A real-time correction method for optical axis deviation of photoelectric detection equipment

Abstract

The present application discloses a real-time correction method for the optical axis deviation of a photoelectric detection device, specifically relating to the field of photoelectric detection. Equivalent imaging is performed on a CCD module and an infrared detector using a composite light source; wherein the composite light source includes visible light and infrared light, the visible light is imaged as a first target and a second target in the CCD module, and the infrared light is imaged as a third target and a fourth target in the infrared detector; the first target and the second target are connected to form a first straight line; the coordinates of the laser spot in the CCD module are obtained; and the spot equivalent point is preset according to the spot coordinates; the coordinates of the spot equivalent point are determined according to the angle between the third target and the spot equivalent point, the angle between the fourth target and the spot equivalent point, and the relative positional relationship between the spot and the first straight line; and the coordinates of the spot equivalent point are used to correct the optical axis of the infrared detector. Compared with the traditional optical axis correction method, the accuracy of the obtained optical axis deviation is improved, thereby improving the accuracy and stability of laser ranging.

Description

Technical Field

[0001] The present application relates to the field of photoelectric detection, and in particular to a method for real-time correction of optical axis deviation of a photoelectric detection device. Background Art

[0002] Because photoelectric detection equipment operates on a passive infrared principle across different wavelengths, target detection results only provide angular position information within the aircraft's reference frame. Laser ranging is often used to obtain target distance. This method requires that the laser emission optical axis and the center of the infrared optical axis remain highly aligned. Currently, domestic photoelectric detection systems often ensure this through factory installation processes. Optical axis deviation is also measured during self-test or non-tracking mode to facilitate correction during actual laser ranging.

[0003] The airborne environment, influenced by factors such as vibration, temperature, and pressure, can affect the laser and infrared optical axes to varying degrees. Traditional optical axis correction methods can only collect optical axis deviation information in advance for rough calibration. However, the actual environmental conditions during laser ranging are completely different from those when the optical axis deviation is acquired. Therefore, the accuracy of the previously acquired optical axis deviation is no longer sufficient for actual laser ranging deviation correction. Summary of the Invention

[0004] The main purpose of this application is to provide a real-time correction method for the optical axis deviation of a photoelectric detection device, aiming to solve the problem of low accuracy in obtaining the optical axis deviation in traditional optical axis correction methods.

[0005] To achieve the above-mentioned purpose, the present application provides a real-time correction method for the optical axis deviation of a photoelectric detection device, characterized in that the photoelectric detection device includes a laser system and an infrared detector, and the optical axis deviation of the infrared detector is corrected by a self-calibration component, and the self-calibration component includes a composite light source and a CCD module. The method includes: performing equivalent imaging on the CCD module and the infrared detector by the composite light source; wherein the composite light source includes visible light and infrared light, and the visible light is imaged as a first target and a second target in the CCD module,

[0006] Infrared light is imaged as a third target and a fourth target in the infrared detector; the coordinates of the first target, the second target, the third target and the fourth target are obtained respectively, and the first target and the second target are connected to form a first straight line, and the third target and the fourth target are connected to form a second straight line; the laser emitted by the laser system is imaged on the CCD module to obtain the coordinates of the laser spot on the CCD module; and the equivalent point of the spot is preset according to the coordinates of the spot; the angle between the first target and the spot and the angle between the second target and the spot are obtained respectively, and the angle between the third target and the equivalent point of the spot is determined according to the angle between the first target and the spot. and determine the angle between the fourth target and the equivalent point of the light spot according to the angle between the second target and the light spot; determine the inclination angle of the second straight line according to the coordinates of the third target and the coordinates of the fourth target; determine the relative position relationship between the equivalent point of the light spot and the second straight line according to the relative position relationship between the light spot and the first straight line; determine the coordinates of the equivalent point of the light spot according to the angle between the third target and the equivalent point of the light spot, the angle between the fourth target and the equivalent point of the light spot, the inclination angle of the second straight line, and the relative position relationship between the equivalent point of the light spot and the second straight line; and use the coordinates of the equivalent point of the light spot to correct the optical axis of the infrared detector.

[0007] Optionally, the angle between the first target and the light spot and the angle between the second target and the light spot are determined by the following formula:

[0008]

[0009] Where α is the angle between the first target and the light spot, β is the angle between the second target and the light spot, (A x ,A y )、(B x ,B y ) are the coordinates of two points of the CCD module, (C x ,C y ) is the light spot coordinate of the CCD module.

[0010] Optionally, the angle between the third target and the equivalent point of the light spot is determined based on the angle between the first target and the light spot, and the angle between the fourth target and the equivalent point of the light spot is determined based on the angle between the second target and the light spot, including: according to the equivalent relationship, determining that the value of the angle between the third target and the equivalent point of the light spot is the value of the angle between the first target and the light spot, and the value of the angle between the fourth target and the equivalent point of the light spot is the value of the angle between the second target and the light spot.

[0011] Optionally, the relative position relationship between the light spot equivalent point and the second straight line is determined based on the relative position relationship between the light spot and the first straight line, including: determining the slope of the first straight line based on the coordinates of the first target and the coordinates of the second target; determining the slope of the second straight line based on the coordinates of the third target and the coordinates of the fourth target, and determining the relative position relationship between the light spot equivalent point and the second straight line based on the slope of the first straight line, the slope of the second straight line, and the relative position relationship between the light spot and the first straight line.

[0012] Optionally, the formulas for the slope and inclination angle of the second straight line are as follows:

[0013]

[0014] θ=arctank DE

[0015] Where θ is the inclination angle of the second straight line, k DE is the slope of the second straight line, (E x ,E y )、(D x ,D y ) are the coordinates of the third and fourth targets respectively.

[0016] Optionally, the relative position relationship between the light spot equivalent point and the second straight line is determined in the following manner: if the slope of the first straight line is opposite to the slope of the second straight line, the position where the light spot equivalent point falls on the second straight line is opposite to the position where the light spot falls on the first straight line; if the slope of the first straight line is the same as the slope of the second straight line, the position where the light spot equivalent point falls on the second straight line is the same as the position where the light spot falls on the first straight line; wherein, the relative position relationship between the light spot equivalent point and the second straight line includes the light spot equivalent point being above the second straight line and the light spot equivalent point being below the second straight line.

[0017] Optionally, the coordinates of the light spot equivalent point are determined based on the angle between the third target and the light spot equivalent point, the angle between the fourth target and the light spot equivalent point, and the inclination angle of the second straight line, including: determining the slope of the straight line formed by the light spot equivalent point and the third target based on the angle between the third target and the light spot equivalent point, and the inclination angle of the second straight line; determining the slope of the straight line formed by the light spot equivalent point and the fourth target based on the angle between the fourth target and the light spot equivalent point, and the inclination angle of the second straight line; and determining the coordinates of the light spot equivalent point in combination with the coordinates of the third target, the coordinates of the fourth target, the slope of the straight line formed by the light spot equivalent point and the third target, and the slope of the straight line formed by the light spot equivalent point and the fourth target.

[0018] Optionally, determining the coordinates of the light spot equivalent point according to the angle between the third target and the light spot equivalent point, the angle between the fourth target and the light spot equivalent point, and the inclination angle of the second straight line includes:

[0019] According to the relative position relationship between the spot equivalent point and the second straight line, the slope of the straight line formed by the spot equivalent point and the third target and the slope of the straight line formed by the spot equivalent point and the fourth target are determined by the following formula:

[0020] Above

[0021] Below

[0022] According to the slope of the straight line formed by the light spot equivalent point and the third target, and the slope of the straight line formed by the light spot equivalent point and the fourth target, the coordinates of the light spot equivalent point are obtained by the following formula:

[0023]

[0024] Where α1 is the angle between the third target and the spot equivalent point C1, β1 is the angle between the fourth target and the spot equivalent point C1, θ is the inclination angle of the second straight line, (C1 x ,C1 y ) is the coordinate of the equivalent point of the light spot, k DC1 k is the slope between the third target and the spot equivalent point C1, EC1 is the slope between the fourth target and the light spot equivalent point C1.

[0025] Optionally, the self-aligning axis component also includes an optical system, through which the composite light source is imaged equivalently on the CCD module and the infrared detector. The optical system includes: a first beam splitter, a correction mirror, a second beam splitter, a parabolic mirror, and a third beam splitter arranged in sequence on the output light path of the laser system, the composite light source is located on one side of the third beam splitter, and the CCD module is located on the transmitted light path of the third beam splitter; a corner cube prism is also provided on the reflected light path of the second beam splitter; the infrared detector is located on the reflected light path of the first beam splitter; wherein the first beam splitter is used to reflect the infrared light of the composite light source, and the first beam splitter is also used to reflect the infrared light after aberration compensation; the correction mirror is used to perform aberration compensation on the transmitted infrared light, The correction mirror is also used to compensate for the aberration of the infrared light and laser of the composite light source; the second beam splitter is used to attenuate the energy of the laser after aberration compensation, and the second beam splitter is also used to transmit the infrared light of the composite light source into a point light source and reflect the visible light of the composite light source, and the second beam splitter is also used to reflect the reflected visible light of the composite light source; the parabola is used to collimate the point light source into parallel light, and the parabola is also used to converge the reflected infrared light and visible light into an image; the third beam splitter is used to transmit parallel light, and the third beam splitter is also used to reflect the infrared light of the composite light source and transmit the visible light of the composite light source; the corner cube prism is used to reflect the visible light of the composite light source reflected by the second beam splitter.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] The real-time correction method for the optical axis deviation of the photoelectric detection equipment of the present invention performs equivalent imaging on the CCD module and the infrared detector through a composite light source, and the imaging of the laser on the CCD module is equivalent to the infrared detector, thereby visualizing the position of the laser spot, and indirectly calculating the deviation position of the laser in the infrared detection screen through the relative position relationship of the CCD equivalent screen, completing the real-time compensation correction of the deviation. Compared with the traditional optical axis correction method, the accuracy of the obtained optical axis deviation is improved, thereby improving the accuracy and stability of laser ranging, and enhancing the reliability and engineering adaptability of the photoelectric detection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a correction flow chart of a real-time correction method for optical axis deviation of a photoelectric detection device in this application;

[0029] Figure 2 This is an imaging diagram of a real-time correction method for optical axis deviation of a photoelectric detection device in this application;

[0030] Figure 3 This is a correction effect diagram of a real-time correction method for optical axis deviation of a photoelectric detection device in this application.

[0031] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0033] A first embodiment of the present invention provides a method for real-time correction of optical axis deviation of a photoelectric detection device, wherein the optical axis deviation of an infrared detector is corrected by a self-calibration component, wherein the self-calibration component includes a composite light source and a CCD module, and specifically includes the following steps:

[0034] Step S1, making the composite light source perform equivalent imaging in the CCD module and the infrared detector; wherein the composite light source includes visible light and infrared light, the visible light is imaged as the first target and the second target in the CCD module, and the infrared light is imaged as the third target and the fourth target in the infrared detector, such as Figure 1 As shown;

[0035] In this embodiment, the composite light source is used to perform equivalent imaging on the CCD module and the infrared detector through the optical system of the self-aligning axis component.

[0036] like Figure 2 As shown, the optical system of the self-aligning axis component includes: a first beam splitter, a correction mirror, a second beam splitter, a parabolic mirror, and a third beam splitter arranged in sequence on the output light path of the laser system, the composite light source is located on one side of the third beam splitter, and the CCD module is located on the transmitted light path of the third beam splitter; a corner cube prism is also provided on the reflected light path of the second beam splitter; the infrared detector is located on the reflected light path of the first beam splitter; wherein, the first beam splitter is used to reflect the infrared light of the composite light source, and the first beam splitter is also used to reflect the infrared light after aberration compensation; the correction mirror is used to perform aberration compensation on the transmitted infrared light, and the correction mirror is also used to reflect the infrared light of the composite light source and The laser is aberration-compensated; the second beam splitter is used to attenuate the energy of the aberration-compensated laser light. The second beam splitter is also used to transmit the infrared light of the composite light source into a point light source and reflect the visible light of the composite light source. The second beam splitter is also used to reflect the reflected visible light of the composite light source. The parabolic mirror is used to collimate the point light source into parallel light. The parabolic mirror is also used to converge the reflected infrared light and visible light into an image. The third beam splitter is used to transmit the parallel light. The third beam splitter is also used to reflect the infrared light of the composite light source and transmit the visible light of the composite light source. The corner cube is used to reflect the visible light of the composite light source reflected by the second beam splitter. A baffle is also included, located at the light source exit of the composite light source, for shielding the light source.

[0037] During optical axis calibration, the baffle in front of the composite light source is opened, and the composite light source radiates infrared and visible light. The infrared light is reflected by the third beam splitter and collimated by a parabolic mirror into parallel light. After being compensated by the correction mirror, it passes through the second beam splitter and is transmitted to the first beam splitter. The first beam splitter then reflects the infrared detector, forming two reference targets on the infrared detector: the first target and the second target.

[0038] The visible light from the composite light source is reflected by the third beam splitter and collimated into parallel light by the parabola. It is then reflected back to the second beam splitter by the second beam splitter through the corner cube, and then reflected to the parabola to be collimated into parallel light. It is then transmitted to the CCD module through the third beam splitter, forming two reference targets on the CCD module, namely the third target and the fourth target, which correspond to the two reference targets on the infrared detector.

[0039] After the laser is emitted, it is transmitted through the first beam splitter, and after the aberration is compensated by the correction mirror, the energy is attenuated by the second beam splitter, reflected by the parabolic mirror, transmitted by the third beam splitter, and finally imaged by the CCD module, forming the following Figure 2 Equivalent reference picture shown.

[0040] Step S2, respectively obtaining the coordinates of the first target, the second target, the third target, and the fourth target, and connecting the first target and the second target to form a first straight line, and connecting the third target and the fourth target to form a second straight line; wherein the coordinates of the third target and the fourth target are relative to the center of the infrared image;

[0041] Specifically, after collecting 5 frames of valid data, the average value is taken to calculate the first target A: (A x ,A y ), the second target B (B x ,B y ); After collecting 5 frames of valid data, take the average value to calculate the third target D (D x ,D y ), the fourth target E(E x ,E y ).

[0042] Step S3, imaging the laser light emitted by the laser system on the CCD module, obtaining the coordinates of the laser spot on the CCD module, and taking the equivalent position of the laser light on the infrared detector as the equivalent point of the spot according to the image of the CCD module;

[0043] Since the coordinates of the third and fourth targets are relative to the center of the infrared image, the deviation between the equivalent point of the light spot and the center of the infrared image is the required calibration deviation. In addition, the conversion between the point pixels of the infrared detection image and the CCD module image must consider the scaling relationship between the resolution and the light spot azimuth and pitch. For example, the original resolution of the infrared detector image (220×480) and the infrared spot size (16.6μm, 25.4μm) are stretched in the pitch direction to the equivalent resolution of the CCD module, and the infrared detector image resolution is (220×734).

[0044] Specifically, the laser spot coordinates (including centroid and target size) are obtained, and after collecting 10 sets of valid data, the maximum value and the second largest value are removed, and the average value of the remaining 8 sets of data is taken to calculate the laser spot centroid C (C x ,C y ), which is the light spot coordinate.

[0045] Step S4, respectively obtaining the angle between the first target and the light spot and the angle between the second target and the light spot, determining the angle between the third target and the equivalent point of the light spot based on the angle between the first target and the light spot, and determining the angle between the fourth target and the equivalent point of the light spot based on the angle between the second target and the light spot;

[0046] In step S41, the angle between the first target and the light spot and the angle between the second target and the light spot are determined by the following formula:

[0047]

[0048] Where α is the angle between the first target and the light spot, β is the angle between the second target and the light spot, (A x ,A y )、(B x ,B y ) are the coordinates of two points of the CCD module, (C x ,C y ) is the light spot coordinate of the CCD module.

[0049] In step S42, when imaging different images, after equivalent resolution and scaling, theoretical analysis shows that the angles between the points will not change, that is, α = α1, β = β1, and the angles between the third target and the equivalent point of the light spot and the angles between the fourth target and the equivalent point of the light spot can be obtained.

[0050] Step S5, determining the inclination angle of the second straight line according to the coordinates of the third target and the coordinates of the fourth target;

[0051] Specifically, the slope of the second straight line is determined according to the coordinates of the third target and the coordinates of the fourth target, and the inclination angle of the second straight line is determined according to the slope of the second straight line. The formula is as follows:

[0052]

[0053] θ=arctank DE

[0054] Where θ is the inclination angle of the second straight line, k DE is the slope of the second straight line, (E x ,E y )、(D x ,D y ) are the coordinates of the third and fourth targets respectively.

[0055] Step S6, determining the relative positional relationship between the light spot equivalent point and the second straight line according to the relative positional relationship between the light spot and the first straight line; the details are as follows.

[0056] Step S61: Determine the slope k of the first straight line formed by the first target and the second target according to the coordinates of the first target and the coordinates of the second target. AB ;

[0057]

[0058] Step S62, comparing the slope of the first straight line and the slope of the second straight line. If the slope of the first straight line is opposite to that of the second straight line, it indicates that the visible light and infrared light imaging positions of the infrared detector screen are opposite to those of the CCD module screen, and the position where the light spot equivalent point falls on the second straight line is opposite to the position where the light spot falls on the first straight line, that is, if the laser point on the CCD module screen is above the straight line, the laser point in the infrared detector screen (that is, the light spot equivalent point) should be below the reference straight line, otherwise, it should be above it; if the slope of the first straight line is the same as that of the second straight line, the position where the light spot equivalent point falls on the second straight line is the same as the position where the light spot falls on the first straight line.

[0059] Step S7, determining the coordinates of the light spot equivalent point, i.e., the optical axis deviation, based on the angle between the third target and the light spot equivalent point, the angle between the fourth target and the light spot equivalent point, and the inclination angle of the second straight line;

[0060] Specifically, the slope of the straight line formed by the light spot equivalent point and the third target is determined according to the angle between the third target and the light spot equivalent point, and the inclination angle of the second straight line; the slope of the straight line formed by the light spot equivalent point and the fourth target is determined according to the angle between the fourth target and the light spot equivalent point, and the inclination angle of the second straight line; and the coordinates of the light spot equivalent point are determined in combination with the coordinates of the third target and the coordinates of the fourth target, the slope of the straight line formed by the light spot equivalent point and the third target, and the slope of the straight line formed by the light spot equivalent point and the fourth target.

[0061] Furthermore, in step S71, according to the relative positional relationship between the light spot equivalent point and the second straight line, wherein the relative positional relationship between the light spot equivalent point and the second straight line includes the light spot equivalent point being above the second straight line and the light spot equivalent point being below the second straight line; the slope of the straight line formed by the light spot equivalent point and the third target, and the slope of the straight line formed by the light spot equivalent point and the fourth target are determined by the following formula:

[0062] Above

[0063] Below

[0064] Substitute the slope of the straight line formed by the equivalent point of the light spot and the third target, and the slope of the straight line formed by the equivalent point of the light spot and the fourth target into the following formula to obtain the coordinates of the equivalent point of the light spot:

[0065]

[0066] Where α1 is the angle between the third target and the spot equivalent point C1, β1 is the angle between the fourth target and the spot equivalent point C1, θ is the inclination angle of the second straight line, (C1 x ,C1 y ) is the coordinate of the equivalent point of the light spot, k DC1k is the slope between the third target and the spot equivalent point C1, EC1 is the slope between the fourth target and the light spot equivalent point C1.

[0067] Step S8: Correcting the optical axis of the infrared detector using the coordinates of the equivalent point of the light spot.

[0068] Specifically, after obtaining the optical axis deviation, the optical axis deviation is superimposed on the target deviation to obtain the deviation, and the target is subjected to deviation closed-loop control to achieve target tracking. The effect after correction is as follows Figure 3 As shown, from Figure 3 It can be seen that after the optical axis deviation obtained in this embodiment is corrected, the center of the laser emission optical axis and the infrared optical axis remain consistent.

[0069] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for real-time correction of the optical axis of a photoelectric detection device, characterized in that: The photoelectric detection device includes a laser system and an infrared detector. The optical axis of the infrared detector is corrected by a self-calibration component, and the self-calibration component includes a composite light source and a CCD module. The method includes: Equivalent imaging is performed on a CCD module and an infrared detector using a composite light source; wherein the composite light source includes visible light and infrared light, the visible light is imaged as a first target and a second target in the CCD module, and the infrared light is imaged as a third target and a fourth target in the infrared detector; Obtaining coordinates of a first target, a second target, a third target, and a fourth target respectively, and connecting the first target and the second target to form a first straight line, and connecting the third target and the fourth target to form a second straight line; The laser light emitted by the laser system is imaged on the CCD module to obtain the spot coordinates of the laser light on the CCD module; and a spot equivalent point is preset according to the spot coordinates, wherein the equivalent position of the laser light on the infrared detector is used as the spot equivalent point; respectively determining the angle between the third target and the equivalent point of the light spot, and the angle between the fourth target and the equivalent point of the light spot; Determining the inclination angle of the second straight line, and determining the relative position relationship between the light spot equivalent point and the second straight line; Determining the coordinates of the light spot equivalent point based on the angle between the third target and the light spot equivalent point, the angle between the fourth target and the light spot equivalent point, the inclination angle of the second straight line, and the relative positional relationship between the light spot equivalent point and the second straight line; The optical axis of the infrared detector is corrected using the coordinates of the light spot equivalent point.

2. The method for real-time correction of the optical axis of a photoelectric detection device according to claim 1, characterized in that: The angle between the first target and the light spot and the angle between the second target and the light spot are determined by the following formula: Where, is the angle between the first target and the light spot, is the angle between the second target and the light spot, 、 They are the two point coordinates of the CCD module, is the light spot coordinate of the CCD module.

3. The method for real-time correction of the optical axis of a photoelectric detection device according to claim 2, characterized in that: The determining of the angle between the third target and the equivalent point of the light spot, and the angle between the fourth target and the equivalent point of the light spot, respectively, includes: Obtain the angle between the first target and the light spot, and the angle between the second target and the light spot; according to the equivalent relationship, determine that the value of the angle between the third target and the equivalent point of the light spot is the value of the angle between the first target and the light spot, and the value of the angle between the fourth target and the equivalent point of the light spot is the value of the angle between the second target and the light spot.

4. The method for real-time correction of the optical axis of a photoelectric detection device according to claim 1, wherein: Determining the relative positional relationship between the light spot equivalent point and the second straight line includes: determining a slope of a first straight line according to the coordinates of the first target and the coordinates of the second target; Determine the slope of the second straight line according to the coordinates of the third target and the coordinates of the fourth target, The relative position relationship between the light spot and the first straight line is obtained, and the relative position relationship between the light spot equivalent point and the second straight line is determined based on the slope of the first straight line, the slope of the second straight line, and the relative position relationship between the light spot and the first straight line.

5. The method for real-time correction of the optical axis of a photoelectric detection device according to claim 4, characterized in that: The formulas for the slope and inclination angle of the second straight line are as follows: Where, is the inclination angle of the second straight line, is the slope of the second straight line, 、 These are the coordinates of the third and fourth targets respectively.

6. The method for real-time correction of the optical axis of a photoelectric detection device according to claim 4, characterized in that: The relative positional relationship between the light spot equivalent point and the second straight line is determined by: If the slope of the first straight line is opposite to that of the second straight line, the position where the equivalent point of the light spot falls on the second straight line is opposite to the position where the light spot falls on the first straight line; If the slope of the first straight line is the same as the slope of the second straight line, the position where the equivalent point of the light spot falls on the second straight line is the same as the position where the light spot falls on the first straight line; The relative position relationship between the light spot equivalent point and the second straight line includes the light spot equivalent point being above the second straight line and the light spot equivalent point being below the second straight line.

7. The method for real-time correction of the optical axis of a photoelectric detection device according to claim 6, characterized in that: The determining the coordinates of the light spot equivalent point according to the angle between the third target and the light spot equivalent point, the angle between the fourth target and the light spot equivalent point, and the inclination angle of the second straight line includes: Determining the slope of the straight line formed by the light spot equivalent point and the third target based on the angle between the third target and the light spot equivalent point and the inclination angle of the second straight line; Determining the slope of the straight line formed by the light spot equivalent point and the fourth target based on the angle between the fourth target and the light spot equivalent point and the inclination angle of the second straight line; The coordinates of the light spot equivalent point are determined by combining the coordinates of the third target, the coordinates of the fourth target, the slope of the straight line formed by the light spot equivalent point and the third target, and the slope of the straight line formed by the light spot equivalent point and the fourth target.

8. The method for real-time correction of the optical axis of a photoelectric detection device according to claim 7, characterized in that: The determining the coordinates of the light spot equivalent point according to the angle between the third target and the light spot equivalent point, the angle between the fourth target and the light spot equivalent point, and the inclination angle of the second straight line includes: According to the relative positional relationship between the light spot equivalent point and the second straight line, the slope of the straight line formed by the light spot equivalent point and the third target and the slope of the straight line formed by the light spot equivalent point and the fourth target are determined by the following formula: According to the slope of the straight line formed by the light spot equivalent point and the third target, and the slope of the straight line formed by the light spot equivalent point and the fourth target, the coordinates of the light spot equivalent point are obtained by the following formula: Where, The third target and the equivalent point of the light spot The angle between The fourth target and the equivalent point of the light spot The angle between is the inclination angle of the second straight line, is the coordinate of the equivalent point of the light spot, The third target and the equivalent point of the light spot The slope between The fourth target and the equivalent point of the light spot The slope between .

9. The method for real-time correction of the optical axis of a photoelectric detection device according to claim 1, wherein: The self-aligning axis component also includes an optical system, through which the composite light source is imaged equivalently on the CCD module and the infrared detector, the optical system including: a first beam splitter, a correction mirror, a second beam splitter, a parabolic mirror, and a third beam splitter arranged in sequence on the output light path of the laser system; The composite light source is located on one side of the third beam splitter, and the CCD module is located on the transmission light path of the third beam splitter; The infrared detector is located on the reflected light path of the first beam splitter; A corner cube prism is also provided on the reflected light path of the second beam splitter; Wherein, the first beam splitter is used to reflect the infrared light of the composite light source, and the first beam splitter is also used to reflect the infrared light after aberration compensation; The correction mirror is used to perform aberration compensation on the transmitted infrared light, and the correction mirror is also used to perform aberration compensation on the infrared light and laser of the composite light source; The second beam splitter is used to attenuate the energy of the aberration-compensated laser light, and the second beam splitter is also used to transmit the infrared light of the composite light source into a point light source and reflect the visible light of the composite light source, and the second beam splitter is also used to reflect the reflected visible light of the composite light source; The parabolic mirror is used to collimate the point light source into parallel light, and is also used to converge the reflected infrared light and visible light into an image; The third beam splitter is used to transmit parallel light, and the third beam splitter is also used to reflect the infrared light of the composite light source and transmit the visible light of the composite light source; The corner cube is used to reflect the visible light of the composite light source reflected by the second beam splitter.

Images