Method for adjusting the optical axis consistency of an optical-electric tracking device by external field

Abstract

This invention discloses a method for adjusting the optical axis consistency of an electro-optical tracker in an outdoor environment. The method includes: determining the horizontal center of the laser ranging of the electro-optical tracker based on the horizontal target; keeping the pitch angle of the electro-optical tracker constant, adjusting the visible light device and infrared device of the electro-optical tracker along the horizontal direction; determining a horizontally oriented and stationary object as the vertical target within the neighborhood of the horizontal target; determining the vertical center of the laser ranging of the electro-optical tracker; and adjusting the visible light device and infrared device of the electro-optical tracker along the vertical direction. This invention achieves optical axis consistency for laser, visible light, and infrared light in an outdoor environment without the need for external debugging devices or professional optical axis adjustment devices.

Description

Technical Field

[0001] This invention relates to the field of photoelectric servo control, and more specifically to a method for adjusting the optical axis consistency of a photoelectric tracker in an external field. Background Technology

[0002] Currently, photoelectric trackers are generally equipped with visible light devices, infrared devices, and laser rangefinders. Ensuring the consistency of the optical axes of these devices—that is, adjusting the consistency of multiple optical axes—is a crucial task in guaranteeing the performance of the photoelectric tracker. Before leaving the factory, various debugging devices can ensure the consistency of the multiple optical axes. However, during field operations, factors such as transportation, vibration, prolonged operation leading to internal loosening, inspection and maintenance, and component replacement can all cause changes in the consistency of the multiple optical axes.

[0003] In actual field work, due to the nature of field work, there is no professional multi-axis consistency scheduling device in the field. Therefore, it is necessary to be able to adjust the consistency of the multi-axis of the photoelectric tracker in the field. How to adjust the multi-axis consistency of the photoelectric tracker by taking advantage of the application scenario in the field is a technical pain point. Summary of the Invention

[0004] In view of this, the present invention provides a method for adjusting the optical axis consistency of a photoelectric tracker in the field, which can solve the technical problem of adjusting the optical axis consistency of the photoelectric tracker without the aid of an adjustment device when working in the field.

[0005] To solve the above-mentioned technical problems, the present invention is implemented as follows.

[0006] A method for adjusting the optical axis consistency of an external field photoelectric tracker includes:

[0007] Step S1: Set the neighborhood range according to the ranging range of the equipped laser rangefinder, and select a vertical and stationary object as the horizontal target.

[0008] Step S2: Based on the horizontal target, and using multiple measurements with laser ranging, determine the horizontal center of the laser ranging of the photoelectric tracker;

[0009] Step S3: Set the horizontal center of the laser ranging of the photoelectric tracker, keep the pitch angle of the photoelectric tracker unchanged, and adjust the visible light device and infrared device of the photoelectric tracker in the horizontal direction respectively;

[0010] Step S4: Determine a horizontally oriented and stationary object as the vertical target within the neighborhood of the horizontal target;

[0011] Step S5: Based on the vertical target and using laser ranging to take multiple measurements, determine the vertical center of the laser ranging of the photoelectric tracker;

[0012] Step S6: Based on the horizontal and vertical center angles of the laser ranging, set the horizontal and vertical centers of the photoelectric tracker, and adjust the visible light device and infrared device of the photoelectric tracker along the vertical direction respectively.

[0013] Preferably, step S2: determining the horizontal center of the laser ranging of the photoelectric tracker by multiple measurements using laser ranging based on the horizontal target includes:

[0014] Step S21: Fix the position of the laser ranging of the photoelectric tracker and start continuous ranging of the laser ranging; adjust the photoelectric tracker so that the laser ranging is aimed at the horizontal target. When the distance value of the laser ranging is fed back, it indicates that the laser emitted by the laser ranging has hit the horizontal target.

[0015] Step S22: Control the photoelectric tracker to move the minimum step distance in the clockwise direction in the horizontal direction, and obtain the feedback laser ranging distance value. If the feedback laser ranging distance value is a value, proceed to step S22; if the feedback laser ranging distance value is empty, record the current first boundary azimuth angle A of the photoelectric tracker. The current first boundary azimuth angle A refers to one side of the horizontal boundary of the target in the horizontal direction.

[0016] Step S23: Control the photoelectric tracker to move the minimum step distance in the counterclockwise direction in the horizontal direction, and obtain the feedback laser ranging distance value. If the feedback laser ranging distance value is a value, proceed to step S23; if the feedback laser ranging distance value is empty, record the current second boundary azimuth angle B of the photoelectric tracker. The current second boundary azimuth angle B refers to the other side of the horizontal boundary of the target in the horizontal direction.

[0017] Step S24: Determine the horizontal center angle of the laser ranging target, i.e., the azimuth angle is (A+B) / 2.

[0018] Preferably, step S3 includes:

[0019] Step S31: Fix the horizontal center of the laser ranging of the photoelectric tracker, control the azimuth of the photoelectric tracker to be positioned at the horizontal center of the laser ranging, and keep the pitch angle of the photoelectric tracker unchanged;

[0020] Step S32: Observe the visible light image and the infrared image. The host computer corresponding to each of the visible light device and the infrared device draws a first set of vertical lines corresponding to the visible light device and a second set of vertical lines corresponding to the infrared device on both sides of the center line of the crosshairs in the visible light image and the center line of the crosshairs in the infrared image, respectively. The distance between the first set of vertical lines and the second set of vertical lines and the corresponding center line of the crosshairs is controlled respectively. The distance between the two vertical lines of the first set of vertical lines and the corresponding center line of the crosshairs is equal. The distance between the two vertical lines of the second set of vertical lines and the corresponding center line of the crosshairs is equal.

[0021] Step S33: Adjust the optical axis of the visible light device and the optical axis of the infrared device along the horizontal direction respectively, so that the two vertical lines of the first set of vertical lines and the two vertical lines of the second set of vertical lines are respectively located on the boundary line of the horizontal target; the boundary line of the horizontal target is determined based on the first boundary azimuth angle A and the second boundary azimuth angle B.

[0022] Preferably, step S5: determining the vertical center of the laser ranging of the photoelectric tracker based on the vertical target and through multiple measurements using laser ranging, includes:

[0023] Step S51: Adjust the azimuth angle of the photoelectric tracker so that the laser rangefinder is aimed at the target in the vertical direction, and start the continuous rangefinder; when the distance value fed back by the laser rangefinder is a numerical value, it indicates that the laser emitted by the laser rangefinder has hit the target in the vertical direction.

[0024] Step S52: Control the photoelectric tracker to move downward in the vertical direction by the minimum step distance, and obtain the distance value fed back by the laser rangefinder. If the fed-back distance value is a numerical value, proceed to step S52; if the fed-back distance value is empty, record the current first boundary pitch angle C of the photoelectric tracker. The current first boundary pitch angle C refers to the pitch boundary of one side of the target.

[0025] Step S53: Control the photoelectric tracker to move upward in the vertical direction by the minimum step distance, and obtain the feedback distance value of the laser rangefinder. If the feedback distance value is a numerical value, proceed to step S53; if the feedback distance value is empty, record the second current boundary pitch angle D of the photoelectric tracker. The current second boundary pitch angle D refers to the pitch boundary on the other side of the target.

[0026] Step S54: Determine the vertical center angle of the laser ranging, i.e., the pitch angle is (C+D) / 2.

[0027] Preferably, step S6 includes:

[0028] Step S61: Keep the azimuth angle of the photoelectric tracker at (A+B) / 2, fix the vertical center of the laser ranging of the photoelectric tracker, and control the azimuth positioning of the photoelectric tracker to the vertical center angle of the laser ranging.

[0029] Step S62: Observe the visible light image and the infrared image. Draw a first set of horizontal lines corresponding to the visible light device and a second set of horizontal lines corresponding to the infrared device on both sides of the crosshair center line of the visible light image and the crosshair center line of the infrared image, respectively. Control the distance between the first set of horizontal lines and the second set of horizontal lines and the corresponding crosshair center line. The distance between the two horizontal lines of the first set of horizontal lines and the corresponding crosshair center line is equal. The distance between the two horizontal lines of the second set of horizontal lines and the corresponding crosshair center line is equal.

[0030] Step S63: Adjust the optical axis of the visible light device and the optical axis of the infrared device in the vertical direction respectively, so that the two vertical lines of the first set of horizontal lines and the two horizontal lines of the second set of horizontal lines are respectively located on the boundary line of the target in the vertical direction; the boundary line of the target in the vertical direction is determined based on the first boundary pitch angle C and the second boundary pitch angle D.

[0031] Preferably, the neighborhood range is between two-thirds of the range of the laser rangefinder and its maximum range.

[0032] Beneficial effects:

[0033] This invention first determines the target's distance and lens focal length, then selects the target and uses laser rangefinder feedback to determine its boundaries. Based on the azimuth and pitch angle information of the photoelectric tracker at the boundaries, the horizontal and vertical center angles of the target are calculated. Then, a visible light and infrared host computer is used to adjust the visible light and infrared devices respectively, aligning the horizontal and vertical centers of the crosshairs in the visible light and infrared images with the target, thereby achieving alignment of the optical axes of the laser, visible light, and infrared.

[0034] It has the following technical effects:

[0035] (1) The present invention can quickly reach a working state in field tests or actual use.

[0036] (2) In an outdoor environment, the present invention can achieve optical axis consistency of laser, visible light and infrared without the need for external debugging device or professional optical axis scheduling device.

[0037] (3) The debugging method of the present invention is simple and easy to implement.

[0038] (4) This invention improves the adaptability and practicality of the photoelectric tracker. Attached Figure Description

[0039] Figure 1 A schematic flowchart of the method for adjusting the optical axis consistency of an external field photoelectric tracker provided by the present invention;

[0040] Figures 2(A)-2(C) This is a schematic diagram of the horizontal center adjustment of a television and infrared target provided by the present invention;

[0041] Figure 3 This is a schematic diagram of the vertical center adjustment of a television or infrared target provided by the present invention. Detailed Implementation

[0042] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] like Figure 1 As shown, this invention proposes a control method for the optical axis consistency of an external field-adjustable photoelectric tracker, comprising the following steps:

[0044] Step S1: Set the neighborhood range according to the ranging range of the equipped laser rangefinder, and select a vertical and stationary object as the horizontal target.

[0045] Step S2: Based on the horizontal target, and using multiple measurements with laser ranging, determine the horizontal center of the laser ranging of the photoelectric tracker;

[0046] Step S3: Set the horizontal center of the laser ranging of the photoelectric tracker, keep the pitch angle of the photoelectric tracker unchanged, and adjust the visible light device and infrared device of the photoelectric tracker in the horizontal direction respectively;

[0047] Step S4: Determine a horizontally oriented and stationary object as the vertical target within the neighborhood of the horizontal target;

[0048] Step S5: Based on the vertical target and using laser ranging to take multiple measurements, determine the vertical center of the laser ranging of the photoelectric tracker;

[0049] Step S6: Based on the horizontal and vertical center angles of the laser ranging, set the horizontal and vertical centers of the photoelectric tracker, and adjust the visible light device and infrared device of the photoelectric tracker along the vertical direction respectively.

[0050] Further, adjusting the visible light device and infrared device of the photoelectric tracker in the horizontal direction includes: observing the image so that the horizontal target appears in the image center of the visible light device and then locking and fixing the visible light device; locking and fixing the infrared device after the horizontal target appears in the image center of the infrared device, that is, the horizontal center of the visible light device, the infrared device and the laser rangefinder are aligned, and the horizontal adjustment of the three is completed.

[0051] Furthermore, adjusting the visible light device and infrared device of the photoelectric tracker along the vertical direction includes: observing the image so that the vertical target appears at the center of the visible light device's image, and then locking and fixing the visible light device; and so that the vertical target appears at the center of the infrared device's image, and then locking and fixing the infrared device. That is, the vertical centers of the visible light device, the infrared device, and the laser rangefinder are aligned, and the vertical adjustment of all three is completed.

[0052] In step S1, a target distance is selected, and the focal lengths of the infrared and television lenses are adjusted. The target distance is determined based on the performance parameters of the photoelectric tracker; for example, an intermediate distance value is selected as the target distance based on the actual maximum working distance of the laser rangefinder or the most commonly used ranging range. The visible light and infrared lenses are adjusted to their corresponding focal lengths to match the target distance.

[0053] Furthermore, the neighborhood range is between two-thirds of the range of the laser rangefinder and its maximum range.

[0054] Based on the ranging range of the equipped laser rangefinder, a neighborhood range is set. Based on the target distance and the neighborhood range, between two-thirds of the ranging range of the laser rangefinder and its maximum range, a vertically oriented and stationary object is selected as the horizontal target.

[0055] Based on the ranging range of the equipped laser rangefinder, a neighborhood range is set. Based on the target distance and the neighborhood range, an area with the photoelectric tracker as the center and the maximum ranging range as the radius is established as the target selection range.

[0056] The vertical and stationary object serves as a horizontal reference point, i.e., a horizontal target, such as a signal tower, tower crane, tree, or a man-made target. The horizontal target has unobstructed views to the left and right exceeding a first preset threshold, so that the target boundary can be measured using a ranging device.

[0057] Step S2: Based on the horizontal target, determine the horizontal center of the laser ranging of the photoelectric tracker by multiple measurements using laser ranging, including:

[0058] Step S21: Fix the position of the laser ranging of the photoelectric tracker and start continuous ranging of the laser ranging; adjust the photoelectric tracker so that the laser ranging is aimed at the horizontal target. When the distance value of the laser ranging is fed back, it indicates that the laser emitted by the laser ranging has hit the horizontal target.

[0059] Step S22: Control the photoelectric tracker to move the minimum step distance in the clockwise direction in the horizontal direction, and obtain the feedback laser ranging distance value. If the feedback laser ranging distance value is a value, proceed to step S22; if the feedback laser ranging distance value is empty, record the current first boundary azimuth angle A of the photoelectric tracker. The current first boundary azimuth angle A refers to one side of the horizontal boundary of the target in the horizontal direction.

[0060] Step S23: Control the photoelectric tracker to move the minimum step distance in the counterclockwise direction in the horizontal direction, and obtain the feedback laser ranging distance value. If the feedback laser ranging distance value is a value, proceed to step S23; if the feedback laser ranging distance value is empty, record the current second boundary azimuth angle B of the photoelectric tracker. The current second boundary azimuth angle B refers to the other side of the horizontal boundary of the target in the horizontal direction.

[0061] Step S24: Determine the horizontal center angle of the laser ranging target, i.e., the azimuth angle is (A+B) / 2.

[0062] In this embodiment, the visible light image formed by laser ranging is used to control the azimuth, causing the laser ranging device to move horizontally near the horizontal target. Since the horizontal target is unobstructed to the left and right, when the laser is not emitted to the target, the laser ranging has no specific value, and the distance feedback is empty. When the laser is emitted to the target, the laser ranging has a specific value, and the distance feedback is a specific value. At this time, the photoelectric tracker is controlled to move horizontally in one direction with the minimum step size until there is no distance feedback, and the current boundary azimuth angle A of the photoelectric tracker is recorded. The purpose is to determine one side of the horizontal boundary of the target. Similarly, it is controlled to move in the opposite direction until there is no distance feedback, and the current boundary azimuth angle B of the photoelectric tracker is recorded. The purpose is to determine the other side of the horizontal boundary of the target. Then, the laser ranging / target horizontal center angle is (A+B) / 2.

[0063] As shown in Figure 2, step S3 involves setting the horizontal center of the laser ranging of the photoelectric tracker, keeping the pitch angle of the photoelectric tracker constant, and adjusting the visible light device and infrared device of the photoelectric tracker in the horizontal direction. That is, fixing the horizontal center of the laser ranging of the photoelectric tracker, keeping the pitch angle of the photoelectric tracker constant, and adjusting the visible light device and infrared device of the photoelectric tracker in the horizontal direction so that the image center of the visible light device and the image center of the infrared device are consistent with the horizontal center of the target in the horizontal direction.

[0064] Step S3 includes:

[0065] Step S31: Fix the horizontal center of the laser ranging of the photoelectric tracker, control the azimuth of the photoelectric tracker to be positioned at the horizontal center of the laser ranging, and keep the pitch angle of the photoelectric tracker unchanged;

[0066] Step S32: Observe the visible light image and the infrared image. The host computer corresponding to each of the visible light device and the infrared device draws a first set of vertical lines corresponding to the visible light device and a second set of vertical lines corresponding to the infrared device on both sides of the center line of the crosshairs in the visible light image and the center line of the crosshairs in the infrared image, respectively. The distance between the first set of vertical lines and the second set of vertical lines and the corresponding center line of the crosshairs is controlled respectively. The distance between the two vertical lines of the first set of vertical lines and the corresponding center line of the crosshairs is equal. The distance between the two vertical lines of the second set of vertical lines and the corresponding center line of the crosshairs is equal.

[0067] Step S33: Adjust the optical axis of the visible light device and the optical axis of the infrared device along the horizontal direction respectively, so that the two vertical lines of the first set of vertical lines and the two vertical lines of the second set of vertical lines are respectively located on the boundary line of the horizontal target; the boundary line of the horizontal target is determined based on the first boundary azimuth angle A and the second boundary azimuth angle B.

[0068] In this embodiment, the visible light and infrared optical axes are adjusted horizontally. Using the visible light and infrared host computer debugging software, two black lines are drawn at equal intervals to the left and right of the center point of the image crosshairs. The two black lines can be controlled to move closer to or further away from the center point simultaneously, as shown by the dotted lines in Figure 2. To ensure that the pitch angle of the photoelectric tracker in step S2 remains unchanged, the position of the photoelectric tracker is first controlled to be positioned at the horizontal center angle in step S2. Then, the visible light and infrared devices, as well as the black lines on both sides of the center point of their images, are horizontally adjusted so that the two black lines are exactly located at the target boundary. Thus, the horizontal optical axes of the laser, visible light, and infrared are aligned.

[0069] In step S4, with the photoelectric tracker as the center and the radius from two-thirds to the maximum range of the laser rangefinder as the radius, a horizontal and stationary object is searched as the vertical target.

[0070] The horizontal and stationary object serves as a vertical reference point, i.e., a vertical target, such as a horizontally positioned vehicle, a horizontally positioned billboard, or a target placed horizontally by a person. The vertical target has an area above and below it greater than a second preset threshold, the purpose of which is to facilitate laser ranging in determining the target boundary based on the ranging distance.

[0071] Step S5: Based on the vertical target and using multiple laser ranging measurements, determine the vertical center of the laser ranging of the photoelectric tracker, including:

[0072] Step S51: Adjust the azimuth angle of the photoelectric tracker so that the laser rangefinder is aimed at the target in the vertical direction, and start the continuous rangefinder; when the distance value fed back by the laser rangefinder is a numerical value, it indicates that the laser emitted by the laser rangefinder has hit the target in the vertical direction.

[0073] Step S52: Control the photoelectric tracker to move downward in the vertical direction by the minimum step distance, and obtain the distance value fed back by the laser rangefinder. If the fed-back distance value is a numerical value, proceed to step S52; if the fed-back distance value is empty, record the current first boundary pitch angle C of the photoelectric tracker. The current first boundary pitch angle C refers to the pitch boundary of one side of the target.

[0074] Step S53: Control the photoelectric tracker to move upward in the vertical direction by the minimum step distance, and obtain the feedback distance value of the laser rangefinder. If the feedback distance value is a numerical value, proceed to step S53; if the feedback distance value is empty, record the second current boundary pitch angle D of the photoelectric tracker. The current second boundary pitch angle D refers to the pitch boundary on the other side of the target.

[0075] Step S54: Determine the vertical center angle of the laser ranging, i.e., the pitch angle is (C+D) / 2.

[0076] In this embodiment, the vertical center of the laser ranging is determined. The photoelectric tracker activates continuous ranging and controls the pitch to move up and down near the target using visible light images. Since the target has no obstructions above or below, the laser ranging distance feedback is empty. When the distance feedback becomes valid during the movement, the laser has been emitted to the target. At this time, the photoelectric tracker is controlled to move vertically in one direction with the minimum step size until the distance feedback is empty, and the current boundary pitch angle C of the photoelectric tracker is recorded. Similarly, it is controlled to move in the opposite direction until the distance feedback is empty, and the current boundary pitch angle D of the photoelectric tracker is recorded. The vertical center angle of the laser ranging is then (C+D) / 2.

[0077] like Figure 3As shown, step S6: Based on the horizontal and vertical center angles of the laser ranging, set the horizontal and vertical centers of the photoelectric tracker, and adjust the visible light device and infrared device of the photoelectric tracker in the vertical direction respectively. That is, fix the vertical center of the laser ranging of the photoelectric tracker, keep the azimuth angle of the photoelectric tracker unchanged, and adjust the visible light device and infrared device of the photoelectric tracker in the vertical direction respectively 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.

[0078] Step S6 includes:

[0079] Step S61: Keep the azimuth angle of the photoelectric tracker at (A+B) / 2, fix the vertical center of the laser ranging of the photoelectric tracker, and control the azimuth positioning of the photoelectric tracker to the vertical center angle of the laser ranging.

[0080] Step S62: Observe the visible light image and the infrared image. Draw a first set of horizontal lines corresponding to the visible light device and a second set of horizontal lines corresponding to the infrared device on both sides of the crosshair center line of the visible light image and the crosshair center line of the infrared image, respectively. Control the distance between the first set of horizontal lines and the second set of horizontal lines and the corresponding crosshair center line. The distance between the two horizontal lines of the first set of horizontal lines and the corresponding crosshair center line is equal. The distance between the two horizontal lines of the second set of horizontal lines and the corresponding crosshair center line is equal.

[0081] Step S63: Adjust the optical axis of the visible light device and the optical axis of the infrared device in the vertical direction respectively, so that the two vertical lines of the first set of horizontal lines and the two horizontal lines of the second set of horizontal lines are respectively located on the boundary line of the target in the vertical direction; the boundary line of the target in the vertical direction is determined based on the first boundary pitch angle C and the second boundary pitch angle D.

[0082] This invention provides a method for achieving multi-axis consistency in an outdoor environment. The photoelectric tracker can precisely control the device's azimuth and pitch movements, achieving a control accuracy of 0.05 degrees. By selecting a horizontal target, the photoelectric tracker continuously performs laser ranging near the target, then moves horizontally. Based on the distance feedback from the laser ranging, the horizontal center of the laser is determined, and the horizontal centers of the visible and infrared beams are then adjusted. Similarly, by selecting a vertical target, the photoelectric tracker continuously performs laser ranging near the target, then moves vertically. Based on the distance feedback from the laser ranging, the vertical center of the laser is determined, and the vertical centers of the visible and infrared beams are then adjusted. This achieves optical axis consistency for the visible light device, infrared device, and laser ranging device deployed within the photoelectric tracker in an outdoor scene.

[0083] The specific embodiments described above only illustrate the design principles of the present invention. The shapes and names of the components in this description may differ and are not limited. Therefore, those skilled in the art can modify or make equivalent substitutions to the technical solutions described in the foregoing embodiments; and these modifications and substitutions do not depart from the inventive spirit and technical solutions of the present invention, and should all fall within the protection scope of the present invention.

Claims

1. A method for controlling the optical axis consistency of an external field-adjustable photoelectric tracker, characterized in that, The method includes the following steps: Step S1: Set the neighborhood range according to the ranging range of the equipped laser rangefinder, and select a vertical and stationary object as the horizontal target. Step S2: Based on the horizontal target, and using multiple measurements with laser ranging, determine the horizontal center of the laser ranging of the photoelectric tracker; Step S3: Set the horizontal center of the laser ranging of the photoelectric tracker, keep the pitch angle of the photoelectric tracker unchanged, and adjust the visible light device and infrared device of the photoelectric tracker in the horizontal direction respectively; Step S4: Determine a horizontally oriented and stationary object as the vertical target within the neighborhood of the horizontal target; Step S5: Based on the vertical target and using laser ranging to take multiple measurements, determine the vertical center of the laser ranging of the photoelectric tracker; Step S6: Based on the horizontal and vertical center angles of the laser ranging, set the horizontal and vertical centers of the photoelectric tracker, and adjust the visible light device and infrared device of the photoelectric tracker along the vertical direction respectively; Step S2: Based on the horizontal target, determine the horizontal center of the laser ranging of the photoelectric tracker by multiple measurements using laser ranging, including: Step S21: Fix the position of the laser ranging of the photoelectric tracker and start continuous ranging of the laser ranging; Adjust the photoelectric tracker so that the laser rangefinder is aimed at the horizontal target. When the distance value of the laser rangefinder is fed back, it indicates that the laser emitted by the laser rangefinder has hit the horizontal target. Step S22: Control the photoelectric tracker to move the minimum step distance in the clockwise direction in the horizontal direction, and obtain the feedback laser ranging distance value. If the feedback laser ranging distance value is a value, proceed to step S22; if the feedback laser ranging distance value is empty, record the current first boundary azimuth angle A of the photoelectric tracker. The current first boundary azimuth angle A refers to one side of the horizontal boundary of the target in the horizontal direction. Step S23: Control the photoelectric tracker to move the minimum step distance in the counterclockwise direction in the horizontal direction, and obtain the feedback laser ranging distance value. If the feedback laser ranging distance value is a value, proceed to step S23; if the feedback laser ranging distance value is empty, record the current second boundary azimuth angle B of the photoelectric tracker. The current second boundary azimuth angle B refers to the other side of the horizontal boundary of the target in the horizontal direction. Step S24: Determine the horizontal center angle of the laser ranging target, i.e., the azimuth angle is (A+B) / 2.

2. The method as described in claim 1, characterized in that, Step S3 includes: Step S31: Fix the horizontal center of the laser ranging of the photoelectric tracker, control the azimuth of the photoelectric tracker to be positioned at the horizontal center of the laser ranging, and keep the pitch angle of the photoelectric tracker unchanged; Step S32: Observe the visible light image and the infrared image. The host computer corresponding to each of the visible light device and the infrared device draws a first set of vertical lines corresponding to the visible light device and a second set of vertical lines corresponding to the infrared device on both sides of the center line of the crosshairs in the visible light image and the center line of the crosshairs in the infrared image, respectively. The distance between the first set of vertical lines and the second set of vertical lines and the corresponding center line of the crosshairs is controlled respectively. The two vertical lines of the first set of vertical lines are equidistant from the center line of the crosshairs, and the two vertical lines of the second set of vertical lines are equidistant from the center line of the crosshairs. Step S33: Adjust the optical axis of the visible light device and the optical axis of the infrared device along the horizontal direction respectively, so that the two vertical lines of the first set of vertical lines and the two vertical lines of the second set of vertical lines are respectively located on the boundary line of the horizontal target; the boundary line of the horizontal target is determined based on the first boundary azimuth angle A and the second boundary azimuth angle B.

3. The method as described in claim 2, characterized in that, Step S5: Based on the vertical target and using multiple laser ranging measurements, determine the vertical center of the laser ranging of the photoelectric tracker, including: Step S51: Adjust the azimuth angle of the photoelectric tracker so that the laser rangefinder is aimed at the target in the vertical direction, and start the continuous rangefinder; when the distance value fed back by the laser rangefinder is a numerical value, it indicates that the laser emitted by the laser rangefinder has hit the target in the vertical direction. Step S52: Control the photoelectric tracker to move downward in the vertical direction by the minimum step distance, and obtain the distance value fed back by the laser rangefinder. If the fed-back distance value is a numerical value, proceed to step S52; if the fed-back distance value is empty, record the current first boundary pitch angle C of the photoelectric tracker. The current first boundary pitch angle C refers to the pitch boundary of one side of the target. Step S53: Control the photoelectric tracker to move upward in the vertical direction by the minimum step distance, and obtain the feedback distance value of the laser rangefinder. If the feedback distance value is a numerical value, proceed to step S53; if the feedback distance value is empty, record the second current boundary pitch angle D of the photoelectric tracker. The second current boundary pitch angle D refers to the pitch boundary on the other side of the target. Step S54: Determine the vertical center angle of the laser ranging, i.e., the pitch angle is (C+D) / 2.

4. The method as described in claim 3, characterized in that, Step S6 includes: Step S61: Keep the azimuth angle of the photoelectric tracker at (A+B) / 2, fix the vertical center of the laser ranging of the photoelectric tracker, and control the azimuth positioning of the photoelectric tracker to the vertical center angle of the laser ranging. Step S62: Observe the visible light image and the infrared image. Draw a first set of horizontal lines corresponding to the visible light device and a second set of horizontal lines corresponding to the infrared device on both sides of the crosshair center line of the visible light image and the crosshair center line of the infrared image, respectively. Control the distance between the first set of horizontal lines and the second set of horizontal lines and the corresponding crosshair center line. The distance between the two horizontal lines of the first set of horizontal lines and the corresponding crosshair center line is equal. The distance between the two horizontal lines of the second set of horizontal lines and the corresponding crosshair center line is equal. Step S63: Adjust the optical axis of the visible light device and the optical axis of the infrared device in the vertical direction respectively, so that the two vertical lines of the first set of horizontal lines and the two horizontal lines of the second set of horizontal lines are respectively located on the boundary line of the target in the vertical direction; the boundary line of the target in the vertical direction is determined based on the first boundary pitch angle C and the second current boundary pitch angle D.

5. The method according to any one of claims 1-4, characterized in that, The neighborhood range is between two-thirds of the range of the laser rangefinder and its maximum range.

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