontal center of the laser ranging of the photoelectric tracker, keeping the pitching angle of the photoelectric tracker unchanged, and respectively adjusting the visible light device and the infrared device of the photoelectric tracker along the horizontal direction, so that an image center of the visible light device and an image center of the infrared device are consistent with a horizontal center of a target in the horizontal direction.
The step S3 includes:
step S31: fixing the horizontal center of the laser ranging of the photoelectric tracker, controlling the photoelectric tracker to position to the horizontal center angle of the laser ranging, and keeping the pitching angle of the photoelectric tracker unchanged;
step S32: observing a visible light image and an infrared image, respectively drawing a first group of vertical lines corresponding to the visible light device and a second group of vertical lines corresponding to the infrared device on the two sides of the central line of the cross hair of the visible light image and the central line of the cross hair of the infrared image by using upper computers corresponding to the visible light device and the infrared device, respectively, and respectively controlling the distance between the first group of vertical lines and the corresponding central line of the cross hair and the distance between the second group of vertical lines and the corresponding central line of the cross hair; the two vertical lines of the first group of vertical lines are equal in distance from the corresponding central line of the cross wire, and the two vertical lines of the second group of vertical lines are equal in distance from the corresponding central line of the cross wire;
step S33: adjusting the optical axis of the visible light device and the optical axis of the infrared device along the horizontal direction respectively, so that two vertical lines of the first group of vertical lines and two vertical lines of the second group of vertical lines are located on the boundary line of the target in the horizontal direction respectively; the boundary line of the horizontal direction target is determined based on the first boundary azimuth angle a and the second boundary azimuth angle B.
In this embodiment, the visible light and infrared optical axes are horizontally adjusted. And drawing two black lines at the left side and the right side of the central point of the cross hair of the image at equal distance by utilizing visible light and infrared upper computer debugging software, and controlling the two black lines to be close to or far away from the central point at the same time, as shown by a dotted line in fig. 2. And (3) ensuring that the pitching angle of the photoelectric tracker in the step (S2) is unchanged, firstly controlling the photoelectric tracker to position to the horizontal central angle in the step (S2), and then horizontally adjusting the visible light and infrared devices and black lines on the left side and the right side of the central point on the image of the visible light and infrared devices to enable the two black lines to be just positioned on the target boundary, so that the horizontal optical axes of the laser, the visible light and the infrared are consistent.
In the step S4, an object whose direction is horizontal and static is searched as a target in the vertical direction with the photoelectric tracker as a center of a circle and with a radius from two thirds range to the maximum range of the range measuring range of the laser range finder as a radius.
The horizontal and stationary object serves as a vertical reference, i.e. a vertical target, such as a horizontal vehicle, a horizontal billboard or a human horizontal target. And the upper part and the lower part of the target in the vertical direction are provided with spaces larger than a second preset threshold value, so that the target boundary can be conveniently distinguished by laser ranging according to ranging.
The step S5: determining a vertical center of laser range of the photoelectric tracker based on the vertical direction target and using laser range finding multiple measurements, comprising:
step S51: adjusting the azimuth angle of the photoelectric tracker to enable the laser ranging to aim at the target in the vertical direction, and starting continuous ranging of the laser ranging; when the distance value fed back by the laser ranging is a numerical value, indicating that the laser emitted by the laser ranging hits the target in the vertical direction;
step S52: controlling the photoelectric tracker to move downwards in the vertical direction by a minimum step distance to obtain a distance value fed back by the laser range finder, and if the fed back distance value is a numerical value, entering step S52; if the fed back distance value is empty, recording a current first boundary pitching angle C of the photoelectric tracker, wherein the current first boundary pitching angle C is a side pitching boundary of the target;
step S53: controlling the photoelectric tracker to move upwards by a minimum step distance in the vertical direction to obtain a feedback distance value of the laser range finder, and if the feedback distance value is a numerical value, entering step S53; if the fed back distance value is empty, recording a second current boundary pitch angle D of the photoelectric tracker, wherein the current second boundary pitch angle D is the other side pitch boundary of the target;
step S54: and determining the vertical center angle of the laser ranging, namely the pitch angle is (C + D)/2.
In this embodiment, the laser ranging vertical center is determined. The photoelectric tracker starts continuous distance measurement and controls pitching to move up and down near the target through the visible light image. The feedback of the laser ranging distance is empty because the target is empty up and down without shielding. When the distance feedback is effective during the movement, the laser has been emitted to the target. And at the moment, controlling the photoelectric tracker to vertically face to one direction by the minimum step distance until the distance feedback is empty, and recording the current boundary pitch angle C of the photoelectric tracker. And controlling the photoelectric tracker to move in the opposite direction in the same way until the distance feedback is empty, and recording the current boundary pitch angle D of the photoelectric tracker. The laser ranging vertical center angle is (C + D)/2.
As shown in fig. 3, step S6: the method comprises the steps of setting a horizontal center and a vertical center of a photoelectric tracker based on a horizontal center angle and a vertical center angle of laser ranging, respectively adjusting a visible light device and an infrared device of the photoelectric tracker along the vertical direction, namely fixing the vertical center of the laser ranging of the photoelectric tracker, keeping the azimuth angle of the photoelectric tracker unchanged, and respectively adjusting the visible light device and the infrared device of the photoelectric tracker along the vertical direction, so that the vertical center of the visible light device and the vertical center of the infrared device are consistent with the vertical center of the laser ranging.
The step S6 includes:
step S61: keeping the azimuth angle of the photoelectric tracker to be (A + B)/2, fixing the vertical center of the laser ranging of the photoelectric tracker, and controlling the azimuth of the photoelectric tracker to be positioned to the vertical center angle of the laser ranging;
step S62: observing a visible light image and an infrared image, respectively drawing a first group of horizontal lines corresponding to the visible light device and a second group of horizontal lines corresponding to the infrared device on two sides of a cross-hair central line of the visible light image and a cross-hair central line of the infrared image corresponding to the visible light device and the infrared device, and respectively controlling the distance between the first group of horizontal lines and the distance between the second group of horizontal lines and the corresponding cross-hair central line; the two horizontal lines of the first group of horizontal lines are equal in distance from the corresponding central line of the cross wire, and the two horizontal lines of the second group of horizontal lines are equal in distance from the corresponding central line of the cross wire;
step S63: adjusting the optical axis of the visible light device and the optical axis of the infrared device along the vertical direction respectively, so that two vertical lines of the first group of horizontal lines and two horizontal lines of the second group of horizontal lines are located on the boundary line of the target in the vertical direction respectively; the boundary line of the vertical-direction target is determined based on the first boundary pitch angle C and the second boundary pitch angle D.
The invention relates to a method for adjusting multi-optical-axis consistency by an external field, a photoelectric tracker can control equipment to move in azimuth and elevation with high precision, and the control precision can reach 0.05 degree. The method comprises the steps of selecting a target in the horizontal direction, controlling a photoelectric tracker to continuously carry out laser ranging near the target, moving in the horizontal direction, determining the center of the laser in the horizontal direction according to the feedback of a distance value of the laser ranging, and adjusting the center of visible light and infrared in the horizontal direction. And selecting a vertical target, controlling the photoelectric tracker to continuously carry out laser ranging near the target, moving in the vertical direction, determining the center of the laser in the vertical direction according to the feedback of the distance value of the laser ranging, and adjusting the center of the visible light and the infrared in the vertical direction. And the consistency of the optical axes of a visible light device, an infrared device and a laser ranging device which are deployed in the photoelectric tracker in an external field scene is realized.
The above embodiments only describe the design principle of the present invention, and the shapes and names of the components in the description may be different without limitation. Therefore, a person skilled in the art of the present invention can modify or substitute the technical solutions described in the foregoing embodiments; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (6)
1. A control method for adjusting the consistency of the optical axis of a photoelectric tracker by an external field is characterized by comprising the following steps:
step S1: setting a neighborhood range according to the range measurement range of the assembled laser range finder, and selecting an object which is vertical in a determined direction and is static as a target in a horizontal direction;
step S2: determining the horizontal center of the laser ranging of the photoelectric tracker based on the horizontal direction target and by utilizing laser ranging for multiple measurements;
and step S3: setting a horizontal center of laser ranging of the photoelectric tracker, keeping the pitching angle of the photoelectric tracker unchanged, and respectively adjusting a visible light device and an infrared device of the photoelectric tracker along the horizontal direction;
and step S4: determining an object which is horizontal in direction and static in the neighborhood range of the horizontal direction target as a vertical direction target;
step S5: determining the vertical center of the laser ranging of the photoelectric tracker based on the vertical direction target and by utilizing laser ranging for multiple measurements;
step S6: and setting the horizontal center and the vertical center of the photoelectric tracker based on the horizontal center angle and the vertical center angle of laser ranging, and respectively adjusting the visible light device and the infrared device of the photoelectric tracker along the vertical direction.
2. The method of claim 1, wherein the step S2: determining a horizontal center of laser ranging of the photoelectric tracker by using laser ranging multiple measurements based on the horizontal direction target, comprising:
step S21: fixing the laser ranging position of the photoelectric tracker, and starting continuous ranging of the laser ranging; adjusting the photoelectric tracker to aim the laser ranging at the horizontal direction target, and indicating that the laser emitted by the laser ranging hits the horizontal direction target when the fed back distance value of the laser ranging is a numerical value;
step S22: controlling the photoelectric tracker to move a minimum step distance along a clockwise direction in a horizontal direction, acquiring a fed back distance value of laser ranging, and if the fed back distance value of the laser ranging is a numerical value, entering a step S22; if the fed back distance value of the laser ranging is empty, recording a current first boundary azimuth angle A of the photoelectric tracker, wherein the current first boundary azimuth angle A is a horizontal boundary at one side of the horizontal direction target;
step S23: controlling the photoelectric tracker to move a minimum step distance along the counterclockwise direction in the horizontal direction, acquiring a fed back distance value of the laser ranging, and if the fed back distance value of the laser ranging is a numerical value, entering step S23; if the fed back distance value of the laser ranging is empty, recording a current second boundary azimuth angle B of the photoelectric tracker, wherein the current second boundary azimuth angle B is the horizontal boundary of the other side of the horizontal direction target;
step S24: and determining the horizontal central angle of the laser ranging target, namely the azimuth angle is (A + B)/2.
3. The method of claim 2, wherein the step S3 comprises:
step S31: fixing the horizontal center of the laser ranging of the photoelectric tracker, controlling the photoelectric tracker to position to the horizontal center angle of the laser ranging, and keeping the pitching angle of the photoelectric tracker unchanged;
step S32: observing a visible light image and an infrared image, respectively drawing a first group of vertical lines corresponding to the visible light device and a second group of vertical lines corresponding to the infrared device on the two sides of the central line of the cross hair of the visible light image and the central line of the cross hair of the infrared image by using upper computers corresponding to the visible light device and the infrared device, respectively, and respectively controlling the distance between the first group of vertical lines and the corresponding central line of the cross hair and the distance between the second group of vertical lines and the corresponding central line of the cross hair; the two vertical lines of the first group of vertical lines are equal in distance from the corresponding central line of the cross wire, and the two vertical lines of the second group of vertical lines are equal in distance from the corresponding central line of the cross wire;
step S33: adjusting the optical axis of the visible light device and the optical axis of the infrared device along the horizontal direction respectively, so that two vertical lines of the first group of vertical lines and two vertical lines of the second group of vertical lines are located on the boundary line of the target in the horizontal direction respectively; the boundary line of the horizontal direction target is determined based on the first boundary azimuth angle a and the second boundary azimuth angle B.
4. The method of claim 3, wherein the step S5: determining a vertical center of laser range of the photoelectric tracker based on the vertical direction target and using laser range finding multiple measurements, comprising:
step S51: adjusting the azimuth angle of the photoelectric tracker to enable the laser ranging to aim at the target in the vertical direction, and starting continuous ranging of the laser ranging; when the distance value fed back by the laser ranging is a numerical value, indicating that the laser emitted by the laser ranging hits the target in the vertical direction;
step S52: controlling the photoelectric tracker to move downwards in the vertical direction by a minimum step distance to obtain a distance value fed back by the laser range finder, and if the fed back distance value is a numerical value, entering step S52; if the fed back distance value is empty, recording a current first boundary pitch angle C of the photoelectric tracker, wherein the current first boundary pitch angle C is a pitch boundary at one side of a target;
step S53: controlling the photoelectric tracker to move upwards by a minimum step distance in the vertical direction to obtain a feedback distance value of the laser range finder, and if the feedback distance value is a numerical value, entering step S53; if the fed back distance value is empty, recording a second current boundary pitch angle D of the photoelectric tracker, wherein the current second boundary pitch angle D is the other side pitch boundary of the target;
step S54: and determining the vertical center angle of the laser ranging, namely the pitch angle is (C + D)/2.
5. The method of claim 4, wherein the step S6 comprises:
step S61: keeping the azimuth angle of the photoelectric tracker to be (A + B)/2, fixing the vertical center of the laser ranging of the photoelectric tracker, and controlling the azimuth of the photoelectric tracker to be positioned to the vertical center angle of the laser ranging;
step S62: observing a visible light image and an infrared image, respectively drawing a first group of horizontal lines corresponding to the visible light device and a second group of horizontal lines corresponding to the infrared device on two sides of a cross wire center line of the visible light image and a cross wire center line of the infrared image corresponding to the visible light device and the infrared device, and respectively controlling the distance between the first group of horizontal lines and the distance between the second group of horizontal lines and the corresponding cross wire center line; the two horizontal lines of the first group of horizontal lines are equal in distance from the corresponding central line of the cross wire, and the two horizontal lines of the second group of horizontal lines are equal in distance from the corresponding central line of the cross wire;
step S63: adjusting the optical axis of the visible light device and the optical axis of the infrared device along the vertical direction respectively, so that two vertical lines of the first group of horizontal lines and two horizontal lines of the second group of horizontal lines are located on the boundary line of the target in the vertical direction respectively; the boundary line of the vertical-direction target is determined based on the first boundary pitch angle C and the second boundary pitch angle D.
6. The method of any of claims 1-5, wherein the neighborhood range is between two-thirds of the range of the laser rangefinder and the maximum range.
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| CN202211122768.7A CN115655658A (en) | 2022-09-15 | 2022-09-15 | Method for adjusting consistency of optical axis of photoelectric tracker by external field |
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