Visual butt joint method for relay optical module and precise turntable module

Abstract

The invention discloses a visual docking method for a relay optical module and a precision turntable module, and solves the problem that the docking efficiency of the relay optical module and the precision turntable module is too low in the prior art. According to the characteristic that light receiving and emitting of a relay optical module are coaxial, the axis of a pitch axis of a precise rotary table module is transmitted to the center normal of a star hole reflector in a star hole reflection tool according to the optical auto-collimation center penetrating principle; visual butt joint of the two relay optical modules and the precise rotary table module is completed through real-time monitoring of the precise tracking camera and the light spot analyzer.

Description

Technical Field

[0001] The invention relates to an optical module docking method, and in particular to a visual docking method for a relay optical module and a precision turntable module. Background Art

[0002] With the changing trend of mass development of intersatellite laser communications in my country, it is particularly important to improve the accuracy and efficiency of laser communication optical terminal system installation and adjustment. Figure 1 As shown, the laser communication optical terminal system consists of three parts: a relay optical module 1, a precision turntable module 2 and a telephoto optical module 3. The relay optical module 1 is connected to one end of the precision turntable module 2 through a flange 4 at the rear end of the pitch axis, does not rotate with the pitch axis, and a trimming pad is provided at the connection end surface; the telephoto optical module 3 is connected to the other end of the precision turntable module 2 through a flange 5 at the front end of the pitch axis, and rotates with the pitch axis.

[0003] like Figure 2 As shown, the relay optical module 1 mainly includes a communication transmitting unit 11, a communication receiving unit 12 and a precision tracking camera 13. The end of the relay optical module 1 close to the precision turntable module 2 is provided with a central light exit hole 14 connected to the precision turntable module 2; the optical axis passing through the communication transmitting unit 11, the communication receiving unit 12 and the precision tracking camera 13 can pass through a folding mirror inside the relay optical module 1 and converge into a coaxial optical path at the central light exit hole 14; the communication transmitting unit 11 can emit a parallel light beam with a band of 1550nm and an aperture of Φ6mm, and the precision tracking camera 13 can image the parallel light beam in the 1550nm band.

[0004] like Figure 3 As shown, the precision turntable module 2 includes an azimuth axis 21 and a pitch axis 22 perpendicular to the azimuth axis 21 ; the relay optical module 1 and the telephoto optical module 3 are respectively connected to both ends of the pitch axis 22 .

[0005] The essence of docking the relay optical module 1 with the precision turntable module 2 is to adjust the coaxiality of the parallel light beam emitted from the central light exit hole 14 of the relay optical module 1 and the pitch axis 22 of the precision turntable module 2. The traditional docking method is to first calibrate the axis system of the precision turntable module 2 separately, and the optical calibration of its rotation axis is guided by the self-aligned through-center image in the external theodolite monitored by human eyes with the help of the reflector cross-reticle tooling; during the installation and adjustment process, one person needs to monitor and another person needs to adjust, which seriously affects the installation and adjustment efficiency. Summary of the invention

[0006] In order to solve the technical problem in the prior art that the docking efficiency between the relay optical module and the precision turntable module is too low, the present invention provides a visual docking method for the relay optical module and the precision turntable module.

[0007] The inventive concept of the present invention:

[0008] According to the coaxial receiving and emitting characteristics of the relay optical module and the principle of optical self-alignment, the present invention first transfers the pitch axis of the precision turntable module to the center normal of the star hole reflector in the star hole reflection tooling, and then completes the visual docking of the two relay optical modules and the precision turntable module through real-time monitoring by a precision tracking camera and a spot analyzer.

[0009] In order to achieve the above purpose and complete the above invention concept, the present invention adopts the following technical solutions:

[0010] A visual docking method for a relay optical module and a precision turntable module is characterized in that it includes the following steps:

[0011] Step 1, a corner cube prism assembly is placed outside the light outlet of the relay optical module, the relay optical module emits a parallel light beam, the parallel light beam is acted upon by the corner cube prism assembly and returns in parallel to the original path, and forms a first circular light spot on the focal plane of the precision tracking camera in the relay optical module, and the position of the first circular light spot is recorded as position 1;

[0012] Step 2: Connect the relay optical module to one end of the pitch axis in the precision turntable module through the rear end flange of the pitch axis, and install the star hole reflection tooling at the other end of the pitch axis;

[0013] Step 3, the parallel light beam emitted by the relay optical module passes through the pitch axis, is incident on the star hole reflection tooling, and then returns along the original path, forming a second circular light spot on the focal plane of the precision tracking camera. The pitch axis is rotated, and the second circular light spot draws a circle on the focal plane. The star hole reflection tooling is adjusted to minimize the circle drawing amount, and the position of the minimum circle drawing center point is recorded as position 2;

[0014] Step 4, calculating the inclination of the trimming circle set at the rear end flange of the pitch axis through position 1, position 2 and the outer diameter of the rear end flange of the pitch axis;

[0015] Step 5, repairing and cutting the circle according to the tilt amount so that the position 1 and the position 2 coincide with each other;

[0016] Step 6: Set up a spot analyzer outside the end of the star hole reflection tooling away from the precision turntable module. The parallel light beam emitted by the relay optical module forms a third circular spot on the target surface of the spot analyzer. When the pitch axis is rotated, the third circular spot draws a circle on the target surface. Adjust the star hole reflection tooling until the position of the third circular spot remains unchanged when the pitch axis rotates. Record the position of the third circular spot as position 1′.

[0017] Step 7, disassemble the star hole reflection tooling, or disassemble the star hole reflection mirror frame and the star hole reflection mirror in the center of the star hole reflection mirror frame, then the parallel light beam emitted by the relay optical module forms a fourth circular light spot on the target surface of the light spot analyzer, and the position of the fourth circular light spot is recorded as position 2′;

[0018] Step 8: Keep the precision turntable module stationary, and translate the relay optical module radially along the pitch axis so that the position 1′ coincides with the position 2′. Then, the optical axis of the parallel light beam emitted by the relay optical module coincides with the rotation axis of the pitch axis, and the visual docking of the relay optical module and the precision turntable module is completed.

[0019] Furthermore, step 1 is specifically as follows:

[0020] Step 1. Place a corner cube prism assembly outside the central light exit hole of the relay optical module. The communication transmitting unit of the relay optical module emits a laser beam. The laser beam is converted into a parallel beam and emitted from the central light exit hole. After being acted upon by the corner cube prism assembly, it returns in parallel to the original path and forms a first circular light spot on the focal plane of the precision tracking camera of the relay optical module. Collect the spot image of the first circular light spot and judge the position of the first circular light spot on the focal plane of the precision tracking camera, which is recorded as position 1.

[0021] Furthermore, step 2 is specifically as follows:

[0022] Connect the relay optical module to one end of the pitch axis in the precision turntable module through the rear end flange of the pitch axis, and install the star hole reflection tooling at the other end of the pitch axis through the front end flange of the pitch axis;

[0023] The star hole reflection tooling comprises a cylindrical star hole reflection shell, a star hole reflection mirror frame installed in the star hole reflection shell by a pressing ring, and a star hole reflection mirror installed at the center of the star hole reflection mirror frame; a central small hole is provided in the center of the star hole reflection mirror, and a tilt adjustment knob for adjusting the tilt angle of the star hole reflection mirror is provided on the star hole reflection mirror frame; a translation adjustment knob for radially translating the star hole reflection mirror along the star hole reflection shell is provided on the star hole reflection shell.

[0024] Furthermore, step 3 is specifically as follows:

[0025] The parallel light beam emitted by the relay optical module is emitted from the central light exit hole, passes through the pitch axis and is incident on the star hole reflection tooling. After being reflected by the star hole reflector in the star hole reflection tooling, it returns along the original path and forms a second circular light spot on the focal plane of the precision tracking camera. When the pitch axis is rotated, the second circular light spot draws a circle on the focal plane. By adjusting the tilt adjustment knob on the star hole reflection tooling to make the circle drawing amount reach the minimum value, the rotation center of the pitch axis is parallel to the normal of the star hole reflector. The position of the minimum circle drawing center point is recorded as position 2.

[0026] Furthermore, step 4 is specifically as follows:

[0027] The angle Δθ between the parallel light beam emitted from the central light exit hole of the relay optical module and the axis of the pitch axis is calculated by the pixel difference between position 1 and position 2. According to the diameter d of the rear end flange of the pitch axis, the inclination K of the trimming circle is calculated by the following formula:

[0028] K = dsinΔθ.

[0029] Furthermore, step 6 is specifically as follows:

[0030] A spot analyzer is set up on the outer side of one end of the star hole reflection fixture away from the precision turntable module. The laser beam emitted by the communication transmitting unit is converted into a parallel light beam, which is emitted from the central light exit hole, passes through the pitch axis, and then is emitted from the central small hole on the star hole reflector to the spot analyzer to form a third circular light spot. The pitch axis is rotated. As the pitch axis rotates, the third circular light spot draws a circle on the target surface of the spot analyzer. By adjusting the translation adjustment knob on the star hole reflection fixture, the position of the third circular light spot on the target surface of the spot analyzer remains unchanged when the pitch axis rotates. The position of the third circular light spot emitted from the central small hole is the rotation center of the pitch axis. The position 1′ of the third circular light spot on the target surface of the spot analyzer is recorded.

[0031] Furthermore, step 7 is specifically as follows:

[0032] Disassemble the star hole reflection tooling, or disassemble the pressing ring on the star hole reflection tooling, take out the star hole reflection mirror frame and the star hole reflection mirror in the center of the star hole reflection mirror frame, then the parallel light beam emitted by the relay optical module forms a fourth circular light spot on the target surface of the light spot analyzer, and record the position 2′ of the fourth circular light spot.

[0033] Beneficial effects of the present invention:

[0034] 1. The present invention provides a visual docking method for a relay optical module and a precision turntable module, which not only integrates the calibration process of the precision turntable module axis system with the docking process of the precision turntable module and the relay optical module, but also proposes a visual docking method, which more than doubles the docking efficiency between the relay optical module and the precision turntable module, and also reduces the number of debugging personnel required for the docking process by half.

[0035] 2. Based on the coaxial optical property of the relay optical module, the present invention uses the star hole reflector tooling and the principle of rotational self-collimation to visualize the rotation axis angle of the precision turntable through a self-calibration method without the aid of external observation equipment, and uses the self-calibration method of a corner cone prism to visualize the optical axis angle of the relay system. The principle of determining the center of the axis system by rotating a pinhole aperture is used to visualize the center of the axis system and the center of the relay output light beam using spot analysis, thereby making the docking more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the structure of the laser communication optical machine terminal system;

[0037] Figure 2 is a schematic diagram of the structure of the relay optical module;

[0038] Figure 3 It is a structural diagram of the precision turntable module;

[0039] Figure 4 It is one of the structural schematic diagrams of the star hole reflection tooling used in the embodiment of the present invention;

[0040] Figure 5 This is the second structural schematic diagram of the star hole reflection tooling used in the embodiment of the present invention;

[0041] Figure 6 is a schematic structural diagram of a corner cube prism assembly used in an embodiment of the present invention;

[0042] Reference numerals: 1-relay optical module, 11-communication transmitting unit, 12-communication receiving unit, 13-precision tracking camera, 14-central light exit hole, 2-precision turntable module, 21-azimuth axis, 22-pitch axis, 3-telescopic optical module, 4-rear end flange of pitch axis, 5-front end flange of pitch axis, 6-star hole reflection tooling, 61-star hole reflection housing, 62-pressing ring, 63-star hole reflection mirror frame, 64-star hole reflection mirror, 65-tilt adjustment knob, 66-translation adjustment knob, 67-central small hole, 7-corner cone prism assembly;

[0043] Figure 7 It is a schematic structural diagram of an embodiment of a method for visually docking a relay optical module with a precision turntable module of the present invention when it proceeds to step 6;

[0044] Figure number: 8-spot analyzer. DETAILED DESCRIPTION

[0045] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] An embodiment of the present invention provides a visual docking method for a relay optical module and a precision turntable module, comprising the following steps:

[0047] Step 1: Place a corner cube prism assembly 7 outside the central light exit hole 14 of the relay optical module 1. The structure of the corner cube prism assembly 7 is as follows: Figure 6As shown, the communication transmitting unit 11 of the relay optical module 1 emits a laser beam, which is converted into a parallel beam and emitted from the central light exit hole 14. After being acted upon by the corner cube prism assembly 7, it returns in parallel to the original path and forms a first circular light spot on the focal plane of the precision tracking camera 13 of the relay optical module 1. The spot diagram of the first circular light spot is collected and the position of the first circular light spot on the focal plane of the precision tracking camera 13 is judged by the centroid judgment software, which is recorded as position 1.

[0048] Step 2, connect the relay optical module 1 to one end of the pitch axis 22 in the precision turntable module 2 through the rear end flange 4 of the pitch axis, and install the star hole reflection tooling 6 at the other end of the pitch axis 22 through the front end flange 5 of the pitch axis;

[0049] Combination Figure 4 and Figure 5 As shown, the star hole reflector 6 is composed of a cylindrical star hole reflector housing 61, a star hole reflector frame 63 installed on the inner wall of one end of the star hole reflector housing 61 through a pressing ring 62, and a star hole reflector 64 installed at the center of the star hole reflector frame 63. One side of the star hole reflector 64 is a reflective surface coated with a reflective film, and a central small hole 67 of Φ0.5 mm is provided in the center thereof, and the central small hole 67 is the light outlet of the star hole reflector 6; the inclination of the star hole reflector 64 can be adjusted by two inclination adjustment knobs 65 on the star hole reflector frame 63; and the translation of the star hole reflector 64 along its radial direction can be adjusted by four translation adjustment knobs 66 evenly distributed around the star hole reflector housing 61. For its specific internal structure, please refer to "Research on Intersatellite Laser Communication Pointing and Capture Mechanism" [D]. University of Chinese Academy of Sciences (Zhang Furui. Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences), 2019. DOI: 10.27605 / d.cnki.gkxgs.2019.000031.

[0050] Step 3, the laser beam emitted by the communication transmitting unit 11 is converted into a parallel beam, which is emitted from the central light exit hole 14, passes through the pitch axis 22 of the precision turntable module 2, and is incident on the star hole reflector 64 of the star hole reflector tool 6. After being reflected by the star hole reflector 64, the reflected light passes through the pitch axis 22 of the precision turntable module 2 again, and enters the precision tracking camera 13 of the relay optical module 1 from the central light exit hole 14, forming a second circular light spot on the focal plane of the precision tracking camera 13. When the pitch axis 22 is rotated, the second circular light spot draws a circle on the focal plane of the precision tracking camera 13. The tilt adjustment knob 65 of the star hole reflector tool 6 is adjusted to make the circle amount reach the minimum value or remain unchanged, collect the spot diagram of the minimum circle or the second circular light spot, and use the centroid judgment software to judge the precise position of the minimum circle center point or the second circular light spot on the focal plane of the precision tracking camera 13, which is recorded as position 2. At this time, the pitch axis 22 is strictly parallel to the normal of the star hole reflector 64.

[0051] Step 4: Calculate the angle Δθ between the parallel light beam emitted from the central light exit hole 14 of the relay optical module 1 and the axis center of the pitch axis 22 by using the pixel difference between position 1 and position 2. Calculate the inclination K of the trimming circle by using the following formula according to the outer diameter d of the flange 4 at the rear end of the pitch axis:

[0052] K = dsinΔθ;

[0053] Step 5: According to the tilt amount K, the trimming circle at the connection between the relay optical module 1 and the precision turntable module 2 is repaired to make position 1 coincide with position 2. At this time, the parallel light beam emitted from the central light exit hole 14 is parallel to the axis of the pitch axis 22, and the parallel accuracy is less than 10″;

[0054] Step 6: Figure 7 As shown, a spot analyzer 8 is set up outside the end of the star hole reflection tooling 6 away from the precision turntable module 2. The spot analyzer 8 can receive the spot and locate the center of the spot. The communication transmitting unit 11 in the relay optical module 1 emits a laser beam, which is converted into a parallel beam and sequentially passes through the central light exit hole 14 and the pitch axis 22, and then is emitted from the central small hole 67 of the star hole reflector 64 to the target surface of the spot analyzer 8 to form a third circular spot. The pitch axis 22 is rotated, and when the central small hole 67 When the midpoint of is not on the axis of the pitch axis 22, as the pitch axis 22 rotates, the third circular light spot draws a circle on the target surface of the light spot analyzer 8, and the translation adjustment knob 66 ​​on the star hole reflection fixture 6 is adjusted until the position of the third circular light spot on the target surface of the light spot analyzer 8 does not change when the pitch axis 22 rotates. At this time, the position of the third circular light spot emitted from the central small hole 67 represents the rotation center of the pitch axis 22, and the position 1′ of the third circular light spot on the target surface of the light spot analyzer 8 is recorded;

[0055] Step 7, loosen the pressing ring 62 on the star hole reflection tooling 6, take out the star hole reflection mirror frame 63 and the star hole reflection mirror 64 in the center of the star hole reflection mirror frame 63, the light spot analyzer 8 receives the fourth circular light spot formed by the Φ6mm parallel light beam emitted by the communication transmitting unit 11, and records the position 2′ of the fourth circular light spot;

[0056] In other embodiments, the star hole reflection tooling 6 may also be directly removed from the pitch axis 22 .

[0057] Step 8, keeping the precision turntable module 2 stationary, and translating the relay optical module 1 along the radial direction of the pitch axis 22 until the position 1′ of the third circular light spot coincides with the position 2′ of the fourth circular light spot, and at this time, the optical axis of the outgoing light beam of the relay optical module 1 coincides with the rotation axis of the pitch axis 22;

[0058] Complete the visual docking between the relay optical module 1 and the precision turntable module 22.

[0059] Through the above method, this embodiment can achieve an accuracy of 0.01 mm for the coincidence of the optical axis of the parallel light beam emitted by the relay optical module 1 and the rotation axis of the pitch axis 22 .

[0060] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A visual docking method for a relay optical module and a precision turntable module, characterized in that: The following steps are involved: Step 1, placing a corner cube prism assembly (7) outside the light outlet of the relay optical module (1), the relay optical module (1) emits a parallel light beam, the parallel light beam is acted upon by the corner cube prism assembly (7) and returns in parallel along the original path, and forms a first circular light spot on the focal plane of the precision tracking camera (13) in the relay optical module (1), and the position of the first circular light spot is recorded as position 1; Step 2: Connect the relay optical module (1) to one end of the pitch axis (22) in the precision turntable module (2) through the rear end flange (4) of the pitch axis, and install the star hole reflection tooling (6) at the other end of the pitch axis (22); Step 3, the parallel light beam emitted by the relay optical module (1) passes through the pitch axis (22), is incident on the star hole reflection tooling (6), and then returns along the original path, forming a second circular light spot on the focal plane of the precision tracking camera (13). The pitch axis (22) is rotated, and the second circular light spot draws a circle on the focal plane. The star hole reflection tooling (6) is adjusted to minimize the circle drawing amount, and the position of the minimum circle drawing center point is recorded as position 2; Step 4, calculating the inclination of the trimming circle provided at the rear end flange (4) of the pitch axis through position 1, position 2 and the outer diameter of the rear end flange (4) of the pitch axis; Step 5, according to the tilt amount, the cutting circle is repaired and cut so that the position 1 and the position 2 coincide with each other; Step 6, a light spot analyzer (8) is set up on the outer side of one end of the star hole reflection tooling (6) away from the precision turntable module (2), and the parallel light beam emitted by the relay optical module (1) forms a third circular light spot on the target surface of the light spot analyzer (8). The pitch axis (22) is rotated, and the third circular light spot draws a circle on the target surface. The star hole reflection tooling (6) is adjusted until the position of the third circular light spot remains unchanged when the pitch axis (22) rotates, and the position of the third circular light spot is recorded as position 1′; Step 7, disassembling the star hole reflection tooling (6), or disassembling the star hole reflection mirror frame (63) and the star hole reflection mirror (64) at the center of the star hole reflection mirror frame (63), so that the parallel light beam emitted by the relay optical module (1) forms a fourth circular light spot on the target surface of the light spot analyzer (8), and the position of the fourth circular light spot is recorded as position 2′; Step 8: Keep the precision turntable module (2) stationary, and translate the relay optical module (1) radially along the pitch axis (22) so that the position 1′ coincides with the position 2′, so that the optical axis of the parallel light beam emitted by the relay optical module (1) coincides with the rotation axis of the pitch axis (22), thereby completing the visual docking of the relay optical module (1) and the precision turntable module (22).

2. The visual docking method for the relay optical module and the precision turntable module according to claim 1, characterized in that: Step 1 is as follows: Step 1: a corner cube prism assembly (7) is placed outside the central light exit hole (14) of the relay optical module (1); the communication transmitting unit (11) of the relay optical module (1) emits a laser beam, which is converted into a parallel beam and emitted from the central light exit hole (14); after being acted upon by the corner cube prism assembly (7), the beam returns in parallel along the original path, and forms a first circular light spot on the focal plane of the precision tracking camera (13) of the relay optical module (1); a light spot diagram of the first circular light spot is collected, and the position of the first circular light spot on the focal plane of the precision tracking camera (13) is determined, which is recorded as position 1.

3. The visual docking method for the relay optical module and the precision turntable module according to claim 1 or 2, characterized in that: Step 2 is as follows: The relay optical module (1) is connected to one end of the pitch axis (22) in the precision turntable module (2) through the rear end flange (4) of the pitch axis, and a star hole reflection tooling (6) is installed at the other end of the pitch axis (22) through the front end flange (5) of the pitch axis; The star hole reflection tool (6) comprises a cylindrical star hole reflection shell (61), a star hole reflection mirror frame (63) installed in the star hole reflection shell (61) through a pressing ring (62), and a star hole reflection mirror (64) installed at the center of the star hole reflection mirror frame (63); a central small hole (67) is provided at the center of the star hole reflection mirror (64); a tilt adjustment knob (65) for adjusting the tilt angle of the star hole reflection mirror (64) is provided on the star hole reflection shell (61); and a translation adjustment knob (66) for translating the star hole reflection mirror (64) along the radial direction of the star hole reflection shell (61) is provided on the star hole reflection shell (61).

4. The visual docking method for the relay optical module and the precision turntable module according to claim 3, characterized in that: Step 3 is as follows: A parallel light beam emitted by the relay optical module (1) is emitted from a central light exit hole (14), passes through a pitch axis (22), and is incident on a star hole reflection tooling (6). After being reflected by a star hole reflection mirror (64) in the star hole reflection tooling (6), it returns along the original path, and forms a second circular light spot on the focal plane of the precision tracking camera (13). When the pitch axis (22) is rotated, the second circular light spot draws a circle on the focal plane. When the tilt adjustment knob (65) on the star hole reflection tooling (6) is adjusted to a minimum circle drawing amount, the rotation center of the pitch axis (22) is parallel to the normal of the star hole reflection mirror (64), and the position of the minimum circle drawing center point is recorded as position 2.

5. The visual docking method for the relay optical module and the precision turntable module according to claim 4, characterized in that: Step 4 is as follows: The angle Δθ between the parallel light beam emitted from the central light exit hole (14) of the relay optical module (1) and the axis of the pitch axis (22) is calculated by the pixel difference between position 1 and position 2. According to the diameter d of the rear end flange (4) of the pitch axis, the inclination K of the trimming circle is calculated by the following formula: K = dsinΔθ.

6. The visual docking method for the relay optical module and the precision turntable module according to claim 5, characterized in that: Step 6 is as follows: A light spot analyzer (8) is installed outside one end of the star hole reflection tooling (6) away from the precision turntable module (2). The laser beam emitted by the communication transmitting unit (11) is converted into a parallel light beam. The parallel light beam is emitted from the central light exit hole (14), passes through the pitch axis (22), and then is emitted from the central small hole (67) on the star hole reflection mirror (64) to form a third circular light spot on the light spot analyzer (8). The pitch axis (22) is rotated. As the pitch axis (22) rotates, the third circular light spot draws a circle on the target surface of the light spot analyzer (8). By adjusting the translation adjustment knob (66) on the star hole reflection tooling (6), the position of the third circular light spot on the target surface of the light spot analyzer (8) remains unchanged when the pitch axis (22) rotates. The position of the third circular light spot emitted from the central small hole (67) is the rotation center of the pitch axis (22). The position 1′ of the third circular light spot on the target surface of the light spot analyzer (8) is recorded.

7. The visual docking method for the relay optical module and the precision turntable module according to claim 6, characterized in that: Step 7 is as follows: The star hole reflection tooling (6) is disassembled, or the pressing ring (62) on the star hole reflection tooling (6) is disassembled, and the star hole reflection mirror frame (63) and the star hole reflection mirror (64) at the center of the star hole reflection mirror frame (63) are taken out, then the parallel light beam emitted by the relay optical module (1) forms a fourth circular light spot on the target surface of the light spot analyzer (8), and the position 2′ of the fourth circular light spot is recorded.

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