Method and device for registering optical axis of infrared camera and reference prism

Abstract

The invention provides an infrared camera optical axis and reference prism registration method and device. The method comprises the steps that a visible light camera is installed on an infrared camera; calculating the deviation pixel number # imgabs0 # of the visible light camera relative to the optical axis of the infrared camera; the test light emitted by the autocollimator is imaged in the visible light camera, and the reflected light of the reference prism can be received; adjusting the reflection light path of the reference prism to the center to obtain the deviation pixel number # imgabs1 # of the visible light camera relative to the optical axis of the reference prism; and calculating the deviation pixel number of the infrared camera and the reference prism according to the # imgabs2 # and the # imgabs3 #, calculating the deviation angle of the infrared camera and the reference prism according to the deviation pixel number, and performing registration. According to the invention, the auxiliary visible light camera is introduced, an autocollimator can be directly utilized to carry out registration work of the infrared camera and the reference prism, and accurate calibration of the remote sensing camera on a satellite is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of optical detection technology, and in particular to a method for aligning an infrared camera optical axis with a reference prism and a device for aligning an infrared camera optical axis with a reference prism. Background Art

[0002] In remote sensing systems, when a camera is mounted on a satellite, a reference mirror is needed to accurately calibrate the difference between it and the satellite reference to ensure that the camera can accurately capture the target image in space.

[0003] However, when the remote sensing camera is only equipped with an infrared camera, the autocollimator usually only has test light in the visible light band, so it is impossible to directly use the autocollimator to align the infrared camera with the reference prism. This brings difficulties to the precise calibration of the remote sensing camera on the satellite, affecting the subsequent shooting accuracy and data accuracy. Summary of the Invention

[0004] The present invention aims to solve the technical problem in the prior art that an infrared camera and a reference prism cannot be directly aligned due to the limitation of the test light band of an autocollimator, and provides a method for aligning the optical axis of an infrared camera and a reference prism.

[0005] The present invention also provides a device for aligning the optical axis of an infrared camera with a reference prism.

[0006] The technical solution adopted in the present invention is as follows: The first embodiment of the present invention proposes a method for aligning the optical axis of an infrared camera with a reference prism, comprising the following steps: controlling a light source module to emit a first test light, the first test light passing through a collimator to form a test parallel light, wherein the spectrum of the test light covers the visible light band and the infrared light band; installing a visible light camera on the infrared camera; aligning the infrared camera and the visible light camera with the collimator, respectively, adjusting the positions of the infrared camera and the visible light camera to ensure clear imaging; aligning the center of the infrared image of the infrared camera with the crosshair image point, and calculating the number of pixels of deviation of the optical axis of the visible light camera relative to the optical axis of the infrared camera. ; Cover the visible light camera and the reference prism with the light outlet of the autocollimator, adjust the relative positions of the autocollimator, the visible light camera and the reference prism, so that the second test light emitted by the autocollimator is imaged in the visible light camera, and the reflected light of the reference prism can be received to form a stable reflected light path; adjust the angle of the autocollimator to adjust the reflected light path of the reference prism to the center, so as to obtain the number of pixels of deviation of the optical axis of the visible light camera relative to the optical axis of the reference prism ;according to and Calculate the number of pixels of deviation between the infrared camera and the reference prism , according to the , the infrared camera focal length and the infrared detector pixel size are used to calculate the deviation angle between the infrared camera and the reference prism; and the infrared camera optical axis and the reference prism are aligned according to the deviation angle between the infrared camera and the reference prism.

[0007] The focal plane matching method of the optical lens proposed in the present invention also has the following additional technical features: According to one embodiment of the present invention, the light source module includes: a light source and a cross-reticle plate, the light source emits a first test light to illuminate the cross-reticle plate, and the first test light passes through a collimator to form a test parallel light.

[0008] According to one embodiment of the present invention, the number of pixels of deviation between the infrared camera and the reference prism is calculated according to the following formula: : Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the infrared camera optical axis, is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the reference prism optical axis, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the infrared camera, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the reference prism.

[0009] According to one embodiment of the present invention, the deviation angle between the infrared camera and the reference prism is calculated according to the following formula: ; Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the deviation angle between the infrared camera and the reference prism in the x-axis direction, The deviation angle between the infrared camera and the reference prism in the y-axis direction, a is the pixel size of the infrared detector, f is the focal length of the infrared camera.

[0010] The second embodiment of the present invention proposes an infrared camera optical axis and reference prism alignment device, including: an installation module, which is used to control the light source module to emit a first test light, the first test light passes through a collimator to form a test parallel light, the spectrum of the test light covers the visible light band and the infrared light band, and a visible light camera is installed on the infrared camera; a first adjustment module is used to align the infrared camera and the visible light camera with the collimator, respectively, and adjust the positions of the infrared camera and the visible light camera to ensure clear imaging; a first calculation module is used to align the infrared image center of the infrared camera with the crosshair image point, and calculate the number of pixels of deviation of the visible light camera optical axis relative to the infrared camera optical axis The second adjustment module is used to cover the light outlet of the autocollimator with the visible light camera and the reference prism, and adjust the relative positions of the autocollimator, the visible light camera and the reference prism so that the second test light emitted by the autocollimator is imaged in the visible light camera and can receive the reflected light of the reference prism to form a stable reflected light path; the third adjustment module is used to adjust the angle of the autocollimator to adjust the reflected light path of the reference prism to the center, so as to obtain the number of pixels of deviation of the optical axis of the visible light camera relative to the optical axis of the reference prism ; The second calculation module is used according to and Calculate the number of pixels of deviation between the infrared camera and the reference prism , according to the , infrared camera focal length and infrared detector pixel size to calculate the deviation angle between the infrared camera and the reference prism; a registration module is used to align the infrared camera optical axis with the reference prism according to the deviation angle between the infrared camera and the reference prism.

[0011] The focal plane matching device of the optical lens of the present invention also has the following additional technical features: According to one embodiment of the present invention, the light source module includes: a light source and a cross-reticle plate, the light source emits a first test light to illuminate the cross-reticle plate, and the first test light passes through a collimator to form a test parallel light.

[0012] According to one embodiment of the present invention, the second calculation module specifically calculates the number of pixels of deviation between the infrared camera and the reference prism according to the following formula: : Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the infrared camera optical axis, is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the reference prism optical axis, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the infrared camera, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the reference prism.

[0013] According to one embodiment of the present invention, the second calculation module calculates the deviation angle between the infrared camera and the reference prism according to the following formula: ; Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the deviation angle between the infrared camera and the reference prism in the x-axis direction, The deviation angle between the infrared camera and the reference prism in the y-axis direction, a is the pixel size of the infrared detector, f is the focal length of the infrared camera.

[0014] The present invention has the following beneficial effects: The present invention introduces an auxiliary visible light camera, and can directly use an autocollimator to perform the alignment work between the infrared camera and the reference prism, thereby facilitating the accurate calibration of the remote sensing camera on the satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of a method for aligning an infrared camera optical axis with a reference prism according to one embodiment of the present invention; Figure 2 is a schematic structural diagram of an infrared camera optical axis and reference prism alignment system according to one embodiment of the present invention; Figure 3 is a schematic structural diagram of an infrared camera optical axis and reference prism alignment system according to another embodiment of the present invention; Figure 4 4 is a block diagram of an apparatus for aligning an infrared camera optical axis with a reference prism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0017] The following describes, with reference to the accompanying drawings, a method for aligning the optical axis of an infrared camera with a reference prism and a device for aligning the optical axis of an infrared camera with a reference prism, as provided in embodiments of the present invention.

[0018] Figure 1 FIG. 1 is a flow chart of a method for aligning an infrared camera optical axis with a reference prism according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps: S1, controlling the light source module to emit a first test light, the first test light passes through the collimator to form a test parallel light, and the spectrum of the test light covers the visible light band and the infrared light band.

[0019] In one embodiment of the present invention, Figure 2 As shown, the light source module 300 of the registration system includes: a light source 301 and a cross-reticle plate 302. The light source 301 emits a first test light to illuminate the cross-reticle plate 302, which passes through the collimator 200 to form a test parallel light. The spectrum of the light source 302 covers the visible and infrared bands. S2, install a visible light camera on the infrared camera.

[0020] Specifically, if Figure 2 As shown, the camera assembly 100 is composed of an infrared camera 101, a visible light camera 102, and a reference prism 103. The visible light camera 102 is mounted on the infrared camera 101 for reference.

[0021] S3, respectively align the infrared camera and visible light camera with the collimator, and adjust the positions of the infrared camera and visible light camera to ensure clear imaging.

[0022] S4: Align the infrared image center of the infrared camera with the crosshair image point and calculate the deviation pixel number of the visible light camera optical axis relative to the infrared camera optical axis. .

[0023] Specifically, if Figure 2 As shown, place the collimator 200 at the front of the camera 100 to be tested so that it emits parallel light. Align the infrared camera 101 and the visible light camera 102 with the collimator 200 and adjust their positions to ensure clear images. Align the infrared image center of the infrared camera with the crosshair image point and calculate the pixel deviation of the visible light camera's optical axis relative to the infrared camera's optical axis. , is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the infrared camera optical axis, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the infrared camera.

[0024] The crosshair image point is a specially made fixed mark on the focal plane of the infrared camera, in the shape of a cross.

[0025] S5, covering the visible light camera and the reference prism with the light outlet of the autocollimator, and adjusting the relative positions of the autocollimator, the visible light camera, and the reference prism so that the second test light emitted by the autocollimator forms an image on the visible light camera and can receive the reflected light from the reference prism to form a stable reflected light path.

[0026] S6. Adjust the autocollimator angle to adjust the reference prism reflected light path to the center to obtain the deviation pixel number of the visible light camera optical axis relative to the reference prism optical axis. .

[0027] Specifically, if Figure 3 As shown, the light outlet of the autocollimator 400 covers the visible light camera 102 and the reference prism 103. The relative positions of the autocollimator 400, the visible light camera 102 and the reference prism 103 are adjusted so that the test light emitted by the autocollimator 400 forms an image on the visible light camera 102 and can receive the reflected light from the reference prism 103 to form a stable reflected light path. By adjusting the angle of the autocollimator 400 and adjusting the reflected light path of the reference prism 103 to the center, the pixel deviation of the optical axis of the visible light camera relative to the optical axis of the reference prism can be obtained. , is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the reference prism optical axis, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the reference prism.

[0028] S7, according to and Calculate the number of pixels of deviation between the infrared camera and the reference prism ,according to , infrared camera focal length and infrared detector pixel size to calculate the deviation angle between the infrared camera and the reference prism.

[0029] In one embodiment of the present invention, the deviation pixel number between the infrared camera and the reference prism is calculated according to the following formula: : Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the infrared camera optical axis, is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the reference prism optical axis, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the infrared camera, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the reference prism.

[0030] In one embodiment of the present invention, the deviation angle between the infrared camera and the reference prism is calculated according to the following formula: : ; Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the deviation angle between the infrared camera and the reference prism in the x-axis direction, The deviation angle between the infrared camera and the reference prism in the y-axis direction, a is the infrared detector pixel size of the infrared camera, f is the focal length of the infrared camera.

[0031] For the deviation angle between the visible light camera and the reference prism The principle is the same as above. The corresponding deviation angle can be calculated based on the requirements using the focal length of the visible light camera and the pixel size of the visible light detector of the visible light camera: Where b is the pixel size of the visible light detector of the visible light camera ，f 1 is the focal length of the visible light camera.

[0032] S8, aligning the infrared camera optical axis with the reference prism according to the deviation angle between the infrared camera and the reference prism.

[0033] In summary, according to the method for aligning the infrared camera optical axis with the reference prism in an embodiment of the present invention, the light source module is controlled to emit a first test light, which is passed through a collimator to form a test parallel light. The spectrum of the test light covers the visible light band and the infrared light band. A visible light camera is installed on the infrared camera. The infrared camera and the visible light camera are respectively aligned with the collimator. The positions of the infrared camera and the visible light camera are adjusted to ensure clear imaging. The center of the infrared image of the infrared camera is aligned with the crosshair image point. The number of pixels of deviation of the optical axis of the visible light camera relative to the optical axis of the infrared camera is calculated. , cover the visible light camera and the reference prism with the light outlet of the autocollimator, adjust the relative positions of the autocollimator, visible light camera and reference prism, so that the second test light emitted by the autocollimator is imaged in the visible light camera and can receive the reflected light from the reference prism to form a stable reflected light path, adjust the angle of the autocollimator to adjust the reference prism reflected light path to the center, and obtain the pixel deviation of the visible light camera optical axis relative to the reference prism optical axis ,according to and Calculate the number of pixels of deviation between the infrared camera and the reference prism ,according to The infrared camera's focal length and the infrared detector's pixel size are used to calculate the deviation angle between the infrared camera and the reference prism. This deviation angle is then used to align the infrared camera's optical axis with the reference prism. Therefore, by introducing an auxiliary visible light camera, the infrared camera and the reference prism can be directly aligned using an autocollimator, facilitating the precise calibration of remote sensing cameras on satellites.

[0034] Corresponding to the aforementioned method for aligning the infrared camera optical axis with a reference prism, the present invention also provides a device for aligning the infrared camera optical axis with a reference prism. Since the device embodiments of the present invention correspond to the aforementioned method embodiments, details not disclosed in the device embodiments can be found in the aforementioned method embodiments and will not be further elaborated in this invention.

[0035] Figure 4 FIG. 1 is a block diagram of an apparatus for aligning an infrared camera optical axis with a reference prism according to an embodiment of the present invention. Figure 4 As shown, the device includes: a mounting module, a first adjustment module, a first calculation module, a second adjustment module, a third adjustment module, a second calculation module and a registration module.

[0036] Among them, the installation module is used to control the light source module to emit a first test light, and the first test light passes through the collimator to form a test parallel light. The spectrum of the test light covers the visible light band and the infrared light band, and the visible light camera is installed on the infrared camera; the first adjustment module is used to align the infrared camera and the visible light camera with the collimator respectively, and adjust the positions of the infrared camera and the visible light camera to ensure clear imaging; the first calculation module is used to align the infrared image center of the infrared camera with the crosshair image point, and calculate the number of pixels of deviation of the visible light camera optical axis relative to the infrared camera optical axis The second adjustment module is used to cover the light outlet of the autocollimator with the visible light camera and the reference prism, and adjust the relative positions of the autocollimator, the visible light camera and the reference prism so that the second test light emitted by the autocollimator is imaged in the visible light camera and can receive the reflected light of the reference prism to form a stable reflected light path; the third adjustment module is used to adjust the angle of the autocollimator to adjust the reflected light path of the reference prism to the center, so as to obtain the number of pixels of deviation of the optical axis of the visible light camera relative to the optical axis of the reference prism The second calculation module is used according to and Calculate the number of pixels of deviation between the infrared camera and the reference prism ,according to , the infrared camera focal length and the infrared detector pixel size are used to calculate the deviation angle between the infrared camera and the reference prism; the alignment module is used to align the infrared camera optical axis with the reference prism according to the deviation angle between the infrared camera and the reference prism.

[0037] According to one embodiment of the present invention, the light source module includes: a light source and a cross-reticle plate, the light source emits a first test light to illuminate the cross-reticle plate, and the first test light passes through a collimator to form a test parallel light.

[0038] According to one embodiment of the present invention, the second calculation module specifically calculates the number of pixels of deviation between the infrared camera and the reference prism according to the following formula: : Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the infrared camera optical axis, is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the reference prism optical axis, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the infrared camera, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the reference prism.

[0039] According to one embodiment of the present invention, the second calculation module calculates the deviation angle between the infrared camera and the reference prism according to the following formula: ; Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the deviation angle between the infrared camera and the reference prism in the x-axis direction, The deviation angle between the infrared camera and the reference prism in the y-axis direction, a is the pixel size of the infrared detector, f is the focal length of the infrared camera.

[0040] According to the infrared camera optical axis and reference prism alignment device of the embodiment of the present invention, the installation module controls the light source module to emit a first test light, the first test light passes through the collimator to form a test parallel light, the spectrum of the test light covers the visible light band and the infrared light band, the visible light camera is installed on the infrared camera, the first adjustment module aligns the infrared camera and the visible light camera with the collimator, adjusts the positions of the infrared camera and the visible light camera to ensure clear imaging, and the first calculation module aligns the infrared image center of the infrared camera with the crosshair image point, and calculates the number of pixels of deviation of the visible light camera optical axis relative to the infrared camera optical axis. The second adjustment module covers the light outlet of the autocollimator with the visible light camera and the reference prism, and adjusts the relative positions of the autocollimator, the visible light camera and the reference prism so that the second test light emitted by the autocollimator is imaged in the visible light camera and can receive the reflected light of the reference prism to form a stable reflected light path. The third adjustment module adjusts the angle of the autocollimator to adjust the reference prism reflected light path to the center to obtain the pixel number of the deviation of the visible light camera optical axis relative to the reference prism optical axis. , the second calculation module is based on and Calculate the number of pixels of deviation between the infrared camera and the reference prism ,according to The offset angle between the infrared camera and the reference prism is calculated using the infrared camera's focal length and the infrared detector's pixel size. The registration module then aligns the infrared camera's optical axis with the reference prism based on this offset angle. Therefore, by introducing an auxiliary visible light camera, the autocollimator can be used to directly align the infrared camera and the reference prism, facilitating the precise calibration of remote sensing cameras on satellites.

[0041] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. "Multiple" means two or more, unless otherwise specifically defined.

[0042] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0043] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0044] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" is any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (not exhaustive) of computer-readable media include: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0045] It should be understood that various components of the present invention may be implemented using hardware, software, firmware, or a combination thereof. In the aforementioned embodiments, multiple steps or methods may be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any of the following technologies known in the art, or a combination thereof, may be used: a discrete logic circuit having logic gates for implementing logic functions on data signals, an application-specific integrated circuit having suitable combinational logic gates, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0046] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0047] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0048] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0049] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for aligning the optical axis of an infrared camera with a reference prism, characterized in that: The following steps are involved: Controlling the light source module to emit a first test light, the first test light passing through the collimator to form a test parallel light, wherein the spectrum of the test light covers the visible light band and the infrared light band; Mount a visible light camera on the infrared camera; Align the infrared camera and visible light camera with the collimator respectively, and adjust the positions of the infrared camera and visible light camera to ensure clear imaging; Align the infrared image center of the infrared camera with the crosshair image point and calculate the pixel deviation of the visible light camera's optical axis relative to the infrared camera's optical axis. ; The light outlet of the autocollimator is covered with the visible light camera and the reference prism, and the relative positions of the autocollimator, the visible light camera, and the reference prism are adjusted so that the second test light emitted by the autocollimator is imaged by the visible light camera and can receive the reflected light from the reference prism to form a stable reflected light path; Adjust the autocollimator angle to adjust the reference prism reflected light path to the center to obtain the deviation pixel number of the visible light camera optical axis relative to the reference prism optical axis ; according to and Calculate the number of pixels of deviation between the infrared camera and the reference prism , according to the , infrared camera focal length and infrared detector pixel size to calculate the deviation angle between the infrared camera and the reference prism; The infrared camera optical axis and the reference prism are aligned according to the deviation angle between the infrared camera and the reference prism.

2. The method for aligning the infrared camera optical axis with the reference prism according to claim 1, wherein: The light source module includes: a light source and a cross-reticle plate. The light source emits a first test light to illuminate the cross-reticle plate, and forms a test parallel light through a parallel light tube.

3. The method for aligning the infrared camera optical axis with the reference prism according to claim 1, wherein: Specifically, the deviation pixel number between the infrared camera and the reference prism is calculated according to the following formula: : Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the infrared camera optical axis, is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the reference prism optical axis, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the infrared camera, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the reference prism.

4. The method for aligning the infrared camera optical axis with the reference prism according to claim 1, wherein: Specifically, the deviation angle between the infrared camera and the reference prism is calculated according to the following formula: ； Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the deviation angle between the infrared camera and the reference prism in the x-axis direction, The deviation angle between the infrared camera and the reference prism in the y-axis direction, a is the pixel size of the infrared detector, f is the focal length of the infrared camera.

5. A device for aligning the optical axis of an infrared camera with a reference prism, characterized in that: include: An installation module is used to control the light source module to emit a first test light, the first test light passes through the collimator to form a test parallel light, the spectrum of the test light covers the visible light band and the infrared light band, and a visible light camera is installed on the infrared camera; The first adjustment module is used to align the infrared camera and the visible light camera with the collimator, and adjust the positions of the infrared camera and the visible light camera to ensure clear imaging; The first calculation module is used to align the infrared image center of the infrared camera with the crosshair image point and calculate the deviation pixel number of the visible light camera optical axis relative to the infrared camera optical axis. ; a second adjustment module, configured to cover the visible light camera and the reference prism with the light outlet of the autocollimator, and adjust the relative positions of the autocollimator, the visible light camera, and the reference prism so that the second test light emitted by the autocollimator is imaged by the visible light camera and can receive the reflected light from the reference prism to form a stable reflected light path; The third adjustment module is used to adjust the autocollimator angle to adjust the reference prism reflection light path to the center to obtain the deviation pixel number of the visible light camera optical axis relative to the reference prism optical axis. ; The second calculation module is used to and Calculate the number of pixels of deviation between the infrared camera and the reference prism , according to the , infrared camera focal length and infrared detector pixel size to calculate the deviation angle between the infrared camera and the reference prism; The registration module is used to align the infrared camera optical axis with the reference prism according to the deviation angle between the infrared camera and the reference prism.

6. The infrared camera optical axis and reference prism alignment device according to claim 5, characterized in that: The light source module includes: a light source and a cross-reticle plate. The light source emits a first test light to illuminate the cross-reticle plate, and forms a test parallel light through a parallel light tube.

7. The infrared camera optical axis and reference prism alignment device according to claim 5, characterized in that: The second calculation module specifically calculates the deviation pixel number between the infrared camera and the reference prism according to the following formula: : Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the infrared camera optical axis, is the number of pixels of deviation in the x-axis direction of the visible light camera optical axis relative to the reference prism optical axis, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the infrared camera, is the number of pixels of deviation in the y-axis direction between the optical axis of the visible light camera and the optical axis of the reference prism.

8. The infrared camera optical axis and reference prism alignment device according to claim 5, characterized in that: The second calculation module calculates the deviation angle between the infrared camera and the reference prism according to the following formula: ； Where X is the number of pixels of deviation between the infrared camera and the reference prism in the x-axis direction, and Y is the number of pixels of deviation between the infrared camera and the reference prism in the y-axis direction. is the deviation angle between the infrared camera and the reference prism in the x-axis direction, The deviation angle between the infrared camera and the reference prism in the y-axis direction, a is the pixel size of the infrared detector, f is the focal length of the infrared camera.

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