A method for compensating the full-range line of sight consistency error of a continuous zoom television camera

Abstract

The present invention relates to a method for compensating a visual axis error of a television camera, and specifically to a method for compensating a visual axis consistency error of a continuous zoom television camera throughout the entire process, which solves the problems of high assembly process requirements, high assembly difficulty, high production cost, errors, zoom jamming, and long switching time in the prior art. The method of the present invention specifically includes the following steps: 1) integration of a continuous zoom television camera; 2) adjustment of the visual axis consistency of large and small fields of view; 3) acquisition of optical axis consistency error during zooming; 4) compensation for visual axis consistency error during zooming. The error compensation method can reduce the difficulty of lens design and assembly, save production costs, fully compensate for visual axis deviations caused by lens assembly and structural gaps, and prevent zoom jamming and long switching time due to temperature.

Description

Technical Field

[0001] The invention relates to a method for compensating a visual axis error of a television camera, and in particular to a method for compensating a full-range visual axis consistency error of a continuous zoom television camera. Background Art

[0002] Airborne continuous zoom TV cameras are generally used in conjunction with laser light finders and infrared thermal imagers. The visual axes of the TV camera, laser light finder and infrared thermal imager are adjusted to coincide. Since the angular resolution of a small field of view is small, the visual axis of the small field of view of the TV camera is often used as a reference during the debugging process. If there is an error in the consistency of the visual axis of the TV camera throughout the zoom range, it will cause errors in the visual axes of the TV camera, the laser light finder and the infrared thermal imager in the rest of the field of view, resulting in deviations in the miss-target amount of the tracking system, and in severe cases, failure to hit the target.

[0003] Due to machining errors and assembly errors, it is difficult to ensure the consistency of the optical axis of the zoom lens throughout the zoom range. In addition, the working environment of airborne TV cameras is often very harsh, with a wide temperature range and drastic changes. The structural deformation caused by temperature changes will also affect the consistency of the visual axis of the zoom camera throughout the zoom range. Therefore, airborne continuous zoom TV cameras need to compensate for the consistency of the visual axis of the zoom range under different temperature environments.

[0004] At present, the main way to reduce the error of the visual axis consistency of the zooming of continuous zoom TV cameras is to improve the machining accuracy of the structural parts and reduce the clearance between the moving optical components and the structure, so as to improve the consistency of the optical axis of the lens during the zooming process. This requires very high assembly process requirements, making the installation and adjustment difficult, the production cost high, and it is difficult to completely eliminate the error. In addition, due to the relatively small clearance of the movement, the performance of the product is reduced at low temperatures, and it is easy to have problems such as zooming stuck and long switching time. Summary of the invention

[0005] The purpose of the present invention is to propose a method for compensating the full-range visual axis consistency error of a continuous zoom television camera to solve the problems in the prior art of high assembly process requirements, great assembly difficulty, high production cost, inability to completely eliminate errors, performance degradation at low temperatures causing zoom jamming and long switching time. The method has the advantages of reducing the design and assembly difficulty of the lens, saving production costs, being able to completely compensate for the visual axis deviation caused by lens assembly and structural gaps, and not causing zoom jamming and long switching time due to temperature.

[0006] The technical solution adopted by the present invention is:

[0007] A method for compensating the full-range visual axis consistency error of a continuous zoom television camera is characterized in that it comprises the following steps:

[0008] i) Continuous zoom TV camera integration: a visible light continuous zoom lens is connected with a visible light camera assembly and a motor assembly to form a continuous zoom TV camera, wherein the visible light continuous zoom lens is electrically connected to the motor assembly; a temperature sensor is installed on the visible light continuous zoom lens; an image collector is installed on the continuous zoom TV camera, and the image collector is electrically connected to the image acquisition device;

[0009] ii) Adjustment of the consistency of the large and small field of view: Calibrate the consistency of the continuous zoom TV camera's visual axis throughout the zoom range. Using the small field of view of the continuous zoom TV camera as a reference, adjust the position of the photosensitive surface of the continuous zoom TV camera to make the large field of view visual axis and the small field of view visual axis of the continuous zoom TV camera coincide.

[0010] iii) Obtaining the consistent error of the optical axis throughout the zoom range: sequentially obtain the pixel offset values ​​of each gear of the forward and reverse zoom range under different temperatures, expand the offset value into a two-dimensional sequence value with the horizontal axis being the zoom gear value and the vertical axis being the current lens temperature value, and store all the obtained field of view gears in the order from small to large and the temperature from low to high or from high to low in the corresponding arrays;

[0011] iv) Compensation for consistent visual axis error during zooming: adjust the gear position of the continuous zoom television camera, collect the current temperature value of the lens, and realize visual axis consistency compensation for the current gear position based on the pixel offset value of the current gear position at the current temperature obtained in step iii).

[0012] Furthermore, the specific operation of step ii) is as follows: mounting the zoom TV camera on a two-dimensional bracket, sequentially arranging a collimator, a crosshair target plate and a light source in the reverse direction of the incident light path of the zoom TV camera, the crosshair target plate being arranged at the focal plane of the collimator, turning on the light source, controlling the zoom TV camera to move to a small field of view, adjusting the two-dimensional bracket so that the crosshair image is clearly displayed at the center of the output image of the zoom TV camera, and recording the crosshair image position (X 1 ,Y 1 ); then control the zoom TV camera to move to a large field of view, adjust the two-dimensional bracket, so that the crosshair image is clearly displayed at the center of the output image of the zoom TV camera, and record the crosshair image position (X 2 ,Y 2 ); calculate the center position (M, N) of the output image where the visual axes of the large field of view and the small field of view are consistent; adjust the position of the camera photosensitive surface of the continuous zoom TV camera, adjust the center of the image to (M, N), and complete the adjustment of the consistency of the visual axes of the large and small fields of view.

[0013] Further, in step ii), the continuous zoom television camera is connected to an image acquisition device and a temperature sensor;

[0014] The (X 1 ,Y 1 )、(X 2 ,Y 2 ) and (M,N) are related as follows:

[0015]

[0016]

[0017] Among them, f1 represents the focal length value of small field of view, and f2 represents the focal length value of large field of view.

[0018] According to formulas ① and ②, we can get (M, N). By adjusting the position of the photosensitive surface of the continuous zoom TV camera, the center of the image is adjusted to (M, N). At this time, the large and small fields of view of the TV camera coincide with the visual axis.

[0019] Furthermore, in step i), the image sensor used by the continuous zoom television camera is a CMOS image sensor with a full resolution of A 1 ×B 1 , the output video resolution is A 2 ×B 2 , and A 1 >A 2 , B 1 >B 2 .

[0020] Furthermore, step iii) specifically comprises the following steps:

[0021] a) In the incubator, move the zoom TV camera to a small field of view, adjust the two-dimensional bracket so that the crosshair image coincides with the position of the electric crosshair, and the center of the electric crosshair is the center position (M, N) of the output image of the zoom TV camera;

[0022] b) obtaining the temperature value of the visible light continuous zoom lens through a temperature sensor, dividing the working range temperature value of the visible light continuous zoom lens into segments, and under one of the temperature conditions, moving the continuous zoom television camera from a small field of view to a large field of view in steps according to the gears, recording the crosshair image position of each gear respectively, storing its horizontal position and vertical position in Fx(N) and Fy(N) respectively, keeping the position of the continuous zoom television camera fixed, and then moving it from a large field of view to a small field of view in steps according to the gears, and storing the horizontal position and vertical position in Dx(N) and Dy(N) respectively;

[0023] c) According to the crosshair image position, the pixel offset values ​​of the electric crosshair position at each gear of the full range of positive and reverse zoom are calculated respectively, and then stored in the forward horizontal deviation sequence Efx(N), the forward vertical deviation sequence Efy(N), the reverse horizontal deviation sequence Edx(N) and the reverse vertical deviation sequence Edy(N), wherein Efx(N)=Fx(N)-M; Efy(N)=Fy(N)-N; Edx(N)=Dx(N)-M; Edy(N)=Dy(N)-N;

[0024] d) Obtain the pixel offset values ​​of the electric cross position at different temperatures in turn, expand the offset value into a two-dimensional sequence value with the horizontal axis being the zoom level value and the vertical axis being the current temperature value, and store all the obtained field of view levels in the order from small to large and the temperature from low to high or from high to low in the corresponding arrays.

[0025] In step b), the obtained temperature value is divided into segments, each segment ranges from 4 to 6°C;

[0026] Step iv) The specific operation is: set the CMOS image sensor to output at full resolution, i.e. A 1 ×B 1 , set the window position in the back-end image processing software, and the window size is A 2 ×B 2 , the window boundaries are: left boundary LEFT = L, right boundary RIGHT = R, upper boundary UP = U, lower boundary DOWN = D, and the zoom level of the continuous zoom TV camera is changed from M 1 Change to M 2 , collect the current temperature value, according to M 2 The electric cross pixel offset value under the gear is used to find the two offset values ​​adjacent to the current temperature value, and the positive horizontal offset value Efx (M) under the current temperature value is calculated by linear difference. 2 ), positive vertical offset value Efy(M 2 ), reverse horizontal offset value Edx(M 2 ), reverse vertical offset value Edy(M 2 ), then M 2 The horizontal visual axis offset compensation value Ex and the vertical visual axis offset compensation value Ey of the gear are:

[0027]

[0028]

[0029] Determine the state of the current image transmission frame blanking. When it is in the frame blanking period, start to update the boundary of the electronic sliding window. The updated window boundary is: left boundary LEFT = L + Ex (M 2)、RIGHT BOUNDARY RIGHT=R+Ex(M 2 ), upper boundary UP=U+Ey(M 2 ), lower boundary DOWN = D + Ey (M 2 ), complete the full-range line of sight consistency error compensation of the continuous zoom TV camera under the current temperature value.

[0030] Furthermore, in step i), the temperature acquisition and motor control components are controlled by FPGA;

[0031] In step iv), the windowing is specifically performed by setting an electronic sliding window in the FPGA image processing software of the visible light camera component to open a window on the data information output by the CMOS image sensor.

[0032] Furthermore, in step i), the visible light continuous zoom lens and the visible light camera assembly are installed using a flange structure;

[0033] In step ii), the light source is an integrating sphere light source;

[0034] In step iv), the data information output by CMOS is windowed by setting an electronic sliding window in the back-end FPGA image processing software. Compared with the method of configuring the CMOS window position register, the electronic sliding window boundary update can be completed during the image frame blanking period without causing screen errors or frame losses.

[0035] Furthermore, in step i), the continuous zoom television camera uses a Sony CMOS image sensor IMX265LQR-C with a resolution of A 1 =2048, B 1 =1536, output video is Cameralink interface, resolution is A 2 =1280, B 2 =1024;

[0036] In step a), M=640, N=512;

[0037] In step iv), the boundaries of the electronic sliding window are set as follows: left boundary LEFT=385, right boundary RIGHT=1664, upper boundary UP=257, lower boundary DOWN=1280; the updated window boundaries are as follows: left boundary LEFT=385+Ex(M 2 )、RIGHT BOUNDARY RIGHT=1664+Ex(M 2 ), upper boundary UP=257+Ey(M 2 )、lower boundary DOWN=1280+Ey(M 2 ).

[0038] Compared with the prior art, the advantages of the present invention are:

[0039] 1. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera proposed in the present invention eliminates the visual axis consistency error caused by camera assembly through the steps of adjusting the visual axis consistency of large and small fields of view;

[0040] 2. The method for compensating the full-range visual axis consistency error of the continuous zoom TV camera proposed in the present invention adopts a visible light continuous zoom lens as a cam mechanism. Since there is a backlash error in the gap between the gear transmission and the cam curve, the position of the zoom lens group is inconsistent during the forward and reverse movements. Therefore, the present invention adopts two offset sequences from small field of view to large field of view and from large field of view to small field of view to eliminate the backlash error of the system;

[0041] 3. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera proposed in the present invention can completely compensate for the visual axis deviation caused by lens assembly and structural gap through the electronic compensation method of image windowing, compared with the traditional method of improving the processing accuracy of structural parts and reducing the matching gap between moving optical components and structures;

[0042] 4. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera proposed in the present invention adopts an electronic sliding window image windowing method. Compared with the method of configuring a CMOS windowing position register, the update can be completed during the image frame blanking period without causing screen error or frame loss; BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a three-dimensional diagram of a continuous zoom television camera in an embodiment of the present invention;

[0044] Figure 2 It is a structural schematic diagram of a continuous zoom television camera in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of calibration of the visual axis consistency over the entire zoom range according to an embodiment of the present invention;

[0046] Figure 4 This is a flow chart of the calibration of the optical axis consistency error of the entire zoom range according to an embodiment of the present invention;

[0047] Figure 5 This is a flow chart of the compensation for the optical axis consistency error during the zooming process according to an embodiment of the present invention;

[0048] The reference numerals are as follows:

[0049] 1- visible light continuous zoom lens, 2- visible light camera assembly, 3- motor assembly, 4- temperature acquisition and motor control assembly, 5- temperature sensor, 6- continuous zoom TV camera, 7- two-dimensional bracket, 8- parallel light pipe, 9- crosshair target plate, 10- integrating sphere light source, 11- image acquisition equipment. DETAILED DESCRIPTION

[0050] The present invention provides a method for compensating the error of the visual axis consistency of a continuous zoom television camera throughout the process, including the steps of integrating the continuous zoom television camera, adjusting the consistency of the visual axis of the large and small fields of view, obtaining the error of the optical axis consistency throughout the zoom process, and compensating the error of the visual axis consistency throughout the zoom process. The present invention is further described in detail below in conjunction with the accompanying drawings:

[0051] A method for compensating the full-range visual axis consistency error of a continuous zoom television camera comprises the following steps:

[0052] ⅰ) Continuous zoom TV camera 6 integrated

[0053] according to Figure 1 , Figure 2 As shown, the continuous zoom TV camera 6 includes a visible light continuous zoom lens 1, a visible light camera component 2, a motor component 3, a temperature acquisition and motor control component 4, and a temperature sensor 5; the motor component 3, the temperature sensor 5 and the temperature acquisition and motor control component 4 are electrically connected; the temperature acquisition and motor control component 4 is used to collect stability information of the temperature sensor 5 and control the operation of the motor component 3. A visible light continuous zoom lens 1 is connected with a visible light camera component 2 and a motor component 3 to form a continuous zoom television camera 6 capable of imaging. The components are installed with a flange structure. The continuous zoom television camera 6 adopts a Sony SONY CMOS image sensor IMX265LQR-C with a resolution of 2048×1536, and the output video is a Cameralink interface with a resolution of 1280×1024; the motor component 3, the temperature sensor 5 and the temperature acquisition and motor control component 4 are electrically connected; the visible light camera component 2 is electrically connected to an image acquisition device 11; the operating temperature range of the continuous zoom television camera 6 is -55°C-60°C, and the visible light continuous zoom lens 1 has 30 gears.

[0054] ii) Adjustment of the consistency of the visual axis between large and small fields of view

[0055] like Figure 3As shown, the zoom TV camera 6 is mounted on the two-dimensional bracket 7, an integrating sphere light source 10, a crosshair target plate 9 and a collimator 8 are sequentially placed on the optical axis of the incident light path of the zoom TV camera 6, and the direction of the visible light zoom lens 1 is adjusted to point to the exit direction of the collimator 10, a crosshair target plate 9 is placed at the focal plane of the collimator 8, the integrating sphere light source 10 is lit, the image acquisition device 11 is turned on, the zoom TV camera 6 is controlled to move to a small field of view, the two-dimensional bracket 7 is adjusted so that the crosshair image is located near the center area of ​​the image, and the current crosshair image position (X 1 ,Y 1 ), control the continuous zoom TV camera 6 to move to a large field of view, and record the current crosshair image position (X 2 ,Y 2 ), assuming that the pixel position where the visual axes of the large field of view and the small field of view coincide is (M, N), then

[0056]

[0057]

[0058] Among them, f1 represents the focal length value of small field of view, and f2 represents the focal length value of large field of view.

[0059] According to formulas (1) and (2), (M, N) can be obtained. By adjusting the position of the camera's photosensitive surface, the center of the image is adjusted to (M, N). At this time, the large and small fields of view of the continuous zoom television camera 6 are basically coincident.

[0060] ⅲ) Obtaining the optical axis consistency error during the entire zoom range

[0061] It is divided into the following four steps:

[0062] Step 1: Adjust the optical axis of the collimator 8 to be parallel to the small field optical axis of the continuous zoom TV camera 6, such as Figure 3 As shown, the continuous zoom TV camera 6 is moved to a small field of view, and the two-dimensional bracket 7 is adjusted so that the crosshair image completely coincides with the position of the electric cross. The center of the electric cross is the center position (640, 512) of the image output by the continuous zoom TV camera 4. At this time, the visual axis of the small field of view of the continuous zoom TV camera 6 is consistent with the optical axis of the parallel light tube 8.

[0063] Step 2: Obtain the temperature value of the temperature sensor 5 through the temperature acquisition and motor control component 4, divide the operating temperature range of the visible light continuous zoom lens 1 into segments, each segment is 5°C, and under a certain temperature condition, move the continuous zoom TV camera 6 from a small field of view to a large field of view in steps according to the gear, record the crosshair image position of each gear, store its horizontal position and vertical position in Fx(N) and Fy(N), keep the continuous zoom TV camera 6 in a fixed position, and then move it from a large field of view to a small field of view in steps according to the gear, and store the horizontal position and vertical position in Dx(N) and Dy(N), as shown in FIG. Figure 4 shown.

[0064] Step three, according to the crosshair image position recorded in step two, calculate the pixel offset value of the electric crosshair position for each gear in the entire forward and reverse zoom range, and store them in the forward horizontal deviation sequence Efx(N), the forward vertical deviation sequence Efy(N), the reverse horizontal deviation sequence Edx(N) and the reverse vertical deviation sequence Edy(N), respectively, where Efx(N)=Fx(N)-640; Efy(N)=Fy(N)-512; Edx(N)=Dx(N)-640; Edy(N)=Dy(N)-512.

[0065] Step 4: Obtain the pixel offset values ​​of the electric cross position at different temperatures in turn according to the methods of steps 2 and 3, and expand the offset values ​​into a two-dimensional sequence value with the horizontal axis being the zoom gear value and the vertical axis being the current lens temperature value; store all the obtained field of view gears in the order from small to large and the temperature from low to high or from high to low in the corresponding arrays.

[0066] ⅳ) Compensation for consistent visual axis error throughout zoom range

[0067] The CMOS is configured to output at full resolution, i.e., 2048×1536, through the SPI bus. An electronic sliding window is set in the back-end FPGA image processing software to open a window for the data information output by the CMOS. The window size is 1280×1024, and the default boundaries are LEFT=385, RIGHT=1664, UP=257, and DOWN=1280. Figure 5 As shown, when the zoom level of the continuous zoom television camera 6 changes, it is assumed that the zoom level before the change is M 1 , after changing to M 2 , collect the current temperature value of the lens, according to M 2The pixel offset value under the gear, find out the two offset values ​​adjacent to the previous temperature value, and use the linear difference method to calculate the positive horizontal offset value Efx(M2), positive vertical offset value Efy(M2), reverse horizontal offset value Edx(M2), and reverse vertical offset value Edy(M2) under the current temperature value. The horizontal and vertical axis offset compensation values ​​of the M2 gear are:

[0068]

[0069]

[0070] When the image transmission is in the frame blanking period, the boundaries of the electronic sliding window begin to be updated, and the updated window boundaries are: LEFT=385+Ex(M2), RIGHT=1664+Ex(M2), UP=257+Ey(M2), DOWN=1280+Ey(M2).

[0071] The embodiment of the present invention realizes a method for real-time compensation of the optical axis consistency error of a continuous zoom lens throughout the zoom range by opening an image window at the back end, thereby reducing the difficulty of lens design and assembly, saving production costs and fully compensating for the visual axis deviation caused by lens assembly and structural gaps. It also solves the problems in the prior art of reduced low-temperature performance of the product, easy occurrence of zoom jamming and long switching time due to the relatively small motion matching gap.

Claims

1. A method for compensating the full-range visual axis consistency error of a continuous zoom television camera, characterized in that: The following steps are involved: i) Integrated installation of a continuous zoom television camera (6): a visible light continuous zoom lens (1) is connected with a visible light camera assembly (2), a motor assembly (3), a temperature acquisition and motor control assembly (4), and a temperature sensor (5) to form a continuous zoom television camera (6); the motor assembly (3) and the temperature sensor (5) are electrically connected to the temperature acquisition and motor control assembly (4) respectively; the visible light camera assembly (2) is electrically connected to an image acquisition device (11); ii) Adjusting the consistency of the large and small field of view axes: Calibrate the consistency of the axis of view of the zoom television camera (6) throughout the zooming process, and adjust the position of the photosensitive surface of the zoom television camera (6) based on the small field of view of the zoom television camera (6) so that the axis of view of the large field of view and the axis of view of the small field of view of the zoom television camera (6) are aligned; The specific operation is as follows: the zoom television camera (6) is mounted on a two-dimensional bracket (7); a collimator (8), a crosshair target plate (9) and a light source are sequentially arranged in the reverse direction of the incident light path of the zoom television camera (6); the crosshair target plate (9) is arranged at the focal plane of the collimator (8); the light source is turned on; the zoom television camera (6) is controlled to move to a small field of view; the two-dimensional bracket (7) is adjusted so that the crosshair image is clearly displayed at the center position of the output image of the zoom television camera (6); and the crosshair image position (X1, Y1) is recorded; the zoom television camera (6) is then controlled to move to a large field of view; the two-dimensional bracket (7) is adjusted so that the crosshair image is clearly displayed at the center position of the output image of the zoom television camera (6); and the crosshair image position (X2, Y2) is recorded; the center position (M, N) of the output image where the visual axes of the large field of view and the small field of view coincide is calculated; the camera photosensitive surface position of the zoom television camera (6) is adjusted so that the center of the image is adjusted to (M, N), and the adjustment of the consistency of the visual axes of the large and small fields of view is completed; iii) Obtaining the consistent error of the optical axis throughout the zoom range: sequentially obtain the pixel offset values ​​of each gear of the forward and reverse zoom range under different temperatures, expand the offset value into a two-dimensional sequence value with the horizontal axis being the zoom gear value and the vertical axis being the current lens temperature value, and store all the obtained field of view gears in the order from small to large and the temperature from low to high or from high to low in the corresponding arrays; iv) Compensation for the visual axis consistency error during the zooming process: adjusting the gear position of the continuous zoom television camera (6), collecting the current temperature value of the lens, and realizing the visual axis consistency compensation of the current gear position according to the pixel offset value of the current gear position at the current temperature obtained in step iii).

2. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera according to claim 1, characterized in that: In step ii), the image acquisition device (11) acquires the output image of the continuous zoom television camera (6), and records the position of the small field of view crosshair image (X1, Y1) and the position of the large field of view crosshair image (X2, Y2); the center position (M, N) is specifically calculated by the following formula: Among them, f1 represents the focal length value of small field of view, and f2 represents the focal length value of large field of view.

3. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera according to claim 2, characterized in that: In step i), the image sensor used by the continuous zoom television camera (6) is a CMOS image sensor with a resolution of A1×B1, and the resolution of the output video is A2×B2, and A1>A2, B1>B2.

4. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera according to claim 3, characterized in that: Step iii) specifically comprises the following steps: a) In the temperature chamber, move the zoom television camera (6) to a small field of view, adjust the two-dimensional bracket (7) so that the crosshair image coincides with the position of the electric cross, and the center of the electric cross is the center position (M, N) of the output image of the zoom television camera (6); b) obtaining the temperature value of the temperature sensor (5) through the temperature acquisition and motor control component (4), dividing the working range temperature value of the visible light continuous zoom lens (1) into segments, and under one of the temperature conditions, moving the continuous zoom television camera (6) from a small field of view to a large field of view in steps according to the gears, recording the crosshair image position of each gear respectively, storing its horizontal position and vertical position in Fx(N) and Fy(N) respectively, keeping the position of the continuous zoom television camera (6) unchanged, and then moving it from the large field of view to the small field of view in steps according to the gears, and storing the horizontal position and vertical position in Dx(N) and Dy(N) respectively; c) According to the crosshair image position, the pixel offset values ​​of the electric crosshair position at each gear of the full range of positive and reverse zoom are calculated respectively, and then stored in the forward horizontal deviation sequence Efx(N), the forward vertical deviation sequence Efy(N), the reverse horizontal deviation sequence Edx(N) and the reverse vertical deviation sequence Edy(N), wherein Efx(N)=Fx(N)-M; Efy(N)=Fy(N)-N; Edx(N)=Dx(N)-M; Edy(N)=Dy(N)-N; d) Obtain the pixel offset values ​​of the electric cross position at different temperatures in turn, expand the offset value into a two-dimensional sequence value with the horizontal axis being the zoom level value and the vertical axis being the current temperature value, and store all the obtained field of view levels in the order from small to large and the temperature from low to high or from high to low in the corresponding arrays.

5. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera according to claim 4, characterized in that: In step b), the obtained temperature value is divided into segments, each segment ranges from 4 to 6°C; The specific operation of step iv) is as follows: set the CMOS image sensor to full resolution output, i.e. A1×B1, set the window position in the back-end image processing software, the window size is A2×B2, the window boundaries are: left boundary LEFT=L, right boundary RIGHT=R, upper boundary UP=U, lower boundary DOWN=D, change the zoom gear of the continuous zoom television camera (6) from M1 to M2, collect the current temperature value, find out the two offset values ​​adjacent to the current temperature value according to the electric cross pixel offset value under the M2 gear, and use the linear difference method to calculate the positive horizontal offset value Efx(M2), the positive vertical offset value Efy(M2), the reverse horizontal offset value Edx(M2), and the reverse vertical offset value Edy(M2) under the current temperature value, then the horizontal visual axis offset compensation value Ex and the vertical visual axis offset compensation value Ey of the M2 gear are: When the image transmission is in the frame blanking period, the boundaries of the electronic sliding window begin to be updated. The updated window boundaries are: left boundary LEFT = L + Ex (M2), right boundary RIGHT = R + Ex (M2), upper boundary UP = U + Ey (M2), and lower boundary DOWN = D + Ey (M2), thereby completing the full-range visual axis consistency error compensation of the continuous zoom television camera (6) at the current temperature value.

6. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera according to claim 5, characterized in that: In step i), the temperature acquisition and motor control component (4) is controlled by FPGA; In step iv), the windowing is specifically performed by setting an electronic sliding window in the FPGA image processing software of the visible light camera component (2) to open a window on the data information output by the CMOS image sensor.

7. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera according to claim 6, characterized in that: In step i), the visible light continuous zoom lens (1) and the visible light camera assembly (2) are installed using a flange structure; In step ii), the light source is an integrating sphere light source (10).

8. The method for compensating the full-range visual axis consistency error of a continuous zoom television camera according to claim 7, characterized in that: In step i), the continuous zoom television camera (6) uses a Sony CMOS image sensor IMX265LQR-C, with a resolution of A1=2048 and B1=1536, and an output video is a Cameralink interface with a resolution of A2=1280 and B2=1024; In step a), M=640, N=512; Divide the obtained temperature value into segments, each segment has a range of 5°C; In step iv), the boundaries of the electronic sliding window are set as follows: left boundary LEFT=385, right boundary RIGHT=1664, upper boundary UP=257, lower boundary DOWN=1280; the updated window boundaries are: LEFT=385+Ex(M2), RIGHT=1664+Ex(M2), UP=257+Ey(M2), DOWN=1280+Ey(M2).

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