Photoelectric tracking and sighting method and device based on spherical objects

Abstract

The application discloses a photoelectric tracking and sighting method and device based on a spherical object. The tracking and sighting method comprises the following steps: acquiring a spherical object image by using a visual sensor when a laser transmitter emits a laser line to the spherical object, wherein the spherical object is arranged near a target, and the spherical object moves synchronously with the target; obtaining a pixel width when the spherical object is imaged according to the spherical object image; calculating a real-time distance between the visual sensor and the spherical object according to the pixel width, an actual size of the spherical object and a focal length of the visual sensor; calculating an offset angle according to the real-time distance and a distance between the laser transmitter and the visual sensor; adjusting the laser transmitter and the visual sensor according to the offset angle; and realizing accurate tracking and sighting of the spherical object based on the adjusted laser transmitter and visual sensor, and then realizing accurate tracking and sighting of the target. The application realizes optical path adjustment and improves the tracking and sighting accuracy of the target.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of optical metrology testing, and particularly relates to a photoelectric tracking and sighting method and device based on a spherical object. BACKGROUND

[0002] With the continuous development of civil and industrial application fields, the demand for accurate tracking and ranging is increasing. As a key sensing and navigation technology, the photoelectric tracking and sighting system plays a crucial role in this demand. The photoelectric tracking and sighting system combines optical, electronic sensing, computer and image processing technologies to track the position of the target object in real time and measure the distance, providing indispensable capabilities for industrial and civil automated navigation, medical imaging, etc.

[0003] The existing photoelectric tracking and sighting system, ranging is one of the core functions, and is the basis for tracking and sighting. Traditional ranging techniques are usually based on laser ranging, radar or sonar principles, and these techniques have their own advantages and limitations in different application scenarios. However, there are some common challenges and needs, such as improving the accuracy of ranging and improving the anti-interference ability of the system. When the distance is far or for small targets, the laser spot is often larger than the target, and the light transmission part will usually hit the background or debris, and the return signal will be stronger than the true signal, which will seriously affect the ranging accuracy; and the ranging accuracy is often related to the target state and the measurement angle, and the morphology of the target object is different at different measurement angles, which may cause large errors in the measurement results. At the same time, the traditional ranging equipment is expensive, large in size, not easy to install, etc., which also limits its popularity in practical applications.

[0004] In order to ensure the performance of the system, it is necessary to accurately calibrate the position and angle of the optical components to enable the light to accurately focus on the target object, which requires high-precision calibration methods and equipment to ensure that the system can work normally under various environmental conditions. The camera field of view axis and the laser emission axis often have a bias, and how to obtain and calibrate this bias (i.e. optical path adjustment) is also a key technical problem in the field of photoelectric tracking. SUMMARY

[0005] The purpose of the present application is to provide a photoelectric tracking and sighting method and device based on a spherical object to solve the problem of bias between the camera field of view axis and the laser emission axis of the traditional system, which affects the tracking performance of the photoelectric tracking and sighting system.

[0006] The present application solves the above technical problems by the following technical solutions: a photoelectric tracking and sighting method based on a spherical object, comprising:

[0007] When a laser emitter emits a laser line to a spherical object, an image of the spherical object is acquired by a vision sensor; wherein the laser emitter is above or below the vision sensor, and the emission axis of the laser emitter is parallel to the field axis of the vision sensor; the spherical object is arranged near a target, and the spherical object moves synchronously with the target;

[0008] A pixel width of the spherical object when imaging is obtained according to the image of the spherical object;

[0009] A real-time distance between the vision sensor and the spherical object is calculated according to the pixel width, the actual size of the spherical object and the focal length of the vision sensor;

[0010] An offset angle is calculated according to the real-time distance and the distance between the laser emitter and the vision sensor;

[0011] The laser emitter and the vision sensor are adjusted according to the offset angle, and accurate tracking of the spherical object is realized based on the adjusted laser emitter and the vision sensor, so as to realize accurate tracking of the target.

[0012] Further, the pixel width of the spherical object when imaging is obtained according to the image of the spherical object, and specifically includes:

[0013] The image of the spherical object is preprocessed;

[0014] Edge detection is performed on the preprocessed image of the spherical object to obtain a spherical object contour;

[0015] The pixel width is obtained by Hough transform based on the spherical object contour.

[0016] Further, the specific calculation formula of the real-time distance is:

[0017] d i =(R×F) / W pi ;

[0018] Wherein, d i represents the real-time distance between the vision sensor and the spherical object at the i th sampling time, R represents the actual size of the spherical object, F represents the focal length of the vision sensor, and W pi represents the pixel width of the spherical object when imaging at the i th sampling time.

[0019] Further, the specific calculation formula of the offset angle is:

[0020] α i =arctan(L / d i );

[0021] Wherein, α irepresents the offset angle at the i-th sampling time, L represents the distance between the laser transmitter and the vision sensor, d i represents the real-time distance between the vision sensor and the spherical object at the i-th sampling time.

[0022] Further, the emission axis of the laser transmitter is parallel to the field-of-view axis of the vision sensor, and the specific leveling process comprises:

[0023] Using a level to ensure that the base provided with the laser transmitter and the vision sensor is in a horizontal state;

[0024] A plurality of calibration points with known positions are arranged on the calibration plate; wherein the positions of the calibration points are based on a calibration plate coordinate system;

[0025] When the laser line emitted by the laser transmitter is vertically directed to each calibration point in turn, the vision sensor is used to capture the laser point image on the calibration plate;

[0026] According to the laser point image, the position of the laser point in the vision sensor coordinate system is obtained;

[0027] The position of the laser point in the vision sensor coordinate system is converted to the calibration plate coordinate system to obtain the position of the laser point in the calibration plate coordinate system;

[0028] According to the positions of the calibration points in the calibration plate coordinate system and the positions of the laser points in the calibration plate coordinate system, calibration calculation is performed;

[0029] According to the calibration calculation result, the positions or angles of the laser transmitter and the vision sensor are adjusted, so that the emission axis of the laser transmitter is parallel to the field-of-view axis of the vision sensor.

[0030] Based on the same concept, the application also provides a photoelectric tracking and sighting device based on a spherical object, comprising a laser transmitter, a vision sensor, a base, an adjusting mechanism, a control module and a spherical object; the adjusting mechanism is arranged on the base, the laser transmitter and the vision sensor are arranged on the adjusting mechanism, the laser transmitter is located above or below the vision sensor, and the emission axis of the laser transmitter is parallel to the field-of-view axis of the vision sensor; the spherical object is arranged near a target, and the spherical object moves synchronously with the target;

[0031] The laser transmitter is used to emit a laser line to the spherical object;

[0032] The vision sensor is used to capture a spherical object image when the laser transmitter emits a laser line to the spherical object, and feed the spherical object image to the control module;

[0033] The control module is used for obtaining a pixel width when the spheroid object is imaged according to the spheroid object image; calculating a real-time distance between the visual sensor and the spheroid object according to the pixel width, an actual size of the spheroid object and a focal length of the visual sensor; calculating an offset angle according to a distance between the laser emitter and the visual sensor according to the real-time distance; and generating an adjustment instruction according to the offset angle.

[0034] The adjustment mechanism is used for adjusting the laser emitter and the visual sensor under the adjustment instruction.

[0035] Further, the adjustment mechanism is a cloud platform.

[0036] Further, the control module communicates with the adjustment mechanism wirelessly through a wireless data transmission device.

[0037] Beneficial effects

[0038] Compared with the prior art, the present application has the following advantages:

[0039] The present application uses the characteristic that the size of the spheroid object on the image is constant when the diameter of the spheroid object is constant, and realizes target tracking by tracking the spheroid object near the target, without tracking the dynamic and changeable target, reduces the ranging and optical path calibration error, and improves the tracking accuracy; according to the real-time distance between the visual sensor and the spheroid object, the offset angle between the optical path emission point and the actual receiving point is calculated by using the geometric relationship, and the laser emitter and the visual sensor are adjusted according to the offset angle, so that the target is tracked accurately by the spheroid object. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are only one embodiment of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0041] Figure 1 is a structure schematic diagram of an optoelectronic tracking device based on a spheroid object in the embodiment of the present application;

[0042] Figure 2 is a flow chart of an optoelectronic tracking method based on a spheroid object in the embodiment of the present application;

[0043] Figure 3 is an offset angle adjustment schematic diagram in the embodiment of the present application.

[0044] Legend: 1-laser emitter, 2-visual sensor, 3-base, 4-spheroid object, 5-trolley. DETAILED DESCRIPTION

[0045] The technical solutions in the present application will be described clearly and completely below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0046] The technical solutions of the present application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in some embodiments.

[0047] Embodiment one

[0048] In a complex scene or when tracking a dynamic target, the imaging size of the target is inconsistent due to the shooting angle and other reasons, resulting in a large ranging error of the photoelectric tracking device, which cannot accurately track the target. In order to solve this technical problem, the present application provides a photoelectric tracking method and device based on a spherical object, a spherical object (such as a small ball) is arranged near the target, and the size of the spherical object on the image is constant by using the characteristic that the diameter of the spherical object is constant, thereby avoiding the measurement error caused by different imaging sizes at different angles and improving the measurement accuracy.

[0049] Figure 1 A structure diagram of a photoelectric tracking device based on a spherical object 4 is shown. As shown in Figure 1 The photoelectric tracking device includes a laser emitter 1, a visual sensor 2, a base 3, an adjusting mechanism, a control module, and a spherical object 4. The adjusting mechanism is arranged on the base 3, the laser emitter 1 and the visual sensor 2 are arranged on the adjusting mechanism, the laser emitter 1 is located above or below the visual sensor 2, and the emission axis of the laser emitter 1 is parallel to the field axis of the visual sensor 2, that is, the laser emitter 1 and the visual sensor 2 are a paraxial emission structure. The spherical object 4 is arranged near the target, and the spherical object 4 moves synchronously with the target. In this embodiment, the target and the spherical object 4 are fixed on a trolley 5, and the synchronous movement of the target and the spherical object 4 is realized by the movement of the trolley 5. The visual sensor 2 in this embodiment is a camera.

[0050] Figure 2 A flow chart of a photoelectric tracking method based on a spherical object is shown. As shown in Figure 2 The photoelectric tracking method includes the following steps:

[0051] Step 1: When the laser emitter emits a laser line to the spherical object, the image of the spherical object is acquired by the visual sensor.

[0052] When the trolley moves, the target and the spherical object move synchronously. In order to realize target tracking, the laser emitter emits a laser line to the spherical object near the target, and the vision sensor collects the image of the spherical object.

[0053] Step 2: obtaining the pixel width of the spherical object in imaging according to the image of the spherical object.

[0054] In the specific embodiment of the present application, obtaining the pixel width of the spherical object in imaging according to the image of the spherical object specifically comprises:

[0055] Step 2.1: preprocessing the image of the spherical object.

[0056] In this embodiment, the preprocessing includes grayscale processing and filtering processing, and the filtering processing adopts Gaussian filtering, median filtering and the like to remove noise and enhance the image, thereby improving the accuracy of subsequent analysis.

[0057] Step 2.2: performing edge detection on the preprocessed image of the spherical object to obtain the contour of the spherical object.

[0058] In this embodiment, the Canny edge detection algorithm is used to obtain the contour of the spherical object in the preprocessed image of the spherical object, and the specific process includes:

[0059] performing gradient calculation on the preprocessed image of the spherical object to obtain the gradient intensity and direction of each pixel point;

[0060] determining the edge of the spherical object according to the gradient intensity and direction of each pixel point;

[0061] adopting a non-maximum suppression algorithm to determine the local gradient maximum value point in the edge to refine the edge;

[0062] setting a first threshold value and a second threshold value, and the first threshold value is greater than the second threshold value; the pixel point with a pixel intensity higher than the first threshold value is recorded as a strong edge, the pixel point with a pixel intensity lower than the second threshold value is recorded as a weak edge, and the pixel point between the first threshold value and the second threshold value is recorded as a medium edge;

[0063] starting from the strong edge, the complete contour of the spherical object is constructed by connecting adjacent weak edges.

[0064] Step 2.3: obtaining the pixel width by using Hough transform based on the contour of the spherical object.

[0065] In the specific embodiment of the present application, the pixel width is obtained by using Hough transform, specifically comprising:

[0066] A parameter space is created, each point in the parameter space representing a possible center and radius combination, i.e. the parameter space is determined by the coordinates of the center and the radius; the size of the parameter space is usually selected based on the resolution of the image and the expected maximum and minimum radius;

[0067] For each pixel point in the contour of the spherical object, accumulation is performed in the parameter space, and the center and radius corresponding to the peak in the accumulation result are taken as the position and radius of the spherical object;

[0068] The pixel width when the spherical object is imaged is determined according to the position and radius of the spherical object.

[0069] Step 3: Calculate the real-time distance between the vision sensor and the spherical object according to the pixel width, the actual size of the spherical object, and the focal length of the vision sensor.

[0070] In the specific embodiment of the present application, the specific calculation formula of the real-time distance is:

[0071] d i i =(R×F) / W pi i (1)

[0072] Where d i i represents the real-time distance between the vision sensor and the spherical object at the i-th sampling time; R represents the actual size of the spherical object, i.e. the diameter of the spherical object, which can be measured by a vernier caliper or a ruler; F represents the focal length of the vision sensor; W pi represents the pixel width when the spherical object is imaged at the i-th sampling time.

[0073] The focal length of the vision sensor can also be obtained by measurement, and the specific formula is:

[0074] F=(W p i ×d) / R(2)

[0075] Where W p i represents the pixel width when the spherical object is imaged during focal length measurement; d represents the distance between the vision sensor and the spherical object during focal length measurement.

[0076] Step 4: Calculate the offset angle according to the real-time distance and the distance between the laser transmitter and the vision sensor.

[0077] As Figure 3 shown, let the distance between the laser transmitter and the vision sensor be L, and the field of view axis of the vision sensor be kept on the same horizontal line as the spherical object, and the specific calculation formula of the offset angle can be obtained by using geometric relationships as follows:

[0078] α i i =arctan(L / d i i )(3)

[0079] wherein, a i represents the offset angle at the i-th sampling moment, L represents the distance between the laser emitter and the vision sensor, d i represents the real-time distance between the vision sensor and the spherical object at the i-th sampling moment.

[0080] Step 5: Adjusting the laser emitter and the vision sensor according to the offset angle, and realizing accurate tracking of the spherical object based on the adjusted laser emitter and the vision sensor, and then realizing accurate tracking of the target.

[0081] Adjusting the laser emitter and the vision sensor according to the offset angle can realize ranging and optical path calibration, reduce errors, and then realize accurate tracking of the target according to the actual distance between the spherical object and the target.

[0082] Before acquiring the image of the spherical object by the vision sensor, the leveling of the emission axis of the laser emitter and the field axis of the vision sensor is performed, so that the emission axis of the laser emitter is parallel to the field axis of the vision sensor. In the specific embodiment of the present application, the specific leveling process of the emission axis of the laser emitter and the field axis of the vision sensor includes:

[0083] Step 0.1: Ensure that the base is in a horizontal state by using a level;

[0084] Step 0.2: A plurality of calibration points with known positions are set on the calibration plate; wherein the positions of the calibration points are based on the calibration plate coordinate system;

[0085] Step 0.3: While the laser line emitted by the laser emitter is vertically irradiated to each calibration point in turn, the laser point image on the calibration plate is captured by the vision sensor; wherein for each calibration point, the laser line always irradiates on the calibration point, and the laser point is as small and sharp as possible; each calibration point corresponds to a laser point image, and in each laser point image, the calibration plate occupies most of the area of the image, and the laser point is clearly visible;

[0086] Step 0.4: According to the laser point image, the position of the laser point in the vision sensor coordinate system (i.e. the camera coordinate system) is obtained;

[0087] Step 0.5: The position of the laser point in the vision sensor coordinate system is converted to the position of the laser point in the calibration plate coordinate system;

[0088] Step 0.6: Calibration calculation is performed according to the position of the calibration point in the calibration plate coordinate system and the position of the laser point in the calibration plate coordinate system;

[0089] Step 0.7: Adjust the position or angle of the laser emitter and the vision sensor according to the calibration calculation result, so that the emission axis of the laser emitter is parallel to the field axis of the vision sensor, at this time the relative displacement between the laser emitter and the vision sensor is not 0, and the rotation angle between the emission axis of the laser emitter and the field axis of the vision sensor is 0.

[0090] In order to ensure the calibration accuracy, the calibrated laser emitter and the vision sensor can also be verified, and the specific verification process is: using the calibrated laser emitter and the vision sensor to obtain a new laser point image, and obtaining the position of the new laser point in the calibration coordinate system, comparing the position of the new laser point in the calibration coordinate system with the position of the corresponding calibration point in the calibration plate coordinate system, and verifying the calibration accuracy. The present application improves the deviation between the emission axis of the laser emitter and the field axis of the vision sensor by leveling the emission axis of the laser emitter and the field axis of the vision sensor, increases the optical path adjustment accuracy, and improves the measurement accuracy.

[0091] Embodiment two

[0092] As shown in Figure 1 The photoelectric tracking and sighting device based on the spherical object provided by the embodiment of the present application includes a laser emitter 1, a vision sensor 2, a base 3, an adjusting mechanism, a control module and a spherical object 4. The adjusting mechanism is arranged on the base 3, the laser emitter 1 and the vision sensor 2 are arranged on the adjusting mechanism, the laser emitter 1 is located above or below the vision sensor 2, and the emission axis of the laser emitter 1 is parallel to the field axis of the vision sensor 2, that is, the laser emitter 1 and the vision sensor 2 are a paraxial emission structure. The spherical object 4 is arranged near the target, and the spherical object 4 moves synchronously with the target. In this embodiment, the target and the spherical object 4 are fixed on a trolley 5, and the synchronous movement of the target and the spherical object 4 is realized by the movement of the trolley 5. The vision sensor 2 of this embodiment is a camera.

[0093] The laser emitter 1 is used to emit a laser line to the spherical object 4 and form a laser point on the spherical object 4.

[0094] The vision sensor 2 is used to capture a spherical object image when the laser emitter 1 emits a laser line to the spherical object 4 and forms a laser point, and feed the spherical object image to the control module.

[0095] The control module is used to obtain the pixel width when the spherical object 4 is imaged according to the spherical object image; calculate the real-time distance between the vision sensor 2 and the spherical object 4 according to the pixel width, the actual size of the spherical object and the focal length of the vision sensor (such as formula (1) of embodiment one); calculate the offset angle according to the real-time distance and the distance between the laser emitter 1 and the vision sensor 2 (such as formula (3) of embodiment one); and generate an adjustment instruction according to the offset angle.

[0096] An adjusting mechanism is used to act under the adjusting instruction, to adjust the laser emitter 1 and the visual sensor 2, to realize the accurate tracking of the spherical object 4 based on the adjusted laser emitter 1 and the visual sensor 2, and to realize the accurate tracking of the target.

[0097] In the specific embodiment of the present application, the adjusting mechanism is a holder, such as a two-dimensional holder or a three-dimensional holder. The holder acts under the adjusting instruction, to adjust the pitch angle of the laser emitter 1 and the visual sensor 2, so as to adjust the offset angle of the emission axis of the laser emitter 1 and the field axis of the visual sensor 2.

[0098] In the specific embodiment of the present application, the control module communicates with the adjusting mechanism through a wireless data transmission device, to bidirectionally transmit data, instructions, images and other signals.

[0099] The above only discloses the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or modifications within the technical range disclosed by the present application, which shall be covered within the protection scope of the present application.

Claims

1. A photoelectric tracking and aiming method based on a spherical object, characterized in that, The method comprises: When the laser emitter emits a laser line to the spherical object, the visual sensor is used to acquire the image of the spherical object; wherein the laser emitter is located above or below the visual sensor, and the emission axis of the laser emitter is parallel to the field axis of the visual sensor; the spherical object is arranged near the target, and the spherical object moves synchronously with the target; The pixel width of the spherical object imaging is obtained according to the image of the spherical object; The real-time distance between the visual sensor and the spherical object is calculated according to the pixel width, the actual size of the spherical object and the focal length of the visual sensor; The offset angle is calculated according to the real-time distance and the distance between the laser emitter and the visual sensor; The laser emitter and the visual sensor are adjusted according to the offset angle, and the precise tracking of the spherical object is realized based on the adjusted laser emitter and visual sensor, thereby realizing the precise tracking of the target.

2. The optoelectronic tracking and pointing method based on spheroid objects according to claim 1, characterized in that: The pixel width of the spherical object imaging is obtained according to the image of the spherical object, specifically comprising: The image of the spherical object is preprocessed; The edge of the preprocessed spherical object image is detected to obtain the outline of the spherical object; The pixel width is obtained by using Hough transform based on the outline of the spherical object.

3. The optoelectronic tracking and pointing method based on spheroid objects of claim 1, wherein: The specific calculation formula of the real-time distance is: d i = (RxF) / W pi ; wherein d i represents the real-time distance between the visual sensor and the spherical object at the i-th sampling moment, R represents the actual size of the spherical object, F represents the focal length of the visual sensor, W pi represents the pixel width when the spherical object is imaged at the i-th sampling moment.

4. The optoelectronic tracking and pointing method based on spheroid objects of claim 1, wherein: The specific calculation formula of the offset angle is: α i = arctan(L / d i ); wherein α i represents the offset angle at the i-th sampling moment, L represents the distance between the laser emitter and the vision sensor, d i represents the real-time distance between the vision sensor and the spherical object at the i-th sampling moment.

5. The optoelectronic tracking and pointing method based on spheroid objects according to any one of claims 1 to 4, characterized in that: The emission axis of the laser emitter is parallel to the field axis of the visual sensor, and the specific adjustment process comprises: A level is used to ensure that the base provided with the laser emitter and the visual sensor is in a horizontal state; A plurality of calibration points with known positions are arranged on the calibration plate; wherein the positions of the calibration points are based on the calibration plate coordinate system; When the laser line emitted by the laser emitter is vertically directed to each calibration point in turn, the visual sensor is used to capture the laser point image on the calibration plate; The position of the laser point in the visual sensor coordinate system is obtained according to the laser point image; The position of the laser point in the visual sensor coordinate system is converted to the position of the laser point in the calibration plate coordinate system; Calibration calculation is performed according to the position of the calibration point in the calibration plate coordinate system and the position of the laser point in the calibration plate coordinate system; The positions or angles of the laser emitter and the visual sensor are adjusted according to the calibration calculation result, so that the emission axis of the laser emitter is parallel to the field axis of the visual sensor.

6. A photoelectric tracking and pointing device based on spherical objects, characterized by: The photoelectric tracking device comprises a laser emitter, a visual sensor, a base, an adjustment mechanism, a control module and a spherical object; the adjustment mechanism is arranged on the base, the laser emitter and the visual sensor are arranged on the adjustment mechanism, the laser emitter is located above or below the visual sensor, and the emission axis of the laser emitter is parallel to the field axis of the visual sensor; The spherical object is arranged near the target, and the spherical object moves synchronously with the target; The laser emitter is used to emit a laser line to the spherical object; The visual sensor is used to capture the image of the spherical object when the laser emitter emits a laser line to the spherical object, and feed back the image of the spherical object to the control module; The control module is used to obtain the pixel width of the spherical object imaging according to the image of the spherical object; According to the pixel width, the actual size of the spherical object, and the focal length of the vision sensor, a real-time distance between the vision sensor and the spherical object is calculated; according to the real-time distance and the distance between the laser emitter and the vision sensor, an offset angle is calculated; and according to the offset angle, an adjustment instruction is generated; The adjustment mechanism is configured to act under the adjustment instruction to adjust the laser emitter and the vision sensor.

7. The spheroid-based optoelectronic tracking and pointing device of claim 6, wherein: The adjustment mechanism is a cloud platform.

8. The spheroid-based optoelectronic tracking and pointing device of claim 6, wherein: The control module is configured to perform wireless communication with the adjustment mechanism through a wireless data transmission device.

9. The spheroid-based optoelectronic tracking and pointing device of claim 6, wherein: A specific calculation formula of the real-time distance is as follows: d i = (RxF) / W pi ; wherein d i represents the real-time distance between the visual sensor and the spherical object at the i-th sampling moment, R represents the actual size of the spherical object, F represents the focal length of the visual sensor, W pi represents the pixel width when the spherical object is imaged at the i-th sampling moment.

10. The spheroid-based optoelectronic tracking and pointing device of claim 6, wherein: A specific calculation formula of the offset angle is as follows: α i = arctan(L / d i ); wherein α i represents the offset angle at the i-th sampling moment, L represents the distance between the laser emitter and the vision sensor, d i represents the real-time distance between the vision sensor and the spherical object at the i-th sampling moment.

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